From a9b9113719fa4de3368dd4647777bfadb1407ae5 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 24 Nov 2014 12:23:16 -0500 Subject: [PATCH 001/964] Create sam sfm directories for issue #148 --- gtsam/CMakeLists.txt | 4 +++- gtsam/sam/CMakeLists.txt | 6 ++++++ gtsam/sam/tests/CMakeLists.txt | 1 + gtsam/sfm/CMakeLists.txt | 6 ++++++ gtsam/sfm/tests/CMakeLists.txt | 1 + 5 files changed, 17 insertions(+), 1 deletion(-) create mode 100644 gtsam/sam/CMakeLists.txt create mode 100644 gtsam/sam/tests/CMakeLists.txt create mode 100644 gtsam/sfm/CMakeLists.txt create mode 100644 gtsam/sfm/tests/CMakeLists.txt diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 9fac3b00b..cd1f2c521 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -8,7 +8,9 @@ set (gtsam_subdirs symbolic discrete linear - nonlinear + nonlinear + sam + sfm slam navigation ) diff --git a/gtsam/sam/CMakeLists.txt b/gtsam/sam/CMakeLists.txt new file mode 100644 index 000000000..bf20b751c --- /dev/null +++ b/gtsam/sam/CMakeLists.txt @@ -0,0 +1,6 @@ +# Install headers +file(GLOB sam_headers "*.h") +install(FILES ${sam_headers} DESTINATION include/gtsam/sam) + +# Build tests +add_subdirectory(tests) diff --git a/gtsam/sam/tests/CMakeLists.txt b/gtsam/sam/tests/CMakeLists.txt new file mode 100644 index 000000000..127c619ee --- /dev/null +++ b/gtsam/sam/tests/CMakeLists.txt @@ -0,0 +1 @@ +gtsamAddTestsGlob(sam "test*.cpp" "" "gtsam") diff --git a/gtsam/sfm/CMakeLists.txt b/gtsam/sfm/CMakeLists.txt new file mode 100644 index 000000000..fde997840 --- /dev/null +++ b/gtsam/sfm/CMakeLists.txt @@ -0,0 +1,6 @@ +# Install headers +file(GLOB sfm_headers "*.h") +install(FILES ${sfm_headers} DESTINATION include/gtsam/sfm) + +# Build tests +add_subdirectory(tests) diff --git a/gtsam/sfm/tests/CMakeLists.txt b/gtsam/sfm/tests/CMakeLists.txt new file mode 100644 index 000000000..22245dffe --- /dev/null +++ b/gtsam/sfm/tests/CMakeLists.txt @@ -0,0 +1 @@ +gtsamAddTestsGlob(sfm "test*.cpp" "" "gtsam") From 8d272f4294976f1b2f2bb3f68712b98f84a33f04 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 26 Nov 2014 08:33:06 -0500 Subject: [PATCH 002/964] smart directory --- gtsam/CMakeLists.txt | 1 + gtsam/smart/CMakeLists.txt | 6 ++++++ gtsam/smart/tests/CMakeLists.txt | 1 + 3 files changed, 8 insertions(+) create mode 100644 gtsam/smart/CMakeLists.txt create mode 100644 gtsam/smart/tests/CMakeLists.txt diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index cd1f2c521..90241faa0 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -12,6 +12,7 @@ set (gtsam_subdirs sam sfm slam + smart navigation ) diff --git a/gtsam/smart/CMakeLists.txt b/gtsam/smart/CMakeLists.txt new file mode 100644 index 000000000..53c18fe96 --- /dev/null +++ b/gtsam/smart/CMakeLists.txt @@ -0,0 +1,6 @@ +# Install headers +file(GLOB smart_headers "*.h") +install(FILES ${smart_headers} DESTINATION include/gtsam/smart) + +# Build tests +add_subdirectory(tests) diff --git a/gtsam/smart/tests/CMakeLists.txt b/gtsam/smart/tests/CMakeLists.txt new file mode 100644 index 000000000..caa3164fa --- /dev/null +++ b/gtsam/smart/tests/CMakeLists.txt @@ -0,0 +1 @@ +gtsamAddTestsGlob(smart "test*.cpp" "" "gtsam") From a4aa7b9f45cc2dae6f74016b03344bbeaa00972c Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 16:07:32 +0100 Subject: [PATCH 003/964] Some comments --- gtsam/inference/EliminateableFactorGraph.h | 3 ++- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 4 ++++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h index 5fb5fbdb1..f5431db3d 100644 --- a/gtsam/inference/EliminateableFactorGraph.h +++ b/gtsam/inference/EliminateableFactorGraph.h @@ -128,7 +128,8 @@ namespace gtsam { OptionalOrderingType orderingType = boost::none) const; /** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not - * provided, the ordering provided by COLAMD will be used. + * provided, the ordering will be computed using either COLAMD or METIS, dependeing on + * the parameter orderingType (Ordering::COLAMD or Ordering::METIS) * * Example - Full Cholesky elimination in COLAMD order: * \code diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 473caa35e..1c781f173 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -242,8 +242,10 @@ void LevenbergMarquardtOptimizer::iterate() { bool systemSolvedSuccessfully; try { + // ============ Solve is where most computation happens !! ================= delta = solve(dampedSystem, state_.values, params_); systemSolvedSuccessfully = true; + // ========================================================================= } catch (IndeterminantLinearSystemException) { systemSolvedSuccessfully = false; } @@ -267,7 +269,9 @@ void LevenbergMarquardtOptimizer::iterate() { if (linearizedCostChange >= 0) { // step is valid // update values gttic(retract); + // ============ This is where the solution is updated ==================== newValues = state_.values.retract(delta); + // ======================================================================= gttoc(retract); // compute new error From d86ac21b0e9f3f58189f7ed51bd2b235e44e42ee Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 16:54:43 +0100 Subject: [PATCH 004/964] add testOrdering target --- .cproject | 3322 ++++++++++++++++++++++++++--------------------------- 1 file changed, 1659 insertions(+), 1663 deletions(-) diff --git a/.cproject b/.cproject index 756116cfb..b77415840 100644 --- a/.cproject +++ b/.cproject @@ -1,7 +1,5 @@ - - - + @@ -486,26 +484,265 @@ - + make -j5 - SmartProjectionFactorExample_kitti_nonbatch.run + testCombinedImuFactor.run true true true - + make -j5 - SmartProjectionFactorExample_kitti.run + testImuFactor.run true true true - + make -j5 - SmartProjectionFactorTesting.run + testAHRSFactor.run + true + true + true + + + make + -j8 + testAttitudeFactor.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + testNonlinearConstraint.run + true + true + true + + + make + -j2 + testLieConfig.run + true + true + true + + + make + -j2 + testConstraintOptimizer.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j4 + testImuFactor.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testBTree.run + true + true + true + + + make + -j2 + testDSF.run + true + true + true + + + make + -j2 + testDSFVector.run + true + true + true + + + make + -j2 + testMatrix.run + true + true + true + + + make + -j2 + testSPQRUtil.run + true + true + true + + + make + -j2 + testVector.run + true + true + true + + + make + -j2 + timeMatrix.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + wrap + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + all + true + true + true + + + cmake + .. + true + false + true + + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testLieConfig.run true true true @@ -534,6 +771,70 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + all + true + false + true + + + make + -j5 + check + true + false + true + + + make + -j5 + SmartProjectionFactorExample_kitti_nonbatch.run + true + true + true + + + make + -j5 + SmartProjectionFactorExample_kitti.run + true + true + true + + + make + -j5 + SmartProjectionFactorTesting.run + true + true + true + make -j2 @@ -558,7 +859,159 @@ true true - + + make + -j5 + testCal3Bundler.run + true + true + true + + + make + -j5 + testCal3DS2.run + true + true + true + + + make + -j5 + testCalibratedCamera.run + true + true + true + + + make + -j5 + testEssentialMatrix.run + true + true + true + + + make + -j1 VERBOSE=1 + testHomography2.run + true + false + true + + + make + -j5 + testPinholeCamera.run + true + true + true + + + make + -j5 + testPoint2.run + true + true + true + + + make + -j5 + testPoint3.run + true + true + true + + + make + -j5 + testPose2.run + true + true + true + + + make + -j5 + testPose3.run + true + true + true + + + make + -j5 + testRot3M.run + true + true + true + + + make + -j5 + testSphere2.run + true + true + true + + + make + -j5 + testStereoCamera.run + true + true + true + + + make + -j5 + testCal3Unified.run + true + true + true + + + make + -j5 + testRot2.run + true + true + true + + + make + -j5 + testRot3Q.run + true + true + true + + + make + -j5 + testRot3.run + true + true + true + + + make + -j4 + testSO3.run + true + true + true + + + make + -j4 + testQuaternion.run + true + true + true + + make -j2 all @@ -566,7 +1019,7 @@ true true - + make -j2 clean @@ -574,143 +1027,23 @@ true true - - make - -k - check - true - false - true - - - make - - tests/testBayesTree.run - true - false - true - - - make - - testBinaryBayesNet.run - true - false - true - - + make -j2 - testFactorGraph.run + clean all true true true - + make -j2 - testISAM.run + install true true true - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - testKey.run - true - true - true - - - make - -j2 - testOrdering.run - true - true - true - - - make - - testSymbolicBayesNet.run - true - false - true - - - make - - tests/testSymbolicFactor.run - true - false - true - - - make - - testSymbolicFactorGraph.run - true - false - true - - - make - -j2 - timeSymbolMaps.run - true - true - true - - - make - - tests/testBayesTree - true - false - true - - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - + make -j2 clean @@ -862,154 +1195,146 @@ true true - + make - -j5 - testGaussianFactorGraphUnordered.run + -j2 + all true true true - + make - -j5 - testGaussianBayesNetUnordered.run + -j2 + check true true true - + make - -j5 - testGaussianConditional.run - true - true - true - - - make - -j5 - testGaussianDensity.run - true - true - true - - - make - -j5 - testGaussianJunctionTree.run - true - true - true - - - make - -j5 - testHessianFactor.run - true - true - true - - - make - -j5 - testJacobianFactor.run - true - true - true - - - make - -j5 - testKalmanFilter.run - true - true - true - - - make - -j5 - testNoiseModel.run - true - true - true - - - make - -j5 - testSampler.run - true - true - true - - - make - -j5 - testSerializationLinear.run - true - true - true - - - make - -j5 - testVectorValues.run - true - true - true - - - make - -j5 - testGaussianBayesTree.run - true - true - true - - - make - -j5 - testCombinedImuFactor.run - true - true - true - - - make - -j5 - testImuFactor.run - true - true - true - - - make - -j5 - testAHRSFactor.run - true - true - true - - - make - -j8 - testAttitudeFactor.run - true - true - true - - - make - -j5 + -j2 clean true true true - + make - -j5 - all + -j2 + testPlanarSLAM.run + true + true + true + + + make + -j2 + testPose2Config.run + true + true + true + + + make + -j2 + testPose2Factor.run + true + true + true + + + make + -j2 + testPose2Prior.run + true + true + true + + + make + -j2 + testPose2SLAM.run + true + true + true + + + make + -j2 + testPose3Config.run + true + true + true + + + make + -j2 + testPose3SLAM.run + true + true + true + + + make + + testSimulated2DOriented.run + true + false + true + + + make + -j2 + testVSLAMConfig.run + true + true + true + + + make + -j2 + testVSLAMFactor.run + true + true + true + + + make + -j2 + testVSLAMGraph.run + true + true + true + + + make + -j2 + testPose3Factor.run + true + true + true + + + make + + testSimulated2D.run + true + false + true + + + make + + testSimulated3D.run + true + false + true + + + make + -j2 + tests/testGaussianISAM2 true true true @@ -1104,477 +1429,95 @@ make - testErrors.run true false true - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testGaussianJunctionTree.run - true - true - true - - - make - -j2 - tests/testGaussianFactor.run - true - true - true - - - make - -j2 - tests/testGaussianConditional.run - true - true - true - - - make - -j2 - tests/timeSLAMlike.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testBTree.run - true - true - true - - - make - -j2 - testDSF.run - true - true - true - - - make - -j2 - testDSFVector.run - true - true - true - - - make - -j2 - testMatrix.run - true - true - true - - - make - -j2 - testSPQRUtil.run - true - true - true - - - make - -j2 - testVector.run - true - true - true - - - make - -j2 - timeMatrix.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testClusterTree.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - tests/testEliminationTree.run - true - true - true - - - make - -j2 - tests/testSymbolicFactor.run - true - true - true - - - make - -j2 - tests/testVariableSlots.run - true - true - true - - - make - -j2 - tests/testConditional.run - true - true - true - - - make - -j2 - tests/testSymbolicFactorGraph.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testNonlinearConstraint.run - true - true - true - - - make - -j2 - testLieConfig.run - true - true - true - - - make - -j2 - testConstraintOptimizer.run - true - true - true - - - make - -j2 - check - true - true - true - - + make -j5 - testBTree.run + testAntiFactor.run true true true - + make -j5 - testDSF.run + testPriorFactor.run true true true - + make -j5 - testDSFMap.run + testDataset.run true true true - + make -j5 - testDSFVector.run + testEssentialMatrixFactor.run true true true - + make -j5 - testFixedVector.run + testGeneralSFMFactor_Cal3Bundler.run true true true - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testPlanarSLAM.run - true - true - true - - - make - -j2 - testPose2Config.run - true - true - true - - - make - -j2 - testPose2Factor.run - true - true - true - - - make - -j2 - testPose2Prior.run - true - true - true - - - make - -j2 - testPose2SLAM.run - true - true - true - - - make - -j2 - testPose3Config.run - true - true - true - - - make - -j2 - testPose3SLAM.run - true - true - true - - - make - testSimulated2DOriented.run - true - false - true - - - make - -j2 - testVSLAMConfig.run - true - true - true - - - make - -j2 - testVSLAMFactor.run - true - true - true - - - make - -j2 - testVSLAMGraph.run - true - true - true - - - make - -j2 - testPose3Factor.run - true - true - true - - - make - testSimulated2D.run - true - false - true - - - make - testSimulated3D.run - true - false - true - - - make - -j2 - tests/testGaussianISAM2 - true - true - true - - + make -j5 - testEliminationTree.run + testGeneralSFMFactor.run true true true - + make -j5 - testInference.run + testProjectionFactor.run true true true - + make -j5 - testKey.run + testRotateFactor.run true true true - + make - -j1 - testSymbolicBayesTree.run + -j5 + testPoseRotationPrior.run true - false + true true - + make - -j1 - testSymbolicSequentialSolver.run + -j5 + testImplicitSchurFactor.run true - false + true true - + make -j4 - testLabeledSymbol.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testLieConfig.run + testRangeFactor.run true true true @@ -1780,7 +1723,6 @@ cpack - -G DEB true false @@ -1788,7 +1730,6 @@ cpack - -G RPM true false @@ -1796,7 +1737,6 @@ cpack - -G TGZ true false @@ -1804,7 +1744,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -1986,7 +1925,7 @@ false true - + make -j2 check @@ -1994,38 +1933,55 @@ true true - + make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - - - cmake - .. + + tests/testGaussianISAM2 true false true - + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testGaussianJunctionTree.run + true + true + true + + + make + -j2 + tests/testGaussianFactor.run + true + true + true + + + make + -j2 + tests/testGaussianConditional.run + true + true + true + + + make + -j2 + tests/timeSLAMlike.run + true + true + true + + make -j2 testGaussianFactor.run @@ -2033,418 +1989,26 @@ true true - + make -j5 - testCal3Bundler.run + testParticleFactor.run true true true - + make -j5 - testCal3DS2.run + testExpressionMeta.run true true true - - make - -j5 - testCalibratedCamera.run - true - true - true - - - make - -j5 - testEssentialMatrix.run - true - true - true - - - make - -j1 VERBOSE=1 - testHomography2.run - true - false - true - - - make - -j5 - testPinholeCamera.run - true - true - true - - - make - -j5 - testPoint2.run - true - true - true - - - make - -j5 - testPoint3.run - true - true - true - - - make - -j5 - testPose2.run - true - true - true - - - make - -j5 - testPose3.run - true - true - true - - - make - -j5 - testRot3M.run - true - true - true - - - make - -j5 - testSphere2.run - true - true - true - - - make - -j5 - testStereoCamera.run - true - true - true - - - make - -j5 - testCal3Unified.run - true - true - true - - - make - -j5 - testRot2.run - true - true - true - - - make - -j5 - testRot3Q.run - true - true - true - - - make - -j5 - testRot3.run - true - true - true - - + make -j4 - testSO3.run - true - true - true - - - make - -j4 - testQuaternion.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - all - true - false - true - - - make - -j5 - check - true - false - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - clean all - true - true - true - - - make - -j5 - testIMUSystem.run - true - true - true - - - make - -j5 - testPoseRTV.run - true - true - true - - - make - -j5 - testVelocityConstraint.run - true - true - true - - - make - -j5 - testVelocityConstraint3.run - true - true - true - - - make - -j1 - testDiscreteBayesTree.run - true - false - true - - - make - -j5 - testDiscreteConditional.run - true - true - true - - - make - -j5 - testDiscreteFactor.run - true - true - true - - - make - -j5 - testDiscreteFactorGraph.run - true - true - true - - - make - -j5 - testDiscreteMarginals.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - timeCalibratedCamera.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - testMethod.run - true - true - true - - - make - -j5 - testClass.run - true - true - true - - - make - -j4 - testType.run - true - true - true - - - make - -j4 - testArgument.run - true - true - true - - - make - -j4 - testReturnValue.run - true - true - true - - - make - -j4 - testTemplate.run - true - true - true - - - make - -j4 - testGlobalFunction.run + testCustomChartExpression.run true true true @@ -2497,327 +2061,145 @@ true true - + make -j2 - vSFMexample.run + all true true true - + make -j2 - testVSLAMGraph - true - true - true - - - make - -j5 - testMatrix.run - true - true - true - - - make - -j5 - testVector.run - true - true - true - - - make - -j5 - testNumericalDerivative.run - true - true - true - - - make - -j5 - testVerticalBlockMatrix.run - true - true - true - - - make - -j4 - testOptionalJacobian.run - true - true - true - - - make - -j5 - check.tests - true - true - true - - - make - -j2 - timeGaussianFactorGraph.run - true - true - true - - - make - -j5 - testMarginals.run - true - true - true - - - make - -j5 - testGaussianISAM2.run - true - true - true - - - make - -j5 - testSymbolicFactorGraphB.run - true - true - true - - - make - -j2 - timeSequentialOnDataset.run - true - true - true - - - make - -j5 - testGradientDescentOptimizer.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - testNonlinearOptimizer.run - true - true - true - - - make - -j2 - testGaussianBayesNet.run - true - true - true - - - make - -j2 - testNonlinearISAM.run - true - true - true - - - make - -j2 - testNonlinearEquality.run - true - true - true - - - make - -j2 - testExtendedKalmanFilter.run - true - true - true - - - make - -j5 - timing.tests - true - true - true - - - make - -j5 - testNonlinearFactor.run - true - true - true - - - make - -j5 clean true true true - + make - -j5 - testGaussianJunctionTreeB.run - true - true - true - - - make - - testGraph.run + -k + check true false true - + make - + tests/testBayesTree.run + true + false + true + + + make + testBinaryBayesNet.run + true + false + true + + + make + -j2 + testFactorGraph.run + true + true + true + + + make + -j2 + testISAM.run + true + true + true + + + make + -j2 testJunctionTree.run true - false + true true - + make - - testSymbolicBayesNetB.run + -j2 + testKey.run + true + true + true + + + make + -j2 + testOrdering.run + true + true + true + + + make + testSymbolicBayesNet.run true false true - + make - -j5 - testGaussianISAM.run + tests/testSymbolicFactor.run true - true + false true - + make - -j5 - testDoglegOptimizer.run + testSymbolicFactorGraph.run true - true + false true - - make - -j5 - testNonlinearFactorGraph.run - true - true - true - - - make - -j5 - testIterative.run - true - true - true - - - make - -j5 - testSubgraphSolver.run - true - true - true - - - make - -j5 - testGaussianFactorGraphB.run - true - true - true - - - make - -j5 - testSummarization.run - true - true - true - - - make - -j5 - testManifold.run - true - true - true - - - make - -j5 - testParticleFactor.run - true - true - true - - - make - -j5 - testExpressionMeta.run - true - true - true - - - make - -j4 - testCustomChartExpression.run - true - true - true - - + make -j2 - testGaussianFactor.run + timeSymbolMaps.run true true true - + + make + tests/testBayesTree + true + false + true + + make -j2 - install + check true true true - + + make + -j2 + timeCalibratedCamera.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + make -j2 clean @@ -2825,122 +2207,18 @@ true true - + make -j2 - all + tests/testPose2.run true true true - + make -j2 - clean - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testAntiFactor.run - true - true - true - - - make - -j5 - testPriorFactor.run - true - true - true - - - make - -j5 - testDataset.run - true - true - true - - - make - -j5 - testEssentialMatrixFactor.run - true - true - true - - - make - -j5 - testGeneralSFMFactor_Cal3Bundler.run - true - true - true - - - make - -j5 - testGeneralSFMFactor.run - true - true - true - - - make - -j5 - testProjectionFactor.run - true - true - true - - - make - -j5 - testRotateFactor.run - true - true - true - - - make - -j5 - testPoseRotationPrior.run - true - true - true - - - make - -j5 - testImplicitSchurFactor.run - true - true - true - - - make - -j4 - testRangeFactor.run + tests/testPose3.run true true true @@ -3137,181 +2415,6 @@ true true - - make - -j5 - testLago.run - true - true - true - - - make - -j5 - testLinearContainerFactor.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testWhiteNoiseFactor.run - true - true - true - - - make - -j4 - testExpression.run - true - true - true - - - make - -j4 - testAdaptAutoDiff.run - true - true - true - - - make - -j4 - testCallRecord.run - true - true - true - - - make - -j4 - testExpressionFactor.run - true - true - true - - - make - -j4 - testImuFactor.run - true - true - true - - - make - -j5 - timeCalibratedCamera.run - true - true - true - - - make - -j5 - timePinholeCamera.run - true - true - true - - - make - -j5 - timeStereoCamera.run - true - true - true - - - make - -j5 - timeLago.run - true - true - true - - - make - -j5 - timePose3.run - true - true - true - - - make - -j4 - timeAdaptAutoDiff.run - true - true - true - - - make - -j4 - timeCameraExpression.run - true - true - true - - - make - -j4 - timeOneCameraExpression.run - true - true - true - - - make - -j4 - timeSFMExpressions.run - true - true - true - - - make - -j4 - timeIncremental.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - tests/testGaussianISAM2 - true - false - true - make -j2 @@ -3408,10 +2511,903 @@ true true - + + make + -j1 + testDiscreteBayesTree.run + true + false + true + + make -j5 - wrap + testDiscreteConditional.run + true + true + true + + + make + -j5 + testDiscreteFactor.run + true + true + true + + + make + -j5 + testDiscreteFactorGraph.run + true + true + true + + + make + -j5 + testDiscreteMarginals.run + true + true + true + + + make + -j5 + testEliminationTree.run + true + true + true + + + make + -j5 + testInference.run + true + true + true + + + make + -j5 + testKey.run + true + true + true + + + make + -j1 + testSymbolicBayesTree.run + true + false + true + + + make + -j1 + testSymbolicSequentialSolver.run + true + false + true + + + make + -j4 + testLabeledSymbol.run + true + true + true + + + make + -j4 + testOrdering.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testClusterTree.run + true + true + true + + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + tests/testEliminationTree.run + true + true + true + + + make + -j2 + tests/testSymbolicFactor.run + true + true + true + + + make + -j2 + tests/testVariableSlots.run + true + true + true + + + make + -j2 + tests/testConditional.run + true + true + true + + + make + -j2 + tests/testSymbolicFactorGraph.run + true + true + true + + + make + -j5 + testLago.run + true + true + true + + + make + -j5 + testLinearContainerFactor.run + true + true + true + + + make + -j5 + testOrdering.run + true + true + true + + + make + -j5 + testValues.run + true + true + true + + + make + -j5 + testWhiteNoiseFactor.run + true + true + true + + + make + -j4 + testExpression.run + true + true + true + + + make + -j4 + testAdaptAutoDiff.run + true + true + true + + + make + -j4 + testCallRecord.run + true + true + true + + + make + -j4 + testExpressionFactor.run + true + true + true + + + make + -j5 + testIMUSystem.run + true + true + true + + + make + -j5 + testPoseRTV.run + true + true + true + + + make + -j5 + testVelocityConstraint.run + true + true + true + + + make + -j5 + testVelocityConstraint3.run + true + true + true + + + make + -j5 + timeCalibratedCamera.run + true + true + true + + + make + -j5 + timePinholeCamera.run + true + true + true + + + make + -j5 + timeStereoCamera.run + true + true + true + + + make + -j5 + timeLago.run + true + true + true + + + make + -j5 + timePose3.run + true + true + true + + + make + -j4 + timeAdaptAutoDiff.run + true + true + true + + + make + -j4 + timeCameraExpression.run + true + true + true + + + make + -j4 + timeOneCameraExpression.run + true + true + true + + + make + -j4 + timeSFMExpressions.run + true + true + true + + + make + -j4 + timeIncremental.run + true + true + true + + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFMap.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testGaussianFactorGraphUnordered.run + true + true + true + + + make + -j5 + testGaussianBayesNetUnordered.run + true + true + true + + + make + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testJacobianFactor.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testNoiseModel.run + true + true + true + + + make + -j5 + testSampler.run + true + true + true + + + make + -j5 + testSerializationLinear.run + true + true + true + + + make + -j5 + testVectorValues.run + true + true + true + + + make + -j5 + testGaussianBayesTree.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + testMethod.run + true + true + true + + + make + -j5 + testClass.run + true + true + true + + + make + -j4 + testType.run + true + true + true + + + make + -j4 + testArgument.run + true + true + true + + + make + -j4 + testReturnValue.run + true + true + true + + + make + -j4 + testTemplate.run + true + true + true + + + make + -j4 + testGlobalFunction.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testMatrix.run + true + true + true + + + make + -j5 + testVector.run + true + true + true + + + make + -j5 + testNumericalDerivative.run + true + true + true + + + make + -j5 + testVerticalBlockMatrix.run + true + true + true + + + make + -j4 + testOptionalJacobian.run + true + true + true + + + make + -j5 + check.tests + true + true + true + + + make + -j2 + timeGaussianFactorGraph.run + true + true + true + + + make + -j5 + testMarginals.run + true + true + true + + + make + -j5 + testGaussianISAM2.run + true + true + true + + + make + -j5 + testSymbolicFactorGraphB.run + true + true + true + + + make + -j2 + timeSequentialOnDataset.run + true + true + true + + + make + -j5 + testGradientDescentOptimizer.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + testNonlinearOptimizer.run + true + true + true + + + make + -j2 + testGaussianBayesNet.run + true + true + true + + + make + -j2 + testNonlinearISAM.run + true + true + true + + + make + -j2 + testNonlinearEquality.run + true + true + true + + + make + -j2 + testExtendedKalmanFilter.run + true + true + true + + + make + -j5 + timing.tests + true + true + true + + + make + -j5 + testNonlinearFactor.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + testGaussianJunctionTreeB.run + true + true + true + + + make + testGraph.run + true + false + true + + + make + testJunctionTree.run + true + false + true + + + make + testSymbolicBayesNetB.run + true + false + true + + + make + -j5 + testGaussianISAM.run + true + true + true + + + make + -j5 + testDoglegOptimizer.run + true + true + true + + + make + -j5 + testNonlinearFactorGraph.run + true + true + true + + + make + -j5 + testIterative.run + true + true + true + + + make + -j5 + testSubgraphSolver.run + true + true + true + + + make + -j5 + testGaussianFactorGraphB.run + true + true + true + + + make + -j5 + testSummarization.run + true + true + true + + + make + -j5 + testManifold.run + true + true + true + + + make + -j2 + vSFMexample.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testVSLAMGraph true true true From 8d19f45825b8f4c3a322b1e84112f0131cc0910d Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 16:55:04 +0100 Subject: [PATCH 005/964] named constructor "Create" --- gtsam/inference/Ordering.h | 22 ++++++++++ gtsam/inference/tests/testOrdering.cpp | 59 +++++++++++++++++++------- 2 files changed, 66 insertions(+), 15 deletions(-) diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index e25590578..92f011c7d 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -170,6 +170,28 @@ namespace gtsam { /// @} + /// @name Named Constructors @{ + + template + static Ordering Create(OrderingType orderingType, + const FactorGraph& graph) { + + switch (orderingType) { + case COLAMD: + return colamd(graph); + case METIS: + return metis(graph); + case CUSTOM: + throw std::runtime_error( + "Ordering::Create error: called with CUSTOM ordering type."); + default: + throw std::runtime_error( + "Ordering::Create error: called with unknown ordering type."); + } + } + + /// @} + /// @name Testable @{ GTSAM_EXPORT void print(const std::string& str = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index 013f569e0..85b585503 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -28,16 +28,22 @@ using namespace std; using namespace gtsam; using namespace boost::assign; +namespace example { +SymbolicFactorGraph symbolicChain() { + SymbolicFactorGraph sfg; + sfg.push_factor(0, 1); + sfg.push_factor(1, 2); + sfg.push_factor(2, 3); + sfg.push_factor(3, 4); + sfg.push_factor(4, 5); + return sfg; +} +} /* ************************************************************************* */ TEST(Ordering, constrained_ordering) { - SymbolicFactorGraph sfg; // create graph with wanted variable set = 2, 4 - sfg.push_factor(0,1); - sfg.push_factor(1,2); - sfg.push_factor(2,3); - sfg.push_factor(3,4); - sfg.push_factor(4,5); + SymbolicFactorGraph sfg = example::symbolicChain(); // unconstrained version Ordering actUnconstrained = Ordering::colamd(sfg); @@ -57,16 +63,11 @@ TEST(Ordering, constrained_ordering) { /* ************************************************************************* */ TEST(Ordering, grouped_constrained_ordering) { - SymbolicFactorGraph sfg; // create graph with constrained groups: // 1: 2, 4 // 2: 5 - sfg.push_factor(0,1); - sfg.push_factor(1,2); - sfg.push_factor(2,3); - sfg.push_factor(3,4); - sfg.push_factor(4,5); + SymbolicFactorGraph sfg = example::symbolicChain(); // constrained version - push one set to the end FastMap constraints; @@ -140,7 +141,6 @@ TEST(Ordering, csr_format_2) { EXPECT(xadjExpected == mi.xadj()); EXPECT(adjExpected.size() == mi.adj().size()); EXPECT(adjExpected == mi.adj()); - } /* ************************************************************************* */ @@ -170,7 +170,6 @@ TEST(Ordering, csr_format_3) { EXPECT(xadjExpected == mi.xadj()); EXPECT(adjExpected.size() == mi.adj().size()); EXPECT(adjExpected == adjAcutal); - } /* ************************************************************************* */ @@ -207,7 +206,6 @@ TEST(Ordering, csr_format_4) { sfg.push_factor(Symbol('x', 4), Symbol('l', 1)); Ordering metOrder2 = Ordering::metis(sfg); - } /* ************************************************************************* */ @@ -231,6 +229,37 @@ TEST(Ordering, metis) { Ordering metis = Ordering::metis(sfg); } + +/* ************************************************************************* */ +TEST(Ordering, Create) { + + // create graph with wanted variable set = 2, 4 + SymbolicFactorGraph sfg = example::symbolicChain(); + + // COLAMD + { + Ordering actual = Ordering::Create(Ordering::COLAMD,sfg); + Ordering expected = Ordering(list_of(0)(1)(2)(3)(4)(5)); + EXPECT(assert_equal(expected, actual)); + } + + // METIS + { + Ordering actual = Ordering::Create(Ordering::METIS,sfg); + // 2 + // 0 + // 1 + // 4 + // 3 + // 5 + Ordering expected = Ordering(list_of(5)(3)(4)(1)(0)(2)); + EXPECT(assert_equal(expected, actual)); + } + + // CUSTOM + CHECK_EXCEPTION(Ordering::Create(Ordering::CUSTOM,sfg),runtime_error); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 674794d387108f4b5ce94ff88f285d17e08d0ff7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 16:59:36 +0100 Subject: [PATCH 006/964] Added test of metis for a loop --- gtsam/inference/tests/testOrdering.cpp | 24 +++++++++++++++++++++++- 1 file changed, 23 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index 85b585503..ee8751f47 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -230,10 +230,32 @@ TEST(Ordering, metis) { Ordering metis = Ordering::metis(sfg); } +/* ************************************************************************* */ +TEST(Ordering, MetisLoop) { + + // create linear graph + SymbolicFactorGraph sfg = example::symbolicChain(); + + // add loop closure + sfg.push_factor(0,5); + + // METIS + { + Ordering actual = Ordering::Create(Ordering::METIS,sfg); + // 0,3 + // 1 + // 2 + // 4 + // 5 + Ordering expected = Ordering(list_of(5)(4)(2)(1)(0)(3)); + EXPECT(assert_equal(expected, actual)); + } +} + /* ************************************************************************* */ TEST(Ordering, Create) { - // create graph with wanted variable set = 2, 4 + // create chain graph SymbolicFactorGraph sfg = example::symbolicChain(); // COLAMD From 56456a2396fe0c059a8a6fa7bb42c6743e5dc9a2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 17:16:38 +0100 Subject: [PATCH 007/964] Formatting to default BORG format --- gtsam/inference/Ordering.cpp | 424 ++++++++++++------------- gtsam/inference/Ordering.h | 382 +++++++++++----------- gtsam/inference/tests/testOrdering.cpp | 118 +++---- 3 files changed, 469 insertions(+), 455 deletions(-) diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp index 5ae25d543..0882b87d1 100644 --- a/gtsam/inference/Ordering.cpp +++ b/gtsam/inference/Ordering.cpp @@ -29,242 +29,236 @@ using namespace std; namespace gtsam { - /* ************************************************************************* */ - FastMap Ordering::invert() const - { - FastMap inverted; - for(size_t pos = 0; pos < this->size(); ++pos) - inverted.insert(make_pair((*this)[pos], pos)); - return inverted; +/* ************************************************************************* */ +FastMap Ordering::invert() const { + FastMap inverted; + for (size_t pos = 0; pos < this->size(); ++pos) + inverted.insert(make_pair((*this)[pos], pos)); + return inverted; +} + +/* ************************************************************************* */ +Ordering Ordering::colamd(const VariableIndex& variableIndex) { + // Call constrained version with all groups set to zero + vector dummy_groups(variableIndex.size(), 0); + return Ordering::colamdConstrained(variableIndex, dummy_groups); +} + +/* ************************************************************************* */ +Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex, + std::vector& cmember) { + gttic(Ordering_COLAMDConstrained); + + gttic(Prepare); + size_t nEntries = variableIndex.nEntries(), nFactors = + variableIndex.nFactors(), nVars = variableIndex.size(); + // Convert to compressed column major format colamd wants it in (== MATLAB format!) + size_t Alen = ccolamd_recommended((int) nEntries, (int) nFactors, + (int) nVars); /* colamd arg 3: size of the array A */ + vector A = vector(Alen); /* colamd arg 4: row indices of A, of size Alen */ + vector p = vector(nVars + 1); /* colamd arg 5: column pointers of A, of size n_col+1 */ + + // Fill in input data for COLAMD + p[0] = 0; + int count = 0; + vector keys(nVars); // Array to store the keys in the order we add them so we can retrieve them in permuted order + size_t index = 0; + BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) { + // Arrange factor indices into COLAMD format + const VariableIndex::Factors& column = key_factors.second; + size_t lastFactorId = numeric_limits::max(); + BOOST_FOREACH(size_t factorIndex, column) { + if (lastFactorId != numeric_limits::max()) + assert(factorIndex > lastFactorId); + A[count++] = (int) factorIndex; // copy sparse column + } + p[index + 1] = count; // column j (base 1) goes from A[j-1] to A[j]-1 + // Store key in array and increment index + keys[index] = key_factors.first; + ++index; } - /* ************************************************************************* */ - Ordering Ordering::colamd(const VariableIndex& variableIndex) - { - // Call constrained version with all groups set to zero - vector dummy_groups(variableIndex.size(), 0); - return Ordering::colamdConstrained(variableIndex, dummy_groups); + assert((size_t)count == variableIndex.nEntries()); + + //double* knobs = NULL; /* colamd arg 6: parameters (uses defaults if NULL) */ + double knobs[CCOLAMD_KNOBS]; + ccolamd_set_defaults(knobs); + knobs[CCOLAMD_DENSE_ROW] = -1; + knobs[CCOLAMD_DENSE_COL] = -1; + + int stats[CCOLAMD_STATS]; /* colamd arg 7: colamd output statistics and error codes */ + + gttoc(Prepare); + + // call colamd, result will be in p + /* returns (1) if successful, (0) otherwise*/ + if (nVars > 0) { + gttic(ccolamd); + int rv = ccolamd((int) nFactors, (int) nVars, (int) Alen, &A[0], &p[0], + knobs, stats, &cmember[0]); + if (rv != 1) + throw runtime_error( + (boost::format("ccolamd failed with return value %1%") % rv).str()); } - /* ************************************************************************* */ - Ordering Ordering::colamdConstrained( - const VariableIndex& variableIndex, std::vector& cmember) - { - gttic(Ordering_COLAMDConstrained); + // ccolamd_report(stats); - gttic(Prepare); - size_t nEntries = variableIndex.nEntries(), nFactors = variableIndex.nFactors(), nVars = variableIndex.size(); - // Convert to compressed column major format colamd wants it in (== MATLAB format!) - size_t Alen = ccolamd_recommended((int)nEntries, (int)nFactors, (int)nVars); /* colamd arg 3: size of the array A */ - vector A = vector(Alen); /* colamd arg 4: row indices of A, of size Alen */ - vector p = vector(nVars + 1); /* colamd arg 5: column pointers of A, of size n_col+1 */ + gttic(Fill_Ordering); + // Convert elimination ordering in p to an ordering + Ordering result; + result.resize(nVars); + for (size_t j = 0; j < nVars; ++j) + result[j] = keys[p[j]]; + gttoc(Fill_Ordering); - // Fill in input data for COLAMD - p[0] = 0; - int count = 0; - vector keys(nVars); // Array to store the keys in the order we add them so we can retrieve them in permuted order - size_t index = 0; - BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) { - // Arrange factor indices into COLAMD format - const VariableIndex::Factors& column = key_factors.second; - size_t lastFactorId = numeric_limits::max(); - BOOST_FOREACH(size_t factorIndex, column) { - if(lastFactorId != numeric_limits::max()) - assert(factorIndex > lastFactorId); - A[count++] = (int)factorIndex; // copy sparse column - } - p[index+1] = count; // column j (base 1) goes from A[j-1] to A[j]-1 - // Store key in array and increment index - keys[index] = key_factors.first; - ++ index; - } + return result; +} - assert((size_t)count == variableIndex.nEntries()); +/* ************************************************************************* */ +Ordering Ordering::colamdConstrainedLast(const VariableIndex& variableIndex, + const std::vector& constrainLast, bool forceOrder) { + gttic(Ordering_COLAMDConstrainedLast); - //double* knobs = NULL; /* colamd arg 6: parameters (uses defaults if NULL) */ - double knobs[CCOLAMD_KNOBS]; - ccolamd_set_defaults(knobs); - knobs[CCOLAMD_DENSE_ROW]=-1; - knobs[CCOLAMD_DENSE_COL]=-1; + size_t n = variableIndex.size(); + std::vector cmember(n, 0); - int stats[CCOLAMD_STATS]; /* colamd arg 7: colamd output statistics and error codes */ + // Build a mapping to look up sorted Key indices by Key + FastMap keyIndices; + size_t j = 0; + BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) + keyIndices.insert(keyIndices.end(), make_pair(key_factors.first, j++)); - gttoc(Prepare); + // If at least some variables are not constrained to be last, constrain the + // ones that should be constrained. + int group = (constrainLast.size() != n ? 1 : 0); + BOOST_FOREACH(Key key, constrainLast) { + cmember[keyIndices.at(key)] = group; + if (forceOrder) + ++group; + } - // call colamd, result will be in p - /* returns (1) if successful, (0) otherwise*/ - if(nVars > 0) { - gttic(ccolamd); - int rv = ccolamd((int)nFactors, (int)nVars, (int)Alen, &A[0], &p[0], knobs, stats, &cmember[0]); - if(rv != 1) - throw runtime_error((boost::format("ccolamd failed with return value %1%")%rv).str()); - } + return Ordering::colamdConstrained(variableIndex, cmember); +} - // ccolamd_report(stats); +/* ************************************************************************* */ +Ordering Ordering::colamdConstrainedFirst(const VariableIndex& variableIndex, + const std::vector& constrainFirst, bool forceOrder) { + gttic(Ordering_COLAMDConstrainedFirst); - gttic(Fill_Ordering); - // Convert elimination ordering in p to an ordering - Ordering result; - result.resize(nVars); - for(size_t j = 0; j < nVars; ++j) - result[j] = keys[p[j]]; - gttoc(Fill_Ordering); + const int none = -1; + size_t n = variableIndex.size(); + std::vector cmember(n, none); + // Build a mapping to look up sorted Key indices by Key + FastMap keyIndices; + size_t j = 0; + BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) + keyIndices.insert(keyIndices.end(), make_pair(key_factors.first, j++)); + + // If at least some variables are not constrained to be last, constrain the + // ones that should be constrained. + int group = 0; + BOOST_FOREACH(Key key, constrainFirst) { + cmember[keyIndices.at(key)] = group; + if (forceOrder) + ++group; + } + + if (!forceOrder && !constrainFirst.empty()) + ++group; + BOOST_FOREACH(int& c, cmember) + if (c == none) + c = group; + + return Ordering::colamdConstrained(variableIndex, cmember); +} + +/* ************************************************************************* */ +Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex, + const FastMap& groups) { + gttic(Ordering_COLAMDConstrained); + size_t n = variableIndex.size(); + std::vector cmember(n, 0); + + // Build a mapping to look up sorted Key indices by Key + FastMap keyIndices; + size_t j = 0; + BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) + keyIndices.insert(keyIndices.end(), make_pair(key_factors.first, j++)); + + // Assign groups + typedef FastMap::value_type key_group; + BOOST_FOREACH(const key_group& p, groups) { + // FIXME: check that no groups are skipped + cmember[keyIndices.at(p.first)] = p.second; + } + + return Ordering::colamdConstrained(variableIndex, cmember); +} + +/* ************************************************************************* */ +Ordering Ordering::metis(const MetisIndex& met) { + gttic(Ordering_METIS); + + vector xadj = met.xadj(); + vector adj = met.adj(); + vector perm, iperm; + + idx_t size = met.nValues(); + for (idx_t i = 0; i < size; i++) { + perm.push_back(0); + iperm.push_back(0); + } + + int outputError; + + outputError = METIS_NodeND(&size, &xadj[0], &adj[0], NULL, NULL, &perm[0], + &iperm[0]); + Ordering result; + + if (outputError != METIS_OK) { + std::cout << "METIS failed during Nested Dissection ordering!\n"; return result; } - /* ************************************************************************* */ - Ordering Ordering::colamdConstrainedLast( - const VariableIndex& variableIndex, const std::vector& constrainLast, bool forceOrder) - { - gttic(Ordering_COLAMDConstrainedLast); - - size_t n = variableIndex.size(); - std::vector cmember(n, 0); - - // Build a mapping to look up sorted Key indices by Key - FastMap keyIndices; - size_t j = 0; - BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) - keyIndices.insert(keyIndices.end(), make_pair(key_factors.first, j++)); - - // If at least some variables are not constrained to be last, constrain the - // ones that should be constrained. - int group = (constrainLast.size() != n ? 1 : 0); - BOOST_FOREACH(Key key, constrainLast) { - cmember[keyIndices.at(key)] = group; - if(forceOrder) - ++ group; - } - - return Ordering::colamdConstrained(variableIndex, cmember); + result.resize(size); + for (size_t j = 0; j < (size_t) size; ++j) { + // We have to add the minKey value back to obtain the original key in the Values + result[j] = met.intToKey(perm[j]); } + return result; +} - /* ************************************************************************* */ - Ordering Ordering::colamdConstrainedFirst( - const VariableIndex& variableIndex, const std::vector& constrainFirst, bool forceOrder) - { - gttic(Ordering_COLAMDConstrainedFirst); - - const int none = -1; - size_t n = variableIndex.size(); - std::vector cmember(n, none); - - // Build a mapping to look up sorted Key indices by Key - FastMap keyIndices; - size_t j = 0; - BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) - keyIndices.insert(keyIndices.end(), make_pair(key_factors.first, j++)); - - // If at least some variables are not constrained to be last, constrain the - // ones that should be constrained. - int group = 0; - BOOST_FOREACH(Key key, constrainFirst) { - cmember[keyIndices.at(key)] = group; - if(forceOrder) - ++ group; - } - - if(!forceOrder && !constrainFirst.empty()) - ++ group; - BOOST_FOREACH(int& c, cmember) - if(c == none) - c = group; - - return Ordering::colamdConstrained(variableIndex, cmember); - } - - /* ************************************************************************* */ - Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex, - const FastMap& groups) - { - gttic(Ordering_COLAMDConstrained); - size_t n = variableIndex.size(); - std::vector cmember(n, 0); - - // Build a mapping to look up sorted Key indices by Key - FastMap keyIndices; - size_t j = 0; - BOOST_FOREACH(const VariableIndex::value_type key_factors, variableIndex) - keyIndices.insert(keyIndices.end(), make_pair(key_factors.first, j++)); - - // Assign groups - typedef FastMap::value_type key_group; - BOOST_FOREACH(const key_group& p, groups) { - // FIXME: check that no groups are skipped - cmember[keyIndices.at(p.first)] = p.second; - } - - return Ordering::colamdConstrained(variableIndex, cmember); - } - - - /* ************************************************************************* */ - Ordering Ordering::metis(const MetisIndex& met) - { - gttic(Ordering_METIS); - - vector xadj = met.xadj(); - vector adj = met.adj(); - vector perm, iperm; - - idx_t size = met.nValues(); - for (idx_t i = 0; i < size; i++) - { - perm.push_back(0); - iperm.push_back(0); - } - - int outputError; - - outputError = METIS_NodeND(&size, &xadj[0], &adj[0], NULL, NULL, &perm[0], &iperm[0]); - Ordering result; - - if (outputError != METIS_OK) - { - std::cout << "METIS failed during Nested Dissection ordering!\n"; - return result; - } - - result.resize(size); - for (size_t j = 0; j < (size_t)size; ++j){ - // We have to add the minKey value back to obtain the original key in the Values - result[j] = met.intToKey(perm[j]); - } - return result; - } - - /* ************************************************************************* */ - void Ordering::print(const std::string& str, const KeyFormatter& keyFormatter) const - { - cout << str; - // Print ordering in index order - // Print the ordering with varsPerLine ordering entries printed on each line, - // for compactness. - static const size_t varsPerLine = 10; - bool endedOnNewline = false; - for(size_t i = 0; i < size(); ++i) { - if(i % varsPerLine == 0) - cout << "Position " << i << ": "; - if(i % varsPerLine != 0) - cout << ", "; - cout << keyFormatter(at(i)); - if(i % varsPerLine == varsPerLine - 1) { - cout << "\n"; - endedOnNewline = true; - } else { - endedOnNewline = false; - } - } - if(!endedOnNewline) +/* ************************************************************************* */ +void Ordering::print(const std::string& str, + const KeyFormatter& keyFormatter) const { + cout << str; + // Print ordering in index order + // Print the ordering with varsPerLine ordering entries printed on each line, + // for compactness. + static const size_t varsPerLine = 10; + bool endedOnNewline = false; + for (size_t i = 0; i < size(); ++i) { + if (i % varsPerLine == 0) + cout << "Position " << i << ": "; + if (i % varsPerLine != 0) + cout << ", "; + cout << keyFormatter(at(i)); + if (i % varsPerLine == varsPerLine - 1) { cout << "\n"; - cout.flush(); + endedOnNewline = true; + } else { + endedOnNewline = false; + } } + if (!endedOnNewline) + cout << "\n"; + cout.flush(); +} - /* ************************************************************************* */ - bool Ordering::equals(const Ordering& other, double tol) const - { - return (*this) == other; - } +/* ************************************************************************* */ +bool Ordering::equals(const Ordering& other, double tol) const { + return (*this) == other; +} } diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 92f011c7d..e4cc2c55d 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -30,192 +30,210 @@ namespace gtsam { - class Ordering : public std::vector { - protected: - typedef std::vector Base; +class Ordering: public std::vector { +protected: + typedef std::vector Base; - public: +public: - /// Type of ordering to use - enum OrderingType { - COLAMD, METIS, CUSTOM - }; - - typedef Ordering This; ///< Typedef to this class - typedef boost::shared_ptr shared_ptr; ///< shared_ptr to this class - - /// Create an empty ordering - GTSAM_EXPORT Ordering() {} - - /// Create from a container - template - explicit Ordering(const KEYS& keys) : Base(keys.begin(), keys.end()) {} - - /// Create an ordering using iterators over keys - template - Ordering(ITERATOR firstKey, ITERATOR lastKey) : Base(firstKey, lastKey) {} - - /// Add new variables to the ordering as ordering += key1, key2, ... Equivalent to calling - /// push_back. - boost::assign::list_inserter > - operator+=(Key key) { - return boost::assign::make_list_inserter(boost::assign_detail::call_push_back(*this))(key); - } - - /// Invert (not reverse) the ordering - returns a map from key to order position - FastMap invert() const; - - /// @name Fill-reducing Orderings @{ - - /// Compute a fill-reducing ordering using COLAMD from a factor graph (see details for note on - /// performance). This internally builds a VariableIndex so if you already have a VariableIndex, - /// it is faster to use COLAMD(const VariableIndex&) - template - static Ordering colamd(const FactorGraph& graph) { - return colamd(VariableIndex(graph)); } - - /// Compute a fill-reducing ordering using COLAMD from a VariableIndex. - static GTSAM_EXPORT Ordering colamd(const VariableIndex& variableIndex); - - /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details - /// for note on performance). This internally builds a VariableIndex so if you already have a - /// VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains - /// the variables in \c constrainLast to the end of the ordering, and orders all other variables - /// before in a fill-reducing ordering. If \c forceOrder is true, the variables in \c - /// constrainLast will be ordered in the same order specified in the vector \c - /// constrainLast. If \c forceOrder is false, the variables in \c constrainLast will be - /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. - template - static Ordering colamdConstrainedLast(const FactorGraph& graph, - const std::vector& constrainLast, bool forceOrder = false) { - return colamdConstrainedLast(VariableIndex(graph), constrainLast, forceOrder); } - - /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This - /// function constrains the variables in \c constrainLast to the end of the ordering, and orders - /// all other variables before in a fill-reducing ordering. If \c forceOrder is true, the - /// variables in \c constrainLast will be ordered in the same order specified in the vector - /// \c constrainLast. If \c forceOrder is false, the variables in \c constrainLast will be - /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. - static GTSAM_EXPORT Ordering colamdConstrainedLast(const VariableIndex& variableIndex, - const std::vector& constrainLast, bool forceOrder = false); - - /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details - /// for note on performance). This internally builds a VariableIndex so if you already have a - /// VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains - /// the variables in \c constrainLast to the end of the ordering, and orders all other variables - /// before in a fill-reducing ordering. If \c forceOrder is true, the variables in \c - /// constrainLast will be ordered in the same order specified in the vector \c - /// constrainLast. If \c forceOrder is false, the variables in \c constrainFirst will be - /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. - template - static Ordering colamdConstrainedFirst(const FactorGraph& graph, - const std::vector& constrainFirst, bool forceOrder = false) { - return colamdConstrainedFirst(VariableIndex(graph), constrainFirst, forceOrder); } - - /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This - /// function constrains the variables in \c constrainFirst to the front of the ordering, and - /// orders all other variables after in a fill-reducing ordering. If \c forceOrder is true, the - /// variables in \c constrainFirst will be ordered in the same order specified in the - /// vector \c constrainFirst. If \c forceOrder is false, the variables in \c - /// constrainFirst will be ordered after all the others, but will be rearranged by CCOLAMD to - /// reduce fill-in as well. - static GTSAM_EXPORT Ordering colamdConstrainedFirst(const VariableIndex& variableIndex, - const std::vector& constrainFirst, bool forceOrder = false); - - /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details - /// for note on performance). This internally builds a VariableIndex so if you already have a - /// VariableIndex, it is faster to use COLAMD(const VariableIndex&). In this function, a group - /// for each variable should be specified in \c groups, and each group of variables will appear - /// in the ordering in group index order. \c groups should be a map from Key to group index. - /// The group indices used should be consecutive starting at 0, but may appear in \c groups in - /// arbitrary order. Any variables not present in \c groups will be assigned to group 0. This - /// function simply fills the \c cmember argument to CCOLAMD with the supplied indices, see the - /// CCOLAMD documentation for more information. - template - static Ordering colamdConstrained(const FactorGraph& graph, - const FastMap& groups) { - return colamdConstrained(VariableIndex(graph), groups); } - - /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. In this - /// function, a group for each variable should be specified in \c groups, and each group of - /// variables will appear in the ordering in group index order. \c groups should be a map from - /// Key to group index. The group indices used should be consecutive starting at 0, but may - /// appear in \c groups in arbitrary order. Any variables not present in \c groups will be - /// assigned to group 0. This function simply fills the \c cmember argument to CCOLAMD with the - /// supplied indices, see the CCOLAMD documentation for more information. - static GTSAM_EXPORT Ordering colamdConstrained(const VariableIndex& variableIndex, - const FastMap& groups); - - /// Return a natural Ordering. Typically used by iterative solvers - template - static Ordering Natural(const FactorGraph &fg) { - FastSet src = fg.keys(); - std::vector keys(src.begin(), src.end()); - std::stable_sort(keys.begin(), keys.end()); - return Ordering(keys); - } - - /// METIS Formatting function - template - static GTSAM_EXPORT void CSRFormat(std::vector& xadj, std::vector& adj, const FactorGraph& graph); - - /// Compute an ordering determined by METIS from a VariableIndex - static GTSAM_EXPORT Ordering metis(const MetisIndex& met); - - template - static Ordering metis(const FactorGraph& graph) - { - return metis(MetisIndex(graph)); - } - - /// @} - - /// @name Named Constructors @{ - - template - static Ordering Create(OrderingType orderingType, - const FactorGraph& graph) { - - switch (orderingType) { - case COLAMD: - return colamd(graph); - case METIS: - return metis(graph); - case CUSTOM: - throw std::runtime_error( - "Ordering::Create error: called with CUSTOM ordering type."); - default: - throw std::runtime_error( - "Ordering::Create error: called with unknown ordering type."); - } - } - - /// @} - - /// @name Testable @{ - - GTSAM_EXPORT void print(const std::string& str = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; - - GTSAM_EXPORT bool equals(const Ordering& other, double tol = 1e-9) const; - - /// @} - - private: - /// Internal COLAMD function - static GTSAM_EXPORT Ordering colamdConstrained( - const VariableIndex& variableIndex, std::vector& cmember); - - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - } + /// Type of ordering to use + enum OrderingType { + COLAMD, METIS, CUSTOM }; - /// traits - template<> struct traits : public Testable {}; + typedef Ordering This; ///< Typedef to this class + typedef boost::shared_ptr shared_ptr; ///< shared_ptr to this class + + /// Create an empty ordering + GTSAM_EXPORT + Ordering() { + } + + /// Create from a container + template + explicit Ordering(const KEYS& keys) : + Base(keys.begin(), keys.end()) { + } + + /// Create an ordering using iterators over keys + template + Ordering(ITERATOR firstKey, ITERATOR lastKey) : + Base(firstKey, lastKey) { + } + + /// Add new variables to the ordering as ordering += key1, key2, ... Equivalent to calling + /// push_back. + boost::assign::list_inserter > operator+=( + Key key) { + return boost::assign::make_list_inserter( + boost::assign_detail::call_push_back(*this))(key); + } + + /// Invert (not reverse) the ordering - returns a map from key to order position + FastMap invert() const; + + /// @name Fill-reducing Orderings @{ + + /// Compute a fill-reducing ordering using COLAMD from a factor graph (see details for note on + /// performance). This internally builds a VariableIndex so if you already have a VariableIndex, + /// it is faster to use COLAMD(const VariableIndex&) + template + static Ordering colamd(const FactorGraph& graph) { + return colamd(VariableIndex(graph)); + } + + /// Compute a fill-reducing ordering using COLAMD from a VariableIndex. + static GTSAM_EXPORT Ordering colamd(const VariableIndex& variableIndex); + + /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details + /// for note on performance). This internally builds a VariableIndex so if you already have a + /// VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains + /// the variables in \c constrainLast to the end of the ordering, and orders all other variables + /// before in a fill-reducing ordering. If \c forceOrder is true, the variables in \c + /// constrainLast will be ordered in the same order specified in the vector \c + /// constrainLast. If \c forceOrder is false, the variables in \c constrainLast will be + /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. + template + static Ordering colamdConstrainedLast(const FactorGraph& graph, + const std::vector& constrainLast, bool forceOrder = false) { + return colamdConstrainedLast(VariableIndex(graph), constrainLast, + forceOrder); + } + + /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This + /// function constrains the variables in \c constrainLast to the end of the ordering, and orders + /// all other variables before in a fill-reducing ordering. If \c forceOrder is true, the + /// variables in \c constrainLast will be ordered in the same order specified in the vector + /// \c constrainLast. If \c forceOrder is false, the variables in \c constrainLast will be + /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. + static GTSAM_EXPORT Ordering colamdConstrainedLast( + const VariableIndex& variableIndex, const std::vector& constrainLast, + bool forceOrder = false); + + /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details + /// for note on performance). This internally builds a VariableIndex so if you already have a + /// VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains + /// the variables in \c constrainLast to the end of the ordering, and orders all other variables + /// before in a fill-reducing ordering. If \c forceOrder is true, the variables in \c + /// constrainLast will be ordered in the same order specified in the vector \c + /// constrainLast. If \c forceOrder is false, the variables in \c constrainFirst will be + /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. + template + static Ordering colamdConstrainedFirst(const FactorGraph& graph, + const std::vector& constrainFirst, bool forceOrder = false) { + return colamdConstrainedFirst(VariableIndex(graph), constrainFirst, + forceOrder); + } + + /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This + /// function constrains the variables in \c constrainFirst to the front of the ordering, and + /// orders all other variables after in a fill-reducing ordering. If \c forceOrder is true, the + /// variables in \c constrainFirst will be ordered in the same order specified in the + /// vector \c constrainFirst. If \c forceOrder is false, the variables in \c + /// constrainFirst will be ordered after all the others, but will be rearranged by CCOLAMD to + /// reduce fill-in as well. + static GTSAM_EXPORT Ordering colamdConstrainedFirst( + const VariableIndex& variableIndex, + const std::vector& constrainFirst, bool forceOrder = false); + + /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details + /// for note on performance). This internally builds a VariableIndex so if you already have a + /// VariableIndex, it is faster to use COLAMD(const VariableIndex&). In this function, a group + /// for each variable should be specified in \c groups, and each group of variables will appear + /// in the ordering in group index order. \c groups should be a map from Key to group index. + /// The group indices used should be consecutive starting at 0, but may appear in \c groups in + /// arbitrary order. Any variables not present in \c groups will be assigned to group 0. This + /// function simply fills the \c cmember argument to CCOLAMD with the supplied indices, see the + /// CCOLAMD documentation for more information. + template + static Ordering colamdConstrained(const FactorGraph& graph, + const FastMap& groups) { + return colamdConstrained(VariableIndex(graph), groups); + } + + /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. In this + /// function, a group for each variable should be specified in \c groups, and each group of + /// variables will appear in the ordering in group index order. \c groups should be a map from + /// Key to group index. The group indices used should be consecutive starting at 0, but may + /// appear in \c groups in arbitrary order. Any variables not present in \c groups will be + /// assigned to group 0. This function simply fills the \c cmember argument to CCOLAMD with the + /// supplied indices, see the CCOLAMD documentation for more information. + static GTSAM_EXPORT Ordering colamdConstrained( + const VariableIndex& variableIndex, const FastMap& groups); + + /// Return a natural Ordering. Typically used by iterative solvers + template + static Ordering Natural(const FactorGraph &fg) { + FastSet src = fg.keys(); + std::vector keys(src.begin(), src.end()); + std::stable_sort(keys.begin(), keys.end()); + return Ordering(keys); + } + + /// METIS Formatting function + template + static GTSAM_EXPORT void CSRFormat(std::vector& xadj, + std::vector& adj, const FactorGraph& graph); + + /// Compute an ordering determined by METIS from a VariableIndex + static GTSAM_EXPORT Ordering metis(const MetisIndex& met); + + template + static Ordering metis(const FactorGraph& graph) { + return metis(MetisIndex(graph)); + } + + /// @} + + /// @name Named Constructors @{ + + template + static Ordering Create(OrderingType orderingType, + const FactorGraph& graph) { + + switch (orderingType) { + case COLAMD: + return colamd(graph); + case METIS: + return metis(graph); + case CUSTOM: + throw std::runtime_error( + "Ordering::Create error: called with CUSTOM ordering type."); + default: + throw std::runtime_error( + "Ordering::Create error: called with unknown ordering type."); + } + } + + /// @} + + /// @name Testable @{ + + GTSAM_EXPORT + void print(const std::string& str = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const; + + GTSAM_EXPORT + bool equals(const Ordering& other, double tol = 1e-9) const; + + /// @} + +private: + /// Internal COLAMD function + static GTSAM_EXPORT Ordering colamdConstrained( + const VariableIndex& variableIndex, std::vector& cmember); + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + } +}; + +/// traits +template<> struct traits : public Testable { +}; } diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index ee8751f47..26efb65b2 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -56,7 +56,8 @@ TEST(Ordering, constrained_ordering) { EXPECT(assert_equal(expConstrained, actConstrained)); // constrained version - push one set to the start - Ordering actConstrained2 = Ordering::colamdConstrainedFirst(sfg, list_of(2)(4)); + Ordering actConstrained2 = Ordering::colamdConstrainedFirst(sfg, + list_of(2)(4)); Ordering expConstrained2 = Ordering(list_of(2)(4)(0)(1)(3)(5)); EXPECT(assert_equal(expConstrained2, actConstrained2)); } @@ -82,43 +83,41 @@ TEST(Ordering, grouped_constrained_ordering) { /* ************************************************************************* */ TEST(Ordering, csr_format) { - // Example in METIS manual - SymbolicFactorGraph sfg; - sfg.push_factor(0, 1); - sfg.push_factor(1, 2); - sfg.push_factor(2, 3); - sfg.push_factor(3, 4); - sfg.push_factor(5, 6); - sfg.push_factor(6, 7); - sfg.push_factor(7, 8); - sfg.push_factor(8, 9); - sfg.push_factor(10, 11); - sfg.push_factor(11, 12); - sfg.push_factor(12, 13); - sfg.push_factor(13, 14); + // Example in METIS manual + SymbolicFactorGraph sfg; + sfg.push_factor(0, 1); + sfg.push_factor(1, 2); + sfg.push_factor(2, 3); + sfg.push_factor(3, 4); + sfg.push_factor(5, 6); + sfg.push_factor(6, 7); + sfg.push_factor(7, 8); + sfg.push_factor(8, 9); + sfg.push_factor(10, 11); + sfg.push_factor(11, 12); + sfg.push_factor(12, 13); + sfg.push_factor(13, 14); - sfg.push_factor(0, 5); - sfg.push_factor(5, 10); - sfg.push_factor(1, 6); - sfg.push_factor(6, 11); - sfg.push_factor(2, 7); - sfg.push_factor(7, 12); - sfg.push_factor(3, 8); - sfg.push_factor(8, 13); - sfg.push_factor(4, 9); - sfg.push_factor(9, 14); + sfg.push_factor(0, 5); + sfg.push_factor(5, 10); + sfg.push_factor(1, 6); + sfg.push_factor(6, 11); + sfg.push_factor(2, 7); + sfg.push_factor(7, 12); + sfg.push_factor(3, 8); + sfg.push_factor(8, 13); + sfg.push_factor(4, 9); + sfg.push_factor(9, 14); - MetisIndex mi(sfg); + MetisIndex mi(sfg); - vector xadjExpected, adjExpected; - xadjExpected += 0, 2, 5, 8, 11, 13, 16, 20, 24, 28, 31, 33, 36, 39, 42, 44; - adjExpected += 1, 5, 0, 2, 6, 1, 3, 7, 2, 4, 8, 3, 9, 0, 6, 10, 1, 5, 7, 11, - 2, 6, 8, 12, 3, 7, 9, 13, 4, 8, 14, 5, 11, 6, 10, 12, 7, 11, - 13, 8, 12, 14, 9, 13 ; + vector xadjExpected, adjExpected; + xadjExpected += 0, 2, 5, 8, 11, 13, 16, 20, 24, 28, 31, 33, 36, 39, 42, 44; + adjExpected += 1, 5, 0, 2, 6, 1, 3, 7, 2, 4, 8, 3, 9, 0, 6, 10, 1, 5, 7, 11, 2, 6, 8, 12, 3, 7, 9, 13, 4, 8, 14, 5, 11, 6, 10, 12, 7, 11, 13, 8, 12, 14, 9, 13; - EXPECT(xadjExpected == mi.xadj()); - EXPECT(adjExpected.size() == mi.adj().size()); - EXPECT(adjExpected == mi.adj()); + EXPECT(xadjExpected == mi.xadj()); + EXPECT(adjExpected.size() == mi.adj().size()); + EXPECT(adjExpected == mi.adj()); } /* ************************************************************************* */ @@ -136,7 +135,7 @@ TEST(Ordering, csr_format_2) { vector xadjExpected, adjExpected; xadjExpected += 0, 1, 4, 6, 8, 10; - adjExpected += 1, 0, 2, 4, 1, 3, 2, 4, 1, 3; + adjExpected += 1, 0, 2, 4, 1, 3, 2, 4, 1, 3; EXPECT(xadjExpected == mi.xadj()); EXPECT(adjExpected.size() == mi.adj().size()); @@ -237,18 +236,18 @@ TEST(Ordering, MetisLoop) { SymbolicFactorGraph sfg = example::symbolicChain(); // add loop closure - sfg.push_factor(0,5); + sfg.push_factor(0, 5); // METIS { - Ordering actual = Ordering::Create(Ordering::METIS,sfg); - // 0,3 - // 1 - // 2 - // 4 - // 5 - Ordering expected = Ordering(list_of(5)(4)(2)(1)(0)(3)); - EXPECT(assert_equal(expected, actual)); + Ordering actual = Ordering::Create(Ordering::METIS, sfg); + // 0,3 + // 1,3 + // 2 + // 4,0 + // 5 + Ordering expected = Ordering(list_of(5)(4)(2)(1)(0)(3)); + EXPECT(assert_equal(expected, actual)); } } @@ -260,28 +259,31 @@ TEST(Ordering, Create) { // COLAMD { - Ordering actual = Ordering::Create(Ordering::COLAMD,sfg); - Ordering expected = Ordering(list_of(0)(1)(2)(3)(4)(5)); - EXPECT(assert_equal(expected, actual)); + Ordering actual = Ordering::Create(Ordering::COLAMD, sfg); + Ordering expected = Ordering(list_of(0)(1)(2)(3)(4)(5)); + EXPECT(assert_equal(expected, actual)); } // METIS { - Ordering actual = Ordering::Create(Ordering::METIS,sfg); - // 2 - // 0 - // 1 - // 4 - // 3 - // 5 - Ordering expected = Ordering(list_of(5)(3)(4)(1)(0)(2)); - EXPECT(assert_equal(expected, actual)); + Ordering actual = Ordering::Create(Ordering::METIS, sfg); + // 2 + // 0 + // 1 + // 4 + // 3 + // 5 + Ordering expected = Ordering(list_of(5)(3)(4)(1)(0)(2)); + EXPECT(assert_equal(expected, actual)); } // CUSTOM - CHECK_EXCEPTION(Ordering::Create(Ordering::CUSTOM,sfg),runtime_error); + CHECK_EXCEPTION(Ordering::Create(Ordering::CUSTOM, sfg), runtime_error); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ From 0be63753bc3ffe31563cbb1fd975a53d94470389 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 17:17:11 +0100 Subject: [PATCH 008/964] Call Ordering::Create to make sure Metis is executed when asked (was a bug!) --- gtsam/nonlinear/DoglegOptimizer.cpp | 4 ++-- gtsam/nonlinear/GaussNewtonOptimizer.cpp | 7 +++---- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 8 ++------ 3 files changed, 7 insertions(+), 12 deletions(-) diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp index e148bd65d..a91515e9c 100644 --- a/gtsam/nonlinear/DoglegOptimizer.cpp +++ b/gtsam/nonlinear/DoglegOptimizer.cpp @@ -95,8 +95,8 @@ void DoglegOptimizer::iterate(void) { /* ************************************************************************* */ DoglegParams DoglegOptimizer::ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph& graph) const { - if(!params.ordering) - params.ordering = Ordering::colamd(graph); + if (!params.ordering) + params.ordering = Ordering::Create(params.orderingType, graph); return params; } diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp index 7a115e1c4..e420567ec 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp +++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp @@ -46,10 +46,9 @@ void GaussNewtonOptimizer::iterate() { /* ************************************************************************* */ GaussNewtonParams GaussNewtonOptimizer::ensureHasOrdering( - GaussNewtonParams params, const NonlinearFactorGraph& graph) const -{ - if(!params.ordering) - params.ordering = Ordering::colamd(graph); + GaussNewtonParams params, const NonlinearFactorGraph& graph) const { + if (!params.ordering) + params.ordering = Ordering::Create(params.orderingType, graph); return params; } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 1c781f173..ef1f1eff1 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -344,12 +344,8 @@ void LevenbergMarquardtOptimizer::iterate() { /* ************************************************************************* */ LevenbergMarquardtParams LevenbergMarquardtOptimizer::ensureHasOrdering( LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const { - if (!params.ordering){ - if (params.orderingType == Ordering::METIS) - params.ordering = Ordering::metis(graph); - else - params.ordering = Ordering::colamd(graph); - } + if (!params.ordering) + params.ordering = Ordering::Create(params.orderingType, graph); return params; } From 36426fade45d985ceedd9690aba24619fccb8dcb Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 20:22:52 +0100 Subject: [PATCH 009/964] Some more tests and comments about associated Bayes trees. All succeed on Mac. --- .cproject | 26 +++++++-- gtsam/inference/tests/testOrdering.cpp | 23 ++++---- .../symbolic/tests/testSymbolicBayesTree.cpp | 57 +++++++++++++++++++ 3 files changed, 91 insertions(+), 15 deletions(-) diff --git a/.cproject b/.cproject index b77415840..7086ce250 100644 --- a/.cproject +++ b/.cproject @@ -1277,7 +1277,6 @@ make - testSimulated2DOriented.run true false @@ -1317,7 +1316,6 @@ make - testSimulated2D.run true false @@ -1325,7 +1323,6 @@ make - testSimulated3D.run true false @@ -1429,6 +1426,7 @@ make + testErrors.run true false @@ -1723,6 +1721,7 @@ cpack + -G DEB true false @@ -1730,6 +1729,7 @@ cpack + -G RPM true false @@ -1737,6 +1737,7 @@ cpack + -G TGZ true false @@ -1744,6 +1745,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -1935,7 +1937,6 @@ make - tests/testGaussianISAM2 true false @@ -2087,6 +2088,7 @@ make + tests/testBayesTree.run true false @@ -2094,6 +2096,7 @@ make + testBinaryBayesNet.run true false @@ -2141,6 +2144,7 @@ make + testSymbolicBayesNet.run true false @@ -2148,6 +2152,7 @@ make + tests/testSymbolicFactor.run true false @@ -2155,6 +2160,7 @@ make + testSymbolicFactorGraph.run true false @@ -2170,6 +2176,7 @@ make + tests/testBayesTree true false @@ -2671,6 +2678,14 @@ true true + + make + -j4 + testSymbolicBayesTree.run + true + true + true + make -j5 @@ -3289,6 +3304,7 @@ make + testGraph.run true false @@ -3296,6 +3312,7 @@ make + testJunctionTree.run true false @@ -3303,6 +3320,7 @@ make + testSymbolicBayesNetB.run true false diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index 26efb65b2..6320ca748 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -241,11 +241,10 @@ TEST(Ordering, MetisLoop) { // METIS { Ordering actual = Ordering::Create(Ordering::METIS, sfg); - // 0,3 - // 1,3 - // 2 - // 4,0 - // 5 + // - P( 1 0 3) + // | - P( 4 | 0 3) + // | | - P( 5 | 0 4) + // | - P( 2 | 1 3) Ordering expected = Ordering(list_of(5)(4)(2)(1)(0)(3)); EXPECT(assert_equal(expected, actual)); } @@ -259,6 +258,11 @@ TEST(Ordering, Create) { // COLAMD { + //- P( 4 5) + //| - P( 3 | 4) + //| | - P( 2 | 3) + //| | | - P( 1 | 2) + //| | | | - P( 0 | 1) Ordering actual = Ordering::Create(Ordering::COLAMD, sfg); Ordering expected = Ordering(list_of(0)(1)(2)(3)(4)(5)); EXPECT(assert_equal(expected, actual)); @@ -267,12 +271,9 @@ TEST(Ordering, Create) { // METIS { Ordering actual = Ordering::Create(Ordering::METIS, sfg); - // 2 - // 0 - // 1 - // 4 - // 3 - // 5 + //- P( 1 0 2) + //| - P( 3 4 | 2) + //| | - P( 5 | 4) Ordering expected = Ordering(list_of(5)(3)(4)(1)(0)(2)); EXPECT(assert_equal(expected, actual)); } diff --git a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp index 3c02f6dbd..979786515 100644 --- a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp +++ b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp @@ -691,6 +691,63 @@ TEST(SymbolicBayesTree, complicatedMarginal) } } + +/* ************************************************************************* */ +TEST(SymbolicBayesTree, COLAMDvsMETIS) { + + // create circular graph + SymbolicFactorGraph sfg; + sfg.push_factor(0, 1); + sfg.push_factor(1, 2); + sfg.push_factor(2, 3); + sfg.push_factor(3, 4); + sfg.push_factor(4, 5); + sfg.push_factor(0, 5); + + // COLAMD + { + Ordering ordering = Ordering::Create(Ordering::COLAMD, sfg); + EXPECT(assert_equal(Ordering(list_of(0)(5)(1)(4)(2)(3)), ordering)); + + // - P( 4 2 3) + // | - P( 1 | 2 4) + // | | - P( 5 | 1 4) + // | | | - P( 0 | 1 5) + SymbolicBayesTree expected; + expected.insertRoot( + MakeClique(list_of(4)(2)(3), 3, + list_of( + MakeClique(list_of(1)(2)(4), 1, + list_of( + MakeClique(list_of(5)(1)(4), 1, + list_of(MakeClique(list_of(0)(1)(5), 1)))))))); + + SymbolicBayesTree actual = *sfg.eliminateMultifrontal(ordering); + EXPECT(assert_equal(expected, actual)); + } + + // METIS + { + Ordering ordering = Ordering::Create(Ordering::METIS, sfg); + EXPECT(assert_equal(Ordering(list_of(5)(4)(2)(1)(0)(3)), ordering)); + + // - P( 1 0 3) + // | - P( 4 | 0 3) + // | | - P( 5 | 0 4) + // | - P( 2 | 1 3) + SymbolicBayesTree expected; + expected.insertRoot( + MakeClique(list_of(1)(0)(3), 3, + list_of( + MakeClique(list_of(4)(0)(3), 1, + list_of(MakeClique(list_of(5)(0)(4), 1))))( + MakeClique(list_of(2)(1)(3), 1)))); + + SymbolicBayesTree actual = *sfg.eliminateMultifrontal(ordering); + EXPECT(assert_equal(expected, actual)); + } +} + /* ************************************************************************* */ int main() { TestResult tr; From a753f763c0f0d8c92ae5473d9725f0e82f325cdf Mon Sep 17 00:00:00 2001 From: Paul Drews Date: Fri, 13 Feb 2015 22:19:44 -0500 Subject: [PATCH 010/964] Expect different ordering on Linux --- gtsam/inference/tests/testOrdering.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index 6320ca748..37b6ce3c6 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -239,6 +239,17 @@ TEST(Ordering, MetisLoop) { sfg.push_factor(0, 5); // METIS +#ifdef LINUX + { + Ordering actual = Ordering::Create(Ordering::METIS, sfg); + // - P( 0 4 1) + // | - P( 2 | 4 1) + // | | - P( 3 | 4 2) + // | - P( 5 | 0 1) + Ordering expected = Ordering(list_of(3)(2)(5)(0)(4)(1)); + EXPECT(assert_equal(expected, actual)); + } +#else { Ordering actual = Ordering::Create(Ordering::METIS, sfg); // - P( 1 0 3) @@ -248,6 +259,7 @@ TEST(Ordering, MetisLoop) { Ordering expected = Ordering(list_of(5)(4)(2)(1)(0)(3)); EXPECT(assert_equal(expected, actual)); } +#endif } /* ************************************************************************* */ From 8d89529c98b14d3af40ef5df780057c17296daab Mon Sep 17 00:00:00 2001 From: pdrews Date: Fri, 13 Feb 2015 22:49:15 -0500 Subject: [PATCH 011/964] Metis ordering difference between linux/mac --- gtsam/inference/tests/testOrdering.cpp | 2 +- .../symbolic/tests/testSymbolicBayesTree.cpp | 21 +++++++++++++++---- 2 files changed, 18 insertions(+), 5 deletions(-) diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index 37b6ce3c6..8f2c417d3 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -239,7 +239,7 @@ TEST(Ordering, MetisLoop) { sfg.push_factor(0, 5); // METIS -#ifdef LINUX +#if !defined(__APPLE__) { Ordering actual = Ordering::Create(Ordering::METIS, sfg); // - P( 0 4 1) diff --git a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp index 979786515..93c38b324 100644 --- a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp +++ b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp @@ -729,20 +729,33 @@ TEST(SymbolicBayesTree, COLAMDvsMETIS) { // METIS { Ordering ordering = Ordering::Create(Ordering::METIS, sfg); +// Linux and Mac split differently when using mettis +#if !defined(__APPLE__) + EXPECT(assert_equal(Ordering(list_of(3)(2)(5)(0)(4)(1)), ordering)); +#else EXPECT(assert_equal(Ordering(list_of(5)(4)(2)(1)(0)(3)), ordering)); +#endif // - P( 1 0 3) // | - P( 4 | 0 3) // | | - P( 5 | 0 4) // | - P( 2 | 1 3) SymbolicBayesTree expected; +#if !defined(__APPLE__) expected.insertRoot( - MakeClique(list_of(1)(0)(3), 3, + MakeClique(list_of(2)(4)(1), 3, list_of( - MakeClique(list_of(4)(0)(3), 1, + MakeClique(list_of(0)(1)(4), 1, list_of(MakeClique(list_of(5)(0)(4), 1))))( - MakeClique(list_of(2)(1)(3), 1)))); - + MakeClique(list_of(3)(2)(4), 1)))); +#else + expected.insertRoot( + MakeClique(list_of(1)(0)(3), 3, + list_of( + MakeClique(list_of(4)(0)(3), 1, + list_of(MakeClique(list_of(5)(0)(4), 1))))( + MakeClique(list_of(2)(1)(3), 1)))); +#endif SymbolicBayesTree actual = *sfg.eliminateMultifrontal(ordering); EXPECT(assert_equal(expected, actual)); } From 445b5834dc9a90b522e443e639a85ecf8dea02e7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 17 Feb 2015 00:39:03 +0100 Subject: [PATCH 012/964] Use Eigen::format, now compatible with matlab, and stream precision affects printing. --- gtsam/base/Matrix.cpp | 26 +++++++++++--------------- gtsam/linear/JacobianFactor.cpp | 16 ++++++++++++---- 2 files changed, 23 insertions(+), 19 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 7bcd32b9f..e6eef04d5 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -181,21 +181,17 @@ void transposeMultiplyAdd(double alpha, const Matrix& A, const Vector& e, SubVec /* ************************************************************************* */ void print(const Matrix& A, const string &s, ostream& stream) { - size_t m = A.rows(), n = A.cols(); - - // print out all elements - stream << s << "[\n"; - for( size_t i = 0 ; i < m ; i++) { - for( size_t j = 0 ; j < n ; j++) { - double aij = A(i,j); - if(aij != 0.0) - stream << setw(12) << setprecision(9) << aij << ",\t"; - else - stream << " 0.0,\t"; - } - stream << endl; - } - stream << "];" << endl; + static const Eigen::IOFormat matlab( + Eigen::StreamPrecision, // precision + 0, // flags + " ", // coeffSeparator + ";\n", // rowSeparator + " ", // rowPrefix + "", // rowSuffix + "[\n", // matPrefix + "\n ]" // matSuffix + ); + cout << s << A.format(matlab) << endl; } /* ************************************************************************* */ diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index eba06f99a..935ed40ae 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -347,13 +347,21 @@ JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph, /* ************************************************************************* */ void JacobianFactor::print(const string& s, const KeyFormatter& formatter) const { + static const Eigen::IOFormat matlab( + Eigen::StreamPrecision, // precision + 0, // flags + " ", // coeffSeparator + ";\n", // rowSeparator + " ", // rowPrefix + "", // rowSuffix + "[\n", // matPrefix + "\n ]" // matSuffix + ); if (!s.empty()) cout << s << "\n"; for (const_iterator key = begin(); key != end(); ++key) { - cout - << formatMatrixIndented( - (boost::format(" A[%1%] = ") % formatter(*key)).str(), getA(key)) - << endl; + cout << boost::format(" A[%1%] = ") % formatter(*key); + cout << getA(key).format(matlab) << endl; } cout << formatMatrixIndented(" b = ", getb(), true) << "\n"; if (model_) From 3b1c6b1b1e2f86eaca0a67e9c179fcd3a40434b0 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 18 Feb 2015 23:36:31 -0500 Subject: [PATCH 013/964] add in a COLAMD vs METIS exmaple --- examples/SFMExample_bal_COLAMD_METIS.cpp | 145 +++++++++++++++++++++++ 1 file changed, 145 insertions(+) create mode 100644 examples/SFMExample_bal_COLAMD_METIS.cpp diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp new file mode 100644 index 000000000..59e4a087f --- /dev/null +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -0,0 +1,145 @@ +/* ---------------------------------------------------------------------------- + + * 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 SFMExample.cpp + * @brief This file is to compare the ordering performance for COLAMD vs METIS. + * Example problem is to solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file. + * @author Frank Dellaert, Zhaoyang Lv + */ + +// For an explanation of headers, see SFMExample.cpp +#include +#include +#include +#include +#include +#include // for loading BAL datasets ! +#include + +using namespace std; +using namespace gtsam; +using symbol_shorthand::C; +using symbol_shorthand::P; + +// We will be using a projection factor that ties a SFM_Camera to a 3D point. +// An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration +// and has a total of 9 free parameters +typedef GeneralSFMFactor MyFactor; + +/* ************************************************************************* */ +int main (int argc, char* argv[]) { + + // Find default file, but if an argument is given, try loading a file + string filename = findExampleDataFile("dubrovnik-3-7-pre"); + if (argc>1) filename = string(argv[1]); + + // Load the SfM data from file + SfM_data mydata; + readBAL(filename, mydata); + cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); + + // Create a factor graph + NonlinearFactorGraph graph; + + // We share *one* noiseModel between all projection factors + noiseModel::Isotropic::shared_ptr noise = + noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v + + // Add measurements to the factor graph + size_t j = 0; + BOOST_FOREACH(const SfM_Track& track, mydata.tracks) { + BOOST_FOREACH(const SfM_Measurement& m, track.measurements) { + size_t i = m.first; + Point2 uv = m.second; + graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P + } + j += 1; + } + + // Add a prior on pose x1. This indirectly specifies where the origin is. + // and a prior on the position of the first landmark to fix the scale + graph.push_back(PriorFactor(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1))); + graph.push_back(PriorFactor (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1))); + + // Create initial estimate + Values initial; + size_t i = 0; j = 0; + BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera); + BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p); + + /** ---------------------------------------------------**/ + + /* With COLAMD, optimize the graph and print the results */ + cout << "Optimize with COLAMD..." << endl; + + Values result_COLAMD; + try { + double tic_t = clock(); + + LevenbergMarquardtParams params_using_COLAMD; + params_using_COLAMD.setVerbosity("ERROR"); + params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); + + double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; + + tic_t = clock(); + + LevenbergMarquardtOptimizer lm(graph, initial, params_using_COLAMD); + result_COLAMD = lm.optimize(); + + tic_t = clock(); + + cout << "Ordering: " << toc_t << "seconds" << endl; + cout << "Solving: " << (clock() - tic_t)/CLOCKS_PER_SEC << "seconds" << endl; + + } catch (exception& e) { + cout << e.what(); + } + + // To see the error, check SFMExample_bal.cpp file + //cout << "final error: " << graph.error(result_COLAMD) << endl; + + /** ---------------------------------------------------**/ + + /* with METIS, optimize the graph and print the results */ + cout << "Optimize with METIS" << endl; + + Values results_METIS; + try { + double tic_t = clock(); + + LevenbergMarquardtParams params_using_METIS; + params_using_METIS.setVerbosity("ERROR"); + params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); + + double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; + + tic_t = clock(); + + LevenbergMarquardtOptimizer lm(graph, initial, params_using_METIS); + results_METIS = lm.optimize(); + + tic_t = clock(); + + cout << "Ordering: " << toc_t << "seconds" << endl; + cout << "Solving: " << (clock() - tic_t)/CLOCKS_PER_SEC << "seconds" << endl; + + } catch (exception& e) { + cout << e.what(); + } + + + + return 0; +} +/* ************************************************************************* */ + From c2a223ddbb0ff605dfef2899c4991693202537d8 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 18 Feb 2015 23:58:53 -0500 Subject: [PATCH 014/964] copy the nonlinearfactor graph for two independent tests --- examples/SFMExample_bal_COLAMD_METIS.cpp | 26 +++++++++++++++--------- 1 file changed, 16 insertions(+), 10 deletions(-) diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 59e4a087f..e2dff2cb2 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -48,7 +48,7 @@ int main (int argc, char* argv[]) { cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); // Create a factor graph - NonlinearFactorGraph graph; + NonlinearFactorGraph graph_for_COLAMD; // We share *one* noiseModel between all projection factors noiseModel::Isotropic::shared_ptr noise = @@ -60,15 +60,15 @@ int main (int argc, char* argv[]) { BOOST_FOREACH(const SfM_Measurement& m, track.measurements) { size_t i = m.first; Point2 uv = m.second; - graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P + graph_for_COLAMD.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P } j += 1; } // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph.push_back(PriorFactor(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1))); - graph.push_back(PriorFactor (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1))); + graph_for_COLAMD.push_back(PriorFactor(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1))); + graph_for_COLAMD.push_back(PriorFactor (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1))); // Create initial estimate Values initial; @@ -76,7 +76,11 @@ int main (int argc, char* argv[]) { BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera); BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p); - /** ---------------------------------------------------**/ + NonlinearFactorGraph graph_for_METIS = graph_for_COLAMD.clone(); + + + /** --------------- COMPARISON -----------------------**/ + /** ----------------------------------------------------**/ /* With COLAMD, optimize the graph and print the results */ cout << "Optimize with COLAMD..." << endl; @@ -87,13 +91,13 @@ int main (int argc, char* argv[]) { LevenbergMarquardtParams params_using_COLAMD; params_using_COLAMD.setVerbosity("ERROR"); - params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); + params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph_for_COLAMD); double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; tic_t = clock(); - LevenbergMarquardtOptimizer lm(graph, initial, params_using_COLAMD); + LevenbergMarquardtOptimizer lm(graph_for_COLAMD, initial, params_using_COLAMD); result_COLAMD = lm.optimize(); tic_t = clock(); @@ -105,12 +109,14 @@ int main (int argc, char* argv[]) { cout << e.what(); } + cout << endl << endl; + // To see the error, check SFMExample_bal.cpp file //cout << "final error: " << graph.error(result_COLAMD) << endl; /** ---------------------------------------------------**/ - /* with METIS, optimize the graph and print the results */ + cout << "Optimize with METIS" << endl; Values results_METIS; @@ -119,13 +125,13 @@ int main (int argc, char* argv[]) { LevenbergMarquardtParams params_using_METIS; params_using_METIS.setVerbosity("ERROR"); - params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); + params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph_for_METIS); double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; tic_t = clock(); - LevenbergMarquardtOptimizer lm(graph, initial, params_using_METIS); + LevenbergMarquardtOptimizer lm(graph_for_METIS, initial, params_using_METIS); results_METIS = lm.optimize(); tic_t = clock(); From 55729e0e6901dab73b84702e884ad9db9e0f96bc Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Thu, 19 Feb 2015 16:00:21 -0500 Subject: [PATCH 015/964] fix bugs in timing, duplicate graph --- examples/SFMExample_bal_COLAMD_METIS.cpp | 52 +++++++++++++----------- 1 file changed, 29 insertions(+), 23 deletions(-) diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index e2dff2cb2..429853ed0 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -40,7 +40,7 @@ int main (int argc, char* argv[]) { // Find default file, but if an argument is given, try loading a file string filename = findExampleDataFile("dubrovnik-3-7-pre"); - if (argc>1) filename = string(argv[1]); + if (argc>1) filename = findExampleDataFile(string(argv[1])); // Load the SfM data from file SfM_data mydata; @@ -48,7 +48,7 @@ int main (int argc, char* argv[]) { cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); // Create a factor graph - NonlinearFactorGraph graph_for_COLAMD; + NonlinearFactorGraph graph; // We share *one* noiseModel between all projection factors noiseModel::Isotropic::shared_ptr noise = @@ -60,15 +60,15 @@ int main (int argc, char* argv[]) { BOOST_FOREACH(const SfM_Measurement& m, track.measurements) { size_t i = m.first; Point2 uv = m.second; - graph_for_COLAMD.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P + graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P } j += 1; } // Add a prior on pose x1. This indirectly specifies where the origin is. // and a prior on the position of the first landmark to fix the scale - graph_for_COLAMD.push_back(PriorFactor(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1))); - graph_for_COLAMD.push_back(PriorFactor (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1))); + graph.push_back(PriorFactor(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1))); + graph.push_back(PriorFactor (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1))); // Create initial estimate Values initial; @@ -76,9 +76,6 @@ int main (int argc, char* argv[]) { BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera); BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p); - NonlinearFactorGraph graph_for_METIS = graph_for_COLAMD.clone(); - - /** --------------- COMPARISON -----------------------**/ /** ----------------------------------------------------**/ @@ -86,31 +83,28 @@ int main (int argc, char* argv[]) { cout << "Optimize with COLAMD..." << endl; Values result_COLAMD; + double t_COLAMD_ordering, t_COLAMD_solving; try { double tic_t = clock(); LevenbergMarquardtParams params_using_COLAMD; params_using_COLAMD.setVerbosity("ERROR"); - params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph_for_COLAMD); + params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); - double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; + t_COLAMD_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; tic_t = clock(); - LevenbergMarquardtOptimizer lm(graph_for_COLAMD, initial, params_using_COLAMD); + LevenbergMarquardtOptimizer lm(graph, initial, params_using_COLAMD); result_COLAMD = lm.optimize(); - tic_t = clock(); - - cout << "Ordering: " << toc_t << "seconds" << endl; - cout << "Solving: " << (clock() - tic_t)/CLOCKS_PER_SEC << "seconds" << endl; + t_COLAMD_solving = (clock() - tic_t)/CLOCKS_PER_SEC; } catch (exception& e) { cout << e.what(); } cout << endl << endl; - // To see the error, check SFMExample_bal.cpp file //cout << "final error: " << graph.error(result_COLAMD) << endl; @@ -120,30 +114,42 @@ int main (int argc, char* argv[]) { cout << "Optimize with METIS" << endl; Values results_METIS; + double t_METIS_ordering, t_METIS_solving; try { double tic_t = clock(); LevenbergMarquardtParams params_using_METIS; params_using_METIS.setVerbosity("ERROR"); - params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph_for_METIS); + params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); - double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; + t_METIS_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; tic_t = clock(); - LevenbergMarquardtOptimizer lm(graph_for_METIS, initial, params_using_METIS); + LevenbergMarquardtOptimizer lm(graph, initial, params_using_METIS); results_METIS = lm.optimize(); - tic_t = clock(); - - cout << "Ordering: " << toc_t << "seconds" << endl; - cout << "Solving: " << (clock() - tic_t)/CLOCKS_PER_SEC << "seconds" << endl; + t_METIS_solving = (clock() - tic_t)/CLOCKS_PER_SEC; } catch (exception& e) { cout << e.what(); } + { + // printing the result + cout << "Time comparison by solving " << filename << " results:" << endl; + cout << boost::format("read %1% tracks on %2% cameras\n") \ + % mydata.number_tracks() % mydata.number_cameras() \ + << endl; + cout << "COLAMD: " << endl; + cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl; + cout << "Solving: " << t_COLAMD_solving << "seconds" << endl; + + cout << "METIS: " << endl; + cout << "Ordering: " << t_METIS_ordering << "seconds" << endl; + cout << "Solving: " << t_METIS_solving << "seconds" << endl; + } return 0; } From 92f2e8e168b1f6bb2a735f37bd8aef0cd7f2ff40 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Fri, 20 Feb 2015 23:45:13 -0500 Subject: [PATCH 016/964] add in a natural ordering for testing. Test this code on other machines. --- examples/SFMExample_bal_COLAMD_METIS.cpp | 121 ++++++++++++++--------- gtsam/inference/Ordering.h | 6 +- gtsam/linear/IterativeSolver.cpp | 2 +- gtsam/linear/SubgraphPreconditioner.cpp | 2 +- 4 files changed, 80 insertions(+), 51 deletions(-) diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 429853ed0..7d9457b9e 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -18,6 +18,7 @@ // For an explanation of headers, see SFMExample.cpp #include +#include #include #include #include @@ -40,7 +41,7 @@ int main (int argc, char* argv[]) { // Find default file, but if an argument is given, try loading a file string filename = findExampleDataFile("dubrovnik-3-7-pre"); - if (argc>1) filename = findExampleDataFile(string(argv[1])); + if (argc>1) filename = string(argv[1]); // Load the SfM data from file SfM_data mydata; @@ -79,76 +80,102 @@ int main (int argc, char* argv[]) { /** --------------- COMPARISON -----------------------**/ /** ----------------------------------------------------**/ + /** ---------------------------------------------------**/ + + double t_COLAMD_ordering, t_METIS_ordering; //, t_NATURAL_ordering; + LevenbergMarquardtParams params_using_COLAMD, params_using_METIS, params_using_NATURAL; + try { + double tic_t = clock(); + params_using_METIS.setVerbosity("ERROR"); + params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); + t_METIS_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; + + tic_t = clock(); + params_using_COLAMD.setVerbosity("ERROR"); + params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); + t_COLAMD_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; + +// tic_t = clock(); +// params_using_NATURAL.setVerbosity("ERROR"); +// params_using_NATURAL.ordering = Ordering::Create(Ordering::NATURAL, graph); +// t_NATURAL_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; + + } catch (exception& e) { + cout << e.what(); + } + + // expect they have different ordering results + if(params_using_COLAMD.ordering == params_using_METIS.ordering) { + cout << "COLAMD and METIS produce the same ordering. " + << "Problem here!!!" << endl; + } + + /* with METIS, optimize the graph and print the results */ + cout << "Optimize with METIS" << endl; + + Values result_METIS; + double t_METIS_solving; + try { + double tic_t = clock(); + LevenbergMarquardtOptimizer lm_METIS(graph, initial, params_using_COLAMD); + result_METIS = lm_METIS.optimize(); + t_METIS_solving = (clock() - tic_t)/CLOCKS_PER_SEC; + } catch (exception& e) { + cout << e.what(); + } + /* With COLAMD, optimize the graph and print the results */ cout << "Optimize with COLAMD..." << endl; Values result_COLAMD; - double t_COLAMD_ordering, t_COLAMD_solving; + double t_COLAMD_solving; try { double tic_t = clock(); - - LevenbergMarquardtParams params_using_COLAMD; - params_using_COLAMD.setVerbosity("ERROR"); - params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); - - t_COLAMD_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; - - tic_t = clock(); - - LevenbergMarquardtOptimizer lm(graph, initial, params_using_COLAMD); - result_COLAMD = lm.optimize(); - + LevenbergMarquardtOptimizer lm_COLAMD(graph, initial, params_using_COLAMD); + result_COLAMD = lm_COLAMD.optimize(); t_COLAMD_solving = (clock() - tic_t)/CLOCKS_PER_SEC; - } catch (exception& e) { cout << e.what(); } + // disable optimizer with NATURAL since it doesn't converge on large problem + /* Use Natural ordering and solve both respectively */ + // cout << "Solving with natural ordering: " << endl; + + // Values result_NATURAL; + // double t_NATURAL_solving; + // try { + // double tic_t = clock(); + // LevenbergMarquardtOptimizer lm_NATURAL(graph, initial, params_using_NATURAL); + // result_NATURAL = lm_NATURAL.optimize(); + // t_NATURAL_solving = (clock() - tic_t)/CLOCKS_PER_SEC; + // } catch (exception& e) { + // cout << e.what(); + // } + cout << endl << endl; - // To see the error, check SFMExample_bal.cpp file - //cout << "final error: " << graph.error(result_COLAMD) << endl; - - /** ---------------------------------------------------**/ - /* with METIS, optimize the graph and print the results */ - - cout << "Optimize with METIS" << endl; - - Values results_METIS; - double t_METIS_ordering, t_METIS_solving; - try { - double tic_t = clock(); - - LevenbergMarquardtParams params_using_METIS; - params_using_METIS.setVerbosity("ERROR"); - params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); - - t_METIS_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; - - tic_t = clock(); - - LevenbergMarquardtOptimizer lm(graph, initial, params_using_METIS); - results_METIS = lm.optimize(); - - t_METIS_solving = (clock() - tic_t)/CLOCKS_PER_SEC; - - } catch (exception& e) { - cout << e.what(); - } { // printing the result cout << "Time comparison by solving " << filename << " results:" << endl; - cout << boost::format("read %1% tracks on %2% cameras\n") \ + cout << boost::format("%1% point tracks and %2% cameras\n") \ % mydata.number_tracks() % mydata.number_cameras() \ << endl; cout << "COLAMD: " << endl; cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl; - cout << "Solving: " << t_COLAMD_solving << "seconds" << endl; + cout << "Solving: " << t_COLAMD_solving << "seconds" << endl; + cout << "final error: " << graph.error(result_COLAMD) << endl; cout << "METIS: " << endl; cout << "Ordering: " << t_METIS_ordering << "seconds" << endl; - cout << "Solving: " << t_METIS_solving << "seconds" << endl; + cout << "Solving: " << t_METIS_solving << "seconds" << endl; + cout << "final error: " << graph.error(result_METIS) << endl; + +// cout << "Natural: " << endl; +// cout << "Ordering: " << t_NATURAL_ordering << "seconds" << endl; +// cout << "Solving: " << t_NATURAL_solving << "seconds" << endl; +// cout << "final error: " << graph.error(result_NATURAL) << endl; } return 0; diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index e4cc2c55d..109fa1784 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -38,7 +38,7 @@ public: /// Type of ordering to use enum OrderingType { - COLAMD, METIS, CUSTOM + COLAMD, METIS, CUSTOM, NATURAL }; typedef Ordering This; ///< Typedef to this class @@ -163,7 +163,7 @@ public: /// Return a natural Ordering. Typically used by iterative solvers template - static Ordering Natural(const FactorGraph &fg) { + static Ordering natural(const FactorGraph &fg) { FastSet src = fg.keys(); std::vector keys(src.begin(), src.end()); std::stable_sort(keys.begin(), keys.end()); @@ -196,6 +196,8 @@ public: return colamd(graph); case METIS: return metis(graph); + case NATURAL: + return natural(graph); case CUSTOM: throw std::runtime_error( "Ordering::Create error: called with CUSTOM ordering type."); diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp index ab3ccde13..89486962b 100644 --- a/gtsam/linear/IterativeSolver.cpp +++ b/gtsam/linear/IterativeSolver.cpp @@ -86,7 +86,7 @@ KeyInfo::KeyInfo(const GaussianFactorGraph &fg, const Ordering &ordering) /****************************************************************************/ KeyInfo::KeyInfo(const GaussianFactorGraph &fg) - : ordering_(Ordering::Natural(fg)) { + : ordering_(Ordering::natural(fg)) { initialize(fg); } diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index f5ee4ddfc..af4e9dd4f 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -366,7 +366,7 @@ std::vector SubgraphBuilder::sample(const std::vector &weights, Subgraph::shared_ptr SubgraphBuilder::operator() (const GaussianFactorGraph &gfg) const { const SubgraphBuilderParameters &p = parameters_; - const Ordering inverse_ordering = Ordering::Natural(gfg); + const Ordering inverse_ordering = Ordering::natural(gfg); const FastMap forward_ordering = inverse_ordering.invert(); const size_t n = inverse_ordering.size(), t = n * p.complexity_ ; From 1d8157289496b09d1d9c622c8c7fd721c83bac17 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Sat, 21 Feb 2015 13:16:03 -0500 Subject: [PATCH 017/964] Capitalize static methods in ordering.h This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue. --- examples/SFMExample_bal_COLAMD_METIS.cpp | 2 - examples/SolverComparer.cpp | 2 +- .../inference/EliminateableFactorGraph-inst.h | 20 ++++----- gtsam/inference/ISAM-inst.h | 2 +- gtsam/inference/Ordering.cpp | 20 ++++----- gtsam/inference/Ordering.h | 42 +++++++++---------- gtsam/inference/tests/testOrdering.cpp | 14 +++---- gtsam/linear/IterativeSolver.cpp | 2 +- gtsam/linear/SubgraphPreconditioner.cpp | 2 +- gtsam/nonlinear/ISAM2.cpp | 8 ++-- gtsam/nonlinear/NonlinearFactorGraph.cpp | 4 +- .../nonlinear/BatchFixedLagSmoother.cpp | 2 +- .../nonlinear/ConcurrentBatchFilter.cpp | 4 +- .../nonlinear/ConcurrentBatchSmoother.cpp | 2 +- tests/testNonlinearFactorGraph.cpp | 4 +- 15 files changed, 64 insertions(+), 66 deletions(-) diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 7d9457b9e..3ccdf9b72 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -80,8 +80,6 @@ int main (int argc, char* argv[]) { /** --------------- COMPARISON -----------------------**/ /** ----------------------------------------------------**/ - /** ---------------------------------------------------**/ - double t_COLAMD_ordering, t_METIS_ordering; //, t_NATURAL_ordering; LevenbergMarquardtParams params_using_COLAMD, params_using_METIS, params_using_NATURAL; try { diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 923b0b9de..0f61a4220 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -589,7 +589,7 @@ void runStats() { cout << "Gathering statistics..." << endl; GaussianFactorGraph linear = *datasetMeasurements.linearize(initial); - GaussianJunctionTree jt(GaussianEliminationTree(linear, Ordering::colamd(linear))); + GaussianJunctionTree jt(GaussianEliminationTree(linear, Ordering::Colamd(linear))); treeTraversal::ForestStatistics statistics = treeTraversal::GatherStatistics(jt); ofstream file; diff --git a/gtsam/inference/EliminateableFactorGraph-inst.h b/gtsam/inference/EliminateableFactorGraph-inst.h index 5e261e200..b4fc3b3a6 100644 --- a/gtsam/inference/EliminateableFactorGraph-inst.h +++ b/gtsam/inference/EliminateableFactorGraph-inst.h @@ -55,9 +55,9 @@ namespace gtsam { // have a VariableIndex already here because we computed one if needed in the previous 'else' // block. if (orderingType == Ordering::METIS) - return eliminateSequential(Ordering::metis(asDerived()), function, variableIndex, orderingType); - else - return eliminateSequential(Ordering::colamd(*variableIndex), function, variableIndex, orderingType); + return eliminateSequential(Ordering::Metis(asDerived()), function, variableIndex, orderingType); + else + return eliminateSequential(Ordering::Colamd(*variableIndex), function, variableIndex, orderingType); } } @@ -93,9 +93,9 @@ namespace gtsam { // have a VariableIndex already here because we computed one if needed in the previous 'else' // block. if (orderingType == Ordering::METIS) - return eliminateMultifrontal(Ordering::metis(asDerived()), function, variableIndex, orderingType); + return eliminateMultifrontal(Ordering::Metis(asDerived()), function, variableIndex, orderingType); else - return eliminateMultifrontal(Ordering::colamd(*variableIndex), function, variableIndex, orderingType); + return eliminateMultifrontal(Ordering::Colamd(*variableIndex), function, variableIndex, orderingType); } } @@ -125,7 +125,7 @@ namespace gtsam { if(variableIndex) { gttic(eliminatePartialSequential); // Compute full ordering - Ordering fullOrdering = Ordering::colamdConstrainedFirst(*variableIndex, variables); + Ordering fullOrdering = Ordering::ColamdConstrainedFirst(*variableIndex, variables); // Split off the part of the ordering for the variables being eliminated Ordering ordering(fullOrdering.begin(), fullOrdering.begin() + variables.size()); @@ -163,7 +163,7 @@ namespace gtsam { if(variableIndex) { gttic(eliminatePartialMultifrontal); // Compute full ordering - Ordering fullOrdering = Ordering::colamdConstrainedFirst(*variableIndex, variables); + Ordering fullOrdering = Ordering::ColamdConstrainedFirst(*variableIndex, variables); // Split off the part of the ordering for the variables being eliminated Ordering ordering(fullOrdering.begin(), fullOrdering.begin() + variables.size()); @@ -216,7 +216,7 @@ namespace gtsam { boost::get(&variables) : boost::get&>(&variables); Ordering totalOrdering = - Ordering::colamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); + Ordering::ColamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); // Split up ordering const size_t nVars = variablesOrOrdering->size(); @@ -275,7 +275,7 @@ namespace gtsam { boost::get(&variables) : boost::get&>(&variables); Ordering totalOrdering = - Ordering::colamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); + Ordering::ColamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered); // Split up ordering const size_t nVars = variablesOrOrdering->size(); @@ -301,7 +301,7 @@ namespace gtsam { if(variableIndex) { // Compute a total ordering for all variables - Ordering totalOrdering = Ordering::colamdConstrainedLast(*variableIndex, variables); + Ordering totalOrdering = Ordering::ColamdConstrainedLast(*variableIndex, variables); // Split out the part for the marginalized variables Ordering marginalizationOrdering(totalOrdering.begin(), totalOrdering.end() - variables.size()); diff --git a/gtsam/inference/ISAM-inst.h b/gtsam/inference/ISAM-inst.h index 7cb3d9817..aebd3325a 100644 --- a/gtsam/inference/ISAM-inst.h +++ b/gtsam/inference/ISAM-inst.h @@ -46,7 +46,7 @@ namespace gtsam { const VariableIndex varIndex(factors); const FastSet newFactorKeys = newFactors.keys(); const Ordering constrainedOrdering = - Ordering::colamdConstrainedLast(varIndex, std::vector(newFactorKeys.begin(), newFactorKeys.end())); + Ordering::ColamdConstrainedLast(varIndex, std::vector(newFactorKeys.begin(), newFactorKeys.end())); Base bayesTree = *factors.eliminateMultifrontal(constrainedOrdering, function, varIndex); this->roots_.insert(this->roots_.end(), bayesTree.roots().begin(), bayesTree.roots().end()); this->nodes_.insert(bayesTree.nodes().begin(), bayesTree.nodes().end()); diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp index 0882b87d1..9f4a81d05 100644 --- a/gtsam/inference/Ordering.cpp +++ b/gtsam/inference/Ordering.cpp @@ -38,14 +38,14 @@ FastMap Ordering::invert() const { } /* ************************************************************************* */ -Ordering Ordering::colamd(const VariableIndex& variableIndex) { +Ordering Ordering::Colamd(const VariableIndex& variableIndex) { // Call constrained version with all groups set to zero vector dummy_groups(variableIndex.size(), 0); - return Ordering::colamdConstrained(variableIndex, dummy_groups); + return Ordering::ColamdConstrained(variableIndex, dummy_groups); } /* ************************************************************************* */ -Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex, +Ordering Ordering::ColamdConstrained(const VariableIndex& variableIndex, std::vector& cmember) { gttic(Ordering_COLAMDConstrained); @@ -115,7 +115,7 @@ Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex, } /* ************************************************************************* */ -Ordering Ordering::colamdConstrainedLast(const VariableIndex& variableIndex, +Ordering Ordering::ColamdConstrainedLast(const VariableIndex& variableIndex, const std::vector& constrainLast, bool forceOrder) { gttic(Ordering_COLAMDConstrainedLast); @@ -137,11 +137,11 @@ Ordering Ordering::colamdConstrainedLast(const VariableIndex& variableIndex, ++group; } - return Ordering::colamdConstrained(variableIndex, cmember); + return Ordering::ColamdConstrained(variableIndex, cmember); } /* ************************************************************************* */ -Ordering Ordering::colamdConstrainedFirst(const VariableIndex& variableIndex, +Ordering Ordering::ColamdConstrainedFirst(const VariableIndex& variableIndex, const std::vector& constrainFirst, bool forceOrder) { gttic(Ordering_COLAMDConstrainedFirst); @@ -170,11 +170,11 @@ Ordering Ordering::colamdConstrainedFirst(const VariableIndex& variableIndex, if (c == none) c = group; - return Ordering::colamdConstrained(variableIndex, cmember); + return Ordering::ColamdConstrained(variableIndex, cmember); } /* ************************************************************************* */ -Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex, +Ordering Ordering::ColamdConstrained(const VariableIndex& variableIndex, const FastMap& groups) { gttic(Ordering_COLAMDConstrained); size_t n = variableIndex.size(); @@ -193,11 +193,11 @@ Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex, cmember[keyIndices.at(p.first)] = p.second; } - return Ordering::colamdConstrained(variableIndex, cmember); + return Ordering::ColamdConstrained(variableIndex, cmember); } /* ************************************************************************* */ -Ordering Ordering::metis(const MetisIndex& met) { +Ordering Ordering::Metis(const MetisIndex& met) { gttic(Ordering_METIS); vector xadj = met.xadj(); diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 109fa1784..0ec5774e5 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -38,7 +38,7 @@ public: /// Type of ordering to use enum OrderingType { - COLAMD, METIS, CUSTOM, NATURAL + COLAMD, METIS, NATURAL, CUSTOM }; typedef Ordering This; ///< Typedef to this class @@ -78,12 +78,12 @@ public: /// performance). This internally builds a VariableIndex so if you already have a VariableIndex, /// it is faster to use COLAMD(const VariableIndex&) template - static Ordering colamd(const FactorGraph& graph) { - return colamd(VariableIndex(graph)); + static Ordering Colamd(const FactorGraph& graph) { + return Colamd(VariableIndex(graph)); } /// Compute a fill-reducing ordering using COLAMD from a VariableIndex. - static GTSAM_EXPORT Ordering colamd(const VariableIndex& variableIndex); + static GTSAM_EXPORT Ordering Colamd(const VariableIndex& variableIndex); /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details /// for note on performance). This internally builds a VariableIndex so if you already have a @@ -94,9 +94,9 @@ public: /// constrainLast. If \c forceOrder is false, the variables in \c constrainLast will be /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. template - static Ordering colamdConstrainedLast(const FactorGraph& graph, + static Ordering ColamdConstrainedLast(const FactorGraph& graph, const std::vector& constrainLast, bool forceOrder = false) { - return colamdConstrainedLast(VariableIndex(graph), constrainLast, + return ColamdConstrainedLast(VariableIndex(graph), constrainLast, forceOrder); } @@ -106,7 +106,7 @@ public: /// variables in \c constrainLast will be ordered in the same order specified in the vector /// \c constrainLast. If \c forceOrder is false, the variables in \c constrainLast will be /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. - static GTSAM_EXPORT Ordering colamdConstrainedLast( + static GTSAM_EXPORT Ordering ColamdConstrainedLast( const VariableIndex& variableIndex, const std::vector& constrainLast, bool forceOrder = false); @@ -119,9 +119,9 @@ public: /// constrainLast. If \c forceOrder is false, the variables in \c constrainFirst will be /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. template - static Ordering colamdConstrainedFirst(const FactorGraph& graph, + static Ordering ColamdConstrainedFirst(const FactorGraph& graph, const std::vector& constrainFirst, bool forceOrder = false) { - return colamdConstrainedFirst(VariableIndex(graph), constrainFirst, + return ColamdConstrainedFirst(VariableIndex(graph), constrainFirst, forceOrder); } @@ -132,7 +132,7 @@ public: /// vector \c constrainFirst. If \c forceOrder is false, the variables in \c /// constrainFirst will be ordered after all the others, but will be rearranged by CCOLAMD to /// reduce fill-in as well. - static GTSAM_EXPORT Ordering colamdConstrainedFirst( + static GTSAM_EXPORT Ordering ColamdConstrainedFirst( const VariableIndex& variableIndex, const std::vector& constrainFirst, bool forceOrder = false); @@ -146,9 +146,9 @@ public: /// function simply fills the \c cmember argument to CCOLAMD with the supplied indices, see the /// CCOLAMD documentation for more information. template - static Ordering colamdConstrained(const FactorGraph& graph, + static Ordering ColamdConstrained(const FactorGraph& graph, const FastMap& groups) { - return colamdConstrained(VariableIndex(graph), groups); + return ColamdConstrained(VariableIndex(graph), groups); } /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. In this @@ -158,12 +158,12 @@ public: /// appear in \c groups in arbitrary order. Any variables not present in \c groups will be /// assigned to group 0. This function simply fills the \c cmember argument to CCOLAMD with the /// supplied indices, see the CCOLAMD documentation for more information. - static GTSAM_EXPORT Ordering colamdConstrained( + static GTSAM_EXPORT Ordering ColamdConstrained( const VariableIndex& variableIndex, const FastMap& groups); /// Return a natural Ordering. Typically used by iterative solvers template - static Ordering natural(const FactorGraph &fg) { + static Ordering Natural(const FactorGraph &fg) { FastSet src = fg.keys(); std::vector keys(src.begin(), src.end()); std::stable_sort(keys.begin(), keys.end()); @@ -176,11 +176,11 @@ public: std::vector& adj, const FactorGraph& graph); /// Compute an ordering determined by METIS from a VariableIndex - static GTSAM_EXPORT Ordering metis(const MetisIndex& met); + static GTSAM_EXPORT Ordering Metis(const MetisIndex& met); template - static Ordering metis(const FactorGraph& graph) { - return metis(MetisIndex(graph)); + static Ordering Metis(const FactorGraph& graph) { + return Metis(MetisIndex(graph)); } /// @} @@ -193,11 +193,11 @@ public: switch (orderingType) { case COLAMD: - return colamd(graph); + return Colamd(graph); case METIS: - return metis(graph); + return Metis(graph); case NATURAL: - return natural(graph); + return Natural(graph); case CUSTOM: throw std::runtime_error( "Ordering::Create error: called with CUSTOM ordering type."); @@ -222,7 +222,7 @@ public: private: /// Internal COLAMD function - static GTSAM_EXPORT Ordering colamdConstrained( + static GTSAM_EXPORT Ordering ColamdConstrained( const VariableIndex& variableIndex, std::vector& cmember); /** Serialization function */ diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp index 8f2c417d3..d789da9b0 100644 --- a/gtsam/inference/tests/testOrdering.cpp +++ b/gtsam/inference/tests/testOrdering.cpp @@ -46,17 +46,17 @@ TEST(Ordering, constrained_ordering) { SymbolicFactorGraph sfg = example::symbolicChain(); // unconstrained version - Ordering actUnconstrained = Ordering::colamd(sfg); + Ordering actUnconstrained = Ordering::Colamd(sfg); Ordering expUnconstrained = Ordering(list_of(0)(1)(2)(3)(4)(5)); EXPECT(assert_equal(expUnconstrained, actUnconstrained)); // constrained version - push one set to the end - Ordering actConstrained = Ordering::colamdConstrainedLast(sfg, list_of(2)(4)); + Ordering actConstrained = Ordering::ColamdConstrainedLast(sfg, list_of(2)(4)); Ordering expConstrained = Ordering(list_of(0)(1)(5)(3)(4)(2)); EXPECT(assert_equal(expConstrained, actConstrained)); // constrained version - push one set to the start - Ordering actConstrained2 = Ordering::colamdConstrainedFirst(sfg, + Ordering actConstrained2 = Ordering::ColamdConstrainedFirst(sfg, list_of(2)(4)); Ordering expConstrained2 = Ordering(list_of(2)(4)(0)(1)(3)(5)); EXPECT(assert_equal(expConstrained2, actConstrained2)); @@ -76,7 +76,7 @@ TEST(Ordering, grouped_constrained_ordering) { constraints[4] = 1; constraints[5] = 2; - Ordering actConstrained = Ordering::colamdConstrained(sfg, constraints); + Ordering actConstrained = Ordering::ColamdConstrained(sfg, constraints); Ordering expConstrained = list_of(0)(1)(3)(2)(4)(5); EXPECT(assert_equal(expConstrained, actConstrained)); } @@ -195,7 +195,7 @@ TEST(Ordering, csr_format_4) { EXPECT(adjExpected.size() == mi.adj().size()); EXPECT(adjExpected == adjAcutal); - Ordering metOrder = Ordering::metis(sfg); + Ordering metOrder = Ordering::Metis(sfg); // Test different symbol types sfg.push_factor(Symbol('l', 1)); @@ -204,7 +204,7 @@ TEST(Ordering, csr_format_4) { sfg.push_factor(Symbol('x', 3), Symbol('l', 1)); sfg.push_factor(Symbol('x', 4), Symbol('l', 1)); - Ordering metOrder2 = Ordering::metis(sfg); + Ordering metOrder2 = Ordering::Metis(sfg); } /* ************************************************************************* */ @@ -226,7 +226,7 @@ TEST(Ordering, metis) { EXPECT(adjExpected.size() == mi.adj().size()); EXPECT(adjExpected == mi.adj()); - Ordering metis = Ordering::metis(sfg); + Ordering metis = Ordering::Metis(sfg); } /* ************************************************************************* */ diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp index 89486962b..ab3ccde13 100644 --- a/gtsam/linear/IterativeSolver.cpp +++ b/gtsam/linear/IterativeSolver.cpp @@ -86,7 +86,7 @@ KeyInfo::KeyInfo(const GaussianFactorGraph &fg, const Ordering &ordering) /****************************************************************************/ KeyInfo::KeyInfo(const GaussianFactorGraph &fg) - : ordering_(Ordering::natural(fg)) { + : ordering_(Ordering::Natural(fg)) { initialize(fg); } diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index af4e9dd4f..f5ee4ddfc 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -366,7 +366,7 @@ std::vector SubgraphBuilder::sample(const std::vector &weights, Subgraph::shared_ptr SubgraphBuilder::operator() (const GaussianFactorGraph &gfg) const { const SubgraphBuilderParameters &p = parameters_; - const Ordering inverse_ordering = Ordering::natural(gfg); + const Ordering inverse_ordering = Ordering::Natural(gfg); const FastMap forward_ordering = inverse_ordering.invert(); const size_t n = inverse_ordering.size(), t = n * p.complexity_ ; diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 3b3d76285..97735b5d5 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -341,7 +341,7 @@ boost::shared_ptr > ISAM2::recalculate(const FastSet& markedKe Ordering order; if(constrainKeys) { - order = Ordering::colamdConstrained(variableIndex_, *constrainKeys); + order = Ordering::ColamdConstrained(variableIndex_, *constrainKeys); } else { @@ -351,11 +351,11 @@ boost::shared_ptr > ISAM2::recalculate(const FastSet& markedKe FastMap constraintGroups; BOOST_FOREACH(Key var, observedKeys) constraintGroups[var] = 1; - order = Ordering::colamdConstrained(variableIndex_, constraintGroups); + order = Ordering::ColamdConstrained(variableIndex_, constraintGroups); } else { - order = Ordering::colamd(variableIndex_); + order = Ordering::Colamd(variableIndex_); } } gttoc(ordering); @@ -481,7 +481,7 @@ boost::shared_ptr > ISAM2::recalculate(const FastSet& markedKe // Generate ordering gttic(Ordering); - Ordering ordering = Ordering::colamdConstrained(affectedFactorsVarIndex, constraintGroups); + Ordering ordering = Ordering::ColamdConstrained(affectedFactorsVarIndex, constraintGroups); gttoc(Ordering); ISAM2BayesTree::shared_ptr bayesTree = ISAM2JunctionTree(GaussianEliminationTree( diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 238d3bc56..99a58a989 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -282,13 +282,13 @@ FastSet NonlinearFactorGraph::keys() const { /* ************************************************************************* */ Ordering NonlinearFactorGraph::orderingCOLAMD() const { - return Ordering::colamd(*this); + return Ordering::Colamd(*this); } /* ************************************************************************* */ Ordering NonlinearFactorGraph::orderingCOLAMDConstrained(const FastMap& constraints) const { - return Ordering::colamdConstrained(*this, constraints); + return Ordering::ColamdConstrained(*this, constraints); } /* ************************************************************************* */ diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp index 05b0bb49e..952b134b5 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp @@ -191,7 +191,7 @@ void BatchFixedLagSmoother::reorder(const std::set& marginalizeKeys) { } // COLAMD groups will be used to place marginalize keys in Group 0, and everything else in Group 1 - ordering_ = Ordering::colamdConstrainedFirst(factors_, std::vector(marginalizeKeys.begin(), marginalizeKeys.end())); + ordering_ = Ordering::ColamdConstrainedFirst(factors_, std::vector(marginalizeKeys.begin(), marginalizeKeys.end())); if(debug) { ordering_.print("New Ordering: "); diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp index fcaae9626..40d1746ac 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp @@ -362,9 +362,9 @@ void ConcurrentBatchFilter::reorder(const boost::optional >& keysT // COLAMD groups will be used to place marginalize keys in Group 0, and everything else in Group 1 if(keysToMove && keysToMove->size() > 0) { - ordering_ = Ordering::colamdConstrainedFirst(factors_, std::vector(keysToMove->begin(), keysToMove->end())); + ordering_ = Ordering::ColamdConstrainedFirst(factors_, std::vector(keysToMove->begin(), keysToMove->end())); }else{ - ordering_ = Ordering::colamd(factors_); + ordering_ = Ordering::Colamd(factors_); } } diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp index 0f6515056..c410ad528 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp @@ -231,7 +231,7 @@ void ConcurrentBatchSmoother::reorder() { variableIndex_ = VariableIndex(factors_); FastList separatorKeys = separatorValues_.keys(); - ordering_ = Ordering::colamdConstrainedLast(variableIndex_, std::vector(separatorKeys.begin(), separatorKeys.end())); + ordering_ = Ordering::ColamdConstrainedLast(variableIndex_, std::vector(separatorKeys.begin(), separatorKeys.end())); } diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index f398a33fe..8e6b033e9 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -79,14 +79,14 @@ TEST( NonlinearFactorGraph, GET_ORDERING) { Ordering expected; expected += L(1), X(2), X(1); // For starting with l1,x1,x2 NonlinearFactorGraph nlfg = createNonlinearFactorGraph(); - Ordering actual = Ordering::colamd(nlfg); + Ordering actual = Ordering::Colamd(nlfg); EXPECT(assert_equal(expected,actual)); // Constrained ordering - put x2 at the end Ordering expectedConstrained; expectedConstrained += L(1), X(1), X(2); FastMap constraints; constraints[X(2)] = 1; - Ordering actualConstrained = Ordering::colamdConstrained(nlfg, constraints); + Ordering actualConstrained = Ordering::ColamdConstrained(nlfg, constraints); EXPECT(assert_equal(expectedConstrained, actualConstrained)); } From 6365dbaba58bcfb59011af3334543417ec94d915 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 14:03:13 +0100 Subject: [PATCH 018/964] Moved from smartfactors_ceres --- timing/DummyFactor.h | 56 +++++++++++++ timing/timeSchurFactors.cpp | 152 ++++++++++++++++++++++++++++++++++++ 2 files changed, 208 insertions(+) create mode 100644 timing/DummyFactor.h create mode 100644 timing/timeSchurFactors.cpp diff --git a/timing/DummyFactor.h b/timing/DummyFactor.h new file mode 100644 index 000000000..ff9732909 --- /dev/null +++ b/timing/DummyFactor.h @@ -0,0 +1,56 @@ +/** + * @file DummyFactor.h + * @brief Just to help in timing overhead + * @author Frank Dellaert + */ + +#pragma once + +#include + +namespace gtsam { + +/** + * DummyFactor + */ +template // +class DummyFactor: public RegularImplicitSchurFactor { + +public: + + typedef Eigen::Matrix Matrix2D; + typedef std::pair KeyMatrix2D; + + DummyFactor() { + } + + DummyFactor(const std::vector& Fblocks, const Matrix& E, + const Matrix3& P, const Vector& b) :RegularImplicitSchurFactor(Fblocks,E,P,b) + { + } + + virtual ~DummyFactor() { + } + +public: + + /** + * @brief Dummy version to measure overhead of key access + */ + void multiplyHessian(double alpha, const VectorValues& x, + VectorValues& y) const { + + BOOST_FOREACH(const KeyMatrix2D& Fi, this->Fblocks_) { + static const Vector empty; + Key key = Fi.first; + std::pair it = y.tryInsert(key, empty); + Vector& yi = it.first->second; + yi = x.at(key); + } + } + +}; +// DummyFactor + +} + diff --git a/timing/timeSchurFactors.cpp b/timing/timeSchurFactors.cpp new file mode 100644 index 000000000..06a526567 --- /dev/null +++ b/timing/timeSchurFactors.cpp @@ -0,0 +1,152 @@ +/** + * @file timeSchurFactors.cpp + * @brief Time various Schur-complement Jacobian factors + * @author Frank Dellaert + * @date Oct 27, 2013 + */ + +#include "DummyFactor.h" +#include + +#include +#include "gtsam/slam/JacobianFactorQR.h" +#include + +#include +#include +#include + +using namespace std; +using namespace boost::assign; +using namespace gtsam; + +#define SLOW +#define RAW +#define HESSIAN +#define NUM_ITERATIONS 1000 + +// Create CSV file for results +ofstream os("timeSchurFactors.csv"); + +/*************************************************************************************/ +template +void timeAll(size_t m, size_t N) { + + cout << m << endl; + + // create F + typedef Eigen::Matrix Matrix2D; + typedef pair KeyMatrix2D; + vector < pair > Fblocks; + for (size_t i = 0; i < m; i++) + Fblocks.push_back(KeyMatrix2D(i, (i + 1) * Matrix::Ones(2, D))); + + // create E + Matrix E(2 * m, 3); + for (size_t i = 0; i < m; i++) + E.block < 2, 3 > (2 * i, 0) = Matrix::Ones(2, 3); + + // Calculate point covariance + Matrix P = (E.transpose() * E).inverse(); + + // RHS and sigmas + const Vector b = gtsam::repeat(2 * m, 1); + const SharedDiagonal model; + + // parameters for multiplyHessianAdd + double alpha = 0.5; + VectorValues xvalues, yvalues; + for (size_t i = 0; i < m; i++) + xvalues.insert(i, gtsam::repeat(D, 2)); + + // Implicit + RegularImplicitSchurFactor implicitFactor(Fblocks, E, P, b); + // JacobianFactor with same error + JacobianFactorQ jf(Fblocks, E, P, b, model); + // JacobianFactorQR with same error + JacobianFactorQR jqr(Fblocks, E, P, b, model); + // Hessian + HessianFactor hessianFactor(jqr); + +#define TIME(label,factor,xx,yy) {\ + for (size_t t = 0; t < N; t++) \ + factor.multiplyHessianAdd(alpha, xx, yy);\ + gttic_(label);\ + for (size_t t = 0; t < N; t++) {\ + factor.multiplyHessianAdd(alpha, xx, yy);\ + }\ + gttoc_(label);\ + tictoc_getNode(timer, label)\ + os << timer->secs()/NUM_ITERATIONS << ", ";\ + } + +#ifdef SLOW + TIME(Implicit, implicitFactor, xvalues, yvalues) + TIME(Jacobian, jf, xvalues, yvalues) + TIME(JacobianQR, jqr, xvalues, yvalues) +#endif + +#ifdef HESSIAN + TIME(Hessian, hessianFactor, xvalues, yvalues) +#endif + +#ifdef OVERHEAD + DummyFactor dummy(Fblocks, E, P, b); + TIME(Overhead,dummy,xvalues,yvalues) +#endif + +#ifdef RAW + { // Raw memory Version + FastVector < Key > keys; + for (size_t i = 0; i < m; i++) + keys += i; + Vector x = xvalues.vector(keys); + double* xdata = x.data(); + + // create a y + Vector y = zero(m * D); + TIME(RawImplicit, implicitFactor, xdata, y.data()) + TIME(RawJacobianQ, jf, xdata, y.data()) + TIME(RawJacobianQR, jqr, xdata, y.data()) + } +#endif + + os << m << endl; + +} // timeAll + +/*************************************************************************************/ +int main(void) { +#ifdef SLOW + os << "Implicit,"; + os << "JacobianQ,"; + os << "JacobianQR,"; +#endif +#ifdef HESSIAN + os << "Hessian,"; +#endif +#ifdef OVERHEAD + os << "Overhead,"; +#endif +#ifdef RAW + os << "RawImplicit,"; + os << "RawJacobianQ,"; + os << "RawJacobianQR,"; +#endif + os << "m" << endl; + // define images + vector < size_t > ms; + // ms += 2; + // ms += 3, 4, 5, 6, 7, 8, 9, 10; + // ms += 11,12,13,14,15,16,17,18,19; + // ms += 20, 30, 40, 50; + // ms += 20,30,40,50,60,70,80,90,100; + for (size_t m = 2; m <= 50; m += 2) + ms += m; + //for (size_t m=10;m<=100;m+=10) ms += m; + // loop over number of images + BOOST_FOREACH(size_t m,ms) + timeAll<6>(m, NUM_ITERATIONS); +} + +//************************************************************************************* From 7bc0a9df5ba65a2cbbf8bf2a3ebea14779d2bc21 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 15:32:05 +0100 Subject: [PATCH 019/964] Moved regular factors (except implicit) to linear (they are not SLAM-specific) --- .cproject | 24 +++++++++++++++++++ gtsam/{slam => linear}/RegularHessianFactor.h | 0 .../{slam => linear}/RegularJacobianFactor.h | 0 .../tests/testRegularHessianFactor.cpp | 2 +- .../tests/testRegularJacobianFactor.cpp | 2 +- gtsam/slam/JacobianFactorQ.h | 2 +- gtsam/slam/JacobianFactorQR.h | 2 +- gtsam/slam/JacobianFactorSVD.h | 2 +- gtsam/slam/SmartFactorBase.h | 3 ++- 9 files changed, 31 insertions(+), 6 deletions(-) rename gtsam/{slam => linear}/RegularHessianFactor.h (100%) rename gtsam/{slam => linear}/RegularJacobianFactor.h (100%) rename gtsam/{slam => linear}/tests/testRegularHessianFactor.cpp (98%) rename gtsam/{slam => linear}/tests/testRegularJacobianFactor.cpp (99%) diff --git a/.cproject b/.cproject index 19d3912b0..acb0ea910 100644 --- a/.cproject +++ b/.cproject @@ -2455,6 +2455,14 @@ true true + + make + -j4 + SFMExample_SmartFactorPCG.run + true + true + true + make -j2 @@ -3047,6 +3055,22 @@ true true + + make + -j4 + testRegularHessianFactor.run + true + true + true + + + make + -j4 + testRegularJacobianFactor.run + true + true + true + make -j5 diff --git a/gtsam/slam/RegularHessianFactor.h b/gtsam/linear/RegularHessianFactor.h similarity index 100% rename from gtsam/slam/RegularHessianFactor.h rename to gtsam/linear/RegularHessianFactor.h diff --git a/gtsam/slam/RegularJacobianFactor.h b/gtsam/linear/RegularJacobianFactor.h similarity index 100% rename from gtsam/slam/RegularJacobianFactor.h rename to gtsam/linear/RegularJacobianFactor.h diff --git a/gtsam/slam/tests/testRegularHessianFactor.cpp b/gtsam/linear/tests/testRegularHessianFactor.cpp similarity index 98% rename from gtsam/slam/tests/testRegularHessianFactor.cpp rename to gtsam/linear/tests/testRegularHessianFactor.cpp index e2b8ac3cf..07f5b5e42 100644 --- a/gtsam/slam/tests/testRegularHessianFactor.cpp +++ b/gtsam/linear/tests/testRegularHessianFactor.cpp @@ -15,7 +15,7 @@ * @date March 4, 2014 */ -#include +#include #include #include diff --git a/gtsam/slam/tests/testRegularJacobianFactor.cpp b/gtsam/linear/tests/testRegularJacobianFactor.cpp similarity index 99% rename from gtsam/slam/tests/testRegularJacobianFactor.cpp rename to gtsam/linear/tests/testRegularJacobianFactor.cpp index 5803516a1..b8c4aa689 100644 --- a/gtsam/slam/tests/testRegularJacobianFactor.cpp +++ b/gtsam/linear/tests/testRegularJacobianFactor.cpp @@ -16,7 +16,7 @@ * @date Nov 12, 2014 */ -#include +#include #include #include #include diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h index ed6213058..5e8693541 100644 --- a/gtsam/slam/JacobianFactorQ.h +++ b/gtsam/slam/JacobianFactorQ.h @@ -17,7 +17,7 @@ #pragma once -#include "RegularJacobianFactor.h" +#include namespace gtsam { /** diff --git a/gtsam/slam/JacobianFactorQR.h b/gtsam/slam/JacobianFactorQR.h index 4c1b0ff14..9c3f8be4a 100644 --- a/gtsam/slam/JacobianFactorQR.h +++ b/gtsam/slam/JacobianFactorQR.h @@ -6,9 +6,9 @@ */ #pragma once -#include #include #include +#include namespace gtsam { diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h index b4389d681..255c799a6 100644 --- a/gtsam/slam/JacobianFactorSVD.h +++ b/gtsam/slam/JacobianFactorSVD.h @@ -5,7 +5,7 @@ */ #pragma once -#include "gtsam/slam/RegularJacobianFactor.h" +#include namespace gtsam { /** diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index a2bdfc059..8cbc2f73c 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -22,9 +22,9 @@ #include #include #include -#include #include +#include #include #include @@ -55,6 +55,7 @@ protected: */ std::vector measured_; + //SharedIsotropic noiseModel_; std::vector noise_; ///< noise model used boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras) From ad6293848e6112577621366a436bc375cc563b25 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 17:09:05 +0100 Subject: [PATCH 020/964] Moved from smartfactors_ceres --- .cproject | 16 + gtsam/slam/SmartProjectionCameraFactor.h | 164 +++ .../tests/testSmartProjectionCameraFactor.cpp | 1009 +++++++++++++++++ 3 files changed, 1189 insertions(+) create mode 100644 gtsam/slam/SmartProjectionCameraFactor.h create mode 100644 gtsam/slam/tests/testSmartProjectionCameraFactor.cpp diff --git a/.cproject b/.cproject index acb0ea910..8783ebc31 100644 --- a/.cproject +++ b/.cproject @@ -1554,6 +1554,22 @@ true true + + make + -j4 + testSmartProjectionCameraFactor.run + true + true + true + + + make + -j4 + testSmartFactorBase.run + true + true + true + make -j3 diff --git a/gtsam/slam/SmartProjectionCameraFactor.h b/gtsam/slam/SmartProjectionCameraFactor.h new file mode 100644 index 000000000..d5bdc2e84 --- /dev/null +++ b/gtsam/slam/SmartProjectionCameraFactor.h @@ -0,0 +1,164 @@ +/* ---------------------------------------------------------------------------- + + * 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 SmartProjectionCameraFactor.h + * @brief Produces an Hessian factors on CAMERAS (Pose3+CALIBRATION) from monocular measurements of a landmark + * @author Luca Carlone + * @author Chris Beall + * @author Zsolt Kira + */ + +#pragma once +#include + +namespace gtsam { + +/** + * @addtogroup SLAM + */ +template +class SmartProjectionCameraFactor: public SmartProjectionFactor { +protected: + + bool isImplicit_; + +public: + + /// shorthand for base class type + typedef SmartProjectionFactor Base; + + /// shorthand for this class + typedef SmartProjectionCameraFactor This; + + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + /** + * Constructor + * @param rankTol tolerance used to check if point triangulation is degenerate + * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) + * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, + * otherwise the factor is simply neglected + * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations + * @param isImplicit if set to true linearize the factor to an implicit Schur factor + * @param body_P_sensor is the transform from body to sensor frame (default identity) + */ + SmartProjectionCameraFactor(const double rankTol = 1, + const double linThreshold = -1, const bool manageDegeneracy = false, + const bool enableEPI = false, const bool isImplicit = false, + boost::optional body_P_sensor = boost::none) : + Base(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor), isImplicit_( + isImplicit) { + if (linThreshold != -1) { + std::cout << "SmartProjectionCameraFactor: linThreshold " + << linThreshold << std::endl; + } + } + + /** Virtual destructor */ + virtual ~SmartProjectionCameraFactor() { + } + + /** + * print + * @param s optional string naming the factor + * @param keyFormatter optional formatter useful for printing Symbols + */ + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const { + std::cout << s << "SmartProjectionCameraFactor, z = \n "; + Base::print("", keyFormatter); + } + + /// equals + virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { + const This *e = dynamic_cast(&p); + + return e && Base::equals(p, tol); + } + + /// get the dimension of the factor (number of rows on linearization) + virtual size_t dim() const { + return D * this->keys_.size(); // 6 for the pose and 3 for the calibration + } + + /// Collect all cameras: important that in key order + typename Base::Cameras cameras(const Values& values) const { + typename Base::Cameras cameras; + BOOST_FOREACH(const Key& k, this->keys_) + cameras.push_back(values.at(k)); + return cameras; + } + + /// linearize and adds damping on the points + boost::shared_ptr linearizeDamped(const Values& values, + const double lambda=0.0) const { + if (!isImplicit_) + return Base::createHessianFactor(cameras(values), lambda); + else + return Base::createRegularImplicitSchurFactor(cameras(values)); + } + + /// linearize returns a Hessianfactor that is an approximation of error(p) + virtual boost::shared_ptr > linearizeToHessian( + const Values& values, double lambda=0.0) const { + return Base::createHessianFactor(cameras(values),lambda); + } + + /// linearize returns a Hessianfactor that is an approximation of error(p) + virtual boost::shared_ptr > linearizeToImplicit( + const Values& values, double lambda=0.0) const { + return Base::createRegularImplicitSchurFactor(cameras(values),lambda); + } + + /// linearize returns a Jacobianfactor that is an approximation of error(p) + virtual boost::shared_ptr > linearizeToJacobian( + const Values& values, double lambda=0.0) const { + return Base::createJacobianQFactor(cameras(values),lambda); + } + + /// linearize returns a Hessianfactor that is an approximation of error(p) + virtual boost::shared_ptr linearizeWithLambda( + const Values& values, double lambda) const { + if (isImplicit_) + return linearizeToImplicit(values,lambda); + else + return linearizeToHessian(values,lambda); + } + + /// linearize returns a Hessianfactor that is an approximation of error(p) + virtual boost::shared_ptr linearize( + const Values& values) const { + return linearizeWithLambda(values,0.0); + } + + /// Calculare total reprojection error + virtual double error(const Values& values) const { + if (this->active(values)) { + return Base::totalReprojectionError(cameras(values)); + } else { // else of active flag + return 0.0; + } + } + +private: + + /// Serialization function + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + } + +}; + +} // \ namespace gtsam diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp new file mode 100644 index 000000000..88a0c0521 --- /dev/null +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -0,0 +1,1009 @@ +/* ---------------------------------------------------------------------------- + + * 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 testSmartProjectionCameraFactor.cpp + * @brief Unit tests for SmartProjectionCameraFactor Class + * @author Chris Beall + * @author Luca Carlone + * @author Zsolt Kira + * @date Sept 2013 + */ + +//#include "BundlerDefinitions.h" +#include +//#include "../SmartFactorsTestProblems.h" +//#include "../LevenbergMarquardtOptimizerCERES.h" + +#include +#include +#include +#include +#include +#include + +//#include "../SmartNonlinearFactorGraph.h" +#undef CHECK +#include +#include + +using namespace std; +using namespace boost::assign; +using namespace gtsam; + +typedef PinholeCamera Camera; + +static bool isDebugTest = false; + +// make a realistic calibration matrix +static double fov = 60; // degrees +static size_t w=640,h=480; + +static Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h)); +static Cal3_S2::shared_ptr K2(new Cal3_S2(1500, 1200, 0, 640, 480)); +static boost::shared_ptr Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 0, 0)); + +static double rankTol = 1.0; +static double linThreshold = -1.0; + +// Create a noise model for the pixel error +static SharedNoiseModel model(noiseModel::Unit::Create(2)); + +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + +// tests data +Key x1 = 1; + +Symbol l1('l', 1), l2('l', 2), l3('l', 3); +Key c1 = 1, c2 = 2, c3 = 3; + +static Key poseKey1(x1); +static Point2 measurement1(323.0, 240.0); +static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); + +typedef PinholeCamera CameraCal3_S2; +typedef SmartProjectionCameraFactor SmartFactor; +typedef SmartProjectionCameraFactor SmartFactorBundler; +typedef GeneralSFMFactor SFMFactor; + +template +PinholeCamera perturbCameraPose( + const PinholeCamera& camera) { + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Point3(0.5, 0.1, 0.3)); + Pose3 cameraPose = camera.pose(); + Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); + return PinholeCamera(perturbedCameraPose, camera.calibration()); +} + +template +PinholeCamera perturbCameraPoseAndCalibration( + const PinholeCamera& camera) { + GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Point3(0.5, 0.1, 0.3)); + Pose3 cameraPose = camera.pose(); + Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); + typename gtsam::traits::TangentVector d; + d.setRandom(); d*=0.1; + CALIBRATION perturbedCalibration = camera.calibration().retract(d); + return PinholeCamera(perturbedCameraPose, perturbedCalibration); +} + +template +void projectToMultipleCameras(const PinholeCamera& cam1, + const PinholeCamera& cam2, + const PinholeCamera& cam3, Point3 landmark, + vector& measurements_cam) { + Point2 cam1_uv1 = cam1.project(landmark); + Point2 cam2_uv1 = cam2.project(landmark); + Point2 cam3_uv1 = cam3.project(landmark); + measurements_cam.push_back(cam1_uv1); + measurements_cam.push_back(cam2_uv1); + measurements_cam.push_back(cam3_uv1); +} + +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, perturbCameraPose) { + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + CameraCal3_S2 level_camera(level_pose, *K2); + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); + Pose3 perturbed_level_pose = level_pose.compose(noise_pose); + CameraCal3_S2 actualCamera(perturbed_level_pose, *K2); + + CameraCal3_S2 expectedCamera = perturbCameraPose(level_camera); + CHECK(assert_equal(expectedCamera, actualCamera)); +} + +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, Constructor) { + SmartFactor::shared_ptr factor1(new SmartFactor()); +} + +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, Constructor2) { + SmartFactor factor1(rankTol, linThreshold); +} + +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, Constructor3) { + SmartFactor::shared_ptr factor1(new SmartFactor()); + factor1->add(measurement1, poseKey1, model); +} + +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, Constructor4) { + SmartFactor factor1(rankTol, linThreshold); + factor1.add(measurement1, poseKey1, model); +} + +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, ConstructorWithTransform) { + bool manageDegeneracy = true; + bool isImplicit = false; + bool enableEPI = false; + SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, isImplicit, enableEPI, body_P_sensor1); + factor1.add(measurement1, poseKey1, model); +} + +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, Equals ) { + SmartFactor::shared_ptr factor1(new SmartFactor()); + factor1->add(measurement1, poseKey1, model); + + SmartFactor::shared_ptr factor2(new SmartFactor()); + factor2->add(measurement1, poseKey1, model); + //CHECK(assert_equal(*factor1, *factor2)); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, noiseless ){ + // cout << " ************************ SmartProjectionCameraFactor: noisy ****************************" << endl; + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + CameraCal3_S2 level_camera(level_pose, *K2); + + // create second camera 1 meter to the right of first camera + Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); + CameraCal3_S2 level_camera_right(level_pose_right, *K2); + + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + Point2 level_uv = level_camera.project(landmark); + Point2 level_uv_right = level_camera_right.project(landmark); + + Values values; + values.insert(c1, level_camera); + values.insert(c2, level_camera_right); + + SmartFactor::shared_ptr factor1(new SmartFactor()); + factor1->add(level_uv, c1, model); + factor1->add(level_uv_right, c2, model); + + double actualError = factor1->error(values); + + double expectedError = 0.0; + DOUBLES_EQUAL(expectedError, actualError, 1e-7); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, noiselessBundler ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + Camera level_camera(level_pose, *Kbundler); + + // create second camera 1 meter to the right of first camera + Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); + Camera level_camera_right(level_pose_right, *Kbundler); + + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + Point2 level_uv = level_camera.project(landmark); + Point2 level_uv_right = level_camera_right.project(landmark); + + Values values; + values.insert(c1, level_camera); + values.insert(c2, level_camera_right); + + SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + factor1->add(level_uv, c1, model); + factor1->add(level_uv_right, c2, model); + + double actualError = factor1->error(values); + + double expectedError = 0.0; + DOUBLES_EQUAL(expectedError, actualError, 1e-3); + + Point3 oldPoint; // this takes the point stored in the factor (we are not interested in this) + if(factor1->point()) + oldPoint = *(factor1->point()); + + Point3 expectedPoint; + if(factor1->point(values)) + expectedPoint = *(factor1->point(values)); + + EXPECT(assert_equal(expectedPoint,landmark, 1e-3)); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, noisy ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + CameraCal3_S2 level_camera(level_pose, *K2); + + // create second camera 1 meter to the right of first camera + Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); + CameraCal3_S2 level_camera_right(level_pose_right, *K2); + + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + Point2 pixelError(0.2,0.2); + Point2 level_uv = level_camera.project(landmark) + pixelError; + Point2 level_uv_right = level_camera_right.project(landmark); + + Values values; + values.insert(c1, level_camera); + CameraCal3_S2 perturbed_level_camera_right = perturbCameraPose(level_camera_right); + values.insert(c2, perturbed_level_camera_right); + + SmartFactor::shared_ptr factor1(new SmartFactor()); + factor1->add(level_uv, c1, model); + factor1->add(level_uv_right, c2, model); + + double actualError1= factor1->error(values); + + SmartFactor::shared_ptr factor2(new SmartFactor()); + vector measurements; + measurements.push_back(level_uv); + measurements.push_back(level_uv_right); + + vector< SharedNoiseModel > noises; + noises.push_back(model); + noises.push_back(model); + + vector views; + views.push_back(c1); + views.push_back(c2); + + factor2->add(measurements, views, noises); + + double actualError2= factor2->error(values); + + DOUBLES_EQUAL(actualError1, actualError2, 1e-7); +} + + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + CameraCal3_S2 cam1(pose1, *K2); + + // create second camera 1 meter to the right of first camera + Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); + CameraCal3_S2 cam2(pose2, *K2); + + // create third camera 1 meter above the first camera + Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); + CameraCal3_S2 cam3(pose3, *K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + vector measurements_cam1, measurements_cam2, measurements_cam3; + + // 1. Project three landmarks into three cameras and triangulate + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + + vector views; + views.push_back(c1); + views.push_back(c2); + views.push_back(c3); + + SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + smartFactor1->add(measurements_cam1, views, model); + + SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + smartFactor2->add(measurements_cam2, views, model); + + SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + smartFactor3->add(measurements_cam3, views, model); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6+5, 1e-5); + + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); + + Values values; + values.insert(c1, cam1); + values.insert(c2, cam2); + values.insert(c3, perturbCameraPose(cam3)); + if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + + LevenbergMarquardtParams params; + if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + + Values result; + gttic_(SmartProjectionCameraFactor); + LevenbergMarquardtOptimizer optimizer(graph, values, params); + result = optimizer.optimize(); + gttoc_(SmartProjectionCameraFactor); + tictoc_finishedIteration_(); + + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); + // VectorValues delta = GFG->optimize(); + + if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1,result.at(c1))); + EXPECT(assert_equal(cam2,result.at(c2))); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); + EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if(isDebugTest) tictoc_print_(); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + CameraCal3_S2 cam1(pose1, *K2); + + // create second camera 1 meter to the right of first camera + Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); + CameraCal3_S2 cam2(pose2, *K2); + + // create third camera 1 meter above the first camera + Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); + CameraCal3_S2 cam3(pose3, *K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + + vector measurements_cam1, measurements_cam2, measurements_cam3; + // 1. Project three landmarks into three cameras and triangulate + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + + vector views; + views.push_back(c1); + views.push_back(c2); + views.push_back(c3); + + SfM_Track track1; + for(size_t i=0;i<3;++i){ + SfM_Measurement measures; + measures.first = i+1;// cameras are from 1 to 3 + measures.second = measurements_cam1.at(i); + track1.measurements.push_back(measures); + } + SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + smartFactor1->add(track1, model); + + SfM_Track track2; + for(size_t i=0;i<3;++i){ + SfM_Measurement measures; + measures.first = i+1;// cameras are from 1 to 3 + measures.second = measurements_cam2.at(i); + track2.measurements.push_back(measures); + } + SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + smartFactor2->add(track2, model); + + SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + smartFactor3->add(measurements_cam3, views, model); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6+5, 1e-5); + + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); + + Values values; + values.insert(c1, cam1); + values.insert(c2, cam2); + values.insert(c3, perturbCameraPose(cam3)); + if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + + LevenbergMarquardtParams params; + if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + + Values result; + gttic_(SmartProjectionCameraFactor); + LevenbergMarquardtOptimizer optimizer(graph, values, params); + result = optimizer.optimize(); + gttoc_(SmartProjectionCameraFactor); + tictoc_finishedIteration_(); + + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); + // VectorValues delta = GFG->optimize(); + + if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1,result.at(c1))); + EXPECT(assert_equal(cam2,result.at(c2))); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); + EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if(isDebugTest) tictoc_print_(); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + CameraCal3_S2 cam1(pose1, *K2); + + // create second camera 1 meter to the right of first camera + Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); + CameraCal3_S2 cam2(pose2, *K2); + + // create third camera 1 meter above the first camera + Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); + CameraCal3_S2 cam3(pose3, *K2); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + Point3 landmark4(10, 0.5, 1.2); + Point3 landmark5(10, -0.5, 1.2); + + vector measurements_cam1, measurements_cam2, measurements_cam3, + measurements_cam4, measurements_cam5; + + // 1. Project three landmarks into three cameras and triangulate + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_cam4); + projectToMultipleCameras(cam1, cam2, cam3, landmark5, measurements_cam5); + + vector views; + views.push_back(c1); + views.push_back(c2); + views.push_back(c3); + + SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + smartFactor1->add(measurements_cam1, views, model); + + SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + smartFactor2->add(measurements_cam2, views, model); + + SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + smartFactor3->add(measurements_cam3, views, model); + + SmartFactor::shared_ptr smartFactor4(new SmartFactor()); + smartFactor4->add(measurements_cam4, views, model); + + SmartFactor::shared_ptr smartFactor5(new SmartFactor()); + smartFactor5->add(measurements_cam5, views, model); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6+5, 1e-5); + + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.push_back(smartFactor4); + graph.push_back(smartFactor5); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); + + Values values; + values.insert(c1, cam1); + values.insert(c2, cam2); + values.insert(c3, perturbCameraPoseAndCalibration(cam3)); + if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + + LevenbergMarquardtParams params; + params.relativeErrorTol = 1e-8; + params.absoluteErrorTol = 0; + params.maxIterations = 20; + if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + + Values result; + gttic_(SmartProjectionCameraFactor); + LevenbergMarquardtOptimizer optimizer(graph, values, params); + result = optimizer.optimize(); + gttoc_(SmartProjectionCameraFactor); + tictoc_finishedIteration_(); + + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); + // VectorValues delta = GFG->optimize(); + + if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1,result.at(c1))); + EXPECT(assert_equal(cam2,result.at(c2))); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); + EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 20)); + if(isDebugTest) tictoc_print_(); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, Cal3Bundler ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + Camera cam1(pose1, *Kbundler); + + // create second camera 1 meter to the right of first camera + Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); + Camera cam2(pose2, *Kbundler); + + // create third camera 1 meter above the first camera + Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); + Camera cam3(pose3, *Kbundler); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + Point3 landmark4(10, 0.5, 1.2); + Point3 landmark5(10, -0.5, 1.2); + + vector measurements_cam1, measurements_cam2, measurements_cam3, + measurements_cam4, measurements_cam5; + + // 1. Project three landmarks into three cameras and triangulate + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_cam4); + projectToMultipleCameras(cam1, cam2, cam3, landmark5, measurements_cam5); + + vector views; + views.push_back(c1); + views.push_back(c2); + views.push_back(c3); + + SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); + smartFactor1->add(measurements_cam1, views, model); + + SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); + smartFactor2->add(measurements_cam2, views, model); + + SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); + smartFactor3->add(measurements_cam3, views, model); + + SmartFactorBundler::shared_ptr smartFactor4(new SmartFactorBundler()); + smartFactor4->add(measurements_cam4, views, model); + + SmartFactorBundler::shared_ptr smartFactor5(new SmartFactorBundler()); + smartFactor5->add(measurements_cam5, views, model); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); + + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); + + Values values; + values.insert(c1, cam1); + values.insert(c2, cam2); + // initialize third pose with some noise, we expect it to move back to original pose3 + values.insert(c3, perturbCameraPose(cam3)); + if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + + LevenbergMarquardtParams params; + params.relativeErrorTol = 1e-8; + params.absoluteErrorTol = 0; + params.maxIterations = 20; + if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + + Values result; + gttic_(SmartProjectionCameraFactor); + LevenbergMarquardtOptimizer optimizer(graph, values, params); + result = optimizer.optimize(); + gttoc_(SmartProjectionCameraFactor); + tictoc_finishedIteration_(); + + if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1,result.at(c1), 1e-4)); + EXPECT(assert_equal(cam2,result.at(c2), 1e-4)); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); + EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 1)); + if(isDebugTest) tictoc_print_(); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, Cal3Bundler2 ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + Camera cam1(pose1, *Kbundler); + + // create second camera 1 meter to the right of first camera + Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); + Camera cam2(pose2, *Kbundler); + + // create third camera 1 meter above the first camera + Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); + Camera cam3(pose3, *Kbundler); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(3, 0, 3.0); + Point3 landmark4(10, 0.5, 1.2); + Point3 landmark5(10, -0.5, 1.2); + + vector measurements_cam1, measurements_cam2, measurements_cam3, + measurements_cam4, measurements_cam5; + + // 1. Project three landmarks into three cameras and triangulate + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_cam4); + projectToMultipleCameras(cam1, cam2, cam3, landmark5, measurements_cam5); + + vector views; + views.push_back(c1); + views.push_back(c2); + views.push_back(c3); + + SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); + smartFactor1->add(measurements_cam1, views, model); + + SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); + smartFactor2->add(measurements_cam2, views, model); + + SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); + smartFactor3->add(measurements_cam3, views, model); + + SmartFactorBundler::shared_ptr smartFactor4(new SmartFactorBundler()); + smartFactor4->add(measurements_cam4, views, model); + + SmartFactorBundler::shared_ptr smartFactor5(new SmartFactorBundler()); + smartFactor5->add(measurements_cam5, views, model); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); + + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); + + Values values; + values.insert(c1, cam1); + values.insert(c2, cam2); + // initialize third pose with some noise, we expect it to move back to original pose3 + values.insert(c3, perturbCameraPoseAndCalibration(cam3)); + if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + + LevenbergMarquardtParams params; + params.relativeErrorTol = 1e-8; + params.absoluteErrorTol = 0; + params.maxIterations = 20; + if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + + Values result; + gttic_(SmartProjectionCameraFactor); + LevenbergMarquardtOptimizer optimizer(graph, values, params); + result = optimizer.optimize(); + gttoc_(SmartProjectionCameraFactor); + tictoc_finishedIteration_(); + + if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1,result.at(c1), 1e-4)); + EXPECT(assert_equal(cam2,result.at(c2), 1e-4)); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); + EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if(isDebugTest) tictoc_print_(); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + Camera level_camera(level_pose, *Kbundler); + + // create second camera 1 meter to the right of first camera + Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); + Camera level_camera_right(level_pose_right, *Kbundler); + + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + + // 1. Project two landmarks into two cameras and triangulate + Point2 level_uv = level_camera.project(landmark); + Point2 level_uv_right = level_camera_right.project(landmark); + + Values values; + values.insert(c1, level_camera); + values.insert(c2, level_camera_right); + + NonlinearFactorGraph smartGraph; + SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + factor1->add(level_uv, c1, model); + factor1->add(level_uv_right, c2, model); + smartGraph.push_back(factor1); + double expectedError = factor1->error(values); + double expectedErrorGraph = smartGraph.error(values); + Point3 expectedPoint; + if(factor1->point()) + expectedPoint = *(factor1->point()); + // cout << "expectedPoint " << expectedPoint.vector() << endl; + + // COMMENTS: + // 1) triangulation introduces small errors, then for a fair comparison we use expectedPoint as + // value in the generalGrap + NonlinearFactorGraph generalGraph; + SFMFactor sfm1(level_uv, model, c1, l1); + SFMFactor sfm2(level_uv_right, model, c2, l1); + generalGraph.push_back(sfm1); + generalGraph.push_back(sfm2); + values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation + Vector e1 = sfm1.evaluateError(values.at< Camera >(c1), values.at< Point3 >(l1)); + Vector e2 = sfm2.evaluateError(values.at< Camera >(c2), values.at< Point3 >(l1)); + double actualError = 0.5 * (norm_2(e1)*norm_2(e1) + norm_2(e2)*norm_2(e2)); + double actualErrorGraph = generalGraph.error(values); + + DOUBLES_EQUAL(expectedErrorGraph, actualErrorGraph, 1e-7); + DOUBLES_EQUAL(expectedErrorGraph, expectedError, 1e-7); + DOUBLES_EQUAL(actualErrorGraph, actualError, 1e-7); + DOUBLES_EQUAL(expectedError, actualError, 1e-7); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + Camera level_camera(level_pose, *Kbundler); + // create second camera 1 meter to the right of first camera + Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); + Camera level_camera_right(level_pose_right, *Kbundler); + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + // 1. Project two landmarks into two cameras and triangulate + Point2 level_uv = level_camera.project(landmark); + Point2 level_uv_right = level_camera_right.project(landmark); + + Values values; + values.insert(c1, level_camera); + values.insert(c2, level_camera_right); + + NonlinearFactorGraph smartGraph; + SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + factor1->add(level_uv, c1, model); + factor1->add(level_uv_right, c2, model); + smartGraph.push_back(factor1); + Matrix expectedHessian = smartGraph.linearize(values)->hessian().first; + Vector expectedInfoVector = smartGraph.linearize(values)->hessian().second; + Point3 expectedPoint; + if(factor1->point()) + expectedPoint = *(factor1->point()); + + // COMMENTS: + // 1) triangulation introduces small errors, then for a fair comparison we use expectedPoint as + // value in the generalGrap + NonlinearFactorGraph generalGraph; + SFMFactor sfm1(level_uv, model, c1, l1); + SFMFactor sfm2(level_uv_right, model, c2, l1); + generalGraph.push_back(sfm1); + generalGraph.push_back(sfm2); + values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation + Matrix actualFullHessian = generalGraph.linearize(values)->hessian().first; + Matrix actualFullInfoVector = generalGraph.linearize(values)->hessian().second; + Matrix actualHessian = actualFullHessian.block(0,0,18,18) - + actualFullHessian.block(0,18,18,3) * (actualFullHessian.block(18,18,3,3)).inverse() * actualFullHessian.block(18,0,3,18); + Vector actualInfoVector = actualFullInfoVector.block(0,0,18,1) - + actualFullHessian.block(0,18,18,3) * (actualFullHessian.block(18,18,3,3)).inverse() * actualFullInfoVector.block(18,0,3,1); + + EXPECT(assert_equal(expectedHessian,actualHessian, 1e-7)); + EXPECT(assert_equal(expectedInfoVector,actualInfoVector, 1e-7)); +} + +/* *************************************************************************/ +// Have to think about how to compare multiplyHessianAdd in generalSfMFactor and smartFactors +//TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor2 ){ +// +// // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) +// Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); +// cameraObjectBundler level_camera(level_pose, *Kbundler); +// // create second camera 1 meter to the right of first camera +// Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); +// cameraObjectBundler level_camera_right(level_pose_right, *Kbundler); +// // landmark ~5 meters infront of camera +// Point3 landmark(5, 0.5, 1.2); +// // 1. Project two landmarks into two cameras +// Point2 level_uv = level_camera.project(landmark); +// Point2 level_uv_right = level_camera_right.project(landmark); +// +// Values values; +// values.insert(c1, level_camera); +// values.insert(c2, level_camera_right); +// +// NonlinearFactorGraph smartGraph; +// SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); +// factor1->add(level_uv, c1, model); +// factor1->add(level_uv_right, c2, model); +// smartGraph.push_back(factor1); +// GaussianFactorGraph::shared_ptr gfgSmart = smartGraph.linearize(values); +// +// Point3 expectedPoint; +// if(factor1->point()) +// expectedPoint = *(factor1->point()); +// +// // COMMENTS: +// // 1) triangulation introduces small errors, then for a fair comparison we use expectedPoint as +// // value in the generalGrap +// NonlinearFactorGraph generalGraph; +// SFMFactor sfm1(level_uv, model, c1, l1); +// SFMFactor sfm2(level_uv_right, model, c2, l1); +// generalGraph.push_back(sfm1); +// generalGraph.push_back(sfm2); +// values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation +// GaussianFactorGraph::shared_ptr gfg = generalGraph.linearize(values); +// +// double alpha = 1.0; +// +// VectorValues yExpected, yActual, ytmp; +// VectorValues xtmp = map_list_of +// (c1, (Vec(9) << 0,0,0,0,0,0,0,0,0)) +// (c2, (Vec(9) << 0,0,0,0,0,0,0,0,0)) +// (l1, (Vec(3) << 5.5, 0.5, 1.2)); +// gfg ->multiplyHessianAdd(alpha, xtmp, ytmp); +// +// VectorValues x = map_list_of +// (c1, (Vec(9) << 1,2,3,4,5,6,7,8,9)) +// (c2, (Vec(9) << 11,12,13,14,15,16,17,18,19)) +// (l1, (Vec(3) << 5.5, 0.5, 1.2)); +// +// gfgSmart->multiplyHessianAdd(alpha, ytmp + x, yActual); +// gfg ->multiplyHessianAdd(alpha, x, yExpected); +// +// EXPECT(assert_equal(yActual,yExpected, 1e-7)); +//} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, computeImplicitJacobian ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + Camera level_camera(level_pose, *Kbundler); + // create second camera 1 meter to the right of first camera + Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); + Camera level_camera_right(level_pose_right, *Kbundler); + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + // 1. Project two landmarks into two cameras and triangulate + Point2 level_uv = level_camera.project(landmark); + Point2 level_uv_right = level_camera_right.project(landmark); + + Values values; + values.insert(c1, level_camera); + values.insert(c2, level_camera_right); + + SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + factor1->add(level_uv, c1, model); + factor1->add(level_uv_right, c2, model); + Matrix expectedF, expectedE; + Vector expectedb; + + CameraSet< Camera > cameras; + cameras.push_back(level_camera); + cameras.push_back(level_camera_right); + + factor1->error(values); // this is important to have a triangulation of the point + Point3 expectedPoint; + if(factor1->point()) + expectedPoint = *(factor1->point()); + factor1->computeJacobians(expectedF, expectedE, expectedb, cameras); + + NonlinearFactorGraph generalGraph; + SFMFactor sfm1(level_uv, model, c1, l1); + SFMFactor sfm2(level_uv_right, model, c2, l1); + generalGraph.push_back(sfm1); + generalGraph.push_back(sfm2); + values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation + Matrix actualFullHessian = generalGraph.linearize(values)->hessian().first; + Matrix actualVinv = (actualFullHessian.block(18,18,3,3)).inverse(); + + Matrix3 expectedVinv = factor1->PointCov(expectedE); + EXPECT(assert_equal(expectedVinv,actualVinv, 1e-7)); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, implicitJacobianFactor ){ + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); + Camera level_camera(level_pose, *Kbundler); + // create second camera 1 meter to the right of first camera + Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); + Camera level_camera_right(level_pose_right, *Kbundler); + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); + // 1. Project two landmarks into two cameras and triangulate + Point2 level_uv = level_camera.project(landmark); + Point2 level_uv_right = level_camera_right.project(landmark); + + Values values; + values.insert(c1, level_camera); + values.insert(c2, level_camera_right); + double rankTol = 1; + double linThreshold = -1; + bool manageDegeneracy = false; + bool useEPI = false; + bool isImplicit = false; + + // Hessian version + SmartFactorBundler::shared_ptr explicitFactor(new SmartFactorBundler(rankTol,linThreshold, manageDegeneracy, useEPI, isImplicit)); + explicitFactor->add(level_uv, c1, model); + explicitFactor->add(level_uv_right, c2, model); + + GaussianFactor::shared_ptr gaussianHessianFactor = explicitFactor->linearize(values); + HessianFactor& hessianFactor = dynamic_cast(*gaussianHessianFactor); + + // Implicit Schur version + isImplicit = true; + SmartFactorBundler::shared_ptr implicitFactor(new SmartFactorBundler(rankTol,linThreshold, manageDegeneracy, useEPI, isImplicit)); + implicitFactor->add(level_uv, c1, model); + implicitFactor->add(level_uv_right, c2, model); + GaussianFactor::shared_ptr gaussianImplicitSchurFactor = implicitFactor->linearize(values); + typedef RegularImplicitSchurFactor<9> Implicit9; + Implicit9& implicitSchurFactor = dynamic_cast(*gaussianImplicitSchurFactor); + + VectorValues x = map_list_of + (c1, (Vector(9) << 1,2,3,4,5,6,7,8,9).finished()) + (c2, (Vector(9) << 11,12,13,14,15,16,17,18,19).finished()); + + VectorValues yExpected, yActual; + double alpha = 1.0; + hessianFactor.multiplyHessianAdd(alpha, x, yActual); + implicitSchurFactor.multiplyHessianAdd(alpha, x, yExpected); + EXPECT(assert_equal(yActual,yExpected, 1e-7)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ + + From c271874bc25f3a9ff6cb36a5509b03be55879c55 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 17:20:03 +0100 Subject: [PATCH 021/964] Starting the change to isotropic --- gtsam/slam/SmartFactorBase.h | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 8cbc2f73c..e66b6ca6a 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -55,8 +55,7 @@ protected: */ std::vector measured_; - //SharedIsotropic noiseModel_; - std::vector noise_; ///< noise model used + SharedIsotropic noiseModel_; boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras) @@ -159,8 +158,8 @@ public: } /** return the noise models */ - const std::vector& noise() const { - return noise_; + const SharedIsotropic& noise() const { + return noiseModel_; } /** @@ -173,7 +172,7 @@ public: std::cout << s << "SmartFactorBase, z = \n"; for (size_t k = 0; k < measured_.size(); ++k) { std::cout << "measurement, p = " << measured_[k] << "\t"; - noise_[k]->print("noise model = "); + noiseModel_->print("noise model = "); } if (this->body_P_sensor_) this->body_P_sensor_->print(" sensor pose in body frame: "); From 241366a6e6d4ad343f195ce01c766ae8a913b159 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 17:30:08 +0100 Subject: [PATCH 022/964] Check augmented information matrices --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 474009cfb..939743cd7 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -502,7 +502,7 @@ TEST( SmartProjectionPoseFactor, Factors ){ boost::shared_ptr > actual = smartFactor1->createHessianFactor(cameras, 0.0); - CHECK(assert_equal(expected.information(), actual->information(), 1e-8)); + CHECK(assert_equal(expected.augmentedInformation(), actual->augmentedInformation(), 1e-8)); CHECK(assert_equal(expected, *actual, 1e-8)); } @@ -529,6 +529,7 @@ TEST( SmartProjectionPoseFactor, Factors ){ boost::shared_ptr > actualQ = smartFactor1->createJacobianQFactor(cameras, 0.0); CHECK(actual); + CHECK(assert_equal(expectedQ.augmentedInformation(), actualQ->augmentedInformation(), 1e-8)); CHECK(assert_equal(expectedQ, *actualQ)); } @@ -541,6 +542,7 @@ TEST( SmartProjectionPoseFactor, Factors ){ boost::shared_ptr actual = smartFactor1->createJacobianSVDFactor(cameras, 0.0); CHECK(actual); + CHECK(assert_equal(expected.augmentedInformation(), actual->augmentedInformation(), 1e-8)); CHECK(assert_equal(expected, *actual)); } } From ac16b7e1d457f72e232bc608f0c934c5e2c91cb1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 17:50:10 +0100 Subject: [PATCH 023/964] Switched to isotropic --- gtsam/slam/SmartFactorBase.h | 43 ++++++++++++++++++++---------- gtsam/slam/SmartProjectionFactor.h | 4 +-- 2 files changed, 31 insertions(+), 16 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index e66b6ca6a..a247832e2 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -97,17 +97,32 @@ public: virtual ~SmartFactorBase() { } + // check that noise model is isotropic and the same + void maybeSetNoiseModel(const SharedNoiseModel& sharedNoiseModel) { + if (!sharedNoiseModel) + return; + SharedIsotropic sharedIsotropic = boost::dynamic_pointer_cast< + noiseModel::Isotropic>(sharedNoiseModel); + if (!sharedIsotropic) + throw std::runtime_error("SmartFactorBase: needs isotropic"); + if (!noiseModel_) + noiseModel_ = sharedIsotropic; + else if (!sharedIsotropic->equals(*noiseModel_)) + throw std::runtime_error( + "SmartFactorBase: cannot add measurements with different noise model"); + } + /** * Add a new measurement and pose key * @param measured_i is the 2m dimensional projection of a single landmark * @param poseKey is the index corresponding to the camera observing the landmark - * @param noise_i is the measurement noise + * @param sharedNoiseModel is the measurement noise */ void add(const Z& measured_i, const Key& poseKey_i, - const SharedNoiseModel& noise_i) { + const SharedNoiseModel& sharedNoiseModel) { this->measured_.push_back(measured_i); this->keys_.push_back(poseKey_i); - this->noise_.push_back(noise_i); + maybeSetNoiseModel(sharedNoiseModel); } /** @@ -118,7 +133,7 @@ public: for (size_t i = 0; i < measurements.size(); i++) { this->measured_.push_back(measurements.at(i)); this->keys_.push_back(poseKeys.at(i)); - this->noise_.push_back(noises.at(i)); + maybeSetNoiseModel(noises.at(i)); } } @@ -130,7 +145,7 @@ public: for (size_t i = 0; i < measurements.size(); i++) { this->measured_.push_back(measurements.at(i)); this->keys_.push_back(poseKeys.at(i)); - this->noise_.push_back(noise); + maybeSetNoiseModel(noise); } } @@ -143,7 +158,7 @@ public: for (size_t k = 0; k < trackToAdd.number_measurements(); k++) { this->measured_.push_back(trackToAdd.measurements[k].second); this->keys_.push_back(trackToAdd.measurements[k].first); - this->noise_.push_back(noise); + maybeSetNoiseModel(noise); } } @@ -223,7 +238,7 @@ public: Vector b = reprojectionError(cameras, point); size_t nrCameras = cameras.size(); for (size_t i = 0, row = 0; i < nrCameras; i++, row += ZDim) - b.segment(row) = noise_.at(i)->whiten(b.segment(row)); + b.segment(row) = noiseModel_->whiten(b.segment(row)); return b; } @@ -240,7 +255,7 @@ public: double overallError = 0; size_t nrCameras = cameras.size(); for (size_t i = 0; i < nrCameras; i++) - overallError += noise_.at(i)->distance(b.segment(i * ZDim)); + overallError += noiseModel_->distance(b.segment(i * ZDim)); return 0.5 * overallError; } @@ -272,7 +287,7 @@ public: Vector bi = (zi - predicted[i]).vector(); // if needed, whiten - SharedNoiseModel model = noise_.at(i); + SharedNoiseModel model = noiseModel_; if (model) { // TODO: re-factor noiseModel to take any block/fixed vector/matrix Vector dummy; @@ -325,16 +340,15 @@ public: } // if needed, whiten - SharedNoiseModel model = noise_.at(i); - if (model) { + if (noiseModel_) { // TODO, refactor noiseModel so we can take blocks Matrix Fi = F.block(row, 0); Matrix Ei = E.block(row, 0); if (!G) - model->WhitenSystem(Fi, Ei, bi); + noiseModel_->WhitenSystem(Fi, Ei, bi); else { Matrix Gi = G->block(row, 0); - model->WhitenSystem(Fi, Ei, Gi, bi); + noiseModel_->WhitenSystem(Fi, Ei, Gi, bi); G->block(row, 0) = Gi; } F.block(row, 0) = Fi; @@ -413,7 +427,8 @@ public: } /// Create BIG block-diagonal matrix F from Fblocks - static void FillDiagonalF(const std::vector& Fblocks, Matrix& F) { + static void FillDiagonalF(const std::vector& Fblocks, + Matrix& F) { size_t m = Fblocks.size(); F.resize(ZDim * m, D * m); F.setZero(); diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 7fb43152a..ca49272ec 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -533,7 +533,7 @@ public: Vector bi = -(cameras[i].projectPointAtInfinity(this->point_, Fi, Ei) - this->measured_.at(i)).vector(); - this->noise_.at(i)->WhitenSystem(Fi, Ei, bi); + this->noiseModel_->WhitenSystem(Fi, Ei, bi); f += bi.squaredNorm(); Fblocks.push_back(typename Base::KeyMatrix2D(this->keys_[i], Fi)); E.block<2, 2>(2 * i, 0) = Ei; @@ -639,7 +639,7 @@ public: Point2 reprojectionError( camera.projectPointAtInfinity(this->point_) - zi); overallError += 0.5 - * this->noise_.at(i)->distance(reprojectionError.vector()); + * this->noiseModel_->distance(reprojectionError.vector()); i += 1; } return overallError; From c9536523bfd07816290472b2d9e09a14c2e8cb34 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 20:10:18 +0100 Subject: [PATCH 024/964] Some header refactoring --- gtsam/slam/SmartFactorBase.h | 72 ++++++++++++++++++++---------------- 1 file changed, 40 insertions(+), 32 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index a247832e2..3e813a691 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -46,22 +46,17 @@ class SmartFactorBase: public NonlinearFactor { protected: + /// shorthand for base class type + typedef NonlinearFactor Base; + + /// shorthand for this class + typedef SmartFactorBase This; + + // Figure out the measurement type and dimension typedef typename CAMERA::Measurement Z; - - /** - * 2D measurement and noise model for each of the m views - * We keep a copy of measurements for I/O and computing the error. - * The order is kept the same as the keys that we use to create the factor. - */ - std::vector measured_; - - SharedIsotropic noiseModel_; - - boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras) - static const int ZDim = traits::dimension; ///< Measurement dimension - /// Definitions for blocks of F + // Definitions for blocks of F typedef Eigen::Matrix Matrix2D; // F typedef Eigen::Matrix MatrixD2; // F' typedef std::pair KeyMatrix2D; // Fblocks @@ -70,11 +65,39 @@ protected: typedef Eigen::Matrix VectorD; typedef Eigen::Matrix Matrix2; - /// shorthand for base class type - typedef NonlinearFactor Base; + /** + * 2D measurement and noise model for each of the m views + * We keep a copy of measurements for I/O and computing the error. + * The order is kept the same as the keys that we use to create the factor. + */ + std::vector measured_; - /// shorthand for this class - typedef SmartFactorBase This; + /** + * As of Feb 22, 2015, the noise model is the same for all measurements and + * is isotropic. This allows for moving most calculations of Schur complement + * etc to be moved to CameraSet very easily, and also agrees pragmatically + * with what is normally done. + */ + SharedIsotropic noiseModel_; + + /// An optional sensor pose, in the body frame (one for all cameras) + /// This seems to make sense for a CameraTrack, not for a CameraSet + boost::optional body_P_sensor_; + + // check that noise model is isotropic and the same + void maybeSetNoiseModel(const SharedNoiseModel& sharedNoiseModel) { + if (!sharedNoiseModel) + return; + SharedIsotropic sharedIsotropic = boost::dynamic_pointer_cast< + noiseModel::Isotropic>(sharedNoiseModel); + if (!sharedIsotropic) + throw std::runtime_error("SmartFactorBase: needs isotropic"); + if (!noiseModel_) + noiseModel_ = sharedIsotropic; + else if (!sharedIsotropic->equals(*noiseModel_)) + throw std::runtime_error( + "SmartFactorBase: cannot add measurements with different noise model"); + } public: @@ -97,21 +120,6 @@ public: virtual ~SmartFactorBase() { } - // check that noise model is isotropic and the same - void maybeSetNoiseModel(const SharedNoiseModel& sharedNoiseModel) { - if (!sharedNoiseModel) - return; - SharedIsotropic sharedIsotropic = boost::dynamic_pointer_cast< - noiseModel::Isotropic>(sharedNoiseModel); - if (!sharedIsotropic) - throw std::runtime_error("SmartFactorBase: needs isotropic"); - if (!noiseModel_) - noiseModel_ = sharedIsotropic; - else if (!sharedIsotropic->equals(*noiseModel_)) - throw std::runtime_error( - "SmartFactorBase: cannot add measurements with different noise model"); - } - /** * Add a new measurement and pose key * @param measured_i is the 2m dimensional projection of a single landmark From 81538aac55ea9974dd1c0f42bd648dc23412cd41 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 21:48:21 +0100 Subject: [PATCH 025/964] reprojectionErrors --- gtsam/geometry/CameraSet.h | 89 ++++++++++++++++++++++---- gtsam/geometry/tests/testCameraSet.cpp | 40 ++++++++---- 2 files changed, 104 insertions(+), 25 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 3a34ca1fd..9d678181b 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -43,6 +43,24 @@ protected: static const int ZDim = traits::dimension; ///< Measurement dimension static const int Dim = traits::dimension; ///< Camera dimension + /// Make a vector of re-projection errors + static Vector ErrorVector(const std::vector& predicted, + const std::vector& measured) { + + // Check size + size_t m = predicted.size(); + if (measured.size() != m) + throw std::runtime_error("CameraSet::errors: size mismatch"); + + // Project and fill derivatives + Vector b(ZDim * m); + for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { + Z e = predicted[i] - measured[i]; + b.segment(row) = e.vector(); + } + return b; + } + public: /// Definitions for blocks of F @@ -77,28 +95,71 @@ public: * Project a point, with derivatives in this, point, and calibration * throws CheiralityException */ - std::vector project(const Point3& point, boost::optional F = - boost::none, boost::optional E = boost::none, + std::vector project(const Point3& point, // + boost::optional F = boost::none, // + boost::optional E = boost::none, // boost::optional H = boost::none) const { - size_t nrCameras = this->size(); - if (F) F->resize(ZDim * nrCameras, 6); - if (E) E->resize(ZDim * nrCameras, 3); - if (H && Dim > 6) H->resize(ZDim * nrCameras, Dim - 6); - std::vector z(nrCameras); + // Allocate result + size_t m = this->size(); + std::vector z(m); - for (size_t i = 0; i < nrCameras; i++) { - Eigen::Matrix Fi; - Eigen::Matrix Ei; - Eigen::Matrix Hi; + // Allocate derivatives + if (F) + F->resize(ZDim * m, 6); + if (E) + E->resize(ZDim * m, 3); + if (H && Dim > 6) + H->resize(ZDim * m, Dim - 6); + + Eigen::Matrix Fi; + Eigen::Matrix Ei; + Eigen::Matrix Hi; + + // Project and fill derivatives + for (size_t i = 0; i < m; i++) { z[i] = this->at(i).project(point, F ? &Fi : 0, E ? &Ei : 0, H ? &Hi : 0); - if (F) F->block(ZDim * i, 0) = Fi; - if (E) E->block(ZDim * i, 0) = Ei; - if (H) H->block(ZDim * i, 0) = Hi; + if (F) + F->block(ZDim * i, 0) = Fi; + if (E) + E->block(ZDim * i, 0) = Ei; + if (H) + H->block(ZDim * i, 0) = Hi; } + return z; } + /** + * Project a point, with derivatives in this, point, and calibration + * throws CheiralityException + */ + std::vector projectAtInfinity(const Point3& point) const { + + // Allocate result + size_t m = this->size(); + std::vector z(m); + + // Project and fill derivatives + for (size_t i = 0; i < m; i++) + z[i] = this->at(i).projectPointAtInfinity(point); + + return z; + } + + /// Calculate vector of re-projection errors + Vector reprojectionErrors(const Point3& point, + const std::vector& measured) const { + return ErrorVector(project(point), measured); + } + + /// Calculate vector of re-projection errors, from point at infinity + // TODO: take Unit3 instead + Vector reprojectionErrorsAtInfinity(const Point3& point, + const std::vector& measured) const { + return ErrorVector(projectAtInfinity(point), measured); + } + private: /// Serialization function diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index 42cf0f299..4ed9f2f07 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -37,16 +37,16 @@ TEST(CameraSet, Pinhole) { set.push_back(camera); set.push_back(camera); Point3 p(0, 0, 1); - CHECK(assert_equal(set, set)); + EXPECT(assert_equal(set, set)); CameraSet set2 = set; set2.push_back(camera); - CHECK(!set.equals(set2)); + EXPECT(!set.equals(set2)); // Check measurements Point2 expected; ZZ z = set.project(p); - CHECK(assert_equal(expected, z[0])); - CHECK(assert_equal(expected, z[1])); + EXPECT(assert_equal(expected, z[0])); + EXPECT(assert_equal(expected, z[1])); // Calculate expected derivatives using Pinhole Matrix46 actualF; @@ -65,9 +65,27 @@ TEST(CameraSet, Pinhole) { // Check computed derivatives Matrix F, E, H; set.project(p, F, E, H); - CHECK(assert_equal(actualF, F)); - CHECK(assert_equal(actualE, E)); - CHECK(assert_equal(actualH, H)); + EXPECT(assert_equal(actualF, F)); + EXPECT(assert_equal(actualE, E)); + EXPECT(assert_equal(actualH, H)); + + // Check errors + ZZ measured; + measured.push_back(Point2(1, 2)); + measured.push_back(Point2(3, 4)); + Vector4 expectedV; + + // reprojectionErrors + expectedV << -1, -2, -3, -4; + Vector actualV = set.reprojectionErrors(p, measured); + EXPECT(assert_equal(expectedV, actualV)); + + // reprojectionErrorsAtInfinity + EXPECT( + assert_equal(Point3(0, 0, 1), + camera.backprojectPointAtInfinity(Point2()))); + actualV = set.reprojectionErrorsAtInfinity(p, measured); + EXPECT(assert_equal(expectedV, actualV)); } /* ************************************************************************* */ @@ -84,8 +102,8 @@ TEST(CameraSet, Stereo) { // Check measurements StereoPoint2 expected(0, -1, 0); ZZ z = set.project(p); - CHECK(assert_equal(expected, z[0])); - CHECK(assert_equal(expected, z[1])); + EXPECT(assert_equal(expected, z[0])); + EXPECT(assert_equal(expected, z[1])); // Calculate expected derivatives using Pinhole Matrix66 actualF; @@ -101,8 +119,8 @@ TEST(CameraSet, Stereo) { // Check computed derivatives Matrix F, E; set.project(p, F, E); - CHECK(assert_equal(actualF, F)); - CHECK(assert_equal(actualE, E)); + EXPECT(assert_equal(actualF, F)); + EXPECT(assert_equal(actualE, E)); } /* ************************************************************************* */ From c2feb239fb0cf23b9146c7fe00701d3a1595f206 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 21:50:58 +0100 Subject: [PATCH 026/964] whitenInPlace --- gtsam/linear/NoiseModel.cpp | 5 +++++ gtsam/linear/NoiseModel.h | 1 + 2 files changed, 6 insertions(+) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 2031a4b73..6ab26474a 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -514,6 +514,11 @@ void Isotropic::WhitenInPlace(Matrix& H) const { H *= invsigma_; } +/* ************************************************************************* */ +void Isotropic::whitenInPlace(Vector& v) const { + v *= invsigma_; +} + /* ************************************************************************* */ void Isotropic::WhitenInPlace(Eigen::Block H) const { H *= invsigma_; diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 098af8b6d..94012c7c2 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -545,6 +545,7 @@ namespace gtsam { 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; /** From 484facef834b5477586a10ace23be7364102e7f4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 22:03:45 +0100 Subject: [PATCH 027/964] testCameraSet --- .cproject | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.cproject b/.cproject index 8783ebc31..1aa6ab5e1 100644 --- a/.cproject +++ b/.cproject @@ -1027,6 +1027,14 @@ true true + + make + -j4 + testCameraSet.run + true + true + true + make -j2 From cdaaee6fce72a5cfc42a5d9e426bc619c7beaf19 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 22:05:26 +0100 Subject: [PATCH 028/964] Move Errors to CameraSet --- gtsam/slam/SmartFactorBase.h | 106 ++++++++---------- .../tests/testSmartProjectionPoseFactor.cpp | 4 +- 2 files changed, 51 insertions(+), 59 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 3e813a691..fe88b5401 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -44,17 +44,36 @@ namespace gtsam { template class SmartFactorBase: public NonlinearFactor { +private: + + /** + * As of Feb 22, 2015, the noise model is the same for all measurements and + * is isotropic. This allows for moving most calculations of Schur complement + * etc to be moved to CameraSet very easily, and also agrees pragmatically + * with what is normally done. + */ + SharedIsotropic noiseModel_; + protected: + // Figure out the measurement type + typedef typename CAMERA::Measurement Z; + + /** + * 2D measurement and noise model for each of the m views + * We keep a copy of measurements for I/O and computing the error. + * The order is kept the same as the keys that we use to create the factor. + */ + std::vector measured_; + /// shorthand for base class type typedef NonlinearFactor Base; /// shorthand for this class typedef SmartFactorBase This; - // Figure out the measurement type and dimension - typedef typename CAMERA::Measurement Z; - static const int ZDim = traits::dimension; ///< Measurement dimension + // Figure out the measurement dimension + static const int ZDim = traits::dimension; // Definitions for blocks of F typedef Eigen::Matrix Matrix2D; // F @@ -65,21 +84,6 @@ protected: typedef Eigen::Matrix VectorD; typedef Eigen::Matrix Matrix2; - /** - * 2D measurement and noise model for each of the m views - * We keep a copy of measurements for I/O and computing the error. - * The order is kept the same as the keys that we use to create the factor. - */ - std::vector measured_; - - /** - * As of Feb 22, 2015, the noise model is the same for all measurements and - * is isotropic. This allows for moving most calculations of Schur complement - * etc to be moved to CameraSet very easily, and also agrees pragmatically - * with what is normally done. - */ - SharedIsotropic noiseModel_; - /// An optional sensor pose, in the body frame (one for all cameras) /// This seems to make sense for a CameraTrack, not for a CameraSet boost::optional body_P_sensor_; @@ -180,11 +184,6 @@ public: return measured_; } - /** return the noise models */ - const SharedIsotropic& noise() const { - return noiseModel_; - } - /** * print * @param s optional string naming the factor @@ -219,39 +218,34 @@ public: } /// Calculate vector of re-projection errors, before applying noise model - Vector reprojectionError(const Cameras& cameras, const Point3& point) const { - - // Project into CameraSet - std::vector predicted; + Vector reprojectionErrors(const Cameras& cameras, const Point3& point) const { try { - predicted = cameras.project(point); + return cameras.reprojectionErrors(point, measured_); } catch (CheiralityException&) { std::cout << "reprojectionError: Cheirality exception " << std::endl; exit(EXIT_FAILURE); // TODO: throw exception } + } - // Calculate vector of errors - size_t nrCameras = cameras.size(); - Vector b(ZDim * nrCameras); - for (size_t i = 0, row = 0; i < nrCameras; i++, row += ZDim) { - Z e = predicted[i] - measured_.at(i); - b.segment(row) = e.vector(); - } - + /// Calculate vector of re-projection errors, noise model applied + Vector whitenedErrors(const Cameras& cameras, const Point3& point) const { + Vector b = reprojectionErrors(cameras, point); + if (noiseModel_) + noiseModel_->whitenInPlace(b); return b; } /// Calculate vector of re-projection errors, noise model applied - Vector whitenedError(const Cameras& cameras, const Point3& point) const { - Vector b = reprojectionError(cameras, point); - size_t nrCameras = cameras.size(); - for (size_t i = 0, row = 0; i < nrCameras; i++, row += ZDim) - b.segment(row) = noiseModel_->whiten(b.segment(row)); + // TODO: Unit3 + Vector whitenedErrorsAtInfinity(const Cameras& cameras, + const Point3& point) const { + Vector b = cameras.reprojectionErrorsAtInfinity(point, measured_); + if (noiseModel_) + noiseModel_->whitenInPlace(b); return b; } - /** - * Calculate the error of the factor. + /** Calculate the error of the factor. * This is the log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/\sigma^2 \f$ in case of Gaussian. * In this class, we take the raw prediction error \f$ h(x)-z \f$, ask the noise model * to transform it to \f$ (h(x)-z)^2/\sigma^2 \f$, and then multiply by 0.5. @@ -259,12 +253,16 @@ public: */ double totalReprojectionError(const Cameras& cameras, const Point3& point) const { - Vector b = reprojectionError(cameras, point); - double overallError = 0; - size_t nrCameras = cameras.size(); - for (size_t i = 0; i < nrCameras; i++) - overallError += noiseModel_->distance(b.segment(i * ZDim)); - return 0.5 * overallError; + Vector b = whitenedErrors(cameras, point); + return 0.5 * b.dot(b); + } + + /// Version for infinity + // TODO: Unit3 + double totalReprojectionErrorAtInfinity(const Cameras& cameras, + const Point3& point) const { + Vector b = whitenedErrorsAtInfinity(cameras, point); + return 0.5 * b.dot(b); } /** @@ -295,14 +293,8 @@ public: Vector bi = (zi - predicted[i]).vector(); // if needed, whiten - SharedNoiseModel model = noiseModel_; - if (model) { - // TODO: re-factor noiseModel to take any block/fixed vector/matrix - Vector dummy; - Matrix Ei = E.block(row, 0); - model->WhitenSystem(Ei, dummy); - E.block(row, 0) = Ei; - } + if (noiseModel_) + E.block(row, 0) /= noiseModel_->sigma(); b.segment(row) = bi; } return b; diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 939743cd7..9b36b645a 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -163,7 +163,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // Calculate expected derivative for point (easiest to check) boost::function f = // - boost::bind(&SmartFactor::whitenedError, factor, cameras, _1); + boost::bind(&SmartFactor::whitenedErrors, factor, cameras, _1); boost::optional point = factor.point(); CHECK(point); Matrix expectedE = numericalDerivative11(f, *point); @@ -425,7 +425,7 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { // Calculate expected derivative for point (easiest to check) SmartFactor::Cameras cameras = smartFactor1->cameras(values); boost::function f = // - boost::bind(&SmartFactor::whitenedError, *smartFactor1, cameras, _1); + boost::bind(&SmartFactor::whitenedErrors, *smartFactor1, cameras, _1); boost::optional point = smartFactor1->point(); CHECK(point); Matrix expectedE = numericalDerivative11(f, *point); From 66d12a1c30fe854ccc1e9b26eb8eaaddbbc816d8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 22:05:58 +0100 Subject: [PATCH 029/964] noiseModel_ is now private -> just call Errors --- gtsam/slam/SmartProjectionFactor.h | 17 ++++------------- 1 file changed, 4 insertions(+), 13 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index ca49272ec..8c11d7ec4 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -630,19 +630,10 @@ public: std::cout << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" << std::endl; - size_t i = 0; - double overallError = 0; - BOOST_FOREACH(const Camera& camera, cameras) { - const Point2& zi = this->measured_.at(i); - if (i == 0) // first pose - this->point_ = camera.backprojectPointAtInfinity(zi); // 3D parametrization of point at infinity - Point2 reprojectionError( - camera.projectPointAtInfinity(this->point_) - zi); - overallError += 0.5 - * this->noiseModel_->distance(reprojectionError.vector()); - i += 1; - } - return overallError; + // 3D parameterization of point at infinity + const Point2& zi = this->measured_.at(0); + this->point_ = cameras.front().backprojectPointAtInfinity(zi); + return Base::totalReprojectionErrorAtInfinity(cameras,this->point_); } else { // Just use version in base class return Base::totalReprojectionError(cameras, point_); From 1e62f310646746a534c56cd5426302146be3605b Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 22:32:25 +0100 Subject: [PATCH 030/964] Now return FBlocks as derivatives --- gtsam/geometry/CameraSet.h | 12 ++++++------ gtsam/geometry/tests/testCameraSet.cpp | 22 ++++++++++++---------- 2 files changed, 18 insertions(+), 16 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 9d678181b..43b806857 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -64,8 +64,8 @@ protected: public: /// Definitions for blocks of F - typedef Eigen::Matrix MatrixZD; // F - typedef std::pair FBlock; // Fblocks + typedef Eigen::Matrix MatrixZ6; // F + typedef std::vector FBlocks; /** * print @@ -93,10 +93,12 @@ public: /** * Project a point, with derivatives in this, point, and calibration + * Note that F is a sparse block-diagonal matrix, so instead of a large dense + * matrix this function returns the diagonal blocks. * throws CheiralityException */ std::vector project(const Point3& point, // - boost::optional F = boost::none, // + boost::optional F = boost::none, // boost::optional E = boost::none, // boost::optional H = boost::none) const { @@ -105,8 +107,6 @@ public: std::vector z(m); // Allocate derivatives - if (F) - F->resize(ZDim * m, 6); if (E) E->resize(ZDim * m, 3); if (H && Dim > 6) @@ -120,7 +120,7 @@ public: for (size_t i = 0; i < m; i++) { z[i] = this->at(i).project(point, F ? &Fi : 0, E ? &Ei : 0, H ? &Hi : 0); if (F) - F->block(ZDim * i, 0) = Fi; + F->push_back(Fi); if (E) E->block(ZDim * i, 0) = Ei; if (H) diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index 4ed9f2f07..b4f8a75ef 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -49,23 +49,24 @@ TEST(CameraSet, Pinhole) { EXPECT(assert_equal(expected, z[1])); // Calculate expected derivatives using Pinhole - Matrix46 actualF; Matrix43 actualE; Matrix43 actualH; + Matrix F1; { - Matrix26 F1; Matrix23 E1; Matrix23 H1; camera.project(p, F1, E1, H1); actualE << E1, E1; - actualF << F1, F1; actualH << H1, H1; } // Check computed derivatives - Matrix F, E, H; + CameraSet::FBlocks F; + Matrix E, H; set.project(p, F, E, H); - EXPECT(assert_equal(actualF, F)); + LONGS_EQUAL(2,F.size()); + EXPECT(assert_equal(F1, F[0])); + EXPECT(assert_equal(F1, F[1])); EXPECT(assert_equal(actualE, E)); EXPECT(assert_equal(actualH, H)); @@ -106,20 +107,21 @@ TEST(CameraSet, Stereo) { EXPECT(assert_equal(expected, z[1])); // Calculate expected derivatives using Pinhole - Matrix66 actualF; Matrix63 actualE; + Matrix F1; { - Matrix36 F1; Matrix33 E1; camera.project(p, F1, E1); actualE << E1, E1; - actualF << F1, F1; } // Check computed derivatives - Matrix F, E; + CameraSet::FBlocks F; + Matrix E; set.project(p, F, E); - EXPECT(assert_equal(actualF, F)); + LONGS_EQUAL(2,F.size()); + EXPECT(assert_equal(F1, F[0])); + EXPECT(assert_equal(F1, F[1])); EXPECT(assert_equal(actualE, E)); } From bc0bddf7c6897df8c2ddb6fd6f5b8a57b5b84273 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 22:50:11 +0100 Subject: [PATCH 031/964] Removed whitening in Jacobians (which will move). Also, cheirality no longer caught -> will exit by itself if uncaught. --- gtsam/slam/SmartFactorBase.h | 29 +---------------------------- 1 file changed, 1 insertion(+), 28 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index fe88b5401..5b6b4ec3f 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -217,19 +217,9 @@ public: && body_P_sensor_->equals(*e->body_P_sensor_))); } - /// Calculate vector of re-projection errors, before applying noise model - Vector reprojectionErrors(const Cameras& cameras, const Point3& point) const { - try { - return cameras.reprojectionErrors(point, measured_); - } catch (CheiralityException&) { - std::cout << "reprojectionError: Cheirality exception " << std::endl; - exit(EXIT_FAILURE); // TODO: throw exception - } - } - /// Calculate vector of re-projection errors, noise model applied Vector whitenedErrors(const Cameras& cameras, const Point3& point) const { - Vector b = reprojectionErrors(cameras, point); + Vector b = cameras.reprojectionErrors(point, measured_); if (noiseModel_) noiseModel_->whitenInPlace(b); return b; @@ -338,23 +328,6 @@ public: Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J); F.block(row, 0) *= J; } - - // if needed, whiten - if (noiseModel_) { - // TODO, refactor noiseModel so we can take blocks - Matrix Fi = F.block(row, 0); - Matrix Ei = E.block(row, 0); - if (!G) - noiseModel_->WhitenSystem(Fi, Ei, bi); - else { - Matrix Gi = G->block(row, 0); - noiseModel_->WhitenSystem(Fi, Ei, Gi, bi); - G->block(row, 0) = Gi; - } - F.block(row, 0) = Fi; - E.block(row, 0) = Ei; - } - b.segment(row) = bi; } return b; } From 8619b04cd7b01ebab658aef10a231d78db62e0a6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 22 Feb 2015 22:52:31 +0100 Subject: [PATCH 032/964] Now switched to full ZDim*Dim blocks, no more hacky calibration splitting... --- gtsam/geometry/CameraSet.h | 26 +++++++++----------------- gtsam/geometry/tests/testCameraSet.cpp | 15 ++++++--------- 2 files changed, 15 insertions(+), 26 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 43b806857..d0c2d04d0 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -27,7 +27,6 @@ namespace gtsam { /** * @brief A set of cameras, all with their own calibration - * Assumes that a camera is laid out as 6 Pose3 parameters then calibration */ template class CameraSet: public std::vector { @@ -64,8 +63,8 @@ protected: public: /// Definitions for blocks of F - typedef Eigen::Matrix MatrixZ6; // F - typedef std::vector FBlocks; + typedef Eigen::Matrix MatrixZD; // F + typedef std::vector FBlocks; /** * print @@ -92,15 +91,14 @@ public: } /** - * Project a point, with derivatives in this, point, and calibration + * Project a point, with derivatives in CameraSet and Point3 * Note that F is a sparse block-diagonal matrix, so instead of a large dense * matrix this function returns the diagonal blocks. * throws CheiralityException */ - std::vector project(const Point3& point, // + std::vector project2(const Point3& point, // boost::optional F = boost::none, // - boost::optional E = boost::none, // - boost::optional H = boost::none) const { + boost::optional E = boost::none) const { // Allocate result size_t m = this->size(); @@ -109,22 +107,16 @@ public: // Allocate derivatives if (E) E->resize(ZDim * m, 3); - if (H && Dim > 6) - H->resize(ZDim * m, Dim - 6); - - Eigen::Matrix Fi; - Eigen::Matrix Ei; - Eigen::Matrix Hi; // Project and fill derivatives for (size_t i = 0; i < m; i++) { - z[i] = this->at(i).project(point, F ? &Fi : 0, E ? &Ei : 0, H ? &Hi : 0); + Eigen::Matrix Fi; + Eigen::Matrix Ei; + z[i] = this->at(i).project2(point, F ? &Fi : 0, E ? &Ei : 0); if (F) F->push_back(Fi); if (E) E->block(ZDim * i, 0) = Ei; - if (H) - H->block(ZDim * i, 0) = Hi; } return z; @@ -150,7 +142,7 @@ public: /// Calculate vector of re-projection errors Vector reprojectionErrors(const Point3& point, const std::vector& measured) const { - return ErrorVector(project(point), measured); + return ErrorVector(project2(point), measured); } /// Calculate vector of re-projection errors, from point at infinity diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index b4f8a75ef..a003b6bce 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -44,31 +44,28 @@ TEST(CameraSet, Pinhole) { // Check measurements Point2 expected; - ZZ z = set.project(p); + ZZ z = set.project2(p); EXPECT(assert_equal(expected, z[0])); EXPECT(assert_equal(expected, z[1])); // Calculate expected derivatives using Pinhole Matrix43 actualE; - Matrix43 actualH; Matrix F1; { Matrix23 E1; Matrix23 H1; - camera.project(p, F1, E1, H1); + camera.project2(p, F1, E1); actualE << E1, E1; - actualH << H1, H1; } // Check computed derivatives CameraSet::FBlocks F; Matrix E, H; - set.project(p, F, E, H); + set.project2(p, F, E); LONGS_EQUAL(2,F.size()); EXPECT(assert_equal(F1, F[0])); EXPECT(assert_equal(F1, F[1])); EXPECT(assert_equal(actualE, E)); - EXPECT(assert_equal(actualH, H)); // Check errors ZZ measured; @@ -102,7 +99,7 @@ TEST(CameraSet, Stereo) { // Check measurements StereoPoint2 expected(0, -1, 0); - ZZ z = set.project(p); + ZZ z = set.project2(p); EXPECT(assert_equal(expected, z[0])); EXPECT(assert_equal(expected, z[1])); @@ -111,14 +108,14 @@ TEST(CameraSet, Stereo) { Matrix F1; { Matrix33 E1; - camera.project(p, F1, E1); + camera.project2(p, F1, E1); actualE << E1, E1; } // Check computed derivatives CameraSet::FBlocks F; Matrix E; - set.project(p, F, E); + set.project2(p, F, E); LONGS_EQUAL(2,F.size()); EXPECT(assert_equal(F1, F[0])); EXPECT(assert_equal(F1, F[1])); From fdbff461f386930a483f325b90812c72d6bb2327 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 00:08:02 +0100 Subject: [PATCH 033/964] Removed D argument from SmartFactorBase - note, branch does not compile now. --- gtsam/slam/SmartFactorBase.h | 130 +++++++++-------------- gtsam/slam/tests/testSmartFactorBase.cpp | 4 +- 2 files changed, 55 insertions(+), 79 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 5b6b4ec3f..10352405a 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -41,7 +41,7 @@ namespace gtsam { * The methods take a Cameras argument, which should behave like PinholeCamera, and * the value of a point, which is kept in the base class. */ -template +template class SmartFactorBase: public NonlinearFactor { private: @@ -70,18 +70,18 @@ protected: typedef NonlinearFactor Base; /// shorthand for this class - typedef SmartFactorBase This; + typedef SmartFactorBase This; - // Figure out the measurement dimension - static const int ZDim = traits::dimension; + static const int ZDim = traits::dimension; ///< Measurement dimension + static const int Dim = traits::dimension; ///< Camera dimension // Definitions for blocks of F - typedef Eigen::Matrix Matrix2D; // F - typedef Eigen::Matrix MatrixD2; // F' + typedef Eigen::Matrix Matrix2D; // F + typedef Eigen::Matrix MatrixD2; // F' typedef std::pair KeyMatrix2D; // Fblocks - typedef Eigen::Matrix MatrixDD; // camera hessian block + typedef Eigen::Matrix MatrixDD; // camera hessian block typedef Eigen::Matrix Matrix23; - typedef Eigen::Matrix VectorD; + typedef Eigen::Matrix VectorD; typedef Eigen::Matrix Matrix2; /// An optional sensor pose, in the body frame (one for all cameras) @@ -260,18 +260,12 @@ public: * the stacked ZDim*3 derivatives of project with respect to the point. * Assumes non-degenerate ! TODO explain this */ - Vector whitenedError(const Cameras& cameras, const Point3& point, + Vector reprojectionErrors(const Cameras& cameras, const Point3& point, Matrix& E) const { // Project into CameraSet, calculating derivatives std::vector predicted; - try { - using boost::none; - predicted = cameras.project(point, none, E, none); - } catch (CheiralityException&) { - std::cout << "whitenedError(E): Cheirality exception " << std::endl; - exit(EXIT_FAILURE); // TODO: throw exception - } + predicted = cameras.project2(point, boost::none, E); // if needed, whiten size_t m = keys_.size(); @@ -281,10 +275,6 @@ public: // Calculate error const Z& zi = measured_.at(i); Vector bi = (zi - predicted[i]).vector(); - - // if needed, whiten - if (noiseModel_) - E.block(row, 0) /= noiseModel_->sigma(); b.segment(row) = bi; } return b; @@ -298,22 +288,17 @@ public: * TODO: the treatment of body_P_sensor_ is weird: the transformation * is applied in the caller, but the derivatives are computed here. */ - Vector whitenedError(const Cameras& cameras, const Point3& point, Matrix& F, - Matrix& E, boost::optional G = boost::none) const { + Vector reprojectionErrors(const Cameras& cameras, const Point3& point, + typename Cameras::FBlocks& F, Matrix& E) const { // Project into CameraSet, calculating derivatives std::vector predicted; - try { - predicted = cameras.project(point, F, E, G); - } catch (CheiralityException&) { - std::cout << "whitenedError(E,F): Cheirality exception " << std::endl; - exit(EXIT_FAILURE); // TODO: throw exception - } + predicted = cameras.project2(point, F, E); // Calculate error and whiten derivatives if needed size_t m = keys_.size(); Vector b(ZDim * m); - for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { + for (size_t i = 0; i < m; i++) { // Calculate error const Z& zi = measured_.at(i); @@ -326,7 +311,7 @@ public: Pose3 w_Pose_body = pose_i.compose(body_P_sensor_->inverse()); Matrix66 J; Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J); - F.block(row, 0) *= J; + F[i].leftCols(6) *= J; } } return b; @@ -359,7 +344,7 @@ public: /// Assumes non-degenerate ! void computeEP(Matrix& E, Matrix& P, const Cameras& cameras, const Point3& point) const { - whitenedError(cameras, point, E); + reprojectionErrors(cameras, point, E); P = PointCov(E); } @@ -372,11 +357,8 @@ public: Vector& b, const Cameras& cameras, const Point3& point) const { // Project into Camera set and calculate derivatives - // TODO: if D==6 we optimize only camera pose. That is fairly hacky! - Matrix F, G; - using boost::none; - boost::optional optionalG(G); - b = whitenedError(cameras, point, F, E, D == 6 ? none : optionalG); + typename Cameras::FBlocks F; + b = reprojectionErrors(cameras, point, F, E); // Now calculate f and divide up the F derivatives into Fblocks double f = 0.0; @@ -386,15 +368,8 @@ public: // Accumulate normalized error f += b.segment(row).squaredNorm(); - // Get piece of F and possibly G - Matrix2D Fi; - if (D == 6) - Fi << F.block(row, 0); - else - Fi << F.block(row, 0), G.block(row, 0); - - // Push it onto Fblocks - Fblocks.push_back(KeyMatrix2D(keys_[i], Fi)); + // Push piece of F onto Fblocks with associated key + Fblocks.push_back(KeyMatrix2D(keys_[i], F[i])); } return f; } @@ -403,10 +378,10 @@ public: static void FillDiagonalF(const std::vector& Fblocks, Matrix& F) { size_t m = Fblocks.size(); - F.resize(ZDim * m, D * m); + F.resize(ZDim * m, Dim * m); F.setZero(); for (size_t i = 0; i < m; ++i) - F.block(This::ZDim * i, D * i) = Fblocks.at(i).second; + F.block(This::ZDim * i, Dim * i) = Fblocks.at(i).second; } /** @@ -451,7 +426,7 @@ public: /** * Linearize returns a Hessianfactor that is an approximation of error(p) */ - boost::shared_ptr > createHessianFactor( + boost::shared_ptr > createHessianFactor( const Cameras& cameras, const Point3& point, const double lambda = 0.0, bool diagonalDamping = false) const { @@ -475,17 +450,17 @@ public: //std::vector < Matrix > Gs2(Gs.begin(), Gs.end()); //std::vector < Vector > gs2(gs.begin(), gs.end()); - return boost::make_shared < RegularHessianFactor > (this->keys_, Gs, gs, f); + return boost::make_shared < RegularHessianFactor > (this->keys_, Gs, gs, f); #else // we create directly a SymmetricBlockMatrix - size_t n1 = D * numKeys + 1; + size_t n1 = Dim * numKeys + 1; std::vector dims(numKeys + 1); // this also includes the b term - std::fill(dims.begin(), dims.end() - 1, D); + std::fill(dims.begin(), dims.end() - 1, Dim); dims.back() = 1; - SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(n1, n1)); // for 10 cameras, size should be (10*D+1 x 10*D+1) - sparseSchurComplement(Fblocks, E, P, b, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... + SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(n1, n1)); // for 10 cameras, size should be (10*Dim+1 x 10*Dim+1) + sparseSchurComplement(Fblocks, E, P, b, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... augmentedHessian(numKeys, numKeys)(0, 0) = f; - return boost::make_shared >(this->keys_, + return boost::make_shared >(this->keys_, augmentedHessian); #endif } @@ -508,7 +483,7 @@ public: Matrix F; FillDiagonalF(Fblocks, F); - Matrix H(D * numKeys, D * numKeys); + Matrix H(Dim * numKeys, Dim * numKeys); Vector gs_vector; H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); @@ -517,11 +492,11 @@ public: // Populate Gs and gs int GsCount2 = 0; for (DenseIndex i1 = 0; i1 < numKeys; i1++) { // for each camera - DenseIndex i1D = i1 * D; - gs.at(i1) = gs_vector.segment(i1D); + DenseIndex i1D = i1 * Dim; + gs.at(i1) = gs_vector.segment(i1D); for (DenseIndex i2 = 0; i2 < numKeys; i2++) { if (i2 >= i1) { - Gs.at(GsCount2) = H.block(i1D, i2 * D); + Gs.at(GsCount2) = H.block(i1D, i2 * Dim); GsCount2++; } } @@ -548,11 +523,11 @@ public: const Matrix2D& Fi1 = Fblocks.at(i1).second; const Matrix23 Ei1_P = E.block(ZDim * i1, 0) * P; - // D = (Dx2) * (2) - // (augmentedHessian.matrix()).block (i1,numKeys+1) = Fi1.transpose() * b.segment < 2 > (2 * i1); // F' * b + // Dim = (Dx2) * (2) + // (augmentedHessian.matrix()).block (i1,numKeys+1) = Fi1.transpose() * b.segment < 2 > (2 * i1); // F' * b augmentedHessian(i1, numKeys) = Fi1.transpose() * b.segment(ZDim * i1) // F' * b - - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) augmentedHessian(i1, i1) = Fi1.transpose() @@ -597,9 +572,9 @@ public: const Matrix23 Ei1_P = E.block(ZDim * i1, 0) * P; { // for i1 = i2 - // D = (Dx2) * (2) + // Dim = (Dx2) * (2) gs.at(i1) = Fi1.transpose() * b.segment(ZDim * i1) // F' * b - - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) Gs.at(GsIndex) = Fi1.transpose() @@ -639,7 +614,7 @@ public: // a single point is observed in numKeys cameras size_t numKeys = this->keys_.size(); // cameras observing current point - size_t aug_numKeys = (augmentedHessian.rows() - 1) / D; // all cameras in the group + size_t aug_numKeys = (augmentedHessian.rows() - 1) / Dim; // all cameras in the group // Blockwise Schur complement for (size_t i1 = 0; i1 < numKeys; i1++) { // for each camera in the current factor @@ -647,7 +622,7 @@ public: const Matrix2D& Fi1 = Fblocks.at(i1).second; const Matrix23 Ei1_P = E.block(ZDim * i1, 0) * P; - // D = (DxZDim) * (ZDim) + // Dim = (DxZDim) * (ZDim) // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) // we should map those to a slot in the local (grouped) hessian (0,1,2,3,4) // Key cameraKey_i1 = this->keys_[i1]; @@ -659,7 +634,7 @@ public: augmentedHessian(aug_i1, aug_numKeys) = augmentedHessian(aug_i1, aug_numKeys).knownOffDiagonal() + Fi1.transpose() * b.segment(ZDim * i1) // F' * b - - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) // main block diagonal - store previous block @@ -709,17 +684,17 @@ public: Vector b; double f = computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - updateSparseSchurComplement(Fblocks, E, P, b, f, allKeys, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... + updateSparseSchurComplement(Fblocks, E, P, b, f, allKeys, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... } /** * Return Jacobians as RegularImplicitSchurFactor with raw access */ - boost::shared_ptr > createRegularImplicitSchurFactor( + boost::shared_ptr > createRegularImplicitSchurFactor( const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { - typename boost::shared_ptr > f( - new RegularImplicitSchurFactor()); + typename boost::shared_ptr > f( + new RegularImplicitSchurFactor()); computeJacobians(f->Fblocks(), f->E(), f->b(), cameras, point); f->PointCovariance() = PointCov(f->E(), lambda, diagonalDamping); f->initKeys(); @@ -729,7 +704,7 @@ public: /** * Return Jacobians as JacobianFactorQ */ - boost::shared_ptr > createJacobianQFactor( + boost::shared_ptr > createJacobianQFactor( const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { std::vector Fblocks; @@ -737,7 +712,7 @@ public: Vector b; computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - return boost::make_shared >(Fblocks, E, P, b); + return boost::make_shared >(Fblocks, E, P, b); } /** @@ -751,7 +726,7 @@ public: Vector b; Matrix Enull(ZDim * numKeys, ZDim * numKeys - 3); computeJacobiansSVD(Fblocks, Enull, b, cameras, point); - return boost::make_shared >(Fblocks, Enull, b); + return boost::make_shared >(Fblocks, Enull, b); } private: @@ -764,10 +739,11 @@ private: ar & BOOST_SERIALIZATION_NVP(measured_); ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } -} -; +}; +// end class SmartFactorBase -template -const int SmartFactorBase::ZDim; +// TODO: Why is this here? +template +const int SmartFactorBase::ZDim; } // \ namespace gtsam diff --git a/gtsam/slam/tests/testSmartFactorBase.cpp b/gtsam/slam/tests/testSmartFactorBase.cpp index b5ef18842..373d482fe 100644 --- a/gtsam/slam/tests/testSmartFactorBase.cpp +++ b/gtsam/slam/tests/testSmartFactorBase.cpp @@ -26,7 +26,7 @@ using namespace gtsam; /* ************************************************************************* */ #include #include -class PinholeFactor: public SmartFactorBase, 9> { +class PinholeFactor: public SmartFactorBase > { virtual double error(const Values& values) const { return 0.0; } @@ -45,7 +45,7 @@ TEST(SmartFactorBase, Pinhole) { /* ************************************************************************* */ #include -class StereoFactor: public SmartFactorBase { +class StereoFactor: public SmartFactorBase { virtual double error(const Values& values) const { return 0.0; } From 0fee8f37a6d22b7271d4e5f1198dd87a51e9144c Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 12:37:06 +0100 Subject: [PATCH 034/964] Added derivatives to Errors --- gtsam/geometry/CameraSet.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index d0c2d04d0..eb58d1658 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -140,9 +140,10 @@ public: } /// Calculate vector of re-projection errors - Vector reprojectionErrors(const Point3& point, - const std::vector& measured) const { - return ErrorVector(project2(point), measured); + Vector reprojectionErrors(const Point3& point, const std::vector& measured, + boost::optional F = boost::none, // + boost::optional E = boost::none) const { + return ErrorVector(project2(point,F,E), measured); } /// Calculate vector of re-projection errors, from point at infinity From fb47cf89614507172182826e6ca98400f9c7e46c Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 12:37:55 +0100 Subject: [PATCH 035/964] moved projectPointAtInfinity down --- gtsam/geometry/PinholeCamera.h | 49 --------------------------- gtsam/geometry/PinholePose.h | 60 ++++++++++++++++++++++++++++++++-- 2 files changed, 58 insertions(+), 51 deletions(-) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index bfc2bbb93..632f6de86 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -31,14 +31,6 @@ namespace gtsam { template class GTSAM_EXPORT PinholeCamera: public PinholeBaseK { -public: - - /** - * Some classes template on either PinholeCamera or StereoCamera, - * and this typedef informs those classes what "project" returns. - */ - typedef Point2 Measurement; - private: typedef PinholeBaseK Base; ///< base class has 3D pose as private member @@ -235,47 +227,6 @@ public: return pi; } - /** project a point at infinity from world coordinate to the image - * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) - * @param Dpose is the Jacobian w.r.t. pose3 - * @param Dpoint is the Jacobian w.r.t. point3 - * @param Dcal is the Jacobian w.r.t. calibration - */ - Point2 projectPointAtInfinity(const Point3& pw, OptionalJacobian<2, 6> Dpose = - boost::none, OptionalJacobian<2, 2> Dpoint = boost::none, - OptionalJacobian<2, DimK> Dcal = boost::none) const { - - if (!Dpose && !Dpoint && !Dcal) { - const Point3 pc = this->pose().rotation().unrotate(pw); // get direction in camera frame (translation does not matter) - const Point2 pn = Base::project_to_camera(pc); // project the point to the camera - return K_.uncalibrate(pn); - } - - // world to camera coordinate - Matrix3 Dpc_rot, Dpc_point; - const Point3 pc = this->pose().rotation().unrotate(pw, Dpc_rot, Dpc_point); - - Matrix36 Dpc_pose; - Dpc_pose.setZero(); - Dpc_pose.leftCols<3>() = Dpc_rot; - - // camera to normalized image coordinate - Matrix23 Dpn_pc; // 2*3 - const Point2 pn = Base::project_to_camera(pc, Dpn_pc); - - // uncalibration - Matrix2 Dpi_pn; // 2*2 - const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn); - - // chain the Jacobian matrices - const Matrix23 Dpi_pc = Dpi_pn * Dpn_pc; - if (Dpose) - *Dpose = Dpi_pc * Dpc_pose; - if (Dpoint) - *Dpoint = (Dpi_pc * Dpc_point).leftCols<2>(); // only 2dof are important for the point (direction-only) - return pi; - } - /** project a point from world coordinate to the image, fixed Jacobians * @param pw is a point in the world coordinate */ diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 7588f517e..6f2f7dca0 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -35,7 +35,10 @@ class GTSAM_EXPORT PinholeBaseK: public PinholeBase { GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration) -public : + // Get dimensions of calibration type at compile time +static const int DimK = FixedDimension::value; + +public : /// @name Standard Constructors /// @{ @@ -78,7 +81,19 @@ public : return pn; } - /** project a point from world coordinate to the image, fixed Jacobians + /** project a point from world coordinate to the image + * @param pw is a point in the world coordinates + */ + Point2 project(const Point3& pw) const { + + // project to normalized coordinates + const Point2 pn = PinholeBase::project2(pw); + + // uncalibrate to pixel coordinates + return calibration().uncalibrate(pn); + } + + /** project a point from world coordinate to the image, w 2 derivatives * @param pw is a point in the world coordinates */ Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none, @@ -99,6 +114,47 @@ public : return pi; } + /** project a point at infinity from world coordinate to the image + * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) + * @param Dpose is the Jacobian w.r.t. pose3 + * @param Dpoint is the Jacobian w.r.t. point3 + * @param Dcal is the Jacobian w.r.t. calibration + */ + Point2 projectPointAtInfinity(const Point3& pw, OptionalJacobian<2, 6> Dpose = + boost::none, OptionalJacobian<2, 2> Dpoint = boost::none, + OptionalJacobian<2, DimK> Dcal = boost::none) const { + + if (!Dpose && !Dpoint && !Dcal) { + const Point3 pc = this->pose().rotation().unrotate(pw); // get direction in camera frame (translation does not matter) + const Point2 pn = PinholeBase::project_to_camera(pc);// project the point to the camera + return calibration().uncalibrate(pn); + } + + // world to camera coordinate + Matrix3 Dpc_rot, Dpc_point; + const Point3 pc = this->pose().rotation().unrotate(pw, Dpc_rot, Dpc_point); + + Matrix36 Dpc_pose; + Dpc_pose.setZero(); + Dpc_pose.leftCols<3>() = Dpc_rot; + + // camera to normalized image coordinate + Matrix23 Dpn_pc;// 2*3 + const Point2 pn = PinholeBase::project_to_camera(pc, Dpn_pc); + + // uncalibration + Matrix2 Dpi_pn;// 2*2 + const Point2 pi = calibration().uncalibrate(pn, Dcal, Dpi_pn); + + // chain the Jacobian matrices + const Matrix23 Dpi_pc = Dpi_pn * Dpn_pc; + if (Dpose) + *Dpose = Dpi_pc * Dpc_pose; + if (Dpoint) + *Dpoint = (Dpi_pc * Dpc_point).leftCols<2>();// only 2dof are important for the point (direction-only) + return pi; + } + /// backproject a 2-dimensional point to a 3-dimensional point at given depth Point3 backproject(const Point2& p, double depth) const { const Point2 pn = calibration().calibrate(p); From 4c7f0eba004eaf6e527d08096745ba7eea6fb62b Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 12:41:14 +0100 Subject: [PATCH 036/964] Added some templates with whole cameras --- gtsam/geometry/triangulation.h | 58 ++++++++++++++++++++++---------- gtsam/slam/TriangulationFactor.h | 20 +++++------ 2 files changed, 50 insertions(+), 28 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index ce83f780b..164bfa881 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -54,7 +54,6 @@ GTSAM_EXPORT Point3 triangulateDLT( const std::vector& projection_matrices, const std::vector& measurements, double rank_tol); -/// /** * Create a factor graph with projection factors from poses and one calibration * @param poses Camera poses @@ -76,8 +75,8 @@ std::pair triangulationGraph( static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); for (size_t i = 0; i < measurements.size(); i++) { const Pose3& pose_i = poses[i]; - PinholeCamera camera_i(pose_i, *sharedCal); - graph.push_back(TriangulationFactor // + PinholePose camera_i(pose_i, sharedCal); + graph.push_back(TriangulationFactor > // (camera_i, measurements[i], unit2, landmarkKey)); } return std::make_pair(graph, values); @@ -92,25 +91,32 @@ std::pair triangulationGraph( * @param initialEstimate * @return graph and initial values */ -template +template std::pair triangulationGraph( - const std::vector >& cameras, - const std::vector& measurements, Key landmarkKey, - const Point3& initialEstimate) { + const std::vector& cameras, const std::vector& measurements, + Key landmarkKey, const Point3& initialEstimate) { Values values; values.insert(landmarkKey, initialEstimate); // Initial landmark value NonlinearFactorGraph graph; static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); for (size_t i = 0; i < measurements.size(); i++) { - const PinholeCamera& camera_i = cameras[i]; - graph.push_back(TriangulationFactor // + const CAMERA& camera_i = cameras[i]; + graph.push_back(TriangulationFactor // (camera_i, measurements[i], unit2, landmarkKey)); } return std::make_pair(graph, values); } -/// +/// PinholeCamera specific version +template +std::pair triangulationGraph( + const std::vector >& cameras, + const std::vector& measurements, Key landmarkKey, + const Point3& initialEstimate) { + return triangulationGraph(cameras, measurements, landmarkKey, initialEstimate); +} + /** * Optimize for triangulation * @param graph nonlinear factors for projection @@ -150,9 +156,8 @@ Point3 triangulateNonlinear(const std::vector& poses, * @param initialEstimate * @return refined Point3 */ -template -Point3 triangulateNonlinear( - const std::vector >& cameras, +template +Point3 triangulateNonlinear(const std::vector& cameras, const std::vector& measurements, const Point3& initialEstimate) { // Create a factor graph and initial values @@ -164,6 +169,14 @@ Point3 triangulateNonlinear( return optimize(graph, values, Symbol('p', 0)); } +/// PinholeCamera specific version +template +Point3 triangulateNonlinear( + const std::vector >& cameras, + const std::vector& measurements, const Point3& initialEstimate) { + return triangulateNonlinear(cameras, measurements, initialEstimate); +} + /** * Function to triangulate 3D landmark point from an arbitrary number * of poses (at least 2) using the DLT. The function checks that the @@ -223,9 +236,9 @@ Point3 triangulatePoint3(const std::vector& poses, * @param optimize Flag to turn on nonlinear refinement of triangulation * @return Returns a Point3 */ -template +template Point3 triangulatePoint3( - const std::vector >& cameras, + const std::vector& cameras, const std::vector& measurements, double rank_tol = 1e-9, bool optimize = false) { @@ -236,9 +249,8 @@ Point3 triangulatePoint3( throw(TriangulationUnderconstrainedException()); // construct projection matrices from poses & calibration - typedef PinholeCamera Camera; std::vector projection_matrices; - BOOST_FOREACH(const Camera& camera, cameras) { + BOOST_FOREACH(const CAMERA& camera, cameras) { Matrix P_ = (camera.pose().inverse().matrix()); projection_matrices.push_back(camera.calibration().K()* (P_.block<3,4>(0,0)) ); } @@ -250,7 +262,7 @@ Point3 triangulatePoint3( #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION // verify that the triangulated point lies infront of all cameras - BOOST_FOREACH(const Camera& camera, cameras) { + BOOST_FOREACH(const CAMERA& camera, cameras) { const Point3& p_local = camera.pose().transform_to(point); if (p_local.z() <= 0) throw(TriangulationCheiralityException()); @@ -260,5 +272,15 @@ Point3 triangulatePoint3( return point; } +/// Pinhole-specific version +template +Point3 triangulatePoint3( + const std::vector >& cameras, + const std::vector& measurements, double rank_tol = 1e-9, + bool optimize = false) { + return triangulatePoint3 >(cameras, measurements, + rank_tol, optimize); +} + } // \namespace gtsam diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index b7f6a20dc..895d00f4c 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -27,16 +27,22 @@ namespace gtsam { * The calibration and pose are assumed known. * @addtogroup SLAM */ -template +template > class TriangulationFactor: public NoiseModelFactor1 { public: /// Camera type - typedef PinholeCamera Camera; + typedef CAMERA Camera; protected: + /// shorthand for base class type + typedef NoiseModelFactor1 Base; + + /// shorthand for this class + typedef TriangulationFactor This; + // Keep a copy of measurement and calibration for I/O const Camera camera_; ///< Camera in which this landmark was seen const Point2 measured_; ///< 2D measurement @@ -47,12 +53,6 @@ protected: public: - /// shorthand for base class type - typedef NoiseModelFactor1 Base; - - /// shorthand for this class - typedef TriangulationFactor This; - /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; @@ -114,7 +114,7 @@ public: Vector evaluateError(const Point3& point, boost::optional H2 = boost::none) const { try { - Point2 error(camera_.project(point, boost::none, H2, boost::none) - measured_); + Point2 error(camera_.project2(point, boost::none, H2) - measured_); return error.vector(); } catch (CheiralityException& e) { if (H2) @@ -154,7 +154,7 @@ public: // Would be even better if we could pass blocks to project const Point3& point = x.at(key()); - b = -(camera_.project(point, boost::none, A, boost::none) - measured_).vector(); + b = -(camera_.project2(point, boost::none, A) - measured_).vector(); if (noiseModel_) this->noiseModel_->WhitenSystem(A, b); From 59e6a636f2f144672033a4cb8f948d9d26faa703 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 12:41:33 +0100 Subject: [PATCH 037/964] Added Measurement type --- gtsam/geometry/CalibratedCamera.h | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 0e6f83fdf..6d08f2160 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -42,6 +42,14 @@ public: */ class GTSAM_EXPORT PinholeBase { +public: + + /** + * Some classes template on either PinholeCamera or StereoCamera, + * and this typedef informs those classes what "project" returns. + */ + typedef Point2 Measurement; + private: Pose3 pose_; ///< 3D pose of camera @@ -263,8 +271,8 @@ public: } /* ************************************************************************* */ - Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose, - OptionalJacobian<2, 3> Dpoint) const { + Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose = boost::none, + OptionalJacobian<2, 3> Dpoint = boost::none) const { Matrix3 Rt; // calculated by transform_to if needed const Point3 q = pose().transform_to(point, boost::none, Dpoint ? &Rt : 0); From d5261e2e8dca75196b9f19c52f8bb2d7b1980443 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 12:41:45 +0100 Subject: [PATCH 038/964] triangulation targets --- .cproject | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/.cproject b/.cproject index 1aa6ab5e1..79cb93f93 100644 --- a/.cproject +++ b/.cproject @@ -1035,6 +1035,14 @@ true true + + make + -j4 + testTriangulation.run + true + true + true + make -j2 @@ -1578,6 +1586,14 @@ true true + + make + -j4 + testTriangulationFactor.run + true + true + true + make -j3 From d6f54475c3cbe41006cceed5685a8288a3f889bc Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 12:43:43 +0100 Subject: [PATCH 039/964] BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA --- gtsam/slam/SmartFactorBase.h | 73 +-- gtsam/slam/SmartProjectionCameraFactor.h | 36 +- gtsam/slam/SmartProjectionFactor.h | 108 ++-- gtsam/slam/SmartProjectionPoseFactor.h | 33 +- .../tests/testSmartProjectionCameraFactor.cpp | 4 +- .../tests/testSmartProjectionPoseFactor.cpp | 488 ++++++++---------- .../slam/SmartStereoProjectionFactor.h | 48 +- 7 files changed, 352 insertions(+), 438 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 10352405a..a184a7956 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -45,6 +45,9 @@ template class SmartFactorBase: public NonlinearFactor { private: + typedef NonlinearFactor Base; + typedef SmartFactorBase This; + typedef typename CAMERA::Measurement Z; /** * As of Feb 22, 2015, the noise model is the same for all measurements and @@ -56,9 +59,6 @@ private: protected: - // Figure out the measurement type - typedef typename CAMERA::Measurement Z; - /** * 2D measurement and noise model for each of the m views * We keep a copy of measurements for I/O and computing the error. @@ -66,19 +66,11 @@ protected: */ std::vector measured_; - /// shorthand for base class type - typedef NonlinearFactor Base; - - /// shorthand for this class - typedef SmartFactorBase This; - static const int ZDim = traits::dimension; ///< Measurement dimension static const int Dim = traits::dimension; ///< Camera dimension - // Definitions for blocks of F - typedef Eigen::Matrix Matrix2D; // F + // Definitions for block matrices used internally typedef Eigen::Matrix MatrixD2; // F' - typedef std::pair KeyMatrix2D; // Fblocks typedef Eigen::Matrix MatrixDD; // camera hessian block typedef Eigen::Matrix Matrix23; typedef Eigen::Matrix VectorD; @@ -105,6 +97,10 @@ protected: public: + // Definitions for blocks of F, externally visible + typedef Eigen::Matrix Matrix2D; // F + typedef std::pair KeyMatrix2D; // Fblocks + EIGEN_MAKE_ALIGNED_OPERATOR_NEW /// shorthand for a smart pointer to a factor @@ -256,57 +252,19 @@ public: } /** - * Compute whitenedError, returning only the derivative E, i.e., - * the stacked ZDim*3 derivatives of project with respect to the point. - * Assumes non-degenerate ! TODO explain this - */ - Vector reprojectionErrors(const Cameras& cameras, const Point3& point, - Matrix& E) const { - - // Project into CameraSet, calculating derivatives - std::vector predicted; - predicted = cameras.project2(point, boost::none, E); - - // if needed, whiten - size_t m = keys_.size(); - Vector b(ZDim * m); - for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { - - // Calculate error - const Z& zi = measured_.at(i); - Vector bi = (zi - predicted[i]).vector(); - b.segment(row) = bi; - } - return b; - } - - /** - * Compute F, E, and optionally H, where F and E are the stacked derivatives - * with respect to the cameras, point, and calibration, respectively. - * The value of cameras/point are passed as parameters. - * Returns error vector b + * Compute reprojection errors and derivatives * TODO: the treatment of body_P_sensor_ is weird: the transformation * is applied in the caller, but the derivatives are computed here. */ Vector reprojectionErrors(const Cameras& cameras, const Point3& point, typename Cameras::FBlocks& F, Matrix& E) const { - // Project into CameraSet, calculating derivatives - std::vector predicted; - predicted = cameras.project2(point, F, E); + Vector b = cameras.reprojectionErrors(point, measured_, F, E); - // Calculate error and whiten derivatives if needed - size_t m = keys_.size(); - Vector b(ZDim * m); - for (size_t i = 0; i < m; i++) { - - // Calculate error - const Z& zi = measured_.at(i); - Vector bi = (zi - predicted[i]).vector(); - - // if we have a sensor offset, correct camera derivatives - if (body_P_sensor_) { - // TODO: no simpler way ?? + // Apply sensor chain rule if needed TODO: no simpler way ?? + if (body_P_sensor_) { + size_t m = keys_.size(); + for (size_t i = 0; i < m; i++) { const Pose3& pose_i = cameras[i].pose(); Pose3 w_Pose_body = pose_i.compose(body_P_sensor_->inverse()); Matrix66 J; @@ -314,6 +272,7 @@ public: F[i].leftCols(6) *= J; } } + return b; } @@ -344,7 +303,7 @@ public: /// Assumes non-degenerate ! void computeEP(Matrix& E, Matrix& P, const Cameras& cameras, const Point3& point) const { - reprojectionErrors(cameras, point, E); + cameras.reprojectionErrors(point, measured_, boost::none, E); P = PointCov(E); } diff --git a/gtsam/slam/SmartProjectionCameraFactor.h b/gtsam/slam/SmartProjectionCameraFactor.h index d5bdc2e84..8381c847e 100644 --- a/gtsam/slam/SmartProjectionCameraFactor.h +++ b/gtsam/slam/SmartProjectionCameraFactor.h @@ -25,23 +25,29 @@ namespace gtsam { /** * @addtogroup SLAM */ -template -class SmartProjectionCameraFactor: public SmartProjectionFactor { +template +class SmartProjectionCameraFactor: public SmartProjectionFactor< + PinholeCamera > { + +private: + typedef PinholeCamera Camera; + typedef SmartProjectionFactor Base; + typedef SmartProjectionCameraFactor This; + protected: + static const int Dim = traits::dimension; ///< CAMERA dimension + bool isImplicit_; public: - /// shorthand for base class type - typedef SmartProjectionFactor Base; - - /// shorthand for this class - typedef SmartProjectionCameraFactor This; - /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; + // A set of cameras + typedef CameraSet Cameras; + /** * Constructor * @param rankTol tolerance used to check if point triangulation is degenerate @@ -88,14 +94,14 @@ public: /// get the dimension of the factor (number of rows on linearization) virtual size_t dim() const { - return D * this->keys_.size(); // 6 for the pose and 3 for the calibration + return Dim * this->keys_.size(); // 6 for the pose and 3 for the calibration } /// Collect all cameras: important that in key order - typename Base::Cameras cameras(const Values& values) const { - typename Base::Cameras cameras; + Cameras cameras(const Values& values) const { + Cameras cameras; BOOST_FOREACH(const Key& k, this->keys_) - cameras.push_back(values.at(k)); + cameras.push_back(values.at(k)); return cameras; } @@ -109,19 +115,19 @@ public: } /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr > linearizeToHessian( + virtual boost::shared_ptr > linearizeToHessian( const Values& values, double lambda=0.0) const { return Base::createHessianFactor(cameras(values),lambda); } /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr > linearizeToImplicit( + virtual boost::shared_ptr > linearizeToImplicit( const Values& values, double lambda=0.0) const { return Base::createRegularImplicitSchurFactor(cameras(values),lambda); } /// linearize returns a Jacobianfactor that is an approximation of error(p) - virtual boost::shared_ptr > linearizeToJacobian( + virtual boost::shared_ptr > linearizeToJacobian( const Values& values, double lambda=0.0) const { return Base::createJacobianQFactor(cameras(values),lambda); } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 8c11d7ec4..7a73a0c49 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -60,11 +60,17 @@ enum LinearizationMode { /** * SmartProjectionFactor: triangulates point and keeps an estimate of it around. */ -template -class SmartProjectionFactor: public SmartFactorBase, - D> { +template +class SmartProjectionFactor: public SmartFactorBase { + +private: + typedef SmartFactorBase Base; + typedef SmartProjectionFactor This; + protected: + static const int Dim = traits::dimension; ///< CAMERA dimension + // Some triangulation parameters const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate @@ -91,9 +97,6 @@ protected: /// shorthand for smart projection factor state variable typedef boost::shared_ptr SmartFactorStatePtr; - /// shorthand for base class type - typedef SmartFactorBase, D> Base; - double landmarkDistanceThreshold_; // if the landmark is triangulated at a // distance larger than that the factor is considered degenerate @@ -101,17 +104,13 @@ protected: // average reprojection error is smaller than this threshold after triangulation, // and the factor is disregarded if the error is large - /// shorthand for this class - typedef SmartProjectionFactor This; - public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; - /// shorthand for a pinhole camera - typedef PinholeCamera Camera; - typedef CameraSet Cameras; + /// shorthand for a set of cameras + typedef CameraSet Cameras; /** * Constructor @@ -243,7 +242,7 @@ public: // We triangulate the 3D position of the landmark try { // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; - point_ = triangulatePoint3(cameras, this->measured_, + point_ = triangulatePoint3(cameras, this->measured_, rankTolerance_, enableEPI_); degenerate_ = false; cheiralityException_ = false; @@ -251,7 +250,7 @@ public: // Check landmark distance and reprojection errors to avoid outliers double totalReprojError = 0.0; size_t i = 0; - BOOST_FOREACH(const Camera& camera, cameras) { + BOOST_FOREACH(const CAMERA& camera, cameras) { Point3 cameraTranslation = camera.pose().translation(); // we discard smart factors corresponding to points that are far away if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { @@ -314,7 +313,7 @@ public: } /// linearize returns a Hessianfactor that is an approximation of error(p) - boost::shared_ptr > createHessianFactor( + boost::shared_ptr > createHessianFactor( const Cameras& cameras, const double lambda = 0.0) const { bool isDebug = false; @@ -338,10 +337,10 @@ public: && (this->cheiralityException_ || this->degenerate_))) { // std::cout << "In linearize: exception" << std::endl; BOOST_FOREACH(Matrix& m, Gs) - m = zeros(D, D); + m = zeros(Dim, Dim); BOOST_FOREACH(Vector& v, gs) - v = zero(D); - return boost::make_shared >(this->keys_, Gs, gs, + v = zero(Dim); + return boost::make_shared >(this->keys_, Gs, gs, 0.0); } @@ -366,7 +365,7 @@ public: << "something wrong in SmartProjectionHessianFactor: selective relinearization should be disabled" << std::endl; exit(1); - return boost::make_shared >(this->keys_, + return boost::make_shared >(this->keys_, this->state_->Gs, this->state_->gs, this->state_->f); } @@ -378,7 +377,7 @@ public: // Schur complement trick // Frank says: should be possible to do this more efficiently? // And we care, as in grouped factors this is called repeatedly - Matrix H(D * numKeys, D * numKeys); + Matrix H(Dim * numKeys, Dim * numKeys); Vector gs_vector; Matrix3 P = Base::PointCov(E, lambda); @@ -390,11 +389,11 @@ public: // Populate Gs and gs int GsCount2 = 0; for (DenseIndex i1 = 0; i1 < (DenseIndex) numKeys; i1++) { // for each camera - DenseIndex i1D = i1 * D; - gs.at(i1) = gs_vector.segment(i1D); + DenseIndex i1D = i1 * Dim; + gs.at(i1) = gs_vector.segment(i1D); for (DenseIndex i2 = 0; i2 < (DenseIndex) numKeys; i2++) { if (i2 >= i1) { - Gs.at(GsCount2) = H.block(i1D, i2 * D); + Gs.at(GsCount2) = H.block(i1D, i2 * Dim); GsCount2++; } } @@ -405,37 +404,37 @@ public: this->state_->gs = gs; this->state_->f = f; } - return boost::make_shared >(this->keys_, Gs, gs, f); + return boost::make_shared >(this->keys_, Gs, gs, f); } // create factor - boost::shared_ptr > createRegularImplicitSchurFactor( + boost::shared_ptr > createRegularImplicitSchurFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) return Base::createRegularImplicitSchurFactor(cameras, point_, lambda); else - return boost::shared_ptr >(); + return boost::shared_ptr >(); } /// create factor - boost::shared_ptr > createJacobianQFactor( + boost::shared_ptr > createJacobianQFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) return Base::createJacobianQFactor(cameras, point_, lambda); else - return boost::make_shared >(this->keys_); + return boost::make_shared >(this->keys_); } /// Create a factor, takes values - boost::shared_ptr > createJacobianQFactor( + boost::shared_ptr > createJacobianQFactor( const Values& values, double lambda) const { - Cameras myCameras; + Cameras cameras; // TODO triangulate twice ?? - bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return createJacobianQFactor(myCameras, lambda); + return createJacobianQFactor(cameras, lambda); else - return boost::make_shared >(this->keys_); + return boost::make_shared >(this->keys_); } /// different (faster) way to compute Jacobian factor @@ -444,20 +443,20 @@ public: if (triangulateForLinearize(cameras)) return Base::createJacobianSVDFactor(cameras, point_, lambda); else - return boost::make_shared >(this->keys_); + return boost::make_shared >(this->keys_); } /// Returns true if nonDegenerate bool computeCamerasAndTriangulate(const Values& values, - Cameras& myCameras) const { + Cameras& cameras) const { Values valuesFactor; // Select only the cameras BOOST_FOREACH(const Key key, this->keys_) valuesFactor.insert(key, values.at(key)); - myCameras = this->cameras(valuesFactor); - size_t nrCameras = this->triangulateSafe(myCameras); + cameras = this->cameras(valuesFactor); + size_t nrCameras = this->triangulateSafe(cameras); if (nrCameras < 2 || (!this->manageDegeneracy_ @@ -477,27 +476,22 @@ public: return true; } - /// Assumes non-degenerate ! - void computeEP(Matrix& E, Matrix& P, const Cameras& cameras) const { - return Base::computeEP(E, P, cameras, point_); - } - /// Takes values bool computeEP(Matrix& E, Matrix& P, const Values& values) const { - Cameras myCameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - computeEP(E, P, myCameras); + Base::computeEP(E, P, cameras, point_); return nonDegenerate; } /// Version that takes values, and creates the point bool computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, const Values& values) const { - Cameras myCameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - computeJacobians(Fblocks, E, b, myCameras); + computeJacobians(Fblocks, E, b, cameras); return nonDegenerate; } @@ -513,12 +507,13 @@ public: std::cout << "SmartProjectionFactor: Management of degeneracy is disabled - not ready to be used" << std::endl; - if (D > 6) { + if (Dim > 6) { std::cout << "Management of degeneracy is not yet ready when one also optimizes for the calibration " << std::endl; } + // TODO replace all this by Call to CameraSet int numKeys = this->keys_.size(); E = zeros(2 * numKeys, 2); b = zero(2 * numKeys); @@ -533,7 +528,6 @@ public: Vector bi = -(cameras[i].projectPointAtInfinity(this->point_, Fi, Ei) - this->measured_.at(i)).vector(); - this->noiseModel_->WhitenSystem(Fi, Ei, bi); f += bi.squaredNorm(); Fblocks.push_back(typename Base::KeyMatrix2D(this->keys_[i], Fi)); E.block<2, 2>(2 * i, 0) = Ei; @@ -549,10 +543,10 @@ public: /// takes values bool computeJacobiansSVD(std::vector& Fblocks, Matrix& Enull, Vector& b, const Values& values) const { - typename Base::Cameras myCameras; - double good = computeCamerasAndTriangulate(values, myCameras); + typename Base::Cameras cameras; + double good = computeCamerasAndTriangulate(values, cameras); if (good) - computeJacobiansSVD(Fblocks, Enull, b, myCameras); + computeJacobiansSVD(Fblocks, Enull, b, cameras); return true; } @@ -583,12 +577,12 @@ public: /// Calculate vector of re-projection errors, before applying noise model Vector reprojectionError(const Values& values) const { - Cameras myCameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return reprojectionError(myCameras); + return reprojectionError(cameras); else - return zero(myCameras.size() * 2); + return zero(cameras.size() * 2); } /** diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 70476ba3e..5cfd74913 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -38,21 +38,22 @@ namespace gtsam { * @addtogroup SLAM */ template -class SmartProjectionPoseFactor: public SmartProjectionFactor { +class SmartProjectionPoseFactor: public SmartProjectionFactor< + PinholePose > { + +private: + typedef PinholePose Camera; + typedef SmartProjectionFactor Base; + typedef SmartProjectionPoseFactor This; + protected: LinearizationMode linearizeTo_; ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q) - std::vector > K_all_; ///< shared pointer to calibration object (one for each camera) + std::vector > sharedKs_; ///< shared pointer to calibration object (one for each camera) public: - /// shorthand for base class type - typedef SmartProjectionFactor Base; - - /// shorthand for this class - typedef SmartProjectionPoseFactor This; - /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; @@ -87,7 +88,7 @@ public: const SharedNoiseModel noise_i, const boost::shared_ptr K_i) { Base::add(measured_i, poseKey_i, noise_i); - K_all_.push_back(K_i); + sharedKs_.push_back(K_i); } /** @@ -102,7 +103,7 @@ public: std::vector > Ks) { Base::add(measurements, poseKeys, noises); for (size_t i = 0; i < measurements.size(); i++) { - K_all_.push_back(Ks.at(i)); + sharedKs_.push_back(Ks.at(i)); } } @@ -117,7 +118,7 @@ public: const SharedNoiseModel noise, const boost::shared_ptr K) { for (size_t i = 0; i < measurements.size(); i++) { Base::add(measurements.at(i), poseKeys.at(i), noise); - K_all_.push_back(K); + sharedKs_.push_back(K); } } @@ -129,7 +130,7 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionPoseFactor, z = \n "; - BOOST_FOREACH(const boost::shared_ptr& K, K_all_) + BOOST_FOREACH(const boost::shared_ptr& K, sharedKs_) K->print("calibration = "); Base::print("", keyFormatter); } @@ -155,7 +156,7 @@ public: if(Base::body_P_sensor_) pose = pose.compose(*(Base::body_P_sensor_)); - typename Base::Camera camera(pose, *K_all_[i++]); + Camera camera(pose, sharedKs_[i++]); cameras.push_back(camera); } return cameras; @@ -193,9 +194,9 @@ public: } } - /** return the calibration object */ + /** return calibration shared pointers */ inline const std::vector > calibration() const { - return K_all_; + return sharedKs_; } private: @@ -205,7 +206,7 @@ private: template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(K_all_); + ar & BOOST_SERIALIZATION_NVP(sharedKs_); } }; // end of class declaration diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 88a0c0521..b9634025b 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -72,8 +72,8 @@ static Point2 measurement1(323.0, 240.0); static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); typedef PinholeCamera CameraCal3_S2; -typedef SmartProjectionCameraFactor SmartFactor; -typedef SmartProjectionCameraFactor SmartFactorBundler; +typedef SmartProjectionCameraFactor SmartFactor; +typedef SmartProjectionCameraFactor SmartFactorBundler; typedef GeneralSFMFactor SFMFactor; template diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 9b36b645a..e1ef82b82 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -32,22 +32,23 @@ using namespace std; using namespace boost::assign; using namespace gtsam; -static bool isDebugTest = false; +static bool isDebugTest = true; // make a realistic calibration matrix static double fov = 60; // degrees static size_t w = 640, h = 480; -static Cal3_S2::shared_ptr K(new Cal3_S2(fov, w, h)); -static Cal3_S2::shared_ptr K2(new Cal3_S2(1500, 1200, 0, 640, 480)); -static boost::shared_ptr Kbundler( +static Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h)); +static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480)); +static boost::shared_ptr sharedBundlerK( new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); -static double rankTol = 1.0; -static double linThreshold = -1.0; -static bool manageDegeneracy = true; +static const double rankTol = 1.0; +static const double linThreshold = -1.0; +static const bool manageDegeneracy = true; // Create a noise model for the pixel error -static SharedNoiseModel model(noiseModel::Isotropic::Sigma(2, 0.1)); +static const double sigma = 0.1; +static SharedNoiseModel model(noiseModel::Isotropic::Sigma(2, sigma)); // Convenience for named keys using symbol_shorthand::X; @@ -63,11 +64,28 @@ static Point2 measurement1(323.0, 240.0); static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); +typedef PinholePose Camera; typedef SmartProjectionPoseFactor SmartFactor; + +typedef PinholePose CameraBundler; typedef SmartProjectionPoseFactor SmartFactorBundler; -void projectToMultipleCameras(SimpleCamera cam1, SimpleCamera cam2, - SimpleCamera cam3, Point3 landmark, vector& measurements_cam) { +// create first camera. Looking along X-axis, 1 meter above ground plane (x-y) +Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), + Point3(0, 0, 1)); +Camera level_camera(level_pose, sharedK2); + +// create second camera 1 meter to the right of first camera +Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); +Camera level_camera_right(level_pose_right, sharedK2); + +// landmarks ~5 meters in front of camera +Point3 landmark1(5, 0.5, 1.2); +Point3 landmark2(5, -0.5, 1.2); +Point3 landmark3(5, 0, 3.0); + +void projectToMultipleCameras(Camera cam1, Camera cam2, Camera cam3, + Point3 landmark, vector& measurements_cam) { Point2 cam1_uv1 = cam1.project(landmark); Point2 cam2_uv1 = cam2.project(landmark); @@ -90,13 +108,13 @@ TEST( SmartProjectionPoseFactor, Constructor2) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor3) { SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, poseKey1, model, K); + factor1->add(measurement1, poseKey1, model, sharedK); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { SmartFactor factor1(rankTol, linThreshold); - factor1.add(measurement1, poseKey1, model, K); + factor1.add(measurement1, poseKey1, model, sharedK); } /* ************************************************************************* */ @@ -105,16 +123,16 @@ TEST( SmartProjectionPoseFactor, ConstructorWithTransform) { bool enableEPI = false; SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor1); - factor1.add(measurement1, poseKey1, model, K); + factor1.add(measurement1, poseKey1, model, sharedK); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Equals ) { SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, poseKey1, model, K); + factor1->add(measurement1, poseKey1, model, sharedK); SmartFactor::shared_ptr factor2(new SmartFactor()); - factor2->add(measurement1, poseKey1, model, K); + factor2->add(measurement1, poseKey1, model, sharedK); CHECK(assert_equal(*factor1, *factor2)); } @@ -123,30 +141,18 @@ TEST( SmartProjectionPoseFactor, Equals ) { TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), - Point3(0, 0, 1)); - SimpleCamera level_camera(level_pose, *K2); - - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera level_camera_right(level_pose_right, *K2); - - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - // Project two landmarks into two cameras - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); + Point2 level_uv = level_camera.project(landmark1); + Point2 level_uv_right = level_camera_right.project(landmark1); + + SmartFactor factor; + factor.add(level_uv, x1, model, sharedK); + factor.add(level_uv_right, x2, model, sharedK); Values values; values.insert(x1, level_pose); values.insert(x2, level_pose_right); - SmartFactor factor; - factor.add(level_uv, x1, model, K); - factor.add(level_uv_right, x2, model, K); - double actualError = factor.error(values); double expectedError = 0.0; EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7); @@ -155,51 +161,44 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { double actualError2 = factor.totalReprojectionError(cameras); EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7); - // test vector of errors - //Vector actual = factor.unwhitenedError(values); - //EXPECT(assert_equal(zero(4),actual,1e-8)); - - // Check derivatives - // Calculate expected derivative for point (easiest to check) boost::function f = // boost::bind(&SmartFactor::whitenedErrors, factor, cameras, _1); boost::optional point = factor.point(); CHECK(point); - Matrix expectedE = numericalDerivative11(f, *point); + + // Note ! After refactor the noiseModel is only in the factors, not these matrices + Matrix expectedE = sigma * numericalDerivative11(f, *point); // Calculate using computeEP Matrix actualE, PointCov; - factor.computeEP(actualE, PointCov, cameras); + factor.computeEP(actualE, PointCov, values); EXPECT(assert_equal(expectedE, actualE, 1e-7)); - // Calculate using whitenedError - Matrix F, actualE2; - Vector actualErrors = factor.whitenedError(cameras, *point, F, actualE2); - EXPECT(assert_equal(expectedE, actualE2, 1e-7)); - EXPECT(assert_equal(f(*point), actualErrors, 1e-7)); + // Calculate using reprojectionErrors, note not yet divided by sigma ! + SmartFactor::Cameras::FBlocks F; + Matrix E; + Vector actualErrors = factor.reprojectionErrors(cameras, *point, F, E); + EXPECT(assert_equal(expectedE, E, 1e-7)); + + EXPECT(assert_equal(zero(4), actualErrors, 1e-7)); + + // Calculate using computeJacobians + Vector b; + vector Fblocks; + double actualError3 = factor.computeJacobians(Fblocks, E, b, cameras); + EXPECT(assert_equal(expectedE, E, 1e-7)); + EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8); } /* *************************************************************************/ TEST( SmartProjectionPoseFactor, noisy ) { // cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), - Point3(0, 0, 1)); - SimpleCamera level_camera(level_pose, *K2); - - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera level_camera_right(level_pose_right, *K2); - - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - // 1. Project two landmarks into two cameras and triangulate Point2 pixelError(0.2, 0.2); - Point2 level_uv = level_camera.project(landmark) + pixelError; - Point2 level_uv_right = level_camera_right.project(landmark); + Point2 level_uv = level_camera.project(landmark1) + pixelError; + Point2 level_uv_right = level_camera_right.project(landmark1); Values values; values.insert(x1, level_pose); @@ -208,8 +207,8 @@ TEST( SmartProjectionPoseFactor, noisy ) { values.insert(x2, level_pose_right.compose(noise_pose)); SmartFactor::shared_ptr factor(new SmartFactor()); - factor->add(level_uv, x1, model, K); - factor->add(level_uv_right, x2, model, K); + factor->add(level_uv, x1, model, sharedK); + factor->add(level_uv_right, x2, model, sharedK); double actualError1 = factor->error(values); @@ -223,8 +222,8 @@ TEST( SmartProjectionPoseFactor, noisy ) { noises.push_back(model); vector > Ks; ///< shared pointer to calibration object (one for each camera) - Ks.push_back(K); - Ks.push_back(K); + Ks.push_back(sharedK); + Ks.push_back(sharedK); vector views; views.push_back(x1); @@ -243,20 +242,15 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K2); + Camera cam1(pose1, sharedK2); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K2); + Camera cam2(pose2, sharedK2); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K2); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK2); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -271,13 +265,13 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { views.push_back(x3); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model, K2); + smartFactor1->add(measurements_cam1, views, model, sharedK2); SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, model, K2); + smartFactor2->add(measurements_cam2, views, model, sharedK2); SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, model, K2); + smartFactor3->add(measurements_cam3, views, model, sharedK2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -312,8 +306,8 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { gttoc_(SmartProjectionPoseFactor); tictoc_finishedIteration_(); -// GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); -// VectorValues delta = GFG->optimize(); + GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); + VectorValues delta = GFG->optimize(); // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) @@ -332,9 +326,9 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1, 0, 0)); Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam1(cameraPose1, *K); // with camera poses - SimpleCamera cam2(cameraPose2, *K); - SimpleCamera cam3(cameraPose3, *K); + Camera cam1(cameraPose1, sharedK); // with camera poses + Camera cam2(cameraPose2, sharedK); + Camera cam3(cameraPose3, sharedK); // create arbitrary body_Pose_sensor (transforms from sensor to body) Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), @@ -345,11 +339,6 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse()); Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse()); - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(5, 0, 3.0); - vector measurements_cam1, measurements_cam2, measurements_cam3; // Project three landmarks into three cameras @@ -371,17 +360,17 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI, sensor_to_body)); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI, sensor_to_body)); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI, sensor_to_body)); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -428,34 +417,36 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { boost::bind(&SmartFactor::whitenedErrors, *smartFactor1, cameras, _1); boost::optional point = smartFactor1->point(); CHECK(point); - Matrix expectedE = numericalDerivative11(f, *point); + + // Note ! After refactor the noiseModel is only in the factors, not these matrices + Matrix expectedE = sigma * numericalDerivative11(f, *point); // Calculate using computeEP Matrix actualE, PointCov; - smartFactor1->computeEP(actualE, PointCov, cameras); + smartFactor1->computeEP(actualE, PointCov, values); EXPECT(assert_equal(expectedE, actualE, 1e-7)); // Calculate using whitenedError - Matrix F, actualE2; - Vector actualErrors = smartFactor1->whitenedError(cameras, *point, F, - actualE2); - EXPECT(assert_equal(expectedE, actualE2, 1e-7)); + Matrix E; + SmartFactor::Cameras::FBlocks F; + Vector actualErrors = smartFactor1->reprojectionErrors(cameras, *point, F, E); + EXPECT(assert_equal(expectedE, E, 1e-7)); - // TODO the derivatives agree with f, but returned errors are -f :-( - // TODO We should merge the two whitenedErrors functions and make derivatives optional - EXPECT(assert_equal(-f(*point), actualErrors, 1e-7)); + // Success ! The derivatives of reprojectionErrors now agree with f ! + EXPECT(assert_equal(f(*point) * sigma, actualErrors, 1e-7)); } /* *************************************************************************/ -TEST( SmartProjectionPoseFactor, Factors ){ +TEST( SmartProjectionPoseFactor, Factors ) { // Default cameras for simple derivatives Rot3 R; - static Cal3_S2::shared_ptr K(new Cal3_S2(100, 100, 0, 0, 0)); - SimpleCamera cam1(Pose3(R,Point3(0,0,0)),*K), cam2(Pose3(R,Point3(1,0,0)),*K); + static Cal3_S2::shared_ptr sharedK(new Cal3_S2(100, 100, 0, 0, 0)); + PinholePose cam1(Pose3(R, Point3(0, 0, 0)), sharedK), cam2( + Pose3(R, Point3(1, 0, 0)), sharedK); // one landmarks 1m in front of camera - Point3 landmark1(0,0,10); + Point3 landmark1(0, 0, 10); vector measurements_cam1; @@ -464,24 +455,24 @@ TEST( SmartProjectionPoseFactor, Factors ){ measurements_cam1.push_back(cam2.project(landmark1)); // Create smart factors - std::vector views; + vector views; views.push_back(x1); views.push_back(x2); SmartFactor::shared_ptr smartFactor1 = boost::make_shared(); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::Cameras cameras; cameras.push_back(cam1); cameras.push_back(cam2); // Make sure triangulation works - LONGS_EQUAL(2,smartFactor1->triangulateSafe(cameras)); + LONGS_EQUAL(2, smartFactor1->triangulateSafe(cameras)); CHECK(!smartFactor1->isDegenerate()); CHECK(!smartFactor1->isPointBehindCamera()); boost::optional p = smartFactor1->point(); CHECK(p); - EXPECT(assert_equal(landmark1,*p)); + EXPECT(assert_equal(landmark1, *p)); // After eliminating the point, A1 and A2 contain 2-rank information on cameras: Matrix16 A1, A2; @@ -489,12 +480,14 @@ TEST( SmartProjectionPoseFactor, Factors ){ A2 << 1000, 0, 100, 0, -100, 0; { // createHessianFactor - Matrix66 G11 = 0.5*A1.transpose()*A1; - Matrix66 G12 = 0.5*A1.transpose()*A2; - Matrix66 G22 = 0.5*A2.transpose()*A2; + Matrix66 G11 = 0.5 * A1.transpose() * A1; + Matrix66 G12 = 0.5 * A1.transpose() * A2; + Matrix66 G22 = 0.5 * A2.transpose() * A2; - Vector6 g1; g1.setZero(); - Vector6 g2; g2.setZero(); + Vector6 g1; + g1.setZero(); + Vector6 g2; + g2.setZero(); double f = 0; @@ -502,18 +495,37 @@ TEST( SmartProjectionPoseFactor, Factors ){ boost::shared_ptr > actual = smartFactor1->createHessianFactor(cameras, 0.0); - CHECK(assert_equal(expected.augmentedInformation(), actual->augmentedInformation(), 1e-8)); - CHECK(assert_equal(expected, *actual, 1e-8)); + EXPECT(assert_equal(expected.information(), actual->information(), 1e-8)); + EXPECT(assert_equal(expected, *actual, 1e-8)); } { - Matrix26 F1; F1.setZero(); F1(0,1)=-100; F1(0,3)=-10; F1(1,0)=100; F1(1,4)=-10; - Matrix26 F2; F2.setZero(); F2(0,1)=-101; F2(0,3)=-10; F2(0,5)=-1; F2(1,0)=100; F2(1,2)=10; F2(1,4)=-10; - Matrix43 E; E.setZero(); E(0,0)=100; E(1,1)=100; E(2,0)=100; E(2,2)=10;E(3,1)=100; + Matrix26 F1; + F1.setZero(); + F1(0, 1) = -100; + F1(0, 3) = -10; + F1(1, 0) = 100; + F1(1, 4) = -10; + Matrix26 F2; + F2.setZero(); + F2(0, 1) = -101; + F2(0, 3) = -10; + F2(0, 5) = -1; + F2(1, 0) = 100; + F2(1, 2) = 10; + F2(1, 4) = -10; + Matrix43 E; + E.setZero(); + E(0, 0) = 100; + E(1, 1) = 100; + E(2, 0) = 100; + E(2, 2) = 10; + E(3, 1) = 100; const vector > Fblocks = list_of > // - (make_pair(x1, 10*F1))(make_pair(x2, 10*F2)); + (make_pair(x1, 10 * F1))(make_pair(x2, 10 * F2)); Matrix3 P = (E.transpose() * E).inverse(); - Vector4 b; b.setZero(); + Vector4 b; + b.setZero(); // createRegularImplicitSchurFactor RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b); @@ -524,26 +536,27 @@ TEST( SmartProjectionPoseFactor, Factors ){ CHECK(assert_equal(expected, *actual)); // createJacobianQFactor - JacobianFactorQ < 6, 2 > expectedQ(Fblocks, E, P, b); + JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b); boost::shared_ptr > actualQ = smartFactor1->createJacobianQFactor(cameras, 0.0); CHECK(actual); - CHECK(assert_equal(expectedQ.augmentedInformation(), actualQ->augmentedInformation(), 1e-8)); - CHECK(assert_equal(expectedQ, *actualQ)); + EXPECT(assert_equal(expectedQ.information(), actualQ->information(), 1e-8)); + EXPECT(assert_equal(expectedQ, *actualQ)); } { // createJacobianSVDFactor - Vector1 b; b.setZero(); + Vector1 b; + b.setZero(); double s = sin(M_PI_4); - JacobianFactor expected(x1, s*A1, x2, s*A2, b); + JacobianFactor expected(x1, s * A1, x2, s * A2, b); boost::shared_ptr actual = smartFactor1->createJacobianSVDFactor(cameras, 0.0); CHECK(actual); - CHECK(assert_equal(expected.augmentedInformation(), actual->augmentedInformation(), 1e-8)); - CHECK(assert_equal(expected, *actual)); + EXPECT(assert_equal(expected.information(), actual->information(), 1e-8)); + EXPECT(assert_equal(expected, *actual)); } } @@ -558,20 +571,15 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -581,13 +589,13 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -640,18 +648,13 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -662,15 +665,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -708,18 +711,13 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -731,17 +729,17 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -781,18 +779,15 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K); + Camera cam3(pose3, sharedK); - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + // add fourth landmark Point3 landmark4(5, -0.5, 1); vector measurements_cam1, measurements_cam2, measurements_cam3, @@ -808,22 +803,22 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); SmartFactor::shared_ptr smartFactor4( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor4->add(measurements_cam4, views, model, K); + smartFactor4->add(measurements_cam4, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -860,18 +855,13 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -882,15 +872,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -927,45 +917,40 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K2); + Camera cam1(pose1, sharedK2); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K2); + Camera cam2(pose2, sharedK2); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K2); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK2); typedef GenericProjectionFactor ProjectionFactor; NonlinearFactorGraph graph; // 1. Project three landmarks into three cameras and triangulate graph.push_back( - ProjectionFactor(cam1.project(landmark1), model, x1, L(1), K2)); + ProjectionFactor(cam1.project(landmark1), model, x1, L(1), sharedK2)); graph.push_back( - ProjectionFactor(cam2.project(landmark1), model, x2, L(1), K2)); + ProjectionFactor(cam2.project(landmark1), model, x2, L(1), sharedK2)); graph.push_back( - ProjectionFactor(cam3.project(landmark1), model, x3, L(1), K2)); + ProjectionFactor(cam3.project(landmark1), model, x3, L(1), sharedK2)); graph.push_back( - ProjectionFactor(cam1.project(landmark2), model, x1, L(2), K2)); + ProjectionFactor(cam1.project(landmark2), model, x1, L(2), sharedK2)); graph.push_back( - ProjectionFactor(cam2.project(landmark2), model, x2, L(2), K2)); + ProjectionFactor(cam2.project(landmark2), model, x2, L(2), sharedK2)); graph.push_back( - ProjectionFactor(cam3.project(landmark2), model, x3, L(2), K2)); + ProjectionFactor(cam3.project(landmark2), model, x3, L(2), sharedK2)); graph.push_back( - ProjectionFactor(cam1.project(landmark3), model, x1, L(3), K2)); + ProjectionFactor(cam1.project(landmark3), model, x1, L(3), sharedK2)); graph.push_back( - ProjectionFactor(cam2.project(landmark3), model, x2, L(3), K2)); + ProjectionFactor(cam2.project(landmark3), model, x2, L(3), sharedK2)); graph.push_back( - ProjectionFactor(cam3.project(landmark3), model, x3, L(3), K2)); + ProjectionFactor(cam3.project(landmark3), model, x3, L(3), sharedK2)); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); graph.push_back(PriorFactor(x1, pose1, noisePrior)); @@ -1006,20 +991,15 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - SimpleCamera cam3(pose3, *K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -1031,13 +1011,13 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol)); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol)); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol)); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); NonlinearFactorGraph graph; graph.push_back(smartFactor1); @@ -1095,19 +1075,15 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K2); + Camera cam1(pose1, sharedK2); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - SimpleCamera cam2(pose2, *K2); + Camera cam2(pose2, sharedK2); // create third camera 1 meter above the first camera Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - SimpleCamera cam3(pose3, *K2); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); + Camera cam3(pose3, sharedK2); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -1118,11 +1094,11 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor1->add(measurements_cam1, views, model, K2); + smartFactor1->add(measurements_cam1, views, model, sharedK2); SmartFactor::shared_ptr smartFactor2( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor2->add(measurements_cam2, views, model, K2); + smartFactor2->add(measurements_cam2, views, model, sharedK2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, @@ -1183,20 +1159,15 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - SimpleCamera cam3(pose3, *K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); + Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -1209,15 +1180,15 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) SmartFactor::shared_ptr smartFactor1( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor1->add(measurements_cam1, views, model, K); + smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor2->add(measurements_cam2, views, model, K); + smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor3->add(measurements_cam3, views, model, K); + smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, @@ -1279,14 +1250,11 @@ TEST( SmartProjectionPoseFactor, Hessian ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K2); + Camera cam1(pose1, sharedK2); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K2); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); + Camera cam2(pose2, sharedK2); // 1. Project three landmarks into three cameras and triangulate Point2 cam1_uv1 = cam1.project(landmark1); @@ -1296,7 +1264,7 @@ TEST( SmartProjectionPoseFactor, Hessian ) { measurements_cam1.push_back(cam2_uv1); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model, K2); + smartFactor1->add(measurements_cam1, views, model, sharedK2); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); @@ -1326,24 +1294,22 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K); + Camera cam1(pose1, sharedK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - SimpleCamera cam2(pose2, *K); + Camera cam2(pose2, sharedK); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - SimpleCamera cam3(pose3, *K); - - Point3 landmark1(5, 0.5, 1.2); + Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); SmartFactor::shared_ptr smartFactorInstance(new SmartFactor()); - smartFactorInstance->add(measurements_cam1, views, model, K); + smartFactorInstance->add(measurements_cam1, views, model, sharedK); Values values; values.insert(x1, pose1); @@ -1398,24 +1364,22 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - SimpleCamera cam1(pose1, *K2); + Camera cam1(pose1, sharedK2); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(0, 0, 0)); - SimpleCamera cam2(pose2, *K2); + Camera cam2(pose2, sharedK2); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, 0, 0)); - SimpleCamera cam3(pose3, *K2); - - Point3 landmark1(5, 0.5, 1.2); + Camera cam3(pose3, sharedK2); vector measurements_cam1, measurements_cam2, measurements_cam3; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); SmartFactor::shared_ptr smartFactor(new SmartFactor()); - smartFactor->add(measurements_cam1, views, model, K2); + smartFactor->add(measurements_cam1, views, model, sharedK2); Values values; values.insert(x1, pose1); @@ -1464,9 +1428,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { SmartFactorBundler factor(rankTol, linThreshold); - boost::shared_ptr Kbundler( + boost::shared_ptr sharedBundlerK( new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); - factor.add(measurement1, poseKey1, model, Kbundler); + factor.add(measurement1, poseKey1, model, sharedBundlerK); } /* *************************************************************************/ @@ -1475,19 +1439,17 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - PinholeCamera cam1(pose1, *Kbundler); + CameraBundler cam1(pose1, sharedBundlerK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - PinholeCamera cam2(pose2, *Kbundler); + CameraBundler cam2(pose2, sharedBundlerK); // create third camera 1 meter above the first camera Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - PinholeCamera cam3(pose3, *Kbundler); + CameraBundler cam3(pose3, sharedBundlerK); // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); Point3 landmark3(3, 0, 3.0); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -1520,13 +1482,13 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { views.push_back(x3); SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); - smartFactor1->add(measurements_cam1, views, model, Kbundler); + smartFactor1->add(measurements_cam1, views, model, sharedBundlerK); SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); - smartFactor2->add(measurements_cam2, views, model, Kbundler); + smartFactor2->add(measurements_cam2, views, model, sharedBundlerK); SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); - smartFactor3->add(measurements_cam3, views, model, Kbundler); + smartFactor3->add(measurements_cam3, views, model, sharedBundlerK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1579,19 +1541,17 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - PinholeCamera cam1(pose1, *Kbundler); + CameraBundler cam1(pose1, sharedBundlerK); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - PinholeCamera cam2(pose2, *Kbundler); + CameraBundler cam2(pose2, sharedBundlerK); // create third camera 1 meter above the first camera Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - PinholeCamera cam3(pose3, *Kbundler); + CameraBundler cam3(pose3, sharedBundlerK); - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); + // landmark3 at 3 meters now Point3 landmark3(3, 0, 3.0); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -1622,15 +1582,15 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { SmartFactorBundler::shared_ptr smartFactor1( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); - smartFactor1->add(measurements_cam1, views, model, Kbundler); + smartFactor1->add(measurements_cam1, views, model, sharedBundlerK); SmartFactorBundler::shared_ptr smartFactor2( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); - smartFactor2->add(measurements_cam2, views, model, Kbundler); + smartFactor2->add(measurements_cam2, views, model, sharedBundlerK); SmartFactorBundler::shared_ptr smartFactor3( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); - smartFactor3->add(measurements_cam3, views, model, Kbundler); + smartFactor3->add(measurements_cam3, views, model, sharedBundlerK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 11513d19f..0e70add9f 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -64,7 +64,7 @@ enum LinearizationMode { * SmartStereoProjectionFactor: triangulates point */ template -class SmartStereoProjectionFactor: public SmartFactorBase { +class SmartStereoProjectionFactor: public SmartFactorBase { protected: // Some triangulation parameters @@ -94,7 +94,7 @@ protected: typedef boost::shared_ptr SmartFactorStatePtr; /// shorthand for base class type - typedef SmartFactorBase Base; + typedef SmartFactorBase Base; double landmarkDistanceThreshold_; // if the landmark is triangulated at a // distance larger than that the factor is considered degenerate @@ -465,11 +465,11 @@ public: // /// Create a factor, takes values // boost::shared_ptr > createJacobianQFactor( // const Values& values, double lambda) const { -// Cameras myCameras; +// Cameras cameras; // // TODO triangulate twice ?? -// bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); +// bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); // if (nonDegenerate) -// return createJacobianQFactor(myCameras, lambda); +// return createJacobianQFactor(cameras, lambda); // else // return boost::make_shared< JacobianFactorQ >(this->keys_); // } @@ -485,15 +485,15 @@ public: /// Returns true if nonDegenerate bool computeCamerasAndTriangulate(const Values& values, - Cameras& myCameras) const { + Cameras& cameras) const { Values valuesFactor; // Select only the cameras BOOST_FOREACH(const Key key, this->keys_) valuesFactor.insert(key, values.at(key)); - myCameras = this->cameras(valuesFactor); - size_t nrCameras = this->triangulateSafe(myCameras); + cameras = this->cameras(valuesFactor); + size_t nrCameras = this->triangulateSafe(cameras); if (nrCameras < 2 || (!this->manageDegeneracy_ @@ -520,20 +520,20 @@ public: /// Takes values bool computeEP(Matrix& E, Matrix& PointCov, const Values& values) const { - Cameras myCameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - computeEP(E, PointCov, myCameras); + computeEP(E, PointCov, cameras); return nonDegenerate; } /// Version that takes values, and creates the point bool computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, const Values& values) const { - Cameras myCameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - computeJacobians(Fblocks, E, b, myCameras, 0.0); + computeJacobians(Fblocks, E, b, cameras, 0.0); return nonDegenerate; } @@ -598,10 +598,10 @@ public: // /// takes values // bool computeJacobiansSVD(std::vector& Fblocks, // Matrix& Enull, Vector& b, const Values& values) const { -// typename Base::Cameras myCameras; -// double good = computeCamerasAndTriangulate(values, myCameras); +// typename Base::Cameras cameras; +// double good = computeCamerasAndTriangulate(values, cameras); // if (good) -// computeJacobiansSVD(Fblocks, Enull, b, myCameras); +// computeJacobiansSVD(Fblocks, Enull, b, cameras); // return true; // } // @@ -624,20 +624,14 @@ public: return Base::computeJacobians(F, E, b, cameras, point_); } - /// Calculate vector of re-projection errors, before applying noise model - /// Assumes triangulation was done and degeneracy handled - Vector reprojectionError(const Cameras& cameras) const { - return Base::reprojectionError(cameras, point_); - } - /// Calculate vector of re-projection errors, before applying noise model Vector reprojectionError(const Values& values) const { - Cameras myCameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, myCameras); + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return reprojectionError(myCameras); + return cameras.reprojectionErrors(point_); else - return zero(myCameras.size() * 3); + return zero(cameras.size() * 3); } /** From 8e615c0ce73ada59f0e980316252cff135ab1664 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 14:45:45 +0100 Subject: [PATCH 040/964] Fixed infinite recursion --- gtsam/geometry/triangulation.h | 40 ++++++++++++++++++---------------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 164bfa881..0a0508efc 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -18,7 +18,6 @@ #pragma once - #include #include #include @@ -114,7 +113,8 @@ std::pair triangulationGraph( const std::vector >& cameras, const std::vector& measurements, Key landmarkKey, const Point3& initialEstimate) { - return triangulationGraph(cameras, measurements, landmarkKey, initialEstimate); + return triangulationGraph > // + (cameras, measurements, landmarkKey, initialEstimate); } /** @@ -143,8 +143,8 @@ Point3 triangulateNonlinear(const std::vector& poses, // Create a factor graph and initial values Values values; NonlinearFactorGraph graph; - boost::tie(graph, values) = triangulationGraph(poses, sharedCal, measurements, - Symbol('p', 0), initialEstimate); + boost::tie(graph, values) = triangulationGraph // + (poses, sharedCal, measurements, Symbol('p', 0), initialEstimate); return optimize(graph, values, Symbol('p', 0)); } @@ -163,8 +163,8 @@ Point3 triangulateNonlinear(const std::vector& cameras, // Create a factor graph and initial values Values values; NonlinearFactorGraph graph; - boost::tie(graph, values) = triangulationGraph(cameras, measurements, - Symbol('p', 0), initialEstimate); + boost::tie(graph, values) = triangulationGraph // + (cameras, measurements, Symbol('p', 0), initialEstimate); return optimize(graph, values, Symbol('p', 0)); } @@ -174,7 +174,8 @@ template Point3 triangulateNonlinear( const std::vector >& cameras, const std::vector& measurements, const Point3& initialEstimate) { - return triangulateNonlinear(cameras, measurements, initialEstimate); + return triangulateNonlinear > // + (cameras, measurements, initialEstimate); } /** @@ -203,21 +204,22 @@ Point3 triangulatePoint3(const std::vector& poses, std::vector projection_matrices; BOOST_FOREACH(const Pose3& pose, poses) { projection_matrices.push_back( - sharedCal->K() * (pose.inverse().matrix()).block<3,4>(0,0)); + sharedCal->K() * (pose.inverse().matrix()).block<3, 4>(0, 0)); } // Triangulate linearly Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol); // The n refine using non-linear optimization if (optimize) - point = triangulateNonlinear(poses, sharedCal, measurements, point); + point = triangulateNonlinear // + (poses, sharedCal, measurements, point); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION // verify that the triangulated point lies infront of all cameras BOOST_FOREACH(const Pose3& pose, poses) { const Point3& p_local = pose.transform_to(point); if (p_local.z() <= 0) - throw(TriangulationCheiralityException()); + throw(TriangulationCheiralityException()); } #endif @@ -237,8 +239,7 @@ Point3 triangulatePoint3(const std::vector& poses, * @return Returns a Point3 */ template -Point3 triangulatePoint3( - const std::vector& cameras, +Point3 triangulatePoint3(const std::vector& cameras, const std::vector& measurements, double rank_tol = 1e-9, bool optimize = false) { @@ -251,21 +252,22 @@ Point3 triangulatePoint3( // construct projection matrices from poses & calibration std::vector projection_matrices; BOOST_FOREACH(const CAMERA& camera, cameras) { - Matrix P_ = (camera.pose().inverse().matrix()); - projection_matrices.push_back(camera.calibration().K()* (P_.block<3,4>(0,0)) ); - } + Matrix P_ = (camera.pose().inverse().matrix()); + projection_matrices.push_back( + camera.calibration().K() * (P_.block<3, 4>(0, 0))); + } Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol); // The n refine using non-linear optimization if (optimize) - point = triangulateNonlinear(cameras, measurements, point); + point = triangulateNonlinear(cameras, measurements, point); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION // verify that the triangulated point lies infront of all cameras BOOST_FOREACH(const CAMERA& camera, cameras) { const Point3& p_local = camera.pose().transform_to(point); if (p_local.z() <= 0) - throw(TriangulationCheiralityException()); + throw(TriangulationCheiralityException()); } #endif @@ -278,8 +280,8 @@ Point3 triangulatePoint3( const std::vector >& cameras, const std::vector& measurements, double rank_tol = 1e-9, bool optimize = false) { - return triangulatePoint3 >(cameras, measurements, - rank_tol, optimize); + return triangulatePoint3 > // + (cameras, measurements, rank_tol, optimize); } } // \namespace gtsam From 0b9758d88c363bfe649d1b56a4fbdf44928a14bf Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Mon, 23 Feb 2015 10:24:34 -0500 Subject: [PATCH 041/964] change to GTSAM timing --- examples/SFMExample_bal_COLAMD_METIS.cpp | 83 ++++++++---------------- 1 file changed, 26 insertions(+), 57 deletions(-) diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 3ccdf9b72..1e36c4b7e 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -24,6 +24,9 @@ #include #include #include // for loading BAL datasets ! + +#include + #include using namespace std; @@ -80,24 +83,17 @@ int main (int argc, char* argv[]) { /** --------------- COMPARISON -----------------------**/ /** ----------------------------------------------------**/ - double t_COLAMD_ordering, t_METIS_ordering; //, t_NATURAL_ordering; - LevenbergMarquardtParams params_using_COLAMD, params_using_METIS, params_using_NATURAL; + LevenbergMarquardtParams params_using_COLAMD, params_using_METIS; try { - double tic_t = clock(); params_using_METIS.setVerbosity("ERROR"); + gttic_(METIS_ORDERING); params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); - t_METIS_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; + gttoc_(METIS_ORDERING); - tic_t = clock(); params_using_COLAMD.setVerbosity("ERROR"); + gttic_(COLAMD_ORDERING); params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); - t_COLAMD_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; - -// tic_t = clock(); -// params_using_NATURAL.setVerbosity("ERROR"); -// params_using_NATURAL.ordering = Ordering::Create(Ordering::NATURAL, graph); -// t_NATURAL_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; - + gttoc_(COLAMD_ORDERING); } catch (exception& e) { cout << e.what(); } @@ -108,49 +104,23 @@ int main (int argc, char* argv[]) { << "Problem here!!!" << endl; } - /* with METIS, optimize the graph and print the results */ - cout << "Optimize with METIS" << endl; + /* Optimize the graph with METIS and COLAMD and time the results */ - Values result_METIS; - double t_METIS_solving; + Values result_METIS, result_COLAMD; try { - double tic_t = clock(); - LevenbergMarquardtOptimizer lm_METIS(graph, initial, params_using_COLAMD); + gttic_(OPTIMIZE_WITH_METIS); + LevenbergMarquardtOptimizer lm_METIS(graph, initial, params_using_METIS); result_METIS = lm_METIS.optimize(); - t_METIS_solving = (clock() - tic_t)/CLOCKS_PER_SEC; - } catch (exception& e) { - cout << e.what(); - } + gttoc_(OPTIMIZE_WITH_METIS); - /* With COLAMD, optimize the graph and print the results */ - cout << "Optimize with COLAMD..." << endl; - - Values result_COLAMD; - double t_COLAMD_solving; - try { - double tic_t = clock(); + gttic_(OPTIMIZE_WITH_COLAMD); LevenbergMarquardtOptimizer lm_COLAMD(graph, initial, params_using_COLAMD); result_COLAMD = lm_COLAMD.optimize(); - t_COLAMD_solving = (clock() - tic_t)/CLOCKS_PER_SEC; + gttoc_(OPTIMIZE_WITH_COLAMD); } catch (exception& e) { cout << e.what(); } - // disable optimizer with NATURAL since it doesn't converge on large problem - /* Use Natural ordering and solve both respectively */ - // cout << "Solving with natural ordering: " << endl; - - // Values result_NATURAL; - // double t_NATURAL_solving; - // try { - // double tic_t = clock(); - // LevenbergMarquardtOptimizer lm_NATURAL(graph, initial, params_using_NATURAL); - // result_NATURAL = lm_NATURAL.optimize(); - // t_NATURAL_solving = (clock() - tic_t)/CLOCKS_PER_SEC; - // } catch (exception& e) { - // cout << e.what(); - // } - cout << endl << endl; { @@ -160,22 +130,21 @@ int main (int argc, char* argv[]) { % mydata.number_tracks() % mydata.number_cameras() \ << endl; - cout << "COLAMD: " << endl; - cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl; - cout << "Solving: " << t_COLAMD_solving << "seconds" << endl; - cout << "final error: " << graph.error(result_COLAMD) << endl; + cout << "COLAMD final error: " << graph.error(result_COLAMD) << endl; + cout << "METIS final error: " << graph.error(result_METIS) << endl; - cout << "METIS: " << endl; - cout << "Ordering: " << t_METIS_ordering << "seconds" << endl; - cout << "Solving: " << t_METIS_solving << "seconds" << endl; - cout << "final error: " << graph.error(result_METIS) << endl; + tictoc_print_(); -// cout << "Natural: " << endl; -// cout << "Ordering: " << t_NATURAL_ordering << "seconds" << endl; -// cout << "Solving: " << t_NATURAL_solving << "seconds" << endl; -// cout << "final error: " << graph.error(result_NATURAL) << endl; +// cout << "COLAMD: " << endl; +// cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl; +// cout << "Solving: " << t_COLAMD_solving << "seconds" << endl; + +// cout << "METIS: " << endl; +// cout << "Ordering: " << t_METIS_ordering << "seconds" << endl; +// cout << "Solving: " << t_METIS_solving << "seconds" << endl; } + return 0; } /* ************************************************************************* */ From 48d549f38384f0fcc4a44c7b35155c3fed60ea08 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Mon, 23 Feb 2015 10:31:25 -0500 Subject: [PATCH 042/964] remove unuseful comments --- examples/SFMExample_bal_COLAMD_METIS.cpp | 21 +++++++-------------- 1 file changed, 7 insertions(+), 14 deletions(-) diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp index 1e36c4b7e..4bbaac3ef 100644 --- a/examples/SFMExample_bal_COLAMD_METIS.cpp +++ b/examples/SFMExample_bal_COLAMD_METIS.cpp @@ -121,27 +121,20 @@ int main (int argc, char* argv[]) { cout << e.what(); } - cout << endl << endl; - { - // printing the result + { // printing the result + + cout << "COLAMD final error: " << graph.error(result_COLAMD) << endl; + cout << "METIS final error: " << graph.error(result_METIS) << endl; + + cout << endl << endl; + cout << "Time comparison by solving " << filename << " results:" << endl; cout << boost::format("%1% point tracks and %2% cameras\n") \ % mydata.number_tracks() % mydata.number_cameras() \ << endl; - cout << "COLAMD final error: " << graph.error(result_COLAMD) << endl; - cout << "METIS final error: " << graph.error(result_METIS) << endl; - tictoc_print_(); - -// cout << "COLAMD: " << endl; -// cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl; -// cout << "Solving: " << t_COLAMD_solving << "seconds" << endl; - -// cout << "METIS: " << endl; -// cout << "Ordering: " << t_METIS_ordering << "seconds" << endl; -// cout << "Solving: " << t_METIS_solving << "seconds" << endl; } From d091ed3e834bb3d40652dbb2318fbd0b2212386f Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 20:42:48 +0100 Subject: [PATCH 043/964] Added reprojectionErrors back in --- gtsam/slam/SmartFactorBase.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index a184a7956..6a33eeb6e 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -251,6 +251,11 @@ public: return 0.5 * b.dot(b); } + /// Compute reprojection errors + Vector reprojectionErrors(const Cameras& cameras, const Point3& point) const { + return cameras.reprojectionErrors(point, measured_); + } + /** * Compute reprojection errors and derivatives * TODO: the treatment of body_P_sensor_ is weird: the transformation From f21ba0567967df2d45fd7b818cc9f2670e12727d Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 20:43:10 +0100 Subject: [PATCH 044/964] Get Dim from base --- gtsam/slam/SmartProjectionFactor.h | 52 ++++++++++++++++-------------- 1 file changed, 27 insertions(+), 25 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 7a73a0c49..df78894e9 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -69,8 +69,6 @@ private: protected: - static const int Dim = traits::dimension; ///< CAMERA dimension - // Some triangulation parameters const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate @@ -313,10 +311,9 @@ public: } /// linearize returns a Hessianfactor that is an approximation of error(p) - boost::shared_ptr > createHessianFactor( + boost::shared_ptr > createHessianFactor( const Cameras& cameras, const double lambda = 0.0) const { - bool isDebug = false; size_t numKeys = this->keys_.size(); // Create structures for Hessian Factors std::vector js; @@ -337,10 +334,10 @@ public: && (this->cheiralityException_ || this->degenerate_))) { // std::cout << "In linearize: exception" << std::endl; BOOST_FOREACH(Matrix& m, Gs) - m = zeros(Dim, Dim); + m = zeros(Base::Dim, Base::Dim); BOOST_FOREACH(Vector& v, gs) - v = zero(Dim); - return boost::make_shared >(this->keys_, Gs, gs, + v = zero(Base::Dim); + return boost::make_shared >(this->keys_, Gs, gs, 0.0); } @@ -365,7 +362,7 @@ public: << "something wrong in SmartProjectionHessianFactor: selective relinearization should be disabled" << std::endl; exit(1); - return boost::make_shared >(this->keys_, + return boost::make_shared >(this->keys_, this->state_->Gs, this->state_->gs, this->state_->f); } @@ -377,23 +374,28 @@ public: // Schur complement trick // Frank says: should be possible to do this more efficiently? // And we care, as in grouped factors this is called repeatedly - Matrix H(Dim * numKeys, Dim * numKeys); + Matrix H(Base::Dim * numKeys, Base::Dim * numKeys); Vector gs_vector; Matrix3 P = Base::PointCov(E, lambda); + + // Create reduced Hessian matrix via Schur complement F'*F - F'*E*P*E'*F H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); - gs_vector.noalias() = F.transpose() * (b - (E * (P * (E.transpose() * b)))); - if (isDebug) - std::cout << "gs_vector size " << gs_vector.size() << std::endl; + + // Create reduced gradient - (F'*b - F'*E*P*E'*b) + // Note the minus sign above! g has negative b. + // Informal reasoning: when we write the error as 0.5*|Ax-b|^2 + // the derivative is A'*(Ax-b), and at x=0, this becomes -A'*b + gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b)))); // Populate Gs and gs int GsCount2 = 0; for (DenseIndex i1 = 0; i1 < (DenseIndex) numKeys; i1++) { // for each camera - DenseIndex i1D = i1 * Dim; - gs.at(i1) = gs_vector.segment(i1D); + DenseIndex i1D = i1 * Base::Dim; + gs.at(i1) = gs_vector.segment(i1D); for (DenseIndex i2 = 0; i2 < (DenseIndex) numKeys; i2++) { if (i2 >= i1) { - Gs.at(GsCount2) = H.block(i1D, i2 * Dim); + Gs.at(GsCount2) = H.block(i1D, i2 * Base::Dim); GsCount2++; } } @@ -404,29 +406,29 @@ public: this->state_->gs = gs; this->state_->f = f; } - return boost::make_shared >(this->keys_, Gs, gs, f); + return boost::make_shared >(this->keys_, Gs, gs, f); } // create factor - boost::shared_ptr > createRegularImplicitSchurFactor( + boost::shared_ptr > createRegularImplicitSchurFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) return Base::createRegularImplicitSchurFactor(cameras, point_, lambda); else - return boost::shared_ptr >(); + return boost::shared_ptr >(); } /// create factor - boost::shared_ptr > createJacobianQFactor( + boost::shared_ptr > createJacobianQFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) return Base::createJacobianQFactor(cameras, point_, lambda); else - return boost::make_shared >(this->keys_); + return boost::make_shared >(this->keys_); } /// Create a factor, takes values - boost::shared_ptr > createJacobianQFactor( + boost::shared_ptr > createJacobianQFactor( const Values& values, double lambda) const { Cameras cameras; // TODO triangulate twice ?? @@ -434,7 +436,7 @@ public: if (nonDegenerate) return createJacobianQFactor(cameras, lambda); else - return boost::make_shared >(this->keys_); + return boost::make_shared >(this->keys_); } /// different (faster) way to compute Jacobian factor @@ -443,7 +445,7 @@ public: if (triangulateForLinearize(cameras)) return Base::createJacobianSVDFactor(cameras, point_, lambda); else - return boost::make_shared >(this->keys_); + return boost::make_shared >(this->keys_); } /// Returns true if nonDegenerate @@ -507,7 +509,7 @@ public: std::cout << "SmartProjectionFactor: Management of degeneracy is disabled - not ready to be used" << std::endl; - if (Dim > 6) { + if (Base::Dim > 6) { std::cout << "Management of degeneracy is not yet ready when one also optimizes for the calibration " << std::endl; @@ -572,7 +574,7 @@ public: /// Calculate vector of re-projection errors, before applying noise model /// Assumes triangulation was done and degeneracy handled Vector reprojectionError(const Cameras& cameras) const { - return Base::reprojectionError(cameras, point_); + return cameras.reprojectionErrors(point_,this->measured_); } /// Calculate vector of re-projection errors, before applying noise model From a60e13dd094c8ed8fa0c94d4a5739c0f74e07a98 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 20:43:31 +0100 Subject: [PATCH 045/964] Remove a whole lot of copy/paste --- .../tests/testSmartProjectionCameraFactor.cpp | 540 +++++++++--------- 1 file changed, 256 insertions(+), 284 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index b9634025b..993cefea8 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -18,10 +18,7 @@ * @date Sept 2013 */ -//#include "BundlerDefinitions.h" #include -//#include "../SmartFactorsTestProblems.h" -//#include "../LevenbergMarquardtOptimizerCERES.h" #include #include @@ -39,17 +36,11 @@ using namespace std; using namespace boost::assign; using namespace gtsam; -typedef PinholeCamera Camera; - static bool isDebugTest = false; // make a realistic calibration matrix static double fov = 60; // degrees -static size_t w=640,h=480; - -static Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h)); -static Cal3_S2::shared_ptr K2(new Cal3_S2(1500, 1200, 0, 640, 480)); -static boost::shared_ptr Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 0, 0)); +static size_t w = 640, h = 480; static double rankTol = 1.0; static double linThreshold = -1.0; @@ -61,20 +52,20 @@ static SharedNoiseModel model(noiseModel::Unit::Create(2)); using symbol_shorthand::X; using symbol_shorthand::L; -// tests data -Key x1 = 1; - +static Key x1(1); Symbol l1('l', 1), l2('l', 2), l3('l', 3); Key c1 = 1, c2 = 2, c3 = 3; -static Key poseKey1(x1); -static Point2 measurement1(323.0, 240.0); -static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); +// First camera pose, looking along X-axis, 1 meter above ground plane (x-y) +Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); +// Second camera 1 meter to the right of first camera +Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); +// Third camera 1 meter above the first camera +Pose3 pose_up = level_pose * Pose3(Rot3(), Point3(0, -1, 0)); -typedef PinholeCamera CameraCal3_S2; -typedef SmartProjectionCameraFactor SmartFactor; -typedef SmartProjectionCameraFactor SmartFactorBundler; -typedef GeneralSFMFactor SFMFactor; +static Point2 measurement1(323.0, 240.0); +static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), + Point3(0.25, -0.10, 1.0)); template PinholeCamera perturbCameraPose( @@ -95,7 +86,8 @@ PinholeCamera perturbCameraPoseAndCalibration( Pose3 cameraPose = camera.pose(); Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); typename gtsam::traits::TangentVector d; - d.setRandom(); d*=0.1; + d.setRandom(); + d *= 0.1; CALIBRATION perturbedCalibration = camera.calibration().retract(d); return PinholeCamera(perturbedCameraPose, perturbedCalibration); } @@ -114,70 +106,83 @@ void projectToMultipleCameras(const PinholeCamera& cam1, } /* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, perturbCameraPose) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - CameraCal3_S2 level_camera(level_pose, *K2); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); - Pose3 perturbed_level_pose = level_pose.compose(noise_pose); - CameraCal3_S2 actualCamera(perturbed_level_pose, *K2); +// default Cal3_S2 cameras +namespace vanilla { +typedef PinholeCamera Camera; +static Cal3_S2 K(fov, w, h); +static Cal3_S2 K2(1500, 1200, 0, 640, 480); +Camera level_camera(level_pose, K2); +Camera level_camera_right(pose_right, K2); +Camera cam1(level_pose, K2); +Camera cam2(pose_right, K2); +Camera cam3(pose_up, K2); +typedef GeneralSFMFactor SFMFactor; +typedef SmartProjectionCameraFactor SmartFactor; +} - CameraCal3_S2 expectedCamera = perturbCameraPose(level_camera); +/* ************************************************************************* */ +TEST( SmartProjectionCameraFactor, perturbCameraPose) { + using namespace vanilla; + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Point3(0.5, 0.1, 0.3)); + Pose3 perturbed_level_pose = level_pose.compose(noise_pose); + Camera actualCamera(perturbed_level_pose, K2); + + Camera expectedCamera = perturbCameraPose(level_camera); CHECK(assert_equal(expectedCamera, actualCamera)); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor) { + using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor()); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor2) { + using namespace vanilla; SmartFactor factor1(rankTol, linThreshold); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor3) { + using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, poseKey1, model); + factor1->add(measurement1, x1, model); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor4) { + using namespace vanilla; SmartFactor factor1(rankTol, linThreshold); - factor1.add(measurement1, poseKey1, model); + factor1.add(measurement1, x1, model); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, ConstructorWithTransform) { + using namespace vanilla; bool manageDegeneracy = true; bool isImplicit = false; bool enableEPI = false; - SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, isImplicit, enableEPI, body_P_sensor1); - factor1.add(measurement1, poseKey1, model); + SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, isImplicit, + enableEPI, body_P_sensor1); + factor1.add(measurement1, x1, model); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Equals ) { + using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, poseKey1, model); + factor1->add(measurement1, x1, model); SmartFactor::shared_ptr factor2(new SmartFactor()); - factor2->add(measurement1, poseKey1, model); - //CHECK(assert_equal(*factor1, *factor2)); + factor2->add(measurement1, x1, model); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, noiseless ){ +TEST( SmartProjectionCameraFactor, noiseless ) { // cout << " ************************ SmartProjectionCameraFactor: noisy ****************************" << endl; - - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - CameraCal3_S2 level_camera(level_pose, *K2); - - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); - CameraCal3_S2 level_camera_right(level_pose_right, *K2); + using namespace vanilla; // landmark ~5 meters infront of camera Point3 landmark(5, 0.5, 1.2); @@ -194,90 +199,41 @@ TEST( SmartProjectionCameraFactor, noiseless ){ factor1->add(level_uv, c1, model); factor1->add(level_uv_right, c2, model); - double actualError = factor1->error(values); - double expectedError = 0.0; - DOUBLES_EQUAL(expectedError, actualError, 1e-7); + DOUBLES_EQUAL(expectedError, factor1->error(values), 1e-7); + CHECK(assert_equal(zero(4), factor1->reprojectionError(values), 1e-7)); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, noiselessBundler ){ +TEST( SmartProjectionCameraFactor, noisy ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - Camera level_camera(level_pose, *Kbundler); - - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); - Camera level_camera_right(level_pose_right, *Kbundler); + using namespace vanilla; // landmark ~5 meters infront of camera Point3 landmark(5, 0.5, 1.2); // 1. Project two landmarks into two cameras and triangulate - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); - - Values values; - values.insert(c1, level_camera); - values.insert(c2, level_camera_right); - - SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); - factor1->add(level_uv, c1, model); - factor1->add(level_uv_right, c2, model); - - double actualError = factor1->error(values); - - double expectedError = 0.0; - DOUBLES_EQUAL(expectedError, actualError, 1e-3); - - Point3 oldPoint; // this takes the point stored in the factor (we are not interested in this) - if(factor1->point()) - oldPoint = *(factor1->point()); - - Point3 expectedPoint; - if(factor1->point(values)) - expectedPoint = *(factor1->point(values)); - - EXPECT(assert_equal(expectedPoint,landmark, 1e-3)); -} - -/* *************************************************************************/ -TEST( SmartProjectionCameraFactor, noisy ){ - - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - CameraCal3_S2 level_camera(level_pose, *K2); - - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); - CameraCal3_S2 level_camera_right(level_pose_right, *K2); - - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - - // 1. Project two landmarks into two cameras and triangulate - Point2 pixelError(0.2,0.2); + Point2 pixelError(0.2, 0.2); Point2 level_uv = level_camera.project(landmark) + pixelError; Point2 level_uv_right = level_camera_right.project(landmark); Values values; values.insert(c1, level_camera); - CameraCal3_S2 perturbed_level_camera_right = perturbCameraPose(level_camera_right); + Camera perturbed_level_camera_right = perturbCameraPose(level_camera_right); values.insert(c2, perturbed_level_camera_right); SmartFactor::shared_ptr factor1(new SmartFactor()); factor1->add(level_uv, c1, model); factor1->add(level_uv_right, c2, model); - double actualError1= factor1->error(values); + double actualError1 = factor1->error(values); SmartFactor::shared_ptr factor2(new SmartFactor()); vector measurements; measurements.push_back(level_uv); measurements.push_back(level_uv_right); - vector< SharedNoiseModel > noises; + vector noises; noises.push_back(model); noises.push_back(model); @@ -287,26 +243,15 @@ TEST( SmartProjectionCameraFactor, noisy ){ factor2->add(measurements, views, noises); - double actualError2= factor2->error(values); + double actualError2 = factor2->error(values); DOUBLES_EQUAL(actualError1, actualError2, 1e-7); } - /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ){ +TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - CameraCal3_S2 cam1(pose1, *K2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); - CameraCal3_S2 cam2(pose2, *K2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); - CameraCal3_S2 cam3(pose3, *K2); + using namespace vanilla; // three landmarks ~5 meters infront of camera Point3 landmark1(5, 0.5, 1.2); @@ -334,24 +279,27 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ){ SmartFactor::shared_ptr smartFactor3(new SmartFactor()); smartFactor3->add(measurements_cam3, views, model); - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6+5, 1e-5); + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(c1, cam1, noisePrior)); - graph.push_back(PriorFactor(c2, cam2, noisePrior)); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); Values values; values.insert(c1, cam1); values.insert(c2, cam2); values.insert(c3, perturbCameraPose(cam3)); - if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + if (isDebugTest) + values.at(c3).print("Smart: Pose3 before optimization: "); LevenbergMarquardtParams params; - if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + if (isDebugTest) + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if (isDebugTest) + params.verbosity = NonlinearOptimizerParams::ERROR; Values result; gttic_(SmartProjectionCameraFactor); @@ -363,28 +311,21 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ){ // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); // VectorValues delta = GFG->optimize(); - if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(cam1,result.at(c1))); - EXPECT(assert_equal(cam2,result.at(c2))); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); - EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); - if(isDebugTest) tictoc_print_(); + if (isDebugTest) + result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1, result.at(c1))); + EXPECT(assert_equal(cam2, result.at(c2))); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ){ +TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - CameraCal3_S2 cam1(pose1, *K2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); - CameraCal3_S2 cam2(pose2, *K2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); - CameraCal3_S2 cam3(pose3, *K2); + using namespace vanilla; // three landmarks ~5 meters infront of camera Point3 landmark1(5, 0.5, 1.2); @@ -403,9 +344,9 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ){ views.push_back(c3); SfM_Track track1; - for(size_t i=0;i<3;++i){ + for (size_t i = 0; i < 3; ++i) { SfM_Measurement measures; - measures.first = i+1;// cameras are from 1 to 3 + measures.first = i + 1; // cameras are from 1 to 3 measures.second = measurements_cam1.at(i); track1.measurements.push_back(measures); } @@ -413,9 +354,9 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ){ smartFactor1->add(track1, model); SfM_Track track2; - for(size_t i=0;i<3;++i){ + for (size_t i = 0; i < 3; ++i) { SfM_Measurement measures; - measures.first = i+1;// cameras are from 1 to 3 + measures.first = i + 1; // cameras are from 1 to 3 measures.second = measurements_cam2.at(i); track2.measurements.push_back(measures); } @@ -425,24 +366,27 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ){ SmartFactor::shared_ptr smartFactor3(new SmartFactor()); smartFactor3->add(measurements_cam3, views, model); - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6+5, 1e-5); + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(c1, cam1, noisePrior)); - graph.push_back(PriorFactor(c2, cam2, noisePrior)); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); Values values; values.insert(c1, cam1); values.insert(c2, cam2); values.insert(c3, perturbCameraPose(cam3)); - if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + if (isDebugTest) + values.at(c3).print("Smart: Pose3 before optimization: "); LevenbergMarquardtParams params; - if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + if (isDebugTest) + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if (isDebugTest) + params.verbosity = NonlinearOptimizerParams::ERROR; Values result; gttic_(SmartProjectionCameraFactor); @@ -454,28 +398,21 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ){ // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); // VectorValues delta = GFG->optimize(); - if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(cam1,result.at(c1))); - EXPECT(assert_equal(cam2,result.at(c2))); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); - EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); - if(isDebugTest) tictoc_print_(); + if (isDebugTest) + result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1, result.at(c1))); + EXPECT(assert_equal(cam2, result.at(c2))); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ){ +TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - CameraCal3_S2 cam1(pose1, *K2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); - CameraCal3_S2 cam2(pose2, *K2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); - CameraCal3_S2 cam3(pose3, *K2); + using namespace vanilla; // three landmarks ~5 meters infront of camera Point3 landmark1(5, 0.5, 1.2); @@ -485,7 +422,7 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ){ Point3 landmark5(10, -0.5, 1.2); vector measurements_cam1, measurements_cam2, measurements_cam3, - measurements_cam4, measurements_cam5; + measurements_cam4, measurements_cam5; // 1. Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); @@ -514,7 +451,7 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ){ SmartFactor::shared_ptr smartFactor5(new SmartFactor()); smartFactor5->add(measurements_cam5, views, model); - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6+5, 1e-5); + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); NonlinearFactorGraph graph; graph.push_back(smartFactor1); @@ -522,21 +459,24 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ){ graph.push_back(smartFactor3); graph.push_back(smartFactor4); graph.push_back(smartFactor5); - graph.push_back(PriorFactor(c1, cam1, noisePrior)); - graph.push_back(PriorFactor(c2, cam2, noisePrior)); + graph.push_back(PriorFactor(c1, cam1, noisePrior)); + graph.push_back(PriorFactor(c2, cam2, noisePrior)); Values values; values.insert(c1, cam1); values.insert(c2, cam2); values.insert(c3, perturbCameraPoseAndCalibration(cam3)); - if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + if (isDebugTest) + values.at(c3).print("Smart: Pose3 before optimization: "); LevenbergMarquardtParams params; params.relativeErrorTol = 1e-8; params.absoluteErrorTol = 0; params.maxIterations = 20; - if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + if (isDebugTest) + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if (isDebugTest) + params.verbosity = NonlinearOptimizerParams::ERROR; Values result; gttic_(SmartProjectionCameraFactor); @@ -548,28 +488,36 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ){ // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); // VectorValues delta = GFG->optimize(); - if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(cam1,result.at(c1))); - EXPECT(assert_equal(cam2,result.at(c2))); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); - EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 20)); - if(isDebugTest) tictoc_print_(); + if (isDebugTest) + result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1, result.at(c1))); + EXPECT(assert_equal(cam2, result.at(c2))); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 20)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, Cal3Bundler ){ +// Cal3Bundler cameras +namespace bundler { +typedef PinholeCamera Camera; +static Cal3Bundler K(500, 1e-3, 1e-3, 0, 0); +Camera level_camera(level_pose, K); +Camera level_camera_right(pose_right, K); +Pose3 pose1 = level_pose; +Camera cam1(level_pose, K); +Camera cam2(pose_right, K); +Camera cam3(pose_up, K); +typedef GeneralSFMFactor SFMFactor; +typedef SmartProjectionCameraFactor SmartFactorBundler; +} - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - Camera cam1(pose1, *Kbundler); +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, Cal3Bundler ) { - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); - Camera cam2(pose2, *Kbundler); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); - Camera cam3(pose3, *Kbundler); + using namespace bundler; // three landmarks ~5 meters infront of camera Point3 landmark1(5, 0.5, 1.2); @@ -579,7 +527,7 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ){ Point3 landmark5(10, -0.5, 1.2); vector measurements_cam1, measurements_cam2, measurements_cam3, - measurements_cam4, measurements_cam5; + measurements_cam4, measurements_cam5; // 1. Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); @@ -622,14 +570,17 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ){ values.insert(c2, cam2); // initialize third pose with some noise, we expect it to move back to original pose3 values.insert(c3, perturbCameraPose(cam3)); - if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + if (isDebugTest) + values.at(c3).print("Smart: Pose3 before optimization: "); LevenbergMarquardtParams params; params.relativeErrorTol = 1e-8; params.absoluteErrorTol = 0; params.maxIterations = 20; - if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + if (isDebugTest) + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if (isDebugTest) + params.verbosity = NonlinearOptimizerParams::ERROR; Values result; gttic_(SmartProjectionCameraFactor); @@ -638,28 +589,21 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ){ gttoc_(SmartProjectionCameraFactor); tictoc_finishedIteration_(); - if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(cam1,result.at(c1), 1e-4)); - EXPECT(assert_equal(cam2,result.at(c2), 1e-4)); + if (isDebugTest) + result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1, result.at(c1), 1e-4)); + EXPECT(assert_equal(cam2, result.at(c2), 1e-4)); EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); - EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 1)); - if(isDebugTest) tictoc_print_(); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 1)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, Cal3Bundler2 ){ +TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - Camera cam1(pose1, *Kbundler); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); - Camera cam2(pose2, *Kbundler); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0)); - Camera cam3(pose3, *Kbundler); + using namespace bundler; // three landmarks ~5 meters infront of camera Point3 landmark1(5, 0.5, 1.2); @@ -669,7 +613,7 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ){ Point3 landmark5(10, -0.5, 1.2); vector measurements_cam1, measurements_cam2, measurements_cam3, - measurements_cam4, measurements_cam5; + measurements_cam4, measurements_cam5; // 1. Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); @@ -712,14 +656,17 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ){ values.insert(c2, cam2); // initialize third pose with some noise, we expect it to move back to original pose3 values.insert(c3, perturbCameraPoseAndCalibration(cam3)); - if(isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + if (isDebugTest) + values.at(c3).print("Smart: Pose3 before optimization: "); LevenbergMarquardtParams params; params.relativeErrorTol = 1e-8; params.absoluteErrorTol = 0; params.maxIterations = 20; - if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + if (isDebugTest) + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if (isDebugTest) + params.verbosity = NonlinearOptimizerParams::ERROR; Values result; gttic_(SmartProjectionCameraFactor); @@ -728,25 +675,56 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ){ gttoc_(SmartProjectionCameraFactor); tictoc_finishedIteration_(); - if(isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(cam1,result.at(c1), 1e-4)); - EXPECT(assert_equal(cam2,result.at(c2), 1e-4)); + if (isDebugTest) + result.at(c3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(cam1, result.at(c1), 1e-4)); + EXPECT(assert_equal(cam2, result.at(c2), 1e-4)); EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); - EXPECT(assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); - if(isDebugTest) tictoc_print_(); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ){ +TEST( SmartProjectionCameraFactor, noiselessBundler ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - Camera level_camera(level_pose, *Kbundler); + using namespace bundler; + // landmark ~5 meters infront of camera + Point3 landmark(5, 0.5, 1.2); - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); - Camera level_camera_right(level_pose_right, *Kbundler); + // 1. Project two landmarks into two cameras and triangulate + Point2 level_uv = level_camera.project(landmark); + Point2 level_uv_right = level_camera_right.project(landmark); + Values values; + values.insert(c1, level_camera); + values.insert(c2, level_camera_right); + + SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + factor1->add(level_uv, c1, model); + factor1->add(level_uv_right, c2, model); + + double actualError = factor1->error(values); + + double expectedError = 0.0; + DOUBLES_EQUAL(expectedError, actualError, 1e-3); + + Point3 oldPoint; // this takes the point stored in the factor (we are not interested in this) + if (factor1->point()) + oldPoint = *(factor1->point()); + + Point3 expectedPoint; + if (factor1->point(values)) + expectedPoint = *(factor1->point(values)); + + EXPECT(assert_equal(expectedPoint, landmark, 1e-3)); +} + +/* *************************************************************************/ +TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { + + using namespace bundler; // landmark ~5 meters infront of camera Point3 landmark(5, 0.5, 1.2); @@ -766,7 +744,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ){ double expectedError = factor1->error(values); double expectedErrorGraph = smartGraph.error(values); Point3 expectedPoint; - if(factor1->point()) + if (factor1->point()) expectedPoint = *(factor1->point()); // cout << "expectedPoint " << expectedPoint.vector() << endl; @@ -779,9 +757,10 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ){ generalGraph.push_back(sfm1); generalGraph.push_back(sfm2); values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation - Vector e1 = sfm1.evaluateError(values.at< Camera >(c1), values.at< Point3 >(l1)); - Vector e2 = sfm2.evaluateError(values.at< Camera >(c2), values.at< Point3 >(l1)); - double actualError = 0.5 * (norm_2(e1)*norm_2(e1) + norm_2(e2)*norm_2(e2)); + Vector e1 = sfm1.evaluateError(values.at(c1), values.at(l1)); + Vector e2 = sfm2.evaluateError(values.at(c2), values.at(l1)); + double actualError = 0.5 + * (norm_2(e1) * norm_2(e1) + norm_2(e2) * norm_2(e2)); double actualErrorGraph = generalGraph.error(values); DOUBLES_EQUAL(expectedErrorGraph, actualErrorGraph, 1e-7); @@ -791,14 +770,9 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ){ } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ){ +TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - Camera level_camera(level_pose, *Kbundler); - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); - Camera level_camera_right(level_pose_right, *Kbundler); + using namespace bundler; // landmark ~5 meters infront of camera Point3 landmark(5, 0.5, 1.2); // 1. Project two landmarks into two cameras and triangulate @@ -817,7 +791,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ){ Matrix expectedHessian = smartGraph.linearize(values)->hessian().first; Vector expectedInfoVector = smartGraph.linearize(values)->hessian().second; Point3 expectedPoint; - if(factor1->point()) + if (factor1->point()) expectedPoint = *(factor1->point()); // COMMENTS: @@ -831,25 +805,23 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ){ values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation Matrix actualFullHessian = generalGraph.linearize(values)->hessian().first; Matrix actualFullInfoVector = generalGraph.linearize(values)->hessian().second; - Matrix actualHessian = actualFullHessian.block(0,0,18,18) - - actualFullHessian.block(0,18,18,3) * (actualFullHessian.block(18,18,3,3)).inverse() * actualFullHessian.block(18,0,3,18); - Vector actualInfoVector = actualFullInfoVector.block(0,0,18,1) - - actualFullHessian.block(0,18,18,3) * (actualFullHessian.block(18,18,3,3)).inverse() * actualFullInfoVector.block(18,0,3,1); + Matrix actualHessian = actualFullHessian.block(0, 0, 18, 18) + - actualFullHessian.block(0, 18, 18, 3) + * (actualFullHessian.block(18, 18, 3, 3)).inverse() + * actualFullHessian.block(18, 0, 3, 18); + Vector actualInfoVector = actualFullInfoVector.block(0, 0, 18, 1) + - actualFullHessian.block(0, 18, 18, 3) + * (actualFullHessian.block(18, 18, 3, 3)).inverse() + * actualFullInfoVector.block(18, 0, 3, 1); - EXPECT(assert_equal(expectedHessian,actualHessian, 1e-7)); - EXPECT(assert_equal(expectedInfoVector,actualInfoVector, 1e-7)); + EXPECT(assert_equal(expectedHessian, actualHessian, 1e-7)); + EXPECT(assert_equal(expectedInfoVector, actualInfoVector, 1e-7)); } /* *************************************************************************/ // Have to think about how to compare multiplyHessianAdd in generalSfMFactor and smartFactors //TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor2 ){ // -// // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) -// Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); -// cameraObjectBundler level_camera(level_pose, *Kbundler); -// // create second camera 1 meter to the right of first camera -// Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); -// cameraObjectBundler level_camera_right(level_pose_right, *Kbundler); // // landmark ~5 meters infront of camera // Point3 landmark(5, 0.5, 1.2); // // 1. Project two landmarks into two cameras @@ -901,16 +873,10 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ){ // // EXPECT(assert_equal(yActual,yExpected, 1e-7)); //} - /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, computeImplicitJacobian ){ +TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - Camera level_camera(level_pose, *Kbundler); - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); - Camera level_camera_right(level_pose_right, *Kbundler); + using namespace bundler; // landmark ~5 meters infront of camera Point3 landmark(5, 0.5, 1.2); // 1. Project two landmarks into two cameras and triangulate @@ -927,13 +893,13 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ){ Matrix expectedF, expectedE; Vector expectedb; - CameraSet< Camera > cameras; + CameraSet cameras; cameras.push_back(level_camera); cameras.push_back(level_camera_right); factor1->error(values); // this is important to have a triangulation of the point Point3 expectedPoint; - if(factor1->point()) + if (factor1->point()) expectedPoint = *(factor1->point()); factor1->computeJacobians(expectedF, expectedE, expectedb, cameras); @@ -944,21 +910,17 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ){ generalGraph.push_back(sfm2); values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation Matrix actualFullHessian = generalGraph.linearize(values)->hessian().first; - Matrix actualVinv = (actualFullHessian.block(18,18,3,3)).inverse(); + Matrix actualVinv = (actualFullHessian.block(18, 18, 3, 3)).inverse(); Matrix3 expectedVinv = factor1->PointCov(expectedE); - EXPECT(assert_equal(expectedVinv,actualVinv, 1e-7)); + EXPECT(assert_equal(expectedVinv, actualVinv, 1e-7)); } /* *************************************************************************/ -TEST( SmartProjectionCameraFactor, implicitJacobianFactor ){ +TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { + + using namespace bundler; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); - Camera level_camera(level_pose, *Kbundler); - // create second camera 1 meter to the right of first camera - Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0)); - Camera level_camera_right(level_pose_right, *Kbundler); // landmark ~5 meters infront of camera Point3 landmark(5, 0.5, 1.2); // 1. Project two landmarks into two cameras and triangulate @@ -975,35 +937,45 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ){ bool isImplicit = false; // Hessian version - SmartFactorBundler::shared_ptr explicitFactor(new SmartFactorBundler(rankTol,linThreshold, manageDegeneracy, useEPI, isImplicit)); + SmartFactorBundler::shared_ptr explicitFactor( + new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy, useEPI, + isImplicit)); explicitFactor->add(level_uv, c1, model); explicitFactor->add(level_uv_right, c2, model); - GaussianFactor::shared_ptr gaussianHessianFactor = explicitFactor->linearize(values); - HessianFactor& hessianFactor = dynamic_cast(*gaussianHessianFactor); + GaussianFactor::shared_ptr gaussianHessianFactor = explicitFactor->linearize( + values); + HessianFactor& hessianFactor = + dynamic_cast(*gaussianHessianFactor); // Implicit Schur version isImplicit = true; - SmartFactorBundler::shared_ptr implicitFactor(new SmartFactorBundler(rankTol,linThreshold, manageDegeneracy, useEPI, isImplicit)); + SmartFactorBundler::shared_ptr implicitFactor( + new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy, useEPI, + isImplicit)); implicitFactor->add(level_uv, c1, model); implicitFactor->add(level_uv_right, c2, model); - GaussianFactor::shared_ptr gaussianImplicitSchurFactor = implicitFactor->linearize(values); + GaussianFactor::shared_ptr gaussianImplicitSchurFactor = + implicitFactor->linearize(values); typedef RegularImplicitSchurFactor<9> Implicit9; - Implicit9& implicitSchurFactor = dynamic_cast(*gaussianImplicitSchurFactor); + Implicit9& implicitSchurFactor = + dynamic_cast(*gaussianImplicitSchurFactor); - VectorValues x = map_list_of - (c1, (Vector(9) << 1,2,3,4,5,6,7,8,9).finished()) - (c2, (Vector(9) << 11,12,13,14,15,16,17,18,19).finished()); + VectorValues x = map_list_of(c1, + (Vector(9) << 1, 2, 3, 4, 5, 6, 7, 8, 9).finished())(c2, + (Vector(9) << 11, 12, 13, 14, 15, 16, 17, 18, 19).finished()); VectorValues yExpected, yActual; double alpha = 1.0; hessianFactor.multiplyHessianAdd(alpha, x, yActual); implicitSchurFactor.multiplyHessianAdd(alpha, x, yExpected); - EXPECT(assert_equal(yActual,yExpected, 1e-7)); + EXPECT(assert_equal(yActual, yExpected, 1e-7)); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ - From cd10f9aedc57c7d4b984acfeb42d138f8cb4347d Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 21:25:35 +0100 Subject: [PATCH 046/964] Moved scenarios to separate header --- gtsam/slam/tests/smartFactorScenarios.h | 120 ++++++++ .../tests/testSmartProjectionCameraFactor.cpp | 291 ++++-------------- 2 files changed, 180 insertions(+), 231 deletions(-) create mode 100644 gtsam/slam/tests/smartFactorScenarios.h diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h new file mode 100644 index 000000000..c5df4af7e --- /dev/null +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -0,0 +1,120 @@ +/* ---------------------------------------------------------------------------- + + * 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 SmartFactorScenarios.h + * @brief Scenarios for testSmart*.cpp + * @author Frank Dellaert + * @date Feb 2015 + */ + +#pragma once +#include +#include + +using namespace std; +using namespace gtsam; + +// three landmarks ~5 meters infront of camera +Point3 landmark1(5, 0.5, 1.2); +Point3 landmark2(5, -0.5, 1.2); +Point3 landmark3(3, 0, 3.0); +Point3 landmark4(10, 0.5, 1.2); +Point3 landmark5(10, -0.5, 1.2); + +// First camera pose, looking along X-axis, 1 meter above ground plane (x-y) +Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); +// Second camera 1 meter to the right of first camera +Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); +// Third camera 1 meter above the first camera +Pose3 pose_up = level_pose * Pose3(Rot3(), Point3(0, -1, 0)); + +// Create a noise unit2 for the pixel error +static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); + +/* ************************************************************************* */ +// default Cal3_S2 cameras +namespace vanilla { +typedef PinholeCamera Camera; +// make a realistic calibration matrix +static double fov = 60; // degrees +static size_t w = 640, h = 480; +static Cal3_S2 K(fov, w, h); +static Cal3_S2 K2(1500, 1200, 0, w, h); +Camera level_camera(level_pose, K2); +Camera level_camera_right(pose_right, K2); +Point2 level_uv = level_camera.project(landmark1); +Point2 level_uv_right = level_camera_right.project(landmark1); +Camera cam1(level_pose, K2); +Camera cam2(pose_right, K2); +Camera cam3(pose_up, K2); +typedef GeneralSFMFactor SFMFactor; +typedef SmartProjectionCameraFactor SmartFactor; +} + +/* *************************************************************************/ +// Cal3Bundler cameras +namespace bundler { +typedef PinholeCamera Camera; +static Cal3Bundler K(500, 1e-3, 1e-3, 0, 0); +Camera level_camera(level_pose, K); +Camera level_camera_right(pose_right, K); +Point2 level_uv = level_camera.project(landmark1); +Point2 level_uv_right = level_camera_right.project(landmark1); +Pose3 pose1 = level_pose; +Camera cam1(level_pose, K); +Camera cam2(pose_right, K); +Camera cam3(pose_up, K); +typedef GeneralSFMFactor SFMFactor; +typedef SmartProjectionCameraFactor SmartFactorBundler; +} +/* *************************************************************************/ + +template +PinholeCamera perturbCameraPose( + const PinholeCamera& camera) { + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Point3(0.5, 0.1, 0.3)); + Pose3 cameraPose = camera.pose(); + Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); + return PinholeCamera(perturbedCameraPose, camera.calibration()); +} + +template +PinholeCamera perturbCameraPoseAndCalibration( + const PinholeCamera& camera) { + GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Point3(0.5, 0.1, 0.3)); + Pose3 cameraPose = camera.pose(); + Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); + typename gtsam::traits::TangentVector d; + d.setRandom(); + d *= 0.1; + CALIBRATION perturbedCalibration = camera.calibration().retract(d); + return PinholeCamera(perturbedCameraPose, perturbedCalibration); +} + +template +void projectToMultipleCameras(const PinholeCamera& cam1, + const PinholeCamera& cam2, + const PinholeCamera& cam3, Point3 landmark, + vector& measurements_cam) { + Point2 cam1_uv1 = cam1.project(landmark); + Point2 cam2_uv1 = cam2.project(landmark); + Point2 cam3_uv1 = cam3.project(landmark); + measurements_cam.push_back(cam1_uv1); + measurements_cam.push_back(cam2_uv1); + measurements_cam.push_back(cam3_uv1); +} + +/* ************************************************************************* */ + diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 993cefea8..af1ee3ea9 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -18,36 +18,19 @@ * @date Sept 2013 */ -#include - +#include "smartFactorScenarios.h" #include -#include -#include -#include -#include -#include - -//#include "../SmartNonlinearFactorGraph.h" -#undef CHECK +#include #include #include - -using namespace std; +// using namespace boost::assign; -using namespace gtsam; static bool isDebugTest = false; -// make a realistic calibration matrix -static double fov = 60; // degrees -static size_t w = 640, h = 480; - static double rankTol = 1.0; static double linThreshold = -1.0; -// Create a noise model for the pixel error -static SharedNoiseModel model(noiseModel::Unit::Create(2)); - // Convenience for named keys using symbol_shorthand::X; using symbol_shorthand::L; @@ -56,70 +39,10 @@ static Key x1(1); Symbol l1('l', 1), l2('l', 2), l3('l', 3); Key c1 = 1, c2 = 2, c3 = 3; -// First camera pose, looking along X-axis, 1 meter above ground plane (x-y) -Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); -// Second camera 1 meter to the right of first camera -Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); -// Third camera 1 meter above the first camera -Pose3 pose_up = level_pose * Pose3(Rot3(), Point3(0, -1, 0)); - static Point2 measurement1(323.0, 240.0); static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); -template -PinholeCamera perturbCameraPose( - const PinholeCamera& camera) { - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), - Point3(0.5, 0.1, 0.3)); - Pose3 cameraPose = camera.pose(); - Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); - return PinholeCamera(perturbedCameraPose, camera.calibration()); -} - -template -PinholeCamera perturbCameraPoseAndCalibration( - const PinholeCamera& camera) { - GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), - Point3(0.5, 0.1, 0.3)); - Pose3 cameraPose = camera.pose(); - Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); - typename gtsam::traits::TangentVector d; - d.setRandom(); - d *= 0.1; - CALIBRATION perturbedCalibration = camera.calibration().retract(d); - return PinholeCamera(perturbedCameraPose, perturbedCalibration); -} - -template -void projectToMultipleCameras(const PinholeCamera& cam1, - const PinholeCamera& cam2, - const PinholeCamera& cam3, Point3 landmark, - vector& measurements_cam) { - Point2 cam1_uv1 = cam1.project(landmark); - Point2 cam2_uv1 = cam2.project(landmark); - Point2 cam3_uv1 = cam3.project(landmark); - measurements_cam.push_back(cam1_uv1); - measurements_cam.push_back(cam2_uv1); - measurements_cam.push_back(cam3_uv1); -} - -/* ************************************************************************* */ -// default Cal3_S2 cameras -namespace vanilla { -typedef PinholeCamera Camera; -static Cal3_S2 K(fov, w, h); -static Cal3_S2 K2(1500, 1200, 0, 640, 480); -Camera level_camera(level_pose, K2); -Camera level_camera_right(pose_right, K2); -Camera cam1(level_pose, K2); -Camera cam2(pose_right, K2); -Camera cam3(pose_up, K2); -typedef GeneralSFMFactor SFMFactor; -typedef SmartProjectionCameraFactor SmartFactor; -} - /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, perturbCameraPose) { using namespace vanilla; @@ -148,14 +71,14 @@ TEST( SmartProjectionCameraFactor, Constructor2) { TEST( SmartProjectionCameraFactor, Constructor3) { using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, x1, model); + factor1->add(measurement1, x1, unit2); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor4) { using namespace vanilla; SmartFactor factor1(rankTol, linThreshold); - factor1.add(measurement1, x1, model); + factor1.add(measurement1, x1, unit2); } /* ************************************************************************* */ @@ -166,17 +89,17 @@ TEST( SmartProjectionCameraFactor, ConstructorWithTransform) { bool enableEPI = false; SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, isImplicit, enableEPI, body_P_sensor1); - factor1.add(measurement1, x1, model); + factor1.add(measurement1, x1, unit2); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Equals ) { using namespace vanilla; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, x1, model); + factor1->add(measurement1, x1, unit2); SmartFactor::shared_ptr factor2(new SmartFactor()); - factor2->add(measurement1, x1, model); + factor2->add(measurement1, x1, unit2); } /* *************************************************************************/ @@ -184,20 +107,13 @@ TEST( SmartProjectionCameraFactor, noiseless ) { // cout << " ************************ SmartProjectionCameraFactor: noisy ****************************" << endl; using namespace vanilla; - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - - // 1. Project two landmarks into two cameras and triangulate - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); - Values values; values.insert(c1, level_camera); values.insert(c2, level_camera_right); SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, model); - factor1->add(level_uv_right, c2, model); + factor1->add(level_uv, c1, unit2); + factor1->add(level_uv_right, c2, unit2); double expectedError = 0.0; DOUBLES_EQUAL(expectedError, factor1->error(values), 1e-7); @@ -209,13 +125,10 @@ TEST( SmartProjectionCameraFactor, noisy ) { using namespace vanilla; - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - // 1. Project two landmarks into two cameras and triangulate Point2 pixelError(0.2, 0.2); - Point2 level_uv = level_camera.project(landmark) + pixelError; - Point2 level_uv_right = level_camera_right.project(landmark); + Point2 level_uv = level_camera.project(landmark1) + pixelError; + Point2 level_uv_right = level_camera_right.project(landmark1); Values values; values.insert(c1, level_camera); @@ -223,8 +136,8 @@ TEST( SmartProjectionCameraFactor, noisy ) { values.insert(c2, perturbed_level_camera_right); SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, model); - factor1->add(level_uv_right, c2, model); + factor1->add(level_uv, c1, unit2); + factor1->add(level_uv_right, c2, unit2); double actualError1 = factor1->error(values); @@ -234,8 +147,8 @@ TEST( SmartProjectionCameraFactor, noisy ) { measurements.push_back(level_uv_right); vector noises; - noises.push_back(model); - noises.push_back(model); + noises.push_back(unit2); + noises.push_back(unit2); vector views; views.push_back(c1); @@ -253,11 +166,6 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { using namespace vanilla; - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - vector measurements_cam1, measurements_cam2, measurements_cam3; // 1. Project three landmarks into three cameras and triangulate @@ -271,13 +179,13 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { views.push_back(c3); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model); + smartFactor1->add(measurements_cam1, views, unit2); SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, model); + smartFactor2->add(measurements_cam2, views, unit2); SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, model); + smartFactor3->add(measurements_cam3, views, unit2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); @@ -327,11 +235,6 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { using namespace vanilla; - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - vector measurements_cam1, measurements_cam2, measurements_cam3; // 1. Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); @@ -351,7 +254,7 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { track1.measurements.push_back(measures); } SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(track1, model); + smartFactor1->add(track1, unit2); SfM_Track track2; for (size_t i = 0; i < 3; ++i) { @@ -361,10 +264,10 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { track2.measurements.push_back(measures); } SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(track2, model); + smartFactor2->add(track2, unit2); SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, model); + smartFactor3->add(measurements_cam3, views, unit2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); @@ -414,13 +317,6 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { using namespace vanilla; - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - Point3 landmark4(10, 0.5, 1.2); - Point3 landmark5(10, -0.5, 1.2); - vector measurements_cam1, measurements_cam2, measurements_cam3, measurements_cam4, measurements_cam5; @@ -437,19 +333,19 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { views.push_back(c3); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model); + smartFactor1->add(measurements_cam1, views, unit2); SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, model); + smartFactor2->add(measurements_cam2, views, unit2); SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, model); + smartFactor3->add(measurements_cam3, views, unit2); SmartFactor::shared_ptr smartFactor4(new SmartFactor()); - smartFactor4->add(measurements_cam4, views, model); + smartFactor4->add(measurements_cam4, views, unit2); SmartFactor::shared_ptr smartFactor5(new SmartFactor()); - smartFactor5->add(measurements_cam5, views, model); + smartFactor5->add(measurements_cam5, views, unit2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); @@ -499,33 +395,11 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { tictoc_print_(); } -/* *************************************************************************/ -// Cal3Bundler cameras -namespace bundler { -typedef PinholeCamera Camera; -static Cal3Bundler K(500, 1e-3, 1e-3, 0, 0); -Camera level_camera(level_pose, K); -Camera level_camera_right(pose_right, K); -Pose3 pose1 = level_pose; -Camera cam1(level_pose, K); -Camera cam2(pose_right, K); -Camera cam3(pose_up, K); -typedef GeneralSFMFactor SFMFactor; -typedef SmartProjectionCameraFactor SmartFactorBundler; -} - /* *************************************************************************/ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { using namespace bundler; - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - Point3 landmark4(10, 0.5, 1.2); - Point3 landmark5(10, -0.5, 1.2); - vector measurements_cam1, measurements_cam2, measurements_cam3, measurements_cam4, measurements_cam5; @@ -542,19 +416,19 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { views.push_back(c3); SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); - smartFactor1->add(measurements_cam1, views, model); + smartFactor1->add(measurements_cam1, views, unit2); SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); - smartFactor2->add(measurements_cam2, views, model); + smartFactor2->add(measurements_cam2, views, unit2); SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); - smartFactor3->add(measurements_cam3, views, model); + smartFactor3->add(measurements_cam3, views, unit2); SmartFactorBundler::shared_ptr smartFactor4(new SmartFactorBundler()); - smartFactor4->add(measurements_cam4, views, model); + smartFactor4->add(measurements_cam4, views, unit2); SmartFactorBundler::shared_ptr smartFactor5(new SmartFactorBundler()); - smartFactor5->add(measurements_cam5, views, model); + smartFactor5->add(measurements_cam5, views, unit2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); @@ -605,13 +479,6 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { using namespace bundler; - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - Point3 landmark4(10, 0.5, 1.2); - Point3 landmark5(10, -0.5, 1.2); - vector measurements_cam1, measurements_cam2, measurements_cam3, measurements_cam4, measurements_cam5; @@ -628,19 +495,19 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { views.push_back(c3); SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); - smartFactor1->add(measurements_cam1, views, model); + smartFactor1->add(measurements_cam1, views, unit2); SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); - smartFactor2->add(measurements_cam2, views, model); + smartFactor2->add(measurements_cam2, views, unit2); SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); - smartFactor3->add(measurements_cam3, views, model); + smartFactor3->add(measurements_cam3, views, unit2); SmartFactorBundler::shared_ptr smartFactor4(new SmartFactorBundler()); - smartFactor4->add(measurements_cam4, views, model); + smartFactor4->add(measurements_cam4, views, unit2); SmartFactorBundler::shared_ptr smartFactor5(new SmartFactorBundler()); - smartFactor5->add(measurements_cam5, views, model); + smartFactor5->add(measurements_cam5, views, unit2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); @@ -690,20 +557,13 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { TEST( SmartProjectionCameraFactor, noiselessBundler ) { using namespace bundler; - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - - // 1. Project two landmarks into two cameras and triangulate - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); - Values values; values.insert(c1, level_camera); values.insert(c2, level_camera_right); SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); - factor1->add(level_uv, c1, model); - factor1->add(level_uv_right, c2, model); + factor1->add(level_uv, c1, unit2); + factor1->add(level_uv_right, c2, unit2); double actualError = factor1->error(values); @@ -718,28 +578,21 @@ TEST( SmartProjectionCameraFactor, noiselessBundler ) { if (factor1->point(values)) expectedPoint = *(factor1->point(values)); - EXPECT(assert_equal(expectedPoint, landmark, 1e-3)); + EXPECT(assert_equal(expectedPoint, landmark1, 1e-3)); } /* *************************************************************************/ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { using namespace bundler; - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - - // 1. Project two landmarks into two cameras and triangulate - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); - Values values; values.insert(c1, level_camera); values.insert(c2, level_camera_right); NonlinearFactorGraph smartGraph; SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); - factor1->add(level_uv, c1, model); - factor1->add(level_uv_right, c2, model); + factor1->add(level_uv, c1, unit2); + factor1->add(level_uv_right, c2, unit2); smartGraph.push_back(factor1); double expectedError = factor1->error(values); double expectedErrorGraph = smartGraph.error(values); @@ -752,8 +605,8 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { // 1) triangulation introduces small errors, then for a fair comparison we use expectedPoint as // value in the generalGrap NonlinearFactorGraph generalGraph; - SFMFactor sfm1(level_uv, model, c1, l1); - SFMFactor sfm2(level_uv_right, model, c2, l1); + SFMFactor sfm1(level_uv, unit2, c1, l1); + SFMFactor sfm2(level_uv_right, unit2, c2, l1); generalGraph.push_back(sfm1); generalGraph.push_back(sfm2); values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation @@ -773,20 +626,14 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { using namespace bundler; - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - // 1. Project two landmarks into two cameras and triangulate - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); - Values values; values.insert(c1, level_camera); values.insert(c2, level_camera_right); NonlinearFactorGraph smartGraph; SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); - factor1->add(level_uv, c1, model); - factor1->add(level_uv_right, c2, model); + factor1->add(level_uv, c1, unit2); + factor1->add(level_uv_right, c2, unit2); smartGraph.push_back(factor1); Matrix expectedHessian = smartGraph.linearize(values)->hessian().first; Vector expectedInfoVector = smartGraph.linearize(values)->hessian().second; @@ -798,8 +645,8 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { // 1) triangulation introduces small errors, then for a fair comparison we use expectedPoint as // value in the generalGrap NonlinearFactorGraph generalGraph; - SFMFactor sfm1(level_uv, model, c1, l1); - SFMFactor sfm2(level_uv_right, model, c2, l1); + SFMFactor sfm1(level_uv, unit2, c1, l1); + SFMFactor sfm2(level_uv_right, unit2, c2, l1); generalGraph.push_back(sfm1); generalGraph.push_back(sfm2); values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation @@ -822,20 +669,14 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { // Have to think about how to compare multiplyHessianAdd in generalSfMFactor and smartFactors //TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor2 ){ // -// // landmark ~5 meters infront of camera -// Point3 landmark(5, 0.5, 1.2); -// // 1. Project two landmarks into two cameras -// Point2 level_uv = level_camera.project(landmark); -// Point2 level_uv_right = level_camera_right.project(landmark); -// // Values values; // values.insert(c1, level_camera); // values.insert(c2, level_camera_right); // // NonlinearFactorGraph smartGraph; // SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); -// factor1->add(level_uv, c1, model); -// factor1->add(level_uv_right, c2, model); +// factor1->add(level_uv, c1, unit2); +// factor1->add(level_uv_right, c2, unit2); // smartGraph.push_back(factor1); // GaussianFactorGraph::shared_ptr gfgSmart = smartGraph.linearize(values); // @@ -847,8 +688,8 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { // // 1) triangulation introduces small errors, then for a fair comparison we use expectedPoint as // // value in the generalGrap // NonlinearFactorGraph generalGraph; -// SFMFactor sfm1(level_uv, model, c1, l1); -// SFMFactor sfm2(level_uv_right, model, c2, l1); +// SFMFactor sfm1(level_uv, unit2, c1, l1); +// SFMFactor sfm2(level_uv_right, unit2, c2, l1); // generalGraph.push_back(sfm1); // generalGraph.push_back(sfm2); // values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation @@ -877,19 +718,13 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { using namespace bundler; - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - // 1. Project two landmarks into two cameras and triangulate - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); - Values values; values.insert(c1, level_camera); values.insert(c2, level_camera_right); SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); - factor1->add(level_uv, c1, model); - factor1->add(level_uv_right, c2, model); + factor1->add(level_uv, c1, unit2); + factor1->add(level_uv_right, c2, unit2); Matrix expectedF, expectedE; Vector expectedb; @@ -904,8 +739,8 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { factor1->computeJacobians(expectedF, expectedE, expectedb, cameras); NonlinearFactorGraph generalGraph; - SFMFactor sfm1(level_uv, model, c1, l1); - SFMFactor sfm2(level_uv_right, model, c2, l1); + SFMFactor sfm1(level_uv, unit2, c1, l1); + SFMFactor sfm2(level_uv_right, unit2, c2, l1); generalGraph.push_back(sfm1); generalGraph.push_back(sfm2); values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation @@ -921,12 +756,6 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { using namespace bundler; - // landmark ~5 meters infront of camera - Point3 landmark(5, 0.5, 1.2); - // 1. Project two landmarks into two cameras and triangulate - Point2 level_uv = level_camera.project(landmark); - Point2 level_uv_right = level_camera_right.project(landmark); - Values values; values.insert(c1, level_camera); values.insert(c2, level_camera_right); @@ -940,8 +769,8 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { SmartFactorBundler::shared_ptr explicitFactor( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy, useEPI, isImplicit)); - explicitFactor->add(level_uv, c1, model); - explicitFactor->add(level_uv_right, c2, model); + explicitFactor->add(level_uv, c1, unit2); + explicitFactor->add(level_uv_right, c2, unit2); GaussianFactor::shared_ptr gaussianHessianFactor = explicitFactor->linearize( values); @@ -953,8 +782,8 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { SmartFactorBundler::shared_ptr implicitFactor( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy, useEPI, isImplicit)); - implicitFactor->add(level_uv, c1, model); - implicitFactor->add(level_uv_right, c2, model); + implicitFactor->add(level_uv, c1, unit2); + implicitFactor->add(level_uv_right, c2, unit2); GaussianFactor::shared_ptr gaussianImplicitSchurFactor = implicitFactor->linearize(values); typedef RegularImplicitSchurFactor<9> Implicit9; From 01dc2c61fa391318056e5cabaf634e71efc167b5 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 22:32:18 +0100 Subject: [PATCH 047/964] MAde it more generic --- gtsam/geometry/triangulation.h | 21 +++++++++++---------- gtsam/slam/TriangulationFactor.h | 5 ++--- 2 files changed, 13 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 0a0508efc..ea6c5c041 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -18,6 +18,7 @@ #pragma once +#include #include #include #include @@ -74,8 +75,8 @@ std::pair triangulationGraph( static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); for (size_t i = 0; i < measurements.size(); i++) { const Pose3& pose_i = poses[i]; - PinholePose camera_i(pose_i, sharedCal); - graph.push_back(TriangulationFactor > // + PinholeBaseK camera_i(pose_i, sharedCal); + graph.push_back(TriangulationFactor > // (camera_i, measurements[i], unit2, landmarkKey)); } return std::make_pair(graph, values); @@ -107,13 +108,13 @@ std::pair triangulationGraph( return std::make_pair(graph, values); } -/// PinholeCamera specific version +/// PinholeBaseK specific version template std::pair triangulationGraph( - const std::vector >& cameras, + const std::vector >& cameras, const std::vector& measurements, Key landmarkKey, const Point3& initialEstimate) { - return triangulationGraph > // + return triangulationGraph > // (cameras, measurements, landmarkKey, initialEstimate); } @@ -169,12 +170,12 @@ Point3 triangulateNonlinear(const std::vector& cameras, return optimize(graph, values, Symbol('p', 0)); } -/// PinholeCamera specific version +/// PinholeBaseK specific version template Point3 triangulateNonlinear( - const std::vector >& cameras, + const std::vector >& cameras, const std::vector& measurements, const Point3& initialEstimate) { - return triangulateNonlinear > // + return triangulateNonlinear > // (cameras, measurements, initialEstimate); } @@ -277,10 +278,10 @@ Point3 triangulatePoint3(const std::vector& cameras, /// Pinhole-specific version template Point3 triangulatePoint3( - const std::vector >& cameras, + const std::vector >& cameras, const std::vector& measurements, double rank_tol = 1e-9, bool optimize = false) { - return triangulatePoint3 > // + return triangulatePoint3 > // (cameras, measurements, rank_tol, optimize); } diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index 895d00f4c..19615c8cc 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -16,8 +16,7 @@ */ #include -#include -#include +#include #include namespace gtsam { @@ -27,7 +26,7 @@ namespace gtsam { * The calibration and pose are assumed known. * @addtogroup SLAM */ -template > +template class TriangulationFactor: public NoiseModelFactor1 { public: From dff6b22d3287767cad96cd6e1d4d1f5390e559ec Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 22:32:34 +0100 Subject: [PATCH 048/964] redundant header --- gtsam/slam/SmartProjectionFactor.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index df78894e9..4a9caf0b0 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -22,7 +22,6 @@ #include #include -#include #include #include From 06ef84f968ba7ea1027e9a53fe08d4c347fc28e7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 22:33:08 +0100 Subject: [PATCH 049/964] Moved more into common scenario header --- gtsam/slam/tests/smartFactorScenarios.h | 77 +++++++++++-------- .../tests/testSmartProjectionCameraFactor.cpp | 23 +++++- 2 files changed, 68 insertions(+), 32 deletions(-) diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h index c5df4af7e..fc68ba7d9 100644 --- a/gtsam/slam/tests/smartFactorScenarios.h +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -17,8 +17,9 @@ */ #pragma once -#include #include +#include +#include using namespace std; using namespace gtsam; @@ -40,13 +41,13 @@ Pose3 pose_up = level_pose * Pose3(Rot3(), Point3(0, -1, 0)); // Create a noise unit2 for the pixel error static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); +static double fov = 60; // degrees +static size_t w = 640, h = 480; + /* ************************************************************************* */ // default Cal3_S2 cameras namespace vanilla { typedef PinholeCamera Camera; -// make a realistic calibration matrix -static double fov = 60; // degrees -static size_t w = 640, h = 480; static Cal3_S2 K(fov, w, h); static Cal3_S2 K2(1500, 1200, 0, w, h); Camera level_camera(level_pose, K2); @@ -57,7 +58,30 @@ Camera cam1(level_pose, K2); Camera cam2(pose_right, K2); Camera cam3(pose_up, K2); typedef GeneralSFMFactor SFMFactor; -typedef SmartProjectionCameraFactor SmartFactor; +} + +/* ************************************************************************* */ +// default Cal3_S2 poses +namespace vanillaPose { +typedef PinholePose Camera; +static Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h)); +Camera level_camera(level_pose, sharedK); +Camera level_camera_right(pose_right, sharedK); +Camera cam1(level_pose, sharedK); +Camera cam2(pose_right, sharedK); +Camera cam3(pose_up, sharedK); +} + +/* ************************************************************************* */ +// default Cal3_S2 poses +namespace vanillaPose2 { +typedef PinholePose Camera; +static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480)); +Camera level_camera(level_pose, sharedK2); +Camera level_camera_right(pose_right, sharedK2); +Camera cam1(level_pose, sharedK2); +Camera cam2(pose_right, sharedK2); +Camera cam3(pose_up, sharedK2); } /* *************************************************************************/ @@ -74,40 +98,33 @@ Camera cam1(level_pose, K); Camera cam2(pose_right, K); Camera cam3(pose_up, K); typedef GeneralSFMFactor SFMFactor; -typedef SmartProjectionCameraFactor SmartFactorBundler; +} +/* *************************************************************************/ +// Cal3Bundler poses +namespace bundlerPose { +typedef PinholePose Camera; +static boost::shared_ptr sharedBundlerK( + new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); +Camera level_camera(level_pose, sharedBundlerK); +Camera level_camera_right(pose_right, sharedBundlerK); +Camera cam1(level_pose, sharedBundlerK); +Camera cam2(pose_right, sharedBundlerK); +Camera cam3(pose_up, sharedBundlerK); } /* *************************************************************************/ -template -PinholeCamera perturbCameraPose( - const PinholeCamera& camera) { +template +CAMERA perturbCameraPose(const CAMERA& camera) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Pose3 cameraPose = camera.pose(); Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); - return PinholeCamera(perturbedCameraPose, camera.calibration()); + return CAMERA(perturbedCameraPose, camera.calibration()); } -template -PinholeCamera perturbCameraPoseAndCalibration( - const PinholeCamera& camera) { - GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), - Point3(0.5, 0.1, 0.3)); - Pose3 cameraPose = camera.pose(); - Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); - typename gtsam::traits::TangentVector d; - d.setRandom(); - d *= 0.1; - CALIBRATION perturbedCalibration = camera.calibration().retract(d); - return PinholeCamera(perturbedCameraPose, perturbedCalibration); -} - -template -void projectToMultipleCameras(const PinholeCamera& cam1, - const PinholeCamera& cam2, - const PinholeCamera& cam3, Point3 landmark, - vector& measurements_cam) { +template +void projectToMultipleCameras(const CAMERA& cam1, const CAMERA& cam2, + const CAMERA& cam3, Point3 landmark, vector& measurements_cam) { Point2 cam1_uv1 = cam1.project(landmark); Point2 cam2_uv1 = cam2.project(landmark); Point2 cam3_uv1 = cam3.project(landmark); diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index af1ee3ea9..3ac95f7e2 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -19,11 +19,12 @@ */ #include "smartFactorScenarios.h" +#include #include -#include #include +#include #include -// + using namespace boost::assign; static bool isDebugTest = false; @@ -43,6 +44,24 @@ static Point2 measurement1(323.0, 240.0); static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); +typedef SmartProjectionCameraFactor SmartFactor; +typedef SmartProjectionCameraFactor SmartFactorBundler; + +template +PinholeCamera perturbCameraPoseAndCalibration( + const PinholeCamera& camera) { + GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Point3(0.5, 0.1, 0.3)); + Pose3 cameraPose = camera.pose(); + Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); + typename gtsam::traits::TangentVector d; + d.setRandom(); + d *= 0.1; + CALIBRATION perturbedCalibration = camera.calibration().retract(d); + return PinholeCamera(perturbedCameraPose, perturbedCalibration); +} + /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, perturbCameraPose) { using namespace vanilla; From ae1f534e66918747c120e242089f3bbdf437488b Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 23 Feb 2015 23:58:25 +0100 Subject: [PATCH 050/964] Now second test uses common header as well. --- gtsam/slam/tests/smartFactorScenarios.h | 12 +- .../tests/testSmartProjectionPoseFactor.cpp | 504 ++++++------------ 2 files changed, 180 insertions(+), 336 deletions(-) diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h index fc68ba7d9..3c64e982c 100644 --- a/gtsam/slam/tests/smartFactorScenarios.h +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -36,7 +36,7 @@ Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); // Second camera 1 meter to the right of first camera Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); // Third camera 1 meter above the first camera -Pose3 pose_up = level_pose * Pose3(Rot3(), Point3(0, -1, 0)); +Pose3 pose_above = level_pose * Pose3(Rot3(), Point3(0, -1, 0)); // Create a noise unit2 for the pixel error static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); @@ -56,7 +56,7 @@ Point2 level_uv = level_camera.project(landmark1); Point2 level_uv_right = level_camera_right.project(landmark1); Camera cam1(level_pose, K2); Camera cam2(pose_right, K2); -Camera cam3(pose_up, K2); +Camera cam3(pose_above, K2); typedef GeneralSFMFactor SFMFactor; } @@ -69,7 +69,7 @@ Camera level_camera(level_pose, sharedK); Camera level_camera_right(pose_right, sharedK); Camera cam1(level_pose, sharedK); Camera cam2(pose_right, sharedK); -Camera cam3(pose_up, sharedK); +Camera cam3(pose_above, sharedK); } /* ************************************************************************* */ @@ -81,7 +81,7 @@ Camera level_camera(level_pose, sharedK2); Camera level_camera_right(pose_right, sharedK2); Camera cam1(level_pose, sharedK2); Camera cam2(pose_right, sharedK2); -Camera cam3(pose_up, sharedK2); +Camera cam3(pose_above, sharedK2); } /* *************************************************************************/ @@ -96,7 +96,7 @@ Point2 level_uv_right = level_camera_right.project(landmark1); Pose3 pose1 = level_pose; Camera cam1(level_pose, K); Camera cam2(pose_right, K); -Camera cam3(pose_up, K); +Camera cam3(pose_above, K); typedef GeneralSFMFactor SFMFactor; } /* *************************************************************************/ @@ -109,7 +109,7 @@ Camera level_camera(level_pose, sharedBundlerK); Camera level_camera_right(pose_right, sharedBundlerK); Camera cam1(level_pose, sharedBundlerK); Camera cam2(pose_right, sharedBundlerK); -Camera cam3(pose_up, sharedBundlerK); +Camera cam3(pose_above, sharedBundlerK); } /* *************************************************************************/ diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index e1ef82b82..671fb771f 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -18,34 +18,24 @@ * @date Sept 2013 */ -#include "../SmartProjectionPoseFactor.h" - -#include +#include "smartFactorScenarios.h" #include +#include +#include #include #include #include -#include +#include #include -using namespace std; using namespace boost::assign; -using namespace gtsam; -static bool isDebugTest = true; - -// make a realistic calibration matrix -static double fov = 60; // degrees -static size_t w = 640, h = 480; - -static Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h)); -static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480)); -static boost::shared_ptr sharedBundlerK( - new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); +static bool isDebugTest = false; static const double rankTol = 1.0; static const double linThreshold = -1.0; static const bool manageDegeneracy = true; + // Create a noise model for the pixel error static const double sigma = 0.1; static SharedNoiseModel model(noiseModel::Isotropic::Sigma(2, sigma)); @@ -59,42 +49,13 @@ static Symbol x1('X', 1); static Symbol x2('X', 2); static Symbol x3('X', 3); -static Key poseKey1(x1); static Point2 measurement1(323.0, 240.0); static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); -typedef PinholePose Camera; typedef SmartProjectionPoseFactor SmartFactor; - -typedef PinholePose CameraBundler; typedef SmartProjectionPoseFactor SmartFactorBundler; -// create first camera. Looking along X-axis, 1 meter above ground plane (x-y) -Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), - Point3(0, 0, 1)); -Camera level_camera(level_pose, sharedK2); - -// create second camera 1 meter to the right of first camera -Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); -Camera level_camera_right(level_pose_right, sharedK2); - -// landmarks ~5 meters in front of camera -Point3 landmark1(5, 0.5, 1.2); -Point3 landmark2(5, -0.5, 1.2); -Point3 landmark3(5, 0, 3.0); - -void projectToMultipleCameras(Camera cam1, Camera cam2, Camera cam3, - Point3 landmark, vector& measurements_cam) { - - Point2 cam1_uv1 = cam1.project(landmark); - Point2 cam2_uv1 = cam2.project(landmark); - Point2 cam3_uv1 = cam3.project(landmark); - measurements_cam.push_back(cam1_uv1); - measurements_cam.push_back(cam2_uv1); - measurements_cam.push_back(cam3_uv1); -} - /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor) { SmartFactor::shared_ptr factor1(new SmartFactor()); @@ -107,32 +68,36 @@ TEST( SmartProjectionPoseFactor, Constructor2) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor3) { + using namespace vanillaPose; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, poseKey1, model, sharedK); + factor1->add(measurement1, x1, model, sharedK); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { + using namespace vanillaPose; SmartFactor factor1(rankTol, linThreshold); - factor1.add(measurement1, poseKey1, model, sharedK); + factor1.add(measurement1, x1, model, sharedK); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithTransform) { + using namespace vanillaPose; bool manageDegeneracy = true; bool enableEPI = false; SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor1); - factor1.add(measurement1, poseKey1, model, sharedK); + factor1.add(measurement1, x1, model, sharedK); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Equals ) { + using namespace vanillaPose; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, poseKey1, model, sharedK); + factor1->add(measurement1, x1, model, sharedK); SmartFactor::shared_ptr factor2(new SmartFactor()); - factor2->add(measurement1, poseKey1, model, sharedK); + factor2->add(measurement1, x1, model, sharedK); CHECK(assert_equal(*factor1, *factor2)); } @@ -141,6 +106,8 @@ TEST( SmartProjectionPoseFactor, Equals ) { TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl; + using namespace vanillaPose; + // Project two landmarks into two cameras Point2 level_uv = level_camera.project(landmark1); Point2 level_uv_right = level_camera_right.project(landmark1); @@ -151,7 +118,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { Values values; values.insert(x1, level_pose); - values.insert(x2, level_pose_right); + values.insert(x2, pose_right); double actualError = factor.error(values); double expectedError = 0.0; @@ -195,7 +162,9 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { TEST( SmartProjectionPoseFactor, noisy ) { // cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl; - // 1. Project two landmarks into two cameras and triangulate + using namespace vanillaPose; + + // Project two landmarks into two cameras and triangulate Point2 pixelError(0.2, 0.2); Point2 level_uv = level_camera.project(landmark1) + pixelError; Point2 level_uv_right = level_camera_right.project(landmark1); @@ -204,7 +173,7 @@ TEST( SmartProjectionPoseFactor, noisy ) { values.insert(x1, level_pose); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); - values.insert(x2, level_pose_right.compose(noise_pose)); + values.insert(x2, pose_right.compose(noise_pose)); SmartFactor::shared_ptr factor(new SmartFactor()); factor->add(level_uv, x1, model, sharedK); @@ -240,21 +209,10 @@ TEST( SmartProjectionPoseFactor, noisy ) { TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK2); - + using namespace vanillaPose2; vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -279,17 +237,17 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + // initialize third pose with some noise, we expect it to move back to original pose_above + values.insert(x3, pose_above * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -312,7 +270,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) result.at(x3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(pose3, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); if (isDebugTest) tictoc_print_(); } @@ -320,24 +278,16 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 cameraPose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), - Point3(0, 0, 1)); // body poses - Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0, -1, 0)); - - Camera cam1(cameraPose1, sharedK); // with camera poses - Camera cam2(cameraPose2, sharedK); - Camera cam3(cameraPose3, sharedK); + using namespace vanillaPose; // create arbitrary body_Pose_sensor (transforms from sensor to body) Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(1, 1, 1)); // Pose3(); // // These are the poses we want to estimate, from camera measurements - Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse()); - Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse()); - Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse()); + Pose3 bodyPose1 = level_pose.compose(sensor_to_body.inverse()); + Pose3 bodyPose2 = pose_right.compose(sensor_to_body.inverse()); + Pose3 bodyPose3 = pose_above.compose(sensor_to_body.inverse()); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -396,7 +346,7 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { Values values; values.insert(x1, bodyPose1); values.insert(x2, bodyPose2); - // initialize third pose with some noise, we expect it to move back to original pose3 + // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, bodyPose3 * noise_pose); LevenbergMarquardtParams params; @@ -564,26 +514,16 @@ TEST( SmartProjectionPoseFactor, Factors ) { TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl; + using namespace vanillaPose; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK); - vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -603,17 +543,17 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + // initialize third pose with some noise, we expect it to move back to original pose_above + values.insert(x3, pose_above * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -633,7 +573,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) result.at(x3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(pose3, result.at(x3), 1e-7)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); if (isDebugTest) tictoc_print_(); } @@ -641,24 +581,16 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, jacobianSVD ) { + using namespace vanillaPose; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK); - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK); - vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -681,27 +613,29 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above * noise_pose); LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose3, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } /* *************************************************************************/ TEST( SmartProjectionPoseFactor, landmarkDistance ) { + using namespace vanillaPose; + double excludeLandmarksFutherThanDist = 2; vector views; @@ -709,19 +643,9 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK); - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK); - vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -747,16 +671,16 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above * noise_pose); // All factors are disabled and pose should remain where it is LevenbergMarquardtParams params; @@ -769,6 +693,8 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { + using namespace vanillaPose; + double excludeLandmarksFutherThanDist = 1e10; double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error @@ -777,23 +703,13 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK); - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK); - // add fourth landmark Point3 landmark4(5, -0.5, 1); vector measurements_cam1, measurements_cam2, measurements_cam3, measurements_cam4; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -827,45 +743,37 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); graph.push_back(smartFactor4); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above); // All factors are disabled and pose should remain where it is LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose3, result.at(x3))); + EXPECT(assert_equal(pose_above, result.at(x3))); } /* *************************************************************************/ TEST( SmartProjectionPoseFactor, jacobianQ ) { + using namespace vanillaPose; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK); - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK); - vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -888,49 +796,39 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above * noise_pose); LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose3, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { // cout << " ************************ Normal ProjectionFactor: 3 cams + 3 landmarks **********************" << endl; + using namespace vanillaPose2; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK2); - typedef GenericProjectionFactor ProjectionFactor; NonlinearFactorGraph graph; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate graph.push_back( ProjectionFactor(cam1.project(landmark1), model, x1, L(1), sharedK2)); graph.push_back( @@ -953,15 +851,15 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { ProjectionFactor(cam3.project(landmark3), model, x3, L(3), sharedK2)); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above * noise_pose); values.insert(L(1), landmark1); values.insert(L(2), landmark2); values.insert(L(3), landmark3); @@ -978,7 +876,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { if (isDebugTest) result.at(x3).print("Pose3 after optimization: "); - EXPECT(assert_equal(pose3, result.at(x3), 1e-7)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); } /* *************************************************************************/ @@ -989,21 +887,17 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); + using namespace vanillaPose; - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + // Two slightly different cameras + Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -1028,10 +922,10 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + // initialize third pose with some noise, we expect it to move back to original pose_above + values.insert(x3, pose_above * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1068,26 +962,22 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) { // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 2 landmarks: Rotation Only**********************" << endl; + using namespace vanillaPose2; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + // Two different cameras + Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam3(pose3, sharedK2); vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); @@ -1108,7 +998,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); graph.push_back( PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( @@ -1117,10 +1007,10 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2 * noise_pose); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right * noise_pose); + // initialize third pose with some noise, we expect it to move back to original pose_above + values.insert(x3, pose_above * noise_pose * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1143,7 +1033,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; - // EXPECT(assert_equal(pose3,result.at(x3))); + // EXPECT(assert_equal(pose_above,result.at(x3))); if (isDebugTest) tictoc_print_(); } @@ -1152,26 +1042,22 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) { // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks: Rotation Only**********************" << endl; + using namespace vanillaPose; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + // Two different cameras + Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -1199,7 +1085,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); graph.push_back( PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( @@ -1209,10 +1095,10 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + // initialize third pose with some noise, we expect it to move back to original pose_above + values.insert(x3, pose_above * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1235,7 +1121,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; - // EXPECT(assert_equal(pose3,result.at(x3))); + // EXPECT(assert_equal(pose_above,result.at(x3))); if (isDebugTest) tictoc_print_(); } @@ -1244,19 +1130,13 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) TEST( SmartProjectionPoseFactor, Hessian ) { // cout << " ************************ SmartProjectionPoseFactor: Hessian **********************" << endl; + using namespace vanillaPose2; + vector views; views.push_back(x1); views.push_back(x2); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK2); - - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into 2 cameras and triangulate Point2 cam1_uv1 = cam1.project(landmark1); Point2 cam2_uv1 = cam2.project(landmark1); vector measurements_cam1; @@ -1269,8 +1149,8 @@ TEST( SmartProjectionPoseFactor, Hessian ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); + values.insert(x1, level_pose); + values.insert(x2, pose_right); boost::shared_ptr hessianFactor = smartFactor1->linearize( values); @@ -1287,23 +1167,13 @@ TEST( SmartProjectionPoseFactor, Hessian ) { TEST( SmartProjectionPoseFactor, HessianWithRotation ) { // cout << " ************************ SmartProjectionPoseFactor: rotated Hessian **********************" << endl; + using namespace vanillaPose; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - Camera cam2(pose2, sharedK); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - Camera cam3(pose3, sharedK); - vector measurements_cam1, measurements_cam2, measurements_cam3; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); @@ -1312,24 +1182,22 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { smartFactorInstance->add(measurements_cam1, views, model, sharedK); Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above); boost::shared_ptr hessianFactor = smartFactorInstance->linearize(values); - // hessianFactor->print("Hessian factor \n"); Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, poseDrift.compose(pose1)); - rotValues.insert(x2, poseDrift.compose(pose2)); - rotValues.insert(x3, poseDrift.compose(pose3)); + rotValues.insert(x1, poseDrift.compose(level_pose)); + rotValues.insert(x2, poseDrift.compose(pose_right)); + rotValues.insert(x3, poseDrift.compose(pose_above)); boost::shared_ptr hessianFactorRot = smartFactorInstance->linearize(rotValues); - // hessianFactorRot->print("Hessian factor \n"); // Hessian is invariant to rotations in the nondegenerate case EXPECT( @@ -1340,9 +1208,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, poseDrift2.compose(pose1)); - tranValues.insert(x2, poseDrift2.compose(pose2)); - tranValues.insert(x3, poseDrift2.compose(pose3)); + tranValues.insert(x1, poseDrift2.compose(level_pose)); + tranValues.insert(x2, poseDrift2.compose(pose_right)); + tranValues.insert(x3, poseDrift2.compose(pose_above)); boost::shared_ptr hessianFactorRotTran = smartFactorInstance->linearize(tranValues); @@ -1357,23 +1225,13 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { // cout << " ************************ SmartProjectionPoseFactor: rotated Hessian (degenerate) **********************" << endl; + using namespace vanillaPose2; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - Camera cam1(pose1, sharedK2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(0, 0, 0)); - Camera cam2(pose2, sharedK2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, 0, 0)); - Camera cam3(pose3, sharedK2); - vector measurements_cam1, measurements_cam2, measurements_cam3; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); @@ -1382,9 +1240,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { smartFactor->add(measurements_cam1, views, model, sharedK2); Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above); boost::shared_ptr hessianFactor = smartFactor->linearize( values); @@ -1394,9 +1252,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, poseDrift.compose(pose1)); - rotValues.insert(x2, poseDrift.compose(pose2)); - rotValues.insert(x3, poseDrift.compose(pose3)); + rotValues.insert(x1, poseDrift.compose(level_pose)); + rotValues.insert(x2, poseDrift.compose(pose_right)); + rotValues.insert(x3, poseDrift.compose(pose_above)); boost::shared_ptr hessianFactorRot = smartFactor->linearize( rotValues); @@ -1412,9 +1270,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, poseDrift2.compose(pose1)); - tranValues.insert(x2, poseDrift2.compose(pose2)); - tranValues.insert(x3, poseDrift2.compose(pose3)); + tranValues.insert(x1, poseDrift2.compose(level_pose)); + tranValues.insert(x2, poseDrift2.compose(pose_right)); + tranValues.insert(x3, poseDrift2.compose(pose_above)); boost::shared_ptr hessianFactorRotTran = smartFactor->linearize(tranValues); @@ -1430,31 +1288,21 @@ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { SmartFactorBundler factor(rankTol, linThreshold); boost::shared_ptr sharedBundlerK( new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); - factor.add(measurement1, poseKey1, model, sharedBundlerK); + factor.add(measurement1, x1, model, sharedBundlerK); } /* *************************************************************************/ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { // cout << " ************************ SmartProjectionPoseFactor: Cal3Bundler **********************" << endl; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - CameraBundler cam1(pose1, sharedBundlerK); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - CameraBundler cam2(pose2, sharedBundlerK); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - CameraBundler cam3(pose3, sharedBundlerK); + using namespace bundlerPose; // three landmarks ~5 meters infront of camera Point3 landmark3(3, 0, 3.0); vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate Point2 cam1_uv1 = cam1.project(landmark1); Point2 cam2_uv1 = cam2.project(landmark1); Point2 cam3_uv1 = cam3.project(landmark1); @@ -1496,17 +1344,17 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); - graph.push_back(PriorFactor(x2, pose2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + // initialize third pose with some noise, we expect it to move back to original pose_above + values.insert(x3, pose_above * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1526,7 +1374,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) result.at(x3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(pose3, result.at(x3), 1e-6)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-6)); if (isDebugTest) tictoc_print_(); } @@ -1534,29 +1382,25 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { + using namespace bundlerPose; + vector views; views.push_back(x1); views.push_back(x2); views.push_back(x3); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - CameraBundler cam1(pose1, sharedBundlerK); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - CameraBundler cam2(pose2, sharedBundlerK); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - CameraBundler cam3(pose3, sharedBundlerK); + // Two different cameras + Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Camera cam2(pose2, sharedBundlerK); + Camera cam3(pose3, sharedBundlerK); // landmark3 at 3 meters now Point3 landmark3(3, 0, 3.0); vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras and triangulate Point2 cam1_uv1 = cam1.project(landmark1); Point2 cam2_uv1 = cam2.project(landmark1); Point2 cam3_uv1 = cam3.project(landmark1); @@ -1601,7 +1445,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, pose1, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); graph.push_back( PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( @@ -1611,10 +1455,10 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + // initialize third pose with some noise, we expect it to move back to original pose_above + values.insert(x3, pose_above * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1637,7 +1481,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; - // EXPECT(assert_equal(pose3,result.at(x3))); + // EXPECT(assert_equal(pose_above,result.at(x3))); if (isDebugTest) tictoc_print_(); } From eb28d0ffa89c04235b21e47d6bdaf7f0b74b9dc6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 24 Feb 2015 14:09:35 +0100 Subject: [PATCH 051/964] Restored reprojectionErrors -> reprojectionError --- gtsam/geometry/CameraSet.h | 4 ++-- gtsam/geometry/tests/testCameraSet.cpp | 8 ++++---- gtsam/slam/SmartFactorBase.h | 16 ++++++++-------- gtsam/slam/SmartProjectionFactor.h | 2 +- .../slam/tests/testSmartProjectionPoseFactor.cpp | 8 ++++---- .../slam/SmartStereoProjectionFactor.h | 2 +- 6 files changed, 20 insertions(+), 20 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index eb58d1658..2192c38b9 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -140,7 +140,7 @@ public: } /// Calculate vector of re-projection errors - Vector reprojectionErrors(const Point3& point, const std::vector& measured, + Vector reprojectionError(const Point3& point, const std::vector& measured, boost::optional F = boost::none, // boost::optional E = boost::none) const { return ErrorVector(project2(point,F,E), measured); @@ -148,7 +148,7 @@ public: /// Calculate vector of re-projection errors, from point at infinity // TODO: take Unit3 instead - Vector reprojectionErrorsAtInfinity(const Point3& point, + Vector reprojectionErrorAtInfinity(const Point3& point, const std::vector& measured) const { return ErrorVector(projectAtInfinity(point), measured); } diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index a003b6bce..25a6da5b2 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -73,16 +73,16 @@ TEST(CameraSet, Pinhole) { measured.push_back(Point2(3, 4)); Vector4 expectedV; - // reprojectionErrors + // reprojectionError expectedV << -1, -2, -3, -4; - Vector actualV = set.reprojectionErrors(p, measured); + Vector actualV = set.reprojectionError(p, measured); EXPECT(assert_equal(expectedV, actualV)); - // reprojectionErrorsAtInfinity + // reprojectionErrorAtInfinity EXPECT( assert_equal(Point3(0, 0, 1), camera.backprojectPointAtInfinity(Point2()))); - actualV = set.reprojectionErrorsAtInfinity(p, measured); + actualV = set.reprojectionErrorAtInfinity(p, measured); EXPECT(assert_equal(expectedV, actualV)); } diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 6a33eeb6e..9554b7c4a 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -215,7 +215,7 @@ public: /// Calculate vector of re-projection errors, noise model applied Vector whitenedErrors(const Cameras& cameras, const Point3& point) const { - Vector b = cameras.reprojectionErrors(point, measured_); + Vector b = cameras.reprojectionError(point, measured_); if (noiseModel_) noiseModel_->whitenInPlace(b); return b; @@ -225,7 +225,7 @@ public: // TODO: Unit3 Vector whitenedErrorsAtInfinity(const Cameras& cameras, const Point3& point) const { - Vector b = cameras.reprojectionErrorsAtInfinity(point, measured_); + Vector b = cameras.reprojectionErrorAtInfinity(point, measured_); if (noiseModel_) noiseModel_->whitenInPlace(b); return b; @@ -252,8 +252,8 @@ public: } /// Compute reprojection errors - Vector reprojectionErrors(const Cameras& cameras, const Point3& point) const { - return cameras.reprojectionErrors(point, measured_); + Vector reprojectionError(const Cameras& cameras, const Point3& point) const { + return cameras.reprojectionError(point, measured_); } /** @@ -261,10 +261,10 @@ public: * TODO: the treatment of body_P_sensor_ is weird: the transformation * is applied in the caller, but the derivatives are computed here. */ - Vector reprojectionErrors(const Cameras& cameras, const Point3& point, + Vector reprojectionError(const Cameras& cameras, const Point3& point, typename Cameras::FBlocks& F, Matrix& E) const { - Vector b = cameras.reprojectionErrors(point, measured_, F, E); + Vector b = cameras.reprojectionError(point, measured_, F, E); // Apply sensor chain rule if needed TODO: no simpler way ?? if (body_P_sensor_) { @@ -308,7 +308,7 @@ public: /// Assumes non-degenerate ! void computeEP(Matrix& E, Matrix& P, const Cameras& cameras, const Point3& point) const { - cameras.reprojectionErrors(point, measured_, boost::none, E); + cameras.reprojectionError(point, measured_, boost::none, E); P = PointCov(E); } @@ -322,7 +322,7 @@ public: // Project into Camera set and calculate derivatives typename Cameras::FBlocks F; - b = reprojectionErrors(cameras, point, F, E); + b = reprojectionError(cameras, point, F, E); // Now calculate f and divide up the F derivatives into Fblocks double f = 0.0; diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 4a9caf0b0..3a996918f 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -573,7 +573,7 @@ public: /// Calculate vector of re-projection errors, before applying noise model /// Assumes triangulation was done and degeneracy handled Vector reprojectionError(const Cameras& cameras) const { - return cameras.reprojectionErrors(point_,this->measured_); + return cameras.reprojectionError(point_,this->measured_); } /// Calculate vector of re-projection errors, before applying noise model diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 671fb771f..41c0fac0a 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -142,10 +142,10 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { factor.computeEP(actualE, PointCov, values); EXPECT(assert_equal(expectedE, actualE, 1e-7)); - // Calculate using reprojectionErrors, note not yet divided by sigma ! + // Calculate using reprojectionError, note not yet divided by sigma ! SmartFactor::Cameras::FBlocks F; Matrix E; - Vector actualErrors = factor.reprojectionErrors(cameras, *point, F, E); + Vector actualErrors = factor.reprojectionError(cameras, *point, F, E); EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT(assert_equal(zero(4), actualErrors, 1e-7)); @@ -379,10 +379,10 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { // Calculate using whitenedError Matrix E; SmartFactor::Cameras::FBlocks F; - Vector actualErrors = smartFactor1->reprojectionErrors(cameras, *point, F, E); + Vector actualErrors = smartFactor1->reprojectionError(cameras, *point, F, E); EXPECT(assert_equal(expectedE, E, 1e-7)); - // Success ! The derivatives of reprojectionErrors now agree with f ! + // Success ! The derivatives of reprojectionError now agree with f ! EXPECT(assert_equal(f(*point) * sigma, actualErrors, 1e-7)); } diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 0e70add9f..04383839f 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -629,7 +629,7 @@ public: Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return cameras.reprojectionErrors(point_); + return cameras.reprojectionError(point_); else return zero(cameras.size() * 3); } From 301e827454de9f280b4d269ee1835262e18f184c Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 24 Feb 2015 14:23:44 +0100 Subject: [PATCH 052/964] Switched back to PinholeCamera (though I'm not thrilled) --- gtsam/geometry/triangulation.h | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index ea6c5c041..3b6c2c4b3 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -18,7 +18,7 @@ #pragma once -#include +#include #include #include #include @@ -75,8 +75,8 @@ std::pair triangulationGraph( static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); for (size_t i = 0; i < measurements.size(); i++) { const Pose3& pose_i = poses[i]; - PinholeBaseK camera_i(pose_i, sharedCal); - graph.push_back(TriangulationFactor > // + PinholeCamera camera_i(pose_i, sharedCal); + graph.push_back(TriangulationFactor > // (camera_i, measurements[i], unit2, landmarkKey)); } return std::make_pair(graph, values); @@ -108,13 +108,13 @@ std::pair triangulationGraph( return std::make_pair(graph, values); } -/// PinholeBaseK specific version +/// PinholeCamera specific version template std::pair triangulationGraph( - const std::vector >& cameras, + const std::vector >& cameras, const std::vector& measurements, Key landmarkKey, const Point3& initialEstimate) { - return triangulationGraph > // + return triangulationGraph > // (cameras, measurements, landmarkKey, initialEstimate); } @@ -170,12 +170,12 @@ Point3 triangulateNonlinear(const std::vector& cameras, return optimize(graph, values, Symbol('p', 0)); } -/// PinholeBaseK specific version +/// PinholeCamera specific version template Point3 triangulateNonlinear( - const std::vector >& cameras, + const std::vector >& cameras, const std::vector& measurements, const Point3& initialEstimate) { - return triangulateNonlinear > // + return triangulateNonlinear > // (cameras, measurements, initialEstimate); } @@ -278,10 +278,10 @@ Point3 triangulatePoint3(const std::vector& cameras, /// Pinhole-specific version template Point3 triangulatePoint3( - const std::vector >& cameras, + const std::vector >& cameras, const std::vector& measurements, double rank_tol = 1e-9, bool optimize = false) { - return triangulatePoint3 > // + return triangulatePoint3 > // (cameras, measurements, rank_tol, optimize); } From c4095d2ed92ed34e198778e1a9d2a0203eee8ff2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 24 Feb 2015 14:44:01 +0100 Subject: [PATCH 053/964] Fixed linking --- gtsam/slam/SmartFactorBase.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 9554b7c4a..edb3d399f 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -66,8 +66,8 @@ protected: */ std::vector measured_; - static const int ZDim = traits::dimension; ///< Measurement dimension static const int Dim = traits::dimension; ///< Camera dimension + static const int ZDim = traits::dimension; ///< Measurement dimension // Definitions for block matrices used internally typedef Eigen::Matrix MatrixD2; // F' @@ -706,8 +706,8 @@ private: }; // end class SmartFactorBase -// TODO: Why is this here? -template -const int SmartFactorBase::ZDim; +// Definitions need to avoid link errors (above are only declarations) +template const int SmartFactorBase::Dim; +template const int SmartFactorBase::ZDim; } // \ namespace gtsam From b3d0b1809cc3e3f252a2f4b24e2b7f3c8fcc84e7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 24 Feb 2015 21:55:37 +0100 Subject: [PATCH 054/964] Fixed some compilation issues --- gtsam/geometry/tests/testTriangulation.cpp | 1 + gtsam/geometry/triangulation.h | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index f986cca1d..3045668d5 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -17,6 +17,7 @@ */ #include +#include #include #include diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 3b6c2c4b3..ded893fbe 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -75,7 +75,7 @@ std::pair triangulationGraph( static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); for (size_t i = 0; i < measurements.size(); i++) { const Pose3& pose_i = poses[i]; - PinholeCamera camera_i(pose_i, sharedCal); + PinholePose camera_i(pose_i, sharedCal); graph.push_back(TriangulationFactor > // (camera_i, measurements[i], unit2, landmarkKey)); } From 694e6e903cb7ace6691949315520226bac053253 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 25 Feb 2015 00:57:51 +0100 Subject: [PATCH 055/964] Fixed template issue --- gtsam/geometry/triangulation.h | 5 +++-- gtsam/slam/tests/testTriangulationFactor.cpp | 5 +++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index ded893fbe..5b8be0168 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -75,8 +75,9 @@ std::pair triangulationGraph( static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); for (size_t i = 0; i < measurements.size(); i++) { const Pose3& pose_i = poses[i]; - PinholePose camera_i(pose_i, sharedCal); - graph.push_back(TriangulationFactor > // + typedef PinholePose Camera; + Camera camera_i(pose_i, sharedCal); + graph.push_back(TriangulationFactor // (camera_i, measurements[i], unit2, landmarkKey)); } return std::make_pair(graph, values); diff --git a/gtsam/slam/tests/testTriangulationFactor.cpp b/gtsam/slam/tests/testTriangulationFactor.cpp index 6b79171df..2c3a64495 100644 --- a/gtsam/slam/tests/testTriangulationFactor.cpp +++ b/gtsam/slam/tests/testTriangulationFactor.cpp @@ -17,6 +17,7 @@ */ #include +#include #include #include #include @@ -35,7 +36,7 @@ static const boost::shared_ptr sharedCal = // // Looking along X-axis, 1 meter above ground plane (x-y) static const Rot3 upright = Rot3::ypr(-M_PI / 2, 0., -M_PI / 2); static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1)); -PinholeCamera camera1(pose1, *sharedCal); +SimpleCamera camera1(pose1, *sharedCal); // landmark ~5 meters infront of camera static const Point3 landmark(5, 0.5, 1.2); @@ -48,7 +49,7 @@ TEST( triangulation, TriangulationFactor ) { // Create the factor with a measurement that is 3 pixels off in x Key pointKey(1); SharedNoiseModel model; - typedef TriangulationFactor<> Factor; + typedef TriangulationFactor Factor; Factor factor(camera1, z1, model, pointKey); // Use the factor to calculate the Jacobians From d7b5156dcc12dcdf31b32e68f7611bc75c44d1e6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 25 Feb 2015 01:14:36 +0100 Subject: [PATCH 056/964] rename to reprojectionErrorAfterTriangulation --- gtsam/slam/SmartProjectionFactor.h | 10 ++-------- gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 4 +++- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 4 ++-- 3 files changed, 7 insertions(+), 11 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 3a996918f..2f4da3ce6 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -571,17 +571,11 @@ public: } /// Calculate vector of re-projection errors, before applying noise model - /// Assumes triangulation was done and degeneracy handled - Vector reprojectionError(const Cameras& cameras) const { - return cameras.reprojectionError(point_,this->measured_); - } - - /// Calculate vector of re-projection errors, before applying noise model - Vector reprojectionError(const Values& values) const { + Vector reprojectionErrorAfterTriangulation(const Values& values) const { Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return reprojectionError(cameras); + return Base::reprojectionError(cameras, point_); else return zero(cameras.size() * 2); } diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 3ac95f7e2..f82073e81 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -136,7 +136,9 @@ TEST( SmartProjectionCameraFactor, noiseless ) { double expectedError = 0.0; DOUBLES_EQUAL(expectedError, factor1->error(values), 1e-7); - CHECK(assert_equal(zero(4), factor1->reprojectionError(values), 1e-7)); + CHECK( + assert_equal(zero(4), + factor1->reprojectionErrorAfterTriangulation(values), 1e-7)); } /* *************************************************************************/ diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 04383839f..337bf2f68 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -625,11 +625,11 @@ public: } /// Calculate vector of re-projection errors, before applying noise model - Vector reprojectionError(const Values& values) const { + Vector reprojectionErrorAfterTriangulation(const Values& values) const { Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return cameras.reprojectionError(point_); + return Base::reprojectionError(cameras, point_); else return zero(cameras.size() * 3); } From f7292488c439bd154c218a1e05f4266a7f3ad6af Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 25 Feb 2015 14:00:21 +0100 Subject: [PATCH 057/964] Made RegularImplicitSchurFactor fully functional, and whitened again. --- gtsam/slam/RegularImplicitSchurFactor.h | 114 ++++++++++++------------ gtsam/slam/SmartFactorBase.h | 24 +++-- 2 files changed, 73 insertions(+), 65 deletions(-) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index b1490d465..731db479f 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -30,23 +30,10 @@ protected: typedef Eigen::Matrix MatrixDD; ///< camera hessian typedef std::pair KeyMatrix2D; ///< named F block - std::vector Fblocks_; ///< All 2*D F blocks (one for each camera) - Matrix3 PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (2*2 if degenerate) - Matrix E_; ///< The 2m*3 E Jacobian with respect to the point - Vector b_; ///< 2m-dimensional RHS vector - -public: - - /// Constructor - RegularImplicitSchurFactor() { - } - - /// Construct from blcoks of F, E, inv(E'*E), and RHS vector b - RegularImplicitSchurFactor(const std::vector& Fblocks, const Matrix& E, - const Matrix3& P, const Vector& b) : - Fblocks_(Fblocks), PointCovariance_(P), E_(E), b_(b) { - initKeys(); - } + const std::vector Fblocks_; ///< All 2*D F blocks (one for each camera) + const Matrix3 PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (2*2 if degenerate) + const Matrix E_; ///< The 2m*3 E Jacobian with respect to the point + const Vector b_; ///< 2m-dimensional RHS vector /// initialize keys from Fblocks void initKeys() { @@ -55,36 +42,42 @@ public: keys_.push_back(it.first); } +public: + + /// Constructor + RegularImplicitSchurFactor() { + } + + /// Construct from blocks of F, E, inv(E'*E), and RHS vector b + RegularImplicitSchurFactor(const std::vector& Fblocks, + const Matrix& E, const Matrix3& P, const Vector& b) : + Fblocks_(Fblocks), PointCovariance_(P), E_(E), b_(b) { + initKeys(); + } + /// Destructor virtual ~RegularImplicitSchurFactor() { } - // Write access, only use for construction! - - inline std::vector& Fblocks() { + inline std::vector& Fblocks() const { return Fblocks_; } - inline Matrix3& PointCovariance() { - return PointCovariance_; - } - - inline Matrix& E() { + inline const Matrix& E() const { return E_; } - inline Vector& b() { + inline const Vector& b() const { return b_; } - /// Get matrix P inline const Matrix3& getPointCovariance() const { return PointCovariance_; } /// print - void print(const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const { std::cout << " RegularImplicitSchurFactor " << std::endl; Factor::print(s); for (size_t pos = 0; pos < size(); ++pos) { @@ -101,9 +94,13 @@ public: if (!f) return false; for (size_t pos = 0; pos < size(); ++pos) { - if (keys_[pos] != f->keys_[pos]) return false; - if (Fblocks_[pos].first != f->Fblocks_[pos].first) return false; - if (!equal_with_abs_tol(Fblocks_[pos].second,f->Fblocks_[pos].second,tol)) return false; + if (keys_[pos] != f->keys_[pos]) + return false; + if (Fblocks_[pos].first != f->Fblocks_[pos].first) + return false; + if (!equal_with_abs_tol(Fblocks_[pos].second, f->Fblocks_[pos].second, + tol)) + return false; } return equal_with_abs_tol(PointCovariance_, f->PointCovariance_, tol) && equal_with_abs_tol(E_, f->E_, tol) @@ -121,7 +118,8 @@ public: return Matrix(); } virtual std::pair jacobian() const { - throw std::runtime_error("RegularImplicitSchurFactor::jacobian non implemented"); + throw std::runtime_error( + "RegularImplicitSchurFactor::jacobian non implemented"); return std::make_pair(Matrix(), Vector()); } virtual Matrix augmentedInformation() const { @@ -146,7 +144,7 @@ public: // Calculate Fj'*Ej for the current camera (observing a single point) // D x 3 = (D x 2) * (2 x 3) const Matrix2D& Fj = Fblocks_[pos].second; - Eigen::Matrix FtE = Fj.transpose() + Eigen::Matrix FtE = Fj.transpose() * E_.block<2, 3>(2 * pos, 0); Eigen::Matrix dj; @@ -205,7 +203,8 @@ public: // - FtE * PointCovariance_ * FtE.transpose(); const Matrix23& Ej = E_.block<2, 3>(2 * pos, 0); - blocks[j] = Fj.transpose() * (Fj - Ej * PointCovariance_ * Ej.transpose() * Fj); + blocks[j] = Fj.transpose() + * (Fj - Ej * PointCovariance_ * Ej.transpose() * Fj); // F'*(I - E*P*E')*F, TODO: this should work, but it does not :-( // static const Eigen::Matrix I2 = eye(2); @@ -219,7 +218,8 @@ public: virtual GaussianFactor::shared_ptr clone() const { return boost::make_shared >(Fblocks_, PointCovariance_, E_, b_); - throw std::runtime_error("RegularImplicitSchurFactor::clone non implemented"); + throw std::runtime_error( + "RegularImplicitSchurFactor::clone non implemented"); } virtual bool empty() const { return false; @@ -228,7 +228,8 @@ public: virtual GaussianFactor::shared_ptr negate() const { return boost::make_shared >(Fblocks_, PointCovariance_, E_, b_); - throw std::runtime_error("RegularImplicitSchurFactor::negate non implemented"); + throw std::runtime_error( + "RegularImplicitSchurFactor::negate non implemented"); } // Raw Vector version of y += F'*alpha*(I - E*P*E')*F*x, for testing @@ -254,14 +255,15 @@ public: Vector3 d1; d1.setZero(); for (size_t k = 0; k < size(); k++) - d1 += E_.block < 2, 3 > (2 * k, 0).transpose() * (e1[k] - 2 * b_.segment < 2 > (k * 2)); + d1 += E_.block<2, 3>(2 * k, 0).transpose() + * (e1[k] - 2 * b_.segment<2>(k * 2)); // d2 = E.transpose() * e1 = (3*2m)*2m Vector3 d2 = PointCovariance_ * d1; // e3 = alpha*(e1 - E*d2) = 1*[2m-(2m*3)*3] for (size_t k = 0; k < size(); k++) - e2[k] = e1[k] - 2 * b_.segment < 2 > (k * 2) - E_.block < 2, 3 > (2 * k, 0) * d2; + e2[k] = e1[k] - 2 * b_.segment<2>(k * 2) - E_.block<2, 3>(2 * k, 0) * d2; } /* @@ -303,7 +305,7 @@ public: // e1 = F * x - b = (2m*dm)*dm for (size_t k = 0; k < size(); ++k) - e1[k] = Fblocks_[k].second * x.at(keys_[k]) - b_.segment < 2 > (k * 2); + e1[k] = Fblocks_[k].second * x.at(keys_[k]) - b_.segment<2>(k * 2); projectError(e1, e2); double result = 0; @@ -316,21 +318,21 @@ public: /** * @brief Calculate corrected error Q*e = (I - E*P*E')*e */ - void projectError(const Error2s& e1, Error2s& e2) const { + void projectError(const Error2s& e1, Error2s& e2) const { - // d1 = E.transpose() * e1 = (3*2m)*2m - Vector3 d1; - d1.setZero(); - for (size_t k = 0; k < size(); k++) - d1 += E_.block < 2, 3 > (2 * k, 0).transpose() * e1[k]; + // d1 = E.transpose() * e1 = (3*2m)*2m + Vector3 d1; + d1.setZero(); + for (size_t k = 0; k < size(); k++) + d1 += E_.block<2, 3>(2 * k, 0).transpose() * e1[k]; - // d2 = E.transpose() * e1 = (3*2m)*2m - Vector3 d2 = PointCovariance_ * d1; + // d2 = E.transpose() * e1 = (3*2m)*2m + Vector3 d2 = PointCovariance_ * d1; - // e3 = alpha*(e1 - E*d2) = 1*[2m-(2m*3)*3] - for (size_t k = 0; k < size(); k++) - e2[k] = e1[k] - E_.block < 2, 3 > (2 * k, 0) * d2; - } + // e3 = alpha*(e1 - E*d2) = 1*[2m-(2m*3)*3] + for (size_t k = 0; k < size(); k++) + e2[k] = e1[k] - E_.block<2, 3>(2 * k, 0) * d2; + } /// Scratch space for multiplyHessianAdd mutable Error2s e1, e2; @@ -424,7 +426,7 @@ public: e1.resize(size()); e2.resize(size()); for (size_t k = 0; k < size(); k++) - e1[k] = b_.segment < 2 > (2 * k); + e1[k] = b_.segment<2>(2 * k); projectError(e1, e2); // g = F.transpose()*e2 @@ -451,7 +453,7 @@ public: e1.resize(size()); e2.resize(size()); for (size_t k = 0; k < size(); k++) - e1[k] = b_.segment < 2 > (2 * k); + e1[k] = b_.segment<2>(2 * k); projectError(e1, e2); for (size_t k = 0; k < size(); ++k) { // for each camera in the factor @@ -462,10 +464,10 @@ public: /// Gradient wrt a key at any values Vector gradient(Key key, const VectorValues& x) const { - throw std::runtime_error("gradient for RegularImplicitSchurFactor is not implemented yet"); + throw std::runtime_error( + "gradient for RegularImplicitSchurFactor is not implemented yet"); } - }; // end class RegularImplicitSchurFactor diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index edb3d399f..3d29b34e8 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -657,12 +657,16 @@ public: boost::shared_ptr > createRegularImplicitSchurFactor( const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { - typename boost::shared_ptr > f( - new RegularImplicitSchurFactor()); - computeJacobians(f->Fblocks(), f->E(), f->b(), cameras, point); - f->PointCovariance() = PointCov(f->E(), lambda, diagonalDamping); - f->initKeys(); - return f; + std::vector F; + Matrix E; + Vector b; + computeJacobians(F, E, b, cameras, point); + noiseModel_->WhitenSystem(E,b); + Matrix3 P = PointCov(E, lambda, diagonalDamping); + // TODO make WhitenInPlace work with any dense matrix type + BOOST_FOREACH(KeyMatrix2D& Fblock,F) + Fblock.second = noiseModel_->Whiten(Fblock.second); + return boost::make_shared >(F, E, P, b); } /** @@ -676,7 +680,8 @@ public: Vector b; computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - return boost::make_shared >(Fblocks, E, P, b); + return boost::make_shared > // + (Fblocks, E, P, b, noiseModel_); } /** @@ -690,12 +695,13 @@ public: Vector b; Matrix Enull(ZDim * numKeys, ZDim * numKeys - 3); computeJacobiansSVD(Fblocks, Enull, b, cameras, point); - return boost::make_shared >(Fblocks, Enull, b); + return boost::make_shared > // + (Fblocks, Enull, b, noiseModel_); } private: - /// Serialization function +/// Serialization function friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int version) { From 3d85bf8e1fb0a967389467156bf073c5d3932961 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 25 Feb 2015 19:28:59 +0100 Subject: [PATCH 058/964] Removed testSmartProjectionFactor.run target --- .cproject | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/.cproject b/.cproject index 79cb93f93..5d3733e28 100644 --- a/.cproject +++ b/.cproject @@ -1131,14 +1131,6 @@ true true - - make - -j5 - testSmartProjectionFactor.run - true - true - true - make -j5 @@ -1309,7 +1301,6 @@ make - testSimulated2DOriented.run true false @@ -1349,7 +1340,6 @@ make - testSimulated2D.run true false @@ -1357,7 +1347,6 @@ make - testSimulated3D.run true false @@ -1461,6 +1450,7 @@ make + testErrors.run true false @@ -1795,6 +1785,7 @@ cpack + -G DEB true false @@ -1802,6 +1793,7 @@ cpack + -G RPM true false @@ -1809,6 +1801,7 @@ cpack + -G TGZ true false @@ -1816,6 +1809,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2007,7 +2001,6 @@ make - tests/testGaussianISAM2 true false @@ -2159,6 +2152,7 @@ make + tests/testBayesTree.run true false @@ -2166,6 +2160,7 @@ make + testBinaryBayesNet.run true false @@ -2213,6 +2208,7 @@ make + testSymbolicBayesNet.run true false @@ -2220,6 +2216,7 @@ make + tests/testSymbolicFactor.run true false @@ -2227,6 +2224,7 @@ make + testSymbolicFactorGraph.run true false @@ -2242,6 +2240,7 @@ make + tests/testBayesTree true false @@ -3385,6 +3384,7 @@ make + testGraph.run true false @@ -3392,6 +3392,7 @@ make + testJunctionTree.run true false @@ -3399,6 +3400,7 @@ make + testSymbolicBayesNetB.run true false From c5394da29ecdeb24c61e55e286a9cdcf90883046 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 25 Feb 2015 19:29:12 +0100 Subject: [PATCH 059/964] Better print of isotropic --- gtsam/linear/NoiseModel.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 6ab26474a..f9a9ca804 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include @@ -486,7 +487,7 @@ Isotropic::shared_ptr Isotropic::Variance(size_t dim, double variance, bool smar /* ************************************************************************* */ void Isotropic::print(const string& name) const { - cout << name << "isotropic sigma " << " " << sigma_ << endl; + cout << boost::format("isotropic dim=%1% sigma=%2%") % dim() % sigma_ << endl; } /* ************************************************************************* */ From 850470ef06f3a17071e8d9f5d085f7204c514dc0 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 25 Feb 2015 19:30:17 +0100 Subject: [PATCH 060/964] rename of computeJacobians overloads to better reflect functionality --- gtsam/slam/JacobianFactorSVD.h | 11 ++- gtsam/slam/SmartFactorBase.h | 88 ++++++++++--------- gtsam/slam/SmartProjectionFactor.h | 65 ++++++-------- .../tests/testSmartProjectionCameraFactor.cpp | 8 +- .../tests/testSmartProjectionPoseFactor.cpp | 41 +++++---- .../slam/SmartStereoProjectionFactor.h | 45 +++------- 6 files changed, 121 insertions(+), 137 deletions(-) diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h index 255c799a6..e5e39d1a1 100644 --- a/gtsam/slam/JacobianFactorSVD.h +++ b/gtsam/slam/JacobianFactorSVD.h @@ -9,7 +9,7 @@ namespace gtsam { /** - * JacobianFactor for Schur complement that uses Q noise model + * JacobianFactor for Schur complement */ template class JacobianFactorSVD: public RegularJacobianFactor { @@ -38,7 +38,14 @@ public: JacobianFactor::fillTerms(QF, zeroVector, model); } - /// Constructor + /** + * @brief Constructor + * Takes the CameraSet derivatives (as ZDim*D blocks of block-diagonal F) + * and a reduced point derivative, Enull + * and creates a reduced-rank Jacobian factor on the CameraSet + * + * @Fblocks: + */ JacobianFactorSVD(const std::vector& Fblocks, const Matrix& Enull, const Vector& b, // const SharedDiagonal& model = SharedDiagonal()) : diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 3d29b34e8..d33b5957f 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -81,6 +81,7 @@ protected: boost::optional body_P_sensor_; // check that noise model is isotropic and the same + // TODO, this is hacky, we should just do this via constructor, not add void maybeSetNoiseModel(const SharedNoiseModel& sharedNoiseModel) { if (!sharedNoiseModel) return; @@ -213,6 +214,36 @@ public: && body_P_sensor_->equals(*e->body_P_sensor_))); } + /// Compute reprojection errors + Vector reprojectionError(const Cameras& cameras, const Point3& point) const { + return cameras.reprojectionError(point, measured_); + } + + /** + * Compute reprojection errors and derivatives + * TODO: the treatment of body_P_sensor_ is weird: the transformation + * is applied in the caller, but the derivatives are computed here. + */ + Vector reprojectionError(const Cameras& cameras, const Point3& point, + typename Cameras::FBlocks& F, Matrix& E) const { + + Vector b = cameras.reprojectionError(point, measured_, F, E); + + // Apply sensor chain rule if needed TODO: no simpler way ?? + if (body_P_sensor_) { + size_t m = keys_.size(); + for (size_t i = 0; i < m; i++) { + const Pose3& pose_i = cameras[i].pose(); + Pose3 w_Pose_body = pose_i.compose(body_P_sensor_->inverse()); + Matrix66 J; + Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J); + F[i].leftCols(6) *= J; + } + } + + return b; + } + /// Calculate vector of re-projection errors, noise model applied Vector whitenedErrors(const Cameras& cameras, const Point3& point) const { Vector b = cameras.reprojectionError(point, measured_); @@ -251,36 +282,6 @@ public: return 0.5 * b.dot(b); } - /// Compute reprojection errors - Vector reprojectionError(const Cameras& cameras, const Point3& point) const { - return cameras.reprojectionError(point, measured_); - } - - /** - * Compute reprojection errors and derivatives - * TODO: the treatment of body_P_sensor_ is weird: the transformation - * is applied in the caller, but the derivatives are computed here. - */ - Vector reprojectionError(const Cameras& cameras, const Point3& point, - typename Cameras::FBlocks& F, Matrix& E) const { - - Vector b = cameras.reprojectionError(point, measured_, F, E); - - // Apply sensor chain rule if needed TODO: no simpler way ?? - if (body_P_sensor_) { - size_t m = keys_.size(); - for (size_t i = 0; i < m; i++) { - const Pose3& pose_i = cameras[i].pose(); - Pose3 w_Pose_body = pose_i.compose(body_P_sensor_->inverse()); - Matrix66 J; - Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J); - F[i].leftCols(6) *= J; - } - } - - return b; - } - /// Computes Point Covariance P from E static Matrix3 PointCov(Matrix& E) { return (E.transpose() * E).inverse(); @@ -371,7 +372,6 @@ public: Eigen::JacobiSVD svd(E, Eigen::ComputeFullU); Vector s = svd.singularValues(); size_t m = this->keys_.size(); - // Enull = zeros(ZDim * m, ZDim * m - 3); Enull = svd.matrixU().block(0, 3, ZDim * m, ZDim * m - 3); // last ZDim*m-3 columns return f; @@ -661,7 +661,7 @@ public: Matrix E; Vector b; computeJacobians(F, E, b, cameras, point); - noiseModel_->WhitenSystem(E,b); + noiseModel_->WhitenSystem(E, b); Matrix3 P = PointCov(E, lambda, diagonalDamping); // TODO make WhitenInPlace work with any dense matrix type BOOST_FOREACH(KeyMatrix2D& Fblock,F) @@ -675,13 +675,15 @@ public: boost::shared_ptr > createJacobianQFactor( const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { - std::vector Fblocks; + std::vector F; Matrix E; Vector b; - computeJacobians(Fblocks, E, b, cameras, point); + computeJacobians(F, E, b, cameras, point); + const size_t M = b.size(); + std::cout << M << std::endl; Matrix3 P = PointCov(E, lambda, diagonalDamping); - return boost::make_shared > // - (Fblocks, E, P, b, noiseModel_); + SharedIsotropic n = noiseModel::Isotropic::Sigma(M, noiseModel_->sigma()); + return boost::make_shared >(F, E, P, b, n); } /** @@ -690,13 +692,15 @@ public: */ boost::shared_ptr createJacobianSVDFactor( const Cameras& cameras, const Point3& point, double lambda = 0.0) const { - size_t numKeys = this->keys_.size(); - std::vector Fblocks; + size_t m = this->keys_.size(); + std::vector F; Vector b; - Matrix Enull(ZDim * numKeys, ZDim * numKeys - 3); - computeJacobiansSVD(Fblocks, Enull, b, cameras, point); - return boost::make_shared > // - (Fblocks, Enull, b, noiseModel_); + const size_t M = ZDim * m; + Matrix E0(M, M - 3); + computeJacobiansSVD(F, E0, b, cameras, point); + std::cout << M << std::endl; + SharedIsotropic n = noiseModel::Isotropic::Sigma(M, noiseModel_->sigma()); + return boost::make_shared >(F, E0, b, n); } private: diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 2f4da3ce6..d932a1672 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -368,7 +368,12 @@ public: // ================================================================== Matrix F, E; Vector b; - double f = computeJacobians(F, E, b, cameras); + double f; + { + std::vector Fblocks; + f = computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); + Base::FillDiagonalF(Fblocks,F); // expensive ! + } // Schur complement trick // Frank says: should be possible to do this more efficiently? @@ -486,21 +491,12 @@ public: return nonDegenerate; } - /// Version that takes values, and creates the point - bool computeJacobians(std::vector& Fblocks, - Matrix& E, Vector& b, const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); - if (nonDegenerate) - computeJacobians(Fblocks, E, b, cameras); - return nonDegenerate; - } - /// Compute F, E only (called below in both vanilla and SVD versions) /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate - double computeJacobians(std::vector& Fblocks, - Matrix& E, Vector& b, const Cameras& cameras) const { + double computeJacobiansWithTriangulatedPoint( + std::vector& Fblocks, Matrix& E, Vector& b, + const Cameras& cameras) const { if (this->degenerate_) { std::cout << "manage degeneracy " << manageDegeneracy_ << std::endl; @@ -515,9 +511,9 @@ public: } // TODO replace all this by Call to CameraSet - int numKeys = this->keys_.size(); - E = zeros(2 * numKeys, 2); - b = zero(2 * numKeys); + int m = this->keys_.size(); + E = zeros(2 * m, 2); + b = zero(2 * m); double f = 0; for (size_t i = 0; i < this->measured_.size(); i++) { if (i == 0) { // first pose @@ -541,35 +537,27 @@ public: } // end else } + /// Version that takes values, and creates the point + bool triangulateAndComputeJacobians(std::vector& Fblocks, + Matrix& E, Vector& b, const Values& values) const { + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); + if (nonDegenerate) + computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); + return nonDegenerate; + } + /// takes values - bool computeJacobiansSVD(std::vector& Fblocks, - Matrix& Enull, Vector& b, const Values& values) const { + bool triangulateAndComputeJacobiansSVD( + std::vector& Fblocks, Matrix& Enull, + Vector& b, const Values& values) const { typename Base::Cameras cameras; double good = computeCamerasAndTriangulate(values, cameras); if (good) - computeJacobiansSVD(Fblocks, Enull, b, cameras); + Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, point_); return true; } - /// SVD version - double computeJacobiansSVD(std::vector& Fblocks, - Matrix& Enull, Vector& b, const Cameras& cameras) const { - return Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, point_); - } - - /// Returns Matrix, TODO: maybe should not exist -> not sparse ! - // TODO should there be a lambda? - double computeJacobiansSVD(Matrix& F, Matrix& Enull, Vector& b, - const Cameras& cameras) const { - return Base::computeJacobiansSVD(F, Enull, b, cameras, point_); - } - - /// Returns Matrix, TODO: maybe should not exist -> not sparse ! - double computeJacobians(Matrix& F, Matrix& E, Vector& b, - const Cameras& cameras) const { - return Base::computeJacobians(F, E, b, cameras, point_); - } - /// Calculate vector of re-projection errors, before applying noise model Vector reprojectionErrorAfterTriangulation(const Values& values) const { Cameras cameras; @@ -652,6 +640,7 @@ public: inline bool isPointBehindCamera() const { return cheiralityException_; } + /** return cheirality verbosity */ inline bool verboseCheirality() const { return verboseCheirality_; diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index f82073e81..4ff53664d 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -754,17 +754,17 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { cameras.push_back(level_camera_right); factor1->error(values); // this is important to have a triangulation of the point - Point3 expectedPoint; + Point3 point; if (factor1->point()) - expectedPoint = *(factor1->point()); - factor1->computeJacobians(expectedF, expectedE, expectedb, cameras); + point = *(factor1->point()); + factor1->computeJacobians(expectedF, expectedE, expectedb, cameras, point); NonlinearFactorGraph generalGraph; SFMFactor sfm1(level_uv, unit2, c1, l1); SFMFactor sfm2(level_uv_right, unit2, c2, l1); generalGraph.push_back(sfm1); generalGraph.push_back(sfm2); - values.insert(l1, expectedPoint); // note: we get rid of possible errors in the triangulation + values.insert(l1, point); // note: we get rid of possible errors in the triangulation Matrix actualFullHessian = generalGraph.linearize(values)->hessian().first; Matrix actualVinv = (actualFullHessian.block(18, 18, 3, 3)).inverse(); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 41c0fac0a..78b8b5240 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -153,7 +153,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // Calculate using computeJacobians Vector b; vector Fblocks; - double actualError3 = factor.computeJacobians(Fblocks, E, b, cameras); + double actualError3 = factor.computeJacobians(Fblocks, E, b, cameras, *point); EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8); } @@ -364,19 +364,19 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { // Calculate expected derivative for point (easiest to check) SmartFactor::Cameras cameras = smartFactor1->cameras(values); boost::function f = // - boost::bind(&SmartFactor::whitenedErrors, *smartFactor1, cameras, _1); + boost::bind(&SmartFactor::reprojectionError, *smartFactor1, cameras, _1); boost::optional point = smartFactor1->point(); CHECK(point); - // Note ! After refactor the noiseModel is only in the factors, not these matrices - Matrix expectedE = sigma * numericalDerivative11(f, *point); + // TODO, this is really a test of CameraSet + Matrix expectedE = numericalDerivative11(f, *point); // Calculate using computeEP Matrix actualE, PointCov; smartFactor1->computeEP(actualE, PointCov, values); EXPECT(assert_equal(expectedE, actualE, 1e-7)); - // Calculate using whitenedError + // Calculate using reprojectionError Matrix E; SmartFactor::Cameras::FBlocks F; Vector actualErrors = smartFactor1->reprojectionError(cameras, *point, F, E); @@ -472,7 +472,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { E(2, 2) = 10; E(3, 1) = 100; const vector > Fblocks = list_of > // - (make_pair(x1, 10 * F1))(make_pair(x2, 10 * F2)); + (make_pair(x1, F1))(make_pair(x2, F2)); Matrix3 P = (E.transpose() * E).inverse(); Vector4 b; b.setZero(); @@ -483,10 +483,11 @@ TEST( SmartProjectionPoseFactor, Factors ) { boost::shared_ptr > actual = smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0); CHECK(actual); - CHECK(assert_equal(expected, *actual)); + EXPECT(assert_equal(expected, *actual)); // createJacobianQFactor - JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b); + SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma); + JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b, n); boost::shared_ptr > actualQ = smartFactor1->createJacobianQFactor(cameras, 0.0); @@ -890,8 +891,10 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { using namespace vanillaPose; // Two slightly different cameras - Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose2 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); Camera cam3(pose3, sharedK); @@ -970,8 +973,10 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac views.push_back(x3); // Two different cameras - Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose2 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK2); Camera cam3(pose3, sharedK2); @@ -1050,8 +1055,10 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) views.push_back(x3); // Two different cameras - Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose2 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); Camera cam3(pose3, sharedK); @@ -1390,8 +1397,10 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { views.push_back(x3); // Two different cameras - Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose2 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = level_pose + * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedBundlerK); Camera cam3(pose3, sharedBundlerK); diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 337bf2f68..5c38ccca8 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -582,41 +582,16 @@ public: } // end else } -// /// Version that computes PointCov, with optional lambda parameter -// double computeJacobians(std::vector& Fblocks, -// Matrix& E, Matrix& PointCov, Vector& b, const Cameras& cameras, -// const double lambda = 0.0) const { -// -// double f = computeJacobians(Fblocks, E, b, cameras); -// -// // Point covariance inv(E'*E) -// PointCov.noalias() = (E.transpose() * E + lambda * eye(E.cols())).inverse(); -// -// return f; -// } -// -// /// takes values -// bool computeJacobiansSVD(std::vector& Fblocks, -// Matrix& Enull, Vector& b, const Values& values) const { -// typename Base::Cameras cameras; -// double good = computeCamerasAndTriangulate(values, cameras); -// if (good) -// computeJacobiansSVD(Fblocks, Enull, b, cameras); -// return true; -// } -// -// /// SVD version -// double computeJacobiansSVD(std::vector& Fblocks, -// Matrix& Enull, Vector& b, const Cameras& cameras) const { -// return Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, point_); -// } -// -// /// Returns Matrix, TODO: maybe should not exist -> not sparse ! -// // TODO should there be a lambda? -// double computeJacobiansSVD(Matrix& F, Matrix& Enull, Vector& b, -// const Cameras& cameras) const { -// return Base::computeJacobiansSVD(F, Enull, b, cameras, point_); -// } + /// takes values + bool triangulateAndComputeJacobiansSVD( + std::vector& Fblocks, Matrix& Enull, + Vector& b, const Values& values) const { + typename Base::Cameras cameras; + double good = computeCamerasAndTriangulate(values, cameras); + if (good) + return Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, point_); + return true; + } /// Returns Matrix, TODO: maybe should not exist -> not sparse ! double computeJacobians(Matrix& F, Matrix& E, Vector& b, From fd71974ff3250b12913ef805b4f0c8c4ac48f152 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 25 Feb 2015 20:52:16 +0100 Subject: [PATCH 061/964] Got mostly rid of computeEP: just a call to cameras.project2 --- gtsam/slam/SmartFactorBase.h | 22 ++++++----------- gtsam/slam/SmartProjectionFactor.h | 9 ++++--- .../tests/testSmartProjectionPoseFactor.cpp | 24 ++++++++++--------- .../slam/SmartStereoProjectionFactor.h | 14 +++++------ 4 files changed, 32 insertions(+), 37 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index d33b5957f..a5d2cfabe 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -306,13 +306,6 @@ public: return (EtE).inverse(); } - /// Assumes non-degenerate ! - void computeEP(Matrix& E, Matrix& P, const Cameras& cameras, - const Point3& point) const { - cameras.reprojectionError(point, measured_, boost::none, E); - P = PointCov(E); - } - /** * Compute F, E, and b (called below in both vanilla and SVD versions), where * F is a vector of derivatives wrpt the cameras, and E the stacked derivatives @@ -394,8 +387,7 @@ public: const Cameras& cameras, const Point3& point, const double lambda = 0.0, bool diagonalDamping = false) const { - int numKeys = this->keys_.size(); - + int m = this->keys_.size(); std::vector Fblocks; Matrix E; Vector b; @@ -405,8 +397,8 @@ public: //#define HESSIAN_BLOCKS // slower, as internally the Hessian factor will transform the blocks into SymmetricBlockMatrix #ifdef HESSIAN_BLOCKS // Create structures for Hessian Factors - std::vector < Matrix > Gs(numKeys * (numKeys + 1) / 2); - std::vector < Vector > gs(numKeys); + std::vector < Matrix > Gs(m * (m + 1) / 2); + std::vector < Vector > gs(m); sparseSchurComplement(Fblocks, E, P, b, Gs, gs); // schurComplement(Fblocks, E, P, b, Gs, gs); @@ -416,15 +408,15 @@ public: return boost::make_shared < RegularHessianFactor > (this->keys_, Gs, gs, f); #else // we create directly a SymmetricBlockMatrix - size_t n1 = Dim * numKeys + 1; - std::vector dims(numKeys + 1); // this also includes the b term + size_t n1 = Dim * m + 1; + std::vector dims(m + 1); // this also includes the b term std::fill(dims.begin(), dims.end() - 1, Dim); dims.back() = 1; SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(n1, n1)); // for 10 cameras, size should be (10*Dim+1 x 10*Dim+1) sparseSchurComplement(Fblocks, E, P, b, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... - augmentedHessian(numKeys, numKeys)(0, 0) = f; - return boost::make_shared >(this->keys_, + augmentedHessian(m, m)(0, 0) = f; + return boost::make_shared >(keys_, augmentedHessian); #endif } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index d932a1672..b4fad72fb 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -482,12 +482,15 @@ public: return true; } - /// Takes values - bool computeEP(Matrix& E, Matrix& P, const Values& values) const { + /** + * Triangulate and compute derivative of error with respect to point + * @return whether triangulation worked + */ + bool triangulateAndComputeE(Matrix& E, const Values& values) const { Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - Base::computeEP(E, P, cameras, point_); + cameras.project2(point_, boost::none, E); return nonDegenerate; } diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 78b8b5240..caa0e5162 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -131,18 +131,20 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // Calculate expected derivative for point (easiest to check) boost::function f = // boost::bind(&SmartFactor::whitenedErrors, factor, cameras, _1); + + // Calculate using computeEP + Matrix actualE; + factor.triangulateAndComputeE(actualE, values); + + // get point boost::optional point = factor.point(); CHECK(point); - // Note ! After refactor the noiseModel is only in the factors, not these matrices + // calculate numerical derivative with triangulated point Matrix expectedE = sigma * numericalDerivative11(f, *point); - - // Calculate using computeEP - Matrix actualE, PointCov; - factor.computeEP(actualE, PointCov, values); EXPECT(assert_equal(expectedE, actualE, 1e-7)); - // Calculate using reprojectionError, note not yet divided by sigma ! + // Calculate using reprojectionError SmartFactor::Cameras::FBlocks F; Matrix E; Vector actualErrors = factor.reprojectionError(cameras, *point, F, E); @@ -361,6 +363,10 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { // Check derivatives + // Calculate E and P using computeEP, triangulates + Matrix actualE; + smartFactor1->triangulateAndComputeE(actualE, values); + // Calculate expected derivative for point (easiest to check) SmartFactor::Cameras cameras = smartFactor1->cameras(values); boost::function f = // @@ -370,10 +376,6 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { // TODO, this is really a test of CameraSet Matrix expectedE = numericalDerivative11(f, *point); - - // Calculate using computeEP - Matrix actualE, PointCov; - smartFactor1->computeEP(actualE, PointCov, values); EXPECT(assert_equal(expectedE, actualE, 1e-7)); // Calculate using reprojectionError @@ -383,7 +385,7 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { EXPECT(assert_equal(expectedE, E, 1e-7)); // Success ! The derivatives of reprojectionError now agree with f ! - EXPECT(assert_equal(f(*point) * sigma, actualErrors, 1e-7)); + EXPECT(assert_equal(f(*point), actualErrors, 1e-7)); } /* *************************************************************************/ diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 5c38ccca8..551ad078c 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -513,17 +513,15 @@ public: return true; } - /// Assumes non-degenerate ! - void computeEP(Matrix& E, Matrix& PointCov, const Cameras& cameras) const { - Base::computeEP(E, PointCov, cameras, point_); - } - - /// Takes values - bool computeEP(Matrix& E, Matrix& PointCov, const Values& values) const { + /** + * Triangulate and compute derivative of error with respect to point + * @return whether triangulation worked + */ + bool triangulateAndComputeE(Matrix& E, const Values& values) const { Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - computeEP(E, PointCov, cameras); + cameras.project2(point_, boost::none, E); return nonDegenerate; } From 0bf95ae7f63e1bf26845a843bb0d59c0df917513 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 11:44:51 +0100 Subject: [PATCH 062/964] Removed obsolete code, including slow Schur-complement versions --- gtsam/slam/SmartFactorBase.h | 133 +----------------- .../tests/testSmartProjectionCameraFactor.cpp | 5 +- .../slam/SmartStereoProjectionFactor.h | 10 +- 3 files changed, 12 insertions(+), 136 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index a5d2cfabe..10de39049 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -342,18 +342,6 @@ public: F.block(This::ZDim * i, Dim * i) = Fblocks.at(i).second; } - /** - * Compute F, E, and b, where F and E are the stacked derivatives - * with respect to the point. The value of cameras/point are passed as parameters. - */ - double computeJacobians(Matrix& F, Matrix& E, Vector& b, - const Cameras& cameras, const Point3& point) const { - std::vector Fblocks; - double f = computeJacobians(Fblocks, E, b, cameras, point); - FillDiagonalF(Fblocks, F); - return f; - } - /// SVD version double computeJacobiansSVD(std::vector& Fblocks, Matrix& Enull, Vector& b, const Cameras& cameras, const Point3& point) const { @@ -370,16 +358,6 @@ public: return f; } - /// Matrix version of SVD - // TODO, there should not be a Matrix version, really - double computeJacobiansSVD(Matrix& F, Matrix& Enull, Vector& b, - const Cameras& cameras, const Point3& point) const { - std::vector Fblocks; - double f = computeJacobiansSVD(Fblocks, Enull, b, cameras, point); - FillDiagonalF(Fblocks, F); - return f; - } - /** * Linearize returns a Hessianfactor that is an approximation of error(p) */ @@ -394,69 +372,19 @@ public: double f = computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); -//#define HESSIAN_BLOCKS // slower, as internally the Hessian factor will transform the blocks into SymmetricBlockMatrix -#ifdef HESSIAN_BLOCKS - // Create structures for Hessian Factors - std::vector < Matrix > Gs(m * (m + 1) / 2); - std::vector < Vector > gs(m); - - sparseSchurComplement(Fblocks, E, P, b, Gs, gs); - // schurComplement(Fblocks, E, P, b, Gs, gs); - - //std::vector < Matrix > Gs2(Gs.begin(), Gs.end()); - //std::vector < Vector > gs2(gs.begin(), gs.end()); - - return boost::make_shared < RegularHessianFactor > (this->keys_, Gs, gs, f); -#else // we create directly a SymmetricBlockMatrix - size_t n1 = Dim * m + 1; + // we create directly a SymmetricBlockMatrix + size_t M1 = Dim * m + 1; std::vector dims(m + 1); // this also includes the b term std::fill(dims.begin(), dims.end() - 1, Dim); dims.back() = 1; - SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(n1, n1)); // for 10 cameras, size should be (10*Dim+1 x 10*Dim+1) - sparseSchurComplement(Fblocks, E, P, b, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... + // build augmented hessian + SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); + sparseSchurComplement(Fblocks, E, P, b, augmentedHessian); augmentedHessian(m, m)(0, 0) = f; + return boost::make_shared >(keys_, augmentedHessian); -#endif - } - - /** - * Do Schur complement, given Jacobian as F,E,P. - * Slow version - works on full matrices - */ - void schurComplement(const std::vector& Fblocks, const Matrix& E, - const Matrix3& P, const Vector& b, - /*output ->*/std::vector& Gs, std::vector& gs) const { - // Schur complement trick - // Gs = F' * F - F' * E * inv(E'*E) * E' * F - // gs = F' * (b - E * inv(E'*E) * E' * b) - // This version uses full matrices - - int numKeys = this->keys_.size(); - - /// Compute Full F ???? - Matrix F; - FillDiagonalF(Fblocks, F); - - Matrix H(Dim * numKeys, Dim * numKeys); - Vector gs_vector; - - H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); - gs_vector.noalias() = F.transpose() * (b - (E * (P * (E.transpose() * b)))); - - // Populate Gs and gs - int GsCount2 = 0; - for (DenseIndex i1 = 0; i1 < numKeys; i1++) { // for each camera - DenseIndex i1D = i1 * Dim; - gs.at(i1) = gs_vector.segment(i1D); - for (DenseIndex i2 = 0; i2 < numKeys; i2++) { - if (i2 >= i1) { - Gs.at(GsCount2) = H.block(i1D, i2 * Dim); - GsCount2++; - } - } - } } /** @@ -500,55 +428,6 @@ public: } // end of for over cameras } - /** - * Do Schur complement, given Jacobian as F,E,P, return Gs/gs - * Fast version - works on with sparsity - */ - void sparseSchurComplement(const std::vector& Fblocks, - const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, - /*output ->*/std::vector& Gs, std::vector& gs) const { - // Schur complement trick - // Gs = F' * F - F' * E * P * E' * F - // gs = F' * (b - E * P * E' * b) - - // a single point is observed in numKeys cameras - size_t numKeys = this->keys_.size(); - - int GsIndex = 0; - // Blockwise Schur complement - for (size_t i1 = 0; i1 < numKeys; i1++) { // for each camera - // GsIndex points to the upper triangular blocks - // 0 1 2 3 4 - // X 5 6 7 8 - // X X 9 10 11 - // X X X 12 13 - // X X X X 14 - const Matrix2D& Fi1 = Fblocks.at(i1).second; - - const Matrix23 Ei1_P = E.block(ZDim * i1, 0) * P; - - { // for i1 = i2 - // Dim = (Dx2) * (2) - gs.at(i1) = Fi1.transpose() * b.segment(ZDim * i1) // F' * b - - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) - - // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - Gs.at(GsIndex) = Fi1.transpose() - * (Fi1 - Ei1_P * E.block(ZDim * i1, 0).transpose() * Fi1); - GsIndex++; - } - // upper triangular part of the hessian - for (size_t i2 = i1 + 1; i2 < numKeys; i2++) { // for each camera - const Matrix2D& Fi2 = Fblocks.at(i2).second; - - // (DxD) = (Dx2) * ( (2x2) * (2xD) ) - Gs.at(GsIndex) = -Fi1.transpose() - * (Ei1_P * E.block(ZDim * i2, 0).transpose() * Fi2); - GsIndex++; - } - } // end of for over cameras - } - /** * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 4ff53664d..a106bf382 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -746,7 +746,7 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); factor1->add(level_uv, c1, unit2); factor1->add(level_uv_right, c2, unit2); - Matrix expectedF, expectedE; + Matrix expectedE; Vector expectedb; CameraSet cameras; @@ -757,7 +757,8 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { Point3 point; if (factor1->point()) point = *(factor1->point()); - factor1->computeJacobians(expectedF, expectedE, expectedb, cameras, point); + vector Fblocks; + factor1->computeJacobians(Fblocks, expectedE, expectedb, cameras, point); NonlinearFactorGraph generalGraph; SFMFactor sfm1(level_uv, unit2, c1, l1); diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 551ad078c..1cb026040 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -406,9 +406,11 @@ public: } // ================================================================== + std::vector Fblocks; Matrix F, E; Vector b; - double f = computeJacobians(F, E, b, cameras); + double f = computeJacobians(Fblocks, E, b, cameras); + Base::FillDiagonalF(Fblocks,F); // expensive !!! // Schur complement trick // Frank says: should be possible to do this more efficiently? @@ -591,12 +593,6 @@ public: return true; } - /// Returns Matrix, TODO: maybe should not exist -> not sparse ! - double computeJacobians(Matrix& F, Matrix& E, Vector& b, - const Cameras& cameras) const { - return Base::computeJacobians(F, E, b, cameras, point_); - } - /// Calculate vector of re-projection errors, before applying noise model Vector reprojectionErrorAfterTriangulation(const Values& values) const { Cameras cameras; From a132d959f5c8af1172b9d7edc4303dbed2166108 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 12:06:43 +0100 Subject: [PATCH 063/964] RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place. --- gtsam/slam/SmartFactorBase.h | 42 +---- gtsam/slam/SmartProjectionCameraFactor.h | 10 +- gtsam/slam/SmartProjectionFactor.h | 27 ++-- gtsam/slam/SmartProjectionPoseFactor.h | 16 +- .../tests/testSmartProjectionCameraFactor.cpp | 13 -- .../tests/testSmartProjectionPoseFactor.cpp | 150 ++---------------- .../slam/SmartStereoProjectionFactor.h | 15 +- .../slam/SmartStereoProjectionPoseFactor.h | 11 +- .../testSmartStereoProjectionPoseFactor.cpp | 35 ++-- 9 files changed, 68 insertions(+), 251 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 10de39049..56c214264 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -76,10 +76,6 @@ protected: typedef Eigen::Matrix VectorD; typedef Eigen::Matrix Matrix2; - /// An optional sensor pose, in the body frame (one for all cameras) - /// This seems to make sense for a CameraTrack, not for a CameraSet - boost::optional body_P_sensor_; - // check that noise model is isotropic and the same // TODO, this is hacky, we should just do this via constructor, not add void maybeSetNoiseModel(const SharedNoiseModel& sharedNoiseModel) { @@ -107,17 +103,10 @@ public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; + /// We use the new CameraSte data structure to refer to a set of cameras typedef CameraSet Cameras; - /** - * Constructor - * @param body_P_sensor is the transform from sensor to body frame (default identity) - */ - SmartFactorBase(boost::optional body_P_sensor = boost::none) : - body_P_sensor_(body_P_sensor) { - } - - /** Virtual destructor */ + /// Virtual destructor, subclasses from NonlinearFactor virtual ~SmartFactorBase() { } @@ -193,8 +182,6 @@ public: std::cout << "measurement, p = " << measured_[k] << "\t"; noiseModel_->print("noise model = "); } - if (this->body_P_sensor_) - this->body_P_sensor_->print(" sensor pose in body frame: "); Base::print("", keyFormatter); } @@ -208,10 +195,7 @@ public: areMeasurementsEqual = false; break; } - return e && Base::equals(p, tol) && areMeasurementsEqual - && ((!body_P_sensor_ && !e->body_P_sensor_) - || (body_P_sensor_ && e->body_P_sensor_ - && body_P_sensor_->equals(*e->body_P_sensor_))); + return e && Base::equals(p, tol) && areMeasurementsEqual; } /// Compute reprojection errors @@ -221,27 +205,10 @@ public: /** * Compute reprojection errors and derivatives - * TODO: the treatment of body_P_sensor_ is weird: the transformation - * is applied in the caller, but the derivatives are computed here. */ Vector reprojectionError(const Cameras& cameras, const Point3& point, typename Cameras::FBlocks& F, Matrix& E) const { - - Vector b = cameras.reprojectionError(point, measured_, F, E); - - // Apply sensor chain rule if needed TODO: no simpler way ?? - if (body_P_sensor_) { - size_t m = keys_.size(); - for (size_t i = 0; i < m; i++) { - const Pose3& pose_i = cameras[i].pose(); - Pose3 w_Pose_body = pose_i.compose(body_P_sensor_->inverse()); - Matrix66 J; - Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J); - F[i].leftCols(6) *= J; - } - } - - return b; + return cameras.reprojectionError(point, measured_, F, E); } /// Calculate vector of re-projection errors, noise model applied @@ -582,7 +549,6 @@ private: void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar & BOOST_SERIALIZATION_NVP(measured_); - ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // end class SmartFactorBase diff --git a/gtsam/slam/SmartProjectionCameraFactor.h b/gtsam/slam/SmartProjectionCameraFactor.h index 8381c847e..7ca8a4e1d 100644 --- a/gtsam/slam/SmartProjectionCameraFactor.h +++ b/gtsam/slam/SmartProjectionCameraFactor.h @@ -56,17 +56,15 @@ public: * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations * @param isImplicit if set to true linearize the factor to an implicit Schur factor - * @param body_P_sensor is the transform from body to sensor frame (default identity) */ SmartProjectionCameraFactor(const double rankTol = 1, const double linThreshold = -1, const bool manageDegeneracy = false, - const bool enableEPI = false, const bool isImplicit = false, - boost::optional body_P_sensor = boost::none) : - Base(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor), isImplicit_( + const bool enableEPI = false, const bool isImplicit = false) : + Base(rankTol, linThreshold, manageDegeneracy, enableEPI), isImplicit_( isImplicit) { if (linThreshold != -1) { - std::cout << "SmartProjectionCameraFactor: linThreshold " - << linThreshold << std::endl; + std::cout << "SmartProjectionCameraFactor: linThreshold " << linThreshold + << std::endl; } } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index b4fad72fb..f99ce7085 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -116,16 +116,14 @@ public: * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - * @param body_P_sensor is the transform from sensor to body frame (default identity) */ SmartProjectionFactor(const double rankTol, const double linThreshold, const bool manageDegeneracy, const bool enableEPI, - boost::optional body_P_sensor = boost::none, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1, SmartFactorStatePtr state = SmartFactorStatePtr(new SmartProjectionFactorState())) : - Base(body_P_sensor), rankTolerance_(rankTol), retriangulationThreshold_( - 1e-5), manageDegeneracy_(manageDegeneracy), enableEPI_(enableEPI), linearizationThreshold_( + rankTolerance_(rankTol), retriangulationThreshold_(1e-5), manageDegeneracy_( + manageDegeneracy), enableEPI_(enableEPI), linearizationThreshold_( linThreshold), degenerate_(false), cheiralityException_(false), throwCheirality_( false), verboseCheirality_(false), state_(state), landmarkDistanceThreshold_( landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( @@ -336,8 +334,8 @@ public: m = zeros(Base::Dim, Base::Dim); BOOST_FOREACH(Vector& v, gs) v = zero(Base::Dim); - return boost::make_shared >(this->keys_, Gs, gs, - 0.0); + return boost::make_shared >(this->keys_, + Gs, gs, 0.0); } // instead, if we want to manage the exception.. @@ -372,7 +370,7 @@ public: { std::vector Fblocks; f = computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); - Base::FillDiagonalF(Fblocks,F); // expensive ! + Base::FillDiagonalF(Fblocks, F); // expensive ! } // Schur complement trick @@ -390,7 +388,8 @@ public: // Note the minus sign above! g has negative b. // Informal reasoning: when we write the error as 0.5*|Ax-b|^2 // the derivative is A'*(Ax-b), and at x=0, this becomes -A'*b - gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b)))); + gs_vector.noalias() = -F.transpose() + * (b - (E * (P * (E.transpose() * b)))); // Populate Gs and gs int GsCount2 = 0; @@ -410,7 +409,8 @@ public: this->state_->gs = gs; this->state_->f = f; } - return boost::make_shared >(this->keys_, Gs, gs, f); + return boost::make_shared >(this->keys_, Gs, + gs, f); } // create factor @@ -541,8 +541,9 @@ public: } /// Version that takes values, and creates the point - bool triangulateAndComputeJacobians(std::vector& Fblocks, - Matrix& E, Vector& b, const Values& values) const { + bool triangulateAndComputeJacobians( + std::vector& Fblocks, Matrix& E, Vector& b, + const Values& values) const { Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) @@ -566,7 +567,7 @@ public: Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return Base::reprojectionError(cameras, point_); + return Base::reprojectionError(cameras, point_); else return zero(cameras.size() * 2); } @@ -613,7 +614,7 @@ public: // 3D parameterization of point at infinity const Point2& zi = this->measured_.at(0); this->point_ = cameras.front().backprojectPointAtInfinity(zi); - return Base::totalReprojectionErrorAtInfinity(cameras,this->point_); + return Base::totalReprojectionErrorAtInfinity(cameras, this->point_); } else { // Just use version in base class return Base::totalReprojectionError(cameras, point_); diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 5cfd74913..2ee807d9d 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -64,15 +64,16 @@ public: * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - * @param body_P_sensor is the transform from sensor to body frame (default identity) */ SmartProjectionPoseFactor(const double rankTol = 1, const double linThreshold = -1, const bool manageDegeneracy = false, - const bool enableEPI = false, boost::optional body_P_sensor = boost::none, - LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10, + const bool enableEPI = false, LinearizationMode linearizeTo = HESSIAN, + double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : - Base(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor, - landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), linearizeTo_(linearizeTo) {} + Base(rankTol, linThreshold, manageDegeneracy, enableEPI, + landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), linearizeTo_( + linearizeTo) { + } /** Virtual destructor */ virtual ~SmartProjectionPoseFactor() {} @@ -150,12 +151,9 @@ public: */ typename Base::Cameras cameras(const Values& values) const { typename Base::Cameras cameras; - size_t i=0; + size_t i = 0; BOOST_FOREACH(const Key& k, this->keys_) { Pose3 pose = values.at(k); - if(Base::body_P_sensor_) - pose = pose.compose(*(Base::body_P_sensor_)); - Camera camera(pose, sharedKs_[i++]); cameras.push_back(camera); } diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index a106bf382..ba7b7bf51 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -41,8 +41,6 @@ Symbol l1('l', 1), l2('l', 2), l3('l', 3); Key c1 = 1, c2 = 2, c3 = 3; static Point2 measurement1(323.0, 240.0); -static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), - Point3(0.25, -0.10, 1.0)); typedef SmartProjectionCameraFactor SmartFactor; typedef SmartProjectionCameraFactor SmartFactorBundler; @@ -100,17 +98,6 @@ TEST( SmartProjectionCameraFactor, Constructor4) { factor1.add(measurement1, x1, unit2); } -/* ************************************************************************* */ -TEST( SmartProjectionCameraFactor, ConstructorWithTransform) { - using namespace vanilla; - bool manageDegeneracy = true; - bool isImplicit = false; - bool enableEPI = false; - SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, isImplicit, - enableEPI, body_P_sensor1); - factor1.add(measurement1, x1, unit2); -} - /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Equals ) { using namespace vanilla; diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index caa0e5162..9345b5f45 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -50,9 +50,6 @@ static Symbol x2('X', 2); static Symbol x3('X', 3); static Point2 measurement1(323.0, 240.0); -static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), - Point3(0.25, -0.10, 1.0)); - typedef SmartProjectionPoseFactor SmartFactor; typedef SmartProjectionPoseFactor SmartFactorBundler; @@ -80,16 +77,6 @@ TEST( SmartProjectionPoseFactor, Constructor4) { factor1.add(measurement1, x1, model, sharedK); } -/* ************************************************************************* */ -TEST( SmartProjectionPoseFactor, ConstructorWithTransform) { - using namespace vanillaPose; - bool manageDegeneracy = true; - bool enableEPI = false; - SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, enableEPI, - body_P_sensor1); - factor1.add(measurement1, x1, model, sharedK); -} - /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Equals ) { using namespace vanillaPose; @@ -277,117 +264,6 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { tictoc_print_(); } -/* *************************************************************************/ -TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) { - - using namespace vanillaPose; - - // create arbitrary body_Pose_sensor (transforms from sensor to body) - Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), - Point3(1, 1, 1)); // Pose3(); // - - // These are the poses we want to estimate, from camera measurements - Pose3 bodyPose1 = level_pose.compose(sensor_to_body.inverse()); - Pose3 bodyPose2 = pose_right.compose(sensor_to_body.inverse()); - Pose3 bodyPose3 = pose_above.compose(sensor_to_body.inverse()); - - vector measurements_cam1, measurements_cam2, measurements_cam3; - - // Project three landmarks into three cameras - projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); - projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); - projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); - - // Create smart factors - vector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); - - double rankTol = 1; - double linThreshold = -1; - bool manageDegeneracy = false; - bool enableEPI = false; - - SmartFactor::shared_ptr smartFactor1( - new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI, - sensor_to_body)); - smartFactor1->add(measurements_cam1, views, model, sharedK); - - SmartFactor::shared_ptr smartFactor2( - new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI, - sensor_to_body)); - smartFactor2->add(measurements_cam2, views, model, sharedK); - - SmartFactor::shared_ptr smartFactor3( - new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI, - sensor_to_body)); - smartFactor3->add(measurements_cam3, views, model, sharedK); - - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - - // Put all factors in factor graph, adding priors - NonlinearFactorGraph graph; - graph.push_back(smartFactor1); - graph.push_back(smartFactor2); - graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, bodyPose1, noisePrior)); - graph.push_back(PriorFactor(x2, bodyPose2, noisePrior)); - - // Check errors at ground truth poses - Values gtValues; - gtValues.insert(x1, bodyPose1); - gtValues.insert(x2, bodyPose2); - gtValues.insert(x3, bodyPose3); - double actualError = graph.error(gtValues); - double expectedError = 0.0; - DOUBLES_EQUAL(expectedError, actualError, 1e-7) - - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), - Point3(0.1, 0.1, 0.1)); - Values values; - values.insert(x1, bodyPose1); - values.insert(x2, bodyPose2); - // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, bodyPose3 * noise_pose); - - LevenbergMarquardtParams params; - Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); - result = optimizer.optimize(); - - // result.print("results of 3 camera, 3 landmark optimization \n"); - if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(bodyPose3, result.at(x3))); - - // Check derivatives - - // Calculate E and P using computeEP, triangulates - Matrix actualE; - smartFactor1->triangulateAndComputeE(actualE, values); - - // Calculate expected derivative for point (easiest to check) - SmartFactor::Cameras cameras = smartFactor1->cameras(values); - boost::function f = // - boost::bind(&SmartFactor::reprojectionError, *smartFactor1, cameras, _1); - boost::optional point = smartFactor1->point(); - CHECK(point); - - // TODO, this is really a test of CameraSet - Matrix expectedE = numericalDerivative11(f, *point); - EXPECT(assert_equal(expectedE, actualE, 1e-7)); - - // Calculate using reprojectionError - Matrix E; - SmartFactor::Cameras::FBlocks F; - Vector actualErrors = smartFactor1->reprojectionError(cameras, *point, F, E); - EXPECT(assert_equal(expectedE, E, 1e-7)); - - // Success ! The derivatives of reprojectionError now agree with f ! - EXPECT(assert_equal(f(*point), actualErrors, 1e-7)); -} - /* *************************************************************************/ TEST( SmartProjectionPoseFactor, Factors ) { @@ -599,15 +475,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -654,17 +530,17 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model, sharedK); @@ -720,22 +596,22 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model, sharedK); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model, sharedK); @@ -782,15 +658,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); + new SmartFactor(1, -1, false, false, JACOBIAN_Q)); smartFactor1->add(measurements_cam1, views, model, sharedK); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); + new SmartFactor(1, -1, false, false, JACOBIAN_Q)); smartFactor2->add(measurements_cam2, views, model, sharedK); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); + new SmartFactor(1, -1, false, false, JACOBIAN_Q)); smartFactor3->add(measurements_cam3, views, model, sharedK); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 1cb026040..68b396cd6 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -130,16 +130,15 @@ public: */ SmartStereoProjectionFactor(const double rankTol, const double linThreshold, const bool manageDegeneracy, const bool enableEPI, - boost::optional body_P_sensor = boost::none, double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1, - SmartFactorStatePtr state = SmartFactorStatePtr(new SmartStereoProjectionFactorState())) : - Base(body_P_sensor), rankTolerance_(rankTol), retriangulationThreshold_( - 1e-5), manageDegeneracy_(manageDegeneracy), enableEPI_(enableEPI), linearizationThreshold_( + double dynamicOutlierRejectionThreshold = -1, SmartFactorStatePtr state = + SmartFactorStatePtr(new SmartStereoProjectionFactorState())) : + rankTolerance_(rankTol), retriangulationThreshold_(1e-5), manageDegeneracy_( + manageDegeneracy), enableEPI_(enableEPI), linearizationThreshold_( linThreshold), degenerate_(false), cheiralityException_(false), throwCheirality_( - false), verboseCheirality_(false), state_(state), - landmarkDistanceThreshold_(landmarkDistanceThreshold), - dynamicOutlierRejectionThreshold_(dynamicOutlierRejectionThreshold) { + false), verboseCheirality_(false), state_(state), landmarkDistanceThreshold_( + landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( + dynamicOutlierRejectionThreshold) { } /** Virtual destructor */ diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index 3e0c6476f..2f4677835 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -65,15 +65,16 @@ public: * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - * @param body_P_sensor is the transform from body to sensor frame (default identity) */ SmartStereoProjectionPoseFactor(const double rankTol = 1, const double linThreshold = -1, const bool manageDegeneracy = false, - const bool enableEPI = false, boost::optional body_P_sensor = boost::none, - LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10, + const bool enableEPI = false, LinearizationMode linearizeTo = HESSIAN, + double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : - Base(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor, - landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), linearizeTo_(linearizeTo) {} + Base(rankTol, linThreshold, manageDegeneracy, enableEPI, + landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), linearizeTo_( + linearizeTo) { + } /** Virtual destructor */ virtual ~SmartStereoProjectionPoseFactor() {} diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 4cc8e66ff..48dfa1ff0 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -106,15 +106,6 @@ TEST( SmartStereoProjectionPoseFactor, Constructor4) { factor1.add(measurement1, poseKey1, model, K); } -/* ************************************************************************* */ -TEST( SmartStereoProjectionPoseFactor, ConstructorWithTransform) { - bool manageDegeneracy = true; - bool enableEPI = false; - SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, enableEPI, - body_P_sensor1); - factor1.add(measurement1, poseKey1, model, K); -} - /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Equals ) { SmartFactor::shared_ptr factor1(new SmartFactor()); @@ -345,15 +336,15 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { cam2, cam3, landmark3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor3->add(measurements_cam3, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -414,17 +405,17 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { cam2, cam3, landmark3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model, K); @@ -493,22 +484,22 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10, 10, 1); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model, K); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model, K); @@ -567,13 +558,13 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); // stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); // -// SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); +// SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, JACOBIAN_Q)); // smartFactor1->add(measurements_cam1, views, model, K); // -// SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); +// SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, JACOBIAN_Q)); // smartFactor2->add(measurements_cam2, views, model, K); // -// SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q)); +// SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, JACOBIAN_Q)); // smartFactor3->add(measurements_cam3, views, model, K); // // const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); From a375e7b5be1b43d254a7d295e413ef16f22aaa4d Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 13:55:16 +0100 Subject: [PATCH 064/964] RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown. --- .cproject | 22 +- examples/SFMExample_SmartFactor.cpp | 15 +- examples/SFMExample_SmartFactorPCG.cpp | 15 +- gtsam/slam/SmartFactorBase.h | 20 +- gtsam/slam/SmartProjectionCameraFactor.h | 20 +- gtsam/slam/SmartProjectionFactor.h | 3 - gtsam/slam/SmartProjectionPoseFactor.h | 70 +---- .../tests/testSmartProjectionPoseFactor.cpp | 263 +++++++++--------- .../examples/SmartProjectionFactorExample.cpp | 30 +- .../slam/SmartStereoProjectionPoseFactor.h | 1 + 10 files changed, 195 insertions(+), 264 deletions(-) diff --git a/.cproject b/.cproject index 5d3733e28..e190d8f65 100644 --- a/.cproject +++ b/.cproject @@ -811,18 +811,10 @@ false true - + make - -j5 - SmartProjectionFactorExample_kitti_nonbatch.run - true - true - true - - - make - -j5 - SmartProjectionFactorExample_kitti.run + -j4 + SmartStereoProjectionFactorExample.run true true true @@ -835,6 +827,14 @@ true true + + make + -j4 + SmartProjectionFactorExample.run + true + true + true + make -j2 diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index fce046a59..cd6024e6c 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -34,6 +34,9 @@ using namespace gtsam; // Make the typename short so it looks much cleaner typedef SmartProjectionPoseFactor SmartFactor; +// create a typedef to the camera type +typedef PinholePose Camera; + /* ************************************************************************* */ int main(int argc, char* argv[]) { @@ -60,7 +63,7 @@ int main(int argc, char* argv[]) { for (size_t i = 0; i < poses.size(); ++i) { // generate the 2D measurement - SimpleCamera camera(poses[i], *K); + Camera camera(poses[i], K); Point2 measurement = camera.project(points[j]); // call add() function to add measurement into a single factor, here we need to add: @@ -68,7 +71,7 @@ int main(int argc, char* argv[]) { // 2. the corresponding camera's key // 3. camera noise model // 4. camera calibration - smartfactor->add(measurement, i, measurementNoise, K); + smartfactor->add(measurement, i, measurementNoise); } // insert the smart factor in the graph @@ -77,15 +80,15 @@ int main(int argc, char* argv[]) { // Add a prior on pose x0. This indirectly specifies where the origin is. // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas( + noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); - graph.push_back(PriorFactor(0, poses[0], poseNoise)); + graph.push_back(PriorFactor(0, Camera(poses[0],K), noise)); // Because the structure-from-motion problem has a scale ambiguity, the problem is // still under-constrained. Here we add a prior on the second pose x1, so this will // fix the scale by indicating the distance between x0 and x1. // Because these two are fixed, the rest of the poses will be also be fixed. - graph.push_back(PriorFactor(1, poses[1], poseNoise)); // add directly to graph + graph.push_back(PriorFactor(1, Camera(poses[1],K), noise)); // add directly to graph graph.print("Factor Graph:\n"); @@ -94,7 +97,7 @@ int main(int argc, char* argv[]) { Values initialEstimate; Pose3 delta(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); for (size_t i = 0; i < poses.size(); ++i) - initialEstimate.insert(i, poses[i].compose(delta)); + initialEstimate.insert(i, Camera(poses[i].compose(delta), K)); initialEstimate.print("Initial Estimates:\n"); // Optimize the graph and print results diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index 49482292f..27ef7b9cc 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -30,6 +30,9 @@ using namespace gtsam; // Make the typename short so it looks much cleaner typedef SmartProjectionPoseFactor SmartFactor; +// create a typedef to the camera type +typedef PinholePose Camera; + /* ************************************************************************* */ int main(int argc, char* argv[]) { @@ -56,11 +59,11 @@ int main(int argc, char* argv[]) { for (size_t i = 0; i < poses.size(); ++i) { // generate the 2D measurement - SimpleCamera camera(poses[i], *K); + Camera camera(poses[i], K); Point2 measurement = camera.project(points[j]); // call add() function to add measurement into a single factor, here we need to add: - smartfactor->add(measurement, i, measurementNoise, K); + smartfactor->add(measurement, i, measurementNoise); } // insert the smart factor in the graph @@ -69,18 +72,18 @@ int main(int argc, char* argv[]) { // Add a prior on pose x0. This indirectly specifies where the origin is. // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas( + noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); - graph.push_back(PriorFactor(0, poses[0], poseNoise)); + graph.push_back(PriorFactor(0, Camera(poses[0],K), noise)); // Fix the scale ambiguity by adding a prior - graph.push_back(PriorFactor(1, poses[1], poseNoise)); + graph.push_back(PriorFactor(1, Camera(poses[0],K), noise)); // Create the initial estimate to the solution Values initialEstimate; Pose3 delta(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); for (size_t i = 0; i < poses.size(); ++i) - initialEstimate.insert(i, poses[i].compose(delta)); + initialEstimate.insert(i, Camera(poses[i].compose(delta),K)); // We will use LM in the outer optimization loop, but by specifying "Iterative" below // We indicate that an iterative linear solver should be used. diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 56c214264..ba0d27530 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -116,21 +116,21 @@ public: * @param poseKey is the index corresponding to the camera observing the landmark * @param sharedNoiseModel is the measurement noise */ - void add(const Z& measured_i, const Key& poseKey_i, + void add(const Z& measured_i, const Key& cameraKey_i, const SharedNoiseModel& sharedNoiseModel) { this->measured_.push_back(measured_i); - this->keys_.push_back(poseKey_i); + this->keys_.push_back(cameraKey_i); maybeSetNoiseModel(sharedNoiseModel); } /** * Add a bunch of measurements, together with the camera keys and noises */ - void add(std::vector& measurements, std::vector& poseKeys, + void add(std::vector& measurements, std::vector& cameraKeys, std::vector& noises) { for (size_t i = 0; i < measurements.size(); i++) { this->measured_.push_back(measurements.at(i)); - this->keys_.push_back(poseKeys.at(i)); + this->keys_.push_back(cameraKeys.at(i)); maybeSetNoiseModel(noises.at(i)); } } @@ -138,11 +138,11 @@ public: /** * Add a bunch of measurements and uses the same noise model for all of them */ - void add(std::vector& measurements, std::vector& poseKeys, + void add(std::vector& measurements, std::vector& cameraKeys, const SharedNoiseModel& noise) { for (size_t i = 0; i < measurements.size(); i++) { this->measured_.push_back(measurements.at(i)); - this->keys_.push_back(poseKeys.at(i)); + this->keys_.push_back(cameraKeys.at(i)); maybeSetNoiseModel(noise); } } @@ -170,6 +170,14 @@ public: return measured_; } + /// Collect all cameras: important that in key order + Cameras cameras(const Values& values) const { + Cameras cameras; + BOOST_FOREACH(const Key& k, this->keys_) + cameras.push_back(values.at(k)); + return cameras; + } + /** * print * @param s optional string naming the factor diff --git a/gtsam/slam/SmartProjectionCameraFactor.h b/gtsam/slam/SmartProjectionCameraFactor.h index 7ca8a4e1d..f10681ab8 100644 --- a/gtsam/slam/SmartProjectionCameraFactor.h +++ b/gtsam/slam/SmartProjectionCameraFactor.h @@ -95,39 +95,31 @@ public: return Dim * this->keys_.size(); // 6 for the pose and 3 for the calibration } - /// Collect all cameras: important that in key order - Cameras cameras(const Values& values) const { - Cameras cameras; - BOOST_FOREACH(const Key& k, this->keys_) - cameras.push_back(values.at(k)); - return cameras; - } - /// linearize and adds damping on the points boost::shared_ptr linearizeDamped(const Values& values, const double lambda=0.0) const { if (!isImplicit_) - return Base::createHessianFactor(cameras(values), lambda); + return Base::createHessianFactor(Base::cameras(values), lambda); else - return Base::createRegularImplicitSchurFactor(cameras(values)); + return Base::createRegularImplicitSchurFactor(Base::cameras(values)); } /// linearize returns a Hessianfactor that is an approximation of error(p) virtual boost::shared_ptr > linearizeToHessian( const Values& values, double lambda=0.0) const { - return Base::createHessianFactor(cameras(values),lambda); + return Base::createHessianFactor(Base::cameras(values),lambda); } /// linearize returns a Hessianfactor that is an approximation of error(p) virtual boost::shared_ptr > linearizeToImplicit( const Values& values, double lambda=0.0) const { - return Base::createRegularImplicitSchurFactor(cameras(values),lambda); + return Base::createRegularImplicitSchurFactor(Base::cameras(values),lambda); } /// linearize returns a Jacobianfactor that is an approximation of error(p) virtual boost::shared_ptr > linearizeToJacobian( const Values& values, double lambda=0.0) const { - return Base::createJacobianQFactor(cameras(values),lambda); + return Base::createJacobianQFactor(Base::cameras(values),lambda); } /// linearize returns a Hessianfactor that is an approximation of error(p) @@ -148,7 +140,7 @@ public: /// Calculare total reprojection error virtual double error(const Values& values) const { if (this->active(values)) { - return Base::totalReprojectionError(cameras(values)); + return Base::totalReprojectionError(Base::cameras(values)); } else { // else of active flag return 0.0; } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index f99ce7085..5b061f612 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -621,9 +621,6 @@ public: } } - /// Cameras are computed in derived class - virtual Cameras cameras(const Values& values) const = 0; - /** return the landmark */ boost::optional point() const { return point_; diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 2ee807d9d..48fbd937f 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -78,51 +78,6 @@ public: /** Virtual destructor */ virtual ~SmartProjectionPoseFactor() {} - /** - * add a new measurement and pose key - * @param measured is the 2m dimensional location of the projection of a single landmark in the m view (the measurement) - * @param poseKey is key corresponding to the camera observing the same landmark - * @param noise_i is the measurement noise - * @param K_i is the (known) camera calibration - */ - void add(const Point2 measured_i, const Key poseKey_i, - const SharedNoiseModel noise_i, - const boost::shared_ptr K_i) { - Base::add(measured_i, poseKey_i, noise_i); - sharedKs_.push_back(K_i); - } - - /** - * Variant of the previous one in which we include a set of measurements - * @param measurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement) - * @param poseKeys vector of keys corresponding to the camera observing the same landmark - * @param noises vector of measurement noises - * @param Ks vector of calibration objects - */ - void add(std::vector measurements, std::vector poseKeys, - std::vector noises, - std::vector > Ks) { - Base::add(measurements, poseKeys, noises); - for (size_t i = 0; i < measurements.size(); i++) { - sharedKs_.push_back(Ks.at(i)); - } - } - - /** - * Variant of the previous one in which we include a set of measurements with the same noise and calibration - * @param mmeasurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement) - * @param poseKeys vector of keys corresponding to the camera observing the same landmark - * @param noise measurement noise (same for all measurements) - * @param K the (known) camera calibration (same for all measurements) - */ - void add(std::vector measurements, std::vector poseKeys, - const SharedNoiseModel noise, const boost::shared_ptr K) { - for (size_t i = 0; i < measurements.size(); i++) { - Base::add(measurements.at(i), poseKeys.at(i), noise); - sharedKs_.push_back(K); - } - } - /** * print * @param s optional string naming the factor @@ -143,23 +98,6 @@ public: return e && Base::equals(p, tol); } - /** - * Collect all cameras involved in this factor - * @param values Values structure which must contain camera poses corresponding - * to keys involved in this factor - * @return vector of Values - */ - typename Base::Cameras cameras(const Values& values) const { - typename Base::Cameras cameras; - size_t i = 0; - BOOST_FOREACH(const Key& k, this->keys_) { - Pose3 pose = values.at(k); - Camera camera(pose, sharedKs_[i++]); - cameras.push_back(camera); - } - return cameras; - } - /** * Linearize to Gaussian Factor * @param values Values structure which must contain camera poses for this factor @@ -170,13 +108,13 @@ public: // depending on flag set on construction we may linearize to different linear factors switch(linearizeTo_){ case JACOBIAN_SVD : - return this->createJacobianSVDFactor(cameras(values), 0.0); + return this->createJacobianSVDFactor(Base::cameras(values), 0.0); break; case JACOBIAN_Q : - return this->createJacobianQFactor(cameras(values), 0.0); + return this->createJacobianQFactor(Base::cameras(values), 0.0); break; default: - return this->createHessianFactor(cameras(values)); + return this->createHessianFactor(Base::cameras(values)); break; } } @@ -186,7 +124,7 @@ public: */ virtual double error(const Values& values) const { if (this->active(values)) { - return this->totalReprojectionError(cameras(values)); + return this->totalReprojectionError(Base::cameras(values)); } else { // else of active flag return 0.0; } diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 9345b5f45..b235d8e2b 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -19,8 +19,8 @@ */ #include "smartFactorScenarios.h" -#include #include +#include #include #include #include @@ -67,24 +67,24 @@ TEST( SmartProjectionPoseFactor, Constructor2) { TEST( SmartProjectionPoseFactor, Constructor3) { using namespace vanillaPose; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, x1, model, sharedK); + factor1->add(measurement1, x1, model); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { using namespace vanillaPose; SmartFactor factor1(rankTol, linThreshold); - factor1.add(measurement1, x1, model, sharedK); + factor1.add(measurement1, x1, model); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Equals ) { using namespace vanillaPose; SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, x1, model, sharedK); + factor1->add(measurement1, x1, model); SmartFactor::shared_ptr factor2(new SmartFactor()); - factor2->add(measurement1, x1, model, sharedK); + factor2->add(measurement1, x1, model); CHECK(assert_equal(*factor1, *factor2)); } @@ -100,12 +100,12 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { Point2 level_uv_right = level_camera_right.project(landmark1); SmartFactor factor; - factor.add(level_uv, x1, model, sharedK); - factor.add(level_uv_right, x2, model, sharedK); + factor.add(level_uv, x1, model); + factor.add(level_uv_right, x2, model); Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam1); + values.insert(x2, cam2); double actualError = factor.error(values); double expectedError = 0.0; @@ -159,14 +159,14 @@ TEST( SmartProjectionPoseFactor, noisy ) { Point2 level_uv_right = level_camera_right.project(landmark1); Values values; - values.insert(x1, level_pose); + values.insert(x1, cam2); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); - values.insert(x2, pose_right.compose(noise_pose)); + values.insert(x2, Camera(pose_right.compose(noise_pose), sharedK)); SmartFactor::shared_ptr factor(new SmartFactor()); - factor->add(level_uv, x1, model, sharedK); - factor->add(level_uv_right, x2, model, sharedK); + factor->add(level_uv, x1, model); + factor->add(level_uv_right, x2, model); double actualError1 = factor->error(values); @@ -179,18 +179,12 @@ TEST( SmartProjectionPoseFactor, noisy ) { noises.push_back(model); noises.push_back(model); - vector > Ks; ///< shared pointer to calibration object (one for each camera) - Ks.push_back(sharedK); - Ks.push_back(sharedK); - vector views; views.push_back(x1); views.push_back(x2); - factor2->add(measurements, views, noises, Ks); - + factor2->add(measurements, views, noises); double actualError2 = factor2->error(values); - DOUBLES_EQUAL(actualError1, actualError2, 1e-7); } @@ -212,13 +206,13 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { views.push_back(x3); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model, sharedK2); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, model, sharedK2); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, model, sharedK2); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -226,17 +220,17 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam2); + values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose_above * noise_pose); + values.insert(x3, Camera(pose_above * noise_pose, sharedK2)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -288,7 +282,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { views.push_back(x2); SmartFactor::shared_ptr smartFactor1 = boost::make_shared(); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::Cameras cameras; cameras.push_back(cam1); @@ -408,13 +402,13 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, model, sharedK); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, model, sharedK); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -422,17 +416,17 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam2); + values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose_above * noise_pose); + values.insert(x3, Camera(pose_above * noise_pose, sharedK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -476,15 +470,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); - smartFactor2->add(measurements_cam2, views, model, sharedK); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); - smartFactor3->add(measurements_cam3, views, model, sharedK); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -492,16 +486,16 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); - values.insert(x3, pose_above * noise_pose); + values.insert(x1, cam2); + values.insert(x2, cam2); + values.insert(x3, Camera(pose_above * noise_pose, sharedK)); LevenbergMarquardtParams params; Values result; @@ -532,17 +526,17 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); - smartFactor2->add(measurements_cam2, views, model, sharedK); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); - smartFactor3->add(measurements_cam3, views, model, sharedK); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -550,16 +544,16 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); - values.insert(x3, pose_above * noise_pose); + values.insert(x1, cam2); + values.insert(x2, cam2); + values.insert(x3, Camera(pose_above * noise_pose, sharedK)); // All factors are disabled and pose should remain where it is LevenbergMarquardtParams params; @@ -598,22 +592,22 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor2->add(measurements_cam2, views, model, sharedK); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor3->add(measurements_cam3, views, model, sharedK); + smartFactor3->add(measurements_cam3, views, model); SmartFactor::shared_ptr smartFactor4( new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); - smartFactor4->add(measurements_cam4, views, model, sharedK); + smartFactor4->add(measurements_cam4, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -622,15 +616,15 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); graph.push_back(smartFactor4); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); - values.insert(x3, pose_above); + values.insert(x1, cam2); + values.insert(x2, cam2); + values.insert(x3, Camera(pose_above * noise_pose, sharedK)); // All factors are disabled and pose should remain where it is LevenbergMarquardtParams params; @@ -659,15 +653,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(1, -1, false, false, JACOBIAN_Q)); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( new SmartFactor(1, -1, false, false, JACOBIAN_Q)); - smartFactor2->add(measurements_cam2, views, model, sharedK); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( new SmartFactor(1, -1, false, false, JACOBIAN_Q)); - smartFactor3->add(measurements_cam3, views, model, sharedK); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -675,16 +669,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); - values.insert(x3, pose_above * noise_pose); + values.insert(x1, cam2); + values.insert(x2, cam2); + values.insert(x3, Camera(pose_above * noise_pose, sharedK)); LevenbergMarquardtParams params; Values result; @@ -730,15 +723,15 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { ProjectionFactor(cam3.project(landmark3), model, x3, L(3), sharedK2)); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); - values.insert(x3, pose_above * noise_pose); + values.insert(x1, cam2); + values.insert(x2, cam2); + values.insert(x3, Camera(pose_above * noise_pose, sharedK2)); values.insert(L(1), landmark1); values.insert(L(2), landmark2); values.insert(L(3), landmark3); @@ -786,13 +779,13 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol)); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol)); - smartFactor2->add(measurements_cam2, views, model, sharedK); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol)); - smartFactor3->add(measurements_cam3, views, model, sharedK); + smartFactor3->add(measurements_cam3, views, model); NonlinearFactorGraph graph; graph.push_back(smartFactor1); @@ -803,10 +796,10 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam2); + values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose_above * noise_pose); + values.insert(x3, Camera(pose_above * noise_pose, sharedK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -867,11 +860,11 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor1->add(measurements_cam1, views, model, sharedK2); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor2->add(measurements_cam2, views, model, sharedK2); + smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, @@ -881,7 +874,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back( PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( @@ -890,10 +883,10 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right * noise_pose); + values.insert(x1, cam2); + values.insert(x2, Camera(pose_right * noise_pose, sharedK2)); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose_above * noise_pose * noise_pose); + values.insert(x3, Camera(pose_above * noise_pose * noise_pose, sharedK2)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -951,15 +944,15 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) SmartFactor::shared_ptr smartFactor1( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor1->add(measurements_cam1, views, model, sharedK); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor2->add(measurements_cam2, views, model, sharedK); + smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( new SmartFactor(rankTol, linThreshold, manageDegeneracy)); - smartFactor3->add(measurements_cam3, views, model, sharedK); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, @@ -970,7 +963,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back( PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( @@ -980,10 +973,10 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam2); + values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose_above * noise_pose); + values.insert(x3, Camera(pose_above * noise_pose,sharedK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1029,13 +1022,13 @@ TEST( SmartProjectionPoseFactor, Hessian ) { measurements_cam1.push_back(cam2_uv1); SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, model, sharedK2); + smartFactor1->add(measurements_cam1, views, model); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam2); + values.insert(x2, cam2); boost::shared_ptr hessianFactor = smartFactor1->linearize( values); @@ -1064,12 +1057,12 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); SmartFactor::shared_ptr smartFactorInstance(new SmartFactor()); - smartFactorInstance->add(measurements_cam1, views, model, sharedK); + smartFactorInstance->add(measurements_cam1, views, model); Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); - values.insert(x3, pose_above); + values.insert(x1, cam2); + values.insert(x2, cam2); + values.insert(x3, cam3); boost::shared_ptr hessianFactor = smartFactorInstance->linearize(values); @@ -1077,9 +1070,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, poseDrift.compose(level_pose)); - rotValues.insert(x2, poseDrift.compose(pose_right)); - rotValues.insert(x3, poseDrift.compose(pose_above)); + rotValues.insert(x1, Camera(poseDrift.compose(level_pose),sharedK)); + rotValues.insert(x2, Camera(poseDrift.compose(pose_right),sharedK)); + rotValues.insert(x3, Camera(poseDrift.compose(pose_above),sharedK)); boost::shared_ptr hessianFactorRot = smartFactorInstance->linearize(rotValues); @@ -1093,9 +1086,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, poseDrift2.compose(level_pose)); - tranValues.insert(x2, poseDrift2.compose(pose_right)); - tranValues.insert(x3, poseDrift2.compose(pose_above)); + tranValues.insert(x1, Camera(poseDrift2.compose(level_pose),sharedK)); + tranValues.insert(x2, Camera(poseDrift2.compose(pose_right),sharedK)); + tranValues.insert(x3, Camera(poseDrift2.compose(pose_above),sharedK)); boost::shared_ptr hessianFactorRotTran = smartFactorInstance->linearize(tranValues); @@ -1122,12 +1115,12 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); SmartFactor::shared_ptr smartFactor(new SmartFactor()); - smartFactor->add(measurements_cam1, views, model, sharedK2); + smartFactor->add(measurements_cam1, views, model); Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); - values.insert(x3, pose_above); + values.insert(x1, cam2); + values.insert(x2, cam2); + values.insert(x3, cam3); boost::shared_ptr hessianFactor = smartFactor->linearize( values); @@ -1137,9 +1130,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, poseDrift.compose(level_pose)); - rotValues.insert(x2, poseDrift.compose(pose_right)); - rotValues.insert(x3, poseDrift.compose(pose_above)); + rotValues.insert(x1, Camera(poseDrift.compose(level_pose),sharedK2)); + rotValues.insert(x2, Camera(poseDrift.compose(pose_right),sharedK2)); + rotValues.insert(x3, Camera(poseDrift.compose(pose_above),sharedK2)); boost::shared_ptr hessianFactorRot = smartFactor->linearize( rotValues); @@ -1155,9 +1148,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, poseDrift2.compose(level_pose)); - tranValues.insert(x2, poseDrift2.compose(pose_right)); - tranValues.insert(x3, poseDrift2.compose(pose_above)); + tranValues.insert(x1, Camera(poseDrift2.compose(level_pose),sharedK2)); + tranValues.insert(x2, Camera(poseDrift2.compose(pose_right),sharedK2)); + tranValues.insert(x3, Camera(poseDrift2.compose(pose_above),sharedK2)); boost::shared_ptr hessianFactorRotTran = smartFactor->linearize(tranValues); @@ -1171,9 +1164,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { SmartFactorBundler factor(rankTol, linThreshold); - boost::shared_ptr sharedBundlerK( - new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); - factor.add(measurement1, x1, model, sharedBundlerK); + factor.add(measurement1, x1, model); } /* *************************************************************************/ @@ -1215,13 +1206,13 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { views.push_back(x3); SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); - smartFactor1->add(measurements_cam1, views, model, sharedBundlerK); + smartFactor1->add(measurements_cam1, views, model); SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); - smartFactor2->add(measurements_cam2, views, model, sharedBundlerK); + smartFactor2->add(measurements_cam2, views, model); SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); - smartFactor3->add(measurements_cam3, views, model, sharedBundlerK); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1229,17 +1220,17 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); - graph.push_back(PriorFactor(x2, pose_right, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x2, cam2, noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam2); + values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose_above * noise_pose); + values.insert(x3, Camera(pose_above * noise_pose,sharedBundlerK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1313,15 +1304,15 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { SmartFactorBundler::shared_ptr smartFactor1( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); - smartFactor1->add(measurements_cam1, views, model, sharedBundlerK); + smartFactor1->add(measurements_cam1, views, model); SmartFactorBundler::shared_ptr smartFactor2( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); - smartFactor2->add(measurements_cam2, views, model, sharedBundlerK); + smartFactor2->add(measurements_cam2, views, model); SmartFactorBundler::shared_ptr smartFactor3( new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); - smartFactor3->add(measurements_cam3, views, model, sharedBundlerK); + smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, @@ -1332,7 +1323,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back( PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( @@ -1342,10 +1333,10 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, level_pose); - values.insert(x2, pose_right); + values.insert(x1, cam2); + values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose_above * noise_pose); + values.insert(x3, Camera(pose_above * noise_pose,sharedBundlerK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp index dc921a7da..9e8523ebb 100644 --- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp +++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp @@ -26,16 +26,14 @@ * -makes monocular observations of many landmarks */ -#include +#include +#include #include #include #include #include #include #include -#include - -#include #include #include @@ -46,6 +44,7 @@ using namespace gtsam; int main(int argc, char** argv){ + typedef PinholePose Camera; typedef SmartProjectionPoseFactor SmartFactor; Values initial_estimate; @@ -68,18 +67,17 @@ int main(int argc, char** argv){ cout << "Reading camera poses" << endl; ifstream pose_file(pose_loc.c_str()); - int pose_id; + int i; MatrixRowMajor m(4,4); //read camera pose parameters and use to make initial estimates of camera poses - while (pose_file >> pose_id) { - for (int i = 0; i < 16; i++) { + while (pose_file >> i) { + for (int i = 0; i < 16; i++) pose_file >> m.data()[i]; - } - initial_estimate.insert(Symbol('x', pose_id), Pose3(m)); + initial_estimate.insert(i, Camera(Pose3(m),K)); } - // camera and landmark keys - size_t x, l; + // landmark keys + size_t l; // pixel coordinates uL, uR, v (same for left/right images due to rectification) // landmark coordinates X, Y, Z in camera frame, resulting from triangulation @@ -92,21 +90,21 @@ int main(int argc, char** argv){ SmartFactor::shared_ptr factor(new SmartFactor()); size_t current_l = 3; // hardcoded landmark ID from first measurement - while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) { + while (factor_file >> i >> l >> uL >> uR >> v >> X >> Y >> Z) { if(current_l != l) { graph.push_back(factor); factor = SmartFactor::shared_ptr(new SmartFactor()); current_l = l; } - factor->add(Point2(uL,v), Symbol('x',x), model, K); + factor->add(Point2(uL,v), i, model); } - Pose3 first_pose = initial_estimate.at(Symbol('x',1)); + Camera firstCamera = initial_estimate.at(1); //constrain the first pose such that it cannot change from its original value during optimization // NOTE: NonlinearEquality forces the optimizer to use QR rather than Cholesky // QR is much slower than Cholesky, but numerically more stable - graph.push_back(NonlinearEquality(Symbol('x',1),first_pose)); + graph.push_back(NonlinearEquality(1,firstCamera)); LevenbergMarquardtParams params; params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; @@ -118,7 +116,7 @@ int main(int argc, char** argv){ Values result = optimizer.optimize(); cout << "Final result sample:" << endl; - Values pose_values = result.filter(); + Values pose_values = result.filter(); pose_values.print("Final camera poses:\n"); return 0; diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index 2f4677835..8fe8bea69 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -15,6 +15,7 @@ * @author Luca Carlone * @author Chris Beall * @author Zsolt Kira + * @author Frank Dellaert */ #pragma once From f639ae0d7c70eca3e00b9b3713075990100c7295 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 13:55:32 +0100 Subject: [PATCH 065/964] Ignore generated files --- examples/Data/.gitignore | 1 + 1 file changed, 1 insertion(+) create mode 100644 examples/Data/.gitignore diff --git a/examples/Data/.gitignore b/examples/Data/.gitignore new file mode 100644 index 000000000..2211df63d --- /dev/null +++ b/examples/Data/.gitignore @@ -0,0 +1 @@ +*.txt From be26d99f1e73bac4d7a56640e2d95fc347272386 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 14:19:22 +0100 Subject: [PATCH 066/964] Moved to less intrusive spot --- gtsam/slam/SmartFactorBase.h | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index ba0d27530..417ba1354 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -307,16 +307,6 @@ public: return f; } - /// Create BIG block-diagonal matrix F from Fblocks - static void FillDiagonalF(const std::vector& Fblocks, - Matrix& F) { - size_t m = Fblocks.size(); - F.resize(ZDim * m, Dim * m); - F.setZero(); - for (size_t i = 0; i < m; ++i) - F.block(This::ZDim * i, Dim * i) = Fblocks.at(i).second; - } - /// SVD version double computeJacobiansSVD(std::vector& Fblocks, Matrix& Enull, Vector& b, const Cameras& cameras, const Point3& point) const { @@ -549,6 +539,16 @@ public: return boost::make_shared >(F, E0, b, n); } + /// Create BIG block-diagonal matrix F from Fblocks + static void FillDiagonalF(const std::vector& Fblocks, + Matrix& F) { + size_t m = Fblocks.size(); + F.resize(ZDim * m, Dim * m); + F.setZero(); + for (size_t i = 0; i < m; ++i) + F.block(This::ZDim * i, Dim * i) = Fblocks.at(i).second; + } + private: /// Serialization function From b8d39e8aea78ff2eae80221d8f867e72cb31276a Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 14:19:36 +0100 Subject: [PATCH 067/964] Removed obsolete sharedKs --- gtsam/slam/SmartProjectionPoseFactor.h | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 48fbd937f..851cfe030 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -50,8 +50,6 @@ protected: LinearizationMode linearizeTo_; ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q) - std::vector > sharedKs_; ///< shared pointer to calibration object (one for each camera) - public: /// shorthand for a smart pointer to a factor @@ -86,8 +84,6 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionPoseFactor, z = \n "; - BOOST_FOREACH(const boost::shared_ptr& K, sharedKs_) - K->print("calibration = "); Base::print("", keyFormatter); } @@ -130,11 +126,6 @@ public: } } - /** return calibration shared pointers */ - inline const std::vector > calibration() const { - return sharedKs_; - } - private: /// Serialization function @@ -142,7 +133,6 @@ private: template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(sharedKs_); } }; // end of class declaration From 0a75da98584bf07c07ebe50c41097212649cc577 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 14:50:52 +0100 Subject: [PATCH 068/964] PinholeSet first draft: a CameraSet that assumes PinholeBase-derived CAMERA: knows how to triangulate. First draft is still imperative, with mutable point_, and that might change. --- .cproject | 8 + gtsam/geometry/CameraSet.h | 4 +- gtsam/geometry/PinholeSet.h | 381 ++++++++++++++++++++++++ gtsam/geometry/tests/testPinholeSet.cpp | 131 ++++++++ 4 files changed, 522 insertions(+), 2 deletions(-) create mode 100644 gtsam/geometry/PinholeSet.h create mode 100644 gtsam/geometry/tests/testPinholeSet.cpp diff --git a/.cproject b/.cproject index e190d8f65..94e8c3a50 100644 --- a/.cproject +++ b/.cproject @@ -1043,6 +1043,14 @@ true true + + make + -j4 + testPinholeSet.run + true + true + true + make -j2 diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 2192c38b9..179ec9c50 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -78,7 +78,7 @@ public: } /// equals - virtual bool equals(const CameraSet& p, double tol = 1e-9) const { + bool equals(const CameraSet& p, double tol = 1e-9) const { if (this->size() != p.size()) return false; bool camerasAreEqual = true; @@ -143,7 +143,7 @@ public: Vector reprojectionError(const Point3& point, const std::vector& measured, boost::optional F = boost::none, // boost::optional E = boost::none) const { - return ErrorVector(project2(point,F,E), measured); + return ErrorVector(project2(point, F, E), measured); } /// Calculate vector of re-projection errors, from point at infinity diff --git a/gtsam/geometry/PinholeSet.h b/gtsam/geometry/PinholeSet.h new file mode 100644 index 000000000..c950a9150 --- /dev/null +++ b/gtsam/geometry/PinholeSet.h @@ -0,0 +1,381 @@ +/* ---------------------------------------------------------------------------- + + * 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 PinholeSet.h + * @brief A CameraSet of either CalibratedCamera, PinholePose, or PinholeCamera + * @author Frank Dellaert + * @author Luca Carlone + * @author Zsolt Kira + */ + +#pragma once + +#include +#include +#include +#include + +namespace gtsam { + +/** + * PinholeSet: triangulates point and keeps an estimate of it around. + */ +template +class PinholeSet: public CameraSet { + +private: + typedef CameraSet Base; + typedef PinholeSet This; + +protected: + + // Some triangulation parameters + const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ + const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate + mutable std::vector cameraPosesTriangulation_; ///< current triangulation poses + + const bool enableEPI_; ///< if set to true, will refine triangulation using LM + + mutable Point3 point_; ///< Current estimate of the 3D point + + mutable bool degenerate_; + mutable bool cheiralityException_; + + // verbosity handling for Cheirality Exceptions + const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) + const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) + + double landmarkDistanceThreshold_; // if the landmark is triangulated at a + // distance larger than that the factor is considered degenerate + + double dynamicOutlierRejectionThreshold_; // if this is nonnegative the factor will check if the + // average reprojection error is smaller than this threshold after triangulation, + // and the factor is disregarded if the error is large + +public: + + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + /// shorthand for a set of cameras + typedef CameraSet Cameras; + + /** + * Constructor + * @param rankTol tolerance used to check if point triangulation is degenerate + * otherwise the factor is simply neglected + * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations + */ + PinholeSet(const double rankTol = 1.0, const bool enableEPI = false, + double landmarkDistanceThreshold = 1e10, + double dynamicOutlierRejectionThreshold = -1) : + rankTolerance_(rankTol), retriangulationThreshold_(1e-5), enableEPI_( + enableEPI), degenerate_(false), cheiralityException_(false), throwCheirality_( + false), verboseCheirality_(false), landmarkDistanceThreshold_( + landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( + dynamicOutlierRejectionThreshold) { + } + + /** Virtual destructor */ + virtual ~PinholeSet() { + } + + /** + * print + * @param s optional string naming the factor + * @param keyFormatter optional formatter useful for printing Symbols + */ + void print(const std::string& s = "") const { + std::cout << s << "PinholeSet, z = \n"; + std::cout << "rankTolerance_ = " << rankTolerance_ << std::endl; + std::cout << "degenerate_ = " << degenerate_ << std::endl; + std::cout << "cheiralityException_ = " << cheiralityException_ << std::endl; + Base::print(""); + } + + /// equals + bool equals(const PinholeSet& p, double tol = 1e-9) const { + return Base::equals(p, tol); // TODO all flags + } + + /// Check if the new linearization point_ is the same as the one used for previous triangulation + bool decideIfTriangulate(const Cameras& cameras) const { + // several calls to linearize will be done from the same linearization point_, hence it is not needed to re-triangulate + // Note that this is not yet "selecting linearization", that will come later, and we only check if the + // current linearization is the "same" (up to tolerance) w.r.t. the last time we triangulated the point_ + + size_t m = cameras.size(); + + bool retriangulate = false; + + // if we do not have a previous linearization point_ or the new linearization point_ includes more poses + if (cameraPosesTriangulation_.empty() + || cameras.size() != cameraPosesTriangulation_.size()) + retriangulate = true; + + if (!retriangulate) { + for (size_t i = 0; i < cameras.size(); i++) { + if (!cameras[i].pose().equals(cameraPosesTriangulation_[i], + retriangulationThreshold_)) { + retriangulate = true; // at least two poses are different, hence we retriangulate + break; + } + } + } + + if (retriangulate) { // we store the current poses used for triangulation + cameraPosesTriangulation_.clear(); + cameraPosesTriangulation_.reserve(m); + for (size_t i = 0; i < m; i++) + // cameraPosesTriangulation_[i] = cameras[i].pose(); + cameraPosesTriangulation_.push_back(cameras[i].pose()); + } + + return retriangulate; // if we arrive to this point_ all poses are the same and we don't need re-triangulation + } + + /// triangulateSafe + size_t triangulateSafe(const Values& values) const { + return triangulateSafe(this->cameras(values)); + } + + /// triangulateSafe + size_t triangulateSafe(const Cameras& cameras) const { + + size_t m = cameras.size(); + if (m < 2) { // if we have a single pose the corresponding factor is uninformative + degenerate_ = true; + return m; + } + bool retriangulate = decideIfTriangulate(cameras); + + if (retriangulate) { + // We triangulate the 3D position of the landmark + try { + // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; + point_ = triangulatePoint3(cameras, this->measured_, + rankTolerance_, enableEPI_); + degenerate_ = false; + cheiralityException_ = false; + + // Check landmark distance and reprojection errors to avoid outliers + double totalReprojError = 0.0; + size_t i = 0; + BOOST_FOREACH(const CAMERA& camera, cameras) { + Point3 cameraTranslation = camera.pose().translation(); + // we discard smart factors corresponding to points that are far away + if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { + degenerate_ = true; + break; + } + const Point2& zi = this->measured_.at(i); + try { + Point2 reprojectionError(camera.project(point_) - zi); + totalReprojError += reprojectionError.vector().norm(); + } catch (CheiralityException) { + cheiralityException_ = true; + } + i += 1; + } + // we discard smart factors that have large reprojection error + if (dynamicOutlierRejectionThreshold_ > 0 + && totalReprojError / m > dynamicOutlierRejectionThreshold_) + degenerate_ = true; + + } catch (TriangulationUnderconstrainedException&) { + // if TriangulationUnderconstrainedException can be + // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before + // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) + // in the second case we want to use a rotation-only smart factor + degenerate_ = true; + cheiralityException_ = false; + } catch (TriangulationCheiralityException&) { + // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers + // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint + cheiralityException_ = true; + } + } + return m; + } + + /// triangulate + bool triangulateForLinearize(const Cameras& cameras) const { + + bool isDebug = false; + size_t nrCameras = this->triangulateSafe(cameras); + + if (nrCameras < 2 || (this->cheiralityException_ || this->degenerate_)) { + if (isDebug) { + std::cout + << "createRegularImplicitSchurFactor: degenerate configuration" + << std::endl; + } + return false; + } else { + + // instead, if we want to manage the exception.. + if (this->cheiralityException_ || this->degenerate_) { // if we want to manage the exceptions with rotation-only factors + this->degenerate_ = true; + } + return true; + } + } + + /// Returns true if nonDegenerate + bool computeCamerasAndTriangulate(const Values& values, + Cameras& cameras) const { + Values valuesFactor; + + // Select only the cameras + BOOST_FOREACH(const Key key, this->keys_) + valuesFactor.insert(key, values.at(key)); + + cameras = this->cameras(valuesFactor); + size_t nrCameras = this->triangulateSafe(cameras); + + if (nrCameras < 2 || (this->cheiralityException_ || this->degenerate_)) + return false; + + // instead, if we want to manage the exception.. + if (this->cheiralityException_ || this->degenerate_) // if we want to manage the exceptions with rotation-only factors + this->degenerate_ = true; + + if (this->degenerate_) { + std::cout << "PinholeSet: this is not ready" << std::endl; + std::cout << "this->cheiralityException_ " << this->cheiralityException_ + << std::endl; + std::cout << "this->degenerate_ " << this->degenerate_ << std::endl; + } + return true; + } + + /** + * Triangulate and compute derivative of error with respect to point + * @return whether triangulation worked + */ + bool triangulateAndComputeE(Matrix& E, const Values& values) const { + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); + if (nonDegenerate) + cameras.project2(point_, boost::none, E); + return nonDegenerate; + } + + /// Calculate vector of re-projection errors, before applying noise model + Vector reprojectionErrorAfterTriangulation(const Values& values) const { + Cameras cameras; + bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); + if (nonDegenerate) + return Base::reprojectionError(cameras, point_); + else + return zero(cameras.size() * 2); + } + + /** + * Calculate the error of the factor. + * This is the log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/\sigma^2 \f$ in case of Gaussian. + * In this class, we take the raw prediction error \f$ h(x)-z \f$, ask the noise model + * to transform it to \f$ (h(x)-z)^2/\sigma^2 \f$, and then multiply by 0.5. + */ + double totalReprojectionError(const Cameras& cameras, + boost::optional externalPoint = boost::none) const { + + size_t nrCameras; + if (externalPoint) { + nrCameras = this->keys_.size(); + point_ = *externalPoint; + degenerate_ = false; + cheiralityException_ = false; + } else { + nrCameras = this->triangulateSafe(cameras); + } + + if (nrCameras < 2 || (this->cheiralityException_ || this->degenerate_)) { + // if we don't want to manage the exceptions we discard the factor + // std::cout << "In error evaluation: exception" << std::endl; + return 0.0; + } + + if (this->cheiralityException_) { // if we want to manage the exceptions with rotation-only factors + std::cout + << "SmartProjectionHessianFactor: cheirality exception (this should not happen if CheiralityException is disabled)!" + << std::endl; + this->degenerate_ = true; + } + + if (this->degenerate_) { + // return 0.0; // TODO: this maybe should be zero? + std::cout + << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" + << std::endl; + // 3D parameterization of point at infinity + const Point2& zi = this->measured_.at(0); + this->point_ = cameras.front().backprojectPointAtInfinity(zi); + return Base::totalReprojectionErrorAtInfinity(cameras, this->point_); + } else { + // Just use version in base class + return Base::totalReprojectionError(cameras, point_); + } + } + + /** return the landmark */ + boost::optional point() const { + return point_; + } + + /** COMPUTE the landmark */ + boost::optional point(const Values& values) const { + triangulateSafe(values); + return point_; + } + + /** return the degenerate state */ + inline bool isDegenerate() const { + return (cheiralityException_ || degenerate_); + } + + /** return the cheirality status flag */ + inline bool isPointBehindCamera() const { + return cheiralityException_; + } + + /** return cheirality verbosity */ + inline bool verboseCheirality() const { + return verboseCheirality_; + } + + /** return flag for throwing cheirality exceptions */ + inline bool throwCheirality() const { + return throwCheirality_; + } + +private: + + /// Serialization function + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar & BOOST_SERIALIZATION_NVP(throwCheirality_); + ar & BOOST_SERIALIZATION_NVP(verboseCheirality_); + } +}; + +template +struct traits > : public Testable > { +}; + +template +struct traits > : public Testable > { +}; + +} // \ namespace gtsam diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp new file mode 100644 index 000000000..079833ec4 --- /dev/null +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -0,0 +1,131 @@ +/* ---------------------------------------------------------------------------- + + * 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 testCameraSet.cpp + * @brief Unit tests for testCameraSet Class + * @author Frank Dellaert + * @date Feb 19, 2015 + */ + +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +#include +TEST(PinholeSet, Stereo) { + typedef vector ZZ; + PinholeSet set; + CalibratedCamera camera; + set.push_back(camera); + set.push_back(camera); + Point3 p(0, 0, 1); + EXPECT_LONGS_EQUAL(6, traits::dimension); + + // Check measurements + Point2 expected(0, 0); + ZZ z = set.project2(p); + EXPECT(assert_equal(expected, z[0])); + EXPECT(assert_equal(expected, z[1])); + + // Calculate expected derivatives using Pinhole + Matrix43 actualE; + Matrix F1; + { + Matrix23 E1; + camera.project2(p, F1, E1); + actualE << E1, E1; + } + + // Check computed derivatives + PinholeSet::FBlocks F; + Matrix E; + set.project2(p, F, E); + LONGS_EQUAL(2, F.size()); + EXPECT(assert_equal(F1, F[0])); + EXPECT(assert_equal(F1, F[1])); + EXPECT(assert_equal(actualE, E)); +} + +/* ************************************************************************* */ +// Cal3Bundler test +#include +#include +TEST(PinholeSet, Pinhole) { + typedef PinholeCamera Camera; + typedef vector ZZ; + PinholeSet set; + Camera camera; + set.push_back(camera); + set.push_back(camera); + Point3 p(0, 0, 1); + EXPECT(assert_equal(set, set)); + PinholeSet set2 = set; + set2.push_back(camera); + EXPECT(!set.equals(set2)); + + // Check measurements + Point2 expected; + ZZ z = set.project2(p); + EXPECT(assert_equal(expected, z[0])); + EXPECT(assert_equal(expected, z[1])); + + // Calculate expected derivatives using Pinhole + Matrix43 actualE; + Matrix F1; + { + Matrix23 E1; + Matrix23 H1; + camera.project2(p, F1, E1); + actualE << E1, E1; + } + + // Check computed derivatives + PinholeSet::FBlocks F; + Matrix E, H; + set.project2(p, F, E); + LONGS_EQUAL(2, F.size()); + EXPECT(assert_equal(F1, F[0])); + EXPECT(assert_equal(F1, F[1])); + EXPECT(assert_equal(actualE, E)); + + // Check errors + ZZ measured; + measured.push_back(Point2(1, 2)); + measured.push_back(Point2(3, 4)); + Vector4 expectedV; + + // reprojectionError + expectedV << -1, -2, -3, -4; + Vector actualV = set.reprojectionError(p, measured); + EXPECT(assert_equal(expectedV, actualV)); + + // reprojectionErrorAtInfinity + EXPECT( + assert_equal(Point3(0, 0, 1), + camera.backprojectPointAtInfinity(Point2()))); + actualV = set.reprojectionErrorAtInfinity(p, measured); + EXPECT(assert_equal(expectedV, actualV)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ + From 3b808e644b96b1031de1ec65a26c409a734a826e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 15:01:25 +0100 Subject: [PATCH 069/964] Removed a lot of obsolete code --- gtsam/geometry/PinholeSet.h | 263 +++++++----------------------------- 1 file changed, 51 insertions(+), 212 deletions(-) diff --git a/gtsam/geometry/PinholeSet.h b/gtsam/geometry/PinholeSet.h index c950a9150..5a1378782 100644 --- a/gtsam/geometry/PinholeSet.h +++ b/gtsam/geometry/PinholeSet.h @@ -38,22 +38,19 @@ private: protected: - // Some triangulation parameters - const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ - const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate - mutable std::vector cameraPosesTriangulation_; ///< current triangulation poses + /// @name Triangulation parameters + /// @{ + const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ const bool enableEPI_; ///< if set to true, will refine triangulation using LM + /// @} + mutable Point3 point_; ///< Current estimate of the 3D point mutable bool degenerate_; mutable bool cheiralityException_; - // verbosity handling for Cheirality Exceptions - const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) - const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) - double landmarkDistanceThreshold_; // if the landmark is triangulated at a // distance larger than that the factor is considered degenerate @@ -66,9 +63,6 @@ public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; - /// shorthand for a set of cameras - typedef CameraSet Cameras; - /** * Constructor * @param rankTol tolerance used to check if point triangulation is degenerate @@ -78,10 +72,8 @@ public: PinholeSet(const double rankTol = 1.0, const bool enableEPI = false, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : - rankTolerance_(rankTol), retriangulationThreshold_(1e-5), enableEPI_( - enableEPI), degenerate_(false), cheiralityException_(false), throwCheirality_( - false), verboseCheirality_(false), landmarkDistanceThreshold_( - landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( + rankTolerance_(rankTol), enableEPI_(enableEPI), degenerate_(false), cheiralityException_( + false), landmarkDistanceThreshold_(landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( dynamicOutlierRejectionThreshold) { } @@ -107,111 +99,67 @@ public: return Base::equals(p, tol); // TODO all flags } - /// Check if the new linearization point_ is the same as the one used for previous triangulation - bool decideIfTriangulate(const Cameras& cameras) const { - // several calls to linearize will be done from the same linearization point_, hence it is not needed to re-triangulate - // Note that this is not yet "selecting linearization", that will come later, and we only check if the - // current linearization is the "same" (up to tolerance) w.r.t. the last time we triangulated the point_ - - size_t m = cameras.size(); - - bool retriangulate = false; - - // if we do not have a previous linearization point_ or the new linearization point_ includes more poses - if (cameraPosesTriangulation_.empty() - || cameras.size() != cameraPosesTriangulation_.size()) - retriangulate = true; - - if (!retriangulate) { - for (size_t i = 0; i < cameras.size(); i++) { - if (!cameras[i].pose().equals(cameraPosesTriangulation_[i], - retriangulationThreshold_)) { - retriangulate = true; // at least two poses are different, hence we retriangulate - break; - } - } - } - - if (retriangulate) { // we store the current poses used for triangulation - cameraPosesTriangulation_.clear(); - cameraPosesTriangulation_.reserve(m); - for (size_t i = 0; i < m; i++) - // cameraPosesTriangulation_[i] = cameras[i].pose(); - cameraPosesTriangulation_.push_back(cameras[i].pose()); - } - - return retriangulate; // if we arrive to this point_ all poses are the same and we don't need re-triangulation - } - /// triangulateSafe - size_t triangulateSafe(const Values& values) const { - return triangulateSafe(this->cameras(values)); - } + size_t triangulateSafe() const { - /// triangulateSafe - size_t triangulateSafe(const Cameras& cameras) const { - - size_t m = cameras.size(); + size_t m = this->size(); if (m < 2) { // if we have a single pose the corresponding factor is uninformative degenerate_ = true; return m; } - bool retriangulate = decideIfTriangulate(cameras); - if (retriangulate) { - // We triangulate the 3D position of the landmark - try { - // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; - point_ = triangulatePoint3(cameras, this->measured_, - rankTolerance_, enableEPI_); - degenerate_ = false; - cheiralityException_ = false; + // We triangulate the 3D position of the landmark + try { + // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; + point_ = triangulatePoint3(*this, this->measured_, rankTolerance_, + enableEPI_); + degenerate_ = false; + cheiralityException_ = false; - // Check landmark distance and reprojection errors to avoid outliers - double totalReprojError = 0.0; - size_t i = 0; - BOOST_FOREACH(const CAMERA& camera, cameras) { - Point3 cameraTranslation = camera.pose().translation(); - // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { - degenerate_ = true; - break; - } - const Point2& zi = this->measured_.at(i); - try { - Point2 reprojectionError(camera.project(point_) - zi); - totalReprojError += reprojectionError.vector().norm(); - } catch (CheiralityException) { - cheiralityException_ = true; - } - i += 1; - } - // we discard smart factors that have large reprojection error - if (dynamicOutlierRejectionThreshold_ > 0 - && totalReprojError / m > dynamicOutlierRejectionThreshold_) + // Check landmark distance and reprojection errors to avoid outliers + double totalReprojError = 0.0; + size_t i = 0; + BOOST_FOREACH(const CAMERA& camera, *this) { + Point3 cameraTranslation = camera.pose().translation(); + // we discard smart factors corresponding to points that are far away + if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { degenerate_ = true; - - } catch (TriangulationUnderconstrainedException&) { - // if TriangulationUnderconstrainedException can be - // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before - // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) - // in the second case we want to use a rotation-only smart factor - degenerate_ = true; - cheiralityException_ = false; - } catch (TriangulationCheiralityException&) { - // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers - // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint - cheiralityException_ = true; + break; + } + const Point2& zi = this->measured_.at(i); + try { + Point2 reprojectionError(camera.project(point_) - zi); + totalReprojError += reprojectionError.vector().norm(); + } catch (CheiralityException) { + cheiralityException_ = true; + } + i += 1; } + // we discard smart factors that have large reprojection error + if (dynamicOutlierRejectionThreshold_ > 0 + && totalReprojError / m > dynamicOutlierRejectionThreshold_) + degenerate_ = true; + + } catch (TriangulationUnderconstrainedException&) { + // if TriangulationUnderconstrainedException can be + // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before + // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel *this (or motion towards the landmark) + // in the second case we want to use a rotation-only smart factor + degenerate_ = true; + cheiralityException_ = false; + } catch (TriangulationCheiralityException&) { + // point is behind one of the *this: can be the case of close-to-parallel *this or may depend on outliers + // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint + cheiralityException_ = true; } return m; } /// triangulate - bool triangulateForLinearize(const Cameras& cameras) const { + bool triangulateForLinearize() const { bool isDebug = false; - size_t nrCameras = this->triangulateSafe(cameras); + size_t nrCameras = this->triangulateSafe(*this); if (nrCameras < 2 || (this->cheiralityException_ || this->degenerate_)) { if (isDebug) { @@ -230,103 +178,6 @@ public: } } - /// Returns true if nonDegenerate - bool computeCamerasAndTriangulate(const Values& values, - Cameras& cameras) const { - Values valuesFactor; - - // Select only the cameras - BOOST_FOREACH(const Key key, this->keys_) - valuesFactor.insert(key, values.at(key)); - - cameras = this->cameras(valuesFactor); - size_t nrCameras = this->triangulateSafe(cameras); - - if (nrCameras < 2 || (this->cheiralityException_ || this->degenerate_)) - return false; - - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - - if (this->degenerate_) { - std::cout << "PinholeSet: this is not ready" << std::endl; - std::cout << "this->cheiralityException_ " << this->cheiralityException_ - << std::endl; - std::cout << "this->degenerate_ " << this->degenerate_ << std::endl; - } - return true; - } - - /** - * Triangulate and compute derivative of error with respect to point - * @return whether triangulation worked - */ - bool triangulateAndComputeE(Matrix& E, const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); - if (nonDegenerate) - cameras.project2(point_, boost::none, E); - return nonDegenerate; - } - - /// Calculate vector of re-projection errors, before applying noise model - Vector reprojectionErrorAfterTriangulation(const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); - if (nonDegenerate) - return Base::reprojectionError(cameras, point_); - else - return zero(cameras.size() * 2); - } - - /** - * Calculate the error of the factor. - * This is the log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/\sigma^2 \f$ in case of Gaussian. - * In this class, we take the raw prediction error \f$ h(x)-z \f$, ask the noise model - * to transform it to \f$ (h(x)-z)^2/\sigma^2 \f$, and then multiply by 0.5. - */ - double totalReprojectionError(const Cameras& cameras, - boost::optional externalPoint = boost::none) const { - - size_t nrCameras; - if (externalPoint) { - nrCameras = this->keys_.size(); - point_ = *externalPoint; - degenerate_ = false; - cheiralityException_ = false; - } else { - nrCameras = this->triangulateSafe(cameras); - } - - if (nrCameras < 2 || (this->cheiralityException_ || this->degenerate_)) { - // if we don't want to manage the exceptions we discard the factor - // std::cout << "In error evaluation: exception" << std::endl; - return 0.0; - } - - if (this->cheiralityException_) { // if we want to manage the exceptions with rotation-only factors - std::cout - << "SmartProjectionHessianFactor: cheirality exception (this should not happen if CheiralityException is disabled)!" - << std::endl; - this->degenerate_ = true; - } - - if (this->degenerate_) { - // return 0.0; // TODO: this maybe should be zero? - std::cout - << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" - << std::endl; - // 3D parameterization of point at infinity - const Point2& zi = this->measured_.at(0); - this->point_ = cameras.front().backprojectPointAtInfinity(zi); - return Base::totalReprojectionErrorAtInfinity(cameras, this->point_); - } else { - // Just use version in base class - return Base::totalReprojectionError(cameras, point_); - } - } - /** return the landmark */ boost::optional point() const { return point_; @@ -348,16 +199,6 @@ public: return cheiralityException_; } - /** return cheirality verbosity */ - inline bool verboseCheirality() const { - return verboseCheirality_; - } - - /** return flag for throwing cheirality exceptions */ - inline bool throwCheirality() const { - return throwCheirality_; - } - private: /// Serialization function @@ -365,8 +206,6 @@ private: template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(throwCheirality_); - ar & BOOST_SERIALIZATION_NVP(verboseCheirality_); } }; From 61ba2f080cfc0af42d09bf9d1a07de07bc09f8fb Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 15:33:27 +0100 Subject: [PATCH 070/964] made print virtual --- gtsam/geometry/CameraSet.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 179ec9c50..7e9062a8d 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -71,10 +71,10 @@ public: * @param s optional string naming the factor * @param keyFormatter optional formatter useful for printing Symbols */ - void print(const std::string& s = "") const { + virtual void print(const std::string& s = "") const { std::cout << s << "CameraSet, cameras = \n"; for (size_t k = 0; k < this->size(); ++k) - this->at(k).print(); + this->at(k).print(s); } /// equals From 262b42e82973c9add110ef286c0205359943fdfa Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 15:33:43 +0100 Subject: [PATCH 071/964] Now complete functional triangulateSafe --- gtsam/geometry/PinholeSet.h | 145 +++++++++--------------- gtsam/geometry/tests/testPinholeSet.cpp | 9 ++ 2 files changed, 64 insertions(+), 90 deletions(-) diff --git a/gtsam/geometry/PinholeSet.h b/gtsam/geometry/PinholeSet.h index 5a1378782..37489355d 100644 --- a/gtsam/geometry/PinholeSet.h +++ b/gtsam/geometry/PinholeSet.h @@ -41,39 +41,44 @@ protected: /// @name Triangulation parameters /// @{ - const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ + const double rankTolerance_; ///< threshold to decide whether triangulation is result.degenerate const bool enableEPI_; ///< if set to true, will refine triangulation using LM + /** + * if the landmark is triangulated at distance larger than this, + * result is flagged as degenerate. + */ + const double landmarkDistanceThreshold_; // + + /** + * If this is nonnegative the we will check if the average reprojection error + * is smaller than this threshold after triangulation, otherwise result is + * flagged as degenerate. + */ + const double dynamicOutlierRejectionThreshold_; /// @} - mutable Point3 point_; ///< Current estimate of the 3D point - - mutable bool degenerate_; - mutable bool cheiralityException_; - - double landmarkDistanceThreshold_; // if the landmark is triangulated at a - // distance larger than that the factor is considered degenerate - - double dynamicOutlierRejectionThreshold_; // if this is nonnegative the factor will check if the - // average reprojection error is smaller than this threshold after triangulation, - // and the factor is disregarded if the error is large - public: - /// shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; + /// @name Triangulation result + /// @{ + struct Result { + Point3 point; + bool degenerate; + bool cheiralityException; + }; + /// @} /** * Constructor * @param rankTol tolerance used to check if point triangulation is degenerate - * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations */ PinholeSet(const double rankTol = 1.0, const bool enableEPI = false, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : - rankTolerance_(rankTol), enableEPI_(enableEPI), degenerate_(false), cheiralityException_( - false), landmarkDistanceThreshold_(landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( + rankTolerance_(rankTol), enableEPI_(enableEPI), landmarkDistanceThreshold_( + landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( dynamicOutlierRejectionThreshold) { } @@ -81,17 +86,14 @@ public: virtual ~PinholeSet() { } - /** - * print - * @param s optional string naming the factor - * @param keyFormatter optional formatter useful for printing Symbols - */ - void print(const std::string& s = "") const { - std::cout << s << "PinholeSet, z = \n"; - std::cout << "rankTolerance_ = " << rankTolerance_ << std::endl; - std::cout << "degenerate_ = " << degenerate_ << std::endl; - std::cout << "cheiralityException_ = " << cheiralityException_ << std::endl; - Base::print(""); + /// @name Testable + /// @{ + + /// print + virtual void print(const std::string& s = "") const { + Base::print(s); + std::cout << s << "PinholeSet\n"; + std::cout << "rankTolerance = " << rankTolerance_ << std::endl; } /// equals @@ -99,22 +101,28 @@ public: return Base::equals(p, tol); // TODO all flags } + /// @} + /// triangulateSafe - size_t triangulateSafe() const { + Result triangulateSafe(const std::vector& measured) const { + + Result result; size_t m = this->size(); - if (m < 2) { // if we have a single pose the corresponding factor is uninformative - degenerate_ = true; - return m; + + // if we have a single pose the corresponding factor is uninformative + if (m < 2) { + result.degenerate = true; + return result; } // We triangulate the 3D position of the landmark try { // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; - point_ = triangulatePoint3(*this, this->measured_, rankTolerance_, + result.point = triangulatePoint3(*this, measured, rankTolerance_, enableEPI_); - degenerate_ = false; - cheiralityException_ = false; + result.degenerate = false; + result.cheiralityException = false; // Check landmark distance and reprojection errors to avoid outliers double totalReprojError = 0.0; @@ -122,81 +130,38 @@ public: BOOST_FOREACH(const CAMERA& camera, *this) { Point3 cameraTranslation = camera.pose().translation(); // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { - degenerate_ = true; + if (cameraTranslation.distance(result.point) + > landmarkDistanceThreshold_) { + result.degenerate = true; break; } - const Point2& zi = this->measured_.at(i); + const Point2& zi = measured.at(i); try { - Point2 reprojectionError(camera.project(point_) - zi); + Point2 reprojectionError(camera.project(result.point) - zi); totalReprojError += reprojectionError.vector().norm(); } catch (CheiralityException) { - cheiralityException_ = true; + result.cheiralityException = true; } i += 1; } // we discard smart factors that have large reprojection error if (dynamicOutlierRejectionThreshold_ > 0 && totalReprojError / m > dynamicOutlierRejectionThreshold_) - degenerate_ = true; + result.degenerate = true; } catch (TriangulationUnderconstrainedException&) { // if TriangulationUnderconstrainedException can be // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel *this (or motion towards the landmark) // in the second case we want to use a rotation-only smart factor - degenerate_ = true; - cheiralityException_ = false; + result.degenerate = true; + result.cheiralityException = false; } catch (TriangulationCheiralityException&) { // point is behind one of the *this: can be the case of close-to-parallel *this or may depend on outliers // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint - cheiralityException_ = true; + result.cheiralityException = true; } - return m; - } - - /// triangulate - bool triangulateForLinearize() const { - - bool isDebug = false; - size_t nrCameras = this->triangulateSafe(*this); - - if (nrCameras < 2 || (this->cheiralityException_ || this->degenerate_)) { - if (isDebug) { - std::cout - << "createRegularImplicitSchurFactor: degenerate configuration" - << std::endl; - } - return false; - } else { - - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) { // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - } - return true; - } - } - - /** return the landmark */ - boost::optional point() const { - return point_; - } - - /** COMPUTE the landmark */ - boost::optional point(const Values& values) const { - triangulateSafe(values); - return point_; - } - - /** return the degenerate state */ - inline bool isDegenerate() const { - return (cheiralityException_ || degenerate_); - } - - /** return the cheirality status flag */ - inline bool isPointBehindCamera() const { - return cheiralityException_; + return result; } private: diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index 079833ec4..b4b065802 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -33,6 +33,7 @@ TEST(PinholeSet, Stereo) { CalibratedCamera camera; set.push_back(camera); set.push_back(camera); + // set.print("set: "); Point3 p(0, 0, 1); EXPECT_LONGS_EQUAL(6, traits::dimension); @@ -59,6 +60,10 @@ TEST(PinholeSet, Stereo) { EXPECT(assert_equal(F1, F[0])); EXPECT(assert_equal(F1, F[1])); EXPECT(assert_equal(actualE, E)); + + // Instantiate triangulateSafe + // TODO triangulation does not work yet for CalibratedCamera + // PinholeSet::Result actual = set.triangulateSafe(z); } /* ************************************************************************* */ @@ -120,6 +125,10 @@ TEST(PinholeSet, Pinhole) { camera.backprojectPointAtInfinity(Point2()))); actualV = set.reprojectionErrorAtInfinity(p, measured); EXPECT(assert_equal(expectedV, actualV)); + + // Instantiate triangulateSafe + PinholeSet::Result actual = set.triangulateSafe(z); + CHECK(actual.degenerate); } /* ************************************************************************* */ From 69e56cee1c46814a81504de226fe1aebd53a3a92 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 15:54:50 +0100 Subject: [PATCH 072/964] Everything moved to triangulation, PinholeSet eviscerated. --- gtsam/geometry/PinholeSet.h | 108 +----------------------- gtsam/geometry/tests/testPinholeSet.cpp | 3 +- gtsam/geometry/triangulation.h | 106 ++++++++++++++++++++++- 3 files changed, 110 insertions(+), 107 deletions(-) diff --git a/gtsam/geometry/PinholeSet.h b/gtsam/geometry/PinholeSet.h index 37489355d..5101e9fc8 100644 --- a/gtsam/geometry/PinholeSet.h +++ b/gtsam/geometry/PinholeSet.h @@ -13,8 +13,6 @@ * @file PinholeSet.h * @brief A CameraSet of either CalibratedCamera, PinholePose, or PinholeCamera * @author Frank Dellaert - * @author Luca Carlone - * @author Zsolt Kira */ #pragma once @@ -38,50 +36,8 @@ private: protected: - /// @name Triangulation parameters - /// @{ - - const double rankTolerance_; ///< threshold to decide whether triangulation is result.degenerate - const bool enableEPI_; ///< if set to true, will refine triangulation using LM - - /** - * if the landmark is triangulated at distance larger than this, - * result is flagged as degenerate. - */ - const double landmarkDistanceThreshold_; // - - /** - * If this is nonnegative the we will check if the average reprojection error - * is smaller than this threshold after triangulation, otherwise result is - * flagged as degenerate. - */ - const double dynamicOutlierRejectionThreshold_; - /// @} - public: - /// @name Triangulation result - /// @{ - struct Result { - Point3 point; - bool degenerate; - bool cheiralityException; - }; - /// @} - - /** - * Constructor - * @param rankTol tolerance used to check if point triangulation is degenerate - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - */ - PinholeSet(const double rankTol = 1.0, const bool enableEPI = false, - double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1) : - rankTolerance_(rankTol), enableEPI_(enableEPI), landmarkDistanceThreshold_( - landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( - dynamicOutlierRejectionThreshold) { - } - /** Virtual destructor */ virtual ~PinholeSet() { } @@ -92,8 +48,6 @@ public: /// print virtual void print(const std::string& s = "") const { Base::print(s); - std::cout << s << "PinholeSet\n"; - std::cout << "rankTolerance = " << rankTolerance_ << std::endl; } /// equals @@ -104,64 +58,10 @@ public: /// @} /// triangulateSafe - Result triangulateSafe(const std::vector& measured) const { - - Result result; - - size_t m = this->size(); - - // if we have a single pose the corresponding factor is uninformative - if (m < 2) { - result.degenerate = true; - return result; - } - - // We triangulate the 3D position of the landmark - try { - // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; - result.point = triangulatePoint3(*this, measured, rankTolerance_, - enableEPI_); - result.degenerate = false; - result.cheiralityException = false; - - // Check landmark distance and reprojection errors to avoid outliers - double totalReprojError = 0.0; - size_t i = 0; - BOOST_FOREACH(const CAMERA& camera, *this) { - Point3 cameraTranslation = camera.pose().translation(); - // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(result.point) - > landmarkDistanceThreshold_) { - result.degenerate = true; - break; - } - const Point2& zi = measured.at(i); - try { - Point2 reprojectionError(camera.project(result.point) - zi); - totalReprojError += reprojectionError.vector().norm(); - } catch (CheiralityException) { - result.cheiralityException = true; - } - i += 1; - } - // we discard smart factors that have large reprojection error - if (dynamicOutlierRejectionThreshold_ > 0 - && totalReprojError / m > dynamicOutlierRejectionThreshold_) - result.degenerate = true; - - } catch (TriangulationUnderconstrainedException&) { - // if TriangulationUnderconstrainedException can be - // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before - // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel *this (or motion towards the landmark) - // in the second case we want to use a rotation-only smart factor - result.degenerate = true; - result.cheiralityException = false; - } catch (TriangulationCheiralityException&) { - // point is behind one of the *this: can be the case of close-to-parallel *this or may depend on outliers - // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint - result.cheiralityException = true; - } - return result; + TriangulationResult triangulateSafe( + const std::vector& measured, + const TriangulationParameters& params) const { + return gtsam::triangulateSafe(*this, measured, params); } private: diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index b4b065802..5de2b5f4d 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -127,7 +127,8 @@ TEST(PinholeSet, Pinhole) { EXPECT(assert_equal(expectedV, actualV)); // Instantiate triangulateSafe - PinholeSet::Result actual = set.triangulateSafe(z); + TriangulationParameters params; + TriangulationResult actual = set.triangulateSafe(z,params); CHECK(actual.degenerate); } diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 5b8be0168..15721e81c 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -221,7 +221,7 @@ Point3 triangulatePoint3(const std::vector& poses, BOOST_FOREACH(const Pose3& pose, poses) { const Point3& p_local = pose.transform_to(point); if (p_local.z() <= 0) - throw(TriangulationCheiralityException()); + throw(TriangulationCheiralityException()); } #endif @@ -269,7 +269,7 @@ Point3 triangulatePoint3(const std::vector& cameras, BOOST_FOREACH(const CAMERA& camera, cameras) { const Point3& p_local = camera.pose().transform_to(point); if (p_local.z() <= 0) - throw(TriangulationCheiralityException()); + throw(TriangulationCheiralityException()); } #endif @@ -286,5 +286,107 @@ Point3 triangulatePoint3( (cameras, measurements, rank_tol, optimize); } +struct TriangulationParameters { + + const double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate + const bool enableEPI; ///< if set to true, will refine triangulation using LM + + /** + * if the landmark is triangulated at distance larger than this, + * result is flagged as degenerate. + */ + const double landmarkDistanceThreshold; // + + /** + * If this is nonnegative the we will check if the average reprojection error + * is smaller than this threshold after triangulation, otherwise result is + * flagged as degenerate. + */ + const double dynamicOutlierRejectionThreshold; + + /** + * Constructor + * @param rankTol tolerance used to check if point triangulation is degenerate + * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations + */ + TriangulationParameters(const double _rankTolerance = 1.0, + const bool _enableEPI = false, double _landmarkDistanceThreshold = 1e10, + double _dynamicOutlierRejectionThreshold = -1) : + rankTolerance(_rankTolerance), enableEPI(_enableEPI), landmarkDistanceThreshold( + _landmarkDistanceThreshold), dynamicOutlierRejectionThreshold( + _dynamicOutlierRejectionThreshold) { + } +}; + +struct TriangulationResult { + Point3 point; + bool degenerate; + bool cheiralityException; +}; + +/// triangulateSafe: extensive checking of the outcome +template +TriangulationResult triangulateSafe(const std::vector& cameras, + const std::vector& measured, + const TriangulationParameters& params) { + + TriangulationResult result; + + size_t m = cameras.size(); + + // if we have a single pose the corresponding factor is uninformative + if (m < 2) { + result.degenerate = true; + return result; + } + + // We triangulate the 3D position of the landmark + try { + // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; + result.point = triangulatePoint3(cameras, measured, + params.rankTolerance, params.enableEPI); + result.degenerate = false; + result.cheiralityException = false; + + // Check landmark distance and reprojection errors to avoid outliers + double totalReprojError = 0.0; + size_t i = 0; + BOOST_FOREACH(const CAMERA& camera, cameras) { + Point3 cameraTranslation = camera.pose().translation(); + // we discard smart factors corresponding to points that are far away + if (cameraTranslation.distance(result.point) + > params.landmarkDistanceThreshold) { + result.degenerate = true; + break; + } + const Point2& zi = measured.at(i); + try { + Point2 reprojectionError(camera.project(result.point) - zi); + totalReprojError += reprojectionError.vector().norm(); + } catch (CheiralityException) { + result.cheiralityException = true; + } + i += 1; + } + // we discard smart factors that have large reprojection error + if (params.dynamicOutlierRejectionThreshold > 0 + && totalReprojError / m > params.dynamicOutlierRejectionThreshold) + result.degenerate = true; + + } catch (TriangulationUnderconstrainedException&) { + // if TriangulationUnderconstrainedException can be + // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before + // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) + // in the second case we want to use a rotation-only smart factor + result.degenerate = true; + result.cheiralityException = false; + } catch (TriangulationCheiralityException&) { + // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers + // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint + result.cheiralityException = true; + } + return result; +} + } // \namespace gtsam From 83d0bd414db0bce122271f793473f6564caa2094 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 12:06:16 +0100 Subject: [PATCH 073/964] Introduced TriangulationResult --- gtsam/geometry/triangulation.h | 144 ++++++++++++++++++++------------- 1 file changed, 90 insertions(+), 54 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 15721e81c..a67f26bf2 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -316,12 +316,57 @@ struct TriangulationParameters { _landmarkDistanceThreshold), dynamicOutlierRejectionThreshold( _dynamicOutlierRejectionThreshold) { } + + // stream to output + friend std::ostream &operator<<(std::ostream &os, + const TriangulationParameters& p) { + os << "rankTolerance = " << p.rankTolerance << std::endl; + os << "enableEPI = " << p.enableEPI << std::endl; + os << "landmarkDistanceThreshold = " << p.landmarkDistanceThreshold + << std::endl; + os << "dynamicOutlierRejectionThreshold = " + << p.dynamicOutlierRejectionThreshold << std::endl; + return os; + } }; -struct TriangulationResult { - Point3 point; - bool degenerate; - bool cheiralityException; +/** + * TriangulationResult is an optional point, along with the reasons why it is invalid. + */ +class TriangulationResult: public boost::optional { + enum Status { + VALID, DEGENERATE, BEHIND_CAMERA + }; + Status status_; + TriangulationResult(Status s) : + status_(s) { + } +public: + TriangulationResult(const Point3& p) : + status_(VALID) { + reset(p); + } + static TriangulationResult Degenerate() { + return TriangulationResult(DEGENERATE); + } + static TriangulationResult BehindCamera() { + return TriangulationResult(BEHIND_CAMERA); + } + bool degenerate() const { + return status_ == DEGENERATE; + } + bool behindCamera() const { + return status_ == BEHIND_CAMERA; + } + // stream to output + friend std::ostream &operator<<(std::ostream &os, + const TriangulationResult& result) { + if (result) + os << "point = " << *result << std::endl; + else + os << "no point, status = " << result.status_ << std::endl; + return os; + } }; /// triangulateSafe: extensive checking of the outcome @@ -330,62 +375,53 @@ TriangulationResult triangulateSafe(const std::vector& cameras, const std::vector& measured, const TriangulationParameters& params) { - TriangulationResult result; - size_t m = cameras.size(); // if we have a single pose the corresponding factor is uninformative - if (m < 2) { - result.degenerate = true; - return result; - } + if (m < 2) + return TriangulationResult::Degenerate(); + else + // We triangulate the 3D position of the landmark + try { + Point3 point = triangulatePoint3(cameras, measured, + params.rankTolerance, params.enableEPI); - // We triangulate the 3D position of the landmark - try { - // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; - result.point = triangulatePoint3(cameras, measured, - params.rankTolerance, params.enableEPI); - result.degenerate = false; - result.cheiralityException = false; + // Check landmark distance and reprojection errors to avoid outliers + size_t i = 0; + double totalReprojError = 0.0; + BOOST_FOREACH(const CAMERA& camera, cameras) { + // we discard smart factors corresponding to points that are far away + Point3 cameraTranslation = camera.pose().translation(); + if (cameraTranslation.distance(point) > params.landmarkDistanceThreshold) + return TriangulationResult::Degenerate(); + // Also flag if point is behind any of the cameras + try { + const Point2& zi = measured.at(i); + Point2 reprojectionError(camera.project(point) - zi); + totalReprojError += reprojectionError.vector().norm(); + } catch (CheiralityException) { + return TriangulationResult::BehindCamera(); + } + i += 1; + } + // we discard smart factors that have large reprojection error + if (params.dynamicOutlierRejectionThreshold > 0 + && totalReprojError / m > params.dynamicOutlierRejectionThreshold) + return TriangulationResult::Degenerate(); - // Check landmark distance and reprojection errors to avoid outliers - double totalReprojError = 0.0; - size_t i = 0; - BOOST_FOREACH(const CAMERA& camera, cameras) { - Point3 cameraTranslation = camera.pose().translation(); - // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(result.point) - > params.landmarkDistanceThreshold) { - result.degenerate = true; - break; - } - const Point2& zi = measured.at(i); - try { - Point2 reprojectionError(camera.project(result.point) - zi); - totalReprojError += reprojectionError.vector().norm(); - } catch (CheiralityException) { - result.cheiralityException = true; - } - i += 1; + // all good! + return TriangulationResult(point); + } catch (TriangulationUnderconstrainedException&) { + // if TriangulationUnderconstrainedException can be + // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before + // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) + // in the second case we want to use a rotation-only smart factor + return TriangulationResult::Degenerate(); + } catch (TriangulationCheiralityException&) { + // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers + // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint + return TriangulationResult::BehindCamera(); } - // we discard smart factors that have large reprojection error - if (params.dynamicOutlierRejectionThreshold > 0 - && totalReprojError / m > params.dynamicOutlierRejectionThreshold) - result.degenerate = true; - - } catch (TriangulationUnderconstrainedException&) { - // if TriangulationUnderconstrainedException can be - // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before - // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) - // in the second case we want to use a rotation-only smart factor - result.degenerate = true; - result.cheiralityException = false; - } catch (TriangulationCheiralityException&) { - // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers - // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint - result.cheiralityException = true; - } - return result; } } // \namespace gtsam From bc6069a94bc8eeb3f6ced3eca7f42349c0b8ef14 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 12:06:26 +0100 Subject: [PATCH 074/964] Now using TriangulationResult --- gtsam/slam/SmartProjectionFactor.h | 355 +++++++++-------------------- 1 file changed, 105 insertions(+), 250 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 5b061f612..13d17f683 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -35,14 +35,8 @@ namespace gtsam { * Structure for storing some state memory, used to speed up optimization * @addtogroup SLAM */ -class SmartProjectionFactorState { +struct SmartProjectionFactorState { -protected: - -public: - - SmartProjectionFactorState() { - } // Hessian representation (after Schur complement) bool calculatedHessian; Matrix H; @@ -68,38 +62,31 @@ private: protected: - // Some triangulation parameters - const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ + /// @name Caching triangulation + /// @{ + const TriangulationParameters parameters_; + mutable TriangulationResult result_; ///< result from triangulateSafe + const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate mutable std::vector cameraPosesTriangulation_; ///< current triangulation poses + /// @} + /// @name Parameters governing how triangulation result is treated + /// @{ const bool manageDegeneracy_; ///< if set to true will use the rotation-only version for degenerate cases + const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) + const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) + /// @} - const bool enableEPI_; ///< if set to true, will refine triangulation using LM + /// @name Caching linearization + /// @{ + /// shorthand for smart projection factor state variable + typedef boost::shared_ptr SmartFactorStatePtr; + SmartFactorStatePtr state_; ///< cached linearization const double linearizationThreshold_; ///< threshold to decide whether to re-linearize mutable std::vector cameraPosesLinearization_; ///< current linearization poses - - mutable Point3 point_; ///< Current estimate of the 3D point - - mutable bool degenerate_; - mutable bool cheiralityException_; - - // verbosity handling for Cheirality Exceptions - const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) - const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) - - boost::shared_ptr state_; - - /// shorthand for smart projection factor state variable - typedef boost::shared_ptr SmartFactorStatePtr; - - double landmarkDistanceThreshold_; // if the landmark is triangulated at a - // distance larger than that the factor is considered degenerate - - double dynamicOutlierRejectionThreshold_; // if this is nonnegative the factor will check if the - // average reprojection error is smaller than this threshold after triangulation, - // and the factor is disregarded if the error is large + /// @} public: @@ -117,17 +104,18 @@ public: * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations */ - SmartProjectionFactor(const double rankTol, const double linThreshold, + SmartProjectionFactor(const double rankTolerance, const double linThreshold, const bool manageDegeneracy, const bool enableEPI, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1, SmartFactorStatePtr state = SmartFactorStatePtr(new SmartProjectionFactorState())) : - rankTolerance_(rankTol), retriangulationThreshold_(1e-5), manageDegeneracy_( - manageDegeneracy), enableEPI_(enableEPI), linearizationThreshold_( - linThreshold), degenerate_(false), cheiralityException_(false), throwCheirality_( - false), verboseCheirality_(false), state_(state), landmarkDistanceThreshold_( - landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( - dynamicOutlierRejectionThreshold) { + parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, + dynamicOutlierRejectionThreshold), // + result_(TriangulationResult::Degenerate()), // + retriangulationThreshold_(1e-5), // + manageDegeneracy_(manageDegeneracy), // + throwCheirality_(false), verboseCheirality_(false), // + state_(state), linearizationThreshold_(linThreshold) { } /** Virtual destructor */ @@ -141,24 +129,23 @@ public: */ void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "SmartProjectionFactor, z = \n"; - std::cout << "rankTolerance_ = " << rankTolerance_ << std::endl; - std::cout << "degenerate_ = " << degenerate_ << std::endl; - std::cout << "cheiralityException_ = " << cheiralityException_ << std::endl; + std::cout << s << "SmartProjectionFactor\n"; + std::cout << "triangulationParameters:\n" << parameters_ << std::endl; + std::cout << "result:\n" << result_ << std::endl; Base::print("", keyFormatter); } - /// Check if the new linearization point_ is the same as the one used for previous triangulation + /// Check if the new linearization point is the same as the one used for previous triangulation bool decideIfTriangulate(const Cameras& cameras) const { - // several calls to linearize will be done from the same linearization point_, hence it is not needed to re-triangulate + // several calls to linearize will be done from the same linearization point, hence it is not needed to re-triangulate // Note that this is not yet "selecting linearization", that will come later, and we only check if the - // current linearization is the "same" (up to tolerance) w.r.t. the last time we triangulated the point_ + // current linearization is the "same" (up to tolerance) w.r.t. the last time we triangulated the point size_t m = cameras.size(); bool retriangulate = false; - // if we do not have a previous linearization point_ or the new linearization point_ includes more poses + // if we do not have a previous linearization point or the new linearization point includes more poses if (cameraPosesTriangulation_.empty() || cameras.size() != cameraPosesTriangulation_.size()) retriangulate = true; @@ -181,19 +168,19 @@ public: cameraPosesTriangulation_.push_back(cameras[i].pose()); } - return retriangulate; // if we arrive to this point_ all poses are the same and we don't need re-triangulation + return retriangulate; // if we arrive to this point all poses are the same and we don't need re-triangulation } - /// This function checks if the new linearization point_ is 'close' to the previous one used for linearization + /// This function checks if the new linearization point is 'close' to the previous one used for linearization bool decideIfLinearize(const Cameras& cameras) const { // "selective linearization" // The function evaluates how close are the old and the new poses, transformed in the ref frame of the first pose // (we only care about the "rigidity" of the poses, not about their absolute pose) - if (this->linearizationThreshold_ < 0) //by convention if linearizationThreshold is negative we always relinearize + if (linearizationThreshold_ < 0) //by convention if linearizationThreshold is negative we always relinearize return true; - // if we do not have a previous linearization point_ or the new linearization point_ includes more poses + // if we do not have a previous linearization point or the new linearization point includes more poses if (cameraPosesLinearization_.empty() || (cameras.size() != cameraPosesLinearization_.size())) return true; @@ -211,100 +198,29 @@ public: Pose3 localCameraPose = firstCameraPose.between(cameras[i].pose()); Pose3 localCameraPoseOld = firstCameraPoseOld.between( cameraPosesLinearization_[i]); - if (!localCameraPose.equals(localCameraPoseOld, - this->linearizationThreshold_)) + if (!localCameraPose.equals(localCameraPoseOld, linearizationThreshold_)) return true; // at least two "relative" poses are different, hence we re-linearize } - return false; // if we arrive to this point_ all poses are the same and we don't need re-linearize + return false; // if we arrive to this point all poses are the same and we don't need re-linearize } /// triangulateSafe - size_t triangulateSafe(const Values& values) const { - return triangulateSafe(this->cameras(values)); - } - - /// triangulateSafe - size_t triangulateSafe(const Cameras& cameras) const { + TriangulationResult triangulateSafe(const Cameras& cameras) const { size_t m = cameras.size(); - if (m < 2) { // if we have a single pose the corresponding factor is uninformative - degenerate_ = true; - return m; - } + if (m < 2) // if we have a single pose the corresponding factor is uninformative + return TriangulationResult::Degenerate(); + bool retriangulate = decideIfTriangulate(cameras); - - if (retriangulate) { - // We triangulate the 3D position of the landmark - try { - // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; - point_ = triangulatePoint3(cameras, this->measured_, - rankTolerance_, enableEPI_); - degenerate_ = false; - cheiralityException_ = false; - - // Check landmark distance and reprojection errors to avoid outliers - double totalReprojError = 0.0; - size_t i = 0; - BOOST_FOREACH(const CAMERA& camera, cameras) { - Point3 cameraTranslation = camera.pose().translation(); - // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { - degenerate_ = true; - break; - } - const Point2& zi = this->measured_.at(i); - try { - Point2 reprojectionError(camera.project(point_) - zi); - totalReprojError += reprojectionError.vector().norm(); - } catch (CheiralityException) { - cheiralityException_ = true; - } - i += 1; - } - // we discard smart factors that have large reprojection error - if (dynamicOutlierRejectionThreshold_ > 0 - && totalReprojError / m > dynamicOutlierRejectionThreshold_) - degenerate_ = true; - - } catch (TriangulationUnderconstrainedException&) { - // if TriangulationUnderconstrainedException can be - // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before - // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) - // in the second case we want to use a rotation-only smart factor - degenerate_ = true; - cheiralityException_ = false; - } catch (TriangulationCheiralityException&) { - // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers - // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint - cheiralityException_ = true; - } - } - return m; + if (retriangulate) + result_ = gtsam::triangulateSafe(cameras, this->measured_, parameters_); + return result_; } /// triangulate bool triangulateForLinearize(const Cameras& cameras) const { - - bool isDebug = false; - size_t nrCameras = this->triangulateSafe(cameras); - - if (nrCameras < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) { - if (isDebug) { - std::cout - << "createRegularImplicitSchurFactor: degenerate configuration" - << std::endl; - } - return false; - } else { - - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) { // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - } - return true; - } + triangulateSafe(cameras); // imperative, might reset result_ + return (manageDegeneracy_ || result_); } /// linearize returns a Hessianfactor that is an approximation of error(p) @@ -324,12 +240,10 @@ public: exit(1); } - this->triangulateSafe(cameras); + triangulateSafe(cameras); - if (numKeys < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) { - // std::cout << "In linearize: exception" << std::endl; + if (!manageDegeneracy_ && !result_) { + // put in "empty" Hessian BOOST_FOREACH(Matrix& m, Gs) m = zeros(Base::Dim, Base::Dim); BOOST_FOREACH(Vector& v, gs) @@ -338,23 +252,19 @@ public: Gs, gs, 0.0); } - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) { // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - } - + // decide whether to re-linearize bool doLinearize = this->decideIfLinearize(cameras); - if (this->linearizationThreshold_ >= 0 && doLinearize) // if we apply selective relinearization and we need to relinearize + if (linearizationThreshold_ >= 0 && doLinearize) // if we apply selective relinearization and we need to relinearize for (size_t i = 0; i < cameras.size(); i++) this->cameraPosesLinearization_[i] = cameras[i].pose(); if (!doLinearize) { // return the previous Hessian factor std::cout << "=============================" << std::endl; std::cout << "doLinearize " << doLinearize << std::endl; - std::cout << "this->linearizationThreshold_ " - << this->linearizationThreshold_ << std::endl; - std::cout << "this->degenerate_ " << this->degenerate_ << std::endl; + std::cout << "linearizationThreshold_ " << linearizationThreshold_ + << std::endl; + std::cout << "valid: " << isValid() << std::endl; std::cout << "something wrong in SmartProjectionHessianFactor: selective relinearization should be disabled" << std::endl; @@ -404,7 +314,7 @@ public: } } // ================================================================== - if (this->linearizationThreshold_ >= 0) { // if we do not use selective relinearization we don't need to store these variables + if (linearizationThreshold_ >= 0) { // if we do not use selective relinearization we don't need to store these variables this->state_->Gs = Gs; this->state_->gs = gs; this->state_->f = f; @@ -417,7 +327,7 @@ public: boost::shared_ptr > createRegularImplicitSchurFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) - return Base::createRegularImplicitSchurFactor(cameras, point_, lambda); + return Base::createRegularImplicitSchurFactor(cameras, *result_, lambda); else return boost::shared_ptr >(); } @@ -426,7 +336,7 @@ public: boost::shared_ptr > createJacobianQFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) - return Base::createJacobianQFactor(cameras, point_, lambda); + return Base::createJacobianQFactor(cameras, *result_, lambda); else return boost::make_shared >(this->keys_); } @@ -434,63 +344,27 @@ public: /// Create a factor, takes values boost::shared_ptr > createJacobianQFactor( const Values& values, double lambda) const { - Cameras cameras; - // TODO triangulate twice ?? - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); - if (nonDegenerate) - return createJacobianQFactor(cameras, lambda); - else - return boost::make_shared >(this->keys_); + return createJacobianQFactor(this->cameras(values),lambda); } /// different (faster) way to compute Jacobian factor boost::shared_ptr createJacobianSVDFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) - return Base::createJacobianSVDFactor(cameras, point_, lambda); + return Base::createJacobianSVDFactor(cameras, *result_, lambda); else return boost::make_shared >(this->keys_); } - /// Returns true if nonDegenerate - bool computeCamerasAndTriangulate(const Values& values, - Cameras& cameras) const { - Values valuesFactor; - - // Select only the cameras - BOOST_FOREACH(const Key key, this->keys_) - valuesFactor.insert(key, values.at(key)); - - cameras = this->cameras(valuesFactor); - size_t nrCameras = this->triangulateSafe(cameras); - - if (nrCameras < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) - return false; - - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - - if (this->degenerate_) { - std::cout << "SmartProjectionFactor: this is not ready" << std::endl; - std::cout << "this->cheiralityException_ " << this->cheiralityException_ - << std::endl; - std::cout << "this->degenerate_ " << this->degenerate_ << std::endl; - } - return true; - } - /** * Triangulate and compute derivative of error with respect to point * @return whether triangulation worked */ bool triangulateAndComputeE(Matrix& E, const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); + Cameras cameras = this->cameras(values); + bool nonDegenerate = triangulateForLinearize(cameras); if (nonDegenerate) - cameras.project2(point_, boost::none, E); + cameras.project2(*result_, boost::none, E); return nonDegenerate; } @@ -501,31 +375,18 @@ public: std::vector& Fblocks, Matrix& E, Vector& b, const Cameras& cameras) const { - if (this->degenerate_) { - std::cout << "manage degeneracy " << manageDegeneracy_ << std::endl; - std::cout << "point " << point_ << std::endl; - std::cout - << "SmartProjectionFactor: Management of degeneracy is disabled - not ready to be used" - << std::endl; - if (Base::Dim > 6) { - std::cout - << "Management of degeneracy is not yet ready when one also optimizes for the calibration " - << std::endl; - } - + if (!result_) { + // TODO Luca clarify whether this works or not + result_ = TriangulationResult( + cameras[0].backprojectPointAtInfinity(this->measured_.at(0))); // TODO replace all this by Call to CameraSet int m = this->keys_.size(); E = zeros(2 * m, 2); b = zero(2 * m); double f = 0; for (size_t i = 0; i < this->measured_.size(); i++) { - if (i == 0) { // first pose - this->point_ = cameras[i].backprojectPointAtInfinity( - this->measured_.at(i)); - // 3D parametrization of point at infinity: [px py 1] - } Matrix Fi, Ei; - Vector bi = -(cameras[i].projectPointAtInfinity(this->point_, Fi, Ei) + Vector bi = -(cameras[i].projectPointAtInfinity(*result_, Fi, Ei) - this->measured_.at(i)).vector(); f += bi.squaredNorm(); @@ -535,17 +396,17 @@ public: } return f; } else { - // nondegenerate: just return Base version - return Base::computeJacobians(Fblocks, E, b, cameras, point_); - } // end else + // valid result: just return Base version + return Base::computeJacobians(Fblocks, E, b, cameras, *result_); + } } /// Version that takes values, and creates the point bool triangulateAndComputeJacobians( std::vector& Fblocks, Matrix& E, Vector& b, const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); + Cameras cameras = this->cameras(values); + bool nonDegenerate = triangulateForLinearize(cameras); if (nonDegenerate) computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); return nonDegenerate; @@ -555,19 +416,19 @@ public: bool triangulateAndComputeJacobiansSVD( std::vector& Fblocks, Matrix& Enull, Vector& b, const Values& values) const { - typename Base::Cameras cameras; - double good = computeCamerasAndTriangulate(values, cameras); - if (good) - Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, point_); - return true; + Cameras cameras = this->cameras(values); + bool nonDegenerate = triangulateForLinearize(cameras); + if (nonDegenerate) + Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, *result_); + return nonDegenerate; } /// Calculate vector of re-projection errors, before applying noise model Vector reprojectionErrorAfterTriangulation(const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); + Cameras cameras = this->cameras(values); + bool nonDegenerate = triangulateForLinearize(cameras); if (nonDegenerate) - return Base::reprojectionError(cameras, point_); + return Base::reprojectionError(cameras, *result_); else return zero(cameras.size() * 2); } @@ -581,65 +442,59 @@ public: double totalReprojectionError(const Cameras& cameras, boost::optional externalPoint = boost::none) const { - size_t nrCameras; - if (externalPoint) { - nrCameras = this->keys_.size(); - point_ = *externalPoint; - degenerate_ = false; - cheiralityException_ = false; - } else { - nrCameras = this->triangulateSafe(cameras); - } + if (externalPoint) + result_ = TriangulationResult(*externalPoint); - if (nrCameras < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) { - // if we don't want to manage the exceptions we discard the factor - // std::cout << "In error evaluation: exception" << std::endl; + // if we don't want to manage the exceptions we discard the factor + if (!manageDegeneracy_ && !result_) return 0.0; - } - if (this->cheiralityException_) { // if we want to manage the exceptions with rotation-only factors + if (isPointBehindCamera()) { // if we want to manage the exceptions with rotation-only factors std::cout << "SmartProjectionHessianFactor: cheirality exception (this should not happen if CheiralityException is disabled)!" << std::endl; - this->degenerate_ = true; } - if (this->degenerate_) { + if (isDegenerate()) { // return 0.0; // TODO: this maybe should be zero? std::cout << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" << std::endl; // 3D parameterization of point at infinity - const Point2& zi = this->measured_.at(0); - this->point_ = cameras.front().backprojectPointAtInfinity(zi); - return Base::totalReprojectionErrorAtInfinity(cameras, this->point_); + const Point2& z0 = this->measured_.at(0); + result_ = TriangulationResult( + cameras.front().backprojectPointAtInfinity(z0)); + return Base::totalReprojectionErrorAtInfinity(cameras, *result_); } else { // Just use version in base class - return Base::totalReprojectionError(cameras, point_); + return Base::totalReprojectionError(cameras, *result_); } } /** return the landmark */ - boost::optional point() const { - return point_; + TriangulationResult point() const { + return result_; } /** COMPUTE the landmark */ - boost::optional point(const Values& values) const { - triangulateSafe(values); - return point_; + TriangulationResult point(const Values& values) const { + Cameras cameras = this->cameras(values); + return triangulateSafe(cameras); + } + + /// Is result valid? + inline bool isValid() const { + return result_; } /** return the degenerate state */ inline bool isDegenerate() const { - return (cheiralityException_ || degenerate_); + return result_.degenerate(); } /** return the cheirality status flag */ inline bool isPointBehindCamera() const { - return cheiralityException_; + return result_.behindCamera(); } /** return cheirality verbosity */ From 2cc0223624fc6b33bc74264ad6e1d850de38dda8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 12:06:46 +0100 Subject: [PATCH 075/964] Made tests compile with TriangulationResult changes --- .../tests/testSmartProjectionCameraFactor.cpp | 96 ++++++------------- .../tests/testSmartProjectionPoseFactor.cpp | 2 +- 2 files changed, 29 insertions(+), 69 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index ba7b7bf51..750751935 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -27,7 +27,7 @@ using namespace boost::assign; -static bool isDebugTest = false; +static bool isDebugTest = true; static double rankTol = 1.0; static double linThreshold = -1.0; @@ -133,9 +133,8 @@ TEST( SmartProjectionCameraFactor, noisy ) { using namespace vanilla; - // 1. Project two landmarks into two cameras and triangulate - Point2 pixelError(0.2, 0.2); - Point2 level_uv = level_camera.project(landmark1) + pixelError; + // Project one landmark into two cameras and add noise on first + Point2 level_uv = level_camera.project(landmark1) + Point2(0.2, 0.2); Point2 level_uv_right = level_camera_right.project(landmark1); Values values; @@ -165,7 +164,6 @@ TEST( SmartProjectionCameraFactor, noisy ) { factor2->add(measurements, views, noises); double actualError2 = factor2->error(values); - DOUBLES_EQUAL(actualError1, actualError2, 1e-7); } @@ -174,68 +172,58 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { using namespace vanilla; + // Project three landmarks into three cameras vector measurements_cam1, measurements_cam2, measurements_cam3; - - // 1. Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + // Create and fill smartfactors + SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + SmartFactor::shared_ptr smartFactor3(new SmartFactor()); vector views; views.push_back(c1); views.push_back(c2); views.push_back(c3); - - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); smartFactor1->add(measurements_cam1, views, unit2); - - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); smartFactor2->add(measurements_cam2, views, unit2); - - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); smartFactor3->add(measurements_cam3, views, unit2); - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); - + // Create factor graph and add priors on two cameras NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); graph.push_back(PriorFactor(c1, cam1, noisePrior)); graph.push_back(PriorFactor(c2, cam2, noisePrior)); - Values values; - values.insert(c1, cam1); - values.insert(c2, cam2); - values.insert(c3, perturbCameraPose(cam3)); + // Create initial estimate + Values initialEstimate; + initialEstimate.insert(c1, cam1); + initialEstimate.insert(c2, cam2); + initialEstimate.insert(c3, perturbCameraPose(cam3)); if (isDebugTest) - values.at(c3).print("Smart: Pose3 before optimization: "); + initialEstimate.at(c3).print("Smart: Pose3 before optimization: "); + // Optimize LevenbergMarquardtParams params; - if (isDebugTest) + if (isDebugTest) { params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; + } + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, params); + Values result = optimizer.optimize(); - Values result; - gttic_(SmartProjectionCameraFactor); - LevenbergMarquardtOptimizer optimizer(graph, values, params); - result = optimizer.optimize(); - gttoc_(SmartProjectionCameraFactor); - tictoc_finishedIteration_(); - - // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(initialEstimate); // VectorValues delta = GFG->optimize(); if (isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1))); EXPECT(assert_equal(cam2, result.at(c2))); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); - EXPECT( - assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); - if (isDebugTest) - tictoc_print_(); + EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); } /* *************************************************************************/ @@ -243,8 +231,8 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { using namespace vanilla; + // Project three landmarks into three cameras vector measurements_cam1, measurements_cam2, measurements_cam3; - // 1. Project three landmarks into three cameras and triangulate projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -300,11 +288,8 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionCameraFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionCameraFactor); - tictoc_finishedIteration_(); // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); // VectorValues delta = GFG->optimize(); @@ -313,11 +298,7 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1))); EXPECT(assert_equal(cam2, result.at(c2))); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); - EXPECT( - assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); - if (isDebugTest) - tictoc_print_(); + EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); } /* *************************************************************************/ @@ -383,11 +364,8 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionCameraFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionCameraFactor); - tictoc_finishedIteration_(); // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); // VectorValues delta = GFG->optimize(); @@ -396,11 +374,7 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1))); EXPECT(assert_equal(cam2, result.at(c2))); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); - EXPECT( - assert_equal(result.at(c3).calibration(), cam3.calibration(), 20)); - if (isDebugTest) - tictoc_print_(); + EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); } /* *************************************************************************/ @@ -465,21 +439,14 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionCameraFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionCameraFactor); - tictoc_finishedIteration_(); if (isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1), 1e-4)); EXPECT(assert_equal(cam2, result.at(c2), 1e-4)); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); - EXPECT( - assert_equal(result.at(c3).calibration(), cam3.calibration(), 1)); - if (isDebugTest) - tictoc_print_(); + EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); } /* *************************************************************************/ @@ -544,21 +511,14 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionCameraFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionCameraFactor); - tictoc_finishedIteration_(); if (isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1), 1e-4)); EXPECT(assert_equal(cam2, result.at(c2), 1e-4)); - EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); - EXPECT( - assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); - if (isDebugTest) - tictoc_print_(); + EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); } /* *************************************************************************/ diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index b235d8e2b..d03db7ab1 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -289,7 +289,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { cameras.push_back(cam2); // Make sure triangulation works - LONGS_EQUAL(2, smartFactor1->triangulateSafe(cameras)); + CHECK(smartFactor1->triangulateSafe(cameras)); CHECK(!smartFactor1->isDegenerate()); CHECK(!smartFactor1->isPointBehindCamera()); boost::optional p = smartFactor1->point(); From 47ea3834dfe3e03f5a14131658b9a9a6241b112e Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 13:13:31 +0100 Subject: [PATCH 076/964] Extra tests --- .../tests/testSmartProjectionCameraFactor.cpp | 48 ++++++++++++++++++- 1 file changed, 46 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index ba7b7bf51..4a27f7724 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -147,7 +147,24 @@ TEST( SmartProjectionCameraFactor, noisy ) { factor1->add(level_uv, c1, unit2); factor1->add(level_uv_right, c2, unit2); + // check point before triangulation + EXPECT(factor1->point()); + EXPECT(assert_equal(Point3(),*factor1->point(), 1e-7)); + + double expectedError = 58640; double actualError1 = factor1->error(values); + EXPECT_DOUBLES_EQUAL(expectedError, actualError1, 1); + + // Check triangulated point + EXPECT(assert_equal(Point3(13.7587, 1.43851, -1.14274),*factor1->point(), 1e-4)); + + // Check whitened errors + Vector expected(4); + expected << -7, 235, 58, -242; + SmartFactor::Cameras cameras1 = factor1->cameras(values); + Point3 point1 = *factor1->point(); + Vector actual = factor1->whitenedErrors(cameras1, point1); + EXPECT(assert_equal(expected, actual, 1)); SmartFactor::shared_ptr factor2(new SmartFactor()); vector measurements; @@ -165,8 +182,7 @@ TEST( SmartProjectionCameraFactor, noisy ) { factor2->add(measurements, views, noises); double actualError2 = factor2->error(values); - - DOUBLES_EQUAL(actualError1, actualError2, 1e-7); + EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1); } /* *************************************************************************/ @@ -211,6 +227,30 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { if (isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); + EXPECT(smartFactor1->point()); + EXPECT(smartFactor2->point()); + EXPECT(smartFactor3->point()); + + EXPECT(assert_equal(Point3(),*smartFactor1->point(), 1e-7)); + EXPECT(assert_equal(Point3(),*smartFactor2->point(), 1e-7)); + EXPECT(assert_equal(Point3(),*smartFactor3->point(), 1e-7)); + + EXPECT_DOUBLES_EQUAL(75711, smartFactor1->error(values), 1); + EXPECT_DOUBLES_EQUAL(58524, smartFactor2->error(values), 1); + EXPECT_DOUBLES_EQUAL(77564, smartFactor3->error(values), 1); + + EXPECT(assert_equal(Point3(2.57696, -0.182566, 1.04085),*smartFactor1->point(), 1e-4)); + EXPECT(assert_equal(Point3(2.80114, -0.702153, 1.06594),*smartFactor2->point(), 1e-4)); + EXPECT(assert_equal(Point3(1.82593, -0.289569, 2.13438),*smartFactor3->point(), 1e-4)); + + // Check whitened errors + Vector expected(6); + expected << 256, 29, -26, 29, -206, -202; + SmartFactor::Cameras cameras1 = smartFactor1->cameras(values); + Point3 point1 = *smartFactor1->point(); + Vector actual = smartFactor1->whitenedErrors(cameras1, point1); + EXPECT(assert_equal(expected, actual, 1)); + LevenbergMarquardtParams params; if (isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; @@ -224,6 +264,10 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { gttoc_(SmartProjectionCameraFactor); tictoc_finishedIteration_(); + EXPECT(assert_equal(landmark1,*smartFactor1->point(), 1e-7)); + EXPECT(assert_equal(landmark2,*smartFactor2->point(), 1e-7)); + EXPECT(assert_equal(landmark3,*smartFactor3->point(), 1e-7)); + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); // VectorValues delta = GFG->optimize(); From e15231fb3ed49ac6b452c371af722f73b952d81b Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 13:48:17 +0100 Subject: [PATCH 077/964] Fixed bug (restored omitted triangulateSafe call) --- gtsam/slam/SmartProjectionFactor.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 13d17f683..4c0d1f4a2 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -344,7 +344,7 @@ public: /// Create a factor, takes values boost::shared_ptr > createJacobianQFactor( const Values& values, double lambda) const { - return createJacobianQFactor(this->cameras(values),lambda); + return createJacobianQFactor(this->cameras(values), lambda); } /// different (faster) way to compute Jacobian factor @@ -444,6 +444,8 @@ public: if (externalPoint) result_ = TriangulationResult(*externalPoint); + else + result_ = triangulateSafe(cameras); // if we don't want to manage the exceptions we discard the factor if (!manageDegeneracy_ && !result_) From 754e8447b16c553f63bbb08b145725019cfc0637 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 13:48:47 +0100 Subject: [PATCH 078/964] Made tests compile and succeed --- .../tests/testSmartProjectionCameraFactor.cpp | 82 +++++++++++-------- 1 file changed, 48 insertions(+), 34 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 782f31c49..a4ed72f4b 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -27,7 +27,7 @@ using namespace boost::assign; -static bool isDebugTest = true; +static bool isDebugTest = false; static double rankTol = 1.0; static double linThreshold = -1.0; @@ -146,15 +146,15 @@ TEST( SmartProjectionCameraFactor, noisy ) { factor1->add(level_uv, c1, unit2); factor1->add(level_uv_right, c2, unit2); - // check point before triangulation - EXPECT(factor1->point()); - EXPECT(assert_equal(Point3(),*factor1->point(), 1e-7)); + // Point is now uninitialized before a triangulation event + EXPECT(!factor1->point()); double expectedError = 58640; double actualError1 = factor1->error(values); EXPECT_DOUBLES_EQUAL(expectedError, actualError1, 1); // Check triangulated point + CHECK(factor1->point()); EXPECT(assert_equal(Point3(13.7587, 1.43851, -1.14274),*factor1->point(), 1e-4)); // Check whitened errors @@ -217,24 +217,26 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { graph.push_back(PriorFactor(c2, cam2, noisePrior)); // Create initial estimate - Values initialEstimate; - initialEstimate.insert(c1, cam1); - initialEstimate.insert(c2, cam2); - initialEstimate.insert(c3, perturbCameraPose(cam3)); + Values initial; + initial.insert(c1, cam1); + initial.insert(c2, cam2); + initial.insert(c3, perturbCameraPose(cam3)); if (isDebugTest) - initialEstimate.at(c3).print("Smart: Pose3 before optimization: "); + initial.at(c3).print("Smart: Pose3 before optimization: "); - EXPECT(smartFactor1->point()); - EXPECT(smartFactor2->point()); - EXPECT(smartFactor3->point()); + // Points are now uninitialized before a triangulation event + EXPECT(!smartFactor1->point()); + EXPECT(!smartFactor2->point()); + EXPECT(!smartFactor3->point()); - EXPECT(assert_equal(Point3(),*smartFactor1->point(), 1e-7)); - EXPECT(assert_equal(Point3(),*smartFactor2->point(), 1e-7)); - EXPECT(assert_equal(Point3(),*smartFactor3->point(), 1e-7)); + EXPECT_DOUBLES_EQUAL(75711, smartFactor1->error(initial), 1); + EXPECT_DOUBLES_EQUAL(58524, smartFactor2->error(initial), 1); + EXPECT_DOUBLES_EQUAL(77564, smartFactor3->error(initial), 1); - EXPECT_DOUBLES_EQUAL(75711, smartFactor1->error(values), 1); - EXPECT_DOUBLES_EQUAL(58524, smartFactor2->error(values), 1); - EXPECT_DOUBLES_EQUAL(77564, smartFactor3->error(values), 1); + // Error should trigger this and initialize the points, abort if not so + CHECK(smartFactor1->point()); + CHECK(smartFactor2->point()); + CHECK(smartFactor3->point()); EXPECT(assert_equal(Point3(2.57696, -0.182566, 1.04085),*smartFactor1->point(), 1e-4)); EXPECT(assert_equal(Point3(2.80114, -0.702153, 1.06594),*smartFactor2->point(), 1e-4)); @@ -243,7 +245,7 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { // Check whitened errors Vector expected(6); expected << 256, 29, -26, 29, -206, -202; - SmartFactor::Cameras cameras1 = smartFactor1->cameras(values); + SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial); Point3 point1 = *smartFactor1->point(); Vector actual = smartFactor1->whitenedErrors(cameras1, point1); EXPECT(assert_equal(expected, actual, 1)); @@ -254,29 +256,25 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; params.verbosity = NonlinearOptimizerParams::ERROR; } - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, params); + LevenbergMarquardtOptimizer optimizer(graph, initial, params); Values result = optimizer.optimize(); - - Values result; - gttic_(SmartProjectionCameraFactor); - LevenbergMarquardtOptimizer optimizer(graph, values, params); - result = optimizer.optimize(); - gttoc_(SmartProjectionCameraFactor); - tictoc_finishedIteration_(); - EXPECT(assert_equal(landmark1,*smartFactor1->point(), 1e-7)); EXPECT(assert_equal(landmark2,*smartFactor2->point(), 1e-7)); EXPECT(assert_equal(landmark3,*smartFactor3->point(), 1e-7)); - // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); + // GaussianFactorGraph::shared_ptr GFG = graph.linearize(initial); // VectorValues delta = GFG->optimize(); if (isDebugTest) result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1))); EXPECT(assert_equal(cam2, result.at(c2))); - EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ @@ -351,7 +349,11 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1))); EXPECT(assert_equal(cam2, result.at(c2))); - EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-4)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ @@ -427,7 +429,11 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1))); EXPECT(assert_equal(cam2, result.at(c2))); - EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 20)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ @@ -499,7 +505,11 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1), 1e-4)); EXPECT(assert_equal(cam2, result.at(c2), 1e-4)); - EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 1)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ @@ -571,7 +581,11 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { result.at(c3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(cam1, result.at(c1), 1e-4)); EXPECT(assert_equal(cam2, result.at(c2), 1e-4)); - EXPECT(assert_equal(cam3, result.at(c3), 1e-4)); + EXPECT(assert_equal(result.at(c3).pose(), cam3.pose(), 1e-1)); + EXPECT( + assert_equal(result.at(c3).calibration(), cam3.calibration(), 2)); + if (isDebugTest) + tictoc_print_(); } /* *************************************************************************/ From 8fe612ca719d85918b2c74698f8f8bd17aa4d802 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 14:25:32 +0100 Subject: [PATCH 079/964] whitenJacobians --- gtsam/slam/SmartFactorBase.h | 14 ++++++++++---- gtsam/slam/SmartProjectionFactor.h | 1 + 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 417ba1354..59a267278 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -487,6 +487,15 @@ public: updateSparseSchurComplement(Fblocks, E, P, b, f, allKeys, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... } + /// Whiten the Jacobians computed by computeJacobians using noiseModel_ + void whitenJacobians(std::vector& F, Matrix& E, + Vector& b) const { + noiseModel_->WhitenSystem(E, b); + // TODO make WhitenInPlace work with any dense matrix type + BOOST_FOREACH(KeyMatrix2D& Fblock,F) + Fblock.second = noiseModel_->Whiten(Fblock.second); + } + /** * Return Jacobians as RegularImplicitSchurFactor with raw access */ @@ -497,11 +506,8 @@ public: Matrix E; Vector b; computeJacobians(F, E, b, cameras, point); - noiseModel_->WhitenSystem(E, b); + whitenJacobians(F, E, b); Matrix3 P = PointCov(E, lambda, diagonalDamping); - // TODO make WhitenInPlace work with any dense matrix type - BOOST_FOREACH(KeyMatrix2D& Fblock,F) - Fblock.second = noiseModel_->Whiten(Fblock.second); return boost::make_shared >(F, E, P, b); } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 4c0d1f4a2..51f892a6d 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -280,6 +280,7 @@ public: { std::vector Fblocks; f = computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); + Base::whitenJacobians(Fblocks,E,b); Base::FillDiagonalF(Fblocks, F); // expensive ! } From 575a06b0427aafa40d6d38d9dd0b7344092ce60f Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 14:27:37 +0100 Subject: [PATCH 080/964] Added my name --- gtsam/slam/SmartProjectionCameraFactor.h | 1 + gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/gtsam/slam/SmartProjectionCameraFactor.h b/gtsam/slam/SmartProjectionCameraFactor.h index f10681ab8..3afd04188 100644 --- a/gtsam/slam/SmartProjectionCameraFactor.h +++ b/gtsam/slam/SmartProjectionCameraFactor.h @@ -15,6 +15,7 @@ * @author Luca Carlone * @author Chris Beall * @author Zsolt Kira + * @author Frank Dellaert */ #pragma once diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index a4ed72f4b..56ff47c3e 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -15,6 +15,7 @@ * @author Chris Beall * @author Luca Carlone * @author Zsolt Kira + * @author Frank Dellaert * @date Sept 2013 */ From 6a024259e59826ca0d88ef43bd1728c8bc99597b Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 14:28:13 +0100 Subject: [PATCH 081/964] Switched to (i,j) instead of (i1,i2) --- gtsam/slam/SmartFactorBase.h | 73 +++++++++---------- .../tests/testSmartProjectionPoseFactor.cpp | 1 + 2 files changed, 36 insertions(+), 38 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 59a267278..5a757d998 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -367,28 +367,27 @@ public: size_t numKeys = this->keys_.size(); // Blockwise Schur complement - for (size_t i1 = 0; i1 < numKeys; i1++) { // for each camera + for (size_t i = 0; i < numKeys; i++) { // for each camera - const Matrix2D& Fi1 = Fblocks.at(i1).second; - const Matrix23 Ei1_P = E.block(ZDim * i1, 0) * P; + const Matrix2D& Fi = Fblocks.at(i).second; + const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; // Dim = (Dx2) * (2) - // (augmentedHessian.matrix()).block (i1,numKeys+1) = Fi1.transpose() * b.segment < 2 > (2 * i1); // F' * b - augmentedHessian(i1, numKeys) = Fi1.transpose() - * b.segment(ZDim * i1) // F' * b - - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + // (augmentedHessian.matrix()).block (i,numKeys+1) = Fi.transpose() * b.segment < 2 > (2 * i); // F' * b + augmentedHessian(i, numKeys) = Fi.transpose() * b.segment(ZDim * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - augmentedHessian(i1, i1) = Fi1.transpose() - * (Fi1 - Ei1_P * E.block(ZDim * i1, 0).transpose() * Fi1); + augmentedHessian(i, i) = Fi.transpose() + * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi); // upper triangular part of the hessian - for (size_t i2 = i1 + 1; i2 < numKeys; i2++) { // for each camera - const Matrix2D& Fi2 = Fblocks.at(i2).second; + for (size_t j = i + 1; j < numKeys; j++) { // for each camera + const Matrix2D& Fj = Fblocks.at(j).second; // (DxD) = (Dx2) * ( (2x2) * (2xD) ) - augmentedHessian(i1, i2) = -Fi1.transpose() - * (Ei1_P * E.block(ZDim * i2, 0).transpose() * Fi2); + augmentedHessian(i, j) = -Fi.transpose() + * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); } } // end of for over cameras } @@ -417,50 +416,48 @@ public: size_t aug_numKeys = (augmentedHessian.rows() - 1) / Dim; // all cameras in the group // Blockwise Schur complement - for (size_t i1 = 0; i1 < numKeys; i1++) { // for each camera in the current factor + for (size_t i = 0; i < numKeys; i++) { // for each camera in the current factor - const Matrix2D& Fi1 = Fblocks.at(i1).second; - const Matrix23 Ei1_P = E.block(ZDim * i1, 0) * P; + const Matrix2D& Fi = Fblocks.at(i).second; + const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; // Dim = (DxZDim) * (ZDim) // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) // we should map those to a slot in the local (grouped) hessian (0,1,2,3,4) - // Key cameraKey_i1 = this->keys_[i1]; - DenseIndex aug_i1 = KeySlotMap[this->keys_[i1]]; + // Key cameraKey_i = this->keys_[i]; + DenseIndex aug_i = KeySlotMap[this->keys_[i]]; // information vector - store previous vector - // vectorBlock = augmentedHessian(aug_i1, aug_numKeys).knownOffDiagonal(); + // vectorBlock = augmentedHessian(aug_i, aug_numKeys).knownOffDiagonal(); // add contribution of current factor - augmentedHessian(aug_i1, aug_numKeys) = augmentedHessian(aug_i1, + augmentedHessian(aug_i, aug_numKeys) = augmentedHessian(aug_i, aug_numKeys).knownOffDiagonal() - + Fi1.transpose() * b.segment(ZDim * i1) // F' * b - - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + + Fi.transpose() * b.segment(ZDim * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) // main block diagonal - store previous block - matrixBlock = augmentedHessian(aug_i1, aug_i1); + matrixBlock = augmentedHessian(aug_i, aug_i); // add contribution of current factor - augmentedHessian(aug_i1, aug_i1) = - matrixBlock - + (Fi1.transpose() - * (Fi1 - - Ei1_P * E.block(ZDim * i1, 0).transpose() * Fi1)); + augmentedHessian(aug_i, aug_i) = matrixBlock + + (Fi.transpose() + * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi)); // upper triangular part of the hessian - for (size_t i2 = i1 + 1; i2 < numKeys; i2++) { // for each camera - const Matrix2D& Fi2 = Fblocks.at(i2).second; + for (size_t j = i + 1; j < numKeys; j++) { // for each camera + const Matrix2D& Fj = Fblocks.at(j).second; - //Key cameraKey_i2 = this->keys_[i2]; - DenseIndex aug_i2 = KeySlotMap[this->keys_[i2]]; + //Key cameraKey_j = this->keys_[j]; + DenseIndex aug_j = KeySlotMap[this->keys_[j]]; // (DxD) = (DxZDim) * ( (ZDimxZDim) * (ZDimxD) ) // off diagonal block - store previous block - // matrixBlock = augmentedHessian(aug_i1, aug_i2).knownOffDiagonal(); + // matrixBlock = augmentedHessian(aug_i, aug_j).knownOffDiagonal(); // add contribution of current factor - augmentedHessian(aug_i1, aug_i2) = - augmentedHessian(aug_i1, aug_i2).knownOffDiagonal() - - Fi1.transpose() - * (Ei1_P * E.block(ZDim * i2, 0).transpose() * Fi2); + augmentedHessian(aug_i, aug_j) = + augmentedHessian(aug_i, aug_j).knownOffDiagonal() + - Fi.transpose() + * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); } } // end of for over cameras @@ -484,7 +481,7 @@ public: Vector b; double f = computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - updateSparseSchurComplement(Fblocks, E, P, b, f, allKeys, augmentedHessian); // augmentedHessian.matrix().block (i1,i2) = ... + updateSparseSchurComplement(Fblocks, E, P, b, f, allKeys, augmentedHessian); // augmentedHessian.matrix().block (i,j) = ... } /// Whiten the Jacobians computed by computeJacobians using noiseModel_ diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index d03db7ab1..0e1c3ff46 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -15,6 +15,7 @@ * @author Chris Beall * @author Luca Carlone * @author Zsolt Kira + * @author Frank Dellaert * @date Sept 2013 */ From cee64e385393f09738f45d23bf14da5df7042ae8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 14:28:31 +0100 Subject: [PATCH 082/964] Made sure all refer to the same information matrix --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 0e1c3ff46..b0c310a36 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -301,6 +301,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { Matrix16 A1, A2; A1 << -1000, 0, 0, 0, 100, 0; A2 << 1000, 0, 100, 0, -100, 0; + Matrix expectedInformation; // filled below { // createHessianFactor Matrix66 G11 = 0.5 * A1.transpose() * A1; @@ -315,10 +316,11 @@ TEST( SmartProjectionPoseFactor, Factors ) { double f = 0; RegularHessianFactor<6> expected(x1, x2, G11, G12, g1, G22, g2, f); + expectedInformation = expected.information(); boost::shared_ptr > actual = smartFactor1->createHessianFactor(cameras, 0.0); - EXPECT(assert_equal(expected.information(), actual->information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); EXPECT(assert_equal(expected, *actual, 1e-8)); } @@ -356,16 +358,19 @@ TEST( SmartProjectionPoseFactor, Factors ) { boost::shared_ptr > actual = smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0); CHECK(actual); + EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); EXPECT(assert_equal(expected, *actual)); // createJacobianQFactor SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma); JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b, n); + EXPECT(assert_equal(expectedInformation, expectedQ.information(), 1e-8)); boost::shared_ptr > actualQ = smartFactor1->createJacobianQFactor(cameras, 0.0); CHECK(actual); - EXPECT(assert_equal(expectedQ.information(), actualQ->information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, actualQ->information(), 1e-8)); EXPECT(assert_equal(expectedQ, *actualQ)); } @@ -375,11 +380,12 @@ TEST( SmartProjectionPoseFactor, Factors ) { b.setZero(); double s = sin(M_PI_4); JacobianFactor expected(x1, s * A1, x2, s * A2, b); + EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); boost::shared_ptr actual = smartFactor1->createJacobianSVDFactor(cameras, 0.0); CHECK(actual); - EXPECT(assert_equal(expected.information(), actual->information(), 1e-8)); + EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); EXPECT(assert_equal(expected, *actual)); } } From b94279f37fbec5b53001ee35fdbf9a9be885f0ba Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 14:35:54 +0100 Subject: [PATCH 083/964] numKeys -> m --- gtsam/slam/SmartFactorBase.h | 43 +++++++++++++++++------------------- 1 file changed, 20 insertions(+), 23 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 5a757d998..9a53957a5 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -360,21 +360,20 @@ public: const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, /*output ->*/SymmetricBlockMatrix& augmentedHessian) const { // Schur complement trick - // Gs = F' * F - F' * E * P * E' * F - // gs = F' * (b - E * P * E' * b) + // G = F' * F - F' * E * P * E' * F + // g = F' * (b - E * P * E' * b) - // a single point is observed in numKeys cameras - size_t numKeys = this->keys_.size(); + // a single point is observed in m cameras + size_t m = this->keys_.size(); // Blockwise Schur complement - for (size_t i = 0; i < numKeys; i++) { // for each camera + for (size_t i = 0; i < m; i++) { // for each camera const Matrix2D& Fi = Fblocks.at(i).second; const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; // Dim = (Dx2) * (2) - // (augmentedHessian.matrix()).block (i,numKeys+1) = Fi.transpose() * b.segment < 2 > (2 * i); // F' * b - augmentedHessian(i, numKeys) = Fi.transpose() * b.segment(ZDim * i) // F' * b + augmentedHessian(i, m) = Fi.transpose() * b.segment(ZDim * i) // F' * b - Fi.transpose() * (Ei_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) @@ -382,7 +381,7 @@ public: * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi); // upper triangular part of the hessian - for (size_t j = i + 1; j < numKeys; j++) { // for each camera + for (size_t j = i + 1; j < m; j++) { // for each camera const Matrix2D& Fj = Fblocks.at(j).second; // (DxD) = (Dx2) * ( (2x2) * (2xD) ) @@ -411,12 +410,12 @@ public: for (size_t slot = 0; slot < allKeys.size(); slot++) KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); - // a single point is observed in numKeys cameras - size_t numKeys = this->keys_.size(); // cameras observing current point - size_t aug_numKeys = (augmentedHessian.rows() - 1) / Dim; // all cameras in the group + // a single point is observed in m cameras + size_t m = this->keys_.size(); // cameras observing current point + size_t aug_m = (augmentedHessian.rows() - 1) / Dim; // all cameras in the group // Blockwise Schur complement - for (size_t i = 0; i < numKeys; i++) { // for each camera in the current factor + for (size_t i = 0; i < m; i++) { // for each camera in the current factor const Matrix2D& Fi = Fblocks.at(i).second; const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; @@ -428,15 +427,15 @@ public: DenseIndex aug_i = KeySlotMap[this->keys_[i]]; // information vector - store previous vector - // vectorBlock = augmentedHessian(aug_i, aug_numKeys).knownOffDiagonal(); + // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); // add contribution of current factor - augmentedHessian(aug_i, aug_numKeys) = augmentedHessian(aug_i, - aug_numKeys).knownOffDiagonal() - + Fi.transpose() * b.segment(ZDim * i) // F' * b - - Fi.transpose() * (Ei_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + augmentedHessian(aug_i, aug_m) = + augmentedHessian(aug_i, aug_m).knownOffDiagonal() + + Fi.transpose() * b.segment(ZDim * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) - // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - // main block diagonal - store previous block + // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) + // main block diagonal - store previous block matrixBlock = augmentedHessian(aug_i, aug_i); // add contribution of current factor augmentedHessian(aug_i, aug_i) = matrixBlock @@ -444,7 +443,7 @@ public: * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi)); // upper triangular part of the hessian - for (size_t j = i + 1; j < numKeys; j++) { // for each camera + for (size_t j = i + 1; j < m; j++) { // for each camera const Matrix2D& Fj = Fblocks.at(j).second; //Key cameraKey_j = this->keys_[j]; @@ -461,7 +460,7 @@ public: } } // end of for over cameras - augmentedHessian(aug_numKeys, aug_numKeys)(0, 0) += f; + augmentedHessian(aug_m, aug_m)(0, 0) += f; } /** @@ -474,8 +473,6 @@ public: SymmetricBlockMatrix& augmentedHessian, const FastVector allKeys) const { - // int numKeys = this->keys_.size(); - std::vector Fblocks; Matrix E; Vector b; From d732a01e0376351b340f37828173ee3703b8c550 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 15:03:18 +0100 Subject: [PATCH 084/964] Convert to static functions --- gtsam/slam/SmartFactorBase.h | 43 ++++++++++++++++++++++-------------- 1 file changed, 27 insertions(+), 16 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 9a53957a5..9542a4067 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -356,15 +356,15 @@ public: * Do Schur complement, given Jacobian as F,E,P, return SymmetricBlockMatrix * Fast version - works on with sparsity */ - void sparseSchurComplement(const std::vector& Fblocks, + static void sparseSchurComplement(const std::vector& Fblocks, const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, - /*output ->*/SymmetricBlockMatrix& augmentedHessian) const { + /*output ->*/SymmetricBlockMatrix& augmentedHessian) { // Schur complement trick // G = F' * F - F' * E * P * E' * F // g = F' * (b - E * P * E' * b) // a single point is observed in m cameras - size_t m = this->keys_.size(); + size_t m = Fblocks.size(); // Blockwise Schur complement for (size_t i = 0; i < m; i++) { // for each camera @@ -395,23 +395,20 @@ public: * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. */ - void updateSparseSchurComplement(const std::vector& Fblocks, - const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, - const double f, const FastVector allKeys, - /*output ->*/SymmetricBlockMatrix& augmentedHessian) const { + static void updateSparseSchurComplement( + const std::vector& Fblocks, const Matrix& E, + const Matrix3& P /*Point Covariance*/, const Vector& b, const double f, + const FastVector& keys, const FastMap& KeySlotMap, + /*output ->*/SymmetricBlockMatrix& augmentedHessian) { // Schur complement trick - // Gs = F' * F - F' * E * P * E' * F - // gs = F' * (b - E * P * E' * b) + // G = F' * F - F' * E * P * E' * F + // g = F' * (b - E * P * E' * b) MatrixDD matrixBlock; typedef SymmetricBlockMatrix::Block Block; ///< A block from the Hessian matrix - FastMap KeySlotMap; - for (size_t slot = 0; slot < allKeys.size(); slot++) - KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); - // a single point is observed in m cameras - size_t m = this->keys_.size(); // cameras observing current point + size_t m = Fblocks.size(); // cameras observing current point size_t aug_m = (augmentedHessian.rows() - 1) / Dim; // all cameras in the group // Blockwise Schur complement @@ -424,7 +421,7 @@ public: // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) // we should map those to a slot in the local (grouped) hessian (0,1,2,3,4) // Key cameraKey_i = this->keys_[i]; - DenseIndex aug_i = KeySlotMap[this->keys_[i]]; + DenseIndex aug_i = KeySlotMap.at(keys[i]); // information vector - store previous vector // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); @@ -447,7 +444,7 @@ public: const Matrix2D& Fj = Fblocks.at(j).second; //Key cameraKey_j = this->keys_[j]; - DenseIndex aug_j = KeySlotMap[this->keys_[j]]; + DenseIndex aug_j = KeySlotMap.at(keys[j]); // (DxD) = (DxZDim) * ( (ZDimxZDim) * (ZDimxD) ) // off diagonal block - store previous block @@ -463,6 +460,20 @@ public: augmentedHessian(aug_m, aug_m)(0, 0) += f; } + /** + * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, + * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. + */ + void updateSparseSchurComplement(const std::vector& Fblocks, + const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, + const double f, const FastVector& allKeys, + /*output ->*/SymmetricBlockMatrix& augmentedHessian) const { + FastMap KeySlotMap; + for (size_t slot = 0; slot < allKeys.size(); slot++) + KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); + updateSparseSchurComplement(Fblocks, E, P, b, f, augmentedHessian); + } + /** * Add the contribution of the smart factor to a pre-allocated Hessian, * using sparse linear algebra. More efficient than the creation of the From e30919bc2755371aac5d494c0678619828e763f6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 15:42:21 +0100 Subject: [PATCH 085/964] Moved static functions here, templated on measurement dimension Z --- .cproject | 24 +--- gtsam/slam/RegularImplicitSchurFactor.h | 164 ++++++++++++++++++++---- 2 files changed, 144 insertions(+), 44 deletions(-) diff --git a/.cproject b/.cproject index 94e8c3a50..7111b0a6b 100644 --- a/.cproject +++ b/.cproject @@ -1309,6 +1309,7 @@ make + testSimulated2DOriented.run true false @@ -1348,6 +1349,7 @@ make + testSimulated2D.run true false @@ -1355,6 +1357,7 @@ make + testSimulated3D.run true false @@ -1458,7 +1461,6 @@ make - testErrors.run true false @@ -1536,10 +1538,10 @@ true true - + make - -j5 - testImplicitSchurFactor.run + -j4 + testRegularImplicitSchurFactor.run true true true @@ -1793,7 +1795,6 @@ cpack - -G DEB true false @@ -1801,7 +1802,6 @@ cpack - -G RPM true false @@ -1809,7 +1809,6 @@ cpack - -G TGZ true false @@ -1817,7 +1816,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2009,6 +2007,7 @@ make + tests/testGaussianISAM2 true false @@ -2160,7 +2159,6 @@ make - tests/testBayesTree.run true false @@ -2168,7 +2166,6 @@ make - testBinaryBayesNet.run true false @@ -2216,7 +2213,6 @@ make - testSymbolicBayesNet.run true false @@ -2224,7 +2220,6 @@ make - tests/testSymbolicFactor.run true false @@ -2232,7 +2227,6 @@ make - testSymbolicFactorGraph.run true false @@ -2248,7 +2242,6 @@ make - tests/testBayesTree true false @@ -3392,7 +3385,6 @@ make - testGraph.run true false @@ -3400,7 +3392,6 @@ make - testJunctionTree.run true false @@ -3408,7 +3399,6 @@ make - testSymbolicBayesNetB.run true false diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index 731db479f..24033678d 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -9,6 +9,7 @@ #include #include +#include #include #include @@ -17,7 +18,7 @@ namespace gtsam { /** * RegularImplicitSchurFactor */ -template // +template // class RegularImplicitSchurFactor: public GaussianFactor { public: @@ -26,12 +27,12 @@ public: protected: - typedef Eigen::Matrix Matrix2D; ///< type of an F block + typedef Eigen::Matrix Matrix2D; ///< type of an F block typedef Eigen::Matrix MatrixDD; ///< camera hessian typedef std::pair KeyMatrix2D; ///< named F block - const std::vector Fblocks_; ///< All 2*D F blocks (one for each camera) - const Matrix3 PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (2*2 if degenerate) + const std::vector Fblocks_; ///< All Z*D F blocks (one for each camera) + const Matrix3 PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (Z*Z if degenerate) const Matrix E_; ///< The 2m*3 E Jacobian with respect to the point const Vector b_; ///< 2m-dimensional RHS vector @@ -122,6 +123,115 @@ public: "RegularImplicitSchurFactor::jacobian non implemented"); return std::make_pair(Matrix(), Vector()); } + + /** + * Do Schur complement, given Jacobian as F,E,P, return SymmetricBlockMatrix + * Fast version - works on with sparsity + */ + static void sparseSchurComplement(const std::vector& Fblocks, + const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, + /*output ->*/SymmetricBlockMatrix& augmentedHessian) { + // Schur complement trick + // G = F' * F - F' * E * P * E' * F + // g = F' * (b - E * P * E' * b) + + // a single point is observed in m cameras + size_t m = Fblocks.size(); + + // Blockwise Schur complement + for (size_t i = 0; i < m; i++) { // for each camera + + const Matrix2D& Fi = Fblocks.at(i).second; + const Matrix23 Ei_P = E.block(Z * i, 0) * P; + + // D = (Dx2) * (Z) + augmentedHessian(i, m) = Fi.transpose() * b.segment(Z * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + + // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) + augmentedHessian(i, i) = Fi.transpose() + * (Fi - Ei_P * E.block(Z * i, 0).transpose() * Fi); + + // upper triangular part of the hessian + for (size_t j = i + 1; j < m; j++) { // for each camera + const Matrix2D& Fj = Fblocks.at(j).second; + + // (DxD) = (Dx2) * ( (2x2) * (2xD) ) + augmentedHessian(i, j) = -Fi.transpose() + * (Ei_P * E.block(Z * j, 0).transpose() * Fj); + } + } // end of for over cameras + } + + /** + * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, + * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. + */ + static void updateSparseSchurComplement( + const std::vector& Fblocks, const Matrix& E, + const Matrix3& P /*Point Covariance*/, const Vector& b, const double f, + const FastVector& keys, const FastMap& KeySlotMap, + /*output ->*/SymmetricBlockMatrix& augmentedHessian) { + // Schur complement trick + // G = F' * F - F' * E * P * E' * F + // g = F' * (b - E * P * E' * b) + + MatrixDD matrixBlock; + typedef SymmetricBlockMatrix::Block Block; ///< A block from the Hessian matrix + + // a single point is observed in m cameras + size_t m = Fblocks.size(); // cameras observing current point + size_t aug_m = (augmentedHessian.rows() - 1) / D; // all cameras in the group + + // Blockwise Schur complement + for (size_t i = 0; i < m; i++) { // for each camera in the current factor + + const Matrix2D& Fi = Fblocks.at(i).second; + const Matrix23 Ei_P = E.block(Z * i, 0) * P; + + // D = (DxZDim) * (Z) + // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) + // we should map those to a slot in the local (grouped) hessian (0,1,2,3,4) + // Key cameraKey_i = this->keys_[i]; + DenseIndex aug_i = KeySlotMap.at(keys[i]); + + // information vector - store previous vector + // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); + // add contribution of current factor + augmentedHessian(aug_i, aug_m) = + augmentedHessian(aug_i, aug_m).knownOffDiagonal() + + Fi.transpose() * b.segment(Z * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + + // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) + // main block diagonal - store previous block + matrixBlock = augmentedHessian(aug_i, aug_i); + // add contribution of current factor + augmentedHessian(aug_i, aug_i) = matrixBlock + + (Fi.transpose() + * (Fi - Ei_P * E.block(Z * i, 0).transpose() * Fi)); + + // upper triangular part of the hessian + for (size_t j = i + 1; j < m; j++) { // for each camera + const Matrix2D& Fj = Fblocks.at(j).second; + + //Key cameraKey_j = this->keys_[j]; + DenseIndex aug_j = KeySlotMap.at(keys[j]); + + // (DxD) = (DxZDim) * ( (ZDimxZDim) * (ZDimxD) ) + // off diagonal block - store previous block + // matrixBlock = augmentedHessian(aug_i, aug_j).knownOffDiagonal(); + // add contribution of current factor + augmentedHessian(aug_i, aug_j) = + augmentedHessian(aug_i, aug_j).knownOffDiagonal() + - Fi.transpose() + * (Ei_P * E.block(Z * j, 0).transpose() * Fj); + } + } // end of for over cameras + + augmentedHessian(aug_m, aug_m)(0, 0) += f; + } + virtual Matrix augmentedInformation() const { throw std::runtime_error( "RegularImplicitSchurFactor::augmentedInformation non implemented"); @@ -142,10 +252,10 @@ public: Key j = keys_[pos]; // Calculate Fj'*Ej for the current camera (observing a single point) - // D x 3 = (D x 2) * (2 x 3) + // D x 3 = (D x Z) * (Z x 3) const Matrix2D& Fj = Fblocks_[pos].second; Eigen::Matrix FtE = Fj.transpose() - * E_.block<2, 3>(2 * pos, 0); + * E_.block(Z * pos, 0); Eigen::Matrix dj; for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian @@ -174,10 +284,10 @@ public: Key j = keys_[pos]; // Calculate Fj'*Ej for the current camera (observing a single point) - // D x 3 = (D x 2) * (2 x 3) + // D x 3 = (D x Z) * (Z x 3) const Matrix2D& Fj = Fblocks_[pos].second; Eigen::Matrix FtE = Fj.transpose() - * E_.block<2, 3>(2 * pos, 0); + * E_.block(Z * pos, 0); DVector dj; for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian @@ -195,28 +305,28 @@ public: // F'*(I - E*P*E')*F for (size_t pos = 0; pos < size(); ++pos) { Key j = keys_[pos]; - // F'*F - F'*E*P*E'*F (9*2)*(2*9) - (9*2)*(2*3)*(3*3)*(3*2)*(2*9) + // F'*F - F'*E*P*E'*F e.g. (9*2)*(2*9) - (9*2)*(2*3)*(3*3)*(3*2)*(2*9) const Matrix2D& Fj = Fblocks_[pos].second; // Eigen::Matrix FtE = Fj.transpose() - // * E_.block<2, 3>(2 * pos, 0); + // * E_.block(Z * pos, 0); // blocks[j] = Fj.transpose() * Fj // - FtE * PointCovariance_ * FtE.transpose(); - const Matrix23& Ej = E_.block<2, 3>(2 * pos, 0); + const Matrix23& Ej = E_.block(Z * pos, 0); blocks[j] = Fj.transpose() * (Fj - Ej * PointCovariance_ * Ej.transpose() * Fj); // F'*(I - E*P*E')*F, TODO: this should work, but it does not :-( - // static const Eigen::Matrix I2 = eye(2); + // static const Eigen::Matrix I2 = eye(Z); // Matrix2 Q = // - // I2 - E_.block<2, 3>(2 * pos, 0) * PointCovariance_ * E_.block<2, 3>(2 * pos, 0).transpose(); + // I2 - E_.block(Z * pos, 0) * PointCovariance_ * E_.block(Z * pos, 0).transpose(); // blocks[j] = Fj.transpose() * Q * Fj; } return blocks; } virtual GaussianFactor::shared_ptr clone() const { - return boost::make_shared >(Fblocks_, + return boost::make_shared >(Fblocks_, PointCovariance_, E_, b_); throw std::runtime_error( "RegularImplicitSchurFactor::clone non implemented"); @@ -226,7 +336,7 @@ public: } virtual GaussianFactor::shared_ptr negate() const { - return boost::make_shared >(Fblocks_, + return boost::make_shared >(Fblocks_, PointCovariance_, E_, b_); throw std::runtime_error( "RegularImplicitSchurFactor::negate non implemented"); @@ -247,23 +357,23 @@ public: typedef std::vector Error2s; /** - * @brief Calculate corrected error Q*(e-2*b) = (I - E*P*E')*(e-2*b) + * @brief Calculate corrected error Q*(e-Z*b) = (I - E*P*E')*(e-Z*b) */ void projectError2(const Error2s& e1, Error2s& e2) const { - // d1 = E.transpose() * (e1-2*b) = (3*2m)*2m + // d1 = E.transpose() * (e1-Z*b) = (3*2m)*2m Vector3 d1; d1.setZero(); for (size_t k = 0; k < size(); k++) - d1 += E_.block<2, 3>(2 * k, 0).transpose() - * (e1[k] - 2 * b_.segment<2>(k * 2)); + d1 += E_.block(Z * k, 0).transpose() + * (e1[k] - Z * b_.segment(k * Z)); // d2 = E.transpose() * e1 = (3*2m)*2m Vector3 d2 = PointCovariance_ * d1; // e3 = alpha*(e1 - E*d2) = 1*[2m-(2m*3)*3] for (size_t k = 0; k < size(); k++) - e2[k] = e1[k] - 2 * b_.segment<2>(k * 2) - E_.block<2, 3>(2 * k, 0) * d2; + e2[k] = e1[k] - Z * b_.segment(k * Z) - E_.block(Z * k, 0) * d2; } /* @@ -305,7 +415,7 @@ public: // e1 = F * x - b = (2m*dm)*dm for (size_t k = 0; k < size(); ++k) - e1[k] = Fblocks_[k].second * x.at(keys_[k]) - b_.segment<2>(k * 2); + e1[k] = Fblocks_[k].second * x.at(keys_[k]) - b_.segment(k * Z); projectError(e1, e2); double result = 0; @@ -324,14 +434,14 @@ public: Vector3 d1; d1.setZero(); for (size_t k = 0; k < size(); k++) - d1 += E_.block<2, 3>(2 * k, 0).transpose() * e1[k]; + d1 += E_.block(Z * k, 0).transpose() * e1[k]; // d2 = E.transpose() * e1 = (3*2m)*2m Vector3 d2 = PointCovariance_ * d1; // e3 = alpha*(e1 - E*d2) = 1*[2m-(2m*3)*3] for (size_t k = 0; k < size(); k++) - e2[k] = e1[k] - E_.block<2, 3>(2 * k, 0) * d2; + e2[k] = e1[k] - E_.block(Z * k, 0) * d2; } /// Scratch space for multiplyHessianAdd @@ -426,7 +536,7 @@ public: e1.resize(size()); e2.resize(size()); for (size_t k = 0; k < size(); k++) - e1[k] = b_.segment<2>(2 * k); + e1[k] = b_.segment(Z * k); projectError(e1, e2); // g = F.transpose()*e2 @@ -453,7 +563,7 @@ public: e1.resize(size()); e2.resize(size()); for (size_t k = 0; k < size(); k++) - e1[k] = b_.segment<2>(2 * k); + e1[k] = b_.segment(Z * k); projectError(e1, e2); for (size_t k = 0; k < size(); ++k) { // for each camera in the factor @@ -472,8 +582,8 @@ public: // end class RegularImplicitSchurFactor // traits -template struct traits > : public Testable< - RegularImplicitSchurFactor > { +template struct traits > : public Testable< + RegularImplicitSchurFactor > { }; } From 94c70dd7bced2b920cbb1800ea98f54c18bcbb0a Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 15:43:53 +0100 Subject: [PATCH 086/964] Now a function --- gtsam/geometry/tests/testPinholeSet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index 5de2b5f4d..1e5426f33 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -129,7 +129,7 @@ TEST(PinholeSet, Pinhole) { // Instantiate triangulateSafe TriangulationParameters params; TriangulationResult actual = set.triangulateSafe(z,params); - CHECK(actual.degenerate); + CHECK(actual.degenerate()); } /* ************************************************************************* */ From bb58814f1c0f58ac0b9baf2dfc50ccf15fd0ee4b Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 15:48:11 +0100 Subject: [PATCH 087/964] Moved static functions to RegularImplicit and now use templates --- gtsam/slam/SmartFactorBase.h | 120 ++--------------------------------- 1 file changed, 7 insertions(+), 113 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 9542a4067..1a78f1050 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -352,114 +352,6 @@ public: augmentedHessian); } - /** - * Do Schur complement, given Jacobian as F,E,P, return SymmetricBlockMatrix - * Fast version - works on with sparsity - */ - static void sparseSchurComplement(const std::vector& Fblocks, - const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, - /*output ->*/SymmetricBlockMatrix& augmentedHessian) { - // Schur complement trick - // G = F' * F - F' * E * P * E' * F - // g = F' * (b - E * P * E' * b) - - // a single point is observed in m cameras - size_t m = Fblocks.size(); - - // Blockwise Schur complement - for (size_t i = 0; i < m; i++) { // for each camera - - const Matrix2D& Fi = Fblocks.at(i).second; - const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; - - // Dim = (Dx2) * (2) - augmentedHessian(i, m) = Fi.transpose() * b.segment(ZDim * i) // F' * b - - Fi.transpose() * (Ei_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) - - // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - augmentedHessian(i, i) = Fi.transpose() - * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi); - - // upper triangular part of the hessian - for (size_t j = i + 1; j < m; j++) { // for each camera - const Matrix2D& Fj = Fblocks.at(j).second; - - // (DxD) = (Dx2) * ( (2x2) * (2xD) ) - augmentedHessian(i, j) = -Fi.transpose() - * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); - } - } // end of for over cameras - } - - /** - * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, - * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. - */ - static void updateSparseSchurComplement( - const std::vector& Fblocks, const Matrix& E, - const Matrix3& P /*Point Covariance*/, const Vector& b, const double f, - const FastVector& keys, const FastMap& KeySlotMap, - /*output ->*/SymmetricBlockMatrix& augmentedHessian) { - // Schur complement trick - // G = F' * F - F' * E * P * E' * F - // g = F' * (b - E * P * E' * b) - - MatrixDD matrixBlock; - typedef SymmetricBlockMatrix::Block Block; ///< A block from the Hessian matrix - - // a single point is observed in m cameras - size_t m = Fblocks.size(); // cameras observing current point - size_t aug_m = (augmentedHessian.rows() - 1) / Dim; // all cameras in the group - - // Blockwise Schur complement - for (size_t i = 0; i < m; i++) { // for each camera in the current factor - - const Matrix2D& Fi = Fblocks.at(i).second; - const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; - - // Dim = (DxZDim) * (ZDim) - // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) - // we should map those to a slot in the local (grouped) hessian (0,1,2,3,4) - // Key cameraKey_i = this->keys_[i]; - DenseIndex aug_i = KeySlotMap.at(keys[i]); - - // information vector - store previous vector - // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); - // add contribution of current factor - augmentedHessian(aug_i, aug_m) = - augmentedHessian(aug_i, aug_m).knownOffDiagonal() - + Fi.transpose() * b.segment(ZDim * i) // F' * b - - Fi.transpose() * (Ei_P * (E.transpose() * b)); // Dim = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) - - // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - // main block diagonal - store previous block - matrixBlock = augmentedHessian(aug_i, aug_i); - // add contribution of current factor - augmentedHessian(aug_i, aug_i) = matrixBlock - + (Fi.transpose() - * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi)); - - // upper triangular part of the hessian - for (size_t j = i + 1; j < m; j++) { // for each camera - const Matrix2D& Fj = Fblocks.at(j).second; - - //Key cameraKey_j = this->keys_[j]; - DenseIndex aug_j = KeySlotMap.at(keys[j]); - - // (DxD) = (DxZDim) * ( (ZDimxZDim) * (ZDimxD) ) - // off diagonal block - store previous block - // matrixBlock = augmentedHessian(aug_i, aug_j).knownOffDiagonal(); - // add contribution of current factor - augmentedHessian(aug_i, aug_j) = - augmentedHessian(aug_i, aug_j).knownOffDiagonal() - - Fi.transpose() - * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); - } - } // end of for over cameras - - augmentedHessian(aug_m, aug_m)(0, 0) += f; - } - /** * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. @@ -471,7 +363,8 @@ public: FastMap KeySlotMap; for (size_t slot = 0; slot < allKeys.size(); slot++) KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); - updateSparseSchurComplement(Fblocks, E, P, b, f, augmentedHessian); + RegularImplicitSchurFactor::updateSparseSchurComplement(Fblocks, E, P, + b, f, this->keys_, KeySlotMap, augmentedHessian); } /** @@ -504,16 +397,17 @@ public: /** * Return Jacobians as RegularImplicitSchurFactor with raw access */ - boost::shared_ptr > createRegularImplicitSchurFactor( - const Cameras& cameras, const Point3& point, double lambda = 0.0, - bool diagonalDamping = false) const { + boost::shared_ptr > // + createRegularImplicitSchurFactor(const Cameras& cameras, const Point3& point, + double lambda = 0.0, bool diagonalDamping = false) const { std::vector F; Matrix E; Vector b; computeJacobians(F, E, b, cameras, point); whitenJacobians(F, E, b); Matrix3 P = PointCov(E, lambda, diagonalDamping); - return boost::make_shared >(F, E, P, b); + return boost::make_shared >(F, E, P, + b); } /** From 05fcbe6556ae7b72b4fff099990a5cbfbd140cf2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 1 Mar 2015 17:15:42 +0100 Subject: [PATCH 088/964] Augmented and regular information now implemented --- gtsam/slam/RegularImplicitSchurFactor.h | 33 ++++++++++++++----- .../tests/testRegularImplicitSchurFactor.cpp | 12 +++++++ 2 files changed, 37 insertions(+), 8 deletions(-) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index 24033678d..88fb4b6e1 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -18,7 +18,7 @@ namespace gtsam { /** * RegularImplicitSchurFactor */ -template // +template // class RegularImplicitSchurFactor: public GaussianFactor { public: @@ -170,8 +170,12 @@ public: static void updateSparseSchurComplement( const std::vector& Fblocks, const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, const double f, - const FastVector& keys, const FastMap& KeySlotMap, + const FastVector& allKeys, const FastVector& keys, /*output ->*/SymmetricBlockMatrix& augmentedHessian) { + + FastMap KeySlotMap; + for (size_t slot = 0; slot < allKeys.size(); slot++) + KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); // Schur complement trick // G = F' * F - F' * E * P * E' * F // g = F' * (b - E * P * E' * b) @@ -232,15 +236,28 @@ public: augmentedHessian(aug_m, aug_m)(0, 0) += f; } + /// *Compute* full augmented information matrix virtual Matrix augmentedInformation() const { - throw std::runtime_error( - "RegularImplicitSchurFactor::augmentedInformation non implemented"); - return Matrix(); + + // Create a SymmetricBlockMatrix + int m = this->keys_.size(); + size_t M1 = D * m + 1; + std::vector dims(m + 1); // this also includes the b term + std::fill(dims.begin(), dims.end() - 1, D); + dims.back() = 1; + SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); + + // Do the Schur complement + sparseSchurComplement(Fblocks_, E_, PointCovariance_, b_, augmentedHessian); + return augmentedHessian.matrix(); } + + /// *Compute* full information matrix virtual Matrix information() const { - throw std::runtime_error( - "RegularImplicitSchurFactor::information non implemented"); - return Matrix(); + Matrix augmented = augmentedInformation(); + int m = this->keys_.size(); + size_t M = D * m; + return augmented.block(0,0,M,M); } /// Return the diagonal of the Hessian for this factor diff --git a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp index 8571a345d..3575a0286 100644 --- a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp +++ b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp @@ -255,6 +255,18 @@ TEST(regularImplicitSchurFactor, hessianDiagonal) EXPECT(assert_equal(F0t*(I2-E0*P*E0.transpose())*F0,actualBD[0])); EXPECT(assert_equal(F1.transpose()*F1-FtE1*P*FtE1.transpose(),actualBD[1])); EXPECT(assert_equal(F3.transpose()*F3-FtE3*P*FtE3.transpose(),actualBD[3])); + + // augmentedInformation (test just checks diagonals) + Matrix actualInfo = factor.augmentedInformation(); + EXPECT(assert_equal(actualBD[0],actualInfo.block<6,6>(0,0))); + EXPECT(assert_equal(actualBD[1],actualInfo.block<6,6>(6,6))); + EXPECT(assert_equal(actualBD[3],actualInfo.block<6,6>(12,12))); + + // information (test just checks diagonals) + Matrix actualInfo2 = factor.information(); + EXPECT(assert_equal(actualBD[0],actualInfo2.block<6,6>(0,0))); + EXPECT(assert_equal(actualBD[1],actualInfo2.block<6,6>(6,6))); + EXPECT(assert_equal(actualBD[3],actualInfo2.block<6,6>(12,12))); } /* ************************************************************************* */ From 11a6ba412ca1eb0d5abc6db96d31a447f081a7b4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 2 Mar 2015 08:52:35 -0800 Subject: [PATCH 089/964] Smore more refactoring to RegularImplicit.. --- gtsam/slam/SmartFactorBase.h | 30 +++++++----------------------- 1 file changed, 7 insertions(+), 23 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 1a78f1050..d1c0d76e2 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -337,14 +337,14 @@ public: double f = computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - // we create directly a SymmetricBlockMatrix + // Create a SymmetricBlockMatrix size_t M1 = Dim * m + 1; std::vector dims(m + 1); // this also includes the b term std::fill(dims.begin(), dims.end() - 1, Dim); dims.back() = 1; + SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); // build augmented hessian - SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); sparseSchurComplement(Fblocks, E, P, b, augmentedHessian); augmentedHessian(m, m)(0, 0) = f; @@ -352,21 +352,6 @@ public: augmentedHessian); } - /** - * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, - * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. - */ - void updateSparseSchurComplement(const std::vector& Fblocks, - const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, - const double f, const FastVector& allKeys, - /*output ->*/SymmetricBlockMatrix& augmentedHessian) const { - FastMap KeySlotMap; - for (size_t slot = 0; slot < allKeys.size(); slot++) - KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); - RegularImplicitSchurFactor::updateSparseSchurComplement(Fblocks, E, P, - b, f, this->keys_, KeySlotMap, augmentedHessian); - } - /** * Add the contribution of the smart factor to a pre-allocated Hessian, * using sparse linear algebra. More efficient than the creation of the @@ -376,13 +361,13 @@ public: const double lambda, bool diagonalDamping, SymmetricBlockMatrix& augmentedHessian, const FastVector allKeys) const { - - std::vector Fblocks; Matrix E; Vector b; + std::vector Fblocks; double f = computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - updateSparseSchurComplement(Fblocks, E, P, b, f, allKeys, augmentedHessian); // augmentedHessian.matrix().block (i,j) = ... + RegularImplicitSchurFactor::updateSparseSchurComplement(Fblocks, + E, P, b, f, allKeys, keys_, augmentedHessian); } /// Whiten the Jacobians computed by computeJacobians using noiseModel_ @@ -400,9 +385,9 @@ public: boost::shared_ptr > // createRegularImplicitSchurFactor(const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { - std::vector F; Matrix E; Vector b; + std::vector F; computeJacobians(F, E, b, cameras, point); whitenJacobians(F, E, b); Matrix3 P = PointCov(E, lambda, diagonalDamping); @@ -416,12 +401,11 @@ public: boost::shared_ptr > createJacobianQFactor( const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { - std::vector F; Matrix E; Vector b; + std::vector F; computeJacobians(F, E, b, cameras, point); const size_t M = b.size(); - std::cout << M << std::endl; Matrix3 P = PointCov(E, lambda, diagonalDamping); SharedIsotropic n = noiseModel::Isotropic::Sigma(M, noiseModel_->sigma()); return boost::make_shared >(F, E, P, b, n); From ca18c13cd2da1a46a46fea872cc9a71abe647621 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 2 Mar 2015 08:53:07 -0800 Subject: [PATCH 090/964] Most factors now work out for sigma=1 and sigma=0.1 --- .../tests/testSmartProjectionPoseFactor.cpp | 86 ++++++++++--------- 1 file changed, 47 insertions(+), 39 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index b0c310a36..fae17b9a2 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -39,7 +39,7 @@ static const bool manageDegeneracy = true; // Create a noise model for the pixel error static const double sigma = 0.1; -static SharedNoiseModel model(noiseModel::Isotropic::Sigma(2, sigma)); +static SharedIsotropic model(noiseModel::Isotropic::Sigma(2, sigma)); // Convenience for named keys using symbol_shorthand::X; @@ -299,8 +299,10 @@ TEST( SmartProjectionPoseFactor, Factors ) { // After eliminating the point, A1 and A2 contain 2-rank information on cameras: Matrix16 A1, A2; - A1 << -1000, 0, 0, 0, 100, 0; - A2 << 1000, 0, 100, 0, -100, 0; + A1 << -10, 0, 0, 0, 1, 0; + A2 << 10, 0, 1, 0, -1, 0; + A1 *= 10. / sigma; + A2 *= 10. / sigma; Matrix expectedInformation; // filled below { // createHessianFactor @@ -339,21 +341,38 @@ TEST( SmartProjectionPoseFactor, Factors ) { F2(1, 0) = 100; F2(1, 2) = 10; F2(1, 4) = -10; - Matrix43 E; + Matrix E(4, 3); E.setZero(); - E(0, 0) = 100; - E(1, 1) = 100; - E(2, 0) = 100; - E(2, 2) = 10; - E(3, 1) = 100; - const vector > Fblocks = list_of > // + E(0, 0) = 10; + E(1, 1) = 10; + E(2, 0) = 10; + E(2, 2) = 1; + E(3, 1) = 10; + vector > Fblocks = list_of > // (make_pair(x1, F1))(make_pair(x2, F2)); - Matrix3 P = (E.transpose() * E).inverse(); - Vector4 b; + Vector b(4); b.setZero(); + // createJacobianQFactor + SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma); + Matrix3 P = (E.transpose() * E).inverse(); + JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b, n); + EXPECT(assert_equal(expectedInformation, expectedQ.information(), 1e-8)); + + boost::shared_ptr > actualQ = + smartFactor1->createJacobianQFactor(cameras, 0.0); + CHECK(actualQ); + EXPECT(assert_equal(expectedInformation, actualQ->information(), 1e-8)); + EXPECT(assert_equal(expectedQ, *actualQ)); + + // Whiten for RegularImplicitSchurFactor (does not have noise model) + model->WhitenSystem(E, b); + Matrix3 whiteP = (E.transpose() * E).inverse(); + BOOST_FOREACH(SmartFactor::KeyMatrix2D& Fblock,Fblocks) + Fblock.second = model->Whiten(Fblock.second); + // createRegularImplicitSchurFactor - RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b); + RegularImplicitSchurFactor<6> expected(Fblocks, E, whiteP, b); boost::shared_ptr > actual = smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0); @@ -361,17 +380,6 @@ TEST( SmartProjectionPoseFactor, Factors ) { EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); EXPECT(assert_equal(expected, *actual)); - - // createJacobianQFactor - SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma); - JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b, n); - EXPECT(assert_equal(expectedInformation, expectedQ.information(), 1e-8)); - - boost::shared_ptr > actualQ = - smartFactor1->createJacobianQFactor(cameras, 0.0); - CHECK(actual); - EXPECT(assert_equal(expectedInformation, actualQ->information(), 1e-8)); - EXPECT(assert_equal(expectedQ, *actualQ)); } { @@ -983,7 +991,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) values.insert(x1, cam2); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose,sharedK)); + values.insert(x3, Camera(pose_above * noise_pose, sharedK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1077,9 +1085,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, Camera(poseDrift.compose(level_pose),sharedK)); - rotValues.insert(x2, Camera(poseDrift.compose(pose_right),sharedK)); - rotValues.insert(x3, Camera(poseDrift.compose(pose_above),sharedK)); + rotValues.insert(x1, Camera(poseDrift.compose(level_pose), sharedK)); + rotValues.insert(x2, Camera(poseDrift.compose(pose_right), sharedK)); + rotValues.insert(x3, Camera(poseDrift.compose(pose_above), sharedK)); boost::shared_ptr hessianFactorRot = smartFactorInstance->linearize(rotValues); @@ -1093,9 +1101,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, Camera(poseDrift2.compose(level_pose),sharedK)); - tranValues.insert(x2, Camera(poseDrift2.compose(pose_right),sharedK)); - tranValues.insert(x3, Camera(poseDrift2.compose(pose_above),sharedK)); + tranValues.insert(x1, Camera(poseDrift2.compose(level_pose), sharedK)); + tranValues.insert(x2, Camera(poseDrift2.compose(pose_right), sharedK)); + tranValues.insert(x3, Camera(poseDrift2.compose(pose_above), sharedK)); boost::shared_ptr hessianFactorRotTran = smartFactorInstance->linearize(tranValues); @@ -1137,9 +1145,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, Camera(poseDrift.compose(level_pose),sharedK2)); - rotValues.insert(x2, Camera(poseDrift.compose(pose_right),sharedK2)); - rotValues.insert(x3, Camera(poseDrift.compose(pose_above),sharedK2)); + rotValues.insert(x1, Camera(poseDrift.compose(level_pose), sharedK2)); + rotValues.insert(x2, Camera(poseDrift.compose(pose_right), sharedK2)); + rotValues.insert(x3, Camera(poseDrift.compose(pose_above), sharedK2)); boost::shared_ptr hessianFactorRot = smartFactor->linearize( rotValues); @@ -1155,9 +1163,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, Camera(poseDrift2.compose(level_pose),sharedK2)); - tranValues.insert(x2, Camera(poseDrift2.compose(pose_right),sharedK2)); - tranValues.insert(x3, Camera(poseDrift2.compose(pose_above),sharedK2)); + tranValues.insert(x1, Camera(poseDrift2.compose(level_pose), sharedK2)); + tranValues.insert(x2, Camera(poseDrift2.compose(pose_right), sharedK2)); + tranValues.insert(x3, Camera(poseDrift2.compose(pose_above), sharedK2)); boost::shared_ptr hessianFactorRotTran = smartFactor->linearize(tranValues); @@ -1237,7 +1245,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { values.insert(x1, cam2); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose,sharedBundlerK)); + values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); @@ -1343,7 +1351,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { values.insert(x1, cam2); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose,sharedBundlerK)); + values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); From 77f69146f65e0ff179e538f0877f1cb62abbe24f Mon Sep 17 00:00:00 2001 From: krunalchande Date: Mon, 2 Mar 2015 15:14:05 -0500 Subject: [PATCH 091/964] Unit test that fails! Bias estimated is opposite in direction for test bodyPSensorWithBias! Not equal: expected: .biasAcc [0 0 0] expected: .biasGyro [ 0 0.01 0] actual: .biasAcc [-0.00012 3.6e-16 0.00015] actual: .biasGyro [-3.7e-18 -0.01 -3.6e-18] --- gtsam/navigation/tests/testImuFactor.cpp | 135 +++++++++++++++++++++++ 1 file changed, 135 insertions(+) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 9c82a7dfa..ecf019a04 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -922,6 +922,141 @@ TEST(ImuFactor, PredictRotation) { EXPECT(assert_equal(Vector(expectedVelocity), Vector(poseVelocity.velocity))); } +/* ************************************************************************* */ +TEST(ImuFactor, bodyPSensorNoBias) { + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) + + // Measurements + Vector3 n_gravity; n_gravity << 0, 0, -9.81; // z-up nav frame + Vector3 omegaCoriolis; omegaCoriolis << 0, 0, 0; + // Sensor frame is z-down + // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame + Vector3 s_omegaMeas_ns; s_omegaMeas_ns << 0, 0.1, M_PI/10; + // Acc measurement is acceleration of sensor in the sensor frame, when stationary, table exerts an equal and opposite force + // w.r.t gravity + Vector3 s_accMeas; s_accMeas << 0,0,-9.81; + double dt = 0.001; + Pose3 b_P_s(Rot3::ypr(0,0,M_PI), Point3(0,0,0)); // Rotate sensor (z-down) to body (same as navigation) i.e. z-up + + Matrix I6x6(6,6); + I6x6 = Matrix::Identity(6,6); + + ImuFactor::PreintegratedMeasurements pre_int_data(bias, Matrix3::Zero(), + Matrix3::Zero(), Matrix3::Zero(), true); + + for (int i = 0; i<1000; ++i) pre_int_data.integrateMeasurement(s_accMeas, s_omegaMeas_ns, dt, b_P_s); + + // Create factor + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, n_gravity, omegaCoriolis); + + // Predict + Pose3 x1; + Vector3 v1(0, 0.0, 0.0); + PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, n_gravity, omegaCoriolis); + Pose3 expectedPose(Rot3().ypr(-M_PI/10, 0, 0), Point3(0, 0, 0)); + Vector3 expectedVelocity; expectedVelocity<<0,0,0; + EXPECT(assert_equal(expectedPose, poseVelocity.pose)); + EXPECT(assert_equal(Vector(expectedVelocity), Vector(poseVelocity.velocity))); +} + +/* ************************************************************************* */ +#include +#include +#include +#include +#include + +TEST(ImuFactor, bodyPSensorWithBias) { + int numFactors = 80; + imuBias::ConstantBias zeroBias(Vector3(0, 0, 0), Vector3(0.0, 0, 0)); // Biases (acc, rot) + Vector6 noiseBetweenBiasSigma; noiseBetweenBiasSigma << Vector3(2.0e-5, 2.0e-5, 2.0e-5), Vector3(3.0e-6, 3.0e-6, 3.0e-6); + SharedDiagonal biasNoiseModel = noiseModel::Diagonal::Sigmas(noiseBetweenBiasSigma); + + // Measurements + Vector3 n_gravity; n_gravity << 0, 0, -9.81; + Vector3 omegaCoriolis; omegaCoriolis << 0, 0, 0; + + // Sensor frame is z-down + // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame + Vector3 measuredOmega; measuredOmega << 0, 0.01, 0.0; + // Acc measurement is acceleration of sensor in the sensor frame, when stationary, table exerts an equal and opposite force + // w.r.t gravity + Vector3 measuredAcc; measuredAcc << 0,0,-9.81; + + Pose3 bPs(Rot3::ypr(0,0,M_PI), Point3()); + + Matrix3 accCov = 1e-4 * I_3x3; + Matrix3 gyroCov = 1e-6 * I_3x3; + Matrix3 integrationCov = 1e-8 * I_3x3; + double deltaT = 0.005; + + // Specify noise values on priors + Vector6 priorNoisePoseSigmas((Vector(6) << 0.001, 0.001, 0.001, 0.01, 0.01, 0.01).finished()); + Vector3 priorNoiseVelSigmas((Vector(3) << 0.1, 0.1, 0.1).finished()); + Vector6 priorNoiseBiasSigmas((Vector(6) << 0.1, 0.1, 0.1, 0.5e-1, 0.5e-1, 0.5e-1).finished()); + SharedDiagonal priorNoisePose = noiseModel::Diagonal::Sigmas(priorNoisePoseSigmas); + SharedDiagonal priorNoiseVel = noiseModel::Diagonal::Sigmas(priorNoiseVelSigmas); + SharedDiagonal priorNoiseBias = noiseModel::Diagonal::Sigmas(priorNoiseBiasSigmas); + Vector3 zeroVel(0, 0.0, 0.0); + + + + Values values; + NonlinearFactorGraph graph; + + PriorFactor priorPose(X(0), Pose3(), priorNoisePose); + graph.add(priorPose); + values.insert(X(0), Pose3()); + + PriorFactor priorVel(V(0), zeroVel, priorNoiseVel); + graph.add(priorVel); + values.insert(V(0), zeroVel); + + PriorFactor priorBias(B(0), zeroBias, priorNoiseBias); + graph.add(priorBias); + values.insert(B(0), zeroBias); + + for (int i = 1; i < numFactors; i++) { + ImuFactor::PreintegratedMeasurements pre_int_data = ImuFactor::PreintegratedMeasurements(imuBias::ConstantBias(Vector3(0, 0.0, 0.0), + Vector3(0.0, 0.0, 0.0)), accCov, gyroCov, integrationCov, true); + for (int j = 0; j<200; ++j) pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT, bPs); + + // Create factor + ImuFactor factor(X(i-1), V(i-1), X(i), V(i), B(i-1), pre_int_data, n_gravity, omegaCoriolis); + graph.add(factor); + graph.add(BetweenFactor(B(i-1), B(i), zeroBias, biasNoiseModel)); + + values.insert(X(i), Pose3()); + values.insert(V(i), zeroVel); + values.insert(B(i), zeroBias); + } + Values results = LevenbergMarquardtOptimizer(graph, values).optimize(); + cout.precision(2); + Marginals marginals(graph, results); + imuBias::ConstantBias biasActual = results.at(B(numFactors-1)); + + imuBias::ConstantBias biasExpected(Vector3(0,0,0), Vector3(0, 0.01, 0.0)); + EXPECT(assert_equal(biasExpected, biasActual, 1e-3)); + +// results.print("Results: \n"); +// +// for (int i = 0; i < numFactors; i++) { +// imuBias::ConstantBias currentBias = results.at(B(i)); +// cout << "currentBiasEstimate: " << currentBias.vector().transpose() << endl; +// } +// for (int i = 0; i < numFactors; i++) { +// Matrix biasCov = marginals.marginalCovariance(B(i)); +// cout << "b" << i << " cov: " << biasCov.diagonal().transpose() << endl; +// } +// +// for (int i = 0; i < numFactors; i++) { +// Pose3 currentPose = results.at(X(i)); +// cout << "currentYPREstimate: " << currentPose.rotation().ypr().transpose()*180/M_PI << endl; +// } +// for (int i = 0; i < numFactors; i++) +// cout << "x" << i << " covariance: " << marginals.marginalCovariance(X(i)).diagonal().transpose() << endl; +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} /* ************************************************************************* */ From 04cf6686b4c1205ce322d22e2d2bda8d3cead666 Mon Sep 17 00:00:00 2001 From: krunalchande Date: Mon, 2 Mar 2015 16:55:58 -0500 Subject: [PATCH 092/964] Better noise values, little cleanup --- gtsam/navigation/tests/testImuFactor.cpp | 43 ++++++++++++------------ 1 file changed, 22 insertions(+), 21 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index ecf019a04..b47612088 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -968,7 +968,6 @@ TEST(ImuFactor, bodyPSensorNoBias) { TEST(ImuFactor, bodyPSensorWithBias) { int numFactors = 80; - imuBias::ConstantBias zeroBias(Vector3(0, 0, 0), Vector3(0.0, 0, 0)); // Biases (acc, rot) Vector6 noiseBetweenBiasSigma; noiseBetweenBiasSigma << Vector3(2.0e-5, 2.0e-5, 2.0e-5), Vector3(3.0e-6, 3.0e-6, 3.0e-6); SharedDiagonal biasNoiseModel = noiseModel::Diagonal::Sigmas(noiseBetweenBiasSigma); @@ -985,9 +984,9 @@ TEST(ImuFactor, bodyPSensorWithBias) { Pose3 bPs(Rot3::ypr(0,0,M_PI), Point3()); - Matrix3 accCov = 1e-4 * I_3x3; - Matrix3 gyroCov = 1e-6 * I_3x3; - Matrix3 integrationCov = 1e-8 * I_3x3; + Matrix3 accCov = 1e-7 * I_3x3; + Matrix3 gyroCov = 1e-8 * I_3x3; + Matrix3 integrationCov = 1e-9 * I_3x3; double deltaT = 0.005; // Specify noise values on priors @@ -1012,9 +1011,10 @@ TEST(ImuFactor, bodyPSensorWithBias) { graph.add(priorVel); values.insert(V(0), zeroVel); - PriorFactor priorBias(B(0), zeroBias, priorNoiseBias); - graph.add(priorBias); - values.insert(B(0), zeroBias); + imuBias::ConstantBias priorBias(Vector3(0, 0, 0), Vector3(0.0, 0.01, 0)); // Biases (acc, rot) + PriorFactor priorBiasFactor(B(0), priorBias, priorNoiseBias); + graph.add(priorBiasFactor); + values.insert(B(0), priorBias); for (int i = 1; i < numFactors; i++) { ImuFactor::PreintegratedMeasurements pre_int_data = ImuFactor::PreintegratedMeasurements(imuBias::ConstantBias(Vector3(0, 0.0, 0.0), @@ -1024,37 +1024,38 @@ TEST(ImuFactor, bodyPSensorWithBias) { // Create factor ImuFactor factor(X(i-1), V(i-1), X(i), V(i), B(i-1), pre_int_data, n_gravity, omegaCoriolis); graph.add(factor); - graph.add(BetweenFactor(B(i-1), B(i), zeroBias, biasNoiseModel)); + imuBias::ConstantBias betweenBias(Vector3(0, 0, 0), Vector3(0.0, 0, 0)); + graph.add(BetweenFactor(B(i-1), B(i), betweenBias, biasNoiseModel)); values.insert(X(i), Pose3()); values.insert(V(i), zeroVel); - values.insert(B(i), zeroBias); + values.insert(B(i), priorBias); } Values results = LevenbergMarquardtOptimizer(graph, values).optimize(); cout.precision(2); Marginals marginals(graph, results); imuBias::ConstantBias biasActual = results.at(B(numFactors-1)); - imuBias::ConstantBias biasExpected(Vector3(0,0,0), Vector3(0, 0.01, 0.0)); - EXPECT(assert_equal(biasExpected, biasActual, 1e-3)); + results.print("Results: \n"); -// results.print("Results: \n"); -// -// for (int i = 0; i < numFactors; i++) { -// imuBias::ConstantBias currentBias = results.at(B(i)); -// cout << "currentBiasEstimate: " << currentBias.vector().transpose() << endl; -// } + for (int i = 0; i < numFactors; i++) { + imuBias::ConstantBias currentBias = results.at(B(i)); + cout << "currentBiasEstimate: " << currentBias.vector().transpose() << endl; + } // for (int i = 0; i < numFactors; i++) { // Matrix biasCov = marginals.marginalCovariance(B(i)); // cout << "b" << i << " cov: " << biasCov.diagonal().transpose() << endl; // } // -// for (int i = 0; i < numFactors; i++) { -// Pose3 currentPose = results.at(X(i)); -// cout << "currentYPREstimate: " << currentPose.rotation().ypr().transpose()*180/M_PI << endl; -// } + for (int i = 0; i < numFactors; i++) { + Pose3 currentPose = results.at(X(i)); + cout << "currentYPREstimate (in Deg): " << currentPose.rotation().ypr().transpose()*180/M_PI << endl; + } // for (int i = 0; i < numFactors; i++) // cout << "x" << i << " covariance: " << marginals.marginalCovariance(X(i)).diagonal().transpose() << endl; + + imuBias::ConstantBias biasExpected(Vector3(0,0,0), Vector3(0, 0.01, 0.0)); + EXPECT(assert_equal(biasExpected, biasActual, 1e-3)); } /* ************************************************************************* */ From 0fafffb02e9ac536244f1db2e1aa1b334a7e937d Mon Sep 17 00:00:00 2001 From: krunalchande Date: Mon, 2 Mar 2015 17:04:19 -0500 Subject: [PATCH 093/964] Made functional correctMeasurementsByBiasAndSensorPose --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/ImuFactor.cpp | 2 +- gtsam/navigation/PreintegrationBase.h | 8 +++++--- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 1c22bab9a..edb222261 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -78,7 +78,7 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( // (i.e., we have to update jacobians and covariances before updating preintegrated measurements). Vector3 correctedAcc, correctedOmega; - correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, correctedAcc, correctedOmega, body_P_sensor); + boost::tie(correctedAcc, correctedOmega) = correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, body_P_sensor); const Vector3 integratedOmega = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 81120b7c6..4adf324c7 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -67,7 +67,7 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement( OptionalJacobian<9, 9> F_test, OptionalJacobian<9, 9> G_test) { Vector3 correctedAcc, correctedOmega; - correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, correctedAcc, correctedOmega, body_P_sensor); + boost::tie(correctedAcc, correctedOmega) = correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, body_P_sensor); const Vector3 integratedOmega = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 29b9b6e66..08c16846a 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -180,9 +180,10 @@ public: update_delRdelBiasOmega(D_Rincr_integratedOmega,incrR,deltaT); } - void correctMeasurementsByBiasAndSensorPose(const Vector3& measuredAcc, - const Vector3& measuredOmega, Vector3& correctedAcc, - Vector3& correctedOmega, boost::optional body_P_sensor) { + boost::tuple + correctMeasurementsByBiasAndSensorPose(const Vector3& measuredAcc, + const Vector3& measuredOmega, boost::optional body_P_sensor) { + Vector3 correctedAcc, correctedOmega; correctedAcc = biasHat_.correctAccelerometer(measuredAcc); correctedOmega = biasHat_.correctGyroscope(measuredOmega); @@ -195,6 +196,7 @@ public: correctedAcc = body_R_sensor * correctedAcc - body_omega_body__cross * body_omega_body__cross * body_P_sensor->translation().vector(); // linear acceleration vector in the body frame } + return boost::make_tuple(correctedAcc, correctedOmega); } /// Predict state at time j From c4e1c1fdadc1ce7ebd50ee5b710b5ae0f37a8a5b Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 3 Mar 2015 19:18:46 -0800 Subject: [PATCH 094/964] Excepted cmake line on Mac - generates error --- cmake/GtsamTesting.cmake | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake index 4b3af9810..3e5cadd32 100644 --- a/cmake/GtsamTesting.cmake +++ b/cmake/GtsamTesting.cmake @@ -195,7 +195,9 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries) add_test(NAME ${target_name} COMMAND ${target_name}) add_dependencies(check.${groupName} ${target_name}) add_dependencies(check ${target_name}) - add_dependencies(all.tests ${script_name}) + if(NOT XCODE_VERSION) + add_dependencies(all.tests ${script_name}) + endif() # Add TOPSRCDIR set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"") From 8e818a4cfd644f968819f51436db7e5a03fc1e94 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 3 Mar 2015 22:24:48 -0800 Subject: [PATCH 095/964] Fixed types in debug mode --- .../tests/testSmartProjectionPoseFactor.cpp | 54 +++++++++---------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index fae17b9a2..b014191b2 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -31,7 +31,7 @@ using namespace boost::assign; -static bool isDebugTest = false; +static bool isDebugTest = true; static const double rankTol = 1.0; static const double linThreshold = -1.0; @@ -233,7 +233,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK2)); if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); + values.at(x3).print("Camera before optimization: "); LevenbergMarquardtParams params; if (isDebugTest) @@ -253,8 +253,8 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); + result.at(x3).print("Camera after optimization: "); + EXPECT(assert_equal(cam3, result.at(x3), 1e-8)); if (isDebugTest) tictoc_print_(); } @@ -443,7 +443,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK)); if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); + values.at(x3).print("Camera before optimization: "); LevenbergMarquardtParams params; if (isDebugTest) @@ -460,8 +460,8 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); + result.at(x3).print("Camera after optimization: "); + EXPECT(assert_equal(cam3, result.at(x3), 1e-7)); if (isDebugTest) tictoc_print_(); } @@ -516,7 +516,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); + EXPECT(assert_equal(cam3, result.at(x3), 1e-8)); } /* *************************************************************************/ @@ -575,7 +575,7 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(values.at(x3), result.at(x3))); + EXPECT(assert_equal(values.at(x3), result.at(x3))); } /* *************************************************************************/ @@ -646,7 +646,7 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3))); + EXPECT(assert_equal(cam3, result.at(x3))); } /* *************************************************************************/ @@ -698,7 +698,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); + EXPECT(assert_equal(cam3, result.at(x3), 1e-8)); } /* *************************************************************************/ @@ -751,7 +751,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { values.insert(L(2), landmark2); values.insert(L(3), landmark3); if (isDebugTest) - values.at(x3).print("Pose3 before optimization: "); + values.at(x3).print("Pose3 before optimization: "); LevenbergMarquardtParams params; if (isDebugTest) @@ -762,8 +762,8 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { Values result = optimizer.optimize(); if (isDebugTest) - result.at(x3).print("Pose3 after optimization: "); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); + result.at(x3).print("Pose3 after optimization: "); + EXPECT(assert_equal(cam3, result.at(x3), 1e-7)); } /* *************************************************************************/ @@ -816,7 +816,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK)); if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); + values.at(x3).print("Camera before optimization: "); boost::shared_ptr hessianFactor1 = smartFactor1->linearize( values); @@ -903,7 +903,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose * noise_pose, sharedK2)); if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); + values.at(x3).print("Camera before optimization: "); LevenbergMarquardtParams params; if (isDebugTest) @@ -920,11 +920,11 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); + result.at(x3).print("Camera after optimization: "); cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; - // EXPECT(assert_equal(pose_above,result.at(x3))); + // EXPECT(assert_equal(pose_above,result.at(x3))); if (isDebugTest) tictoc_print_(); } @@ -993,7 +993,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK)); if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); + values.at(x3).print("Camera before optimization: "); LevenbergMarquardtParams params; if (isDebugTest) @@ -1010,11 +1010,11 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); + result.at(x3).print("Camera after optimization: "); cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; - // EXPECT(assert_equal(pose_above,result.at(x3))); + // EXPECT(assert_equal(pose_above,result.at(x3))); if (isDebugTest) tictoc_print_(); } @@ -1247,7 +1247,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); + values.at(x3).print("Camera before optimization: "); LevenbergMarquardtParams params; if (isDebugTest) @@ -1264,8 +1264,8 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); - EXPECT(assert_equal(pose_above, result.at(x3), 1e-6)); + result.at(x3).print("Camera after optimization: "); + EXPECT(assert_equal(cam3, result.at(x3), 1e-6)); if (isDebugTest) tictoc_print_(); } @@ -1353,7 +1353,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); + values.at(x3).print("Camera before optimization: "); LevenbergMarquardtParams params; if (isDebugTest) @@ -1370,11 +1370,11 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); + result.at(x3).print("Camera after optimization: "); cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; - // EXPECT(assert_equal(pose_above,result.at(x3))); + // EXPECT(assert_equal(pose_above,result.at(x3))); if (isDebugTest) tictoc_print_(); } From 6fc208b8d202fa17fab8911ee5d366c558abc800 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 3 Mar 2015 22:27:23 -0800 Subject: [PATCH 096/964] Comment out linear solve (throws) --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index b014191b2..2384e1b7c 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -248,8 +248,8 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { gttoc_(SmartProjectionPoseFactor); tictoc_finishedIteration_(); - GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); - VectorValues delta = GFG->optimize(); +// GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); +// VectorValues delta = GFG->optimize(); // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) From 0550932235a2266b1f724541565651f70bd2d93b Mon Sep 17 00:00:00 2001 From: Mike Bosse Date: Wed, 4 Mar 2015 11:12:16 +0100 Subject: [PATCH 097/964] fixed sparseJacobian() to use a std::map such that it works with symbol keys --- gtsam/linear/GaussianFactorGraph.cpp | 34 ++++++++++++++++------------ 1 file changed, 20 insertions(+), 14 deletions(-) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 6953d2969..cd60a3eb9 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -123,26 +123,32 @@ namespace gtsam { /* ************************************************************************* */ vector > GaussianFactorGraph::sparseJacobian() const { // First find dimensions of each variable - vector dims; + typedef std::map KeySizeMap; + KeySizeMap dims; BOOST_FOREACH(const sharedFactor& factor, *this) { - for (GaussianFactor::const_iterator pos = factor->begin(); - pos != factor->end(); ++pos) { - if (dims.size() <= *pos) - dims.resize(*pos + 1, 0); - dims[*pos] = factor->getDim(pos); + if (!static_cast(factor)) continue; + + for (GaussianFactor::const_iterator key = factor->begin(); + key != factor->end(); ++key) { + dims[*key] = factor->getDim(key); } } // Compute first scalar column of each variable - vector columnIndices(dims.size() + 1, 0); - for (size_t j = 1; j < dims.size() + 1; ++j) - columnIndices[j] = columnIndices[j - 1] + dims[j - 1]; + size_t currentColIndex = 0; + KeySizeMap columnIndices = dims; + BOOST_FOREACH(const KeySizeMap::value_type& col, dims) { + columnIndices[col.first] = currentColIndex; + currentColIndex += dims[col.first]; + } // Iterate over all factors, adding sparse scalar entries typedef boost::tuple triplet; vector entries; size_t row = 0; BOOST_FOREACH(const sharedFactor& factor, *this) { + if (!static_cast(factor)) continue; + // Convert to JacobianFactor if necessary JacobianFactor::shared_ptr jacobianFactor( boost::dynamic_pointer_cast(factor)); @@ -159,11 +165,11 @@ namespace gtsam { // Whiten the factor and add entries for it // iterate over all variables in the factor const JacobianFactor whitened(jacobianFactor->whiten()); - for (JacobianFactor::const_iterator pos = whitened.begin(); - pos < whitened.end(); ++pos) { - JacobianFactor::constABlock whitenedA = whitened.getA(pos); + for (JacobianFactor::const_iterator key = whitened.begin(); + key < whitened.end(); ++key) { + JacobianFactor::constABlock whitenedA = whitened.getA(key); // find first column index for this key - size_t column_start = columnIndices[*pos]; + size_t column_start = columnIndices[*key]; for (size_t i = 0; i < (size_t) whitenedA.rows(); i++) for (size_t j = 0; j < (size_t) whitenedA.cols(); j++) { double s = whitenedA(i, j); @@ -173,7 +179,7 @@ namespace gtsam { } JacobianFactor::constBVector whitenedb(whitened.getb()); - size_t bcolumn = columnIndices.back(); + size_t bcolumn = currentColIndex; for (size_t i = 0; i < (size_t) whitenedb.size(); i++) entries.push_back(boost::make_tuple(row + i, bcolumn, whitenedb(i))); From bcae38554c9790722e586718e651ab17af6160ee Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 10:20:59 -0800 Subject: [PATCH 098/964] Fixed formatting --- gtsam/geometry/PinholePose.h | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 6f2f7dca0..019cc2609 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -33,12 +33,14 @@ namespace gtsam { template class GTSAM_EXPORT PinholeBaseK: public PinholeBase { - GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration) +private: + + GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration); // Get dimensions of calibration type at compile time -static const int DimK = FixedDimension::value; + static const int DimK = FixedDimension::value; -public : +public: /// @name Standard Constructors /// @{ From 32722fcd8396ea2182b5199d445d78f001442339 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 10:21:22 -0800 Subject: [PATCH 099/964] Got rid of linking mess, made Pose concept --- gtsam/geometry/CalibratedCamera.cpp | 3 - gtsam/geometry/CalibratedCamera.h | 154 +++++----------------------- 2 files changed, 26 insertions(+), 131 deletions(-) diff --git a/gtsam/geometry/CalibratedCamera.cpp b/gtsam/geometry/CalibratedCamera.cpp index e0d57feff..33f2c84eb 100644 --- a/gtsam/geometry/CalibratedCamera.cpp +++ b/gtsam/geometry/CalibratedCamera.cpp @@ -23,7 +23,6 @@ using namespace std; namespace gtsam { -#ifndef PINHOLEBASE_LINKING_FIX /* ************************************************************************* */ Matrix26 PinholeBase::Dpose(const Point2& pn, double d) { // optimized version of derivatives, see CalibratedCamera.nb @@ -130,8 +129,6 @@ Point3 PinholeBase::backproject_from_camera(const Point2& p, return Point3(p.x() * depth, p.y() * depth, depth); } -#endif - /* ************************************************************************* */ CalibratedCamera CalibratedCamera::Level(const Pose2& pose2, double height) { return CalibratedCamera(LevelPose(pose2, height)); diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 6d08f2160..35789053e 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -19,10 +19,7 @@ #pragma once #include -#define PINHOLEBASE_LINKING_FIX -#ifdef PINHOLEBASE_LINKING_FIX -#include -#endif + namespace gtsam { class Point2; @@ -44,6 +41,10 @@ class GTSAM_EXPORT PinholeBase { public: + /** Pose Concept requirements */ + typedef Rot3 Rotation; + typedef Point3 Translation; + /** * Some classes template on either PinholeCamera or StereoCamera, * and this typedef informs those classes what "project" returns. @@ -54,8 +55,6 @@ private: Pose3 pose_; ///< 3D pose of camera -#ifndef PINHOLEBASE_LINKING_FIX - protected: /// @name Derivatives @@ -143,6 +142,16 @@ public: return pose_; } + /// get rotation + const Rot3& rotation() const { + return pose_.rotation(); + } + + /// get translation + const Point3& translation() const { + return pose_.translation(); + } + /// return pose, with derivative const Pose3& getPose(OptionalJacobian<6, 6> H) const; @@ -173,132 +182,21 @@ public: /// backproject a 2-dimensional point to a 3-dimensional point at given depth static Point3 backproject_from_camera(const Point2& p, const double depth); -#else + /// @} + /// @name Advanced interface + /// @{ -public: - - PinholeBase() { + /** + * Return the start and end indices (inclusive) of the translation component of the + * exponential map parameterization + * @return a pair of [start, end] indices into the tangent space vector + */ + inline static std::pair translationInterval() { + return std::make_pair(3, 5); } - explicit PinholeBase(const Pose3& pose) : - pose_(pose) { - } + /// @} - explicit PinholeBase(const Vector &v) : - pose_(Pose3::Expmap(v)) { - } - - const Pose3& pose() const { - return pose_; - } - - /* ************************************************************************* */ - static Matrix26 Dpose(const Point2& pn, double d) { - // optimized version of derivatives, see CalibratedCamera.nb - const double u = pn.x(), v = pn.y(); - double uv = u * v, uu = u * u, vv = v * v; - Matrix26 Dpn_pose; - Dpn_pose << uv, -1 - uu, v, -d, 0, d * u, 1 + vv, -uv, -u, 0, -d, d * v; - return Dpn_pose; - } - - /* ************************************************************************* */ - static Matrix23 Dpoint(const Point2& pn, double d, const Matrix3& Rt) { - // optimized version of derivatives, see CalibratedCamera.nb - const double u = pn.x(), v = pn.y(); - Matrix23 Dpn_point; - Dpn_point << // - Rt(0, 0) - u * Rt(2, 0), Rt(0, 1) - u * Rt(2, 1), Rt(0, 2) - u * Rt(2, 2), // - /**/Rt(1, 0) - v * Rt(2, 0), Rt(1, 1) - v * Rt(2, 1), Rt(1, 2) - v * Rt(2, 2); - Dpn_point *= d; - return Dpn_point; - } - - /* ************************************************************************* */ - static Pose3 LevelPose(const Pose2& pose2, double height) { - const double st = sin(pose2.theta()), ct = cos(pose2.theta()); - const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); - const Rot3 wRc(x, y, z); - const Point3 t(pose2.x(), pose2.y(), height); - return Pose3(wRc, t); - } - - /* ************************************************************************* */ - static Pose3 LookatPose(const Point3& eye, const Point3& target, - const Point3& upVector) { - Point3 zc = target - eye; - zc = zc / zc.norm(); - Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down - xc = xc / xc.norm(); - Point3 yc = zc.cross(xc); - return Pose3(Rot3(xc, yc, zc), eye); - } - - /* ************************************************************************* */ - bool equals(const PinholeBase &camera, double tol=1e-9) const { - return pose_.equals(camera.pose(), tol); - } - - /* ************************************************************************* */ - void print(const std::string& s) const { - pose_.print(s + ".pose"); - } - - /* ************************************************************************* */ - const Pose3& getPose(OptionalJacobian<6, 6> H) const { - if (H) { - H->setZero(); - H->block(0, 0, 6, 6) = I_6x6; - } - return pose_; - } - - /* ************************************************************************* */ - static Point2 project_to_camera(const Point3& pc, - OptionalJacobian<2, 3> Dpoint = boost::none) { - double d = 1.0 / pc.z(); - const double u = pc.x() * d, v = pc.y() * d; - if (Dpoint) - *Dpoint << d, 0.0, -u * d, 0.0, d, -v * d; - return Point2(u, v); - } - - /* ************************************************************************* */ - std::pair projectSafe(const Point3& pw) const { - const Point3 pc = pose().transform_to(pw); - const Point2 pn = project_to_camera(pc); - return std::make_pair(pn, pc.z() > 0); - } - - /* ************************************************************************* */ - Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose = boost::none, - OptionalJacobian<2, 3> Dpoint = boost::none) const { - - Matrix3 Rt; // calculated by transform_to if needed - const Point3 q = pose().transform_to(point, boost::none, Dpoint ? &Rt : 0); - #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION - if (q.z() <= 0) - throw CheiralityException(); - #endif - const Point2 pn = project_to_camera(q); - - if (Dpose || Dpoint) { - const double d = 1.0 / q.z(); - if (Dpose) - *Dpose = PinholeBase::Dpose(pn, d); - if (Dpoint) - *Dpoint = PinholeBase::Dpoint(pn, d, Rt); - } - return pn; - } - - /* ************************************************************************* */ - static Point3 backproject_from_camera(const Point2& p, - const double depth) { - return Point3(p.x() * depth, p.y() * depth, depth); - } - -#endif private: From f3c8b1ac9a4a8c99b8787f5eca6c6cc19720e623 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 10:21:32 -0800 Subject: [PATCH 100/964] Removed print --- gtsam/slam/SmartFactorBase.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index d1c0d76e2..02cd68304 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -423,8 +423,7 @@ public: const size_t M = ZDim * m; Matrix E0(M, M - 3); computeJacobiansSVD(F, E0, b, cameras, point); - std::cout << M << std::endl; - SharedIsotropic n = noiseModel::Isotropic::Sigma(M, noiseModel_->sigma()); + SharedIsotropic n = noiseModel::Isotropic::Sigma(M-3, noiseModel_->sigma()); return boost::make_shared >(F, E0, b, n); } From 216b5ae62bb05c459c8bd7722a91e830c16d3c92 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 10:21:58 -0800 Subject: [PATCH 101/964] Fixed a large number of issues in test with switch to PinholePose --- .../tests/testSmartProjectionPoseFactor.cpp | 128 ++++++++---------- 1 file changed, 60 insertions(+), 68 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 2384e1b7c..f90eccc82 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -160,7 +160,7 @@ TEST( SmartProjectionPoseFactor, noisy ) { Point2 level_uv_right = level_camera_right.project(landmark1); Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); values.insert(x2, Camera(pose_right.compose(noise_pose), sharedK)); @@ -228,7 +228,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK2)); @@ -242,7 +242,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -438,7 +438,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK)); @@ -452,7 +452,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -508,7 +508,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); values.insert(x3, Camera(pose_above * noise_pose, sharedK)); @@ -566,7 +566,7 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); values.insert(x3, Camera(pose_above * noise_pose, sharedK)); @@ -637,7 +637,7 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); values.insert(x3, Camera(pose_above * noise_pose, sharedK)); @@ -690,7 +690,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); values.insert(x3, Camera(pose_above * noise_pose, sharedK)); @@ -738,20 +738,22 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { ProjectionFactor(cam3.project(landmark3), model, x3, L(3), sharedK2)); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, level_pose, noisePrior)); + graph.push_back(PriorFactor(x2, pose_right, noisePrior)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; - values.insert(x1, cam2); - values.insert(x2, cam2); - values.insert(x3, Camera(pose_above * noise_pose, sharedK2)); + values.insert(x1, level_pose); + values.insert(x2, pose_right); + values.insert(x3, pose_above * noise_pose); values.insert(L(1), landmark1); values.insert(L(2), landmark2); values.insert(L(3), landmark3); if (isDebugTest) - values.at(x3).print("Pose3 before optimization: "); + values.at(x3).print("Pose3 before optimization: "); + + DOUBLES_EQUAL(48406055, graph.error(values), 1); LevenbergMarquardtParams params; if (isDebugTest) @@ -761,9 +763,11 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { LevenbergMarquardtOptimizer optimizer(graph, values, params); Values result = optimizer.optimize(); + DOUBLES_EQUAL(0, graph.error(result), 1e-9); + if (isDebugTest) - result.at(x3).print("Pose3 after optimization: "); - EXPECT(assert_equal(cam3, result.at(x3), 1e-7)); + result.at(x3).print("Pose3 after optimization: "); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); } /* *************************************************************************/ @@ -811,22 +815,19 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK)); if (isDebugTest) values.at(x3).print("Camera before optimization: "); - boost::shared_ptr hessianFactor1 = smartFactor1->linearize( - values); - boost::shared_ptr hessianFactor2 = smartFactor2->linearize( - values); - boost::shared_ptr hessianFactor3 = smartFactor3->linearize( - values); + boost::shared_ptr factor1 = smartFactor1->linearize(values); + boost::shared_ptr factor2 = smartFactor2->linearize(values); + boost::shared_ptr factor3 = smartFactor3->linearize(values); - Matrix CumulativeInformation = hessianFactor1->information() - + hessianFactor2->information() + hessianFactor3->information(); + Matrix CumulativeInformation = factor1->information() + factor2->information() + + factor3->information(); boost::shared_ptr GaussianGraph = graph.linearize( values); @@ -835,9 +836,8 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { // Check Hessian EXPECT(assert_equal(GraphInformation, CumulativeInformation, 1e-8)); - Matrix AugInformationMatrix = hessianFactor1->augmentedInformation() - + hessianFactor2->augmentedInformation() - + hessianFactor3->augmentedInformation(); + Matrix AugInformationMatrix = factor1->augmentedInformation() + + factor2->augmentedInformation() + factor3->augmentedInformation(); // Check Information vector // cout << AugInformationMatrix.size() << endl; @@ -891,14 +891,14 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac graph.push_back(smartFactor2); graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back( - PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( - PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, Camera(pose_right * noise_pose, sharedK2)); // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose * noise_pose, sharedK2)); @@ -912,7 +912,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -988,7 +988,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedK)); @@ -1002,7 +1002,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -1042,17 +1042,16 @@ TEST( SmartProjectionPoseFactor, Hessian ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); - boost::shared_ptr hessianFactor = smartFactor1->linearize( - values); + boost::shared_ptr factor = smartFactor1->linearize(values); if (isDebugTest) - hessianFactor->print("Hessian factor \n"); + factor->print("Hessian factor \n"); // compute triangulation from linearization point // compute reprojection errors (sum squared) - // compare with hessianFactor.info(): the bottom right element is the squared sum of the reprojection errors (normalized by the covariance) + // compare with factor.info(): the bottom right element is the squared sum of the reprojection errors (normalized by the covariance) // check that it is correctly scaled when using noiseProjection = [1/4 0; 0 1/4] } @@ -1075,12 +1074,12 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { smartFactorInstance->add(measurements_cam1, views, model); Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); values.insert(x3, cam3); - boost::shared_ptr hessianFactor = - smartFactorInstance->linearize(values); + boost::shared_ptr factor = smartFactorInstance->linearize( + values); Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); @@ -1089,13 +1088,11 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { rotValues.insert(x2, Camera(poseDrift.compose(pose_right), sharedK)); rotValues.insert(x3, Camera(poseDrift.compose(pose_above), sharedK)); - boost::shared_ptr hessianFactorRot = - smartFactorInstance->linearize(rotValues); + boost::shared_ptr factorRot = smartFactorInstance->linearize( + rotValues); // Hessian is invariant to rotations in the nondegenerate case - EXPECT( - assert_equal(hessianFactor->information(), - hessianFactorRot->information(), 1e-7)); + EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-7)); Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); @@ -1105,13 +1102,12 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { tranValues.insert(x2, Camera(poseDrift2.compose(pose_right), sharedK)); tranValues.insert(x3, Camera(poseDrift2.compose(pose_above), sharedK)); - boost::shared_ptr hessianFactorRotTran = + boost::shared_ptr factorRotTran = smartFactorInstance->linearize(tranValues); // Hessian is invariant to rotations and translations in the nondegenerate case EXPECT( - assert_equal(hessianFactor->information(), - hessianFactorRotTran->information(), 1e-7)); + assert_equal(factor->information(), factorRotTran->information(), 1e-7)); } /* *************************************************************************/ @@ -1133,14 +1129,13 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { smartFactor->add(measurements_cam1, views, model); Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); values.insert(x3, cam3); - boost::shared_ptr hessianFactor = smartFactor->linearize( - values); + boost::shared_ptr factor = smartFactor->linearize(values); if (isDebugTest) - hessianFactor->print("Hessian factor \n"); + factor->print("Hessian factor \n"); Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); @@ -1149,15 +1144,13 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { rotValues.insert(x2, Camera(poseDrift.compose(pose_right), sharedK2)); rotValues.insert(x3, Camera(poseDrift.compose(pose_above), sharedK2)); - boost::shared_ptr hessianFactorRot = smartFactor->linearize( + boost::shared_ptr factorRot = smartFactor->linearize( rotValues); if (isDebugTest) - hessianFactorRot->print("Hessian factor \n"); + factorRot->print("Hessian factor \n"); // Hessian is invariant to rotations in the nondegenerate case - EXPECT( - assert_equal(hessianFactor->information(), - hessianFactorRot->information(), 1e-8)); + EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-8)); Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); @@ -1167,13 +1160,12 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { tranValues.insert(x2, Camera(poseDrift2.compose(pose_right), sharedK2)); tranValues.insert(x3, Camera(poseDrift2.compose(pose_above), sharedK2)); - boost::shared_ptr hessianFactorRotTran = - smartFactor->linearize(tranValues); + boost::shared_ptr factorRotTran = smartFactor->linearize( + tranValues); // Hessian is invariant to rotations and translations in the nondegenerate case EXPECT( - assert_equal(hessianFactor->information(), - hessianFactorRotTran->information(), 1e-8)); + assert_equal(factor->information(), factorRotTran->information(), 1e-8)); } /* ************************************************************************* */ @@ -1242,7 +1234,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); @@ -1256,7 +1248,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -1348,7 +1340,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam2); + values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); @@ -1362,7 +1354,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); From cc4083d33e4f6087db98347a255985390afe1ae2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 10:28:26 -0800 Subject: [PATCH 102/964] Fixed global replace error --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index f90eccc82..bf5354606 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -859,10 +859,8 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac views.push_back(x3); // Two different cameras - Pose3 pose2 = level_pose - * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose - * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3()); + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3()); Camera cam2(pose2, sharedK2); Camera cam3(pose3, sharedK2); @@ -899,9 +897,9 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1); - values.insert(x2, Camera(pose_right * noise_pose, sharedK2)); + values.insert(x2, Camera(pose2 * noise_pose, sharedK2)); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose * noise_pose, sharedK2)); + values.insert(x3, Camera(pose3 * noise_pose * noise_pose, sharedK2)); if (isDebugTest) values.at(x3).print("Camera before optimization: "); From 2f2cc078dc8da918db7556f5586c3c754dbbfc48 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 10:55:39 -0800 Subject: [PATCH 103/964] Deal with possibility of degenerate E version (M*2 rather than M*3) --- gtsam/slam/SmartFactorBase.h | 15 ++++----- gtsam/slam/SmartProjectionFactor.h | 49 +++++++++++++++--------------- 2 files changed, 31 insertions(+), 33 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 02cd68304..c9421e173 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -258,24 +258,21 @@ public: } /// Computes Point Covariance P from E - static Matrix3 PointCov(Matrix& E) { + static Matrix PointCov(Matrix& E) { return (E.transpose() * E).inverse(); } /// Computes Point Covariance P, with lambda parameter - static Matrix3 PointCov(Matrix& E, double lambda, + static Matrix PointCov(Matrix& E, double lambda, bool diagonalDamping = false) { - Matrix3 EtE = E.transpose() * E; + Matrix EtE = E.transpose() * E; if (diagonalDamping) { // diagonal of the hessian - EtE(0, 0) += lambda * EtE(0, 0); - EtE(1, 1) += lambda * EtE(1, 1); - EtE(2, 2) += lambda * EtE(2, 2); + EtE.diagonal() += lambda * EtE.diagonal(); } else { - EtE(0, 0) += lambda; - EtE(1, 1) += lambda; - EtE(2, 2) += lambda; + DenseIndex n = E.cols(); + EtE += lambda * Eigen::MatrixXd::Identity(n,n); } return (EtE).inverse(); diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 51f892a6d..7ab26c0a1 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -280,7 +280,7 @@ public: { std::vector Fblocks; f = computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); - Base::whitenJacobians(Fblocks,E,b); + Base::whitenJacobians(Fblocks, E, b); Base::FillDiagonalF(Fblocks, F); // expensive ! } @@ -290,7 +290,8 @@ public: Matrix H(Base::Dim * numKeys, Base::Dim * numKeys); Vector gs_vector; - Matrix3 P = Base::PointCov(E, lambda); + // Note P can 2*2 or 3*3 + Matrix P = Base::PointCov(E, lambda); // Create reduced Hessian matrix via Schur complement F'*F - F'*E*P*E'*F H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); @@ -448,29 +449,29 @@ public: else result_ = triangulateSafe(cameras); - // if we don't want to manage the exceptions we discard the factor - if (!manageDegeneracy_ && !result_) - return 0.0; - - if (isPointBehindCamera()) { // if we want to manage the exceptions with rotation-only factors - std::cout - << "SmartProjectionHessianFactor: cheirality exception (this should not happen if CheiralityException is disabled)!" - << std::endl; - } - - if (isDegenerate()) { - // return 0.0; // TODO: this maybe should be zero? - std::cout - << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" - << std::endl; - // 3D parameterization of point at infinity - const Point2& z0 = this->measured_.at(0); - result_ = TriangulationResult( - cameras.front().backprojectPointAtInfinity(z0)); - return Base::totalReprojectionErrorAtInfinity(cameras, *result_); - } else { - // Just use version in base class + if (result_) + // All good, just use version in base class return Base::totalReprojectionError(cameras, *result_); + else { + // if we don't want to manage the exceptions we discard the factor + if (!manageDegeneracy_) + return 0.0; + + if (isPointBehindCamera()) { // if we want to manage the exceptions with rotation-only factors + throw std::runtime_error( + "SmartProjectionFactor::totalReprojectionError does not handle point behind camera yet"); + } + + if (isDegenerate()) { + // 3D parameterization of point at infinity + const Point2& z0 = this->measured_.at(0); + result_ = TriangulationResult( + cameras.front().backprojectPointAtInfinity(z0)); + return Base::totalReprojectionErrorAtInfinity(cameras, *result_); + } + // should not reach here. TODO use switch + throw std::runtime_error( + "SmartProjectionFactor::totalReprojectionError internal error"); } } From 48d8de50d095841d2c7e7b28676605be53dd15ff Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 16:38:02 -0800 Subject: [PATCH 104/964] Fixed SVD unit test --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 28b5b8c89..30636c58c 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -388,8 +388,9 @@ TEST( SmartProjectionPoseFactor, Factors ) { // createJacobianSVDFactor Vector1 b; b.setZero(); - double s = sin(M_PI_4); - JacobianFactor expected(x1, s * A1, x2, s * A2, b); + double s = sigma * sin(M_PI_4); + SharedIsotropic n = noiseModel::Isotropic::Sigma(4-3, sigma); + JacobianFactor expected(x1, s * A1, x2, s * A2, b, n); EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); boost::shared_ptr actual = From a95e5c7e051846ca8e05aa3a134658f84d8e298a Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 17:21:11 -0800 Subject: [PATCH 105/964] Fixed another test --- .../tests/testSmartProjectionPoseFactor.cpp | 36 +++++++++++-------- 1 file changed, 22 insertions(+), 14 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 30636c58c..46a9fe98c 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -246,7 +246,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionPoseFactor); + gttic_ (SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -256,7 +256,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { // VectorValues delta = GFG->optimize(); // result.print("results of 3 camera, 3 landmark optimization \n"); - EXPECT(assert_equal(cam3, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); if (isDebugTest) tictoc_print_(); } @@ -389,7 +389,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { Vector1 b; b.setZero(); double s = sigma * sin(M_PI_4); - SharedIsotropic n = noiseModel::Isotropic::Sigma(4-3, sigma); + SharedIsotropic n = noiseModel::Isotropic::Sigma(4 - 3, sigma); JacobianFactor expected(x1, s * A1, x2, s * A2, b, n); EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); @@ -460,14 +460,14 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionPoseFactor); + gttic_ (SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); tictoc_finishedIteration_(); // result.print("results of 3 camera, 3 landmark optimization \n"); - EXPECT(assert_equal(cam3, result.at(x3), 1e-7)); + EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-7)); if (isDebugTest) tictoc_print_(); } @@ -519,10 +519,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { values.insert(x3, Camera(pose_above * noise_pose, sharedK)); LevenbergMarquardtParams params; + if (isDebugTest) + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if (isDebugTest) + params.verbosity = NonlinearOptimizerParams::ERROR; + Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(cam3, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); } /* *************************************************************************/ @@ -640,12 +645,10 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back(PriorFactor(x2, cam2, noisePrior)); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), - Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1); values.insert(x2, cam2); - values.insert(x3, Camera(pose_above * noise_pose, sharedK)); + values.insert(x3, cam3); // All factors are disabled and pose should remain where it is LevenbergMarquardtParams params; @@ -701,10 +704,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { values.insert(x3, Camera(pose_above * noise_pose, sharedK)); LevenbergMarquardtParams params; + if (isDebugTest) + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + if (isDebugTest) + params.verbosity = NonlinearOptimizerParams::ERROR; + Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(cam3, result.at(x3), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); } /* *************************************************************************/ @@ -928,7 +936,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionPoseFactor); + gttic_ (SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -1029,7 +1037,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionPoseFactor); + gttic_ (SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -1283,7 +1291,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionPoseFactor); + gttic_ (SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -1392,7 +1400,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_(SmartProjectionPoseFactor); + gttic_ (SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); From f2a5e5c68390273edf70a1230261cdacfde5692d Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 17:21:22 -0800 Subject: [PATCH 106/964] Case change --- gtsam/slam/JacobianFactorSVD.h | 2 +- gtsam/slam/RegularImplicitSchurFactor.h | 8 ++++---- gtsam/slam/SmartFactorBase.h | 10 ++++++---- 3 files changed, 11 insertions(+), 9 deletions(-) diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h index e5e39d1a1..0b0d76fda 100644 --- a/gtsam/slam/JacobianFactorSVD.h +++ b/gtsam/slam/JacobianFactorSVD.h @@ -63,7 +63,7 @@ public: QF.push_back( KeyMatrix(it.first, (Enull.transpose()).block(0, ZDim * j++, m2, ZDim) * it.second)); - JacobianFactor::fillTerms(QF, Enull.transpose() * b, model); + JacobianFactor::fillTerms(QF, - Enull.transpose() * b, model); } }; diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index 88fb4b6e1..fd1a5764d 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -128,7 +128,7 @@ public: * Do Schur complement, given Jacobian as F,E,P, return SymmetricBlockMatrix * Fast version - works on with sparsity */ - static void sparseSchurComplement(const std::vector& Fblocks, + static void SparseSchurComplement(const std::vector& Fblocks, const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, /*output ->*/SymmetricBlockMatrix& augmentedHessian) { // Schur complement trick @@ -167,7 +167,7 @@ public: * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. */ - static void updateSparseSchurComplement( + static void UpdateSparseSchurComplement( const std::vector& Fblocks, const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, const double f, const FastVector& allKeys, const FastVector& keys, @@ -248,7 +248,7 @@ public: SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); // Do the Schur complement - sparseSchurComplement(Fblocks_, E_, PointCovariance_, b_, augmentedHessian); + SparseSchurComplement(Fblocks_, E_, PointCovariance_, b_, augmentedHessian); return augmentedHessian.matrix(); } @@ -257,7 +257,7 @@ public: Matrix augmented = augmentedInformation(); int m = this->keys_.size(); size_t M = D * m; - return augmented.block(0,0,M,M); + return augmented.block(0, 0, M, M); } /// Return the diagonal of the Hessian for this factor diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index c9421e173..60e939a89 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -272,7 +272,7 @@ public: EtE.diagonal() += lambda * EtE.diagonal(); } else { DenseIndex n = E.cols(); - EtE += lambda * Eigen::MatrixXd::Identity(n,n); + EtE += lambda * Eigen::MatrixXd::Identity(n, n); } return (EtE).inverse(); @@ -342,7 +342,8 @@ public: SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); // build augmented hessian - sparseSchurComplement(Fblocks, E, P, b, augmentedHessian); + RegularImplicitSchurFactor::SparseSchurComplement(Fblocks, E, P, b, + augmentedHessian); augmentedHessian(m, m)(0, 0) = f; return boost::make_shared >(keys_, @@ -363,7 +364,7 @@ public: std::vector Fblocks; double f = computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - RegularImplicitSchurFactor::updateSparseSchurComplement(Fblocks, + RegularImplicitSchurFactor::UpdateSparseSchurComplement(Fblocks, E, P, b, f, allKeys, keys_, augmentedHessian); } @@ -420,7 +421,8 @@ public: const size_t M = ZDim * m; Matrix E0(M, M - 3); computeJacobiansSVD(F, E0, b, cameras, point); - SharedIsotropic n = noiseModel::Isotropic::Sigma(M-3, noiseModel_->sigma()); + SharedIsotropic n = noiseModel::Isotropic::Sigma(M - 3, + noiseModel_->sigma()); return boost::make_shared >(F, E0, b, n); } From 000d14c09a77ab11f73a1ac8f392ec3f2e0b06c4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 19:28:24 -0800 Subject: [PATCH 107/964] comment --- gtsam/geometry/PinholePose.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 019cc2609..b5daaebc5 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -136,6 +136,7 @@ public: Matrix3 Dpc_rot, Dpc_point; const Point3 pc = this->pose().rotation().unrotate(pw, Dpc_rot, Dpc_point); + // only rotation is important Matrix36 Dpc_pose; Dpc_pose.setZero(); Dpc_pose.leftCols<3>() = Dpc_rot; From 0a287e25e797a3041371bbddc862b74322bf883f Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 20:43:27 -0800 Subject: [PATCH 108/964] Moved SchurComplement here, as well as UpdateSchurComplement --- gtsam/geometry/CameraSet.h | 144 +++++++++++++++++++++++-- gtsam/geometry/tests/testCameraSet.cpp | 63 ++++++++--- 2 files changed, 184 insertions(+), 23 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 7e9062a8d..dd58f8e69 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -21,6 +21,8 @@ #include #include // for Cheirality exception #include +#include +#include #include namespace gtsam { @@ -39,8 +41,8 @@ protected: */ typedef typename CAMERA::Measurement Z; + static const int D = traits::dimension; ///< Camera dimension static const int ZDim = traits::dimension; ///< Measurement dimension - static const int Dim = traits::dimension; ///< Camera dimension /// Make a vector of re-projection errors static Vector ErrorVector(const std::vector& predicted, @@ -63,7 +65,7 @@ protected: public: /// Definitions for blocks of F - typedef Eigen::Matrix MatrixZD; // F + typedef Eigen::Matrix MatrixZD; typedef std::vector FBlocks; /** @@ -97,7 +99,7 @@ public: * throws CheiralityException */ std::vector project2(const Point3& point, // - boost::optional F = boost::none, // + boost::optional Fs = boost::none, // boost::optional E = boost::none) const { // Allocate result @@ -110,11 +112,11 @@ public: // Project and fill derivatives for (size_t i = 0; i < m; i++) { - Eigen::Matrix Fi; + MatrixZD Fi; Eigen::Matrix Ei; - z[i] = this->at(i).project2(point, F ? &Fi : 0, E ? &Ei : 0); - if (F) - F->push_back(Fi); + z[i] = this->at(i).project2(point, Fs ? &Fi : 0, E ? &Ei : 0); + if (Fs) + Fs->push_back(Fi); if (E) E->block(ZDim * i, 0) = Ei; } @@ -141,9 +143,9 @@ public: /// Calculate vector of re-projection errors Vector reprojectionError(const Point3& point, const std::vector& measured, - boost::optional F = boost::none, // + boost::optional Fs = boost::none, // boost::optional E = boost::none) const { - return ErrorVector(project2(point, F, E), measured); + return ErrorVector(project2(point, Fs, E), measured); } /// Calculate vector of re-projection errors, from point at infinity @@ -153,6 +155,127 @@ public: return ErrorVector(projectAtInfinity(point), measured); } + /** + * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix + * G = F' * F - F' * E * P * E' * F + * g = F' * (b - E * P * E' * b) + */ + static SymmetricBlockMatrix SchurComplement(const FBlocks& Fs, + const Matrix& E, const Matrix3& P, const Vector& b) { + + // a single point is observed in m cameras + int m = Fs.size(); + + // Create a SymmetricBlockMatrix + size_t M1 = D * m + 1; + std::vector dims(m + 1); // this also includes the b term + std::fill(dims.begin(), dims.end() - 1, D); + dims.back() = 1; + SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); + + // Blockwise Schur complement + for (size_t i = 0; i < m; i++) { // for each camera + + const MatrixZD& Fi = Fs[i]; + const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; + + // D = (Dx2) * ZDim + augmentedHessian(i, m) = Fi.transpose() * b.segment(ZDim * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + + // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) + augmentedHessian(i, i) = Fi.transpose() + * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi); + + // upper triangular part of the hessian + for (size_t j = i + 1; j < m; j++) { // for each camera + const MatrixZD& Fj = Fs[j]; + + // (DxD) = (Dx2) * ( (2x2) * (2xD) ) + augmentedHessian(i, j) = -Fi.transpose() + * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); + } + } // end of for over cameras + + augmentedHessian(m, m)(0, 0) += b.squaredNorm(); + return augmentedHessian; + } + + /** + * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, + * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. + */ + static void UpdateSchurComplement(const FBlocks& Fs, const Matrix& E, + const Matrix3& P /*Point Covariance*/, const Vector& b, + const FastVector& allKeys, const FastVector& keys, + /*output ->*/SymmetricBlockMatrix& augmentedHessian) { + + assert(keys.size()==Fs.size()); + assert(keys.size()<=allKeys.size()); + + FastMap KeySlotMap; + for (size_t slot = 0; slot < allKeys.size(); slot++) + KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); + + // Schur complement trick + // G = F' * F - F' * E * P * E' * F + // g = F' * (b - E * P * E' * b) + + Eigen::Matrix matrixBlock; + typedef SymmetricBlockMatrix::Block Block; ///< A block from the Hessian matrix + + // a single point is observed in m cameras + size_t m = Fs.size(); // cameras observing current point + size_t M = (augmentedHessian.rows() - 1) / D; // all cameras in the group + assert(allKeys.size()==M); + + // Blockwise Schur complement + for (size_t i = 0; i < m; i++) { // for each camera in the current factor + + const MatrixZD& Fi = Fs[i]; + const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; + + // D = (DxZDim) * (ZDim) + // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) + // we should map those to a slot in the local (grouped) hessian (0,1,2,3,4) + // Key cameraKey_i = this->keys_[i]; + DenseIndex aug_i = KeySlotMap.at(keys[i]); + + // information vector - store previous vector + // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); + // add contribution of current factor + augmentedHessian(aug_i, M) = augmentedHessian(aug_i, M).knownOffDiagonal() + + Fi.transpose() * b.segment(ZDim * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + + // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) + // main block diagonal - store previous block + matrixBlock = augmentedHessian(aug_i, aug_i); + // add contribution of current factor + augmentedHessian(aug_i, aug_i) = matrixBlock + + (Fi.transpose() + * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi)); + + // upper triangular part of the hessian + for (size_t j = i + 1; j < m; j++) { // for each camera + const MatrixZD& Fj = Fs[j]; + + DenseIndex aug_j = KeySlotMap.at(keys[j]); + + // (DxD) = (DxZDim) * ( (ZDimxZDim) * (ZDimxD) ) + // off diagonal block - store previous block + // matrixBlock = augmentedHessian(aug_i, aug_j).knownOffDiagonal(); + // add contribution of current factor + augmentedHessian(aug_i, aug_j) = + augmentedHessian(aug_i, aug_j).knownOffDiagonal() + - Fi.transpose() + * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); + } + } // end of for over cameras + + augmentedHessian(M, M)(0, 0) += b.squaredNorm(); + } + private: /// Serialization function @@ -163,6 +286,9 @@ private: } }; +template +const int CameraSet::D; + template const int CameraSet::ZDim; diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index 25a6da5b2..05ffc275c 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -31,14 +31,15 @@ using namespace gtsam; #include TEST(CameraSet, Pinhole) { typedef PinholeCamera Camera; + typedef CameraSet Set; typedef vector ZZ; - CameraSet set; + Set set; Camera camera; set.push_back(camera); set.push_back(camera); Point3 p(0, 0, 1); EXPECT(assert_equal(set, set)); - CameraSet set2 = set; + Set set2 = set; set2.push_back(camera); EXPECT(!set.equals(set2)); @@ -50,7 +51,7 @@ TEST(CameraSet, Pinhole) { // Calculate expected derivatives using Pinhole Matrix43 actualE; - Matrix F1; + Matrix29 F1; { Matrix23 E1; Matrix23 H1; @@ -59,12 +60,12 @@ TEST(CameraSet, Pinhole) { } // Check computed derivatives - CameraSet::FBlocks F; - Matrix E, H; - set.project2(p, F, E); - LONGS_EQUAL(2,F.size()); - EXPECT(assert_equal(F1, F[0])); - EXPECT(assert_equal(F1, F[1])); + Set::FBlocks Fs; + Matrix E; + set.project2(p, Fs, E); + LONGS_EQUAL(2, Fs.size()); + EXPECT(assert_equal(F1, Fs[0])); + EXPECT(assert_equal(F1, Fs[1])); EXPECT(assert_equal(actualE, E)); // Check errors @@ -78,6 +79,40 @@ TEST(CameraSet, Pinhole) { Vector actualV = set.reprojectionError(p, measured); EXPECT(assert_equal(expectedV, actualV)); + // Check Schur complement + Matrix F(4, 18); + F << F1, Matrix29::Zero(), Matrix29::Zero(), F1; + Matrix Ft = F.transpose(); + Matrix34 Et = E.transpose(); + Matrix3 P = Et * E; + Matrix schur(19, 19); + Vector4 b = actualV; + Vector v = Ft * (b - E * P * Et * b); + schur << Ft * F - Ft * E * P * Et * F, v, v.transpose(), 30; + SymmetricBlockMatrix actualReduced = Set::SchurComplement(Fs, E, P, b); + EXPECT(assert_equal(schur, actualReduced.matrix())); + + // Check Schur complement update, same order, should just double + FastVector allKeys, keys; + allKeys.push_back(1); + allKeys.push_back(2); + keys.push_back(1); + keys.push_back(2); + Set::UpdateSchurComplement(Fs, E, P, b, allKeys, keys, actualReduced); + EXPECT(assert_equal((Matrix )(2.0 * schur), actualReduced.matrix())); + + // Check Schur complement update, keys reversed + FastVector keys2; + keys2.push_back(2); + keys2.push_back(1); + Set::UpdateSchurComplement(Fs, E, P, b, allKeys, keys2, actualReduced); + Vector4 reverse_b; + reverse_b << b.tail<2>(), b.head<2>(); + Vector reverse_v = Ft * (reverse_b - E * P * Et * reverse_b); + Matrix A(19, 19); + A << Ft * F - Ft * E * P * Et * F, reverse_v, reverse_v.transpose(), 30; + EXPECT(assert_equal((Matrix )(2.0 * schur + A), actualReduced.matrix())); + // reprojectionErrorAtInfinity EXPECT( assert_equal(Point3(0, 0, 1), @@ -113,12 +148,12 @@ TEST(CameraSet, Stereo) { } // Check computed derivatives - CameraSet::FBlocks F; + CameraSet::FBlocks Fs; Matrix E; - set.project2(p, F, E); - LONGS_EQUAL(2,F.size()); - EXPECT(assert_equal(F1, F[0])); - EXPECT(assert_equal(F1, F[1])); + set.project2(p, Fs, E); + LONGS_EQUAL(2, Fs.size()); + EXPECT(assert_equal(F1, Fs[0])); + EXPECT(assert_equal(F1, Fs[1])); EXPECT(assert_equal(actualE, E)); } From 175dae30ec72be180ee41d4bad751df0bf4ec57a Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 21:39:35 -0800 Subject: [PATCH 109/964] Switched to non-keyed Fblocks --- gtsam/slam/JacobianFactorQ.h | 16 +- gtsam/slam/JacobianFactorQR.h | 17 +- gtsam/slam/RegularImplicitSchurFactor.h | 274 +++++------------- gtsam/slam/SmartFactorBase.h | 57 ++-- .../tests/testRegularImplicitSchurFactor.cpp | 28 +- 5 files changed, 130 insertions(+), 262 deletions(-) diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h index 5e8693541..5dd7582cd 100644 --- a/gtsam/slam/JacobianFactorQ.h +++ b/gtsam/slam/JacobianFactorQ.h @@ -28,7 +28,7 @@ class JacobianFactorQ: public RegularJacobianFactor { typedef RegularJacobianFactor Base; typedef Eigen::Matrix MatrixZD; - typedef std::pair KeyMatrixZD; + typedef std::pair KeyMatrix; public: @@ -42,7 +42,6 @@ public: Base() { Matrix zeroMatrix = Matrix::Zero(0, D); Vector zeroVector = Vector::Zero(0); - typedef std::pair KeyMatrix; std::vector QF; QF.reserve(keys.size()); BOOST_FOREACH(const Key& key, keys) @@ -51,22 +50,23 @@ public: } /// Constructor - JacobianFactorQ(const std::vector& Fblocks, const Matrix& E, - const Matrix3& P, const Vector& b, const SharedDiagonal& model = - SharedDiagonal()) : + JacobianFactorQ(const FastVector& keys, + const std::vector& FBlocks, const Matrix& E, const Matrix3& P, + const Vector& b, const SharedDiagonal& model = SharedDiagonal()) : Base() { size_t j = 0, m2 = E.rows(), m = m2 / ZDim; // Calculate projector Q Matrix Q = eye(m2) - E * P * E.transpose(); // Calculate pre-computed Jacobian matrices // TODO: can we do better ? - typedef std::pair KeyMatrix; std::vector QF; QF.reserve(m); // Below, we compute each mZDim*D block A_j = Q_j * F_j = (mZDim*ZDim) * (Zdim*D) - BOOST_FOREACH(const KeyMatrixZD& it, Fblocks) + for (size_t k = 0; k < FBlocks.size(); ++k) { + Key key = keys[k]; QF.push_back( - KeyMatrix(it.first, Q.block(0, ZDim * j++, m2, ZDim) * it.second)); + KeyMatrix(key, Q.block(0, ZDim * j++, m2, ZDim) * FBlocks[k])); + } // Which is then passed to the normal JacobianFactor constructor JacobianFactor::fillTerms(QF, Q * b, model); } diff --git a/gtsam/slam/JacobianFactorQR.h b/gtsam/slam/JacobianFactorQR.h index 9c3f8be4a..77102c24b 100644 --- a/gtsam/slam/JacobianFactorQR.h +++ b/gtsam/slam/JacobianFactorQR.h @@ -7,8 +7,8 @@ #pragma once #include -#include #include +#include namespace gtsam { @@ -22,25 +22,24 @@ class JacobianFactorQR: public RegularJacobianFactor { typedef RegularJacobianFactor Base; typedef Eigen::Matrix MatrixZD; - typedef std::pair KeyMatrixZD; public: /** * Constructor */ - JacobianFactorQR(const std::vector& Fblocks, const Matrix& E, - const Matrix3& P, const Vector& b, // + JacobianFactorQR(const FastVector& keys, + const std::vector& FBlocks, const Matrix& E, const Matrix3& P, + const Vector& b, // const SharedDiagonal& model = SharedDiagonal()) : Base() { // Create a number of Jacobian factors in a factor graph GaussianFactorGraph gfg; Symbol pointKey('p', 0); - size_t i = 0; - BOOST_FOREACH(const KeyMatrixZD& it, Fblocks) { - gfg.add(pointKey, E.block(ZDim * i, 0), it.first, it.second, - b.segment(ZDim * i), model); - i += 1; + for (size_t k = 0; k < FBlocks.size(); ++k) { + Key key = keys[k]; + gfg.add(pointKey, E.block(ZDim * k, 0), key, FBlocks[k], + b.segment < ZDim > (ZDim * k), model); } //gfg.print("gfg"); diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index fd1a5764d..dac5ad153 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -7,9 +7,9 @@ #pragma once +#include #include #include -#include #include #include @@ -18,7 +18,7 @@ namespace gtsam { /** * RegularImplicitSchurFactor */ -template // +template class RegularImplicitSchurFactor: public GaussianFactor { public: @@ -27,22 +27,21 @@ public: protected: - typedef Eigen::Matrix Matrix2D; ///< type of an F block - typedef Eigen::Matrix MatrixDD; ///< camera hessian - typedef std::pair KeyMatrix2D; ///< named F block + // This factor is closely related to a CameraSet + typedef CameraSet Set; - const std::vector Fblocks_; ///< All Z*D F blocks (one for each camera) - const Matrix3 PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (Z*Z if degenerate) + typedef typename CAMERA::Measurement Z; + static const int D = traits::dimension; ///< Camera dimension + static const int ZDim = traits::dimension; ///< Measurement dimension + + typedef Eigen::Matrix MatrixZD; ///< type of an F block + typedef Eigen::Matrix MatrixDD; ///< camera hessian + + const std::vector FBlocks_; ///< All ZDim*D F blocks (one for each camera) + const Matrix3 PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (ZDim*ZDim if degenerate) const Matrix E_; ///< The 2m*3 E Jacobian with respect to the point const Vector b_; ///< 2m-dimensional RHS vector - /// initialize keys from Fblocks - void initKeys() { - keys_.reserve(Fblocks_.size()); - BOOST_FOREACH(const KeyMatrix2D& it, Fblocks_) - keys_.push_back(it.first); - } - public: /// Constructor @@ -50,29 +49,29 @@ public: } /// Construct from blocks of F, E, inv(E'*E), and RHS vector b - RegularImplicitSchurFactor(const std::vector& Fblocks, - const Matrix& E, const Matrix3& P, const Vector& b) : - Fblocks_(Fblocks), PointCovariance_(P), E_(E), b_(b) { - initKeys(); + RegularImplicitSchurFactor(const FastVector& keys, + const std::vector& FBlocks, const Matrix& E, const Matrix3& P, + const Vector& b) : + GaussianFactor(keys), FBlocks_(FBlocks), PointCovariance_(P), E_(E), b_(b) { } /// Destructor virtual ~RegularImplicitSchurFactor() { } - inline std::vector& Fblocks() const { - return Fblocks_; + std::vector& FBlocks() const { + return FBlocks_; } - inline const Matrix& E() const { + const Matrix& E() const { return E_; } - inline const Vector& b() const { + const Vector& b() const { return b_; } - inline const Matrix3& getPointCovariance() const { + const Matrix3& getPointCovariance() const { return PointCovariance_; } @@ -82,7 +81,7 @@ public: std::cout << " RegularImplicitSchurFactor " << std::endl; Factor::print(s); for (size_t pos = 0; pos < size(); ++pos) { - std::cout << "Fblock:\n" << Fblocks_[pos].second << std::endl; + std::cout << "Fblock:\n" << FBlocks_[pos] << std::endl; } std::cout << "PointCovariance:\n" << PointCovariance_ << std::endl; std::cout << "E:\n" << E_ << std::endl; @@ -94,13 +93,12 @@ public: const This* f = dynamic_cast(&lf); if (!f) return false; - for (size_t pos = 0; pos < size(); ++pos) { - if (keys_[pos] != f->keys_[pos]) + for (size_t k = 0; k < FBlocks_.size(); ++k) { + if (keys_[k] != f->keys_[k]) return false; - if (Fblocks_[pos].first != f->Fblocks_[pos].first) + if (FBlocks_[k] != f->FBlocks_[k]) return false; - if (!equal_with_abs_tol(Fblocks_[pos].second, f->Fblocks_[pos].second, - tol)) + if (!equal_with_abs_tol(FBlocks_[k], f->FBlocks_[k], tol)) return false; } return equal_with_abs_tol(PointCovariance_, f->PointCovariance_, tol) @@ -124,131 +122,12 @@ public: return std::make_pair(Matrix(), Vector()); } - /** - * Do Schur complement, given Jacobian as F,E,P, return SymmetricBlockMatrix - * Fast version - works on with sparsity - */ - static void SparseSchurComplement(const std::vector& Fblocks, - const Matrix& E, const Matrix3& P /*Point Covariance*/, const Vector& b, - /*output ->*/SymmetricBlockMatrix& augmentedHessian) { - // Schur complement trick - // G = F' * F - F' * E * P * E' * F - // g = F' * (b - E * P * E' * b) - - // a single point is observed in m cameras - size_t m = Fblocks.size(); - - // Blockwise Schur complement - for (size_t i = 0; i < m; i++) { // for each camera - - const Matrix2D& Fi = Fblocks.at(i).second; - const Matrix23 Ei_P = E.block(Z * i, 0) * P; - - // D = (Dx2) * (Z) - augmentedHessian(i, m) = Fi.transpose() * b.segment(Z * i) // F' * b - - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) - - // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - augmentedHessian(i, i) = Fi.transpose() - * (Fi - Ei_P * E.block(Z * i, 0).transpose() * Fi); - - // upper triangular part of the hessian - for (size_t j = i + 1; j < m; j++) { // for each camera - const Matrix2D& Fj = Fblocks.at(j).second; - - // (DxD) = (Dx2) * ( (2x2) * (2xD) ) - augmentedHessian(i, j) = -Fi.transpose() - * (Ei_P * E.block(Z * j, 0).transpose() * Fj); - } - } // end of for over cameras - } - - /** - * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, - * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. - */ - static void UpdateSparseSchurComplement( - const std::vector& Fblocks, const Matrix& E, - const Matrix3& P /*Point Covariance*/, const Vector& b, const double f, - const FastVector& allKeys, const FastVector& keys, - /*output ->*/SymmetricBlockMatrix& augmentedHessian) { - - FastMap KeySlotMap; - for (size_t slot = 0; slot < allKeys.size(); slot++) - KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); - // Schur complement trick - // G = F' * F - F' * E * P * E' * F - // g = F' * (b - E * P * E' * b) - - MatrixDD matrixBlock; - typedef SymmetricBlockMatrix::Block Block; ///< A block from the Hessian matrix - - // a single point is observed in m cameras - size_t m = Fblocks.size(); // cameras observing current point - size_t aug_m = (augmentedHessian.rows() - 1) / D; // all cameras in the group - - // Blockwise Schur complement - for (size_t i = 0; i < m; i++) { // for each camera in the current factor - - const Matrix2D& Fi = Fblocks.at(i).second; - const Matrix23 Ei_P = E.block(Z * i, 0) * P; - - // D = (DxZDim) * (Z) - // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) - // we should map those to a slot in the local (grouped) hessian (0,1,2,3,4) - // Key cameraKey_i = this->keys_[i]; - DenseIndex aug_i = KeySlotMap.at(keys[i]); - - // information vector - store previous vector - // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); - // add contribution of current factor - augmentedHessian(aug_i, aug_m) = - augmentedHessian(aug_i, aug_m).knownOffDiagonal() - + Fi.transpose() * b.segment(Z * i) // F' * b - - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) - - // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) - // main block diagonal - store previous block - matrixBlock = augmentedHessian(aug_i, aug_i); - // add contribution of current factor - augmentedHessian(aug_i, aug_i) = matrixBlock - + (Fi.transpose() - * (Fi - Ei_P * E.block(Z * i, 0).transpose() * Fi)); - - // upper triangular part of the hessian - for (size_t j = i + 1; j < m; j++) { // for each camera - const Matrix2D& Fj = Fblocks.at(j).second; - - //Key cameraKey_j = this->keys_[j]; - DenseIndex aug_j = KeySlotMap.at(keys[j]); - - // (DxD) = (DxZDim) * ( (ZDimxZDim) * (ZDimxD) ) - // off diagonal block - store previous block - // matrixBlock = augmentedHessian(aug_i, aug_j).knownOffDiagonal(); - // add contribution of current factor - augmentedHessian(aug_i, aug_j) = - augmentedHessian(aug_i, aug_j).knownOffDiagonal() - - Fi.transpose() - * (Ei_P * E.block(Z * j, 0).transpose() * Fj); - } - } // end of for over cameras - - augmentedHessian(aug_m, aug_m)(0, 0) += f; - } - /// *Compute* full augmented information matrix virtual Matrix augmentedInformation() const { - // Create a SymmetricBlockMatrix - int m = this->keys_.size(); - size_t M1 = D * m + 1; - std::vector dims(m + 1); // this also includes the b term - std::fill(dims.begin(), dims.end() - 1, D); - dims.back() = 1; - SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); - // Do the Schur complement - SparseSchurComplement(Fblocks_, E_, PointCovariance_, b_, augmentedHessian); + SymmetricBlockMatrix augmentedHessian = Set::SchurComplement(FBlocks_, E_, + PointCovariance_, b_); return augmentedHessian.matrix(); } @@ -265,14 +144,14 @@ public: // diag(Hessian) = diag(F' * (I - E * PointCov * E') * F); VectorValues d; - for (size_t pos = 0; pos < size(); ++pos) { // for each camera - Key j = keys_[pos]; + for (size_t k = 0; k < size(); ++k) { // for each camera + Key j = keys_[k]; // Calculate Fj'*Ej for the current camera (observing a single point) - // D x 3 = (D x Z) * (Z x 3) - const Matrix2D& Fj = Fblocks_[pos].second; + // D x 3 = (D x ZDim) * (ZDim x 3) + const MatrixZD& Fj = FBlocks_[k]; Eigen::Matrix FtE = Fj.transpose() - * E_.block(Z * pos, 0); + * E_.block(ZDim * k, 0); Eigen::Matrix dj; for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian @@ -301,10 +180,10 @@ public: Key j = keys_[pos]; // Calculate Fj'*Ej for the current camera (observing a single point) - // D x 3 = (D x Z) * (Z x 3) - const Matrix2D& Fj = Fblocks_[pos].second; + // D x 3 = (D x ZDim) * (ZDim x 3) + const MatrixZD& Fj = FBlocks_[pos]; Eigen::Matrix FtE = Fj.transpose() - * E_.block(Z * pos, 0); + * E_.block(ZDim * pos, 0); DVector dj; for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian @@ -323,28 +202,28 @@ public: for (size_t pos = 0; pos < size(); ++pos) { Key j = keys_[pos]; // F'*F - F'*E*P*E'*F e.g. (9*2)*(2*9) - (9*2)*(2*3)*(3*3)*(3*2)*(2*9) - const Matrix2D& Fj = Fblocks_[pos].second; + const MatrixZD& Fj = FBlocks_[pos]; // Eigen::Matrix FtE = Fj.transpose() - // * E_.block(Z * pos, 0); + // * E_.block(ZDim * pos, 0); // blocks[j] = Fj.transpose() * Fj // - FtE * PointCovariance_ * FtE.transpose(); - const Matrix23& Ej = E_.block(Z * pos, 0); + const Matrix23& Ej = E_.block(ZDim * pos, 0); blocks[j] = Fj.transpose() * (Fj - Ej * PointCovariance_ * Ej.transpose() * Fj); // F'*(I - E*P*E')*F, TODO: this should work, but it does not :-( - // static const Eigen::Matrix I2 = eye(Z); + // static const Eigen::Matrix I2 = eye(ZDim); // Matrix2 Q = // - // I2 - E_.block(Z * pos, 0) * PointCovariance_ * E_.block(Z * pos, 0).transpose(); + // I2 - E_.block(ZDim * pos, 0) * PointCovariance_ * E_.block(ZDim * pos, 0).transpose(); // blocks[j] = Fj.transpose() * Q * Fj; } return blocks; } virtual GaussianFactor::shared_ptr clone() const { - return boost::make_shared >(Fblocks_, - PointCovariance_, E_, b_); + return boost::make_shared >(keys_, + FBlocks_, PointCovariance_, E_, b_); throw std::runtime_error( "RegularImplicitSchurFactor::clone non implemented"); } @@ -353,8 +232,8 @@ public: } virtual GaussianFactor::shared_ptr negate() const { - return boost::make_shared >(Fblocks_, - PointCovariance_, E_, b_); + return boost::make_shared >(keys_, + FBlocks_, PointCovariance_, E_, b_); throw std::runtime_error( "RegularImplicitSchurFactor::negate non implemented"); } @@ -374,23 +253,24 @@ public: typedef std::vector Error2s; /** - * @brief Calculate corrected error Q*(e-Z*b) = (I - E*P*E')*(e-Z*b) + * @brief Calculate corrected error Q*(e-ZDim*b) = (I - E*P*E')*(e-ZDim*b) */ void projectError2(const Error2s& e1, Error2s& e2) const { - // d1 = E.transpose() * (e1-Z*b) = (3*2m)*2m + // d1 = E.transpose() * (e1-ZDim*b) = (3*2m)*2m Vector3 d1; d1.setZero(); for (size_t k = 0; k < size(); k++) - d1 += E_.block(Z * k, 0).transpose() - * (e1[k] - Z * b_.segment(k * Z)); + d1 += E_.block(ZDim * k, 0).transpose() + * (e1[k] - ZDim * b_.segment(k * ZDim)); // d2 = E.transpose() * e1 = (3*2m)*2m Vector3 d2 = PointCovariance_ * d1; // e3 = alpha*(e1 - E*d2) = 1*[2m-(2m*3)*3] for (size_t k = 0; k < size(); k++) - e2[k] = e1[k] - Z * b_.segment(k * Z) - E_.block(Z * k, 0) * d2; + e2[k] = e1[k] - ZDim * b_.segment(k * ZDim) + - E_.block(ZDim * k, 0) * d2; } /* @@ -410,7 +290,7 @@ public: // e1 = F * x - b = (2m*dm)*dm for (size_t k = 0; k < size(); ++k) - e1[k] = Fblocks_[k].second * x.at(keys_[k]); + e1[k] = FBlocks_[k] * x.at(keys_[k]); projectError2(e1, e2); double result = 0; @@ -432,7 +312,7 @@ public: // e1 = F * x - b = (2m*dm)*dm for (size_t k = 0; k < size(); ++k) - e1[k] = Fblocks_[k].second * x.at(keys_[k]) - b_.segment(k * Z); + e1[k] = FBlocks_[k] * x.at(keys_[k]) - b_.segment(k * ZDim); projectError(e1, e2); double result = 0; @@ -451,14 +331,14 @@ public: Vector3 d1; d1.setZero(); for (size_t k = 0; k < size(); k++) - d1 += E_.block(Z * k, 0).transpose() * e1[k]; + d1 += E_.block(ZDim * k, 0).transpose() * e1[k]; // d2 = E.transpose() * e1 = (3*2m)*2m Vector3 d2 = PointCovariance_ * d1; // e3 = alpha*(e1 - E*d2) = 1*[2m-(2m*3)*3] for (size_t k = 0; k < size(); k++) - e2[k] = e1[k] - E_.block(Z * k, 0) * d2; + e2[k] = e1[k] - E_.block(ZDim * k, 0) * d2; } /// Scratch space for multiplyHessianAdd @@ -480,19 +360,17 @@ public: e2.resize(size()); // e1 = F * x = (2m*dm)*dm - size_t k = 0; - BOOST_FOREACH(const KeyMatrix2D& it, Fblocks_) { - Key key = it.first; - e1[k++] = it.second * ConstDMap(x + D * key); + for (size_t k = 0; k < size(); ++k) { + Key key = keys_[k]; + e1[k] = FBlocks_[k] * ConstDMap(x + D * key); } projectError(e1, e2); // y += F.transpose()*e2 = (2d*2m)*2m - k = 0; - BOOST_FOREACH(const KeyMatrix2D& it, Fblocks_) { - Key key = it.first; - DMap(y + D * key) += it.second.transpose() * alpha * e2[k++]; + for (size_t k = 0; k < size(); ++k) { + Key key = keys_[k]; + DMap(y + D * key) += FBlocks_[k].transpose() * alpha * e2[k]; } } @@ -513,7 +391,7 @@ public: // e1 = F * x = (2m*dm)*dm for (size_t k = 0; k < size(); ++k) - e1[k] = Fblocks_[k].second * x.at(keys_[k]); + e1[k] = FBlocks_[k] * x.at(keys_[k]); projectError(e1, e2); @@ -525,8 +403,8 @@ public: Vector& yi = it.first->second; // Create the value as a zero vector if it does not exist. if (it.second) - yi = Vector::Zero(Fblocks_[k].second.cols()); - yi += Fblocks_[k].second.transpose() * alpha * e2[k]; + yi = Vector::Zero(FBlocks_[k].cols()); + yi += FBlocks_[k].transpose() * alpha * e2[k]; } } @@ -536,9 +414,9 @@ public: void multiplyHessianDummy(double alpha, const VectorValues& x, VectorValues& y) const { - BOOST_FOREACH(const KeyMatrix2D& Fi, Fblocks_) { + for (size_t k = 0; k < size(); ++k) { static const Vector empty; - Key key = Fi.first; + Key key = keys_[k]; std::pair it = y.tryInsert(key, empty); Vector& yi = it.first->second; yi = x.at(key); @@ -553,14 +431,14 @@ public: e1.resize(size()); e2.resize(size()); for (size_t k = 0; k < size(); k++) - e1[k] = b_.segment(Z * k); + e1[k] = b_.segment(ZDim * k); projectError(e1, e2); // g = F.transpose()*e2 VectorValues g; for (size_t k = 0; k < size(); ++k) { Key key = keys_[k]; - g.insert(key, -Fblocks_[k].second.transpose() * e2[k]); + g.insert(key, -FBlocks_[k].transpose() * e2[k]); } // return it @@ -580,12 +458,12 @@ public: e1.resize(size()); e2.resize(size()); for (size_t k = 0; k < size(); k++) - e1[k] = b_.segment(Z * k); + e1[k] = b_.segment(ZDim * k); projectError(e1, e2); for (size_t k = 0; k < size(); ++k) { // for each camera in the factor Key j = keys_[k]; - DMap(d + D * j) += -Fblocks_[k].second.transpose() * e2[k]; + DMap(d + D * j) += -FBlocks_[k].transpose() * e2[k]; } } @@ -598,9 +476,15 @@ public: }; // end class RegularImplicitSchurFactor +template +const int RegularImplicitSchurFactor::D; + +template +const int RegularImplicitSchurFactor::ZDim; + // traits -template struct traits > : public Testable< - RegularImplicitSchurFactor > { +template struct traits > : public Testable< + RegularImplicitSchurFactor > { }; } diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 60e939a89..947c81385 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -95,8 +95,7 @@ protected: public: // Definitions for blocks of F, externally visible - typedef Eigen::Matrix Matrix2D; // F - typedef std::pair KeyMatrix2D; // Fblocks + typedef Eigen::Matrix MatrixZD; // F EIGEN_MAKE_ALIGNED_OPERATOR_NEW @@ -283,29 +282,16 @@ public: * F is a vector of derivatives wrpt the cameras, and E the stacked derivatives * with respect to the point. The value of cameras/point are passed as parameters. */ - double computeJacobians(std::vector& Fblocks, Matrix& E, - Vector& b, const Cameras& cameras, const Point3& point) const { - + double computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, + const Cameras& cameras, const Point3& point) const { // Project into Camera set and calculate derivatives typename Cameras::FBlocks F; b = reprojectionError(cameras, point, F, E); - - // Now calculate f and divide up the F derivatives into Fblocks - double f = 0.0; - size_t m = keys_.size(); - for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { - - // Accumulate normalized error - f += b.segment(row).squaredNorm(); - - // Push piece of F onto Fblocks with associated key - Fblocks.push_back(KeyMatrix2D(keys_[i], F[i])); - } - return f; + return b.squaredNorm(); } /// SVD version - double computeJacobiansSVD(std::vector& Fblocks, Matrix& Enull, + double computeJacobiansSVD(std::vector& Fblocks, Matrix& Enull, Vector& b, const Cameras& cameras, const Point3& point) const { Matrix E; @@ -328,7 +314,7 @@ public: bool diagonalDamping = false) const { int m = this->keys_.size(); - std::vector Fblocks; + std::vector Fblocks; Matrix E; Vector b; double f = computeJacobians(Fblocks, E, b, cameras, point); @@ -342,8 +328,7 @@ public: SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); // build augmented hessian - RegularImplicitSchurFactor::SparseSchurComplement(Fblocks, E, P, b, - augmentedHessian); + CameraSet::SchurComplement(Fblocks, E, P, b, augmentedHessian); augmentedHessian(m, m)(0, 0) = f; return boost::make_shared >(keys_, @@ -361,36 +346,35 @@ public: const FastVector allKeys) const { Matrix E; Vector b; - std::vector Fblocks; - double f = computeJacobians(Fblocks, E, b, cameras, point); + std::vector Fblocks; + computeJacobians(Fblocks, E, b, cameras, point); Matrix3 P = PointCov(E, lambda, diagonalDamping); - RegularImplicitSchurFactor::UpdateSparseSchurComplement(Fblocks, - E, P, b, f, allKeys, keys_, augmentedHessian); + CameraSet::UpdateSchurComplement(Fblocks, E, P, b, allKeys, keys_, + augmentedHessian); } /// Whiten the Jacobians computed by computeJacobians using noiseModel_ - void whitenJacobians(std::vector& F, Matrix& E, - Vector& b) const { + void whitenJacobians(std::vector& F, Matrix& E, Vector& b) const { noiseModel_->WhitenSystem(E, b); // TODO make WhitenInPlace work with any dense matrix type - BOOST_FOREACH(KeyMatrix2D& Fblock,F) + BOOST_FOREACH(MatrixZD& Fblock,F) Fblock.second = noiseModel_->Whiten(Fblock.second); } /** * Return Jacobians as RegularImplicitSchurFactor with raw access */ - boost::shared_ptr > // + boost::shared_ptr > // createRegularImplicitSchurFactor(const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { Matrix E; Vector b; - std::vector F; + std::vector F; computeJacobians(F, E, b, cameras, point); whitenJacobians(F, E, b); Matrix3 P = PointCov(E, lambda, diagonalDamping); - return boost::make_shared >(F, E, P, - b); + return boost::make_shared >(keys_, F, E, + P, b); } /** @@ -401,7 +385,7 @@ public: bool diagonalDamping = false) const { Matrix E; Vector b; - std::vector F; + std::vector F; computeJacobians(F, E, b, cameras, point); const size_t M = b.size(); Matrix3 P = PointCov(E, lambda, diagonalDamping); @@ -416,7 +400,7 @@ public: boost::shared_ptr createJacobianSVDFactor( const Cameras& cameras, const Point3& point, double lambda = 0.0) const { size_t m = this->keys_.size(); - std::vector F; + std::vector F; Vector b; const size_t M = ZDim * m; Matrix E0(M, M - 3); @@ -427,8 +411,7 @@ public: } /// Create BIG block-diagonal matrix F from Fblocks - static void FillDiagonalF(const std::vector& Fblocks, - Matrix& F) { + static void FillDiagonalF(const std::vector& Fblocks, Matrix& F) { size_t m = Fblocks.size(); F.resize(ZDim * m, Dim * m); F.setZero(); diff --git a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp index 3575a0286..4e7e0fa17 100644 --- a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp +++ b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp @@ -19,11 +19,13 @@ #include #include #include +#include +#include -#include #include #include #include +#include #include #include @@ -39,8 +41,8 @@ using namespace gtsam; const Matrix26 F0 = Matrix26::Ones(); const Matrix26 F1 = 2 * Matrix26::Ones(); const Matrix26 F3 = 3 * Matrix26::Ones(); -const vector > Fblocks = list_of > // - (make_pair(0, F0))(make_pair(1, F1))(make_pair(3, F3)); +const vector FBlocks = list_of(F0)(F1)(F3); +const FastVector keys = list_of(0)(1)(3); // RHS and sigmas const Vector b = (Vector(6) << 1., 2., 3., 4., 5., 6.).finished(); @@ -51,7 +53,7 @@ TEST( regularImplicitSchurFactor, creation ) { E.block<2,2>(0, 0) = eye(2); E.block<2,3>(2, 0) = 2 * ones(2, 3); Matrix3 P = (E.transpose() * E).inverse(); - RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b); + RegularImplicitSchurFactor expected(keys, FBlocks, E, P, b); Matrix expectedP = expected.getPointCovariance(); EXPECT(assert_equal(expectedP, P)); } @@ -84,15 +86,15 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { F << F0, zeros(2, d * 3), zeros(2, d), F1, zeros(2, d*2), zeros(2, d * 3), F3; // Calculate expected result F'*alpha*(I - E*P*E')*F*x - FastVector keys; - keys += 0,1,2,3; - Vector x = xvalues.vector(keys); + FastVector keys2; + keys2 += 0,1,2,3; + Vector x = xvalues.vector(keys2); Vector expected = zero(24); - RegularImplicitSchurFactor<6>::multiplyHessianAdd(F, E, P, alpha, x, expected); - EXPECT(assert_equal(expected, yExpected.vector(keys), 1e-8)); + RegularImplicitSchurFactor::multiplyHessianAdd(F, E, P, alpha, x, expected); + EXPECT(assert_equal(expected, yExpected.vector(keys2), 1e-8)); // Create ImplicitSchurFactor - RegularImplicitSchurFactor<6> implicitFactor(Fblocks, E, P, b); + RegularImplicitSchurFactor implicitFactor(keys, FBlocks, E, P, b); VectorValues zero = 0 * yExpected;// quick way to get zero w right structure { // First Version @@ -122,7 +124,7 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { // Create JacobianFactor with same error const SharedDiagonal model; - JacobianFactorQ<6, 2> jf(Fblocks, E, P, b, model); + JacobianFactorQ<6, 2> jf(keys, FBlocks, E, P, b, model); { // error double expectedError = jf.error(xvalues); @@ -172,7 +174,7 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { } // Create JacobianFactorQR - JacobianFactorQR<6, 2> jfq(Fblocks, E, P, b, model); + JacobianFactorQR<6, 2> jfq(keys, FBlocks, E, P, b, model); { const SharedDiagonal model; VectorValues yActual = zero; @@ -214,7 +216,7 @@ TEST(regularImplicitSchurFactor, hessianDiagonal) E.block<2,3>(2, 0) << 1,2,3,4,5,6; E.block<2,3>(4, 0) << 0.5,1,2,3,4,5; Matrix3 P = (E.transpose() * E).inverse(); - RegularImplicitSchurFactor<6> factor(Fblocks, E, P, b); + RegularImplicitSchurFactor factor(keys, FBlocks, E, P, b); // hessianDiagonal VectorValues expected; From 23cf0a49f5fc26dd52ff2f03b0d3fc570e958d9b Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 22:53:17 -0800 Subject: [PATCH 110/964] Fixed another test case --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 46a9fe98c..fcebd12a7 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -797,7 +797,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { // Two slightly different cameras Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); Camera cam3(pose3, sharedK); @@ -832,7 +832,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose, sharedK)); + values.insert(x3, Camera(pose3 * noise_pose, sharedK)); EXPECT( assert_equal( Pose3( From d0e075466822a0b020d41c0f25f5005a0ab92e82 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:00:17 -0800 Subject: [PATCH 111/964] Fixed equals --- gtsam/slam/RegularImplicitSchurFactor.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index dac5ad153..ca333134e 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -96,8 +96,6 @@ public: for (size_t k = 0; k < FBlocks_.size(); ++k) { if (keys_[k] != f->keys_[k]) return false; - if (FBlocks_[k] != f->FBlocks_[k]) - return false; if (!equal_with_abs_tol(FBlocks_[k], f->FBlocks_[k], tol)) return false; } From 26f2b33c4717f89569963be3b4a794a438beccfa Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:01:47 -0800 Subject: [PATCH 112/964] Migrated to non-keyed Fblocks --- gtsam/slam/JacobianFactorSVD.h | 18 ++++++------ gtsam/slam/SmartFactorBase.h | 14 +++++----- gtsam/slam/SmartProjectionCameraFactor.h | 2 +- gtsam/slam/SmartProjectionFactor.h | 21 ++++++-------- .../tests/testSmartProjectionCameraFactor.cpp | 4 +-- .../tests/testSmartProjectionPoseFactor.cpp | 28 ++++++++++--------- 6 files changed, 44 insertions(+), 43 deletions(-) diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h index 0b0d76fda..aac946901 100644 --- a/gtsam/slam/JacobianFactorSVD.h +++ b/gtsam/slam/JacobianFactorSVD.h @@ -16,7 +16,6 @@ class JacobianFactorSVD: public RegularJacobianFactor { typedef RegularJacobianFactor Base; typedef Eigen::Matrix MatrixZD; // e.g 2 x 6 with Z=Point2 - typedef std::pair KeyMatrixZD; typedef std::pair KeyMatrix; public: @@ -46,12 +45,13 @@ public: * * @Fblocks: */ - JacobianFactorSVD(const std::vector& Fblocks, - const Matrix& Enull, const Vector& b, // + JacobianFactorSVD(const FastVector& keys, + const std::vector& Fblocks, const Matrix& Enull, + const Vector& b, // const SharedDiagonal& model = SharedDiagonal()) : Base() { size_t numKeys = Enull.rows() / ZDim; - size_t j = 0, m2 = ZDim * numKeys - 3; + size_t m2 = ZDim * numKeys - 3; // PLAIN NULL SPACE TRICK // Matrix Q = Enull * Enull.transpose(); // BOOST_FOREACH(const KeyMatrixZD& it, Fblocks) @@ -59,11 +59,13 @@ public: // JacobianFactor factor(QF, Q * b); std::vector QF; QF.reserve(numKeys); - BOOST_FOREACH(const KeyMatrixZD& it, Fblocks) + for (size_t k = 0; k < Fblocks.size(); ++k) { + Key key = keys[k]; QF.push_back( - KeyMatrix(it.first, - (Enull.transpose()).block(0, ZDim * j++, m2, ZDim) * it.second)); - JacobianFactor::fillTerms(QF, - Enull.transpose() * b, model); + KeyMatrix(key, + (Enull.transpose()).block(0, ZDim * k, m2, ZDim) * Fblocks[k])); + } + JacobianFactor::fillTerms(QF, -Enull.transpose() * b, model); } }; diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 947c81385..53a86abe0 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -281,12 +281,12 @@ public: * Compute F, E, and b (called below in both vanilla and SVD versions), where * F is a vector of derivatives wrpt the cameras, and E the stacked derivatives * with respect to the point. The value of cameras/point are passed as parameters. + * TODO: Kill this obsolete method */ double computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, const Cameras& cameras, const Point3& point) const { // Project into Camera set and calculate derivatives - typename Cameras::FBlocks F; - b = reprojectionError(cameras, point, F, E); + b = reprojectionError(cameras, point, Fblocks, E); return b.squaredNorm(); } @@ -357,8 +357,8 @@ public: void whitenJacobians(std::vector& F, Matrix& E, Vector& b) const { noiseModel_->WhitenSystem(E, b); // TODO make WhitenInPlace work with any dense matrix type - BOOST_FOREACH(MatrixZD& Fblock,F) - Fblock.second = noiseModel_->Whiten(Fblock.second); + for (size_t i = 0; i < F.size(); i++) + F[i] = noiseModel_->Whiten(F[i]); } /** @@ -390,7 +390,7 @@ public: const size_t M = b.size(); Matrix3 P = PointCov(E, lambda, diagonalDamping); SharedIsotropic n = noiseModel::Isotropic::Sigma(M, noiseModel_->sigma()); - return boost::make_shared >(F, E, P, b, n); + return boost::make_shared >(keys_, F, E, P, b, n); } /** @@ -407,7 +407,7 @@ public: computeJacobiansSVD(F, E0, b, cameras, point); SharedIsotropic n = noiseModel::Isotropic::Sigma(M - 3, noiseModel_->sigma()); - return boost::make_shared >(F, E0, b, n); + return boost::make_shared >(keys_, F, E0, b, n); } /// Create BIG block-diagonal matrix F from Fblocks @@ -416,7 +416,7 @@ public: F.resize(ZDim * m, Dim * m); F.setZero(); for (size_t i = 0; i < m; ++i) - F.block(This::ZDim * i, Dim * i) = Fblocks.at(i).second; + F.block(ZDim * i, Dim * i) = Fblocks.at(i); } private: diff --git a/gtsam/slam/SmartProjectionCameraFactor.h b/gtsam/slam/SmartProjectionCameraFactor.h index 3afd04188..b2eeba3e1 100644 --- a/gtsam/slam/SmartProjectionCameraFactor.h +++ b/gtsam/slam/SmartProjectionCameraFactor.h @@ -112,7 +112,7 @@ public: } /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr > linearizeToImplicit( + virtual boost::shared_ptr > linearizeToImplicit( const Values& values, double lambda=0.0) const { return Base::createRegularImplicitSchurFactor(Base::cameras(values),lambda); } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 7ab26c0a1..5f9a6750a 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -278,7 +278,7 @@ public: Vector b; double f; { - std::vector Fblocks; + std::vector Fblocks; f = computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); Base::whitenJacobians(Fblocks, E, b); Base::FillDiagonalF(Fblocks, F); // expensive ! @@ -326,12 +326,12 @@ public: } // create factor - boost::shared_ptr > createRegularImplicitSchurFactor( + boost::shared_ptr > createRegularImplicitSchurFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) return Base::createRegularImplicitSchurFactor(cameras, *result_, lambda); else - return boost::shared_ptr >(); + return boost::shared_ptr >(); } /// create factor @@ -374,7 +374,7 @@ public: /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate double computeJacobiansWithTriangulatedPoint( - std::vector& Fblocks, Matrix& E, Vector& b, + std::vector& Fblocks, Matrix& E, Vector& b, const Cameras& cameras) const { if (!result_) { @@ -385,18 +385,15 @@ public: int m = this->keys_.size(); E = zeros(2 * m, 2); b = zero(2 * m); - double f = 0; for (size_t i = 0; i < this->measured_.size(); i++) { Matrix Fi, Ei; Vector bi = -(cameras[i].projectPointAtInfinity(*result_, Fi, Ei) - this->measured_.at(i)).vector(); - - f += bi.squaredNorm(); - Fblocks.push_back(typename Base::KeyMatrix2D(this->keys_[i], Fi)); + Fblocks.push_back(Fi); E.block<2, 2>(2 * i, 0) = Ei; subInsert(b, bi, 2 * i); } - return f; + return b.squaredNorm(); } else { // valid result: just return Base version return Base::computeJacobians(Fblocks, E, b, cameras, *result_); @@ -405,7 +402,7 @@ public: /// Version that takes values, and creates the point bool triangulateAndComputeJacobians( - std::vector& Fblocks, Matrix& E, Vector& b, + std::vector& Fblocks, Matrix& E, Vector& b, const Values& values) const { Cameras cameras = this->cameras(values); bool nonDegenerate = triangulateForLinearize(cameras); @@ -416,8 +413,8 @@ public: /// takes values bool triangulateAndComputeJacobiansSVD( - std::vector& Fblocks, Matrix& Enull, - Vector& b, const Values& values) const { + std::vector& Fblocks, Matrix& Enull, Vector& b, + const Values& values) const { Cameras cameras = this->cameras(values); bool nonDegenerate = triangulateForLinearize(cameras); if (nonDegenerate) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 56ff47c3e..c7cf0283f 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -772,7 +772,7 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { Point3 point; if (factor1->point()) point = *(factor1->point()); - vector Fblocks; + vector Fblocks; factor1->computeJacobians(Fblocks, expectedE, expectedb, cameras, point); NonlinearFactorGraph generalGraph; @@ -823,7 +823,7 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { implicitFactor->add(level_uv_right, c2, unit2); GaussianFactor::shared_ptr gaussianImplicitSchurFactor = implicitFactor->linearize(values); - typedef RegularImplicitSchurFactor<9> Implicit9; + typedef RegularImplicitSchurFactor Implicit9; Implicit9& implicitSchurFactor = dynamic_cast(*gaussianImplicitSchurFactor); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index fcebd12a7..71d30b6d8 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -142,7 +142,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // Calculate using computeJacobians Vector b; - vector Fblocks; + vector Fblocks; double actualError3 = factor.computeJacobians(Fblocks, E, b, cameras, *point); EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8); @@ -264,10 +264,12 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, Factors ) { + typedef PinholePose Camera; + // Default cameras for simple derivatives Rot3 R; static Cal3_S2::shared_ptr sharedK(new Cal3_S2(100, 100, 0, 0, 0)); - PinholePose cam1(Pose3(R, Point3(0, 0, 0)), sharedK), cam2( + Camera cam1(Pose3(R, Point3(0, 0, 0)), sharedK), cam2( Pose3(R, Point3(1, 0, 0)), sharedK); // one landmarks 1m in front of camera @@ -350,15 +352,19 @@ TEST( SmartProjectionPoseFactor, Factors ) { E(2, 0) = 10; E(2, 2) = 1; E(3, 1) = 10; - vector > Fblocks = list_of > // - (make_pair(x1, F1))(make_pair(x2, F2)); + vector Fblocks = list_of(F1)(F2); Vector b(4); b.setZero(); + // Create smart factors + FastVector keys; + keys.push_back(x1); + keys.push_back(x2); + // createJacobianQFactor SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma); Matrix3 P = (E.transpose() * E).inverse(); - JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b, n); + JacobianFactorQ<6, 2> expectedQ(keys, Fblocks, E, P, b, n); EXPECT(assert_equal(expectedInformation, expectedQ.information(), 1e-8)); boost::shared_ptr > actualQ = @@ -370,13 +376,13 @@ TEST( SmartProjectionPoseFactor, Factors ) { // Whiten for RegularImplicitSchurFactor (does not have noise model) model->WhitenSystem(E, b); Matrix3 whiteP = (E.transpose() * E).inverse(); - BOOST_FOREACH(SmartFactor::KeyMatrix2D& Fblock,Fblocks) - Fblock.second = model->Whiten(Fblock.second); + Fblocks[0] = model->Whiten(Fblocks[0]); + Fblocks[1] = model->Whiten(Fblocks[1]); // createRegularImplicitSchurFactor - RegularImplicitSchurFactor<6> expected(Fblocks, E, whiteP, b); + RegularImplicitSchurFactor expected(keys, Fblocks, E, whiteP, b); - boost::shared_ptr > actual = + boost::shared_ptr > actual = smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0); CHECK(actual); EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); @@ -764,8 +770,6 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { values.insert(L(1), landmark1); values.insert(L(2), landmark2); values.insert(L(3), landmark3); - if (isDebugTest) - values.at(x3).print("Pose3 before optimization: "); DOUBLES_EQUAL(48406055, graph.error(values), 1); @@ -779,8 +783,6 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { DOUBLES_EQUAL(0, graph.error(result), 1e-9); - if (isDebugTest) - result.at(x3).print("Pose3 after optimization: "); EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); } From 485fabeae6902add8799f473bcb38d6dcf743e35 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:04:32 -0800 Subject: [PATCH 113/964] Fixed another test case --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 71d30b6d8..c5aa4b810 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -1317,7 +1317,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { // Two different cameras Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedBundlerK); Camera cam3(pose3, sharedBundlerK); @@ -1385,7 +1385,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); + values.insert(x3, Camera(pose3 * noise_pose, sharedBundlerK)); EXPECT( assert_equal( Pose3( From e6a90db2d595efe61f60e2daa36f8645c740cb00 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:11:01 -0800 Subject: [PATCH 114/964] Migrated to non-keyed Fblocks --- .../slam/SmartStereoProjectionFactor.h | 78 +++++++++++-------- 1 file changed, 44 insertions(+), 34 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 68b396cd6..0b134c401 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -106,7 +106,9 @@ protected: /// shorthand for this class typedef SmartStereoProjectionFactor This; - enum {ZDim = 3}; ///< Dimension trait of measurement type + enum { + ZDim = 3 + }; ///< Dimension trait of measurement type public: @@ -156,7 +158,8 @@ public: std::cout << "rankTolerance_ = " << rankTolerance_ << std::endl; std::cout << "degenerate_ = " << degenerate_ << std::endl; std::cout << "cheiralityException_ = " << cheiralityException_ << std::endl; - std::cout << "linearizationThreshold_ = " << linearizationThreshold_ << std::endl; + std::cout << "linearizationThreshold_ = " << linearizationThreshold_ + << std::endl; Base::print("", keyFormatter); } @@ -280,11 +283,11 @@ public: // Check landmark distance and reprojection errors to avoid outliers double totalReprojError = 0.0; - size_t i=0; + size_t i = 0; BOOST_FOREACH(const Camera& camera, cameras) { Point3 cameraTranslation = camera.pose().translation(); // we discard smart factors corresponding to points that are far away - if(cameraTranslation.distance(point_) > landmarkDistanceThreshold_){ + if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { degenerate_ = true; break; } @@ -299,8 +302,8 @@ public: } //std::cout << "totalReprojError error: " << totalReprojError << std::endl; // we discard smart factors that have large reprojection error - if(dynamicOutlierRejectionThreshold_ > 0 && - totalReprojError/m > dynamicOutlierRejectionThreshold_) + if (dynamicOutlierRejectionThreshold_ > 0 + && totalReprojError / m > dynamicOutlierRejectionThreshold_) degenerate_ = true; } catch (TriangulationUnderconstrainedException&) { @@ -350,9 +353,9 @@ public: bool isDebug = false; size_t numKeys = this->keys_.size(); // Create structures for Hessian Factors - std::vector < Key > js; - std::vector < Matrix > Gs(numKeys * (numKeys + 1) / 2); - std::vector < Vector > gs(numKeys); + std::vector js; + std::vector Gs(numKeys * (numKeys + 1) / 2); + std::vector gs(numKeys); if (this->measured_.size() != cameras.size()) { std::cout @@ -362,12 +365,14 @@ public: } this->triangulateSafe(cameras); - if (isDebug) std::cout << "point_ = " << point_ << std::endl; + if (isDebug) + std::cout << "point_ = " << point_ << std::endl; if (numKeys < 2 || (!this->manageDegeneracy_ && (this->cheiralityException_ || this->degenerate_))) { - if (isDebug) std::cout << "In linearize: exception" << std::endl; + if (isDebug) + std::cout << "In linearize: exception" << std::endl; BOOST_FOREACH(Matrix& m, Gs) m = zeros(D, D); BOOST_FOREACH(Vector& v, gs) @@ -379,12 +384,14 @@ public: // instead, if we want to manage the exception.. if (this->cheiralityException_ || this->degenerate_) { // if we want to manage the exceptions with rotation-only factors this->degenerate_ = true; - if (isDebug) std::cout << "degenerate_ = true" << std::endl; + if (isDebug) + std::cout << "degenerate_ = true" << std::endl; } bool doLinearize = this->decideIfLinearize(cameras); - if (isDebug) std::cout << "doLinearize = " << doLinearize << std::endl; + if (isDebug) + std::cout << "doLinearize = " << doLinearize << std::endl; if (this->linearizationThreshold_ >= 0 && doLinearize) // if we apply selective relinearization and we need to relinearize for (size_t i = 0; i < cameras.size(); i++) @@ -405,11 +412,11 @@ public: } // ================================================================== - std::vector Fblocks; + std::vector Fblocks; Matrix F, E; Vector b; double f = computeJacobians(Fblocks, E, b, cameras); - Base::FillDiagonalF(Fblocks,F); // expensive !!! + Base::FillDiagonalF(Fblocks, F); // expensive !!! // Schur complement trick // Frank says: should be possible to do this more efficiently? @@ -417,21 +424,23 @@ public: Matrix H(D * numKeys, D * numKeys); Vector gs_vector; - Matrix3 P = Base::PointCov(E,lambda); + Matrix3 P = Base::PointCov(E, lambda); H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); gs_vector.noalias() = F.transpose() * (b - (E * (P * (E.transpose() * b)))); - if (isDebug) std::cout << "gs_vector size " << gs_vector.size() << std::endl; - if (isDebug) std::cout << "H:\n" << H << std::endl; + if (isDebug) + std::cout << "gs_vector size " << gs_vector.size() << std::endl; + if (isDebug) + std::cout << "H:\n" << H << std::endl; // Populate Gs and gs int GsCount2 = 0; - for (DenseIndex i1 = 0; i1 < (DenseIndex)numKeys; i1++) { // for each camera + for (DenseIndex i1 = 0; i1 < (DenseIndex) numKeys; i1++) { // for each camera DenseIndex i1D = i1 * D; - gs.at(i1) = gs_vector.segment < D > (i1D); - for (DenseIndex i2 = 0; i2 < (DenseIndex)numKeys; i2++) { + gs.at(i1) = gs_vector.segment(i1D); + for (DenseIndex i2 = 0; i2 < (DenseIndex) numKeys; i2++) { if (i2 >= i1) { - Gs.at(GsCount2) = H.block < D, D > (i1D, i2 * D); + Gs.at(GsCount2) = H.block(i1D, i2 * D); GsCount2++; } } @@ -476,12 +485,12 @@ public: // } // /// different (faster) way to compute Jacobian factor - boost::shared_ptr< JacobianFactor > createJacobianSVDFactor(const Cameras& cameras, - double lambda) const { + boost::shared_ptr createJacobianSVDFactor( + const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) return Base::createJacobianSVDFactor(cameras, point_, lambda); else - return boost::make_shared< JacobianFactorSVD >(this->keys_); + return boost::make_shared >(this->keys_); } /// Returns true if nonDegenerate @@ -506,7 +515,8 @@ public: this->degenerate_ = true; if (this->degenerate_) { - std::cout << "SmartStereoProjectionFactor: this is not ready" << std::endl; + std::cout << "SmartStereoProjectionFactor: this is not ready" + << std::endl; std::cout << "this->cheiralityException_ " << this->cheiralityException_ << std::endl; std::cout << "this->degenerate_ " << this->degenerate_ << std::endl; @@ -527,7 +537,7 @@ public: } /// Version that takes values, and creates the point - bool computeJacobians(std::vector& Fblocks, + bool computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, const Values& values) const { Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); @@ -539,7 +549,7 @@ public: /// Compute F, E only (called below in both vanilla and SVD versions) /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate - double computeJacobians(std::vector& Fblocks, + double computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, const Cameras& cameras) const { if (this->degenerate_) { throw("FIXME: computeJacobians degenerate case commented out!"); @@ -570,7 +580,7 @@ public: // // this->noise_.at(i)->WhitenSystem(Fi, Ei, bi); // f += bi.squaredNorm(); -// Fblocks.push_back(typename Base::KeyMatrix2D(this->keys_[i], Fi)); +// Fblocks.push_back(typename Base::MatrixZD(this->keys_[i], Fi)); // E.block < 2, 2 > (2 * i, 0) = Ei; // subInsert(b, bi, 2 * i); // } @@ -583,8 +593,8 @@ public: /// takes values bool triangulateAndComputeJacobiansSVD( - std::vector& Fblocks, Matrix& Enull, - Vector& b, const Values& values) const { + std::vector& Fblocks, Matrix& Enull, Vector& b, + const Values& values) const { typename Base::Cameras cameras; double good = computeCamerasAndTriangulate(values, cameras); if (good) @@ -637,7 +647,7 @@ public: } if (this->degenerate_) { - return 0.0; // TODO: this maybe should be zero? + return 0.0; // TODO: this maybe should be zero? // std::cout // << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" // << std::endl; @@ -707,8 +717,8 @@ private: /// traits template -struct traits > : - public Testable > { +struct traits > : public Testable< + SmartStereoProjectionFactor > { }; } // \ namespace gtsam From 91f3cd9e63645fa9345a92322d7736979decf8fc Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:34:26 -0800 Subject: [PATCH 115/964] Handled both degeneracies same way --- gtsam/slam/SmartProjectionFactor.h | 28 ++++++++-------------------- 1 file changed, 8 insertions(+), 20 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 5f9a6750a..7578507dc 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -449,27 +449,15 @@ public: if (result_) // All good, just use version in base class return Base::totalReprojectionError(cameras, *result_); - else { + else if (manageDegeneracy_) { + // Otherwise, manage the exceptions with rotation-only factors + const Point2& z0 = this->measured_.at(0); + result_ = TriangulationResult( + cameras.front().backprojectPointAtInfinity(z0)); + return Base::totalReprojectionErrorAtInfinity(cameras, *result_); + } else // if we don't want to manage the exceptions we discard the factor - if (!manageDegeneracy_) - return 0.0; - - if (isPointBehindCamera()) { // if we want to manage the exceptions with rotation-only factors - throw std::runtime_error( - "SmartProjectionFactor::totalReprojectionError does not handle point behind camera yet"); - } - - if (isDegenerate()) { - // 3D parameterization of point at infinity - const Point2& z0 = this->measured_.at(0); - result_ = TriangulationResult( - cameras.front().backprojectPointAtInfinity(z0)); - return Base::totalReprojectionErrorAtInfinity(cameras, *result_); - } - // should not reach here. TODO use switch - throw std::runtime_error( - "SmartProjectionFactor::totalReprojectionError internal error"); - } + return 0.0; } /** return the landmark */ From 3b144a9cab436d2f5c701420c776f74c5f7ce895 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:34:43 -0800 Subject: [PATCH 116/964] Fixed priors --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index c5aa4b810..c544ef3c1 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -31,7 +31,7 @@ using namespace boost::assign; -static bool isDebugTest = true; +static bool isDebugTest = false; static const double rankTol = 1.0; static const double linThreshold = -1.0; @@ -1374,9 +1374,9 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { graph.push_back(smartFactor3); graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back( - PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( - PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), From 5dda36a4d6a90331ef3c6456b5c484bd2b321b77 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:38:55 -0800 Subject: [PATCH 117/964] Fixed 3 more test cases --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index c544ef3c1..9008fc464 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -974,7 +974,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) // Two different cameras Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = level_pose + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); Camera cam3(pose3, sharedK); @@ -1011,9 +1011,9 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) graph.push_back(smartFactor3); graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back( - PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( - PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), @@ -1022,7 +1022,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) values.insert(x1, cam1); values.insert(x2, cam2); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose, sharedK)); + values.insert(x3, Camera(pose3 * noise_pose, sharedK)); EXPECT( assert_equal( Pose3( From 7f27a594d27fe2788d2e8eaf67f40243914ca18d Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:45:27 -0800 Subject: [PATCH 118/964] Fixed degeernate test-case --- .../slam/tests/testSmartProjectionPoseFactor.cpp | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 9008fc464..dcfb52e03 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -1162,9 +1162,12 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { views.push_back(x1); views.push_back(x2); views.push_back(x3); + + // All cameras have the same pose so will be degenerate ! + Camera cam2(level_pose, sharedK2); + Camera cam3(level_pose, sharedK2); - vector measurements_cam1, measurements_cam2, measurements_cam3; - + vector measurements_cam1; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); SmartFactor::shared_ptr smartFactor(new SmartFactor()); @@ -1183,8 +1186,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Values rotValues; rotValues.insert(x1, Camera(poseDrift.compose(level_pose), sharedK2)); - rotValues.insert(x2, Camera(poseDrift.compose(pose_right), sharedK2)); - rotValues.insert(x3, Camera(poseDrift.compose(pose_above), sharedK2)); + rotValues.insert(x2, Camera(poseDrift.compose(level_pose), sharedK2)); + rotValues.insert(x3, Camera(poseDrift.compose(level_pose), sharedK2)); boost::shared_ptr factorRot = smartFactor->linearize( rotValues); @@ -1199,8 +1202,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Values tranValues; tranValues.insert(x1, Camera(poseDrift2.compose(level_pose), sharedK2)); - tranValues.insert(x2, Camera(poseDrift2.compose(pose_right), sharedK2)); - tranValues.insert(x3, Camera(poseDrift2.compose(pose_above), sharedK2)); + tranValues.insert(x2, Camera(poseDrift2.compose(level_pose), sharedK2)); + tranValues.insert(x3, Camera(poseDrift2.compose(level_pose), sharedK2)); boost::shared_ptr factorRotTran = smartFactor->linearize( tranValues); From 014159de44f1b7ac6667dbc794c63055bcdbd5c9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:47:27 -0800 Subject: [PATCH 119/964] Fixed sign (might need to be rethought?) --- gtsam/slam/JacobianFactorQ.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h index 5dd7582cd..12f8a4c71 100644 --- a/gtsam/slam/JacobianFactorQ.h +++ b/gtsam/slam/JacobianFactorQ.h @@ -68,7 +68,7 @@ public: KeyMatrix(key, Q.block(0, ZDim * j++, m2, ZDim) * FBlocks[k])); } // Which is then passed to the normal JacobianFactor constructor - JacobianFactor::fillTerms(QF, Q * b, model); + JacobianFactor::fillTerms(QF, - Q * b, model); } }; // end class JacobianFactorQ From daf16acdfac45fcfe33bdda6a5f5ae6f82948e59 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:56:18 -0800 Subject: [PATCH 120/964] Get rid of debugging fluff and more copy/paste --- .../tests/testSmartProjectionPoseFactor.cpp | 193 ++++-------------- 1 file changed, 38 insertions(+), 155 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index dcfb52e03..5d9dc4c5f 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -31,8 +31,6 @@ using namespace boost::assign; -static bool isDebugTest = false; - static const double rankTol = 1.0; static const double linThreshold = -1.0; static const bool manageDegeneracy = true; @@ -54,6 +52,11 @@ static Point2 measurement1(323.0, 240.0); typedef SmartProjectionPoseFactor SmartFactor; typedef SmartProjectionPoseFactor SmartFactorBundler; +LevenbergMarquardtParams params; +// Make more verbose like so (in tests): +// params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; +// params.verbosity = NonlinearOptimizerParams::ERROR; + /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor) { SmartFactor::shared_ptr factor1(new SmartFactor()); @@ -154,7 +157,7 @@ TEST( SmartProjectionPoseFactor, noisy ) { using namespace vanillaPose; - // Project two landmarks into two cameras and triangulate + // Project two landmarks into two cameras Point2 pixelError(0.2, 0.2); Point2 level_uv = level_camera.project(landmark1) + pixelError; Point2 level_uv_right = level_camera_right.project(landmark1); @@ -196,7 +199,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { using namespace vanillaPose2; vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -239,14 +242,8 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -257,8 +254,6 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { // result.print("results of 3 camera, 3 landmark optimization \n"); EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); - if (isDebugTest) - tictoc_print_(); } /* *************************************************************************/ @@ -360,7 +355,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { FastVector keys; keys.push_back(x1); keys.push_back(x2); - + // createJacobianQFactor SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma); Matrix3 P = (E.transpose() * E).inverse(); @@ -420,7 +415,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -459,14 +454,8 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); @@ -474,8 +463,6 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { // result.print("results of 3 camera, 3 landmark optimization \n"); EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-7)); - if (isDebugTest) - tictoc_print_(); } /* *************************************************************************/ @@ -490,7 +477,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -524,12 +511,6 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { values.insert(x2, cam2); values.insert(x3, Camera(pose_above * noise_pose, sharedK)); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -550,7 +531,7 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -588,7 +569,6 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { values.insert(x3, Camera(pose_above * noise_pose, sharedK)); // All factors are disabled and pose should remain where it is - LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -614,7 +594,7 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { vector measurements_cam1, measurements_cam2, measurements_cam3, measurements_cam4; - // Project three landmarks into three cameras and triangulate + // Project 4 landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -657,7 +637,6 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { values.insert(x3, cam3); // All factors are disabled and pose should remain where it is - LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -676,7 +655,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -709,12 +688,6 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { values.insert(x2, cam2); values.insert(x3, Camera(pose_above * noise_pose, sharedK)); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -735,7 +708,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { typedef GenericProjectionFactor ProjectionFactor; NonlinearFactorGraph graph; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras graph.push_back( ProjectionFactor(cam1.project(landmark1), model, x1, L(1), sharedK2)); graph.push_back( @@ -773,11 +746,6 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { DOUBLES_EQUAL(48406055, graph.error(values), 1); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; LevenbergMarquardtOptimizer optimizer(graph, values, params); Values result = optimizer.optimize(); @@ -799,14 +767,13 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { // Two slightly different cameras Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = pose2 - * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -888,7 +855,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); @@ -931,23 +898,13 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac Point3(0.145118171, -0.252907438, 0.819956033)), values.at(x3).pose())); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); tictoc_finishedIteration_(); - // result.print("results of 3 camera, 3 landmark optimization \n"); - cout - << "TEST COMMENTED: rotation only version of smart factors has been deprecated " - << endl; EXPECT( assert_equal( Pose3( @@ -956,8 +913,6 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac -0.564921063), Point3(0.145118171, -0.252907438, 0.819956033)), result.at(x3).pose())); - if (isDebugTest) - tictoc_print_(); } /* *************************************************************************/ @@ -974,14 +929,13 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) // Two different cameras Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = pose2 - * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedK); Camera cam3(pose3, sharedK); vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate + // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); @@ -1032,23 +986,13 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) Point3(0.0897734171, -0.110201006, 0.901022872)), values.at(x3).pose())); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); tictoc_finishedIteration_(); - // result.print("results of 3 camera, 3 landmark optimization \n"); - cout - << "TEST COMMENTED: rotation only version of smart factors has been deprecated " - << endl; EXPECT( assert_equal( Pose3( @@ -1057,8 +1001,6 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) -0.130455917), Point3(0.0897734171, -0.110201006, 0.901022872)), result.at(x3).pose())); - if (isDebugTest) - tictoc_print_(); } /* *************************************************************************/ @@ -1071,7 +1013,7 @@ TEST( SmartProjectionPoseFactor, Hessian ) { views.push_back(x1); views.push_back(x2); - // Project three landmarks into 2 cameras and triangulate + // Project three landmarks into 2 cameras Point2 cam1_uv1 = cam1.project(landmark1); Point2 cam2_uv1 = cam2.project(landmark1); vector measurements_cam1; @@ -1088,8 +1030,6 @@ TEST( SmartProjectionPoseFactor, Hessian ) { values.insert(x2, cam2); boost::shared_ptr factor = smartFactor1->linearize(values); - if (isDebugTest) - factor->print("Hessian factor \n"); // compute triangulation from linearization point // compute reprojection errors (sum squared) @@ -1162,7 +1102,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { views.push_back(x1); views.push_back(x2); views.push_back(x3); - + // All cameras have the same pose so will be degenerate ! Camera cam2(level_pose, sharedK2); Camera cam3(level_pose, sharedK2); @@ -1179,8 +1119,6 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { values.insert(x3, cam3); boost::shared_ptr factor = smartFactor->linearize(values); - if (isDebugTest) - factor->print("Hessian factor \n"); Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); @@ -1189,10 +1127,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { rotValues.insert(x2, Camera(poseDrift.compose(level_pose), sharedK2)); rotValues.insert(x3, Camera(poseDrift.compose(level_pose), sharedK2)); - boost::shared_ptr factorRot = smartFactor->linearize( - rotValues); - if (isDebugTest) - factorRot->print("Hessian factor \n"); + boost::shared_ptr factorRot = // + smartFactor->linearize(rotValues); // Hessian is invariant to rotations in the nondegenerate case EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-8)); @@ -1230,27 +1166,10 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate - Point2 cam1_uv1 = cam1.project(landmark1); - Point2 cam2_uv1 = cam2.project(landmark1); - Point2 cam3_uv1 = cam3.project(landmark1); - measurements_cam1.push_back(cam1_uv1); - measurements_cam1.push_back(cam2_uv1); - measurements_cam1.push_back(cam3_uv1); - - Point2 cam1_uv2 = cam1.project(landmark2); - Point2 cam2_uv2 = cam2.project(landmark2); - Point2 cam3_uv2 = cam3.project(landmark2); - measurements_cam2.push_back(cam1_uv2); - measurements_cam2.push_back(cam2_uv2); - measurements_cam2.push_back(cam3_uv2); - - Point2 cam1_uv3 = cam1.project(landmark3); - Point2 cam2_uv3 = cam2.project(landmark3); - Point2 cam3_uv3 = cam3.project(landmark3); - measurements_cam3.push_back(cam1_uv3); - measurements_cam3.push_back(cam2_uv3); - measurements_cam3.push_back(cam3_uv3); + // Project three landmarks into three cameras + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); vector views; views.push_back(x1); @@ -1289,22 +1208,15 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); tictoc_finishedIteration_(); EXPECT(assert_equal(cam3, result.at(x3), 1e-6)); - if (isDebugTest) - tictoc_print_(); } /* *************************************************************************/ @@ -1320,8 +1232,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { // Two different cameras Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); - Pose3 pose3 = pose2 - * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); + Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Camera cam2(pose2, sharedBundlerK); Camera cam3(pose3, sharedBundlerK); @@ -1330,27 +1241,10 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { vector measurements_cam1, measurements_cam2, measurements_cam3; - // Project three landmarks into three cameras and triangulate - Point2 cam1_uv1 = cam1.project(landmark1); - Point2 cam2_uv1 = cam2.project(landmark1); - Point2 cam3_uv1 = cam3.project(landmark1); - measurements_cam1.push_back(cam1_uv1); - measurements_cam1.push_back(cam2_uv1); - measurements_cam1.push_back(cam3_uv1); - - Point2 cam1_uv2 = cam1.project(landmark2); - Point2 cam2_uv2 = cam2.project(landmark2); - Point2 cam3_uv2 = cam3.project(landmark2); - measurements_cam2.push_back(cam1_uv2); - measurements_cam2.push_back(cam2_uv2); - measurements_cam2.push_back(cam3_uv2); - - Point2 cam1_uv3 = cam1.project(landmark3); - Point2 cam2_uv3 = cam2.project(landmark3); - Point2 cam3_uv3 = cam3.project(landmark3); - measurements_cam3.push_back(cam1_uv3); - measurements_cam3.push_back(cam2_uv3); - measurements_cam3.push_back(cam3_uv3); + // Project three landmarks into three cameras + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); double rankTol = 10; @@ -1398,22 +1292,13 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { Point3(0.0897734171, -0.110201006, 0.901022872)), values.at(x3).pose())); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; - gttic_ (SmartProjectionPoseFactor); + gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartProjectionPoseFactor); tictoc_finishedIteration_(); - cout - << "TEST COMMENTED: rotation only version of smart factors has been deprecated " - << endl; EXPECT( assert_equal( Pose3( @@ -1422,8 +1307,6 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { -0.130455917), Point3(0.0897734171, -0.110201006, 0.901022872)), values.at(x3).pose())); - if (isDebugTest) - tictoc_print_(); } /* ************************************************************************* */ From dc3d5f77fe605e7bd90cc59c8d441ccab057afd3 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 10:35:54 -0800 Subject: [PATCH 121/964] Extra stereo tests --- .../testSmartStereoProjectionPoseFactor.cpp | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 48dfa1ff0..7e2a1a468 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -279,6 +279,14 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { values.insert(x3, pose3 * noise_pose); if (isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); + EXPECT( + assert_equal( + Pose3( + Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, + -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), + Point3(0.1, -0.1, 1.9)), values.at(x3))); + + EXPECT_DOUBLES_EQUAL(1888864, graph.error(values), 1); LevenbergMarquardtParams params; if (isDebugTest) @@ -293,8 +301,12 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { gttoc_(SmartStereoProjectionPoseFactor); tictoc_finishedIteration_(); -// GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); -// VectorValues delta = GFG->optimize(); + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-6); + + GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); + VectorValues delta = GFG->optimize(); + VectorValues expected = VectorValues::Zero(delta); + EXPECT(assert_equal(expected, delta,1e-6)); // result.print("results of 3 camera, 3 landmark optimization \n"); if (isDebugTest) From b40c0f7f154ea6ae459b31f898db47d5125cd789 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 10:36:03 -0800 Subject: [PATCH 122/964] Fixed sign --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 0b134c401..65036edfe 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -426,7 +426,7 @@ public: Matrix3 P = Base::PointCov(E, lambda); H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); - gs_vector.noalias() = F.transpose() * (b - (E * (P * (E.transpose() * b)))); + gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b)))); if (isDebug) std::cout << "gs_vector size " << gs_vector.size() << std::endl; From 758aab6e808f8658d7555871b0533bf41010dfa8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 10:41:49 -0800 Subject: [PATCH 123/964] Cleaned up test --- .../testSmartStereoProjectionPoseFactor.cpp | 74 ++----------------- 1 file changed, 6 insertions(+), 68 deletions(-) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 7e2a1a468..497f2205c 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -18,8 +18,8 @@ * @date Sept 2013 */ +// TODO #include #include - #include #include #include @@ -32,8 +32,6 @@ using namespace std; using namespace boost::assign; using namespace gtsam; -static bool isDebugTest = false; - // make a realistic calibration matrix static double fov = 60; // degrees static size_t w = 640, h = 480; @@ -83,9 +81,10 @@ vector stereo_projectToMultipleCameras(const StereoCamera& cam1, return measurements_cam; } +LevenbergMarquardtParams params; + /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor) { - fprintf(stderr, "Test 1 Complete"); SmartFactor::shared_ptr factor1(new SmartFactor()); } @@ -119,8 +118,6 @@ TEST( SmartStereoProjectionPoseFactor, Equals ) { /* *************************************************************************/ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { - // cout << " ************************ SmartStereoProjectionPoseFactor: noisy ****************************" << endl; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); @@ -160,8 +157,6 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, noisy ) { - // cout << " ************************ SmartStereoProjectionPoseFactor: noisy ****************************" << endl; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); @@ -217,10 +212,6 @@ TEST( SmartStereoProjectionPoseFactor, noisy ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { - cout - << " ************************ SmartStereoProjectionPoseFactor: 3 cams + 3 landmarks **********************" - << endl; - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K2); @@ -277,8 +268,6 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { values.insert(x2, pose2); // initialize third pose with some noise, we expect it to move back to original pose3 values.insert(x3, pose3 * noise_pose); - if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); EXPECT( assert_equal( Pose3( @@ -288,14 +277,8 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { EXPECT_DOUBLES_EQUAL(1888864, graph.error(values), 1); - LevenbergMarquardtParams params; - if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; - Values result; - gttic_ (SmartStereoProjectionPoseFactor); + gttic_(SmartStereoProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); gttoc_(SmartStereoProjectionPoseFactor); @@ -306,14 +289,10 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); VectorValues delta = GFG->optimize(); VectorValues expected = VectorValues::Zero(delta); - EXPECT(assert_equal(expected, delta,1e-6)); + EXPECT(assert_equal(expected, delta, 1e-6)); // result.print("results of 3 camera, 3 landmark optimization \n"); - if (isDebugTest) - result.at(x3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(pose3, result.at(x3))); - if (isDebugTest) - tictoc_print_(); } /* *************************************************************************/ @@ -376,7 +355,6 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { values.insert(x2, pose2); values.insert(x3, pose3 * noise_pose); - LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -449,7 +427,6 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { values.insert(x3, pose3 * noise_pose); // All factors are disabled and pose should remain where it is - LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -533,7 +510,6 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { values.insert(x3, pose3); // All factors are disabled and pose should remain where it is - LevenbergMarquardtParams params; Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -595,8 +571,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // values.insert(x2, pose2); // values.insert(x3, pose3*noise_pose); // -// LevenbergMarquardtParams params; -// Values result; +//// Values result; // LevenbergMarquardtOptimizer optimizer(graph, values, params); // result = optimizer.optimize(); // EXPECT(assert_equal(pose3,result.at(x3))); @@ -604,7 +579,6 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // ///* *************************************************************************/ //TEST( SmartStereoProjectionPoseFactor, 3poses_projection_factor ){ -// // cout << " ************************ Normal ProjectionFactor: 3 cams + 3 landmarks **********************" << endl; // // vector views; // views.push_back(x1); @@ -656,15 +630,10 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // values.insert(L(1), landmark1); // values.insert(L(2), landmark2); // values.insert(L(3), landmark3); -// if(isDebugTest) values.at(x3).print("Pose3 before optimization: "); // -// LevenbergMarquardtParams params; -// if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; -// if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; // LevenbergMarquardtOptimizer optimizer(graph, values, params); // Values result = optimizer.optimize(); // -// if(isDebugTest) result.at(x3).print("Pose3 after optimization: "); // EXPECT(assert_equal(pose3,result.at(x3))); //} // @@ -726,8 +695,6 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise values.insert(x3, pose3 * noise_pose); - if (isDebugTest) - values.at(x3).print("Smart: Pose3 before optimization: "); // TODO: next line throws Cheirality exception on Mac boost::shared_ptr hessianFactor1 = smartFactor1->linearize( @@ -752,7 +719,6 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { + hessianFactor3->augmentedInformation(); // Check Information vector - // cout << AugInformationMatrix.size() << endl; Vector InfoVector = AugInformationMatrix.block(0, 18, 18, 1); // 18x18 Hessian + information vector // Check Hessian @@ -761,7 +727,6 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // ///* *************************************************************************/ //TEST( SmartStereoProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ){ -// // cout << " ************************ SmartStereoProjectionPoseFactor: 3 cams + 2 landmarks: Rotation Only**********************" << endl; // // vector views; // views.push_back(x1); @@ -814,11 +779,6 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // values.insert(x2, pose2*noise_pose); // // initialize third pose with some noise, we expect it to move back to original pose3 // values.insert(x3, pose3*noise_pose*noise_pose); -// if(isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); -// -// LevenbergMarquardtParams params; -// if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; -// if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; // // Values result; // gttic_(SmartStereoProjectionPoseFactor); @@ -828,15 +788,11 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // tictoc_finishedIteration_(); // // // result.print("results of 3 camera, 3 landmark optimization \n"); -// if(isDebugTest) result.at(x3).print("Smart: Pose3 after optimization: "); -// cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; // // EXPECT(assert_equal(pose3,result.at(x3))); -// if(isDebugTest) tictoc_print_(); //} // ///* *************************************************************************/ //TEST( SmartStereoProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ){ -// // cout << " ************************ SmartStereoProjectionPoseFactor: 3 cams + 3 landmarks: Rotation Only**********************" << endl; // // vector views; // views.push_back(x1); @@ -897,11 +853,6 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // values.insert(x2, pose2); // // initialize third pose with some noise, we expect it to move back to original pose3 // values.insert(x3, pose3*noise_pose); -// if(isDebugTest) values.at(x3).print("Smart: Pose3 before optimization: "); -// -// LevenbergMarquardtParams params; -// if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; -// if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR; // // Values result; // gttic_(SmartStereoProjectionPoseFactor); @@ -911,15 +862,11 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // tictoc_finishedIteration_(); // // // result.print("results of 3 camera, 3 landmark optimization \n"); -// if(isDebugTest) result.at(x3).print("Smart: Pose3 after optimization: "); -// cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl; // // EXPECT(assert_equal(pose3,result.at(x3))); -// if(isDebugTest) tictoc_print_(); //} // ///* *************************************************************************/ //TEST( SmartStereoProjectionPoseFactor, Hessian ){ -// // cout << " ************************ SmartStereoProjectionPoseFactor: Hessian **********************" << endl; // // vector views; // views.push_back(x1); @@ -952,7 +899,6 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // values.insert(x2, pose2); // // boost::shared_ptr hessianFactor = smartFactor1->linearize(values); -// if(isDebugTest) hessianFactor->print("Hessian factor \n"); // // // compute triangulation from linearization point // // compute reprojection errors (sum squared) @@ -963,8 +909,6 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { - // cout << " ************************ SmartStereoProjectionPoseFactor: rotated Hessian **********************" << endl; - vector views; views.push_back(x1); views.push_back(x2); @@ -1034,8 +978,6 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { - // cout << " ************************ SmartStereoProjectionPoseFactor: rotated Hessian (degenerate) **********************" << endl; - vector views; views.push_back(x1); views.push_back(x2); @@ -1066,8 +1008,6 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { boost::shared_ptr hessianFactor = smartFactor->linearize( values); - if (isDebugTest) - hessianFactor->print("Hessian factor \n"); Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); @@ -1078,8 +1018,6 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { boost::shared_ptr hessianFactorRot = smartFactor->linearize( rotValues); - if (isDebugTest) - hessianFactorRot->print("Hessian factor \n"); // Hessian is invariant to rotations in the nondegenerate case EXPECT( From 2f8d12b9ba4491775f015ed155cea7e5bd747e6e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 12:41:01 -0800 Subject: [PATCH 124/964] Added more tests to diagnose Regular-Q inconsistency --- .../slam/tests/testRegularImplicitSchurFactor.cpp | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp index 4e7e0fa17..0063326fe 100644 --- a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp +++ b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp @@ -126,13 +126,14 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { const SharedDiagonal model; JacobianFactorQ<6, 2> jf(keys, FBlocks, E, P, b, model); +// TODO(frank) Neither tests pass, should get to bottom, possibly remove errorJF? { // error double expectedError = jf.error(xvalues); - double actualError = implicitFactor.errorJF(xvalues); - DOUBLES_EQUAL(expectedError,actualError,1e-7) + EXPECT_DOUBLES_EQUAL(expectedError,implicitFactor.error(xvalues),1e-7) + EXPECT_DOUBLES_EQUAL(expectedError,implicitFactor.errorJF(xvalues),1e-7) } - { // JacobianFactor with same error + { VectorValues yActual = zero; jf.multiplyHessianAdd(alpha, xvalues, yActual); EXPECT(assert_equal(yExpected, yActual, 1e-8)); @@ -175,6 +176,13 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { // Create JacobianFactorQR JacobianFactorQR<6, 2> jfq(keys, FBlocks, E, P, b, model); + { // error + double expectedError = jfq.error(xvalues); + EXPECT_DOUBLES_EQUAL(expectedError, jf.error(xvalues),1e-7) + double actualError = implicitFactor.errorJF(xvalues); + EXPECT_DOUBLES_EQUAL(expectedError,actualError,1e-7) + } + { const SharedDiagonal model; VectorValues yActual = zero; From d095933527fc9adb523d1cfbd7d76ed581bc1231 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 12:53:10 -0800 Subject: [PATCH 125/964] Refactor --- .../tests/testRegularImplicitSchurFactor.cpp | 46 +++++++++---------- 1 file changed, 21 insertions(+), 25 deletions(-) diff --git a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp index 0063326fe..8ece637e7 100644 --- a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp +++ b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp @@ -124,33 +124,34 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { // Create JacobianFactor with same error const SharedDiagonal model; - JacobianFactorQ<6, 2> jf(keys, FBlocks, E, P, b, model); + JacobianFactorQ<6, 2> jfQ(keys, FBlocks, E, P, b, model); -// TODO(frank) Neither tests pass, should get to bottom, possibly remove errorJF? +// Calculate expected error + double expectedError = 1000; { // error - double expectedError = jf.error(xvalues); + EXPECT_DOUBLES_EQUAL(expectedError,jfQ.error(xvalues),1e-7) EXPECT_DOUBLES_EQUAL(expectedError,implicitFactor.error(xvalues),1e-7) EXPECT_DOUBLES_EQUAL(expectedError,implicitFactor.errorJF(xvalues),1e-7) } { VectorValues yActual = zero; - jf.multiplyHessianAdd(alpha, xvalues, yActual); + jfQ.multiplyHessianAdd(alpha, xvalues, yActual); EXPECT(assert_equal(yExpected, yActual, 1e-8)); - jf.multiplyHessianAdd(alpha, xvalues, yActual); + jfQ.multiplyHessianAdd(alpha, xvalues, yActual); EXPECT(assert_equal(2 * yExpected, yActual, 1e-8)); - jf.multiplyHessianAdd(-1, xvalues, yActual); + jfQ.multiplyHessianAdd(-1, xvalues, yActual); EXPECT(assert_equal(zero, yActual, 1e-8)); } { // check hessian Diagonal - VectorValues diagExpected = jf.hessianDiagonal(); + VectorValues diagExpected = jfQ.hessianDiagonal(); VectorValues diagActual = implicitFactor.hessianDiagonal(); EXPECT(assert_equal(diagExpected, diagActual, 1e-8)); } { // check hessian Block Diagonal - map BD = jf.hessianBlockDiagonal(); + map BD = jfQ.hessianBlockDiagonal(); map actualBD = implicitFactor.hessianBlockDiagonal(); LONGS_EQUAL(3,actualBD.size()); EXPECT(assert_equal(BD[0],actualBD[0])); @@ -160,47 +161,42 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { { // Raw memory Version std::fill(y, y + 24, 0);// zero y ! - jf.multiplyHessianAdd(alpha, xdata, y); + jfQ.multiplyHessianAdd(alpha, xdata, y); EXPECT(assert_equal(expected, XMap(y), 1e-8)); - jf.multiplyHessianAdd(alpha, xdata, y); + jfQ.multiplyHessianAdd(alpha, xdata, y); EXPECT(assert_equal(Vector(2 * expected), XMap(y), 1e-8)); - jf.multiplyHessianAdd(-1, xdata, y); + jfQ.multiplyHessianAdd(-1, xdata, y); EXPECT(assert_equal(Vector(0 * expected), XMap(y), 1e-8)); } { // Check gradientAtZero - VectorValues expected = jf.gradientAtZero(); + VectorValues expected = jfQ.gradientAtZero(); VectorValues actual = implicitFactor.gradientAtZero(); EXPECT(assert_equal(expected, actual, 1e-8)); } // Create JacobianFactorQR - JacobianFactorQR<6, 2> jfq(keys, FBlocks, E, P, b, model); - { // error - double expectedError = jfq.error(xvalues); - EXPECT_DOUBLES_EQUAL(expectedError, jf.error(xvalues),1e-7) - double actualError = implicitFactor.errorJF(xvalues); - EXPECT_DOUBLES_EQUAL(expectedError,actualError,1e-7) - } + JacobianFactorQR<6, 2> jfQR(keys, FBlocks, E, P, b, model); + EXPECT_DOUBLES_EQUAL(expectedError, jfQR.error(xvalues),1e-7) { const SharedDiagonal model; VectorValues yActual = zero; - jfq.multiplyHessianAdd(alpha, xvalues, yActual); + jfQR.multiplyHessianAdd(alpha, xvalues, yActual); EXPECT(assert_equal(yExpected, yActual, 1e-8)); - jfq.multiplyHessianAdd(alpha, xvalues, yActual); + jfQR.multiplyHessianAdd(alpha, xvalues, yActual); EXPECT(assert_equal(2 * yExpected, yActual, 1e-8)); - jfq.multiplyHessianAdd(-1, xvalues, yActual); + jfQR.multiplyHessianAdd(-1, xvalues, yActual); EXPECT(assert_equal(zero, yActual, 1e-8)); } { // Raw memory Version std::fill(y, y + 24, 0);// zero y ! - jfq.multiplyHessianAdd(alpha, xdata, y); + jfQR.multiplyHessianAdd(alpha, xdata, y); EXPECT(assert_equal(expected, XMap(y), 1e-8)); - jfq.multiplyHessianAdd(alpha, xdata, y); + jfQR.multiplyHessianAdd(alpha, xdata, y); EXPECT(assert_equal(Vector(2 * expected), XMap(y), 1e-8)); - jfq.multiplyHessianAdd(-1, xdata, y); + jfQR.multiplyHessianAdd(-1, xdata, y); EXPECT(assert_equal(Vector(0 * expected), XMap(y), 1e-8)); } delete [] y; From 1d8b14384b67d1a04c5cc74f811019a47fc88548 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 12:53:25 -0800 Subject: [PATCH 126/964] GradientAtZero now negative --- gtsam/slam/RegularImplicitSchurFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index ca333134e..ae42d3087 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -436,7 +436,7 @@ public: VectorValues g; for (size_t k = 0; k < size(); ++k) { Key key = keys_[k]; - g.insert(key, -FBlocks_[k].transpose() * e2[k]); + g.insert(key, FBlocks_[k].transpose() * e2[k]); } // return it From befdfd1f09a88d2d3a9f1545d87fab5eb68c1eea Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 14:49:11 -0800 Subject: [PATCH 127/964] extra tests with actual values --- .../tests/testRegularImplicitSchurFactor.cpp | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp index 8ece637e7..77944da83 100644 --- a/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp +++ b/gtsam/slam/tests/testRegularImplicitSchurFactor.cpp @@ -126,12 +126,12 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { const SharedDiagonal model; JacobianFactorQ<6, 2> jfQ(keys, FBlocks, E, P, b, model); -// Calculate expected error - double expectedError = 1000; - { // error + // error + double expectedError = 11875.083333333334; + { EXPECT_DOUBLES_EQUAL(expectedError,jfQ.error(xvalues),1e-7) - EXPECT_DOUBLES_EQUAL(expectedError,implicitFactor.error(xvalues),1e-7) EXPECT_DOUBLES_EQUAL(expectedError,implicitFactor.errorJF(xvalues),1e-7) + EXPECT_DOUBLES_EQUAL(11903.500000000007,implicitFactor.error(xvalues),1e-7) } { @@ -169,16 +169,20 @@ TEST( regularImplicitSchurFactor, addHessianMultiply ) { EXPECT(assert_equal(Vector(0 * expected), XMap(y), 1e-8)); } + VectorValues expectedVV; + expectedVV.insert(0,-3.5*ones(6)); + expectedVV.insert(1,10*ones(6)/3); + expectedVV.insert(3,-19.5*ones(6)); { // Check gradientAtZero - VectorValues expected = jfQ.gradientAtZero(); VectorValues actual = implicitFactor.gradientAtZero(); - EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(expectedVV, jfQ.gradientAtZero(), 1e-8)); + EXPECT(assert_equal(expectedVV, implicitFactor.gradientAtZero(), 1e-8)); } // Create JacobianFactorQR JacobianFactorQR<6, 2> jfQR(keys, FBlocks, E, P, b, model); EXPECT_DOUBLES_EQUAL(expectedError, jfQR.error(xvalues),1e-7) - + EXPECT(assert_equal(expectedVV, jfQR.gradientAtZero(), 1e-8)); { const SharedDiagonal model; VectorValues yActual = zero; From 36be55e92c7df27757f473756a131ebaf251c279 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 15:48:55 -0800 Subject: [PATCH 128/964] Fix gradientAtZero --- gtsam/slam/RegularImplicitSchurFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index ae42d3087..e773efc5d 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -436,7 +436,7 @@ public: VectorValues g; for (size_t k = 0; k < size(); ++k) { Key key = keys_[k]; - g.insert(key, FBlocks_[k].transpose() * e2[k]); + g.insert(key, - FBlocks_[k].transpose() * e2[k]); } // return it From 5cdb8ddb761d3fa1245afd7505eefc725d895840 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 15:53:29 -0800 Subject: [PATCH 129/964] Negated meaning of reprojectionError --- gtsam/geometry/CameraSet.h | 8 ++++---- gtsam/geometry/tests/testCameraSet.cpp | 2 +- gtsam/geometry/tests/testPinholeSet.cpp | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index dd58f8e69..ecdc7c007 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -141,18 +141,18 @@ public: return z; } - /// Calculate vector of re-projection errors + /// Calculate vector [z-project2(point)] of re-projection errors Vector reprojectionError(const Point3& point, const std::vector& measured, boost::optional Fs = boost::none, // boost::optional E = boost::none) const { - return ErrorVector(project2(point, Fs, E), measured); + return ErrorVector(measured, project2(point, Fs, E)); } - /// Calculate vector of re-projection errors, from point at infinity + /// Calculate vector [z-project2(point)] of re-projection errors, from point at infinity // TODO: take Unit3 instead Vector reprojectionErrorAtInfinity(const Point3& point, const std::vector& measured) const { - return ErrorVector(projectAtInfinity(point), measured); + return ErrorVector(measured, projectAtInfinity(point)); } /** diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index 05ffc275c..f34809ae6 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -75,7 +75,7 @@ TEST(CameraSet, Pinhole) { Vector4 expectedV; // reprojectionError - expectedV << -1, -2, -3, -4; + expectedV << 1, 2, 3, 4; Vector actualV = set.reprojectionError(p, measured); EXPECT(assert_equal(expectedV, actualV)); diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index 1e5426f33..a8e43003d 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -115,7 +115,7 @@ TEST(PinholeSet, Pinhole) { Vector4 expectedV; // reprojectionError - expectedV << -1, -2, -3, -4; + expectedV << 1, 2, 3, 4; Vector actualV = set.reprojectionError(p, measured); EXPECT(assert_equal(expectedV, actualV)); From 62120349760d8c9ab0d2e554e4bdd954b9def9aa Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 16:59:10 -0800 Subject: [PATCH 130/964] Added comments to be explicit about b = z - h(x_bar) --- gtsam/nonlinear/ExpressionFactor.h | 27 ++++++++++++++++----------- 1 file changed, 16 insertions(+), 11 deletions(-) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index 4769e5048..21c709bcf 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -66,20 +66,23 @@ public: virtual Vector unwhitenedError(const Values& x, boost::optional&> H = boost::none) const { if (H) { - const T value = expression_.value(x, keys_, dims_, *H); - return traits::Local(measurement_, value); + const T hx = expression_.value(x, keys_, dims_, *H); // h(x) + return traits::Local(measurement_, hx); // h(x) - z } else { - const T value = expression_.value(x); - return traits::Local(measurement_, value); + const T hx = expression_.value(x); // h(x) + return traits::Local(measurement_, hx); // h(x) - z } } - virtual boost::shared_ptr linearize(const Values& x) const { + /** + * Linearize the factor into a JacobianFactor + */ + virtual boost::shared_ptr linearize(const Values& x_bar) const { // Only linearize if the factor is active - if (!active(x)) + if (!active(x_bar)) return boost::shared_ptr(); - // Create a writeable JacobianFactor in advance + // Create a writable JacobianFactor in advance // In case noise model is constrained, we need to provide a noise model bool constrained = noiseModel_->isConstrained(); boost::shared_ptr factor( @@ -88,17 +91,19 @@ public: new JacobianFactor(keys_, dims_, Dim)); // Wrap keys and VerticalBlockMatrix into structure passed to expression_ - VerticalBlockMatrix& Ab = factor->matrixObject(); + VerticalBlockMatrix& Ab = factor->matrixObject(); // reference, no malloc ! JacobianMap jacobianMap(keys_, Ab); // Zero out Jacobian so we can simply add to it Ab.matrix().setZero(); // Get value and Jacobians, writing directly into JacobianFactor - T value = expression_.value(x, jacobianMap); // <<< Reverse AD happens here ! + T hx = expression_.value(x_bar, jacobianMap); // <<< Reverse AD happens here ! - // Evaluate error and set RHS vector b - Ab(size()).col(0) = -traits::Local(measurement_, value); + // Evaluate error and set RHS vector b = - (h(x_bar) - z) = z-h(x_bar) + // Indeed, nonlinear error |h(x_bar+dx)-z| ~ |h(x_bar) + A*dx - z| + // = |A*dx - (z-h(x_bar))| + Ab(size()).col(0) = - traits::Local(measurement_, hx); // - unwhitenedError(x_bar) // Whiten the corresponding system, Ab already contains RHS Vector dummy(Dim); From 1620b9056ad71a0c7198b1f0046cd797d9b8a367 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 17:06:44 -0800 Subject: [PATCH 131/964] Reverted back to [h(x)-z] with Luca --- gtsam/geometry/CameraSet.h | 10 +++++----- gtsam/geometry/tests/testCameraSet.cpp | 2 +- gtsam/geometry/tests/testPinholeSet.cpp | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index ecdc7c007..3bbcb8c0d 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -53,7 +53,7 @@ protected: if (measured.size() != m) throw std::runtime_error("CameraSet::errors: size mismatch"); - // Project and fill derivatives + // Project and fill error vector Vector b(ZDim * m); for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { Z e = predicted[i] - measured[i]; @@ -141,18 +141,18 @@ public: return z; } - /// Calculate vector [z-project2(point)] of re-projection errors + /// Calculate vector [project2(point)-z] of re-projection errors Vector reprojectionError(const Point3& point, const std::vector& measured, boost::optional Fs = boost::none, // boost::optional E = boost::none) const { - return ErrorVector(measured, project2(point, Fs, E)); + return ErrorVector(project2(point, Fs, E), measured); } - /// Calculate vector [z-project2(point)] of re-projection errors, from point at infinity + /// Calculate vector [project2(point)-z] of re-projection errors, from point at infinity // TODO: take Unit3 instead Vector reprojectionErrorAtInfinity(const Point3& point, const std::vector& measured) const { - return ErrorVector(measured, projectAtInfinity(point)); + return ErrorVector(projectAtInfinity(point), measured); } /** diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index f34809ae6..05ffc275c 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -75,7 +75,7 @@ TEST(CameraSet, Pinhole) { Vector4 expectedV; // reprojectionError - expectedV << 1, 2, 3, 4; + expectedV << -1, -2, -3, -4; Vector actualV = set.reprojectionError(p, measured); EXPECT(assert_equal(expectedV, actualV)); diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index a8e43003d..1e5426f33 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -115,7 +115,7 @@ TEST(PinholeSet, Pinhole) { Vector4 expectedV; // reprojectionError - expectedV << 1, 2, 3, 4; + expectedV << -1, -2, -3, -4; Vector actualV = set.reprojectionError(p, measured); EXPECT(assert_equal(expectedV, actualV)); From 4a6801cfe1d49d7bb6f9e79c4b3c5124f82f8db4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 19:29:47 -0800 Subject: [PATCH 132/964] Calibration -> CALIBRATION --- gtsam/geometry/PinholePose.h | 46 ++++++++++++++++++------------------ 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index b5daaebc5..0b7184e2b 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -30,15 +30,15 @@ namespace gtsam { * @addtogroup geometry * \nosubgrouping */ -template +template class GTSAM_EXPORT PinholeBaseK: public PinholeBase { private: - GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration); + GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION); // Get dimensions of calibration type at compile time - static const int DimK = FixedDimension::value; + static const int DimK = FixedDimension::value; public: @@ -70,7 +70,7 @@ public: } /// return calibration - virtual const Calibration& calibration() const = 0; + virtual const CALIBRATION& calibration() const = 0; /// @} /// @name Transformations and measurement functions @@ -235,13 +235,13 @@ private: * @addtogroup geometry * \nosubgrouping */ -template -class GTSAM_EXPORT PinholePose: public PinholeBaseK { +template +class GTSAM_EXPORT PinholePose: public PinholeBaseK { private: - typedef PinholeBaseK Base; ///< base class has 3D pose as private member - boost::shared_ptr K_; ///< shared pointer to fixed calibration + typedef PinholeBaseK Base; ///< base class has 3D pose as private member + boost::shared_ptr K_; ///< shared pointer to fixed calibration public: @@ -258,11 +258,11 @@ public: /** constructor with pose, uses default calibration */ explicit PinholePose(const Pose3& pose) : - Base(pose), K_(new Calibration()) { + Base(pose), K_(new CALIBRATION()) { } /** constructor with pose and calibration */ - PinholePose(const Pose3& pose, const boost::shared_ptr& K) : + PinholePose(const Pose3& pose, const boost::shared_ptr& K) : Base(pose), K_(K) { } @@ -277,14 +277,14 @@ public: * (theta 0 = looking in direction of positive X axis) * @param height camera height */ - static PinholePose Level(const boost::shared_ptr& K, + static PinholePose Level(const boost::shared_ptr& K, const Pose2& pose2, double height) { return PinholePose(Base::LevelPose(pose2, height), K); } /// PinholePose::level with default calibration static PinholePose Level(const Pose2& pose2, double height) { - return PinholePose::Level(boost::make_shared(), pose2, height); + return PinholePose::Level(boost::make_shared(), pose2, height); } /** @@ -297,8 +297,8 @@ public: * @param K optional calibration parameter */ static PinholePose Lookat(const Point3& eye, const Point3& target, - const Point3& upVector, const boost::shared_ptr& K = - boost::make_shared()) { + const Point3& upVector, const boost::shared_ptr& K = + boost::make_shared()) { return PinholePose(Base::LookatPose(eye, target, upVector), K); } @@ -308,12 +308,12 @@ public: /// Init from 6D vector explicit PinholePose(const Vector &v) : - Base(v), K_(new Calibration()) { + Base(v), K_(new CALIBRATION()) { } /// Init from Vector and calibration PinholePose(const Vector &v, const Vector &K) : - Base(v), K_(new Calibration(K)) { + Base(v), K_(new CALIBRATION(K)) { } /// @} @@ -340,7 +340,7 @@ public: } /// return calibration - virtual const Calibration& calibration() const { + virtual const CALIBRATION& calibration() const { return *K_; } @@ -390,14 +390,14 @@ private: }; // end of class PinholePose -template -struct traits > : public internal::Manifold< - PinholePose > { +template +struct traits > : public internal::Manifold< + PinholePose > { }; -template -struct traits > : public internal::Manifold< - PinholePose > { +template +struct traits > : public internal::Manifold< + PinholePose > { }; } // \ gtsam From 95e00d305200065c28743fb20a20bc380853c0cf Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 19:34:34 -0800 Subject: [PATCH 133/964] Moved project2 to its rightful place in PinholePose (as opposed to PinholeBaseK) --- gtsam/geometry/PinholePose.h | 42 ++++++++++++++++++------------------ 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 0b7184e2b..2ef008a94 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -95,27 +95,6 @@ public: return calibration().uncalibrate(pn); } - /** project a point from world coordinate to the image, w 2 derivatives - * @param pw is a point in the world coordinates - */ - Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none, - OptionalJacobian<2, 3> Dpoint = boost::none) const { - - // project to normalized coordinates - const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); - - // uncalibrate to pixel coordinates - Matrix2 Dpi_pn; - const Point2 pi = calibration().uncalibrate(pn, boost::none, - Dpose || Dpoint ? &Dpi_pn : 0); - - // If needed, apply chain rule - if (Dpose) *Dpose = Dpi_pn * (*Dpose); - if (Dpoint) *Dpoint = Dpi_pn * (*Dpoint); - - return pi; - } - /** project a point at infinity from world coordinate to the image * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) * @param Dpose is the Jacobian w.r.t. pose3 @@ -344,6 +323,27 @@ public: return *K_; } + /** project a point from world coordinate to the image, w 2 derivatives + * @param pw is a point in the world coordinates + */ + Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none, + OptionalJacobian<2, 3> Dpoint = boost::none) const { + + // project to normalized coordinates + const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); + + // uncalibrate to pixel coordinates + Matrix2 Dpi_pn; + const Point2 pi = calibration().uncalibrate(pn, boost::none, + Dpose || Dpoint ? &Dpi_pn : 0); + + // If needed, apply chain rule + if (Dpose) *Dpose = Dpi_pn * (*Dpose); + if (Dpoint) *Dpoint = Dpi_pn * (*Dpoint); + + return pi; + } + /// @} /// @name Manifold /// @{ From f3f09b17a76079e9deb854a15eb514c250e27634 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 20:26:47 -0800 Subject: [PATCH 134/964] project_to_camera for Unit3 (points at infinity) --- gtsam/geometry/CalibratedCamera.cpp | 13 +++++++++++ gtsam/geometry/CalibratedCamera.h | 8 +++++++ gtsam/geometry/tests/testCalibratedCamera.cpp | 22 ++++++++++++++++--- 3 files changed, 40 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/CalibratedCamera.cpp b/gtsam/geometry/CalibratedCamera.cpp index 33f2c84eb..213cae978 100644 --- a/gtsam/geometry/CalibratedCamera.cpp +++ b/gtsam/geometry/CalibratedCamera.cpp @@ -94,6 +94,19 @@ Point2 PinholeBase::project_to_camera(const Point3& pc, return Point2(u, v); } +/* ************************************************************************* */ +Point2 PinholeBase::project_to_camera(const Unit3& pc, + OptionalJacobian<2, 2> Dpoint) { + if (Dpoint) { + Matrix32 Dpoint3_pc; + Matrix23 Duv_point3; + Point2 uv = project_to_camera(pc.point3(Dpoint3_pc), Duv_point3); + *Dpoint = Duv_point3 * Dpoint3_pc; + return uv; + } else + return project_to_camera(pc.point3()); +} + /* ************************************************************************* */ pair PinholeBase::projectSafe(const Point3& pw) const { const Point3 pc = pose().transform_to(pw); diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 35789053e..56a42f3de 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -167,6 +167,14 @@ public: static Point2 project_to_camera(const Point3& pc, // OptionalJacobian<2, 3> Dpoint = boost::none); + /** + * Project from 3D point at infinity in camera coordinates into image + * Does *not* throw a CheiralityException, even if pc behind image plane + * @param pc point in camera coordinates + */ + static Point2 project_to_camera(const Unit3& pc, // + OptionalJacobian<2, 2> Dpoint = boost::none); + /// Project a point into the image and check depth std::pair projectSafe(const Point3& pw) const; diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index b1e265266..3b2f35031 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -88,12 +88,28 @@ TEST( CalibratedCamera, project) } /* ************************************************************************* */ +static Point2 project_to_camera1(const Point3& point) { + return PinholeBase::project_to_camera(point); +} + TEST( CalibratedCamera, Dproject_to_camera1) { - Point3 pp(155,233,131); + Point3 pp(155, 233, 131); Matrix test1; CalibratedCamera::project_to_camera(pp, test1); - Matrix test2 = numericalDerivative11( - boost::bind(CalibratedCamera::project_to_camera, _1, boost::none), pp); + Matrix test2 = numericalDerivative11(project_to_camera1, pp); + CHECK(assert_equal(test1, test2)); +} + +/* ************************************************************************* */ +static Point2 project_to_camera2(const Unit3& point) { + return PinholeBase::project_to_camera(point); +} + +TEST( CalibratedCamera, Dproject_to_cameraInfinity) { + Unit3 pp(0, 0, 1000); + Matrix test1; + CalibratedCamera::project_to_camera(pp, test1); + Matrix test2 = numericalDerivative11(project_to_camera2, pp); CHECK(assert_equal(test1, test2)); } From 3f94791b3bba015d49da7cac8679665b6451fbf1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 22:10:30 -0800 Subject: [PATCH 135/964] project2 of point at infinity --- gtsam/geometry/CalibratedCamera.cpp | 29 ++++++++++++++- gtsam/geometry/CalibratedCamera.h | 9 +++++ gtsam/geometry/tests/testCalibratedCamera.cpp | 37 +++++++++++++++++-- 3 files changed, 71 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/CalibratedCamera.cpp b/gtsam/geometry/CalibratedCamera.cpp index 213cae978..fb518f2e3 100644 --- a/gtsam/geometry/CalibratedCamera.cpp +++ b/gtsam/geometry/CalibratedCamera.cpp @@ -122,7 +122,7 @@ Point2 PinholeBase::project2(const Point3& point, OptionalJacobian<2, 6> Dpose, const Point3 q = pose().transform_to(point, boost::none, Dpoint ? &Rt : 0); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION if (q.z() <= 0) - throw CheiralityException(); + throw CheiralityException(); #endif const Point2 pn = project_to_camera(q); @@ -136,6 +136,33 @@ Point2 PinholeBase::project2(const Point3& point, OptionalJacobian<2, 6> Dpose, return pn; } +/* ************************************************************************* */ +Point2 PinholeBase::project2(const Unit3& pw, OptionalJacobian<2, 6> Dpose, + OptionalJacobian<2, 2> Dpoint) const { + + // world to camera coordinate + Matrix23 Dpc_rot; + Matrix2 Dpc_point; + const Unit3 pc = pose().rotation().unrotate(pw, Dpose ? &Dpc_rot : 0, + Dpose ? &Dpc_point : 0); + + // camera to normalized image coordinate + Matrix2 Dpn_pc; + const Point2 pn = PinholeBase::project_to_camera(pc, + Dpose || Dpoint ? &Dpn_pc : 0); + + // chain the Jacobian matrices + if (Dpose) { + // only rotation is important + Matrix26 Dpc_pose; + Dpc_pose.setZero(); + Dpc_pose.leftCols<3>() = Dpc_rot; + *Dpose = Dpn_pc * Dpc_pose; // 2x2 * 2x6 + } + if (Dpoint) + *Dpoint = Dpn_pc * Dpc_point; // 2x2 * 2*2 + return pn; +} /* ************************************************************************* */ Point3 PinholeBase::backproject_from_camera(const Point2& p, const double depth) { diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 56a42f3de..e43cafcc2 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -187,6 +187,15 @@ public: Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose = boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const; + /** + * Project point at infinity into the image + * Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION + * @param point 3D point in world coordinates + * @return the intrinsic coordinates of the projected point + */ + Point2 project2(const Unit3& point, OptionalJacobian<2, 6> Dpose = + boost::none, OptionalJacobian<2, 2> Dpoint = boost::none) const; + /// backproject a 2-dimensional point to a 3-dimensional point at given depth static Point3 backproject_from_camera(const Point2& p, const double depth); diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index 3b2f35031..af4c65127 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -105,11 +105,12 @@ static Point2 project_to_camera2(const Unit3& point) { return PinholeBase::project_to_camera(point); } +Unit3 pointAtInfinity(0, 0, 1000); TEST( CalibratedCamera, Dproject_to_cameraInfinity) { - Unit3 pp(0, 0, 1000); Matrix test1; - CalibratedCamera::project_to_camera(pp, test1); - Matrix test2 = numericalDerivative11(project_to_camera2, pp); + CalibratedCamera::project_to_camera(pointAtInfinity, test1); + Matrix test2 = numericalDerivative11(project_to_camera2, + pointAtInfinity); CHECK(assert_equal(test1, test2)); } @@ -144,6 +145,36 @@ TEST( CalibratedCamera, Dproject_point_pose2) CHECK(assert_equal(numerical_point, Dpoint, 1e-7)); } +/* ************************************************************************* */ +static Point2 projectAtInfinity(const CalibratedCamera& camera, const Unit3& point) { + return camera.project2(point); +} + +TEST( CalibratedCamera, Dproject_point_pose_infinity) +{ + Matrix Dpose, Dpoint; + Point2 result = camera.project2(pointAtInfinity, Dpose, Dpoint); + Matrix numerical_pose = numericalDerivative21(projectAtInfinity, camera, pointAtInfinity); + Matrix numerical_point = numericalDerivative22(projectAtInfinity, camera, pointAtInfinity); + CHECK(assert_equal(Point2(), result)); + CHECK(assert_equal(numerical_pose, Dpose, 1e-7)); + CHECK(assert_equal(numerical_point, Dpoint, 1e-7)); +} + +/* ************************************************************************* */ +// Add a test with more arbitrary rotation +TEST( CalibratedCamera, Dproject_point_pose2_infinity) +{ + static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); + static const CalibratedCamera camera(pose1); + Matrix Dpose, Dpoint; + camera.project2(pointAtInfinity, Dpose, Dpoint); + Matrix numerical_pose = numericalDerivative21(projectAtInfinity, camera, pointAtInfinity); + Matrix numerical_point = numericalDerivative22(projectAtInfinity, camera, pointAtInfinity); + CHECK(assert_equal(numerical_pose, Dpose, 1e-7)); + CHECK(assert_equal(numerical_point, Dpoint, 1e-7)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 5cc4513ddb72ed7b0dab51d885f6086d26ebce66 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 22:14:03 -0800 Subject: [PATCH 136/964] PinholeBaseK::project and PinholePose::project2 of Unit3 --- gtsam/geometry/PinholePose.h | 90 ++++++++++++++++-------- gtsam/geometry/tests/testPinholePose.cpp | 79 +++++++++++++-------- 2 files changed, 110 insertions(+), 59 deletions(-) diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 2ef008a94..c23cbd4f5 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -95,45 +95,66 @@ public: return calibration().uncalibrate(pn); } + /** project a point from world coordinate to the image + * @param pw is a point at infinity in the world coordinates + */ + Point2 project(const Unit3& pw) const { + const Unit3 pc = pose().rotation().unrotate(pw); // convert to camera frame + const Point2 pn = PinholeBase::project_to_camera(pc); + return calibration().uncalibrate(pn); + } + + /** project a point from world coordinate to the image + * @param pw is a point in world coordinates + * @param Dpose is the Jacobian w.r.t. pose3 + * @param Dpoint is the Jacobian w.r.t. point3 + * @param Dcal is the Jacobian w.r.t. calibration + */ + Point2 project(const Point3& pw, OptionalJacobian<2, 6> Dpose, + OptionalJacobian<2, 3> Dpoint = boost::none, + OptionalJacobian<2, DimK> Dcal = boost::none) const { + + // project to normalized coordinates + const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); + + // uncalibrate to pixel coordinates + Matrix2 Dpi_pn; + const Point2 pi = calibration().uncalibrate(pn, Dcal, + Dpose || Dpoint ? &Dpi_pn : 0); + + // If needed, apply chain rule + if (Dpose) + *Dpose = Dpi_pn * *Dpose; + if (Dpoint) + *Dpoint = Dpi_pn * *Dpoint; + + return pi; + } + /** project a point at infinity from world coordinate to the image * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) * @param Dpose is the Jacobian w.r.t. pose3 * @param Dpoint is the Jacobian w.r.t. point3 * @param Dcal is the Jacobian w.r.t. calibration */ - Point2 projectPointAtInfinity(const Point3& pw, OptionalJacobian<2, 6> Dpose = - boost::none, OptionalJacobian<2, 2> Dpoint = boost::none, + Point2 project(const Unit3& pw, OptionalJacobian<2, 6> Dpose, + OptionalJacobian<2, 2> Dpoint = boost::none, OptionalJacobian<2, DimK> Dcal = boost::none) const { - if (!Dpose && !Dpoint && !Dcal) { - const Point3 pc = this->pose().rotation().unrotate(pw); // get direction in camera frame (translation does not matter) - const Point2 pn = PinholeBase::project_to_camera(pc);// project the point to the camera - return calibration().uncalibrate(pn); - } + // project to normalized coordinates + const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); - // world to camera coordinate - Matrix3 Dpc_rot, Dpc_point; - const Point3 pc = this->pose().rotation().unrotate(pw, Dpc_rot, Dpc_point); + // uncalibrate to pixel coordinates + Matrix2 Dpi_pn; + const Point2 pi = calibration().uncalibrate(pn, Dcal, + Dpose || Dpoint ? &Dpi_pn : 0); - // only rotation is important - Matrix36 Dpc_pose; - Dpc_pose.setZero(); - Dpc_pose.leftCols<3>() = Dpc_rot; - - // camera to normalized image coordinate - Matrix23 Dpn_pc;// 2*3 - const Point2 pn = PinholeBase::project_to_camera(pc, Dpn_pc); - - // uncalibration - Matrix2 Dpi_pn;// 2*2 - const Point2 pi = calibration().uncalibrate(pn, Dcal, Dpi_pn); - - // chain the Jacobian matrices - const Matrix23 Dpi_pc = Dpi_pn * Dpn_pc; + // If needed, apply chain rule if (Dpose) - *Dpose = Dpi_pc * Dpc_pose; + *Dpose = Dpi_pn * *Dpose; if (Dpoint) - *Dpoint = (Dpi_pc * Dpc_point).leftCols<2>();// only 2dof are important for the point (direction-only) + *Dpoint = Dpi_pn * *Dpoint; + return pi; } @@ -144,9 +165,9 @@ public: } /// backproject a 2-dimensional point to a 3-dimensional point at infinity - Point3 backprojectPointAtInfinity(const Point2& p) const { + Unit3 backprojectPointAtInfinity(const Point2& p) const { const Point2 pn = calibration().calibrate(p); - const Point3 pc(pn.x(), pn.y(), 1.0); //by convention the last element is 1 + const Unit3 pc(pn.x(), pn.y(), 1.0); //by convention the last element is 1 return pose().rotation().rotate(pc); } @@ -344,6 +365,17 @@ public: return pi; } + /** project a point at infinity from world coordinate to the image, 2 derivatives only + * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) + * @param Dpose is the Jacobian w.r.t. the whole camera (realy only the pose) + * @param Dpoint is the Jacobian w.r.t. point3 + * TODO should use Unit3 + */ + Point2 project2(const Unit3& pw, OptionalJacobian<2, 6> Dpose = boost::none, + OptionalJacobian<2, 2> Dpoint = boost::none) const { + return Base::project(pw, Dpose, Dpoint); + } + /// @} /// @name Manifold /// @{ diff --git a/gtsam/geometry/tests/testPinholePose.cpp b/gtsam/geometry/tests/testPinholePose.cpp index 411273c1f..dc294899f 100644 --- a/gtsam/geometry/tests/testPinholePose.cpp +++ b/gtsam/geometry/tests/testPinholePose.cpp @@ -46,10 +46,10 @@ static const Point3 point2(-0.08, 0.08, 0.0); static const Point3 point3( 0.08, 0.08, 0.0); static const Point3 point4( 0.08,-0.08, 0.0); -static const Point3 point1_inf(-0.16,-0.16, -1.0); -static const Point3 point2_inf(-0.16, 0.16, -1.0); -static const Point3 point3_inf( 0.16, 0.16, -1.0); -static const Point3 point4_inf( 0.16,-0.16, -1.0); +static const Unit3 point1_inf(-0.16,-0.16, -1.0); +static const Unit3 point2_inf(-0.16, 0.16, -1.0); +static const Unit3 point3_inf( 0.16, 0.16, -1.0); +static const Unit3 point4_inf( 0.16,-0.16, -1.0); /* ************************************************************************* */ TEST( PinholePose, constructor) @@ -144,11 +144,11 @@ TEST( PinholePose, Dproject) { Matrix Dpose, Dpoint; Point2 result = camera.project2(point1, Dpose, Dpoint); - Matrix numerical_pose = numericalDerivative31(project3, pose, point1, K); - Matrix Hexpected2 = numericalDerivative32(project3, pose, point1, K); + Matrix expectedDcamera = numericalDerivative31(project3, pose, point1, K); + Matrix expectedDpoint = numericalDerivative32(project3, pose, point1, K); EXPECT(assert_equal(Point2(-100, 100), result)); - EXPECT(assert_equal(numerical_pose, Dpose, 1e-7)); - EXPECT(assert_equal(Hexpected2, Dpoint, 1e-7)); + EXPECT(assert_equal(expectedDcamera, Dpose, 1e-7)); + EXPECT(assert_equal(expectedDpoint, Dpoint, 1e-7)); } /* ************************************************************************* */ @@ -161,11 +161,11 @@ TEST( PinholePose, Dproject2) { Matrix Dcamera, Dpoint; Point2 result = camera.project2(point1, Dcamera, Dpoint); - Matrix Hexpected1 = numericalDerivative21(project4, camera, point1); - Matrix Hexpected2 = numericalDerivative22(project4, camera, point1); + Matrix expectedDcamera = numericalDerivative21(project4, camera, point1); + Matrix expectedDpoint = numericalDerivative22(project4, camera, point1); EXPECT(assert_equal(result, Point2(-100, 100) )); - EXPECT(assert_equal(Hexpected1, Dcamera, 1e-7)); - EXPECT(assert_equal(Hexpected2, Dpoint, 1e-7)); + EXPECT(assert_equal(expectedDcamera, Dcamera, 1e-7)); + EXPECT(assert_equal(expectedDpoint, Dpoint, 1e-7)); } /* ************************************************************************* */ @@ -176,12 +176,31 @@ TEST( CalibratedCamera, Dproject3) static const Camera camera(pose1); Matrix Dpose, Dpoint; camera.project2(point1, Dpose, Dpoint); - Matrix numerical_pose = numericalDerivative21(project4, camera, point1); + Matrix expectedDcamera = numericalDerivative21(project4, camera, point1); Matrix numerical_point = numericalDerivative22(project4, camera, point1); - CHECK(assert_equal(numerical_pose, Dpose, 1e-7)); + CHECK(assert_equal(expectedDcamera, Dpose, 1e-7)); CHECK(assert_equal(numerical_point, Dpoint, 1e-7)); } +/* ************************************************************************* */ +static Point2 project(const Pose3& pose, const Unit3& pointAtInfinity, + const Cal3_S2::shared_ptr& cal) { + return Camera(pose, cal).project(pointAtInfinity); +} + +/* ************************************************************************* */ +TEST( PinholePose, DprojectAtInfinity2) +{ + Unit3 pointAtInfinity(0,0,1000); + Matrix Dpose, Dpoint; + Point2 result = camera.project2(pointAtInfinity, Dpose, Dpoint); + Matrix expectedDcamera = numericalDerivative31(project, pose, pointAtInfinity, K); + Matrix expectedDpoint = numericalDerivative32(project, pose, pointAtInfinity, K); + EXPECT(assert_equal(Point2(0,0), result)); + EXPECT(assert_equal(expectedDcamera, Dpose, 1e-7)); + EXPECT(assert_equal(expectedDpoint, Dpoint, 1e-7)); +} + /* ************************************************************************* */ static double range0(const Camera& camera, const Point3& point) { return camera.range(point); @@ -191,12 +210,12 @@ static double range0(const Camera& camera, const Point3& point) { TEST( PinholePose, range0) { Matrix D1; Matrix D2; double result = camera.range(point1, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range0, camera, point1); - Matrix Hexpected2 = numericalDerivative22(range0, camera, point1); + Matrix expectedDcamera = numericalDerivative21(range0, camera, point1); + Matrix expectedDpoint = numericalDerivative22(range0, camera, point1); EXPECT_DOUBLES_EQUAL(point1.distance(camera.pose().translation()), result, 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); + EXPECT(assert_equal(expectedDcamera, D1, 1e-7)); + EXPECT(assert_equal(expectedDpoint, D2, 1e-7)); } /* ************************************************************************* */ @@ -208,11 +227,11 @@ static double range1(const Camera& camera, const Pose3& pose) { TEST( PinholePose, range1) { Matrix D1; Matrix D2; double result = camera.range(pose1, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range1, camera, pose1); - Matrix Hexpected2 = numericalDerivative22(range1, camera, pose1); + Matrix expectedDcamera = numericalDerivative21(range1, camera, pose1); + Matrix expectedDpoint = numericalDerivative22(range1, camera, pose1); EXPECT_DOUBLES_EQUAL(1, result, 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); + EXPECT(assert_equal(expectedDcamera, D1, 1e-7)); + EXPECT(assert_equal(expectedDpoint, D2, 1e-7)); } /* ************************************************************************* */ @@ -228,11 +247,11 @@ static double range2(const Camera& camera, const Camera2& camera2) { TEST( PinholePose, range2) { Matrix D1; Matrix D2; double result = camera.range(camera2, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range2, camera, camera2); - Matrix Hexpected2 = numericalDerivative22(range2, camera, camera2); + Matrix expectedDcamera = numericalDerivative21(range2, camera, camera2); + Matrix expectedDpoint = numericalDerivative22(range2, camera, camera2); EXPECT_DOUBLES_EQUAL(1, result, 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); + EXPECT(assert_equal(expectedDcamera, D1, 1e-7)); + EXPECT(assert_equal(expectedDpoint, D2, 1e-7)); } /* ************************************************************************* */ @@ -245,11 +264,11 @@ static double range3(const Camera& camera, const CalibratedCamera& camera3) { TEST( PinholePose, range3) { Matrix D1; Matrix D2; double result = camera.range(camera3, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range3, camera, camera3); - Matrix Hexpected2 = numericalDerivative22(range3, camera, camera3); + Matrix expectedDcamera = numericalDerivative21(range3, camera, camera3); + Matrix expectedDpoint = numericalDerivative22(range3, camera, camera3); EXPECT_DOUBLES_EQUAL(1, result, 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); + EXPECT(assert_equal(expectedDcamera, D1, 1e-7)); + EXPECT(assert_equal(expectedDpoint, D2, 1e-7)); } /* ************************************************************************* */ From 6f36bbf4565be0f1bcdb15d817e516a70f53f960 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 22:16:47 -0800 Subject: [PATCH 137/964] Better project2 for Point3 and (new) Unit3 --- gtsam/geometry/PinholeCamera.h | 60 +++++++--------------- gtsam/geometry/tests/testPinholeCamera.cpp | 28 +++++----- 2 files changed, 32 insertions(+), 56 deletions(-) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 632f6de86..e900d5a85 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -200,57 +200,33 @@ public: typedef Eigen::Matrix Matrix2K; - /** project a point from world coordinate to the image - * @param pw is a point in world coordinates - * @param Dpose is the Jacobian w.r.t. pose3 - * @param Dpoint is the Jacobian w.r.t. point3 - * @param Dcal is the Jacobian w.r.t. calibration + /** project a point from world coordinate to the image, fixed Jacobians + * @param pw is a point in the world coordinate */ - Point2 project(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none, - OptionalJacobian<2, 3> Dpoint = boost::none, - OptionalJacobian<2, DimK> Dcal = boost::none) const { - - // project to normalized coordinates - const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); - - // uncalibrate to pixel coordinates - Matrix2 Dpi_pn; - const Point2 pi = calibration().uncalibrate(pn, Dcal, - Dpose || Dpoint ? &Dpi_pn : 0); - - // If needed, apply chain rule - if (Dpose) - *Dpose = Dpi_pn * *Dpose; - if (Dpoint) - *Dpoint = Dpi_pn * *Dpoint; - + Point2 project2(const Point3& pw, OptionalJacobian<2, dimension> Dcamera = + boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const { + // We just call 3-derivative version in Base + Matrix26 Dpose; + Eigen::Matrix Dcal; + Point2 pi = Base::project(pw, Dcamera ? &Dpose : 0, Dpoint, + Dcamera ? &Dcal : 0); + if (Dcamera) + *Dcamera << Dpose, Dcal; return pi; } /** project a point from world coordinate to the image, fixed Jacobians * @param pw is a point in the world coordinate */ - Point2 project2( - const Point3& pw, // - OptionalJacobian<2, dimension> Dcamera = boost::none, - OptionalJacobian<2, 3> Dpoint = boost::none) const { - - // project to normalized coordinates + Point2 project2(const Unit3& pw, OptionalJacobian<2, dimension> Dcamera = + boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const { + // We just call 3-derivative version in Base Matrix26 Dpose; - const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); - - // uncalibrate to pixel coordinates - Matrix2K Dcal; - Matrix2 Dpi_pn; - const Point2 pi = calibration().uncalibrate(pn, Dcamera ? &Dcal : 0, - Dcamera || Dpoint ? &Dpi_pn : 0); - - // If needed, calculate derivatives + Eigen::Matrix Dcal; + Point2 pi = Base::project(pw, Dcamera ? &Dpose : 0, Dpoint, + Dcamera ? &Dcal : 0); if (Dcamera) - *Dcamera << Dpi_pn * Dpose, Dcal; - if (Dpoint) - *Dpoint = Dpi_pn * (*Dpoint); - + *Dcamera << Dpose, Dcal; return pi; } diff --git a/gtsam/geometry/tests/testPinholeCamera.cpp b/gtsam/geometry/tests/testPinholeCamera.cpp index 0e610d8d6..74bc4ca2a 100644 --- a/gtsam/geometry/tests/testPinholeCamera.cpp +++ b/gtsam/geometry/tests/testPinholeCamera.cpp @@ -45,10 +45,10 @@ static const Point3 point2(-0.08, 0.08, 0.0); static const Point3 point3( 0.08, 0.08, 0.0); static const Point3 point4( 0.08,-0.08, 0.0); -static const Point3 point1_inf(-0.16,-0.16, -1.0); -static const Point3 point2_inf(-0.16, 0.16, -1.0); -static const Point3 point3_inf( 0.16, 0.16, -1.0); -static const Point3 point4_inf( 0.16,-0.16, -1.0); +static const Unit3 point1_inf(-0.16,-0.16, -1.0); +static const Unit3 point2_inf(-0.16, 0.16, -1.0); +static const Unit3 point3_inf( 0.16, 0.16, -1.0); +static const Unit3 point4_inf( 0.16,-0.16, -1.0); /* ************************************************************************* */ TEST( PinholeCamera, constructor) @@ -154,9 +154,9 @@ TEST( PinholeCamera, backprojectInfinity2) Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down Camera camera(Pose3(rot, origin), K); - Point3 actual = camera.backprojectPointAtInfinity(Point2()); - Point3 expected(0., 1., 0.); - Point2 x = camera.projectPointAtInfinity(expected); + Unit3 actual = camera.backprojectPointAtInfinity(Point2()); + Unit3 expected(0., 1., 0.); + Point2 x = camera.project(expected); EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(Point2(), x)); @@ -169,9 +169,9 @@ TEST( PinholeCamera, backprojectInfinity3) Rot3 rot(1., 0., 0., 0., 1., 0., 0., 0., 1.); // identity Camera camera(Pose3(rot, origin), K); - Point3 actual = camera.backprojectPointAtInfinity(Point2()); - Point3 expected(0., 0., 1.); - Point2 x = camera.projectPointAtInfinity(expected); + Unit3 actual = camera.backprojectPointAtInfinity(Point2()); + Unit3 expected(0., 0., 1.); + Point2 x = camera.project(expected); EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(Point2(), x)); @@ -197,17 +197,17 @@ TEST( PinholeCamera, Dproject) } /* ************************************************************************* */ -static Point2 projectInfinity3(const Pose3& pose, const Point3& point3D, const Cal3_S2& cal) { - return Camera(pose,cal).projectPointAtInfinity(point3D); +static Point2 projectInfinity3(const Pose3& pose, const Unit3& point3D, const Cal3_S2& cal) { + return Camera(pose,cal).project(point3D); } TEST( PinholeCamera, Dproject_Infinity) { Matrix Dpose, Dpoint, Dcal; - Point3 point3D(point1.x(), point1.y(), -10.0); // a point in front of the camera1 + Unit3 point3D(point1.x(), point1.y(), -10.0); // a point in front of the camera1 // test Projection - Point2 actual = camera.projectPointAtInfinity(point3D, Dpose, Dpoint, Dcal); + Point2 actual = camera.project(point3D, Dpose, Dpoint, Dcal); Point2 expected(-5.0, 5.0); EXPECT(assert_equal(actual, expected, 1e-7)); From 4594c2dee550af2484f397bc3292249932332a57 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 22:20:51 -0800 Subject: [PATCH 138/964] Templated instead of two identical functions --- gtsam/geometry/PinholeCamera.h | 24 +++--------- gtsam/geometry/PinholePose.h | 68 ++++++---------------------------- 2 files changed, 17 insertions(+), 75 deletions(-) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index e900d5a85..4775e732f 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -200,26 +200,14 @@ public: typedef Eigen::Matrix Matrix2K; - /** project a point from world coordinate to the image, fixed Jacobians + /** project a point from world coordinate to the image (possibly a Unit3) * @param pw is a point in the world coordinate */ - Point2 project2(const Point3& pw, OptionalJacobian<2, dimension> Dcamera = - boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const { - // We just call 3-derivative version in Base - Matrix26 Dpose; - Eigen::Matrix Dcal; - Point2 pi = Base::project(pw, Dcamera ? &Dpose : 0, Dpoint, - Dcamera ? &Dcal : 0); - if (Dcamera) - *Dcamera << Dpose, Dcal; - return pi; - } - - /** project a point from world coordinate to the image, fixed Jacobians - * @param pw is a point in the world coordinate - */ - Point2 project2(const Unit3& pw, OptionalJacobian<2, dimension> Dcamera = - boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const { + template + Point2 project2( + const POINT& pw, // + OptionalJacobian<2, dimension> Dcamera = boost::none, + OptionalJacobian<2, FixedDimension::value> Dpoint = boost::none) const { // We just call 3-derivative version in Base Matrix26 Dpose; Eigen::Matrix Dcal; diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index c23cbd4f5..a2449871a 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -104,14 +104,15 @@ public: return calibration().uncalibrate(pn); } - /** project a point from world coordinate to the image + /** project a point (possibly at infinity) from world coordinate to the image * @param pw is a point in world coordinates * @param Dpose is the Jacobian w.r.t. pose3 * @param Dpoint is the Jacobian w.r.t. point3 * @param Dcal is the Jacobian w.r.t. calibration */ - Point2 project(const Point3& pw, OptionalJacobian<2, 6> Dpose, - OptionalJacobian<2, 3> Dpoint = boost::none, + template + Point2 project(const POINT& pw, OptionalJacobian<2, 6> Dpose, + OptionalJacobian<2, FixedDimension::value> Dpoint = boost::none, OptionalJacobian<2, DimK> Dcal = boost::none) const { // project to normalized coordinates @@ -124,36 +125,9 @@ public: // If needed, apply chain rule if (Dpose) - *Dpose = Dpi_pn * *Dpose; + *Dpose = Dpi_pn * *Dpose; if (Dpoint) - *Dpoint = Dpi_pn * *Dpoint; - - return pi; - } - - /** project a point at infinity from world coordinate to the image - * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) - * @param Dpose is the Jacobian w.r.t. pose3 - * @param Dpoint is the Jacobian w.r.t. point3 - * @param Dcal is the Jacobian w.r.t. calibration - */ - Point2 project(const Unit3& pw, OptionalJacobian<2, 6> Dpose, - OptionalJacobian<2, 2> Dpoint = boost::none, - OptionalJacobian<2, DimK> Dcal = boost::none) const { - - // project to normalized coordinates - const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); - - // uncalibrate to pixel coordinates - Matrix2 Dpi_pn; - const Point2 pi = calibration().uncalibrate(pn, Dcal, - Dpose || Dpoint ? &Dpi_pn : 0); - - // If needed, apply chain rule - if (Dpose) - *Dpose = Dpi_pn * *Dpose; - if (Dpoint) - *Dpoint = Dpi_pn * *Dpoint; + *Dpoint = Dpi_pn * *Dpoint; return pi; } @@ -344,35 +318,15 @@ public: return *K_; } - /** project a point from world coordinate to the image, w 2 derivatives - * @param pw is a point in the world coordinates - */ - Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none, - OptionalJacobian<2, 3> Dpoint = boost::none) const { - - // project to normalized coordinates - const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); - - // uncalibrate to pixel coordinates - Matrix2 Dpi_pn; - const Point2 pi = calibration().uncalibrate(pn, boost::none, - Dpose || Dpoint ? &Dpi_pn : 0); - - // If needed, apply chain rule - if (Dpose) *Dpose = Dpi_pn * (*Dpose); - if (Dpoint) *Dpoint = Dpi_pn * (*Dpoint); - - return pi; - } - - /** project a point at infinity from world coordinate to the image, 2 derivatives only - * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) + /** project a point (possibly at infinity) from world coordinate to the image, 2 derivatives only + * @param pw is a point in world coordinates * @param Dpose is the Jacobian w.r.t. the whole camera (realy only the pose) * @param Dpoint is the Jacobian w.r.t. point3 * TODO should use Unit3 */ - Point2 project2(const Unit3& pw, OptionalJacobian<2, 6> Dpose = boost::none, - OptionalJacobian<2, 2> Dpoint = boost::none) const { + template + Point2 project2(const POINT& pw, OptionalJacobian<2, 6> Dpose = boost::none, + OptionalJacobian<2, FixedDimension::value> Dpoint = boost::none) const { return Base::project(pw, Dpose, Dpoint); } From 7366549c7f69de959f93807d36c877447d6844f6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 22:44:05 -0800 Subject: [PATCH 139/964] project2 on Unit3, with derivatives --- gtsam/geometry/CameraSet.h | 43 ++++++++++++++------- gtsam/geometry/tests/testCameraSet.cpp | 19 +++++++-- gtsam/geometry/tests/testPinholeSet.cpp | 51 ++++++++++++++++--------- 3 files changed, 79 insertions(+), 34 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 3bbcb8c0d..123d45e1e 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -57,7 +57,7 @@ protected: Vector b(ZDim * m); for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { Z e = predicted[i] - measured[i]; - b.segment(row) = e.vector(); + b.segment < ZDim > (row) = e.vector(); } return b; } @@ -109,6 +109,8 @@ public: // Allocate derivatives if (E) E->resize(ZDim * m, 3); + if (Fs) + Fs->resize(m); // Project and fill derivatives for (size_t i = 0; i < m; i++) { @@ -116,7 +118,7 @@ public: Eigen::Matrix Ei; z[i] = this->at(i).project2(point, Fs ? &Fi : 0, E ? &Ei : 0); if (Fs) - Fs->push_back(Fi); + (*Fs)[i] = Fi; if (E) E->block(ZDim * i, 0) = Ei; } @@ -125,18 +127,33 @@ public: } /** - * Project a point, with derivatives in this, point, and calibration + * Project a point at infinity, with derivatives in this, point, and calibration * throws CheiralityException */ - std::vector projectAtInfinity(const Point3& point) const { + std::vector project2(const Unit3& point, // + boost::optional Fs = boost::none, // + boost::optional E = boost::none) const { // Allocate result size_t m = this->size(); std::vector z(m); + // Allocate derivatives + if (E) + E->resize(ZDim * m, 2); + if (Fs) + Fs->resize(m); + // Project and fill derivatives - for (size_t i = 0; i < m; i++) - z[i] = this->at(i).projectPointAtInfinity(point); + for (size_t i = 0; i < m; i++) { + MatrixZD Fi; + Eigen::Matrix Ei; + z[i] = this->at(i).project2(point, Fs ? &Fi : 0, E ? &Ei : 0); + if (Fs) + (*Fs)[i] = Fi; + if (E) + E->block(ZDim * i, 0) = Ei; + } return z; } @@ -149,10 +166,10 @@ public: } /// Calculate vector [project2(point)-z] of re-projection errors, from point at infinity - // TODO: take Unit3 instead - Vector reprojectionErrorAtInfinity(const Point3& point, - const std::vector& measured) const { - return ErrorVector(projectAtInfinity(point), measured); + Vector reprojectionError(const Unit3& point, const std::vector& measured, + boost::optional Fs = boost::none, // + boost::optional E = boost::none) const { + return ErrorVector(project2(point,Fs,E), measured); } /** @@ -180,7 +197,7 @@ public: const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; // D = (Dx2) * ZDim - augmentedHessian(i, m) = Fi.transpose() * b.segment(ZDim * i) // F' * b + augmentedHessian(i, m) = Fi.transpose() * b.segment < ZDim > (ZDim * i) // F' * b - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) @@ -212,7 +229,7 @@ public: assert(keys.size()==Fs.size()); assert(keys.size()<=allKeys.size()); - + FastMap KeySlotMap; for (size_t slot = 0; slot < allKeys.size(); slot++) KeySlotMap.insert(std::make_pair(allKeys[slot], slot)); @@ -245,7 +262,7 @@ public: // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); // add contribution of current factor augmentedHessian(aug_i, M) = augmentedHessian(aug_i, M).knownOffDiagonal() - + Fi.transpose() * b.segment(ZDim * i) // F' * b + + Fi.transpose() * b.segment < ZDim > (ZDim * i) // F' * b - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index 05ffc275c..0afa04411 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -50,12 +50,12 @@ TEST(CameraSet, Pinhole) { EXPECT(assert_equal(expected, z[1])); // Calculate expected derivatives using Pinhole - Matrix43 actualE; + Matrix actualE; Matrix29 F1; { Matrix23 E1; - Matrix23 H1; camera.project2(p, F1, E1); + actualE.resize(4,3); actualE << E1, E1; } @@ -114,11 +114,22 @@ TEST(CameraSet, Pinhole) { EXPECT(assert_equal((Matrix )(2.0 * schur + A), actualReduced.matrix())); // reprojectionErrorAtInfinity + Unit3 pointAtInfinity(0, 0, 1000); EXPECT( - assert_equal(Point3(0, 0, 1), + assert_equal(pointAtInfinity, camera.backprojectPointAtInfinity(Point2()))); - actualV = set.reprojectionErrorAtInfinity(p, measured); + actualV = set.reprojectionError(pointAtInfinity, measured, Fs, E); EXPECT(assert_equal(expectedV, actualV)); + LONGS_EQUAL(2, Fs.size()); + { + Matrix22 E1; + camera.project2(pointAtInfinity, F1, E1); + actualE.resize(4,2); + actualE << E1, E1; + } + EXPECT(assert_equal(F1, Fs[0])); + EXPECT(assert_equal(F1, Fs[1])); + EXPECT(assert_equal(actualE, E)); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index 1e5426f33..b8f001f1c 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -53,12 +53,12 @@ TEST(PinholeSet, Stereo) { } // Check computed derivatives - PinholeSet::FBlocks F; + PinholeSet::FBlocks Fs; Matrix E; - set.project2(p, F, E); - LONGS_EQUAL(2, F.size()); - EXPECT(assert_equal(F1, F[0])); - EXPECT(assert_equal(F1, F[1])); + set.project2(p, Fs, E); + LONGS_EQUAL(2, Fs.size()); + EXPECT(assert_equal(F1, Fs[0])); + EXPECT(assert_equal(F1, Fs[1])); EXPECT(assert_equal(actualE, E)); // Instantiate triangulateSafe @@ -90,23 +90,25 @@ TEST(PinholeSet, Pinhole) { EXPECT(assert_equal(expected, z[1])); // Calculate expected derivatives using Pinhole - Matrix43 actualE; + Matrix actualE; Matrix F1; { Matrix23 E1; - Matrix23 H1; camera.project2(p, F1, E1); + actualE.resize(4, 3); actualE << E1, E1; } // Check computed derivatives - PinholeSet::FBlocks F; - Matrix E, H; - set.project2(p, F, E); - LONGS_EQUAL(2, F.size()); - EXPECT(assert_equal(F1, F[0])); - EXPECT(assert_equal(F1, F[1])); - EXPECT(assert_equal(actualE, E)); + { + PinholeSet::FBlocks Fs; + Matrix E; + set.project2(p, Fs, E); + EXPECT(assert_equal(actualE, E)); + LONGS_EQUAL(2, Fs.size()); + EXPECT(assert_equal(F1, Fs[0])); + EXPECT(assert_equal(F1, Fs[1])); + } // Check errors ZZ measured; @@ -120,15 +122,30 @@ TEST(PinholeSet, Pinhole) { EXPECT(assert_equal(expectedV, actualV)); // reprojectionErrorAtInfinity + Unit3 pointAtInfinity(0, 0, 1000); + { + Matrix22 E1; + camera.project2(pointAtInfinity, F1, E1); + actualE.resize(4, 2); + actualE << E1, E1; + } EXPECT( - assert_equal(Point3(0, 0, 1), + assert_equal(pointAtInfinity, camera.backprojectPointAtInfinity(Point2()))); - actualV = set.reprojectionErrorAtInfinity(p, measured); + { + PinholeSet::FBlocks Fs; + Matrix E; + actualV = set.reprojectionError(pointAtInfinity, measured, Fs, E); + EXPECT(assert_equal(actualE, E)); + LONGS_EQUAL(2, Fs.size()); + EXPECT(assert_equal(F1, Fs[0])); + EXPECT(assert_equal(F1, Fs[1])); + } EXPECT(assert_equal(expectedV, actualV)); // Instantiate triangulateSafe TriangulationParameters params; - TriangulationResult actual = set.triangulateSafe(z,params); + TriangulationResult actual = set.triangulateSafe(z, params); CHECK(actual.degenerate()); } From 6c72c29a563d960219005383c0724fdc7095b714 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 22:47:28 -0800 Subject: [PATCH 140/964] Templated instead of two identical functions --- gtsam/geometry/CameraSet.h | 55 +++++++------------------------------- 1 file changed, 10 insertions(+), 45 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 123d45e1e..60af8beef 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -93,85 +93,50 @@ public: } /** - * Project a point, with derivatives in CameraSet and Point3 + * Project a point (posibly Unit3 at infinity), with derivatives * Note that F is a sparse block-diagonal matrix, so instead of a large dense * matrix this function returns the diagonal blocks. * throws CheiralityException */ - std::vector project2(const Point3& point, // + template + std::vector project2(const POINT& point, // boost::optional Fs = boost::none, // boost::optional E = boost::none) const { + static const int N = FixedDimension::value; + // Allocate result size_t m = this->size(); std::vector z(m); // Allocate derivatives if (E) - E->resize(ZDim * m, 3); + E->resize(ZDim * m, N); if (Fs) Fs->resize(m); // Project and fill derivatives for (size_t i = 0; i < m; i++) { MatrixZD Fi; - Eigen::Matrix Ei; + Eigen::Matrix Ei; z[i] = this->at(i).project2(point, Fs ? &Fi : 0, E ? &Ei : 0); if (Fs) (*Fs)[i] = Fi; if (E) - E->block(ZDim * i, 0) = Ei; - } - - return z; - } - - /** - * Project a point at infinity, with derivatives in this, point, and calibration - * throws CheiralityException - */ - std::vector project2(const Unit3& point, // - boost::optional Fs = boost::none, // - boost::optional E = boost::none) const { - - // Allocate result - size_t m = this->size(); - std::vector z(m); - - // Allocate derivatives - if (E) - E->resize(ZDim * m, 2); - if (Fs) - Fs->resize(m); - - // Project and fill derivatives - for (size_t i = 0; i < m; i++) { - MatrixZD Fi; - Eigen::Matrix Ei; - z[i] = this->at(i).project2(point, Fs ? &Fi : 0, E ? &Ei : 0); - if (Fs) - (*Fs)[i] = Fi; - if (E) - E->block(ZDim * i, 0) = Ei; + E->block(ZDim * i, 0) = Ei; } return z; } /// Calculate vector [project2(point)-z] of re-projection errors - Vector reprojectionError(const Point3& point, const std::vector& measured, + template + Vector reprojectionError(const POINT& point, const std::vector& measured, boost::optional Fs = boost::none, // boost::optional E = boost::none) const { return ErrorVector(project2(point, Fs, E), measured); } - /// Calculate vector [project2(point)-z] of re-projection errors, from point at infinity - Vector reprojectionError(const Unit3& point, const std::vector& measured, - boost::optional Fs = boost::none, // - boost::optional E = boost::none) const { - return ErrorVector(project2(point,Fs,E), measured); - } - /** * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix * G = F' * F - F' * E * P * E' * F From 861ee8fef38f4a902dbfdd283b87695ee126b9de Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 23:22:24 -0800 Subject: [PATCH 141/964] Made work with Unit3 --- gtsam/slam/SmartFactorBase.h | 104 ++++++++++++----------------- gtsam/slam/SmartProjectionFactor.h | 35 +++------- 2 files changed, 53 insertions(+), 86 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 53a86abe0..a024ea4fc 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -205,55 +205,39 @@ public: return e && Base::equals(p, tol) && areMeasurementsEqual; } - /// Compute reprojection errors - Vector reprojectionError(const Cameras& cameras, const Point3& point) const { - return cameras.reprojectionError(point, measured_); + /** + * Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives + */ + template + Vector unwhitenedError(const Cameras& cameras, const POINT& point, + boost::optional Fs = boost::none, // + boost::optional E = boost::none) const { + return cameras.reprojectionError(point, measured_, Fs, E); } /** - * Compute reprojection errors and derivatives + * Calculate vector of re-projection errors [h(x)-z] = [cameras.project(p) - z] + * Noise model applied */ - Vector reprojectionError(const Cameras& cameras, const Point3& point, - typename Cameras::FBlocks& F, Matrix& E) const { - return cameras.reprojectionError(point, measured_, F, E); - } - - /// Calculate vector of re-projection errors, noise model applied - Vector whitenedErrors(const Cameras& cameras, const Point3& point) const { - Vector b = cameras.reprojectionError(point, measured_); + template + Vector whitenedError(const Cameras& cameras, const POINT& point) const { + Vector e = cameras.reprojectionError(point, measured_); if (noiseModel_) - noiseModel_->whitenInPlace(b); - return b; - } - - /// Calculate vector of re-projection errors, noise model applied - // TODO: Unit3 - Vector whitenedErrorsAtInfinity(const Cameras& cameras, - const Point3& point) const { - Vector b = cameras.reprojectionErrorAtInfinity(point, measured_); - if (noiseModel_) - noiseModel_->whitenInPlace(b); - return b; + noiseModel_->whitenInPlace(e); + return e; } /** Calculate the error of the factor. * This is the log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/\sigma^2 \f$ in case of Gaussian. * In this class, we take the raw prediction error \f$ h(x)-z \f$, ask the noise model * to transform it to \f$ (h(x)-z)^2/\sigma^2 \f$, and then multiply by 0.5. - * This is different from reprojectionError(cameras,point) as each point is whitened + * Will be used in "error(Values)" function required by NonlinearFactor base class */ + template double totalReprojectionError(const Cameras& cameras, - const Point3& point) const { - Vector b = whitenedErrors(cameras, point); - return 0.5 * b.dot(b); - } - - /// Version for infinity - // TODO: Unit3 - double totalReprojectionErrorAtInfinity(const Cameras& cameras, - const Point3& point) const { - Vector b = whitenedErrorsAtInfinity(cameras, point); - return 0.5 * b.dot(b); + const POINT& point) const { + Vector e = whitenedError(cameras, point); + return 0.5 * e.dot(e); } /// Computes Point Covariance P from E @@ -283,53 +267,49 @@ public: * with respect to the point. The value of cameras/point are passed as parameters. * TODO: Kill this obsolete method */ - double computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, - const Cameras& cameras, const Point3& point) const { + template + void computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, + const Cameras& cameras, const POINT& point) const { // Project into Camera set and calculate derivatives - b = reprojectionError(cameras, point, Fblocks, E); - return b.squaredNorm(); + // As in expressionFactor, RHS vector b = - (h(x_bar) - z) = z-h(x_bar) + // Indeed, nonlinear error |h(x_bar+dx)-z| ~ |h(x_bar) + A*dx - z| + // = |A*dx - (z-h(x_bar))| + b = -unwhitenedError(cameras, point, Fblocks, E); } /// SVD version - double computeJacobiansSVD(std::vector& Fblocks, Matrix& Enull, - Vector& b, const Cameras& cameras, const Point3& point) const { + template + void computeJacobiansSVD(std::vector& Fblocks, Matrix& Enull, + Vector& b, const Cameras& cameras, const POINT& point) const { Matrix E; - double f = computeJacobians(Fblocks, E, b, cameras, point); + computeJacobians(Fblocks, E, b, cameras, point); + + static const int N = FixedDimension::value; // 2 (Unit3) or 3 (Point3) // Do SVD on A Eigen::JacobiSVD svd(E, Eigen::ComputeFullU); Vector s = svd.singularValues(); size_t m = this->keys_.size(); - Enull = svd.matrixU().block(0, 3, ZDim * m, ZDim * m - 3); // last ZDim*m-3 columns - - return f; + Enull = svd.matrixU().block(0, N, ZDim * m, ZDim * m - N); // last ZDim*m-N columns } /** - * Linearize returns a Hessianfactor that is an approximation of error(p) + * Linearize to a Hessianfactor */ boost::shared_ptr > createHessianFactor( const Cameras& cameras, const Point3& point, const double lambda = 0.0, bool diagonalDamping = false) const { - int m = this->keys_.size(); std::vector Fblocks; Matrix E; Vector b; - double f = computeJacobians(Fblocks, E, b, cameras, point); - Matrix3 P = PointCov(E, lambda, diagonalDamping); - - // Create a SymmetricBlockMatrix - size_t M1 = Dim * m + 1; - std::vector dims(m + 1); // this also includes the b term - std::fill(dims.begin(), dims.end() - 1, Dim); - dims.back() = 1; - SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1)); + computeJacobians(Fblocks, E, b, cameras, point); + Matrix P = PointCov(E, lambda, diagonalDamping); // build augmented hessian - CameraSet::SchurComplement(Fblocks, E, P, b, augmentedHessian); - augmentedHessian(m, m)(0, 0) = f; + SymmetricBlockMatrix augmentedHessian = CameraSet::SchurComplement( + Fblocks, E, P, b); return boost::make_shared >(keys_, augmentedHessian); @@ -348,7 +328,7 @@ public: Vector b; std::vector Fblocks; computeJacobians(Fblocks, E, b, cameras, point); - Matrix3 P = PointCov(E, lambda, diagonalDamping); + Matrix P = PointCov(E, lambda, diagonalDamping); CameraSet::UpdateSchurComplement(Fblocks, E, P, b, allKeys, keys_, augmentedHessian); } @@ -372,7 +352,7 @@ public: std::vector F; computeJacobians(F, E, b, cameras, point); whitenJacobians(F, E, b); - Matrix3 P = PointCov(E, lambda, diagonalDamping); + Matrix P = PointCov(E, lambda, diagonalDamping); return boost::make_shared >(keys_, F, E, P, b); } @@ -388,7 +368,7 @@ public: std::vector F; computeJacobians(F, E, b, cameras, point); const size_t M = b.size(); - Matrix3 P = PointCov(E, lambda, diagonalDamping); + Matrix P = PointCov(E, lambda, diagonalDamping); SharedIsotropic n = noiseModel::Isotropic::Sigma(M, noiseModel_->sigma()); return boost::make_shared >(keys_, F, E, P, b, n); } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 7578507dc..6a9088e25 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -276,13 +276,13 @@ public: // ================================================================== Matrix F, E; Vector b; - double f; { std::vector Fblocks; - f = computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); + computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); Base::whitenJacobians(Fblocks, E, b); Base::FillDiagonalF(Fblocks, F); // expensive ! } + double f = b.squaredNorm(); // Schur complement trick // Frank says: should be possible to do this more efficiently? @@ -373,30 +373,18 @@ public: /// Compute F, E only (called below in both vanilla and SVD versions) /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate - double computeJacobiansWithTriangulatedPoint( + void computeJacobiansWithTriangulatedPoint( std::vector& Fblocks, Matrix& E, Vector& b, const Cameras& cameras) const { if (!result_) { - // TODO Luca clarify whether this works or not - result_ = TriangulationResult( - cameras[0].backprojectPointAtInfinity(this->measured_.at(0))); - // TODO replace all this by Call to CameraSet - int m = this->keys_.size(); - E = zeros(2 * m, 2); - b = zero(2 * m); - for (size_t i = 0; i < this->measured_.size(); i++) { - Matrix Fi, Ei; - Vector bi = -(cameras[i].projectPointAtInfinity(*result_, Fi, Ei) - - this->measured_.at(i)).vector(); - Fblocks.push_back(Fi); - E.block<2, 2>(2 * i, 0) = Ei; - subInsert(b, bi, 2 * i); - } - return b.squaredNorm(); + // Handle degeneracy + // TODO check flag whether we should do this + Unit3 backProjected = cameras[0].backprojectPointAtInfinity(this->measured_.at(0)); + Base::computeJacobians(Fblocks, E, b, cameras, backProjected); } else { // valid result: just return Base version - return Base::computeJacobians(Fblocks, E, b, cameras, *result_); + Base::computeJacobians(Fblocks, E, b, cameras, *result_); } } @@ -427,7 +415,7 @@ public: Cameras cameras = this->cameras(values); bool nonDegenerate = triangulateForLinearize(cameras); if (nonDegenerate) - return Base::reprojectionError(cameras, *result_); + return Base::unwhitenedError(cameras, *result_); else return zero(cameras.size() * 2); } @@ -452,9 +440,8 @@ public: else if (manageDegeneracy_) { // Otherwise, manage the exceptions with rotation-only factors const Point2& z0 = this->measured_.at(0); - result_ = TriangulationResult( - cameras.front().backprojectPointAtInfinity(z0)); - return Base::totalReprojectionErrorAtInfinity(cameras, *result_); + Unit3 backprojected = cameras.front().backprojectPointAtInfinity(z0); + return Base::totalReprojectionError(cameras, backprojected); } else // if we don't want to manage the exceptions we discard the factor return 0.0; From 61e8b422491926a80a114b41be66d62bd3ea25ec Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 6 Mar 2015 08:46:56 -0800 Subject: [PATCH 142/964] Renamed project_to_camera to PinholeBase::Project --- gtsam.h | 6 +- gtsam/geometry/CalibratedCamera.cpp | 23 +- gtsam/geometry/CalibratedCamera.h | 14 +- gtsam/geometry/PinholePose.h | 2 +- gtsam/geometry/tests/testCalibratedCamera.cpp | 20 +- gtsam/nonlinear/tests/testExpression.cpp | 3 +- .../nonlinear/tests/testExpressionFactor.cpp | 502 ------------------ gtsam/slam/EssentialMatrixFactor.h | 4 +- gtsam/slam/expressions.h | 50 +- 9 files changed, 75 insertions(+), 549 deletions(-) delete mode 100644 gtsam/nonlinear/tests/testExpressionFactor.cpp diff --git a/gtsam.h b/gtsam.h index 1aee996dc..33e95b558 100644 --- a/gtsam.h +++ b/gtsam.h @@ -778,7 +778,7 @@ class CalibratedCamera { // Action on Point3 gtsam::Point2 project(const gtsam::Point3& point) const; - static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); // Standard Interface gtsam::Pose3 pose() const; @@ -815,7 +815,7 @@ class SimpleCamera { static size_t Dim(); // Transformations and measurement functions - static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); pair projectSafe(const gtsam::Point3& pw) const; gtsam::Point2 project(const gtsam::Point3& point); gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; @@ -854,7 +854,7 @@ class PinholeCamera { static size_t Dim(); // Transformations and measurement functions - static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); pair projectSafe(const gtsam::Point3& pw) const; gtsam::Point2 project(const gtsam::Point3& point); gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; diff --git a/gtsam/geometry/CalibratedCamera.cpp b/gtsam/geometry/CalibratedCamera.cpp index fb518f2e3..6fbef721c 100644 --- a/gtsam/geometry/CalibratedCamera.cpp +++ b/gtsam/geometry/CalibratedCamera.cpp @@ -85,8 +85,7 @@ const Pose3& PinholeBase::getPose(OptionalJacobian<6, 6> H) const { } /* ************************************************************************* */ -Point2 PinholeBase::project_to_camera(const Point3& pc, - OptionalJacobian<2, 3> Dpoint) { +Point2 PinholeBase::Project(const Point3& pc, OptionalJacobian<2, 3> Dpoint) { double d = 1.0 / pc.z(); const double u = pc.x() * d, v = pc.y() * d; if (Dpoint) @@ -95,22 +94,27 @@ Point2 PinholeBase::project_to_camera(const Point3& pc, } /* ************************************************************************* */ -Point2 PinholeBase::project_to_camera(const Unit3& pc, - OptionalJacobian<2, 2> Dpoint) { +Point2 PinholeBase::project_to_camera_old(const Point3& pc, + OptionalJacobian<2, 3> Dpoint) { + return Project(pc); +} + +/* ************************************************************************* */ +Point2 PinholeBase::Project(const Unit3& pc, OptionalJacobian<2, 2> Dpoint) { if (Dpoint) { Matrix32 Dpoint3_pc; Matrix23 Duv_point3; - Point2 uv = project_to_camera(pc.point3(Dpoint3_pc), Duv_point3); + Point2 uv = Project(pc.point3(Dpoint3_pc), Duv_point3); *Dpoint = Duv_point3 * Dpoint3_pc; return uv; } else - return project_to_camera(pc.point3()); + return Project(pc.point3()); } /* ************************************************************************* */ pair PinholeBase::projectSafe(const Point3& pw) const { const Point3 pc = pose().transform_to(pw); - const Point2 pn = project_to_camera(pc); + const Point2 pn = Project(pc); return make_pair(pn, pc.z() > 0); } @@ -124,7 +128,7 @@ Point2 PinholeBase::project2(const Point3& point, OptionalJacobian<2, 6> Dpose, if (q.z() <= 0) throw CheiralityException(); #endif - const Point2 pn = project_to_camera(q); + const Point2 pn = Project(q); if (Dpose || Dpoint) { const double d = 1.0 / q.z(); @@ -148,8 +152,7 @@ Point2 PinholeBase::project2(const Unit3& pw, OptionalJacobian<2, 6> Dpose, // camera to normalized image coordinate Matrix2 Dpn_pc; - const Point2 pn = PinholeBase::project_to_camera(pc, - Dpose || Dpoint ? &Dpn_pc : 0); + const Point2 pn = Project(pc, Dpose || Dpoint ? &Dpn_pc : 0); // chain the Jacobian matrices if (Dpose) { diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index e43cafcc2..b4513a2a3 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -164,7 +164,11 @@ public: * Does *not* throw a CheiralityException, even if pc behind image plane * @param pc point in camera coordinates */ - static Point2 project_to_camera(const Point3& pc, // + static Point2 Project(const Point3& pc, // + OptionalJacobian<2, 3> Dpoint = boost::none); + + /// @deprecated not correct naming for static function, use Project above + static Point2 project_to_camera_old(const Point3& pc, // OptionalJacobian<2, 3> Dpoint = boost::none); /** @@ -172,7 +176,7 @@ public: * Does *not* throw a CheiralityException, even if pc behind image plane * @param pc point in camera coordinates */ - static Point2 project_to_camera(const Unit3& pc, // + static Point2 Project(const Unit3& pc, // OptionalJacobian<2, 2> Dpoint = boost::none); /// Project a point into the image and check depth @@ -193,8 +197,9 @@ public: * @param point 3D point in world coordinates * @return the intrinsic coordinates of the projected point */ - Point2 project2(const Unit3& point, OptionalJacobian<2, 6> Dpose = - boost::none, OptionalJacobian<2, 2> Dpoint = boost::none) const; + Point2 project2(const Unit3& point, + OptionalJacobian<2, 6> Dpose = boost::none, + OptionalJacobian<2, 2> Dpoint = boost::none) const; /// backproject a 2-dimensional point to a 3-dimensional point at given depth static Point3 backproject_from_camera(const Point2& p, const double depth); @@ -214,7 +219,6 @@ public: /// @} - private: /** Serialization function */ diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index a2449871a..d98f36b6e 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -100,7 +100,7 @@ public: */ Point2 project(const Unit3& pw) const { const Unit3 pc = pose().rotation().unrotate(pw); // convert to camera frame - const Point2 pn = PinholeBase::project_to_camera(pc); + const Point2 pn = PinholeBase::Project(pc); return calibration().uncalibrate(pn); } diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index af4c65127..199ae30ce 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -88,28 +88,28 @@ TEST( CalibratedCamera, project) } /* ************************************************************************* */ -static Point2 project_to_camera1(const Point3& point) { - return PinholeBase::project_to_camera(point); +static Point2 Project1(const Point3& point) { + return PinholeBase::Project(point); } -TEST( CalibratedCamera, Dproject_to_camera1) { +TEST( CalibratedCamera, DProject1) { Point3 pp(155, 233, 131); Matrix test1; - CalibratedCamera::project_to_camera(pp, test1); - Matrix test2 = numericalDerivative11(project_to_camera1, pp); + CalibratedCamera::Project(pp, test1); + Matrix test2 = numericalDerivative11(Project1, pp); CHECK(assert_equal(test1, test2)); } /* ************************************************************************* */ -static Point2 project_to_camera2(const Unit3& point) { - return PinholeBase::project_to_camera(point); +static Point2 Project2(const Unit3& point) { + return PinholeBase::Project(point); } Unit3 pointAtInfinity(0, 0, 1000); -TEST( CalibratedCamera, Dproject_to_cameraInfinity) { +TEST( CalibratedCamera, DProjectInfinity) { Matrix test1; - CalibratedCamera::project_to_camera(pointAtInfinity, test1); - Matrix test2 = numericalDerivative11(project_to_camera2, + CalibratedCamera::Project(pointAtInfinity, test1); + Matrix test2 = numericalDerivative11(Project2, pointAtInfinity); CHECK(assert_equal(test1, test2)); } diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp index 80100af5e..1c97394e1 100644 --- a/gtsam/nonlinear/tests/testExpression.cpp +++ b/gtsam/nonlinear/tests/testExpression.cpp @@ -166,7 +166,8 @@ using namespace binary; Expression K(3); // Create expression tree -Expression projection(PinholeCamera::project_to_camera, p_cam); +Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project; +Expression projection(f, p_cam); Expression uv_hat(uncalibrate, K, projection); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/tests/testExpressionFactor.cpp b/gtsam/nonlinear/tests/testExpressionFactor.cpp deleted file mode 100644 index 99b8120e3..000000000 --- a/gtsam/nonlinear/tests/testExpressionFactor.cpp +++ /dev/null @@ -1,502 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file testExpressionFactor.cpp - * @date September 18, 2014 - * @author Frank Dellaert - * @author Paul Furgale - * @brief unit tests for Block Automatic Differentiation - */ - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -using boost::assign::list_of; - -using namespace std; -using namespace gtsam; - -Point2 measured(-17, 30); -SharedNoiseModel model = noiseModel::Unit::Create(2); - -namespace leaf { -// Create some values -struct MyValues: public Values { - MyValues() { - insert(2, Point2(3, 5)); - } -} values; - -// Create leaf -Point2_ p(2); -} - -/* ************************************************************************* */ -// Leaf -TEST(ExpressionFactor, Leaf) { - using namespace leaf; - - // Create old-style factor to create expected value and derivatives - PriorFactor old(2, Point2(0, 0), model); - - // Concise version - ExpressionFactor f(model, Point2(0, 0), p); - EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); - EXPECT_LONGS_EQUAL(2, f.dim()); - boost::shared_ptr gf2 = f.linearize(values); - EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); -} - -/* ************************************************************************* */ -// non-zero noise model -TEST(ExpressionFactor, Model) { - using namespace leaf; - - SharedNoiseModel model = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.01)); - - // Create old-style factor to create expected value and derivatives - PriorFactor old(2, Point2(0, 0), model); - - // Concise version - ExpressionFactor f(model, Point2(0, 0), p); - - // Check values and derivatives - EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); - EXPECT_LONGS_EQUAL(2, f.dim()); - boost::shared_ptr gf2 = f.linearize(values); - EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); - EXPECT_CORRECT_FACTOR_JACOBIANS(f, values, 1e-5, 1e-5); // another way -} - -/* ************************************************************************* */ -// Constrained noise model -TEST(ExpressionFactor, Constrained) { - using namespace leaf; - - SharedDiagonal model = noiseModel::Constrained::MixedSigmas(Vector2(0.2, 0)); - - // Create old-style factor to create expected value and derivatives - PriorFactor old(2, Point2(0, 0), model); - - // Concise version - ExpressionFactor f(model, Point2(0, 0), p); - EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); - EXPECT_LONGS_EQUAL(2, f.dim()); - boost::shared_ptr gf2 = f.linearize(values); - EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); -} - -/* ************************************************************************* */ -// Unary(Leaf)) -TEST(ExpressionFactor, Unary) { - - // Create some values - Values values; - values.insert(2, Point3(0, 0, 1)); - - JacobianFactor expected( // - 2, (Matrix(2, 3) << 1, 0, 0, 0, 1, 0).finished(), // - Vector2(-17, 30)); - - // Create leaves - Point3_ p(2); - - // Concise version - ExpressionFactor f(model, measured, project(p)); - EXPECT_LONGS_EQUAL(2, f.dim()); - boost::shared_ptr gf = f.linearize(values); - boost::shared_ptr jf = // - boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf, 1e-9)); -} - -/* ************************************************************************* */ -// Unary(Leaf)) and Unary(Unary(Leaf))) -// wide version (not handled in fixed-size pipeline) -typedef Eigen::Matrix Matrix93; -Vector9 wide(const Point3& p, OptionalJacobian<9,3> H) { - Vector9 v; - v << p.vector(), p.vector(), p.vector(); - if (H) *H << eye(3), eye(3), eye(3); - return v; -} -typedef Eigen::Matrix Matrix9; -Vector9 id9(const Vector9& v, OptionalJacobian<9,9> H) { - if (H) *H = Matrix9::Identity(); - return v; -} -TEST(ExpressionFactor, Wide) { - // Create some values - Values values; - values.insert(2, Point3(0, 0, 1)); - Point3_ point(2); - Vector9 measured; - measured.setZero(); - Expression expression(wide,point); - SharedNoiseModel model = noiseModel::Unit::Create(9); - - ExpressionFactor f1(model, measured, expression); - EXPECT_CORRECT_FACTOR_JACOBIANS(f1, values, 1e-5, 1e-9); - - Expression expression2(id9,expression); - ExpressionFactor f2(model, measured, expression2); - EXPECT_CORRECT_FACTOR_JACOBIANS(f2, values, 1e-5, 1e-9); -} - -/* ************************************************************************* */ -static Point2 myUncal(const Cal3_S2& K, const Point2& p, - OptionalJacobian<2,5> Dcal, OptionalJacobian<2,2> Dp) { - return K.uncalibrate(p, Dcal, Dp); -} - -// Binary(Leaf,Leaf) -TEST(ExpressionFactor, Binary) { - - typedef BinaryExpression Binary; - - Cal3_S2_ K_(1); - Point2_ p_(2); - Binary binary(myUncal, K_, p_); - - // Create some values - Values values; - values.insert(1, Cal3_S2()); - values.insert(2, Point2(0, 0)); - - // traceRaw will fill raw with [Trace | Binary::Record] - EXPECT_LONGS_EQUAL(8, sizeof(double)); - EXPECT_LONGS_EQUAL(16, sizeof(Point2)); - EXPECT_LONGS_EQUAL(40, sizeof(Cal3_S2)); - EXPECT_LONGS_EQUAL(16, sizeof(ExecutionTrace)); - EXPECT_LONGS_EQUAL(16, sizeof(ExecutionTrace)); - EXPECT_LONGS_EQUAL(2*5*8, sizeof(Jacobian::type)); - EXPECT_LONGS_EQUAL(2*2*8, sizeof(Jacobian::type)); - size_t expectedRecordSize = 16 + 16 + 40 + 2 * 16 + 80 + 32; - EXPECT_LONGS_EQUAL(expectedRecordSize + 8, sizeof(Binary::Record)); - - // Check size - size_t size = binary.traceSize(); - CHECK(size); - EXPECT_LONGS_EQUAL(expectedRecordSize + 8, size); - // Use Variable Length Array, allocated on stack by gcc - // Note unclear for Clang: http://clang.llvm.org/compatibility.html#vla - ExecutionTraceStorage traceStorage[size]; - ExecutionTrace trace; - Point2 value = binary.traceExecution(values, trace, traceStorage); - EXPECT(assert_equal(Point2(),value, 1e-9)); - // trace.print(); - - // Expected Jacobians - Matrix25 expected25; - expected25 << 0, 0, 0, 1, 0, 0, 0, 0, 0, 1; - Matrix2 expected22; - expected22 << 1, 0, 0, 1; - - // Check matrices - boost::optional r = trace.record(); - CHECK(r); - EXPECT( - assert_equal(expected25, (Matrix) (*r)-> jacobian(), 1e-9)); - EXPECT( assert_equal(expected22, (Matrix) (*r)->jacobian(), 1e-9)); -} -/* ************************************************************************* */ -// Unary(Binary(Leaf,Leaf)) -TEST(ExpressionFactor, Shallow) { - - // Create some values - Values values; - values.insert(1, Pose3()); - values.insert(2, Point3(0, 0, 1)); - - // Create old-style factor to create expected value and derivatives - GenericProjectionFactor old(measured, model, 1, 2, - boost::make_shared()); - double expected_error = old.error(values); - GaussianFactor::shared_ptr expected = old.linearize(values); - - // Create leaves - Pose3_ x_(1); - Point3_ p_(2); - - // Construct expression, concise evrsion - Point2_ expression = project(transform_to(x_, p_)); - - // Get and check keys and dims - FastVector keys; - FastVector dims; - boost::tie(keys, dims) = expression.keysAndDims(); - LONGS_EQUAL(2,keys.size()); - LONGS_EQUAL(2,dims.size()); - LONGS_EQUAL(1,keys[0]); - LONGS_EQUAL(2,keys[1]); - LONGS_EQUAL(6,dims[0]); - LONGS_EQUAL(3,dims[1]); - - // traceExecution of shallow tree - typedef UnaryExpression Unary; - typedef BinaryExpression Binary; - size_t expectedTraceSize = sizeof(Unary::Record) + sizeof(Binary::Record); - EXPECT_LONGS_EQUAL(112, sizeof(Unary::Record)); -#ifdef GTSAM_USE_QUATERNIONS - EXPECT_LONGS_EQUAL(352, sizeof(Binary::Record)); - LONGS_EQUAL(112+352, expectedTraceSize); -#else - EXPECT_LONGS_EQUAL(400, sizeof(Binary::Record)); - LONGS_EQUAL(112+400, expectedTraceSize); -#endif - size_t size = expression.traceSize(); - CHECK(size); - EXPECT_LONGS_EQUAL(expectedTraceSize, size); - ExecutionTraceStorage traceStorage[size]; - ExecutionTrace trace; - Point2 value = expression.traceExecution(values, trace, traceStorage); - EXPECT(assert_equal(Point2(),value, 1e-9)); - // trace.print(); - - // Expected Jacobians - Matrix23 expected23; - expected23 << 1, 0, 0, 0, 1, 0; - - // Check matrices - boost::optional r = trace.record(); - CHECK(r); - EXPECT(assert_equal(expected23, (Matrix)(*r)->jacobian(), 1e-9)); - - // Linearization - ExpressionFactor f2(model, measured, expression); - EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9); - EXPECT_LONGS_EQUAL(2, f2.dim()); - boost::shared_ptr gf2 = f2.linearize(values); - EXPECT( assert_equal(*expected, *gf2, 1e-9)); -} - -/* ************************************************************************* */ -// Binary(Leaf,Unary(Binary(Leaf,Leaf))) -TEST(ExpressionFactor, tree) { - - // Create some values - Values values; - values.insert(1, Pose3()); - values.insert(2, Point3(0, 0, 1)); - values.insert(3, Cal3_S2()); - - // Create old-style factor to create expected value and derivatives - GeneralSFMFactor2 old(measured, model, 1, 2, 3); - double expected_error = old.error(values); - GaussianFactor::shared_ptr expected = old.linearize(values); - - // Create leaves - Pose3_ x(1); - Point3_ p(2); - Cal3_S2_ K(3); - - // Create expression tree - Point3_ p_cam(x, &Pose3::transform_to, p); - Point2_ xy_hat(PinholeCamera::project_to_camera, p_cam); - Point2_ uv_hat(K, &Cal3_S2::uncalibrate, xy_hat); - - // Create factor and check value, dimension, linearization - ExpressionFactor f(model, measured, uv_hat); - EXPECT_DOUBLES_EQUAL(expected_error, f.error(values), 1e-9); - EXPECT_LONGS_EQUAL(2, f.dim()); - boost::shared_ptr gf = f.linearize(values); - EXPECT( assert_equal(*expected, *gf, 1e-9)); - - // Concise version - ExpressionFactor f2(model, measured, - uncalibrate(K, project(transform_to(x, p)))); - EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9); - EXPECT_LONGS_EQUAL(2, f2.dim()); - boost::shared_ptr gf2 = f2.linearize(values); - EXPECT( assert_equal(*expected, *gf2, 1e-9)); - - TernaryExpression::Function fff = project6; - - // Try ternary version - ExpressionFactor f3(model, measured, project3(x, p, K)); - EXPECT_DOUBLES_EQUAL(expected_error, f3.error(values), 1e-9); - EXPECT_LONGS_EQUAL(2, f3.dim()); - boost::shared_ptr gf3 = f3.linearize(values); - EXPECT( assert_equal(*expected, *gf3, 1e-9)); -} - -/* ************************************************************************* */ - -TEST(ExpressionFactor, Compose1) { - - // Create expression - Rot3_ R1(1), R2(2); - Rot3_ R3 = R1 * R2; - - // Create factor - ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), R3); - - // Create some values - Values values; - values.insert(1, Rot3()); - values.insert(2, Rot3()); - - // Check unwhitenedError - std::vector H(2); - Vector actual = f.unwhitenedError(values, H); - EXPECT( assert_equal(eye(3), H[0],1e-9)); - EXPECT( assert_equal(eye(3), H[1],1e-9)); - - // Check linearization - JacobianFactor expected(1, eye(3), 2, eye(3), zero(3)); - boost::shared_ptr gf = f.linearize(values); - boost::shared_ptr jf = // - boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); -} - -/* ************************************************************************* */ -// Test compose with arguments referring to the same rotation -TEST(ExpressionFactor, compose2) { - - // Create expression - Rot3_ R1(1), R2(1); - Rot3_ R3 = R1 * R2; - - // Create factor - ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), R3); - - // Create some values - Values values; - values.insert(1, Rot3()); - - // Check unwhitenedError - std::vector H(1); - Vector actual = f.unwhitenedError(values, H); - EXPECT_LONGS_EQUAL(1, H.size()); - EXPECT( assert_equal(2*eye(3), H[0],1e-9)); - - // Check linearization - JacobianFactor expected(1, 2 * eye(3), zero(3)); - boost::shared_ptr gf = f.linearize(values); - boost::shared_ptr jf = // - boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); -} - -/* ************************************************************************* */ -// Test compose with one arguments referring to a constant same rotation -TEST(ExpressionFactor, compose3) { - - // Create expression - Rot3_ R1(Rot3::identity()), R2(3); - Rot3_ R3 = R1 * R2; - - // Create factor - ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), R3); - - // Create some values - Values values; - values.insert(3, Rot3()); - - // Check unwhitenedError - std::vector H(1); - Vector actual = f.unwhitenedError(values, H); - EXPECT_LONGS_EQUAL(1, H.size()); - EXPECT( assert_equal(eye(3), H[0],1e-9)); - - // Check linearization - JacobianFactor expected(3, eye(3), zero(3)); - boost::shared_ptr gf = f.linearize(values); - boost::shared_ptr jf = // - boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); -} - -/* ************************************************************************* */ -// Test compose with three arguments -Rot3 composeThree(const Rot3& R1, const Rot3& R2, const Rot3& R3, - OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2, OptionalJacobian<3, 3> H3) { - // return dummy derivatives (not correct, but that's ok for testing here) - if (H1) - *H1 = eye(3); - if (H2) - *H2 = eye(3); - if (H3) - *H3 = eye(3); - return R1 * (R2 * R3); -} - -TEST(ExpressionFactor, composeTernary) { - - // Create expression - Rot3_ A(1), B(2), C(3); - Rot3_ ABC(composeThree, A, B, C); - - // Create factor - ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), ABC); - - // Create some values - Values values; - values.insert(1, Rot3()); - values.insert(2, Rot3()); - values.insert(3, Rot3()); - - // Check unwhitenedError - std::vector H(3); - Vector actual = f.unwhitenedError(values, H); - EXPECT_LONGS_EQUAL(3, H.size()); - EXPECT( assert_equal(eye(3), H[0],1e-9)); - EXPECT( assert_equal(eye(3), H[1],1e-9)); - EXPECT( assert_equal(eye(3), H[2],1e-9)); - - // Check linearization - JacobianFactor expected(1, eye(3), 2, eye(3), 3, eye(3), zero(3)); - boost::shared_ptr gf = f.linearize(values); - boost::shared_ptr jf = // - boost::dynamic_pointer_cast(gf); - EXPECT( assert_equal(expected, *jf,1e-9)); -} - -TEST(ExpressionFactor, tree_finite_differences) { - - // Create some values - Values values; - values.insert(1, Pose3()); - values.insert(2, Point3(0, 0, 1)); - values.insert(3, Cal3_S2()); - - // Create leaves - Pose3_ x(1); - Point3_ p(2); - Cal3_S2_ K(3); - - // Create expression tree - Point3_ p_cam(x, &Pose3::transform_to, p); - Point2_ xy_hat(PinholeCamera::project_to_camera, p_cam); - Point2_ uv_hat(K, &Cal3_S2::uncalibrate, xy_hat); - - const double fd_step = 1e-5; - const double tolerance = 1e-5; - EXPECT_CORRECT_EXPRESSION_JACOBIANS(uv_hat, values, fd_step, tolerance); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ - diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h index 9d4a8e6e5..da22225e5 100644 --- a/gtsam/slam/EssentialMatrixFactor.h +++ b/gtsam/slam/EssentialMatrixFactor.h @@ -173,7 +173,7 @@ public: Point3 _1T2 = E.direction().point3(); Point3 d1T2 = d * _1T2; Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2); // 2R1*((x,y,1)-d*1T2) - pn = SimpleCamera::project_to_camera(dP2); + pn = PinholeBase::Project(dP2); } else { @@ -186,7 +186,7 @@ public: Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2, DdP2_rot, DP2_point); Matrix23 Dpn_dP2; - pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2); + pn = PinholeBase::Project(dP2, Dpn_dP2); if (DE) { Matrix DdP2_E(3, 5); diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h index b819993ef..fac2cf03d 100644 --- a/gtsam/slam/expressions.h +++ b/gtsam/slam/expressions.h @@ -28,6 +28,7 @@ inline Point2_ transform_to(const Pose2_& x, const Point2_& p) { // 3D Geometry typedef Expression Point3_; +typedef Expression Unit3_; typedef Expression Rot3_; typedef Expression Pose3_; @@ -40,33 +41,52 @@ inline Point3_ transform_to(const Pose3_& x, const Point3_& p) { typedef Expression Cal3_S2_; typedef Expression Cal3Bundler_; +/// Expression version of PinholeBase::Project inline Point2_ project(const Point3_& p_cam) { - return Point2_(PinholeCamera::project_to_camera, p_cam); + Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project; + return Point2_(f, p_cam); } -template -Point2 project4(const CAMERA& camera, const Point3& p, - OptionalJacobian<2, CAMERA::dimension> Dcam, OptionalJacobian<2, 3> Dpoint) { +inline Point2_ project(const Unit3_& p_cam) { + Point2 (*f)(const Unit3&, OptionalJacobian<2, 2>) = &PinholeBase::Project; + return Point2_(f, p_cam); +} + +namespace internal { +// Helper template for project2 expression below +template +Point2 project4(const CAMERA& camera, const POINT& p, + OptionalJacobian<2, CAMERA::dimension> Dcam, + OptionalJacobian<2, FixedDimension::value> Dpoint) { return camera.project2(p, Dcam, Dpoint); } - -template -Point2_ project2(const Expression& camera_, const Point3_& p_) { - return Point2_(project4, camera_, p_); } +template +Point2_ project2(const Expression& camera_, + const Expression& p_) { + return Point2_(internal::project4, camera_, p_); +} + +namespace internal { +// Helper template for project3 expression below +template inline Point2 project6(const Pose3& x, const Point3& p, const Cal3_S2& K, - OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint, OptionalJacobian<2, 5> Dcal) { + OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint, + OptionalJacobian<2, 5> Dcal) { return PinholeCamera(x, K).project(p, Dpose, Dpoint, Dcal); } - -inline Point2_ project3(const Pose3_& x, const Point3_& p, const Cal3_S2_& K) { - return Point2_(project6, x, p, K); } -template -Point2_ uncalibrate(const Expression& K, const Point2_& xy_hat) { - return Point2_(K, &CAL::uncalibrate, xy_hat); +template +inline Point2_ project3(const Pose3_& x, const Expression& p, + const Expression& K) { + return Point2_(internal::project6, x, p, K); +} + +template +Point2_ uncalibrate(const Expression& K, const Point2_& xy_hat) { + return Point2_(K, &CALIBRATION::uncalibrate, xy_hat); } } // \namespace gtsam From 88d8543f12dd8885bb8a0a8647dc6dab321b9bcc Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 6 Mar 2015 08:47:54 -0800 Subject: [PATCH 143/964] Moved to tests --- tests/testExpressionFactor.cpp | 500 +++++++++++++++++++++++++++++++++ 1 file changed, 500 insertions(+) create mode 100644 tests/testExpressionFactor.cpp diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp new file mode 100644 index 000000000..958087c32 --- /dev/null +++ b/tests/testExpressionFactor.cpp @@ -0,0 +1,500 @@ +/* ---------------------------------------------------------------------------- + + * 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 testExpressionFactor.cpp + * @date September 18, 2014 + * @author Frank Dellaert + * @author Paul Furgale + * @brief unit tests for Block Automatic Differentiation + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +using boost::assign::list_of; + +using namespace std; +using namespace gtsam; + +Point2 measured(-17, 30); +SharedNoiseModel model = noiseModel::Unit::Create(2); + +namespace leaf { +// Create some values +struct MyValues: public Values { + MyValues() { + insert(2, Point2(3, 5)); + } +} values; + +// Create leaf +Point2_ p(2); +} + +/* ************************************************************************* */ +// Leaf +TEST(ExpressionFactor, Leaf) { + using namespace leaf; + + // Create old-style factor to create expected value and derivatives + PriorFactor old(2, Point2(0, 0), model); + + // Concise version + ExpressionFactor f(model, Point2(0, 0), p); + EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); + EXPECT_LONGS_EQUAL(2, f.dim()); + boost::shared_ptr gf2 = f.linearize(values); + EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); +} + +/* ************************************************************************* */ +// non-zero noise model +TEST(ExpressionFactor, Model) { + using namespace leaf; + + SharedNoiseModel model = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.01)); + + // Create old-style factor to create expected value and derivatives + PriorFactor old(2, Point2(0, 0), model); + + // Concise version + ExpressionFactor f(model, Point2(0, 0), p); + + // Check values and derivatives + EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); + EXPECT_LONGS_EQUAL(2, f.dim()); + boost::shared_ptr gf2 = f.linearize(values); + EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); + EXPECT_CORRECT_FACTOR_JACOBIANS(f, values, 1e-5, 1e-5); // another way +} + +/* ************************************************************************* */ +// Constrained noise model +TEST(ExpressionFactor, Constrained) { + using namespace leaf; + + SharedDiagonal model = noiseModel::Constrained::MixedSigmas(Vector2(0.2, 0)); + + // Create old-style factor to create expected value and derivatives + PriorFactor old(2, Point2(0, 0), model); + + // Concise version + ExpressionFactor f(model, Point2(0, 0), p); + EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9); + EXPECT_LONGS_EQUAL(2, f.dim()); + boost::shared_ptr gf2 = f.linearize(values); + EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9)); +} + +/* ************************************************************************* */ +// Unary(Leaf)) +TEST(ExpressionFactor, Unary) { + + // Create some values + Values values; + values.insert(2, Point3(0, 0, 1)); + + JacobianFactor expected( // + 2, (Matrix(2, 3) << 1, 0, 0, 0, 1, 0).finished(), // + Vector2(-17, 30)); + + // Create leaves + Point3_ p(2); + + // Concise version + ExpressionFactor f(model, measured, project(p)); + EXPECT_LONGS_EQUAL(2, f.dim()); + boost::shared_ptr gf = f.linearize(values); + boost::shared_ptr jf = // + boost::dynamic_pointer_cast(gf); + EXPECT( assert_equal(expected, *jf, 1e-9)); +} + +/* ************************************************************************* */ +// Unary(Leaf)) and Unary(Unary(Leaf))) +// wide version (not handled in fixed-size pipeline) +typedef Eigen::Matrix Matrix93; +Vector9 wide(const Point3& p, OptionalJacobian<9,3> H) { + Vector9 v; + v << p.vector(), p.vector(), p.vector(); + if (H) *H << eye(3), eye(3), eye(3); + return v; +} +typedef Eigen::Matrix Matrix9; +Vector9 id9(const Vector9& v, OptionalJacobian<9,9> H) { + if (H) *H = Matrix9::Identity(); + return v; +} +TEST(ExpressionFactor, Wide) { + // Create some values + Values values; + values.insert(2, Point3(0, 0, 1)); + Point3_ point(2); + Vector9 measured; + measured.setZero(); + Expression expression(wide,point); + SharedNoiseModel model = noiseModel::Unit::Create(9); + + ExpressionFactor f1(model, measured, expression); + EXPECT_CORRECT_FACTOR_JACOBIANS(f1, values, 1e-5, 1e-9); + + Expression expression2(id9,expression); + ExpressionFactor f2(model, measured, expression2); + EXPECT_CORRECT_FACTOR_JACOBIANS(f2, values, 1e-5, 1e-9); +} + +/* ************************************************************************* */ +static Point2 myUncal(const Cal3_S2& K, const Point2& p, + OptionalJacobian<2,5> Dcal, OptionalJacobian<2,2> Dp) { + return K.uncalibrate(p, Dcal, Dp); +} + +// Binary(Leaf,Leaf) +TEST(ExpressionFactor, Binary) { + + typedef BinaryExpression Binary; + + Cal3_S2_ K_(1); + Point2_ p_(2); + Binary binary(myUncal, K_, p_); + + // Create some values + Values values; + values.insert(1, Cal3_S2()); + values.insert(2, Point2(0, 0)); + + // traceRaw will fill raw with [Trace | Binary::Record] + EXPECT_LONGS_EQUAL(8, sizeof(double)); + EXPECT_LONGS_EQUAL(16, sizeof(Point2)); + EXPECT_LONGS_EQUAL(40, sizeof(Cal3_S2)); + EXPECT_LONGS_EQUAL(16, sizeof(ExecutionTrace)); + EXPECT_LONGS_EQUAL(16, sizeof(ExecutionTrace)); + EXPECT_LONGS_EQUAL(2*5*8, sizeof(Jacobian::type)); + EXPECT_LONGS_EQUAL(2*2*8, sizeof(Jacobian::type)); + size_t expectedRecordSize = 16 + 16 + 40 + 2 * 16 + 80 + 32; + EXPECT_LONGS_EQUAL(expectedRecordSize + 8, sizeof(Binary::Record)); + + // Check size + size_t size = binary.traceSize(); + CHECK(size); + EXPECT_LONGS_EQUAL(expectedRecordSize + 8, size); + // Use Variable Length Array, allocated on stack by gcc + // Note unclear for Clang: http://clang.llvm.org/compatibility.html#vla + ExecutionTraceStorage traceStorage[size]; + ExecutionTrace trace; + Point2 value = binary.traceExecution(values, trace, traceStorage); + EXPECT(assert_equal(Point2(),value, 1e-9)); + // trace.print(); + + // Expected Jacobians + Matrix25 expected25; + expected25 << 0, 0, 0, 1, 0, 0, 0, 0, 0, 1; + Matrix2 expected22; + expected22 << 1, 0, 0, 1; + + // Check matrices + boost::optional r = trace.record(); + CHECK(r); + EXPECT( + assert_equal(expected25, (Matrix) (*r)-> jacobian(), 1e-9)); + EXPECT( assert_equal(expected22, (Matrix) (*r)->jacobian(), 1e-9)); +} +/* ************************************************************************* */ +// Unary(Binary(Leaf,Leaf)) +TEST(ExpressionFactor, Shallow) { + + // Create some values + Values values; + values.insert(1, Pose3()); + values.insert(2, Point3(0, 0, 1)); + + // Create old-style factor to create expected value and derivatives + GenericProjectionFactor old(measured, model, 1, 2, + boost::make_shared()); + double expected_error = old.error(values); + GaussianFactor::shared_ptr expected = old.linearize(values); + + // Create leaves + Pose3_ x_(1); + Point3_ p_(2); + + // Construct expression, concise evrsion + Point2_ expression = project(transform_to(x_, p_)); + + // Get and check keys and dims + FastVector keys; + FastVector dims; + boost::tie(keys, dims) = expression.keysAndDims(); + LONGS_EQUAL(2,keys.size()); + LONGS_EQUAL(2,dims.size()); + LONGS_EQUAL(1,keys[0]); + LONGS_EQUAL(2,keys[1]); + LONGS_EQUAL(6,dims[0]); + LONGS_EQUAL(3,dims[1]); + + // traceExecution of shallow tree + typedef UnaryExpression Unary; + typedef BinaryExpression Binary; + size_t expectedTraceSize = sizeof(Unary::Record) + sizeof(Binary::Record); + EXPECT_LONGS_EQUAL(112, sizeof(Unary::Record)); +#ifdef GTSAM_USE_QUATERNIONS + EXPECT_LONGS_EQUAL(352, sizeof(Binary::Record)); + LONGS_EQUAL(112+352, expectedTraceSize); +#else + EXPECT_LONGS_EQUAL(400, sizeof(Binary::Record)); + LONGS_EQUAL(112+400, expectedTraceSize); +#endif + size_t size = expression.traceSize(); + CHECK(size); + EXPECT_LONGS_EQUAL(expectedTraceSize, size); + ExecutionTraceStorage traceStorage[size]; + ExecutionTrace trace; + Point2 value = expression.traceExecution(values, trace, traceStorage); + EXPECT(assert_equal(Point2(),value, 1e-9)); + // trace.print(); + + // Expected Jacobians + Matrix23 expected23; + expected23 << 1, 0, 0, 0, 1, 0; + + // Check matrices + boost::optional r = trace.record(); + CHECK(r); + EXPECT(assert_equal(expected23, (Matrix)(*r)->jacobian(), 1e-9)); + + // Linearization + ExpressionFactor f2(model, measured, expression); + EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9); + EXPECT_LONGS_EQUAL(2, f2.dim()); + boost::shared_ptr gf2 = f2.linearize(values); + EXPECT( assert_equal(*expected, *gf2, 1e-9)); +} + +/* ************************************************************************* */ +// Binary(Leaf,Unary(Binary(Leaf,Leaf))) +TEST(ExpressionFactor, tree) { + + // Create some values + Values values; + values.insert(1, Pose3()); + values.insert(2, Point3(0, 0, 1)); + values.insert(3, Cal3_S2()); + + // Create old-style factor to create expected value and derivatives + GeneralSFMFactor2 old(measured, model, 1, 2, 3); + double expected_error = old.error(values); + GaussianFactor::shared_ptr expected = old.linearize(values); + + // Create leaves + Pose3_ x(1); + Point3_ p(2); + Cal3_S2_ K(3); + + // Create expression tree + Point3_ p_cam(x, &Pose3::transform_to, p); + Point2_ xy_hat = project(p_cam); + Point2_ uv_hat(K, &Cal3_S2::uncalibrate, xy_hat); + + // Create factor and check value, dimension, linearization + ExpressionFactor f(model, measured, uv_hat); + EXPECT_DOUBLES_EQUAL(expected_error, f.error(values), 1e-9); + EXPECT_LONGS_EQUAL(2, f.dim()); + boost::shared_ptr gf = f.linearize(values); + EXPECT( assert_equal(*expected, *gf, 1e-9)); + + // Concise version + ExpressionFactor f2(model, measured, + uncalibrate(K, project(transform_to(x, p)))); + EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9); + EXPECT_LONGS_EQUAL(2, f2.dim()); + boost::shared_ptr gf2 = f2.linearize(values); + EXPECT( assert_equal(*expected, *gf2, 1e-9)); + + // Try ternary version + ExpressionFactor f3(model, measured, project3(x, p, K)); + EXPECT_DOUBLES_EQUAL(expected_error, f3.error(values), 1e-9); + EXPECT_LONGS_EQUAL(2, f3.dim()); + boost::shared_ptr gf3 = f3.linearize(values); + EXPECT( assert_equal(*expected, *gf3, 1e-9)); +} + +/* ************************************************************************* */ + +TEST(ExpressionFactor, Compose1) { + + // Create expression + Rot3_ R1(1), R2(2); + Rot3_ R3 = R1 * R2; + + // Create factor + ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), R3); + + // Create some values + Values values; + values.insert(1, Rot3()); + values.insert(2, Rot3()); + + // Check unwhitenedError + std::vector H(2); + Vector actual = f.unwhitenedError(values, H); + EXPECT( assert_equal(eye(3), H[0],1e-9)); + EXPECT( assert_equal(eye(3), H[1],1e-9)); + + // Check linearization + JacobianFactor expected(1, eye(3), 2, eye(3), zero(3)); + boost::shared_ptr gf = f.linearize(values); + boost::shared_ptr jf = // + boost::dynamic_pointer_cast(gf); + EXPECT( assert_equal(expected, *jf,1e-9)); +} + +/* ************************************************************************* */ +// Test compose with arguments referring to the same rotation +TEST(ExpressionFactor, compose2) { + + // Create expression + Rot3_ R1(1), R2(1); + Rot3_ R3 = R1 * R2; + + // Create factor + ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), R3); + + // Create some values + Values values; + values.insert(1, Rot3()); + + // Check unwhitenedError + std::vector H(1); + Vector actual = f.unwhitenedError(values, H); + EXPECT_LONGS_EQUAL(1, H.size()); + EXPECT( assert_equal(2*eye(3), H[0],1e-9)); + + // Check linearization + JacobianFactor expected(1, 2 * eye(3), zero(3)); + boost::shared_ptr gf = f.linearize(values); + boost::shared_ptr jf = // + boost::dynamic_pointer_cast(gf); + EXPECT( assert_equal(expected, *jf,1e-9)); +} + +/* ************************************************************************* */ +// Test compose with one arguments referring to a constant same rotation +TEST(ExpressionFactor, compose3) { + + // Create expression + Rot3_ R1(Rot3::identity()), R2(3); + Rot3_ R3 = R1 * R2; + + // Create factor + ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), R3); + + // Create some values + Values values; + values.insert(3, Rot3()); + + // Check unwhitenedError + std::vector H(1); + Vector actual = f.unwhitenedError(values, H); + EXPECT_LONGS_EQUAL(1, H.size()); + EXPECT( assert_equal(eye(3), H[0],1e-9)); + + // Check linearization + JacobianFactor expected(3, eye(3), zero(3)); + boost::shared_ptr gf = f.linearize(values); + boost::shared_ptr jf = // + boost::dynamic_pointer_cast(gf); + EXPECT( assert_equal(expected, *jf,1e-9)); +} + +/* ************************************************************************* */ +// Test compose with three arguments +Rot3 composeThree(const Rot3& R1, const Rot3& R2, const Rot3& R3, + OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2, OptionalJacobian<3, 3> H3) { + // return dummy derivatives (not correct, but that's ok for testing here) + if (H1) + *H1 = eye(3); + if (H2) + *H2 = eye(3); + if (H3) + *H3 = eye(3); + return R1 * (R2 * R3); +} + +TEST(ExpressionFactor, composeTernary) { + + // Create expression + Rot3_ A(1), B(2), C(3); + Rot3_ ABC(composeThree, A, B, C); + + // Create factor + ExpressionFactor f(noiseModel::Unit::Create(3), Rot3(), ABC); + + // Create some values + Values values; + values.insert(1, Rot3()); + values.insert(2, Rot3()); + values.insert(3, Rot3()); + + // Check unwhitenedError + std::vector H(3); + Vector actual = f.unwhitenedError(values, H); + EXPECT_LONGS_EQUAL(3, H.size()); + EXPECT( assert_equal(eye(3), H[0],1e-9)); + EXPECT( assert_equal(eye(3), H[1],1e-9)); + EXPECT( assert_equal(eye(3), H[2],1e-9)); + + // Check linearization + JacobianFactor expected(1, eye(3), 2, eye(3), 3, eye(3), zero(3)); + boost::shared_ptr gf = f.linearize(values); + boost::shared_ptr jf = // + boost::dynamic_pointer_cast(gf); + EXPECT( assert_equal(expected, *jf,1e-9)); +} + +TEST(ExpressionFactor, tree_finite_differences) { + + // Create some values + Values values; + values.insert(1, Pose3()); + values.insert(2, Point3(0, 0, 1)); + values.insert(3, Cal3_S2()); + + // Create leaves + Pose3_ x(1); + Point3_ p(2); + Cal3_S2_ K(3); + + // Create expression tree + Point3_ p_cam(x, &Pose3::transform_to, p); + Point2_ xy_hat = project(p_cam); + Point2_ uv_hat(K, &Cal3_S2::uncalibrate, xy_hat); + + const double fd_step = 1e-5; + const double tolerance = 1e-5; + EXPECT_CORRECT_EXPRESSION_JACOBIANS(uv_hat, values, fd_step, tolerance); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ + From faadf5b06fab8537482aa87c190d23a4d5b69ea1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 6 Mar 2015 08:48:35 -0800 Subject: [PATCH 144/964] Fully compiles now --- gtsam/slam/JacobianFactorQ.h | 2 +- gtsam/slam/tests/testEssentialMatrixFactor.cpp | 2 +- gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 8 ++++---- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 9 +++++---- 4 files changed, 11 insertions(+), 10 deletions(-) diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h index 12f8a4c71..16560a43e 100644 --- a/gtsam/slam/JacobianFactorQ.h +++ b/gtsam/slam/JacobianFactorQ.h @@ -65,7 +65,7 @@ public: for (size_t k = 0; k < FBlocks.size(); ++k) { Key key = keys[k]; QF.push_back( - KeyMatrix(key, Q.block(0, ZDim * j++, m2, ZDim) * FBlocks[k])); + KeyMatrix(key, - Q.block(0, ZDim * j++, m2, ZDim) * FBlocks[k])); } // Which is then passed to the normal JacobianFactor constructor JacobianFactor::fillTerms(QF, - Q * b, model); diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp index e0e26ecff..3bcc3eccd 100644 --- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp +++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp @@ -160,7 +160,7 @@ TEST (EssentialMatrixFactor2, factor) { // Check evaluation Point3 P1 = data.tracks[i].p, P2 = data.cameras[1].pose().transform_to(P1); - const Point2 pi = SimpleCamera::project_to_camera(P2); + const Point2 pi = PinholeBase::Project(P2); Point2 reprojectionError(pi - pB(i)); Vector expected = reprojectionError.vector(); diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index c7cf0283f..964f3bca4 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -160,10 +160,10 @@ TEST( SmartProjectionCameraFactor, noisy ) { // Check whitened errors Vector expected(4); - expected << -7, 235, 58, -242; + expected << 7, -235, -58, 242; SmartFactor::Cameras cameras1 = factor1->cameras(values); Point3 point1 = *factor1->point(); - Vector actual = factor1->whitenedErrors(cameras1, point1); + Vector actual = factor1->whitenedError(cameras1, point1); EXPECT(assert_equal(expected, actual, 1)); SmartFactor::shared_ptr factor2(new SmartFactor()); @@ -245,10 +245,10 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { // Check whitened errors Vector expected(6); - expected << 256, 29, -26, 29, -206, -202; + expected << -256, -29, 26, -29, 206, 202; SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial); Point3 point1 = *smartFactor1->point(); - Vector actual = smartFactor1->whitenedErrors(cameras1, point1); + Vector actual = smartFactor1->whitenedError(cameras1, point1); EXPECT(assert_equal(expected, actual, 1)); // Optimize diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 65036edfe..5e0898bfa 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -415,7 +415,7 @@ public: std::vector Fblocks; Matrix F, E; Vector b; - double f = computeJacobians(Fblocks, E, b, cameras); + computeJacobians(Fblocks, E, b, cameras); Base::FillDiagonalF(Fblocks, F); // expensive !!! // Schur complement trick @@ -446,6 +446,7 @@ public: } } // ================================================================== + double f = b.squaredNorm(); if (this->linearizationThreshold_ >= 0) { // if we do not use selective relinearization we don't need to store these variables this->state_->Gs = Gs; this->state_->gs = gs; @@ -549,7 +550,7 @@ public: /// Compute F, E only (called below in both vanilla and SVD versions) /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate - double computeJacobians(std::vector& Fblocks, + void computeJacobians(std::vector& Fblocks, Matrix& E, Vector& b, const Cameras& cameras) const { if (this->degenerate_) { throw("FIXME: computeJacobians degenerate case commented out!"); @@ -587,7 +588,7 @@ public: // return f; } else { // nondegenerate: just return Base version - return Base::computeJacobians(Fblocks, E, b, cameras, point_); + Base::computeJacobians(Fblocks, E, b, cameras, point_); } // end else } @@ -607,7 +608,7 @@ public: Cameras cameras; bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); if (nonDegenerate) - return Base::reprojectionError(cameras, point_); + return Base::unwhitenedError(cameras, point_); else return zero(cameras.size() * 3); } From 0ab1b8631a0fcee0c9e0ebf90f235a91e4be515a Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 9 Mar 2015 17:43:00 -0700 Subject: [PATCH 145/964] Fixed compilation issues due to renaming --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 5d9dc4c5f..722a8d0a0 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -121,7 +121,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // Calculate expected derivative for point (easiest to check) boost::function f = // - boost::bind(&SmartFactor::whitenedErrors, factor, cameras, _1); + boost::bind(&SmartFactor::whitenedError, factor, cameras, _1); // Calculate using computeEP Matrix actualE; @@ -138,7 +138,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // Calculate using reprojectionError SmartFactor::Cameras::FBlocks F; Matrix E; - Vector actualErrors = factor.reprojectionError(cameras, *point, F, E); + Vector actualErrors = factor.unwhitenedError(cameras, *point, F, E); EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT(assert_equal(zero(4), actualErrors, 1e-7)); @@ -146,7 +146,8 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { // Calculate using computeJacobians Vector b; vector Fblocks; - double actualError3 = factor.computeJacobians(Fblocks, E, b, cameras, *point); + factor.computeJacobians(Fblocks, E, b, cameras, *point); + double actualError3 = b.squaredNorm(); EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8); } From 0f198dc1d63e9985af7e20d98454e8a3123bffcf Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 9 Mar 2015 18:00:25 -0700 Subject: [PATCH 146/964] Fixed sign of errors --- gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 964f3bca4..c4775521c 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -160,7 +160,7 @@ TEST( SmartProjectionCameraFactor, noisy ) { // Check whitened errors Vector expected(4); - expected << 7, -235, -58, 242; + expected << -7, 235, 58, -242; SmartFactor::Cameras cameras1 = factor1->cameras(values); Point3 point1 = *factor1->point(); Vector actual = factor1->whitenedError(cameras1, point1); From 1eec6748cb8cce41e55aea76fbd00ca908acc204 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 9 Mar 2015 18:00:47 -0700 Subject: [PATCH 147/964] Removed timing, added new SUMMARY stats on failing tests --- .../tests/testSmartProjectionPoseFactor.cpp | 25 ++++--------------- 1 file changed, 5 insertions(+), 20 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 722a8d0a0..06deb38e5 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -54,8 +54,7 @@ typedef SmartProjectionPoseFactor SmartFactorBundler; LevenbergMarquardtParams params; // Make more verbose like so (in tests): -// params.verbosityLM = LevenbergMarquardtParams::TRYDELTA; -// params.verbosity = NonlinearOptimizerParams::ERROR; +// params.verbosityLM = LevenbergMarquardtParams::SUMMARY; /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor) { @@ -244,11 +243,9 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); Values result; - gttic_(SmartProjectionPoseFactor); + params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionPoseFactor); - tictoc_finishedIteration_(); // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); // VectorValues delta = GFG->optimize(); @@ -456,11 +453,9 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { values.at(x3).pose())); Values result; - gttic_(SmartProjectionPoseFactor); + params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionPoseFactor); - tictoc_finishedIteration_(); // result.print("results of 3 camera, 3 landmark optimization \n"); EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-7)); @@ -513,6 +508,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { values.insert(x3, Camera(pose_above * noise_pose, sharedK)); Values result; + params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); @@ -900,11 +896,8 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac values.at(x3).pose())); Values result; - gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionPoseFactor); - tictoc_finishedIteration_(); EXPECT( assert_equal( @@ -988,11 +981,8 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) values.at(x3).pose())); Values result; - gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionPoseFactor); - tictoc_finishedIteration_(); EXPECT( assert_equal( @@ -1211,11 +1201,9 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); Values result; - gttic_(SmartProjectionPoseFactor); + params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionPoseFactor); - tictoc_finishedIteration_(); EXPECT(assert_equal(cam3, result.at(x3), 1e-6)); } @@ -1294,11 +1282,8 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { values.at(x3).pose())); Values result; - gttic_(SmartProjectionPoseFactor); LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - gttoc_(SmartProjectionPoseFactor); - tictoc_finishedIteration_(); EXPECT( assert_equal( From a0470b7e1c65d20261343fd642df291e209126a7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 12:44:19 -0700 Subject: [PATCH 148/964] Moved all linearize logic into SmartProjectionFactor and removed two subclasses --- gtsam/slam/SmartFactorBase.h | 18 +- gtsam/slam/SmartProjectionCameraFactor.h | 161 ------------------ gtsam/slam/SmartProjectionFactor.h | 96 +++++++++-- gtsam/slam/SmartProjectionPoseFactor.h | 146 ---------------- gtsam/slam/tests/smartFactorScenarios.h | 6 + .../tests/testSmartProjectionCameraFactor.cpp | 47 +++-- .../tests/testSmartProjectionPoseFactor.cpp | 94 ++++++---- 7 files changed, 176 insertions(+), 392 deletions(-) delete mode 100644 gtsam/slam/SmartProjectionCameraFactor.h delete mode 100644 gtsam/slam/SmartProjectionPoseFactor.h diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index a024ea4fc..1f19d7848 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -189,7 +189,7 @@ public: std::cout << "measurement, p = " << measured_[k] << "\t"; noiseModel_->print("noise model = "); } - Base::print("", keyFormatter); + print("", keyFormatter); } /// equals @@ -202,12 +202,10 @@ public: areMeasurementsEqual = false; break; } - return e && Base::equals(p, tol) && areMeasurementsEqual; + return e && equals(p, tol) && areMeasurementsEqual; } - /** - * Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives - */ + ///Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives template Vector unwhitenedError(const Cameras& cameras, const POINT& point, boost::optional Fs = boost::none, // @@ -294,9 +292,7 @@ public: Enull = svd.matrixU().block(0, N, ZDim * m, ZDim * m - N); // last ZDim*m-N columns } - /** - * Linearize to a Hessianfactor - */ + /// Linearize to a Hessianfactor boost::shared_ptr > createHessianFactor( const Cameras& cameras, const Point3& point, const double lambda = 0.0, bool diagonalDamping = false) const { @@ -341,9 +337,7 @@ public: F[i] = noiseModel_->Whiten(F[i]); } - /** - * Return Jacobians as RegularImplicitSchurFactor with raw access - */ + /// Return Jacobians as RegularImplicitSchurFactor with raw access boost::shared_ptr > // createRegularImplicitSchurFactor(const Cameras& cameras, const Point3& point, double lambda = 0.0, bool diagonalDamping = false) const { @@ -374,7 +368,7 @@ public: } /** - * Return Jacobians as JacobianFactor + * Return Jacobians as JacobianFactorSVD * TODO lambda is currently ignored */ boost::shared_ptr createJacobianSVDFactor( diff --git a/gtsam/slam/SmartProjectionCameraFactor.h b/gtsam/slam/SmartProjectionCameraFactor.h deleted file mode 100644 index b2eeba3e1..000000000 --- a/gtsam/slam/SmartProjectionCameraFactor.h +++ /dev/null @@ -1,161 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file SmartProjectionCameraFactor.h - * @brief Produces an Hessian factors on CAMERAS (Pose3+CALIBRATION) from monocular measurements of a landmark - * @author Luca Carlone - * @author Chris Beall - * @author Zsolt Kira - * @author Frank Dellaert - */ - -#pragma once -#include - -namespace gtsam { - -/** - * @addtogroup SLAM - */ -template -class SmartProjectionCameraFactor: public SmartProjectionFactor< - PinholeCamera > { - -private: - typedef PinholeCamera Camera; - typedef SmartProjectionFactor Base; - typedef SmartProjectionCameraFactor This; - -protected: - - static const int Dim = traits::dimension; ///< CAMERA dimension - - bool isImplicit_; - -public: - - /// shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; - - // A set of cameras - typedef CameraSet Cameras; - - /** - * Constructor - * @param rankTol tolerance used to check if point triangulation is degenerate - * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) - * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, - * otherwise the factor is simply neglected - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - * @param isImplicit if set to true linearize the factor to an implicit Schur factor - */ - SmartProjectionCameraFactor(const double rankTol = 1, - const double linThreshold = -1, const bool manageDegeneracy = false, - const bool enableEPI = false, const bool isImplicit = false) : - Base(rankTol, linThreshold, manageDegeneracy, enableEPI), isImplicit_( - isImplicit) { - if (linThreshold != -1) { - std::cout << "SmartProjectionCameraFactor: linThreshold " << linThreshold - << std::endl; - } - } - - /** Virtual destructor */ - virtual ~SmartProjectionCameraFactor() { - } - - /** - * print - * @param s optional string naming the factor - * @param keyFormatter optional formatter useful for printing Symbols - */ - void print(const std::string& s = "", const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const { - std::cout << s << "SmartProjectionCameraFactor, z = \n "; - Base::print("", keyFormatter); - } - - /// equals - virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { - const This *e = dynamic_cast(&p); - - return e && Base::equals(p, tol); - } - - /// get the dimension of the factor (number of rows on linearization) - virtual size_t dim() const { - return Dim * this->keys_.size(); // 6 for the pose and 3 for the calibration - } - - /// linearize and adds damping on the points - boost::shared_ptr linearizeDamped(const Values& values, - const double lambda=0.0) const { - if (!isImplicit_) - return Base::createHessianFactor(Base::cameras(values), lambda); - else - return Base::createRegularImplicitSchurFactor(Base::cameras(values)); - } - - /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr > linearizeToHessian( - const Values& values, double lambda=0.0) const { - return Base::createHessianFactor(Base::cameras(values),lambda); - } - - /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr > linearizeToImplicit( - const Values& values, double lambda=0.0) const { - return Base::createRegularImplicitSchurFactor(Base::cameras(values),lambda); - } - - /// linearize returns a Jacobianfactor that is an approximation of error(p) - virtual boost::shared_ptr > linearizeToJacobian( - const Values& values, double lambda=0.0) const { - return Base::createJacobianQFactor(Base::cameras(values),lambda); - } - - /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr linearizeWithLambda( - const Values& values, double lambda) const { - if (isImplicit_) - return linearizeToImplicit(values,lambda); - else - return linearizeToHessian(values,lambda); - } - - /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr linearize( - const Values& values) const { - return linearizeWithLambda(values,0.0); - } - - /// Calculare total reprojection error - virtual double error(const Values& values) const { - if (this->active(values)) { - return Base::totalReprojectionError(Base::cameras(values)); - } else { // else of active flag - return 0.0; - } - } - -private: - - /// Serialization function - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - } - -}; - -} // \ namespace gtsam diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 6a9088e25..2101d041e 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -46,22 +46,27 @@ struct SmartProjectionFactorState { double f; }; -enum LinearizationMode { - HESSIAN, JACOBIAN_SVD, JACOBIAN_Q -}; - /** * SmartProjectionFactor: triangulates point and keeps an estimate of it around. */ template class SmartProjectionFactor: public SmartFactorBase { +public: + + /// Linearization mode: what factor to linearize to + enum LinearizationMode { + HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD + }; + private: typedef SmartFactorBase Base; typedef SmartProjectionFactor This; protected: + LinearizationMode linearizeTo_; ///< How to linearize the factor + /// @name Caching triangulation /// @{ const TriangulationParameters parameters_; @@ -104,16 +109,16 @@ public: * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations */ - SmartProjectionFactor(const double rankTolerance, const double linThreshold, - const bool manageDegeneracy, const bool enableEPI, + SmartProjectionFactor(LinearizationMode linearizationMode = HESSIAN, + double rankTolerance = 1, double linThreshold = -1, + bool manageDegeneracy = false, bool enableEPI = false, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1, SmartFactorStatePtr state = SmartFactorStatePtr(new SmartProjectionFactorState())) : - parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, - dynamicOutlierRejectionThreshold), // + linearizeTo_(linearizationMode), parameters_(rankTolerance, enableEPI, + landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), // result_(TriangulationResult::Degenerate()), // - retriangulationThreshold_(1e-5), // - manageDegeneracy_(manageDegeneracy), // + retriangulationThreshold_(1e-5), manageDegeneracy_(manageDegeneracy), // throwCheirality_(false), verboseCheirality_(false), // state_(state), linearizationThreshold_(linThreshold) { } @@ -135,6 +140,12 @@ public: Base::print("", keyFormatter); } + /// equals + virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { + const This *e = dynamic_cast(&p); + return e && Base::equals(p, tol); + } + /// Check if the new linearization point is the same as the one used for previous triangulation bool decideIfTriangulate(const Cameras& cameras) const { // several calls to linearize will be done from the same linearization point, hence it is not needed to re-triangulate @@ -358,6 +369,53 @@ public: return boost::make_shared >(this->keys_); } + /// linearize to a Hessianfactor + virtual boost::shared_ptr > linearizeToHessian( + const Values& values, double lambda = 0.0) const { + return createHessianFactor(this->cameras(values), lambda); + } + + /// linearize to an Implicit Schur factor + virtual boost::shared_ptr > linearizeToImplicit( + const Values& values, double lambda = 0.0) const { + return createRegularImplicitSchurFactor(this->cameras(values), lambda); + } + + /// linearize to a JacobianfactorQ + virtual boost::shared_ptr > linearizeToJacobian( + const Values& values, double lambda = 0.0) const { + return createJacobianQFactor(this->cameras(values), lambda); + } + + /** + * Linearize to Gaussian Factor + * @param values Values structure which must contain camera poses for this factor + * @return a Gaussian factor + */ + boost::shared_ptr linearizeDamped(const Values& values, + const double lambda = 0.0) const { + // depending on flag set on construction we may linearize to different linear factors + Cameras cameras = this->cameras(values); + switch (linearizeTo_) { + case HESSIAN: + return createHessianFactor(cameras, lambda); + case IMPLICIT_SCHUR: + return createRegularImplicitSchurFactor(cameras, lambda); + case JACOBIAN_SVD: + return createJacobianSVDFactor(cameras, lambda); + case JACOBIAN_Q: + return createJacobianQFactor(cameras, lambda); + default: + throw std::runtime_error("SmartFactorlinearize: unknown mode"); + } + } + + /// linearize + virtual boost::shared_ptr linearize( + const Values& values) const { + return linearizeDamped(values); + } + /** * Triangulate and compute derivative of error with respect to point * @return whether triangulation worked @@ -380,7 +438,8 @@ public: if (!result_) { // Handle degeneracy // TODO check flag whether we should do this - Unit3 backProjected = cameras[0].backprojectPointAtInfinity(this->measured_.at(0)); + Unit3 backProjected = cameras[0].backprojectPointAtInfinity( + this->measured_.at(0)); Base::computeJacobians(Fblocks, E, b, cameras, backProjected); } else { // valid result: just return Base version @@ -447,6 +506,15 @@ public: return 0.0; } + /// Calculate total reprojection error + virtual double error(const Values& values) const { + if (this->active(values)) { + return totalReprojectionError(Base::cameras(values)); + } else { // else of active flag + return 0.0; + } + } + /** return the landmark */ TriangulationResult point() const { return result_; @@ -495,4 +563,10 @@ private: } }; +/// traits +template +struct traits > : public Testable< + SmartProjectionFactor > { +}; + } // \ namespace gtsam diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h deleted file mode 100644 index 851cfe030..000000000 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ /dev/null @@ -1,146 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file SmartProjectionPoseFactor.h - * @brief Produces an Hessian factors on POSES from monocular measurements of a single landmark - * @author Luca Carlone - * @author Chris Beall - * @author Zsolt Kira - */ - -#pragma once - -#include - -namespace gtsam { -/** - * - * @addtogroup SLAM - * - * If you are using the factor, please cite: - * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally - * independent sets in factor graphs: a unifying perspective based on smart factors, - * Int. Conf. on Robotics and Automation (ICRA), 2014. - * - */ - -/** - * The calibration is known here. The factor only constraints poses (variable dimension is 6) - * @addtogroup SLAM - */ -template -class SmartProjectionPoseFactor: public SmartProjectionFactor< - PinholePose > { - -private: - typedef PinholePose Camera; - typedef SmartProjectionFactor Base; - typedef SmartProjectionPoseFactor This; - -protected: - - LinearizationMode linearizeTo_; ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q) - -public: - - /// shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; - - /** - * Constructor - * @param rankTol tolerance used to check if point triangulation is degenerate - * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) - * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, - * otherwise the factor is simply neglected - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - */ - SmartProjectionPoseFactor(const double rankTol = 1, - const double linThreshold = -1, const bool manageDegeneracy = false, - const bool enableEPI = false, LinearizationMode linearizeTo = HESSIAN, - double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1) : - Base(rankTol, linThreshold, manageDegeneracy, enableEPI, - landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), linearizeTo_( - linearizeTo) { - } - - /** Virtual destructor */ - virtual ~SmartProjectionPoseFactor() {} - - /** - * print - * @param s optional string naming the factor - * @param keyFormatter optional formatter useful for printing Symbols - */ - void print(const std::string& s = "", const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const { - std::cout << s << "SmartProjectionPoseFactor, z = \n "; - Base::print("", keyFormatter); - } - - /// equals - virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { - const This *e = dynamic_cast(&p); - - return e && Base::equals(p, tol); - } - - /** - * Linearize to Gaussian Factor - * @param values Values structure which must contain camera poses for this factor - * @return - */ - virtual boost::shared_ptr linearize( - const Values& values) const { - // depending on flag set on construction we may linearize to different linear factors - switch(linearizeTo_){ - case JACOBIAN_SVD : - return this->createJacobianSVDFactor(Base::cameras(values), 0.0); - break; - case JACOBIAN_Q : - return this->createJacobianQFactor(Base::cameras(values), 0.0); - break; - default: - return this->createHessianFactor(Base::cameras(values)); - break; - } - } - - /** - * error calculates the error of the factor. - */ - virtual double error(const Values& values) const { - if (this->active(values)) { - return this->totalReprojectionError(Base::cameras(values)); - } else { // else of active flag - return 0.0; - } - } - -private: - - /// Serialization function - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - } - -}; // end of class declaration - -/// traits -template -struct traits > : public Testable< - SmartProjectionPoseFactor > { -}; - -} // \ namespace gtsam diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h index 3c64e982c..c3598e4c1 100644 --- a/gtsam/slam/tests/smartFactorScenarios.h +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -17,6 +17,7 @@ */ #pragma once +#include #include #include #include @@ -48,6 +49,7 @@ static size_t w = 640, h = 480; // default Cal3_S2 cameras namespace vanilla { typedef PinholeCamera Camera; +typedef SmartProjectionFactor SmartFactor; static Cal3_S2 K(fov, w, h); static Cal3_S2 K2(1500, 1200, 0, w, h); Camera level_camera(level_pose, K2); @@ -64,6 +66,7 @@ typedef GeneralSFMFactor SFMFactor; // default Cal3_S2 poses namespace vanillaPose { typedef PinholePose Camera; +typedef SmartProjectionFactor SmartFactor; static Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h)); Camera level_camera(level_pose, sharedK); Camera level_camera_right(pose_right, sharedK); @@ -76,6 +79,7 @@ Camera cam3(pose_above, sharedK); // default Cal3_S2 poses namespace vanillaPose2 { typedef PinholePose Camera; +typedef SmartProjectionFactor SmartFactor; static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480)); Camera level_camera(level_pose, sharedK2); Camera level_camera_right(pose_right, sharedK2); @@ -88,6 +92,7 @@ Camera cam3(pose_above, sharedK2); // Cal3Bundler cameras namespace bundler { typedef PinholeCamera Camera; +typedef SmartProjectionFactor SmartFactor; static Cal3Bundler K(500, 1e-3, 1e-3, 0, 0); Camera level_camera(level_pose, K); Camera level_camera_right(pose_right, K); @@ -103,6 +108,7 @@ typedef GeneralSFMFactor SFMFactor; // Cal3Bundler poses namespace bundlerPose { typedef PinholePose Camera; +typedef SmartProjectionFactor SmartFactor; static boost::shared_ptr sharedBundlerK( new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); Camera level_camera(level_pose, sharedBundlerK); diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index c4775521c..2f6bf9b00 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -20,7 +20,7 @@ */ #include "smartFactorScenarios.h" -#include +#include #include #include #include @@ -43,9 +43,6 @@ Key c1 = 1, c2 = 2, c3 = 3; static Point2 measurement1(323.0, 240.0); -typedef SmartProjectionCameraFactor SmartFactor; -typedef SmartProjectionCameraFactor SmartFactorBundler; - template PinholeCamera perturbCameraPoseAndCalibration( const PinholeCamera& camera) { @@ -82,7 +79,7 @@ TEST( SmartProjectionCameraFactor, Constructor) { /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor2) { using namespace vanilla; - SmartFactor factor1(rankTol, linThreshold); + SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); } /* ************************************************************************* */ @@ -95,7 +92,7 @@ TEST( SmartProjectionCameraFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor4) { using namespace vanilla; - SmartFactor factor1(rankTol, linThreshold); + SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); factor1.add(measurement1, x1, unit2); } @@ -457,19 +454,19 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { views.push_back(c2); views.push_back(c3); - SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor()); smartFactor1->add(measurements_cam1, views, unit2); - SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor2(new SmartFactor()); smartFactor2->add(measurements_cam2, views, unit2); - SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor3(new SmartFactor()); smartFactor3->add(measurements_cam3, views, unit2); - SmartFactorBundler::shared_ptr smartFactor4(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor4(new SmartFactor()); smartFactor4->add(measurements_cam4, views, unit2); - SmartFactorBundler::shared_ptr smartFactor5(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor5(new SmartFactor()); smartFactor5->add(measurements_cam5, views, unit2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); @@ -533,19 +530,19 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { views.push_back(c2); views.push_back(c3); - SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor()); smartFactor1->add(measurements_cam1, views, unit2); - SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor2(new SmartFactor()); smartFactor2->add(measurements_cam2, views, unit2); - SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor3(new SmartFactor()); smartFactor3->add(measurements_cam3, views, unit2); - SmartFactorBundler::shared_ptr smartFactor4(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor4(new SmartFactor()); smartFactor4->add(measurements_cam4, views, unit2); - SmartFactorBundler::shared_ptr smartFactor5(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor5(new SmartFactor()); smartFactor5->add(measurements_cam5, views, unit2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); @@ -597,7 +594,7 @@ TEST( SmartProjectionCameraFactor, noiselessBundler ) { values.insert(c1, level_camera); values.insert(c2, level_camera_right); - SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + SmartFactor::shared_ptr factor1(new SmartFactor()); factor1->add(level_uv, c1, unit2); factor1->add(level_uv_right, c2, unit2); @@ -626,7 +623,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { values.insert(c2, level_camera_right); NonlinearFactorGraph smartGraph; - SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + SmartFactor::shared_ptr factor1(new SmartFactor()); factor1->add(level_uv, c1, unit2); factor1->add(level_uv_right, c2, unit2); smartGraph.push_back(factor1); @@ -667,7 +664,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { values.insert(c2, level_camera_right); NonlinearFactorGraph smartGraph; - SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + SmartFactor::shared_ptr factor1(new SmartFactor()); factor1->add(level_uv, c1, unit2); factor1->add(level_uv_right, c2, unit2); smartGraph.push_back(factor1); @@ -710,7 +707,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { // values.insert(c2, level_camera_right); // // NonlinearFactorGraph smartGraph; -// SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); +// SmartFactor::shared_ptr factor1(new SmartFactor()); // factor1->add(level_uv, c1, unit2); // factor1->add(level_uv_right, c2, unit2); // smartGraph.push_back(factor1); @@ -758,7 +755,7 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { values.insert(c1, level_camera); values.insert(c2, level_camera_right); - SmartFactorBundler::shared_ptr factor1(new SmartFactorBundler()); + SmartFactor::shared_ptr factor1(new SmartFactor()); factor1->add(level_uv, c1, unit2); factor1->add(level_uv_right, c2, unit2); Matrix expectedE; @@ -803,8 +800,8 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { bool isImplicit = false; // Hessian version - SmartFactorBundler::shared_ptr explicitFactor( - new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy, useEPI, + SmartFactor::shared_ptr explicitFactor( + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, manageDegeneracy, useEPI, isImplicit)); explicitFactor->add(level_uv, c1, unit2); explicitFactor->add(level_uv_right, c2, unit2); @@ -816,8 +813,8 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { // Implicit Schur version isImplicit = true; - SmartFactorBundler::shared_ptr implicitFactor( - new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy, useEPI, + SmartFactor::shared_ptr implicitFactor( + new SmartFactor(SmartFactor::IMPLICIT_SCHUR, rankTol, linThreshold, manageDegeneracy, useEPI, isImplicit)); implicitFactor->add(level_uv, c1, unit2); implicitFactor->add(level_uv_right, c2, unit2); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 06deb38e5..1d9ad0dc6 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -20,7 +20,6 @@ */ #include "smartFactorScenarios.h" -#include #include #include #include @@ -49,8 +48,6 @@ static Symbol x2('X', 2); static Symbol x3('X', 3); static Point2 measurement1(323.0, 240.0); -typedef SmartProjectionPoseFactor SmartFactor; -typedef SmartProjectionPoseFactor SmartFactorBundler; LevenbergMarquardtParams params; // Make more verbose like so (in tests): @@ -58,12 +55,14 @@ LevenbergMarquardtParams params; /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor) { + using namespace vanillaPose; SmartFactor::shared_ptr factor1(new SmartFactor()); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor2) { - SmartFactor factor1(rankTol, linThreshold); + using namespace vanillaPose; + SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); } /* ************************************************************************* */ @@ -76,7 +75,7 @@ TEST( SmartProjectionPoseFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { using namespace vanillaPose; - SmartFactor factor1(rankTol, linThreshold); + SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); factor1.add(measurement1, x1, model); } @@ -227,6 +226,12 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(PriorFactor(x1, cam1, noisePrior)); graph.push_back(PriorFactor(x2, cam2, noisePrior)); + Values groundTruth; + groundTruth.insert(x1, cam1); + groundTruth.insert(x2, cam2); + groundTruth.insert(x3, cam3); + DOUBLES_EQUAL(0, graph.error(groundTruth), 1e-9); + // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise @@ -257,7 +262,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, Factors ) { - typedef PinholePose Camera; + using namespace vanillaPose; // Default cameras for simple derivatives Rot3 R; @@ -479,15 +484,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -534,17 +539,17 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model); @@ -599,22 +604,22 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model); @@ -658,15 +663,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_Q)); + new SmartFactor(SmartFactor::JACOBIAN_Q, 1, -1, false, false)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_Q)); + new SmartFactor(SmartFactor::JACOBIAN_Q, 1, -1, false, false)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_Q)); + new SmartFactor(SmartFactor::JACOBIAN_Q, 1, -1, false, false)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -743,8 +748,11 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { DOUBLES_EQUAL(48406055, graph.error(values), 1); + cout << "SUCCEEDS : ==============================================" << endl; + params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); Values result = optimizer.optimize(); + cout << "=========================================================" << endl; DOUBLES_EQUAL(0, graph.error(result), 1e-9); @@ -777,13 +785,16 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { double rankTol = 10; - SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol)); + SmartFactor::shared_ptr smartFactor1( + new SmartFactor(SmartFactor::HESSIAN, rankTol)); smartFactor1->add(measurements_cam1, views, model); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol)); + SmartFactor::shared_ptr smartFactor2( + new SmartFactor(SmartFactor::HESSIAN, rankTol)); smartFactor2->add(measurements_cam2, views, model); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol)); + SmartFactor::shared_ptr smartFactor3( + new SmartFactor(SmartFactor::HESSIAN, rankTol)); smartFactor3->add(measurements_cam3, views, model); NonlinearFactorGraph graph; @@ -858,11 +869,13 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(rankTol, linThreshold, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(rankTol, linThreshold, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -937,15 +950,18 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(rankTol, linThreshold, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(rankTol, linThreshold, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(rankTol, linThreshold, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1142,7 +1158,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { - SmartFactorBundler factor(rankTol, linThreshold); + using namespace bundlerPose; + SmartFactor factor(SmartFactor::HESSIAN, rankTol, linThreshold); factor.add(measurement1, x1, model); } @@ -1167,13 +1184,13 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { views.push_back(x2); views.push_back(x3); - SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor()); smartFactor1->add(measurements_cam1, views, model); - SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor2(new SmartFactor()); smartFactor2->add(measurements_cam2, views, model); - SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler()); + SmartFactor::shared_ptr smartFactor3(new SmartFactor()); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1237,16 +1254,19 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { double rankTol = 10; - SmartFactorBundler::shared_ptr smartFactor1( - new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); + SmartFactor::shared_ptr smartFactor1( + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor1->add(measurements_cam1, views, model); - SmartFactorBundler::shared_ptr smartFactor2( - new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); + SmartFactor::shared_ptr smartFactor2( + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor2->add(measurements_cam2, views, model); - SmartFactorBundler::shared_ptr smartFactor3( - new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy)); + SmartFactor::shared_ptr smartFactor3( + new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, + manageDegeneracy)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); From c177ca63ec23ad915657a4baf5eff47946aae033 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 14:43:39 -0700 Subject: [PATCH 149/964] Fixed infinite loop --- gtsam/slam/SmartFactorBase.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 1f19d7848..38512b1cb 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -202,7 +202,7 @@ public: areMeasurementsEqual = false; break; } - return e && equals(p, tol) && areMeasurementsEqual; + return e && Base::equals(p, tol) && areMeasurementsEqual; } ///Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives From 37f0c45716f9cf73cec09a86173845c3c4954779 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 14:44:02 -0700 Subject: [PATCH 150/964] Deal w linearizationMode in print and equals --- gtsam/slam/SmartProjectionFactor.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 2101d041e..ca5a7f480 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -135,6 +135,7 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionFactor\n"; + std::cout << "linearizationMode:\n" << linearizeTo_ << std::endl; std::cout << "triangulationParameters:\n" << parameters_ << std::endl; std::cout << "result:\n" << result_ << std::endl; Base::print("", keyFormatter); @@ -143,7 +144,7 @@ public: /// equals virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { const This *e = dynamic_cast(&p); - return e && Base::equals(p, tol); + return e && linearizeTo_==e->linearizeTo_ && Base::equals(p, tol); } /// Check if the new linearization point is the same as the one used for previous triangulation From 9991240ae78b2f81f9c8467e4bf6e169b4fccd3f Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 15:24:00 -0700 Subject: [PATCH 151/964] Removed selective linearization mess - it was non-functional anyway, we can aleays re-add it if needed. --- gtsam/slam/SmartProjectionFactor.h | 154 ++---------------- .../tests/testSmartProjectionPoseFactor.cpp | 50 ++---- 2 files changed, 36 insertions(+), 168 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index ca5a7f480..535dab7f6 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -31,21 +31,6 @@ namespace gtsam { -/** - * Structure for storing some state memory, used to speed up optimization - * @addtogroup SLAM - */ -struct SmartProjectionFactorState { - - // Hessian representation (after Schur complement) - bool calculatedHessian; - Matrix H; - Vector gs_vector; - std::vector Gs; - std::vector gs; - double f; -}; - /** * SmartProjectionFactor: triangulates point and keeps an estimate of it around. */ @@ -83,16 +68,6 @@ protected: const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) /// @} - /// @name Caching linearization - /// @{ - /// shorthand for smart projection factor state variable - typedef boost::shared_ptr SmartFactorStatePtr; - SmartFactorStatePtr state_; ///< cached linearization - - const double linearizationThreshold_; ///< threshold to decide whether to re-linearize - mutable std::vector cameraPosesLinearization_; ///< current linearization poses - /// @} - public: /// shorthand for a smart pointer to a factor @@ -110,17 +85,14 @@ public: * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations */ SmartProjectionFactor(LinearizationMode linearizationMode = HESSIAN, - double rankTolerance = 1, double linThreshold = -1, - bool manageDegeneracy = false, bool enableEPI = false, - double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1, SmartFactorStatePtr state = - SmartFactorStatePtr(new SmartProjectionFactorState())) : + double rankTolerance = 1, bool manageDegeneracy = false, bool enableEPI = + false, double landmarkDistanceThreshold = 1e10, + double dynamicOutlierRejectionThreshold = -1) : linearizeTo_(linearizationMode), parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), // result_(TriangulationResult::Degenerate()), // retriangulationThreshold_(1e-5), manageDegeneracy_(manageDegeneracy), // - throwCheirality_(false), verboseCheirality_(false), // - state_(state), linearizationThreshold_(linThreshold) { + throwCheirality_(false), verboseCheirality_(false) { } /** Virtual destructor */ @@ -144,7 +116,7 @@ public: /// equals virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { const This *e = dynamic_cast(&p); - return e && linearizeTo_==e->linearizeTo_ && Base::equals(p, tol); + return e && linearizeTo_ == e->linearizeTo_ && Base::equals(p, tol); } /// Check if the new linearization point is the same as the one used for previous triangulation @@ -183,39 +155,6 @@ public: return retriangulate; // if we arrive to this point all poses are the same and we don't need re-triangulation } - /// This function checks if the new linearization point is 'close' to the previous one used for linearization - bool decideIfLinearize(const Cameras& cameras) const { - // "selective linearization" - // The function evaluates how close are the old and the new poses, transformed in the ref frame of the first pose - // (we only care about the "rigidity" of the poses, not about their absolute pose) - - if (linearizationThreshold_ < 0) //by convention if linearizationThreshold is negative we always relinearize - return true; - - // if we do not have a previous linearization point or the new linearization point includes more poses - if (cameraPosesLinearization_.empty() - || (cameras.size() != cameraPosesLinearization_.size())) - return true; - - Pose3 firstCameraPose, firstCameraPoseOld; - for (size_t i = 0; i < cameras.size(); i++) { - - if (i == 0) { // we store the initial pose, this is useful for selective re-linearization - firstCameraPose = cameras[i].pose(); - firstCameraPoseOld = cameraPosesLinearization_[i]; - continue; - } - - // we compare the poses in the frame of the first pose - Pose3 localCameraPose = firstCameraPose.between(cameras[i].pose()); - Pose3 localCameraPoseOld = firstCameraPoseOld.between( - cameraPosesLinearization_[i]); - if (!localCameraPose.equals(localCameraPoseOld, linearizationThreshold_)) - return true; // at least two "relative" poses are different, hence we re-linearize - } - return false; // if we arrive to this point all poses are the same and we don't need re-linearize - } - /// triangulateSafe TriangulationResult triangulateSafe(const Cameras& cameras) const { @@ -237,7 +176,8 @@ public: /// linearize returns a Hessianfactor that is an approximation of error(p) boost::shared_ptr > createHessianFactor( - const Cameras& cameras, const double lambda = 0.0) const { + const Cameras& cameras, const double lambda = 0.0, bool diagonalDamping = + false) const { size_t numKeys = this->keys_.size(); // Create structures for Hessian Factors @@ -264,77 +204,18 @@ public: Gs, gs, 0.0); } - // decide whether to re-linearize - bool doLinearize = this->decideIfLinearize(cameras); - - if (linearizationThreshold_ >= 0 && doLinearize) // if we apply selective relinearization and we need to relinearize - for (size_t i = 0; i < cameras.size(); i++) - this->cameraPosesLinearization_[i] = cameras[i].pose(); - - if (!doLinearize) { // return the previous Hessian factor - std::cout << "=============================" << std::endl; - std::cout << "doLinearize " << doLinearize << std::endl; - std::cout << "linearizationThreshold_ " << linearizationThreshold_ - << std::endl; - std::cout << "valid: " << isValid() << std::endl; - std::cout - << "something wrong in SmartProjectionHessianFactor: selective relinearization should be disabled" - << std::endl; - exit(1); - return boost::make_shared >(this->keys_, - this->state_->Gs, this->state_->gs, this->state_->f); - } - - // ================================================================== - Matrix F, E; + std::vector Fblocks; + Matrix E; Vector b; - { - std::vector Fblocks; - computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); - Base::whitenJacobians(Fblocks, E, b); - Base::FillDiagonalF(Fblocks, F); // expensive ! - } - double f = b.squaredNorm(); + computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); + Matrix P = Base::PointCov(E, lambda, diagonalDamping); - // Schur complement trick - // Frank says: should be possible to do this more efficiently? - // And we care, as in grouped factors this is called repeatedly - Matrix H(Base::Dim * numKeys, Base::Dim * numKeys); - Vector gs_vector; + // build augmented hessian + SymmetricBlockMatrix augmentedHessian = CameraSet::SchurComplement( + Fblocks, E, P, b); - // Note P can 2*2 or 3*3 - Matrix P = Base::PointCov(E, lambda); - - // Create reduced Hessian matrix via Schur complement F'*F - F'*E*P*E'*F - H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); - - // Create reduced gradient - (F'*b - F'*E*P*E'*b) - // Note the minus sign above! g has negative b. - // Informal reasoning: when we write the error as 0.5*|Ax-b|^2 - // the derivative is A'*(Ax-b), and at x=0, this becomes -A'*b - gs_vector.noalias() = -F.transpose() - * (b - (E * (P * (E.transpose() * b)))); - - // Populate Gs and gs - int GsCount2 = 0; - for (DenseIndex i1 = 0; i1 < (DenseIndex) numKeys; i1++) { // for each camera - DenseIndex i1D = i1 * Base::Dim; - gs.at(i1) = gs_vector.segment(i1D); - for (DenseIndex i2 = 0; i2 < (DenseIndex) numKeys; i2++) { - if (i2 >= i1) { - Gs.at(GsCount2) = H.block(i1D, i2 * Base::Dim); - GsCount2++; - } - } - } - // ================================================================== - if (linearizationThreshold_ >= 0) { // if we do not use selective relinearization we don't need to store these variables - this->state_->Gs = Gs; - this->state_->gs = gs; - this->state_->f = f; - } - return boost::make_shared >(this->keys_, Gs, - gs, f); + return boost::make_shared >(this->keys_, + augmentedHessian); } // create factor @@ -562,7 +443,8 @@ private: ar & BOOST_SERIALIZATION_NVP(throwCheirality_); ar & BOOST_SERIALIZATION_NVP(verboseCheirality_); } -}; +} +; /// traits template diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 1d9ad0dc6..67a885197 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -31,7 +31,6 @@ using namespace boost::assign; static const double rankTol = 1.0; -static const double linThreshold = -1.0; static const bool manageDegeneracy = true; // Create a noise model for the pixel error @@ -62,7 +61,7 @@ TEST( SmartProjectionPoseFactor, Constructor) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor2) { using namespace vanillaPose; - SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); + SmartFactor factor1(SmartFactor::HESSIAN, rankTol); } /* ************************************************************************* */ @@ -75,7 +74,7 @@ TEST( SmartProjectionPoseFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { using namespace vanillaPose; - SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); + SmartFactor factor1(SmartFactor::HESSIAN, rankTol); factor1.add(measurement1, x1, model); } @@ -248,7 +247,6 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); Values result; - params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -458,7 +456,6 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { values.at(x3).pose())); Values result; - params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -513,7 +510,6 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { values.insert(x3, Camera(pose_above * noise_pose, sharedK)); Values result; - params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); @@ -604,22 +600,22 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model); @@ -663,15 +659,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_Q, 1, -1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_Q, 1, false, false)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_Q, 1, -1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_Q, 1, false, false)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_Q, 1, -1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_Q, 1, false, false)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -749,7 +745,6 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { DOUBLES_EQUAL(48406055, graph.error(values), 1); cout << "SUCCEEDS : ==============================================" << endl; - params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); Values result = optimizer.optimize(); cout << "=========================================================" << endl; @@ -869,13 +864,11 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -950,18 +943,15 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1159,7 +1149,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { using namespace bundlerPose; - SmartFactor factor(SmartFactor::HESSIAN, rankTol, linThreshold); + SmartFactor factor(SmartFactor::HESSIAN, rankTol); factor.add(measurement1, x1, model); } @@ -1218,7 +1208,6 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); Values result; - params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -1255,18 +1244,15 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, - manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); From fcc2470e28d675e9eac45d097ad04b39dd4496d6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 16:25:00 -0700 Subject: [PATCH 152/964] Fixed one test which had wrong signs --- gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 2f6bf9b00..ca346e83e 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -242,9 +242,11 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { // Check whitened errors Vector expected(6); - expected << -256, -29, 26, -29, 206, 202; - SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial); + expected << 256, 29, -26, 29, -206, -202; Point3 point1 = *smartFactor1->point(); + SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial); + Vector reprojectionError = cameras1.reprojectionError(point1, measurements_cam1); + EXPECT(assert_equal(expected, reprojectionError, 1)); Vector actual = smartFactor1->whitenedError(cameras1, point1); EXPECT(assert_equal(expected, actual, 1)); From 28bb4f9673cb47ef3459334522613440fef667ab Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 18:57:56 -0700 Subject: [PATCH 153/964] Used more fixed-size math --- gtsam/geometry/PinholeCamera.h | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 4775e732f..cc903e7db 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -145,7 +145,7 @@ public: const Pose3& getPose(OptionalJacobian<6, dimension> H) const { if (H) { H->setZero(); - H->block(0, 0, 6, 6) = I_6x6; + H->template block<6,6>(0, 0) = I_6x6; } return Base::pose(); } @@ -176,16 +176,15 @@ public: if ((size_t) d.size() == 6) return PinholeCamera(this->pose().retract(d), calibration()); else - return PinholeCamera(this->pose().retract(d.head(6)), + return PinholeCamera(this->pose().retract(d.head<6>()), calibration().retract(d.tail(calibration().dim()))); } /// return canonical coordinate VectorK6 localCoordinates(const PinholeCamera& T2) const { VectorK6 d; - // TODO: why does d.head<6>() not compile?? - d.head(6) = this->pose().localCoordinates(T2.pose()); - d.tail(DimK) = calibration().localCoordinates(T2.calibration()); + d.template head<6>() = this->pose().localCoordinates(T2.pose()); + d.template tail() = calibration().localCoordinates(T2.calibration()); return d; } @@ -265,7 +264,7 @@ public: if (Dother) { Dother->resize(1, 6 + CalibrationB::dimension); Dother->setZero(); - Dother->block(0, 0, 1, 6) = Dother_; + Dother->block<1,6>(0, 0) = Dother_; } return result; } From eedfaabe372734151584fcbf22993916c8829362 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 22:08:12 -0700 Subject: [PATCH 154/964] Added fixed-size versions and a dynamic dispatcher for 2*2 and 3*3 variants. Also moved PointCov here, same idea. --- gtsam/geometry/CameraSet.h | 82 ++++++++++++++++++++++++++++++++------ 1 file changed, 69 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 60af8beef..cd67187df 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -57,7 +57,7 @@ protected: Vector b(ZDim * m); for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { Z e = predicted[i] - measured[i]; - b.segment < ZDim > (row) = e.vector(); + b.segment(row) = e.vector(); } return b; } @@ -141,9 +141,11 @@ public: * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix * G = F' * F - F' * E * P * E' * F * g = F' * (b - E * P * E' * b) + * Fixed size version */ + template // N = 2 or 3 static SymmetricBlockMatrix SchurComplement(const FBlocks& Fs, - const Matrix& E, const Matrix3& P, const Vector& b) { + const Matrix& E, const Eigen::Matrix& P, const Vector& b) { // a single point is observed in m cameras int m = Fs.size(); @@ -159,15 +161,16 @@ public: for (size_t i = 0; i < m; i++) { // for each camera const MatrixZD& Fi = Fs[i]; - const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; + const Eigen::Matrix Ei_P = // + E.block(ZDim * i, 0, ZDim, N) * P; // D = (Dx2) * ZDim - augmentedHessian(i, m) = Fi.transpose() * b.segment < ZDim > (ZDim * i) // F' * b - - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + augmentedHessian(i, m) = Fi.transpose() * b.segment(ZDim * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (N*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) augmentedHessian(i, i) = Fi.transpose() - * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi); + * (Fi - Ei_P * E.block(ZDim * i, 0, ZDim, N).transpose() * Fi); // upper triangular part of the hessian for (size_t j = i + 1; j < m; j++) { // for each camera @@ -175,7 +178,7 @@ public: // (DxD) = (Dx2) * ( (2x2) * (2xD) ) augmentedHessian(i, j) = -Fi.transpose() - * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); + * (Ei_P * E.block(ZDim * j, 0, ZDim, N).transpose() * Fj); } } // end of for over cameras @@ -183,12 +186,64 @@ public: return augmentedHessian; } + /// Computes Point Covariance P, with lambda parameter + template // N = 2 or 3 + static void ComputePointCovariance(Eigen::Matrix& P, + const Matrix& E, double lambda, bool diagonalDamping = false) { + + Matrix EtE = E.transpose() * E; + + if (diagonalDamping) { // diagonal of the hessian + EtE.diagonal() += lambda * EtE.diagonal(); + } else { + DenseIndex n = E.cols(); + EtE += lambda * Eigen::MatrixXd::Identity(n, n); + } + + P = (EtE).inverse(); + } + + /// Computes Point Covariance P, with lambda parameter, dynamic version + static Matrix PointCov(const Matrix& E, const double lambda = 0.0, + bool diagonalDamping = false) { + if (E.cols() == 2) { + Matrix2 P2; + ComputePointCovariance(P2, E, lambda, diagonalDamping); + return P2; + } else { + Matrix3 P3; + ComputePointCovariance(P3, E, lambda, diagonalDamping); + return P3; + } + } + + /** + * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix + * Dynamic version + */ + static SymmetricBlockMatrix SchurComplement(const FBlocks& Fblocks, + const Matrix& E, const Vector& b, const double lambda = 0.0, + bool diagonalDamping = false) { + SymmetricBlockMatrix augmentedHessian; + if (E.cols() == 2) { + Matrix2 P; + ComputePointCovariance(P, E, lambda, diagonalDamping); + augmentedHessian = SchurComplement(Fblocks, E, P, b); + } else { + Matrix3 P; + ComputePointCovariance(P, E, lambda, diagonalDamping); + augmentedHessian = SchurComplement(Fblocks, E, P, b); + } + return augmentedHessian; + } + /** * Applies Schur complement (exploiting block structure) to get a smart factor on cameras, * and adds the contribution of the smart factor to a pre-allocated augmented Hessian. */ + template // N = 2 or 3 static void UpdateSchurComplement(const FBlocks& Fs, const Matrix& E, - const Matrix3& P /*Point Covariance*/, const Vector& b, + const Eigen::Matrix& P, const Vector& b, const FastVector& allKeys, const FastVector& keys, /*output ->*/SymmetricBlockMatrix& augmentedHessian) { @@ -215,7 +270,8 @@ public: for (size_t i = 0; i < m; i++) { // for each camera in the current factor const MatrixZD& Fi = Fs[i]; - const Matrix23 Ei_P = E.block(ZDim * i, 0) * P; + const Eigen::Matrix Ei_P = E.template block( + ZDim * i, 0) * P; // D = (DxZDim) * (ZDim) // allKeys are the list of all camera keys in the group, e.g, (1,3,4,5,7) @@ -227,8 +283,8 @@ public: // vectorBlock = augmentedHessian(aug_i, aug_m).knownOffDiagonal(); // add contribution of current factor augmentedHessian(aug_i, M) = augmentedHessian(aug_i, M).knownOffDiagonal() - + Fi.transpose() * b.segment < ZDim > (ZDim * i) // F' * b - - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (3*ZDimm) * (ZDimm x 1) + + Fi.transpose() * b.segment(ZDim * i) // F' * b + - Fi.transpose() * (Ei_P * (E.transpose() * b)); // D = (DxZDim) * (ZDimx3) * (N*ZDimm) * (ZDimm x 1) // (DxD) = (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) // main block diagonal - store previous block @@ -236,7 +292,7 @@ public: // add contribution of current factor augmentedHessian(aug_i, aug_i) = matrixBlock + (Fi.transpose() - * (Fi - Ei_P * E.block(ZDim * i, 0).transpose() * Fi)); + * (Fi - Ei_P * E.template block(ZDim * i, 0).transpose() * Fi)); // upper triangular part of the hessian for (size_t j = i + 1; j < m; j++) { // for each camera @@ -251,7 +307,7 @@ public: augmentedHessian(aug_i, aug_j) = augmentedHessian(aug_i, aug_j).knownOffDiagonal() - Fi.transpose() - * (Ei_P * E.block(ZDim * j, 0).transpose() * Fj); + * (Ei_P * E.template block(ZDim * j, 0).transpose() * Fj); } } // end of for over cameras From dd7d9cd6fc3d4899f83fc455e9ab222f6b1679bf Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 22:08:39 -0700 Subject: [PATCH 155/964] Got rid of hardcoded Matrix3, now call dispatched Schur complement --- gtsam/slam/RegularImplicitSchurFactor.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index e773efc5d..da1f5b785 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -38,7 +38,7 @@ protected: typedef Eigen::Matrix MatrixDD; ///< camera hessian const std::vector FBlocks_; ///< All ZDim*D F blocks (one for each camera) - const Matrix3 PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (ZDim*ZDim if degenerate) + const Matrix PointCovariance_; ///< the 3*3 matrix P = inv(E'E) (2*2 if degenerate) const Matrix E_; ///< The 2m*3 E Jacobian with respect to the point const Vector b_; ///< 2m-dimensional RHS vector @@ -50,7 +50,7 @@ public: /// Construct from blocks of F, E, inv(E'*E), and RHS vector b RegularImplicitSchurFactor(const FastVector& keys, - const std::vector& FBlocks, const Matrix& E, const Matrix3& P, + const std::vector& FBlocks, const Matrix& E, const Matrix& P, const Vector& b) : GaussianFactor(keys), FBlocks_(FBlocks), PointCovariance_(P), E_(E), b_(b) { } @@ -71,7 +71,7 @@ public: return b_; } - const Matrix3& getPointCovariance() const { + const Matrix& getPointCovariance() const { return PointCovariance_; } @@ -124,8 +124,8 @@ public: virtual Matrix augmentedInformation() const { // Do the Schur complement - SymmetricBlockMatrix augmentedHessian = Set::SchurComplement(FBlocks_, E_, - PointCovariance_, b_); + SymmetricBlockMatrix augmentedHessian = // + Set::SchurComplement(FBlocks_, E_, b_); return augmentedHessian.matrix(); } @@ -436,7 +436,7 @@ public: VectorValues g; for (size_t k = 0; k < size(); ++k) { Key key = keys_[k]; - g.insert(key, - FBlocks_[k].transpose() * e2[k]); + g.insert(key, -FBlocks_[k].transpose() * e2[k]); } // return it From 421ad49048b64b360bb992d7873298cdeeba0e13 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 22:08:55 -0700 Subject: [PATCH 156/964] Moved PointCov to CameraSet --- gtsam/slam/SmartFactorBase.h | 28 +++++----------------------- 1 file changed, 5 insertions(+), 23 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 38512b1cb..e651244af 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -243,22 +243,6 @@ public: return (E.transpose() * E).inverse(); } - /// Computes Point Covariance P, with lambda parameter - static Matrix PointCov(Matrix& E, double lambda, - bool diagonalDamping = false) { - - Matrix EtE = E.transpose() * E; - - if (diagonalDamping) { // diagonal of the hessian - EtE.diagonal() += lambda * EtE.diagonal(); - } else { - DenseIndex n = E.cols(); - EtE += lambda * Eigen::MatrixXd::Identity(n, n); - } - - return (EtE).inverse(); - } - /** * Compute F, E, and b (called below in both vanilla and SVD versions), where * F is a vector of derivatives wrpt the cameras, and E the stacked derivatives @@ -301,11 +285,10 @@ public: Matrix E; Vector b; computeJacobians(Fblocks, E, b, cameras, point); - Matrix P = PointCov(E, lambda, diagonalDamping); // build augmented hessian - SymmetricBlockMatrix augmentedHessian = CameraSet::SchurComplement( - Fblocks, E, P, b); + SymmetricBlockMatrix augmentedHessian = Cameras::SchurComplement(Fblocks, E, + b); return boost::make_shared >(keys_, augmentedHessian); @@ -324,8 +307,7 @@ public: Vector b; std::vector Fblocks; computeJacobians(Fblocks, E, b, cameras, point); - Matrix P = PointCov(E, lambda, diagonalDamping); - CameraSet::UpdateSchurComplement(Fblocks, E, P, b, allKeys, keys_, + Cameras::UpdateSchurComplement(Fblocks, E, b, allKeys, keys_, augmentedHessian); } @@ -346,7 +328,7 @@ public: std::vector F; computeJacobians(F, E, b, cameras, point); whitenJacobians(F, E, b); - Matrix P = PointCov(E, lambda, diagonalDamping); + Matrix P = Cameras::PointCov(E, lambda, diagonalDamping); return boost::make_shared >(keys_, F, E, P, b); } @@ -362,7 +344,7 @@ public: std::vector F; computeJacobians(F, E, b, cameras, point); const size_t M = b.size(); - Matrix P = PointCov(E, lambda, diagonalDamping); + Matrix P = Cameras::PointCov(E, lambda, diagonalDamping); SharedIsotropic n = noiseModel::Isotropic::Sigma(M, noiseModel_->sigma()); return boost::make_shared >(keys_, F, E, P, b, n); } From d924c11d413f6f18f9215d1bab2fe4a6e1893d7a Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 22:10:08 -0700 Subject: [PATCH 157/964] Call dispatched SchurComplement, now in CameraSet --- gtsam/slam/SmartProjectionFactor.h | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 535dab7f6..138a29f0a 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -208,11 +208,10 @@ public: Matrix E; Vector b; computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); - Matrix P = Base::PointCov(E, lambda, diagonalDamping); // build augmented hessian - SymmetricBlockMatrix augmentedHessian = CameraSet::SchurComplement( - Fblocks, E, P, b); + SymmetricBlockMatrix augmentedHessian = // + Cameras::SchurComplement(Fblocks, E, b, lambda, diagonalDamping); return boost::make_shared >(this->keys_, augmentedHessian); From 2d1126019a342e690568a93171ac9bbb32450c57 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 10 Mar 2015 22:32:30 -0700 Subject: [PATCH 158/964] Cleaned u uninitialized shared ptrs --- gtsam/slam/SmartProjectionFactor.h | 2 +- gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 138a29f0a..bf6d20c45 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -171,7 +171,7 @@ public: /// triangulate bool triangulateForLinearize(const Cameras& cameras) const { triangulateSafe(cameras); // imperative, might reset result_ - return (manageDegeneracy_ || result_); + return (result_); } /// linearize returns a Hessianfactor that is an approximation of error(p) diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index ca346e83e..b5ddc4e25 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -822,6 +822,7 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { implicitFactor->add(level_uv_right, c2, unit2); GaussianFactor::shared_ptr gaussianImplicitSchurFactor = implicitFactor->linearize(values); + CHECK(gaussianImplicitSchurFactor); typedef RegularImplicitSchurFactor Implicit9; Implicit9& implicitSchurFactor = dynamic_cast(*gaussianImplicitSchurFactor); From 766a9622e89a24bf83c1996a60ea839e0e6d6c70 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 11 Mar 2015 06:33:16 -0700 Subject: [PATCH 159/964] Fixed Hessian by whitening... --- gtsam/slam/SmartProjectionFactor.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index bf6d20c45..067d30329 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -204,11 +204,15 @@ public: Gs, gs, 0.0); } + // Jacobian could be 3D Point3 OR 2D Unit3, difference is E.cols(). std::vector Fblocks; Matrix E; Vector b; computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); + // Whiten using noise model + Base::whitenJacobians(Fblocks, E, b); + // build augmented hessian SymmetricBlockMatrix augmentedHessian = // Cameras::SchurComplement(Fblocks, E, b, lambda, diagonalDamping); From 62868b9071e9b14560b849d21d047a46afc76492 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 11 Mar 2015 06:50:15 -0700 Subject: [PATCH 160/964] Added linear error checks --- .../tests/testSmartProjectionPoseFactor.cpp | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 67a885197..526e9bfdb 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -297,6 +297,18 @@ TEST( SmartProjectionPoseFactor, Factors ) { CHECK(p); EXPECT(assert_equal(landmark1, *p)); + VectorValues zeroDelta; + Vector6 delta; + delta.setZero(); + zeroDelta.insert(x1, delta); + zeroDelta.insert(x2, delta); + + VectorValues perturbedDelta; + delta.setOnes(); + perturbedDelta.insert(x1, delta); + perturbedDelta.insert(x2, delta); + double expectedError = 2500; + // After eliminating the point, A1 and A2 contain 2-rank information on cameras: Matrix16 A1, A2; A1 << -10, 0, 0, 0, 1, 0; @@ -324,6 +336,8 @@ TEST( SmartProjectionPoseFactor, Factors ) { smartFactor1->createHessianFactor(cameras, 0.0); EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); EXPECT(assert_equal(expected, *actual, 1e-8)); + EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-8); + EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-8); } { @@ -368,6 +382,8 @@ TEST( SmartProjectionPoseFactor, Factors ) { CHECK(actualQ); EXPECT(assert_equal(expectedInformation, actualQ->information(), 1e-8)); EXPECT(assert_equal(expectedQ, *actualQ)); + EXPECT_DOUBLES_EQUAL(0, actualQ->error(zeroDelta), 1e-8); + EXPECT_DOUBLES_EQUAL(expectedError, actualQ->error(perturbedDelta), 1e-8); // Whiten for RegularImplicitSchurFactor (does not have noise model) model->WhitenSystem(E, b); @@ -384,6 +400,8 @@ TEST( SmartProjectionPoseFactor, Factors ) { EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); EXPECT(assert_equal(expected, *actual)); + EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-8); + EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-8); } { @@ -400,6 +418,8 @@ TEST( SmartProjectionPoseFactor, Factors ) { CHECK(actual); EXPECT(assert_equal(expectedInformation, actual->information(), 1e-8)); EXPECT(assert_equal(expected, *actual)); + EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-8); + EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-8); } } From 3558da9c4cf55540db4a131527b2b93f6e568954 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 11 Mar 2015 07:04:02 -0700 Subject: [PATCH 161/964] Fixed SVD factor --- gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 526e9bfdb..c77616793 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -501,15 +501,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -530,6 +530,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { values.insert(x3, Camera(pose_above * noise_pose, sharedK)); Values result; + params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); From f06c84b503481d2c8d497a1375d92ff5629b98b5 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 11 Mar 2015 16:51:24 -0700 Subject: [PATCH 162/964] Fixed sign in SVD --- gtsam/slam/JacobianFactorSVD.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h index aac946901..86636c38f 100644 --- a/gtsam/slam/JacobianFactorSVD.h +++ b/gtsam/slam/JacobianFactorSVD.h @@ -65,7 +65,7 @@ public: KeyMatrix(key, (Enull.transpose()).block(0, ZDim * k, m2, ZDim) * Fblocks[k])); } - JacobianFactor::fillTerms(QF, -Enull.transpose() * b, model); + JacobianFactor::fillTerms(QF, Enull.transpose() * b, model); } }; From 2bdeac30f070900ad1914c5cfb843b1aa6a57af9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 12 Mar 2015 07:56:47 -0700 Subject: [PATCH 163/964] Fixed compile error w PointCov --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 5e0898bfa..ce4d68b9a 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -424,7 +424,7 @@ public: Matrix H(D * numKeys, D * numKeys); Vector gs_vector; - Matrix3 P = Base::PointCov(E, lambda); + Matrix3 P = Cameras::PointCov(E, lambda); H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b)))); From 695d080e4dd5f12701423855bacd68a8de34588b Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 12 Mar 2015 07:56:59 -0700 Subject: [PATCH 164/964] DegeneracyMode --- gtsam/slam/SmartProjectionFactor.h | 33 +++++---- .../tests/testSmartProjectionCameraFactor.cpp | 42 +++++------ .../tests/testSmartProjectionPoseFactor.cpp | 69 +++++++++++-------- 3 files changed, 84 insertions(+), 60 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 067d30329..7c137ad5c 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -44,13 +44,19 @@ public: HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD }; + /// How to manage degeneracy + enum DegeneracyMode { + IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY + }; + private: typedef SmartFactorBase Base; typedef SmartProjectionFactor This; protected: - LinearizationMode linearizeTo_; ///< How to linearize the factor + LinearizationMode linearizationMode_; ///< How to linearize the factor + DegeneracyMode degeneracyMode_; ///< How to linearize the factor /// @name Caching triangulation /// @{ @@ -63,7 +69,6 @@ protected: /// @name Parameters governing how triangulation result is treated /// @{ - const bool manageDegeneracy_; ///< if set to true will use the rotation-only version for degenerate cases const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) /// @} @@ -85,13 +90,16 @@ public: * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations */ SmartProjectionFactor(LinearizationMode linearizationMode = HESSIAN, - double rankTolerance = 1, bool manageDegeneracy = false, bool enableEPI = - false, double landmarkDistanceThreshold = 1e10, + double rankTolerance = 1, DegeneracyMode degeneracyMode = + IGNORE_DEGENERACY, bool enableEPI = false, + double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : - linearizeTo_(linearizationMode), parameters_(rankTolerance, enableEPI, - landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), // + linearizationMode_(linearizationMode), // + degeneracyMode_(degeneracyMode), // + parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, + dynamicOutlierRejectionThreshold), // result_(TriangulationResult::Degenerate()), // - retriangulationThreshold_(1e-5), manageDegeneracy_(manageDegeneracy), // + retriangulationThreshold_(1e-5), // throwCheirality_(false), verboseCheirality_(false) { } @@ -107,7 +115,7 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionFactor\n"; - std::cout << "linearizationMode:\n" << linearizeTo_ << std::endl; + std::cout << "linearizationMode:\n" << linearizationMode_ << std::endl; std::cout << "triangulationParameters:\n" << parameters_ << std::endl; std::cout << "result:\n" << result_ << std::endl; Base::print("", keyFormatter); @@ -116,7 +124,8 @@ public: /// equals virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { const This *e = dynamic_cast(&p); - return e && linearizeTo_ == e->linearizeTo_ && Base::equals(p, tol); + return e && linearizationMode_ == e->linearizationMode_ + && Base::equals(p, tol); } /// Check if the new linearization point is the same as the one used for previous triangulation @@ -194,7 +203,7 @@ public: triangulateSafe(cameras); - if (!manageDegeneracy_ && !result_) { + if (degeneracyMode_ == ZERO_ON_DEGENERACY && !result_) { // put in "empty" Hessian BOOST_FOREACH(Matrix& m, Gs) m = zeros(Base::Dim, Base::Dim); @@ -281,7 +290,7 @@ public: const double lambda = 0.0) const { // depending on flag set on construction we may linearize to different linear factors Cameras cameras = this->cameras(values); - switch (linearizeTo_) { + switch (linearizationMode_) { case HESSIAN: return createHessianFactor(cameras, lambda); case IMPLICIT_SCHUR: @@ -381,7 +390,7 @@ public: if (result_) // All good, just use version in base class return Base::totalReprojectionError(cameras, *result_); - else if (manageDegeneracy_) { + else if (degeneracyMode_ == HANDLE_INFINITY) { // Otherwise, manage the exceptions with rotation-only factors const Point2& z0 = this->measured_.at(0); Unit3 backprojected = cameras.front().backprojectPointAtInfinity(z0); diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index b5ddc4e25..508182557 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -31,7 +31,6 @@ using namespace boost::assign; static bool isDebugTest = false; static double rankTol = 1.0; -static double linThreshold = -1.0; // Convenience for named keys using symbol_shorthand::X; @@ -79,7 +78,7 @@ TEST( SmartProjectionCameraFactor, Constructor) { /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor2) { using namespace vanilla; - SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); + SmartFactor factor1(SmartFactor::HESSIAN, rankTol); } /* ************************************************************************* */ @@ -92,7 +91,7 @@ TEST( SmartProjectionCameraFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor4) { using namespace vanilla; - SmartFactor factor1(SmartFactor::HESSIAN, rankTol, linThreshold); + SmartFactor factor1(SmartFactor::HESSIAN, rankTol); factor1.add(measurement1, x1, unit2); } @@ -108,7 +107,6 @@ TEST( SmartProjectionCameraFactor, Equals ) { /* *************************************************************************/ TEST( SmartProjectionCameraFactor, noiseless ) { - // cout << " ************************ SmartProjectionCameraFactor: noisy ****************************" << endl; using namespace vanilla; Values values; @@ -153,7 +151,8 @@ TEST( SmartProjectionCameraFactor, noisy ) { // Check triangulated point CHECK(factor1->point()); - EXPECT(assert_equal(Point3(13.7587, 1.43851, -1.14274),*factor1->point(), 1e-4)); + EXPECT( + assert_equal(Point3(13.7587, 1.43851, -1.14274), *factor1->point(), 1e-4)); // Check whitened errors Vector expected(4); @@ -236,16 +235,23 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { CHECK(smartFactor2->point()); CHECK(smartFactor3->point()); - EXPECT(assert_equal(Point3(2.57696, -0.182566, 1.04085),*smartFactor1->point(), 1e-4)); - EXPECT(assert_equal(Point3(2.80114, -0.702153, 1.06594),*smartFactor2->point(), 1e-4)); - EXPECT(assert_equal(Point3(1.82593, -0.289569, 2.13438),*smartFactor3->point(), 1e-4)); + EXPECT( + assert_equal(Point3(2.57696, -0.182566, 1.04085), *smartFactor1->point(), + 1e-4)); + EXPECT( + assert_equal(Point3(2.80114, -0.702153, 1.06594), *smartFactor2->point(), + 1e-4)); + EXPECT( + assert_equal(Point3(1.82593, -0.289569, 2.13438), *smartFactor3->point(), + 1e-4)); // Check whitened errors Vector expected(6); expected << 256, 29, -26, 29, -206, -202; Point3 point1 = *smartFactor1->point(); SmartFactor::Cameras cameras1 = smartFactor1->cameras(initial); - Vector reprojectionError = cameras1.reprojectionError(point1, measurements_cam1); + Vector reprojectionError = cameras1.reprojectionError(point1, + measurements_cam1); EXPECT(assert_equal(expected, reprojectionError, 1)); Vector actual = smartFactor1->whitenedError(cameras1, point1); EXPECT(assert_equal(expected, actual, 1)); @@ -259,9 +265,9 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { LevenbergMarquardtOptimizer optimizer(graph, initial, params); Values result = optimizer.optimize(); - EXPECT(assert_equal(landmark1,*smartFactor1->point(), 1e-7)); - EXPECT(assert_equal(landmark2,*smartFactor2->point(), 1e-7)); - EXPECT(assert_equal(landmark3,*smartFactor3->point(), 1e-7)); + EXPECT(assert_equal(landmark1, *smartFactor1->point(), 1e-7)); + EXPECT(assert_equal(landmark2, *smartFactor2->point(), 1e-7)); + EXPECT(assert_equal(landmark3, *smartFactor3->point(), 1e-7)); // GaussianFactorGraph::shared_ptr GFG = graph.linearize(initial); // VectorValues delta = GFG->optimize(); @@ -796,15 +802,12 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { values.insert(c1, level_camera); values.insert(c2, level_camera_right); double rankTol = 1; - double linThreshold = -1; - bool manageDegeneracy = false; bool useEPI = false; - bool isImplicit = false; // Hessian version SmartFactor::shared_ptr explicitFactor( - new SmartFactor(SmartFactor::HESSIAN, rankTol, linThreshold, manageDegeneracy, useEPI, - isImplicit)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::IGNORE_DEGENERACY, useEPI)); explicitFactor->add(level_uv, c1, unit2); explicitFactor->add(level_uv_right, c2, unit2); @@ -814,10 +817,9 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { dynamic_cast(*gaussianHessianFactor); // Implicit Schur version - isImplicit = true; SmartFactor::shared_ptr implicitFactor( - new SmartFactor(SmartFactor::IMPLICIT_SCHUR, rankTol, linThreshold, manageDegeneracy, useEPI, - isImplicit)); + new SmartFactor(SmartFactor::IMPLICIT_SCHUR, rankTol, + SmartFactor::IGNORE_DEGENERACY, useEPI)); implicitFactor->add(level_uv, c1, unit2); implicitFactor->add(level_uv_right, c2, unit2); GaussianFactor::shared_ptr gaussianImplicitSchurFactor = diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index c77616793..6fb1652b0 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -31,8 +31,6 @@ using namespace boost::assign; static const double rankTol = 1.0; -static const bool manageDegeneracy = true; - // Create a noise model for the pixel error static const double sigma = 0.1; static SharedIsotropic model(noiseModel::Isotropic::Sigma(2, sigma)); @@ -501,15 +499,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_SVD)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_SVD)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_SVD)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -530,7 +528,6 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { values.insert(x3, Camera(pose_above * noise_pose, sharedK)); Values result; - params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); @@ -556,17 +553,20 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, + SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, + SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, -1, false, false, + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, + SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model); @@ -621,23 +621,27 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, + SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, + dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, + SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, + dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, + SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, + dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, false, false, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, + SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, + dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -680,15 +684,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_Q, 1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_Q)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_Q, 1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_Q)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_Q, 1, false, false)); + new SmartFactor(SmartFactor::JACOBIAN_Q)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -885,11 +889,13 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -923,6 +929,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac values.at(x3).pose())); Values result; + params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); @@ -964,15 +971,18 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1265,15 +1275,18 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::HESSIAN, rankTol, manageDegeneracy)); + new SmartFactor(SmartFactor::HESSIAN, rankTol, + SmartFactor::ZERO_ON_DEGENERACY)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); From 956b53dc3b026be57a9a78bd2a0bf13f2c8347ec Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 12 Mar 2015 09:51:44 -0700 Subject: [PATCH 165/964] Fixed sign in stereo version --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index ce4d68b9a..197ee82d2 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -426,7 +426,7 @@ public: Matrix3 P = Cameras::PointCov(E, lambda); H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); - gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b)))); + gs_vector.noalias() = F.transpose() * (b - (E * (P * (E.transpose() * b)))); if (isDebug) std::cout << "gs_vector size " << gs_vector.size() << std::endl; From 3675754816786f950a66e86d6cbce3a602b76169 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 12 Mar 2015 10:00:29 -0700 Subject: [PATCH 166/964] Fixed two more tests: down to two ! --- .../tests/testSmartProjectionPoseFactor.cpp | 21 ++++--------------- 1 file changed, 4 insertions(+), 17 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 6fb1652b0..1e21a3afd 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -90,7 +90,6 @@ TEST( SmartProjectionPoseFactor, Equals ) { /* *************************************************************************/ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { - // cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl; using namespace vanillaPose; @@ -149,7 +148,6 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, noisy ) { - // cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl; using namespace vanillaPose; @@ -190,7 +188,6 @@ TEST( SmartProjectionPoseFactor, noisy ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { - // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl; using namespace vanillaPose2; vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -423,7 +420,6 @@ TEST( SmartProjectionPoseFactor, Factors ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { - // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl; using namespace vanillaPose; @@ -719,7 +715,6 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { - // cout << " ************************ Normal ProjectionFactor: 3 cams + 3 landmarks **********************" << endl; using namespace vanillaPose2; @@ -769,10 +764,8 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { DOUBLES_EQUAL(48406055, graph.error(values), 1); - cout << "SUCCEEDS : ==============================================" << endl; LevenbergMarquardtOptimizer optimizer(graph, values, params); Values result = optimizer.optimize(); - cout << "=========================================================" << endl; DOUBLES_EQUAL(0, graph.error(result), 1e-9); @@ -866,8 +859,6 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) { - // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 2 landmarks: Rotation Only**********************" << endl; - using namespace vanillaPose2; vector views; @@ -890,12 +881,12 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + SmartFactor::HANDLE_INFINITY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + SmartFactor::HANDLE_INFINITY)); smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -945,7 +936,6 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) { - // cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks: Rotation Only**********************" << endl; using namespace vanillaPose; @@ -1033,7 +1023,6 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) /* *************************************************************************/ TEST( SmartProjectionPoseFactor, Hessian ) { - // cout << " ************************ SmartProjectionPoseFactor: Hessian **********************" << endl; using namespace vanillaPose2; @@ -1122,7 +1111,6 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { - // cout << " ************************ SmartProjectionPoseFactor: rotated Hessian (degenerate) **********************" << endl; using namespace vanillaPose2; @@ -1159,7 +1147,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { smartFactor->linearize(rotValues); // Hessian is invariant to rotations in the nondegenerate case - EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-8)); + EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-7)); Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); @@ -1174,7 +1162,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { // Hessian is invariant to rotations and translations in the nondegenerate case EXPECT( - assert_equal(factor->information(), factorRotTran->information(), 1e-8)); + assert_equal(factor->information(), factorRotTran->information(), 1e-7)); } /* ************************************************************************* */ @@ -1186,7 +1174,6 @@ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { /* *************************************************************************/ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { - // cout << " ************************ SmartProjectionPoseFactor: Cal3Bundler **********************" << endl; using namespace bundlerPose; From a920caf2ec98230000371e9b02e8ae20c19dff7b Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 14 Mar 2015 20:26:50 -0400 Subject: [PATCH 167/964] More deliberate testing of optimize on/off --- gtsam/geometry/tests/testTriangulation.cpp | 37 +++++++++++++++------- 1 file changed, 26 insertions(+), 11 deletions(-) diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index 3045668d5..d8f094f8e 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -50,6 +50,7 @@ Point2 z1 = camera1.project(landmark); Point2 z2 = camera2.project(landmark); //****************************************************************************** +// Simple test with a well-behaved two camera situation TEST( triangulation, twoPoses) { vector poses; @@ -58,24 +59,36 @@ TEST( triangulation, twoPoses) { poses += pose1, pose2; measurements += z1, z2; - bool optimize = true; double rank_tol = 1e-9; - boost::optional triangulated_landmark = triangulatePoint3(poses, - sharedCal, measurements, rank_tol, optimize); - EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2)); + // 1. Test simple DLT, perfect in no noise situation + bool optimize = false; + boost::optional actual1 = triangulatePoint3(poses, sharedCal, + measurements, rank_tol, optimize); + EXPECT(assert_equal(landmark, *actual1, 1e-7)); - // 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) + // 2. test with optimization on, same answer + optimize = true; + boost::optional actual2 = triangulatePoint3(poses, sharedCal, + measurements, rank_tol, optimize); + EXPECT(assert_equal(landmark, *actual2, 1e-7)); + + // 3. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) measurements.at(0) += Point2(0.1, 0.5); measurements.at(1) += Point2(-0.2, 0.3); + optimize = false; + boost::optional actual3 = triangulatePoint3(poses, sharedCal, + measurements, rank_tol, optimize); + EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-4)); - boost::optional triangulated_landmark_noise = triangulatePoint3(poses, - sharedCal, measurements, rank_tol, optimize); - EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2)); + // 3. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) + optimize = true; + boost::optional actual4 = triangulatePoint3(poses, sharedCal, + measurements, rank_tol, optimize); + EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4)); } //****************************************************************************** - TEST( triangulation, twoPosesBundler) { boost::shared_ptr bundlerCal = // @@ -151,7 +164,8 @@ TEST( triangulation, fourPoses) { SimpleCamera camera4(pose4, *sharedCal); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION - CHECK_EXCEPTION(camera4.project(landmark);, CheiralityException); + CHECK_EXCEPTION(camera4.project(landmark) + ;, CheiralityException); poses += pose4; measurements += Point2(400, 400); @@ -217,7 +231,8 @@ TEST( triangulation, fourPoses_distinct_Ks) { SimpleCamera camera4(pose4, K4); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION - CHECK_EXCEPTION(camera4.project(landmark);, CheiralityException); + CHECK_EXCEPTION(camera4.project(landmark) + ;, CheiralityException); cameras += camera4; measurements += Point2(400, 400); From a3b6a47b2e77347757a845c324e51c9278767986 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 15 Mar 2015 07:09:55 -0400 Subject: [PATCH 168/964] Revived sole camera test --- gtsam/geometry/tests/testTriangulation.cpp | 78 ++++++++++------------ 1 file changed, 37 insertions(+), 41 deletions(-) diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index d8f094f8e..bc007314e 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -63,32 +63,33 @@ TEST( triangulation, twoPoses) { // 1. Test simple DLT, perfect in no noise situation bool optimize = false; - boost::optional actual1 = triangulatePoint3(poses, sharedCal, - measurements, rank_tol, optimize); + boost::optional actual1 = // + triangulatePoint3(poses, sharedCal, measurements, rank_tol, optimize); EXPECT(assert_equal(landmark, *actual1, 1e-7)); // 2. test with optimization on, same answer optimize = true; - boost::optional actual2 = triangulatePoint3(poses, sharedCal, - measurements, rank_tol, optimize); + boost::optional actual2 = // + triangulatePoint3(poses, sharedCal, measurements, rank_tol, optimize); EXPECT(assert_equal(landmark, *actual2, 1e-7)); // 3. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) measurements.at(0) += Point2(0.1, 0.5); measurements.at(1) += Point2(-0.2, 0.3); optimize = false; - boost::optional actual3 = triangulatePoint3(poses, sharedCal, - measurements, rank_tol, optimize); + boost::optional actual3 = // + triangulatePoint3(poses, sharedCal, measurements, rank_tol, optimize); EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-4)); - // 3. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) + // 4. Now with optimization on optimize = true; - boost::optional actual4 = triangulatePoint3(poses, sharedCal, - measurements, rank_tol, optimize); + boost::optional actual4 = // + triangulatePoint3(poses, sharedCal, measurements, rank_tol, optimize); EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4)); } //****************************************************************************** +// Similar, but now with Bundler calibration TEST( triangulation, twoPosesBundler) { boost::shared_ptr bundlerCal = // @@ -109,17 +110,17 @@ TEST( triangulation, twoPosesBundler) { bool optimize = true; double rank_tol = 1e-9; - boost::optional triangulated_landmark = triangulatePoint3(poses, - bundlerCal, measurements, rank_tol, optimize); - EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2)); + boost::optional actual = // + triangulatePoint3(poses, bundlerCal, measurements, rank_tol, optimize); + EXPECT(assert_equal(landmark, *actual, 1e-7)); - // 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) + // Add some noise and try again measurements.at(0) += Point2(0.1, 0.5); measurements.at(1) += Point2(-0.2, 0.3); - boost::optional triangulated_landmark_noise = triangulatePoint3(poses, - bundlerCal, measurements, rank_tol, optimize); - EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2)); + boost::optional actual2 = // + triangulatePoint3(poses, bundlerCal, measurements, rank_tol, optimize); + EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19847), *actual2, 1e-4)); } //****************************************************************************** @@ -130,17 +131,17 @@ TEST( triangulation, fourPoses) { poses += pose1, pose2; measurements += z1, z2; - boost::optional triangulated_landmark = triangulatePoint3(poses, - sharedCal, measurements); - EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2)); + boost::optional actual = triangulatePoint3(poses, sharedCal, + measurements); + EXPECT(assert_equal(landmark, *actual, 1e-2)); // 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) measurements.at(0) += Point2(0.1, 0.5); measurements.at(1) += Point2(-0.2, 0.3); - boost::optional triangulated_landmark_noise = // + boost::optional actual2 = // triangulatePoint3(poses, sharedCal, measurements); - EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2)); + EXPECT(assert_equal(landmark, *actual2, 1e-2)); // 3. Add a slightly rotated third camera above, again with measurement noise Pose3 pose3 = pose1 * Pose3(Rot3::ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); @@ -164,8 +165,7 @@ TEST( triangulation, fourPoses) { SimpleCamera camera4(pose4, *sharedCal); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION - CHECK_EXCEPTION(camera4.project(landmark) - ;, CheiralityException); + CHECK_EXCEPTION(camera4.project(landmark), CheiralityException); poses += pose4; measurements += Point2(400, 400); @@ -195,17 +195,17 @@ TEST( triangulation, fourPoses_distinct_Ks) { cameras += camera1, camera2; measurements += z1, z2; - boost::optional triangulated_landmark = // + boost::optional actual = // triangulatePoint3(cameras, measurements); - EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2)); + EXPECT(assert_equal(landmark, *actual, 1e-2)); // 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) measurements.at(0) += Point2(0.1, 0.5); measurements.at(1) += Point2(-0.2, 0.3); - boost::optional triangulated_landmark_noise = // + boost::optional actual2 = // triangulatePoint3(cameras, measurements); - EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2)); + EXPECT(assert_equal(landmark, *actual2, 1e-2)); // 3. Add a slightly rotated third camera above, again with measurement noise Pose3 pose3 = pose1 * Pose3(Rot3::ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); @@ -260,23 +260,19 @@ TEST( triangulation, twoIdenticalPoses) { } //****************************************************************************** -/* - TEST( triangulation, onePose) { - // we expect this test to fail with a TriangulationUnderconstrainedException - // because there's only one camera observation +TEST( triangulation, onePose) { + // we expect this test to fail with a TriangulationUnderconstrainedException + // because there's only one camera observation - Cal3_S2 *sharedCal(1500, 1200, 0, 640, 480); + vector poses; + vector measurements; - vector poses; - vector measurements; + poses += Pose3(); + measurements += Point2(); - poses += Pose3(); - measurements += Point2(); - - CHECK_EXCEPTION(triangulatePoint3(poses, measurements, *sharedCal), - TriangulationUnderconstrainedException); - } - */ + CHECK_EXCEPTION(triangulatePoint3(poses, sharedCal, measurements), + TriangulationUnderconstrainedException); +} //****************************************************************************** int main() { From 32c6453ee68353d2e292fd54bcaa98af9148bb0f Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 15 Mar 2015 07:42:01 -0400 Subject: [PATCH 169/964] Some refactoring and saving of computation under certain parameter combinations --- gtsam/geometry/tests/testTriangulation.cpp | 3 +- gtsam/geometry/triangulation.cpp | 1 - gtsam/geometry/triangulation.h | 56 ++++++++++++---------- 3 files changed, 33 insertions(+), 27 deletions(-) diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index bc007314e..352493683 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -231,8 +231,7 @@ TEST( triangulation, fourPoses_distinct_Ks) { SimpleCamera camera4(pose4, K4); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION - CHECK_EXCEPTION(camera4.project(landmark) - ;, CheiralityException); + CHECK_EXCEPTION(camera4.project(landmark), CheiralityException); cameras += camera4; measurements += Point2(400, 400); diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp index 474689525..f473b4010 100644 --- a/gtsam/geometry/triangulation.cpp +++ b/gtsam/geometry/triangulation.cpp @@ -52,7 +52,6 @@ Point3 triangulateDLT(const std::vector& projection_matrices, double error; Vector v; boost::tie(rank, error, v) = DLT(A, rank_tol); - // std::cout << "s " << s.transpose() << std:endl; if (rank < 3) throw(TriangulationUnderconstrainedException()); diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index a67f26bf2..e7b2a53f3 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -208,20 +208,20 @@ Point3 triangulatePoint3(const std::vector& poses, projection_matrices.push_back( sharedCal->K() * (pose.inverse().matrix()).block<3, 4>(0, 0)); } - // Triangulate linearly + // Do DLT: throws TriangulationUnderconstrainedException if rank<3 Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol); - // The n refine using non-linear optimization + // Then refine using non-linear optimization if (optimize) point = triangulateNonlinear // (poses, sharedCal, measurements, point); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION - // verify that the triangulated point lies infront of all cameras + // verify that the triangulated point lies in front of all cameras BOOST_FOREACH(const Pose3& pose, poses) { const Point3& p_local = pose.transform_to(point); if (p_local.z() <= 0) - throw(TriangulationCheiralityException()); + throw(TriangulationCheiralityException()); } #endif @@ -258,6 +258,7 @@ Point3 triangulatePoint3(const std::vector& cameras, projection_matrices.push_back( camera.calibration().K() * (P_.block<3, 4>(0, 0))); } + // Do DLT: throws TriangulationUnderconstrainedException if rank<3 Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol); // The n refine using non-linear optimization @@ -265,11 +266,11 @@ Point3 triangulatePoint3(const std::vector& cameras, point = triangulateNonlinear(cameras, measurements, point); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION - // verify that the triangulated point lies infront of all cameras + // verify that the triangulated point lies in front of all cameras BOOST_FOREACH(const CAMERA& camera, cameras) { const Point3& p_local = camera.pose().transform_to(point); if (p_local.z() <= 0) - throw(TriangulationCheiralityException()); + throw(TriangulationCheiralityException()); } #endif @@ -307,14 +308,17 @@ struct TriangulationParameters { /** * Constructor * @param rankTol tolerance used to check if point triangulation is degenerate - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations + * @param enableEPI if true refine triangulation with embedded LM iterations + * @param landmarkDistanceThreshold flag as degenerate if point further than this + * @param dynamicOutlierRejectionThreshold or if average error larger than this + * */ TriangulationParameters(const double _rankTolerance = 1.0, - const bool _enableEPI = false, double _landmarkDistanceThreshold = 1e10, + const bool _enableEPI = false, double _landmarkDistanceThreshold = -1, double _dynamicOutlierRejectionThreshold = -1) : - rankTolerance(_rankTolerance), enableEPI(_enableEPI), landmarkDistanceThreshold( - _landmarkDistanceThreshold), dynamicOutlierRejectionThreshold( - _dynamicOutlierRejectionThreshold) { + rankTolerance(_rankTolerance), enableEPI(_enableEPI), // + landmarkDistanceThreshold(_landmarkDistanceThreshold), // + dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold) { } // stream to output @@ -386,25 +390,31 @@ TriangulationResult triangulateSafe(const std::vector& cameras, Point3 point = triangulatePoint3(cameras, measured, params.rankTolerance, params.enableEPI); - // Check landmark distance and reprojection errors to avoid outliers + // Check landmark distance and re-projection errors to avoid outliers size_t i = 0; double totalReprojError = 0.0; BOOST_FOREACH(const CAMERA& camera, cameras) { - // we discard smart factors corresponding to points that are far away - Point3 cameraTranslation = camera.pose().translation(); - if (cameraTranslation.distance(point) > params.landmarkDistanceThreshold) - return TriangulationResult::Degenerate(); - // Also flag if point is behind any of the cameras - try { + const Pose3& pose = camera.pose(); + if (params.landmarkDistanceThreshold > 0 + && pose.translation().distance(point) + > params.landmarkDistanceThreshold) + return TriangulationResult::Degenerate(); +#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION + // verify that the triangulated point lies in front of all cameras + // Only needed if this was not yet handled by exception + const Point3& p_local = pose.transform_to(point); + if (p_local.z() <= 0) + return TriangulationResult::BehindCamera(); +#endif + // Check reprojection error + if (params.dynamicOutlierRejectionThreshold > 0) { const Point2& zi = measured.at(i); Point2 reprojectionError(camera.project(point) - zi); totalReprojError += reprojectionError.vector().norm(); - } catch (CheiralityException) { - return TriangulationResult::BehindCamera(); } i += 1; } - // we discard smart factors that have large reprojection error + // Flag as degenerate if average reprojection error is too large if (params.dynamicOutlierRejectionThreshold > 0 && totalReprojError / m > params.dynamicOutlierRejectionThreshold) return TriangulationResult::Degenerate(); @@ -412,14 +422,12 @@ TriangulationResult triangulateSafe(const std::vector& cameras, // all good! return TriangulationResult(point); } catch (TriangulationUnderconstrainedException&) { - // if TriangulationUnderconstrainedException can be + // This exception is thrown if // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) - // in the second case we want to use a rotation-only smart factor return TriangulationResult::Degenerate(); } catch (TriangulationCheiralityException&) { // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers - // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint return TriangulationResult::BehindCamera(); } } From cdde34735051971fd7dd97aa968ad6985fa7c4e8 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 27 Mar 2015 18:39:37 -0400 Subject: [PATCH 170/964] fixed typo and warning (int VS size_t) --- gtsam/geometry/CameraSet.h | 4 ++-- gtsam/slam/RegularImplicitSchurFactor.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index cd67187df..1ee53d2c8 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -93,7 +93,7 @@ public: } /** - * Project a point (posibly Unit3 at infinity), with derivatives + * Project a point (possibly Unit3 at infinity), with derivatives * Note that F is a sparse block-diagonal matrix, so instead of a large dense * matrix this function returns the diagonal blocks. * throws CheiralityException @@ -148,7 +148,7 @@ public: const Matrix& E, const Eigen::Matrix& P, const Vector& b) { // a single point is observed in m cameras - int m = Fs.size(); + size_t m = Fs.size(); // Create a SymmetricBlockMatrix size_t M1 = D * m + 1; diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index da1f5b785..0e52d9ba7 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -152,7 +152,7 @@ public: * E_.block(ZDim * k, 0); Eigen::Matrix dj; - for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian + for (int k = 0; k < D; ++k) { // for each diagonal element of the camera hessian // Vector column_k_Fj = Fj.col(k); dj(k) = Fj.col(k).squaredNorm(); // dot(column_k_Fj, column_k_Fj); // Vector column_k_FtE = FtE.row(k); @@ -184,7 +184,7 @@ public: * E_.block(ZDim * pos, 0); DVector dj; - for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian + for (int k = 0; k < D; ++k) { // for each diagonal element of the camera hessian dj(k) = Fj.col(k).squaredNorm(); // (1 x 1) = (1 x 3) * (3 * 3) * (3 x 1) dj(k) -= FtE.row(k) * PointCovariance_ * FtE.row(k).transpose(); From 5ba16dc6212d1d7f1013945e72f6f65442a222e6 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 27 Mar 2015 18:40:14 -0400 Subject: [PATCH 171/964] minor re-formatting --- gtsam/geometry/CalibratedCamera.h | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index b4513a2a3..6e2f153c8 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -182,8 +182,7 @@ public: /// Project a point into the image and check depth std::pair projectSafe(const Point3& pw) const; - /** - * Project point into the image + /** Project point into the image * Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION * @param point 3D point in world coordinates * @return the intrinsic coordinates of the projected point @@ -191,8 +190,7 @@ public: Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose = boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const; - /** - * Project point at infinity into the image + /** Project point at infinity into the image * Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION * @param point 3D point in world coordinates * @return the intrinsic coordinates of the projected point From 067f2ed39edf56b616c3882815614b9e5fff0806 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 27 Mar 2015 18:40:37 -0400 Subject: [PATCH 172/964] Camera - > CAMERA (using directly template argument) --- gtsam/slam/TriangulationFactor.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index 19615c8cc..8001357c9 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -31,7 +31,7 @@ class TriangulationFactor: public NoiseModelFactor1 { public: - /// Camera type + /// CAMERA type typedef CAMERA Camera; protected: @@ -43,7 +43,7 @@ protected: typedef TriangulationFactor This; // Keep a copy of measurement and calibration for I/O - const Camera camera_; ///< Camera in which this landmark was seen + const CAMERA camera_; ///< CAMERA in which this landmark was seen const Point2 measured_; ///< 2D measurement // verbosity handling for Cheirality Exceptions @@ -69,7 +69,7 @@ public: * @param throwCheirality determines whether Cheirality exceptions are rethrown * @param verboseCheirality determines whether exceptions are printed for Cheirality */ - TriangulationFactor(const Camera& camera, const Point2& measured, + TriangulationFactor(const CAMERA& camera, const Point2& measured, const SharedNoiseModel& model, Key pointKey, bool throwCheirality = false, bool verboseCheirality = false) : Base(model, pointKey), camera_(camera), measured_(measured), throwCheirality_( From 4b2eb2f7aaf4d23790a23778feaefece00b1fa16 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 27 Mar 2015 18:42:05 -0400 Subject: [PATCH 173/964] using overloading rather than templates to manage projection of Point3 and Unit3 (the templates worked on mac, but had issues compiling in ubuntu) --- gtsam/geometry/PinholeCamera.h | 26 +++++++++++------ gtsam/geometry/PinholePose.h | 52 +++++++++++++++++++++------------- 2 files changed, 51 insertions(+), 27 deletions(-) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index cc903e7db..6353ddcdc 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -145,7 +145,7 @@ public: const Pose3& getPose(OptionalJacobian<6, dimension> H) const { if (H) { H->setZero(); - H->template block<6,6>(0, 0) = I_6x6; + H->template block<6, 6>(0, 0) = I_6x6; } return Base::pose(); } @@ -199,14 +199,12 @@ public: typedef Eigen::Matrix Matrix2K; - /** project a point from world coordinate to the image (possibly a Unit3) - * @param pw is a point in the world coordinate + /** Templated projection of a 3D point or a point at infinity into the image + * @param pw either a Point3 or a Unit3, in world coordinates */ template - Point2 project2( - const POINT& pw, // - OptionalJacobian<2, dimension> Dcamera = boost::none, - OptionalJacobian<2, FixedDimension::value> Dpoint = boost::none) const { + Point2 _project2(const POINT& pw, OptionalJacobian<2, dimension> Dcamera, + OptionalJacobian<2, FixedDimension::value> Dpoint) const { // We just call 3-derivative version in Base Matrix26 Dpose; Eigen::Matrix Dcal; @@ -217,6 +215,18 @@ public: return pi; } + /// project a 3D point from world coordinates into the image + Point2 project2(const Point3& pw, OptionalJacobian<2, dimension> Dcamera = + boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const { + return _project2(pw, Dcamera, Dpoint); + } + + /// project a point at infinity from world coordinates into the image + Point2 project2(const Unit3& pw, OptionalJacobian<2, dimension> Dcamera = + boost::none, OptionalJacobian<2, 2> Dpoint = boost::none) const { + return _project2(pw, Dcamera, Dpoint); + } + /** * Calculate range to a landmark * @param point 3D location of landmark @@ -264,7 +274,7 @@ public: if (Dother) { Dother->resize(1, 6 + CalibrationB::dimension); Dother->setZero(); - Dother->block<1,6>(0, 0) = Dother_; + Dother->block<1, 6>(0, 0) = Dother_; } return result; } diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index d98f36b6e..247d11823 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -87,12 +87,8 @@ public: * @param pw is a point in the world coordinates */ Point2 project(const Point3& pw) const { - - // project to normalized coordinates - const Point2 pn = PinholeBase::project2(pw); - - // uncalibrate to pixel coordinates - return calibration().uncalibrate(pn); + const Point2 pn = PinholeBase::project2(pw); // project to normalized coordinates + return calibration().uncalibrate(pn); // uncalibrate to pixel coordinates } /** project a point from world coordinate to the image @@ -100,20 +96,20 @@ public: */ Point2 project(const Unit3& pw) const { const Unit3 pc = pose().rotation().unrotate(pw); // convert to camera frame - const Point2 pn = PinholeBase::Project(pc); - return calibration().uncalibrate(pn); + const Point2 pn = PinholeBase::Project(pc); // project to normalized coordinates + return calibration().uncalibrate(pn); // uncalibrate to pixel coordinates } - /** project a point (possibly at infinity) from world coordinate to the image - * @param pw is a point in world coordinates + /** Templated projection of a point (possibly at infinity) from world coordinate to the image + * @param pw is a 3D point or aUnit3 (point at infinity) in world coordinates * @param Dpose is the Jacobian w.r.t. pose3 * @param Dpoint is the Jacobian w.r.t. point3 * @param Dcal is the Jacobian w.r.t. calibration */ template - Point2 project(const POINT& pw, OptionalJacobian<2, 6> Dpose, - OptionalJacobian<2, FixedDimension::value> Dpoint = boost::none, - OptionalJacobian<2, DimK> Dcal = boost::none) const { + Point2 _project(const POINT& pw, OptionalJacobian<2, 6> Dpose, + OptionalJacobian<2, FixedDimension::value> Dpoint, + OptionalJacobian<2, DimK> Dcal) const { // project to normalized coordinates const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint); @@ -132,6 +128,20 @@ public: return pi; } + /// project a 3D point from world coordinates into the image + Point2 project(const Point3& pw, OptionalJacobian<2, 6> Dpose, + OptionalJacobian<2, 3> Dpoint = boost::none, + OptionalJacobian<2, DimK> Dcal = boost::none) const { + return _project(pw, Dpose, Dpoint, Dcal); + } + + /// project a point at infinity from world coordinates into the image + Point2 project(const Unit3& pw, OptionalJacobian<2, 6> Dpose, + OptionalJacobian<2, 2> Dpoint = boost::none, + OptionalJacobian<2, DimK> Dcal = boost::none) const { + return _project(pw, Dpose, Dpoint, Dcal); + } + /// backproject a 2-dimensional point to a 3-dimensional point at given depth Point3 backproject(const Point2& p, double depth) const { const Point2 pn = calibration().calibrate(p); @@ -318,15 +328,19 @@ public: return *K_; } - /** project a point (possibly at infinity) from world coordinate to the image, 2 derivatives only + /** project a point from world coordinate to the image, 2 derivatives only * @param pw is a point in world coordinates - * @param Dpose is the Jacobian w.r.t. the whole camera (realy only the pose) + * @param Dpose is the Jacobian w.r.t. the whole camera (really only the pose) * @param Dpoint is the Jacobian w.r.t. point3 - * TODO should use Unit3 */ - template - Point2 project2(const POINT& pw, OptionalJacobian<2, 6> Dpose = boost::none, - OptionalJacobian<2, FixedDimension::value> Dpoint = boost::none) const { + Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none, + OptionalJacobian<2, 3> Dpoint = boost::none) const { + return Base::project(pw, Dpose, Dpoint); + } + + /// project2 version for point at infinity + Point2 project2(const Unit3& pw, OptionalJacobian<2, 6> Dpose = boost::none, + OptionalJacobian<2, 2> Dpoint = boost::none) const { return Base::project(pw, Dpose, Dpoint); } From 51482ea358aa1c3a9e38a2adec7374955bd77abe Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 8 Apr 2015 14:21:40 -0400 Subject: [PATCH 174/964] Remove template parameter D, get from Base::Dim instead --- .../slam/SmartStereoProjectionFactor.h | 44 +++++++++---------- .../slam/SmartStereoProjectionPoseFactor.h | 4 +- 2 files changed, 24 insertions(+), 24 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 197ee82d2..642e2350b 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -63,7 +63,7 @@ enum LinearizationMode { /** * SmartStereoProjectionFactor: triangulates point */ -template +template class SmartStereoProjectionFactor: public SmartFactorBase { protected: @@ -104,7 +104,7 @@ protected: // and the factor is disregarded if the error is large /// shorthand for this class - typedef SmartStereoProjectionFactor This; + typedef SmartStereoProjectionFactor This; enum { ZDim = 3 @@ -347,7 +347,7 @@ public: } /// linearize returns a Hessianfactor that is an approximation of error(p) - boost::shared_ptr > createHessianFactor( + boost::shared_ptr > createHessianFactor( const Cameras& cameras, const double lambda = 0.0) const { bool isDebug = false; @@ -374,10 +374,10 @@ public: if (isDebug) std::cout << "In linearize: exception" << std::endl; BOOST_FOREACH(Matrix& m, Gs) - m = zeros(D, D); + m = zeros(Base::Dim, Base::Dim); BOOST_FOREACH(Vector& v, gs) - v = zero(D); - return boost::make_shared >(this->keys_, Gs, gs, + v = zero(Base::Dim); + return boost::make_shared >(this->keys_, Gs, gs, 0.0); } @@ -407,7 +407,7 @@ public: << "something wrong in SmartProjectionHessianFactor: selective relinearization should be disabled" << std::endl; exit(1); - return boost::make_shared >(this->keys_, + return boost::make_shared >(this->keys_, this->state_->Gs, this->state_->gs, this->state_->f); } @@ -421,7 +421,7 @@ public: // Schur complement trick // Frank says: should be possible to do this more efficiently? // And we care, as in grouped factors this is called repeatedly - Matrix H(D * numKeys, D * numKeys); + Matrix H(Base::Dim * numKeys, Base::Dim * numKeys); Vector gs_vector; Matrix3 P = Cameras::PointCov(E, lambda); @@ -436,11 +436,11 @@ public: // Populate Gs and gs int GsCount2 = 0; for (DenseIndex i1 = 0; i1 < (DenseIndex) numKeys; i1++) { // for each camera - DenseIndex i1D = i1 * D; - gs.at(i1) = gs_vector.segment(i1D); + DenseIndex i1D = i1 * Base::Dim; + gs.at(i1) = gs_vector.segment(i1D); for (DenseIndex i2 = 0; i2 < (DenseIndex) numKeys; i2++) { if (i2 >= i1) { - Gs.at(GsCount2) = H.block(i1D, i2 * D); + Gs.at(GsCount2) = H.block(i1D, i2 * Base::Dim); GsCount2++; } } @@ -452,29 +452,29 @@ public: this->state_->gs = gs; this->state_->f = f; } - return boost::make_shared >(this->keys_, Gs, gs, f); + return boost::make_shared >(this->keys_, Gs, gs, f); } // // create factor -// boost::shared_ptr > createImplicitSchurFactor( +// boost::shared_ptr > createImplicitSchurFactor( // const Cameras& cameras, double lambda) const { // if (triangulateForLinearize(cameras)) // return Base::createImplicitSchurFactor(cameras, point_, lambda); // else -// return boost::shared_ptr >(); +// return boost::shared_ptr >(); // } // // /// create factor -// boost::shared_ptr > createJacobianQFactor( +// boost::shared_ptr > createJacobianQFactor( // const Cameras& cameras, double lambda) const { // if (triangulateForLinearize(cameras)) // return Base::createJacobianQFactor(cameras, point_, lambda); // else -// return boost::make_shared< JacobianFactorQ >(this->keys_); +// return boost::make_shared< JacobianFactorQ >(this->keys_); // } // // /// Create a factor, takes values -// boost::shared_ptr > createJacobianQFactor( +// boost::shared_ptr > createJacobianQFactor( // const Values& values, double lambda) const { // Cameras cameras; // // TODO triangulate twice ?? @@ -482,7 +482,7 @@ public: // if (nonDegenerate) // return createJacobianQFactor(cameras, lambda); // else -// return boost::make_shared< JacobianFactorQ >(this->keys_); +// return boost::make_shared< JacobianFactorQ >(this->keys_); // } // /// different (faster) way to compute Jacobian factor @@ -491,7 +491,7 @@ public: if (triangulateForLinearize(cameras)) return Base::createJacobianSVDFactor(cameras, point_, lambda); else - return boost::make_shared >(this->keys_); + return boost::make_shared >(this->keys_); } /// Returns true if nonDegenerate @@ -717,9 +717,9 @@ private: }; /// traits -template -struct traits > : public Testable< - SmartStereoProjectionFactor > { +template +struct traits > : public Testable< + SmartStereoProjectionFactor > { }; } // \ namespace gtsam diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index 8fe8bea69..2ac719056 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -39,7 +39,7 @@ namespace gtsam { * @addtogroup SLAM */ template -class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { +class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { protected: LinearizationMode linearizeTo_; ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q) @@ -51,7 +51,7 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW /// shorthand for base class type - typedef SmartStereoProjectionFactor Base; + typedef SmartStereoProjectionFactor Base; /// shorthand for this class typedef SmartStereoProjectionPoseFactor This; From 762a7b74350cd6a6b91eaf451faa003716072bd9 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 8 Apr 2015 17:52:25 -0400 Subject: [PATCH 175/964] Remove selective relinearization and state --- .../slam/SmartStereoProjectionFactor.h | 108 ++---------------- .../slam/SmartStereoProjectionPoseFactor.h | 7 ++ .../testSmartStereoProjectionPoseFactor.cpp | 21 ++-- 3 files changed, 27 insertions(+), 109 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 642e2350b..eb3e2f761 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -33,33 +33,6 @@ namespace gtsam { -/** - * Structure for storing some state memory, used to speed up optimization - * @addtogroup SLAM - */ -class SmartStereoProjectionFactorState { - -protected: - -public: - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - - SmartStereoProjectionFactorState() { - } - // Hessian representation (after Schur complement) - bool calculatedHessian; - Matrix H; - Vector gs_vector; - std::vector Gs; - std::vector gs; - double f; -}; - -enum LinearizationMode { - HESSIAN, JACOBIAN_SVD, JACOBIAN_Q -}; - /** * SmartStereoProjectionFactor: triangulates point */ @@ -84,14 +57,6 @@ protected: mutable bool degenerate_; mutable bool cheiralityException_; - // verbosity handling for Cheirality Exceptions - const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) - const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) - - boost::shared_ptr state_; - - /// shorthand for smart projection factor state variable - typedef boost::shared_ptr SmartFactorStatePtr; /// shorthand for base class type typedef SmartFactorBase Base; @@ -110,6 +75,12 @@ protected: ZDim = 3 }; ///< Dimension trait of measurement type + /// @name Parameters governing how triangulation result is treated + /// @{ + const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) + const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) + /// @} + public: /// shorthand for a smart pointer to a factor @@ -133,12 +104,11 @@ public: SmartStereoProjectionFactor(const double rankTol, const double linThreshold, const bool manageDegeneracy, const bool enableEPI, double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1, SmartFactorStatePtr state = - SmartFactorStatePtr(new SmartStereoProjectionFactorState())) : + double dynamicOutlierRejectionThreshold = -1) : rankTolerance_(rankTol), retriangulationThreshold_(1e-5), manageDegeneracy_( manageDegeneracy), enableEPI_(enableEPI), linearizationThreshold_( linThreshold), degenerate_(false), cheiralityException_(false), throwCheirality_( - false), verboseCheirality_(false), state_(state), landmarkDistanceThreshold_( + false), verboseCheirality_(false), landmarkDistanceThreshold_( landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( dynamicOutlierRejectionThreshold) { } @@ -199,40 +169,6 @@ public: return retriangulate; // if we arrive to this point_ all poses are the same and we don't need re-triangulation } - /// This function checks if the new linearization point_ is 'close' to the previous one used for linearization - bool decideIfLinearize(const Cameras& cameras) const { - // "selective linearization" - // The function evaluates how close are the old and the new poses, transformed in the ref frame of the first pose - // (we only care about the "rigidity" of the poses, not about their absolute pose) - - if (this->linearizationThreshold_ < 0) //by convention if linearizationThreshold is negative we always relinearize - return true; - - // if we do not have a previous linearization point_ or the new linearization point_ includes more poses - if (cameraPosesLinearization_.empty() - || (cameras.size() != cameraPosesLinearization_.size())) - return true; - - Pose3 firstCameraPose, firstCameraPoseOld; - for (size_t i = 0; i < cameras.size(); i++) { - - if (i == 0) { // we store the initial pose, this is useful for selective re-linearization - firstCameraPose = cameras[i].pose(); - firstCameraPoseOld = cameraPosesLinearization_[i]; - continue; - } - - // we compare the poses in the frame of the first pose - Pose3 localCameraPose = firstCameraPose.between(cameras[i].pose()); - Pose3 localCameraPoseOld = firstCameraPoseOld.between( - cameraPosesLinearization_[i]); - if (!localCameraPose.equals(localCameraPoseOld, - this->linearizationThreshold_)) - return true; // at least two "relative" poses are different, hence we re-linearize - } - return false; // if we arrive to this point_ all poses are the same and we don't need re-linearize - } - /// triangulateSafe size_t triangulateSafe(const Values& values) const { return triangulateSafe(this->cameras(values)); @@ -364,7 +300,7 @@ public: exit(1); } - this->triangulateSafe(cameras); + triangulateSafe(cameras); if (isDebug) std::cout << "point_ = " << point_ << std::endl; @@ -388,29 +324,10 @@ public: std::cout << "degenerate_ = true" << std::endl; } - bool doLinearize = this->decideIfLinearize(cameras); - - if (isDebug) - std::cout << "doLinearize = " << doLinearize << std::endl; - - if (this->linearizationThreshold_ >= 0 && doLinearize) // if we apply selective relinearization and we need to relinearize + if (this->linearizationThreshold_ >= 0) // if we apply selective relinearization and we need to relinearize for (size_t i = 0; i < cameras.size(); i++) this->cameraPosesLinearization_[i] = cameras[i].pose(); - if (!doLinearize) { // return the previous Hessian factor - std::cout << "=============================" << std::endl; - std::cout << "doLinearize " << doLinearize << std::endl; - std::cout << "this->linearizationThreshold_ " - << this->linearizationThreshold_ << std::endl; - std::cout << "this->degenerate_ " << this->degenerate_ << std::endl; - std::cout - << "something wrong in SmartProjectionHessianFactor: selective relinearization should be disabled" - << std::endl; - exit(1); - return boost::make_shared >(this->keys_, - this->state_->Gs, this->state_->gs, this->state_->f); - } - // ================================================================== std::vector Fblocks; Matrix F, E; @@ -447,11 +364,6 @@ public: } // ================================================================== double f = b.squaredNorm(); - if (this->linearizationThreshold_ >= 0) { // if we do not use selective relinearization we don't need to store these variables - this->state_->Gs = Gs; - this->state_->gs = gs; - this->state_->f = f; - } return boost::make_shared >(this->keys_, Gs, gs, f); } diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index 2ac719056..a9cec0f57 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -40,6 +40,13 @@ namespace gtsam { */ template class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { + +public: + /// Linearization mode: what factor to linearize to + enum LinearizationMode { + HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD + }; + protected: LinearizationMode linearizeTo_; ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 0112db915..258c8d0eb 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -64,7 +64,6 @@ static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); typedef SmartStereoProjectionPoseFactor SmartFactor; -typedef SmartStereoProjectionPoseFactor SmartFactorBundler; vector stereo_projectToMultipleCameras(const StereoCamera& cam1, const StereoCamera& cam2, const StereoCamera& cam3, Point3 landmark) { @@ -327,15 +326,15 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { cam2, cam3, landmark3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD)); smartFactor3->add(measurements_cam3, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -395,17 +394,17 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { cam2, cam3, landmark3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model, K); @@ -473,22 +472,22 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10, 10, 1); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model, K); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model, K); From ea6f5e3fb933717dd57971e7d2304bf9ae1569ab Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 8 Apr 2015 21:36:11 -0400 Subject: [PATCH 176/964] Use TriangulationParameters --- .../slam/SmartStereoProjectionFactor.h | 45 +++++++++---------- 1 file changed, 20 insertions(+), 25 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index eb3e2f761..2e3fdcbdb 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -40,15 +40,18 @@ template class SmartStereoProjectionFactor: public SmartFactorBase { protected: - // Some triangulation parameters - const double rankTolerance_; ///< threshold to decide whether triangulation is degenerate_ + /// @name Caching triangulation + /// @{ + const TriangulationParameters parameters_; + // TODO: +// mutable TriangulationResult result_; ///< result from triangulateSafe + const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate mutable std::vector cameraPosesTriangulation_; ///< current triangulation poses + /// @} const bool manageDegeneracy_; ///< if set to true will use the rotation-only version for degenerate cases - const bool enableEPI_; ///< if set to true, will refine triangulation using LM - const double linearizationThreshold_; ///< threshold to decide whether to re-linearize mutable std::vector cameraPosesLinearization_; ///< current linearization poses @@ -61,13 +64,6 @@ protected: /// shorthand for base class type typedef SmartFactorBase Base; - double landmarkDistanceThreshold_; // if the landmark is triangulated at a - // distance larger than that the factor is considered degenerate - - double dynamicOutlierRejectionThreshold_; // if this is nonnegative the factor will check if the - // average reprojection error is smaller than this threshold after triangulation, - // and the factor is disregarded if the error is large - /// shorthand for this class typedef SmartStereoProjectionFactor This; @@ -101,16 +97,15 @@ public: * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations * @param body_P_sensor is the transform from body to sensor frame (default identity) */ - SmartStereoProjectionFactor(const double rankTol, const double linThreshold, - const bool manageDegeneracy, const bool enableEPI, - double landmarkDistanceThreshold = 1e10, + SmartStereoProjectionFactor(const double rankTolerance, + const double linThreshold, const bool manageDegeneracy, + const bool enableEPI, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : - rankTolerance_(rankTol), retriangulationThreshold_(1e-5), manageDegeneracy_( - manageDegeneracy), enableEPI_(enableEPI), linearizationThreshold_( + parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, + dynamicOutlierRejectionThreshold), // + retriangulationThreshold_(1e-5), manageDegeneracy_(manageDegeneracy), linearizationThreshold_( linThreshold), degenerate_(false), cheiralityException_(false), throwCheirality_( - false), verboseCheirality_(false), landmarkDistanceThreshold_( - landmarkDistanceThreshold), dynamicOutlierRejectionThreshold_( - dynamicOutlierRejectionThreshold) { + false), verboseCheirality_(false) { } /** Virtual destructor */ @@ -124,8 +119,8 @@ public: */ void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "SmartStereoProjectionFactor, z = \n"; - std::cout << "rankTolerance_ = " << rankTolerance_ << std::endl; + std::cout << s << "SmartStereoProjectionFactor\n"; + std::cout << "triangulationParameters:\n" << parameters_ << std::endl; std::cout << "degenerate_ = " << degenerate_ << std::endl; std::cout << "cheiralityException_ = " << cheiralityException_ << std::endl; std::cout << "linearizationThreshold_ = " << linearizationThreshold_ @@ -206,7 +201,7 @@ public: mono_cameras.push_back(PinholeCamera(pose, K)); } point_ = triangulatePoint3(mono_cameras, mono_measurements, - rankTolerance_, enableEPI_); + parameters_.rankTolerance, parameters_.enableEPI); // // // End temporary hack @@ -223,7 +218,7 @@ public: BOOST_FOREACH(const Camera& camera, cameras) { Point3 cameraTranslation = camera.pose().translation(); // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(point_) > landmarkDistanceThreshold_) { + if (cameraTranslation.distance(point_) > parameters_.landmarkDistanceThreshold) { degenerate_ = true; break; } @@ -238,8 +233,8 @@ public: } //std::cout << "totalReprojError error: " << totalReprojError << std::endl; // we discard smart factors that have large reprojection error - if (dynamicOutlierRejectionThreshold_ > 0 - && totalReprojError / m > dynamicOutlierRejectionThreshold_) + if (parameters_.dynamicOutlierRejectionThreshold > 0 + && totalReprojError / m > parameters_.dynamicOutlierRejectionThreshold) degenerate_ = true; } catch (TriangulationUnderconstrainedException&) { From 356d43bb9e5ff72ac4547af9c9518ac78335e230 Mon Sep 17 00:00:00 2001 From: Luca Date: Tue, 14 Apr 2015 12:36:36 -0400 Subject: [PATCH 177/964] added typedef to preserve compatibility with SmartProjectionCameraFactor --- gtsam/slam/SmartProjectionFactor.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 7c137ad5c..1ee3fdb0b 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -52,6 +52,7 @@ public: private: typedef SmartFactorBase Base; typedef SmartProjectionFactor This; + typedef SmartProjectionFactor SmartProjectionCameraFactor; protected: From 24128f15fc086b332dbaa6055b134ce52b1dd313 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 12 May 2015 16:12:28 -0700 Subject: [PATCH 178/964] Some comments --- gtsam/slam/SmartProjectionFactor.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 1ee3fdb0b..aad1a27f6 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -205,7 +205,7 @@ public: triangulateSafe(cameras); if (degeneracyMode_ == ZERO_ON_DEGENERACY && !result_) { - // put in "empty" Hessian + // failed: return"empty" Hessian BOOST_FOREACH(Matrix& m, Gs) m = zeros(Base::Dim, Base::Dim); BOOST_FOREACH(Vector& v, gs) @@ -237,6 +237,7 @@ public: if (triangulateForLinearize(cameras)) return Base::createRegularImplicitSchurFactor(cameras, *result_, lambda); else + // failed: return empty return boost::shared_ptr >(); } @@ -246,6 +247,7 @@ public: if (triangulateForLinearize(cameras)) return Base::createJacobianQFactor(cameras, *result_, lambda); else + // failed: return empty return boost::make_shared >(this->keys_); } @@ -261,6 +263,7 @@ public: if (triangulateForLinearize(cameras)) return Base::createJacobianSVDFactor(cameras, *result_, lambda); else + // failed: return empty return boost::make_shared >(this->keys_); } From a261587d4b3f1104dc8985394ad498d3f5d1ec35 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 23 May 2015 17:28:39 -0700 Subject: [PATCH 179/964] Minor cleanup, moved reset method closer to constructor --- gtsam/navigation/ImuFactor.cpp | 35 +++++++------- gtsam/navigation/PreintegratedRotation.h | 60 +++++++++++++----------- gtsam/navigation/PreintegrationBase.cpp | 34 +++++++------- gtsam/navigation/PreintegrationBase.h | 10 ++-- 4 files changed, 73 insertions(+), 66 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 01de5a8f3..17c68139c 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -69,25 +69,27 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement( correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, correctedAcc, correctedOmega, body_P_sensor); - const Vector3 integratedOmega = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement - Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr - const Rot3 Rincr = Rot3::Expmap(integratedOmega, D_Rincr_integratedOmega); // rotation increment computed from the current rotation rate measurement + // rotation increment computed from the current rotation rate measurement + const Vector3 integratedOmega = correctedOmega * deltaT; + Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr + // rotation increment computed from the current rotation rate measurement + const Rot3 Rincr = Rot3::Expmap(integratedOmega, D_Rincr_integratedOmega); // Update Jacobians updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); // Update preintegrated measurements (also get Jacobian) - const Matrix3 R_i = deltaRij(); // store this, which is useful to compute G_test - Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) + const Matrix3 R_i = deltaRij(); // store this, which is useful to compute G_test + Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F); // first order covariance propagation: - // as in [2] we consider a first order propagation that can be seen as a prediction phase in an EKF framework - /* ----------------------------------------------------------------------------------------------------------------------- */ - // preintMeasCov = F * preintMeasCov * F.transpose() + G * (1/deltaT) * measurementCovariance * G.transpose(); + // as in [2] we consider a first order propagation that can be seen as a prediction phase in EKF + /* --------------------------------------------------------------------------------------------*/ + // preintMeasCov = F * preintMeasCov * F.transpose() + G * (1/deltaT) * measurementCovariance * G' // NOTE 1: (1/deltaT) allows to pass from continuous time noise to discrete time noise // measurementCovariance_discrete = measurementCovariance_contTime * (1/deltaT) - // NOTE 2: the computation of G * (1/deltaT) * measurementCovariance * G.transpose() is done block-wise, + // NOTE 2: computation of G * (1/deltaT) * measurementCovariance * G.transpose() done block-wise, // as G and measurementCovariance are block-diagonal matrices preintMeasCov_ = F * preintMeasCov_ * F.transpose(); preintMeasCov_.block<3, 3>(0, 0) += integrationCovariance() * deltaT; @@ -101,23 +103,24 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement( F_pos_noiseacc = 0.5 * R_i * deltaT * deltaT; preintMeasCov_.block<3, 3>(0, 0) += (1 / deltaT) * F_pos_noiseacc * accelerometerCovariance() * F_pos_noiseacc.transpose(); - Matrix3 temp = F_pos_noiseacc * accelerometerCovariance() * R_i.transpose(); // already includes 1/deltaT + Matrix3 temp = F_pos_noiseacc * accelerometerCovariance() * R_i.transpose(); // has 1/deltaT preintMeasCov_.block<3, 3>(0, 3) += temp; preintMeasCov_.block<3, 3>(3, 0) += temp.transpose(); } // F_test and G_test are given as output for testing purposes and are not needed by the factor - if (F_test) { // This in only for testing + if (F_test) { (*F_test) << F; } - if (G_test) { // This in only for testing & documentation, while the actual computation is done block-wise + if (G_test) { + // This in only for testing & documentation, while the actual computation is done block-wise if (!use2ndOrderIntegration()) F_pos_noiseacc = Z_3x3; // intNoise accNoise omegaNoise - (*G_test) << I_3x3 * deltaT, F_pos_noiseacc, Z_3x3, // pos - Z_3x3, R_i * deltaT, Z_3x3, // vel - Z_3x3, Z_3x3, D_Rincr_integratedOmega * deltaT; // angle + (*G_test) << I_3x3 * deltaT, F_pos_noiseacc, Z_3x3, // pos + Z_3x3, R_i * deltaT, Z_3x3, // vel + Z_3x3, Z_3x3, D_Rincr_integratedOmega * deltaT; // angle } } @@ -176,4 +179,4 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, gravity_, omegaCoriolis_, use2ndOrderCoriolis_, H1, H2, H3, H4, H5); } -} /// namespace gtsam +} // namespace gtsam diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 2379f58af..ba10fd090 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -31,31 +31,40 @@ namespace gtsam { * It includes the definitions of the preintegrated rotation. */ class PreintegratedRotation { - - Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) - double deltaTij_; ///< Time interval from i to j + Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) + double deltaTij_; ///< Time interval from i to j /// Jacobian of preintegrated rotation w.r.t. angular rate bias Matrix3 delRdelBiasOmega_; - Matrix3 gyroscopeCovariance_; ///< continuous-time "Covariance" of gyroscope measurements -public: + ///< continuous-time "Covariance" of gyroscope measurements + const Matrix3 gyroscopeCovariance_; - /** - * Default constructor, initializes the variables in the base class - */ - PreintegratedRotation(const Matrix3& measuredOmegaCovariance) : + public: + /// Default constructor, initializes the variables in the base class + explicit PreintegratedRotation(const Matrix3& measuredOmegaCovariance) : deltaRij_(Rot3()), deltaTij_(0.0), delRdelBiasOmega_(Z_3x3), gyroscopeCovariance_( measuredOmegaCovariance) { } - /// methods to access class variables + /// Re-initialize PreintegratedMeasurements + void resetIntegration() { + deltaRij_ = Rot3(); + deltaTij_ = 0.0; + delRdelBiasOmega_ = Z_3x3; + } + + /// @name Access instance variables + /// @{ + + // Return 3*3 matrix of rotation from time i to time j. Expensive in quaternion case Matrix3 deltaRij() const { return deltaRij_.matrix(); - } // expensive + } + // Return log(rotation) from time i to time j. Expensive in both Rot3M and quaternion case. Vector3 thetaRij(OptionalJacobian<3, 3> H = boost::none) const { return Rot3::Logmap(deltaRij_, H); - } // super-expensive + } const double& deltaTij() const { return deltaTij_; } @@ -65,15 +74,17 @@ public: const Matrix3& gyroscopeCovariance() const { return gyroscopeCovariance_; } + /// @} + + /// @name Testable + /// @{ - /// Needed for testable void print(const std::string& s) const { std::cout << s << std::endl; std::cout << " deltaTij [" << deltaTij_ << "]" << std::endl; std::cout << " deltaRij.ypr = (" << deltaRij_.ypr().transpose() << ")" << std::endl; } - /// Needed for testable bool equals(const PreintegratedRotation& expected, double tol) const { return deltaRij_.equals(expected.deltaRij_, tol) && fabs(deltaTij_ - expected.deltaTij_) < tol @@ -83,12 +94,7 @@ public: expected.gyroscopeCovariance_, tol); } - /// Re-initialize PreintegratedMeasurements - void resetIntegration() { - deltaRij_ = Rot3(); - deltaTij_ = 0.0; - delRdelBiasOmega_ = Z_3x3; - } + /// @} /// Update preintegrated measurements void updateIntegratedRotationAndDeltaT(const Rot3& incrR, const double deltaT, @@ -104,8 +110,7 @@ public: void update_delRdelBiasOmega(const Matrix3& D_Rincr_integratedOmega, const Rot3& incrR, double deltaT) { const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - - D_Rincr_integratedOmega * deltaT; + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_Rincr_integratedOmega * deltaT; } /// Return a bias corrected version of the integrated rotation - expensive @@ -125,12 +130,11 @@ public: // This was done via an expmap, now we go *back* to so<3> const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected, Jrinv_theta_bc); - const Matrix3 Jr_JbiasOmegaIncr = // - Rot3::ExpmapDerivative(delRdelBiasOmega_ * biasOmegaIncr); + const Matrix3 Jr_JbiasOmegaIncr = Rot3::ExpmapDerivative(delRdelBiasOmega_ * biasOmegaIncr); (*H) = Jrinv_theta_bc * Jr_JbiasOmegaIncr * delRdelBiasOmega_; return biascorrectedOmega; } - //else + // else return Rot3::Logmap(deltaRij_biascorrected); } @@ -140,15 +144,15 @@ public: return rot_i.transpose() * omegaCoriolis * deltaTij(); } -private: + private: /** Serialization function */ friend class boost::serialization::access; template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { // NOLINT ar & BOOST_SERIALIZATION_NVP(deltaRij_); ar & BOOST_SERIALIZATION_NVP(deltaTij_); ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); } }; -} /// namespace gtsam +} // namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 496569599..be604e784 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -41,6 +41,17 @@ PreintegrationBase::PreintegrationBase(const imuBias::ConstantBias& bias, integrationCovariance_(integrationErrorCovariance) { } +/// Re-initialize PreintegratedMeasurements +void PreintegrationBase::resetIntegration() { + PreintegratedRotation::resetIntegration(); + deltaPij_ = Vector3::Zero(); + deltaVij_ = Vector3::Zero(); + delPdelBiasAcc_ = Z_3x3; + delPdelBiasOmega_ = Z_3x3; + delVdelBiasAcc_ = Z_3x3; + delVdelBiasOmega_ = Z_3x3; +} + /// Needed for testable void PreintegrationBase::print(const std::string& s) const { PreintegratedRotation::print(s); @@ -62,17 +73,6 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) con && equal_with_abs_tol(integrationCovariance_, other.integrationCovariance_, tol); } -/// Re-initialize PreintegratedMeasurements -void PreintegrationBase::resetIntegration() { - PreintegratedRotation::resetIntegration(); - deltaPij_ = Vector3::Zero(); - deltaVij_ = Vector3::Zero(); - delPdelBiasAcc_ = Z_3x3; - delPdelBiasOmega_ = Z_3x3; - delVdelBiasAcc_ = Z_3x3; - delVdelBiasOmega_ = Z_3x3; -} - /// Update preintegrated measurements void PreintegrationBase::updatePreintegratedMeasurements(const Vector3& correctedAcc, const Rot3& incrR, const double deltaT, @@ -161,7 +161,7 @@ PoseVelocityBias PreintegrationBase::predict( const Vector3 pos_i = pose_i.translation().vector(); // Predict state at time j - /* ---------------------------------------------------------------------------------------------------- */ + /* ---------------------------------------------------------------------------------------------*/ const Vector3 deltaPij_biascorrected = deltaPij() + delPdelBiasAcc() * biasAccIncr + delPdelBiasOmega() * biasOmegaIncr; if (deltaPij_biascorrected_out) // if desired, store this @@ -177,13 +177,13 @@ PoseVelocityBias PreintegrationBase::predict( if (deltaVij_biascorrected_out) // if desired, store this *deltaVij_biascorrected_out = deltaVij_biascorrected; - Vector3 vel_j = Vector3( - vel_i + Rot_i_matrix * deltaVij_biascorrected - 2 * omegaCoriolis.cross(vel_i) * dt // Coriolis term - + gravity * dt); + Vector3 vel_j = Vector3(vel_i + Rot_i_matrix * deltaVij_biascorrected - + 2 * omegaCoriolis.cross(vel_i) * dt // Coriolis term + + gravity * dt); if (use2ndOrderCoriolis) { - pos_j += -0.5 * omegaCoriolis.cross(omegaCoriolis.cross(pos_i)) * dt2; // 2nd order coriolis term for position - vel_j += -omegaCoriolis.cross(omegaCoriolis.cross(pos_i)) * dt; // 2nd order term for velocity + pos_j += -0.5 * omegaCoriolis.cross(omegaCoriolis.cross(pos_i)) * dt2; // for position + vel_j += -omegaCoriolis.cross(omegaCoriolis.cross(pos_i)) * dt; // for velocity } const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij(biasOmegaIncr); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index f6b24e752..85ffae8a2 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -52,8 +52,8 @@ struct PoseVelocityBias { */ class PreintegrationBase : public PreintegratedRotation { - imuBias::ConstantBias biasHat_; ///< Acceleration and angular rate bias values used during preintegration - bool use2ndOrderIntegration_; ///< Controls the order of integration + const imuBias::ConstantBias biasHat_; ///< Acceleration and gyro bias used for preintegration + const bool use2ndOrderIntegration_; ///< Controls the order of integration Vector3 deltaPij_; ///< Preintegrated relative position (does not take into account velocity at time i, see deltap+, in [2]) (in frame i) Vector3 deltaVij_; ///< Preintegrated relative velocity (in global frame) @@ -79,6 +79,9 @@ class PreintegrationBase : public PreintegratedRotation { const Matrix3& measuredOmegaCovariance, const Matrix3&integrationErrorCovariance, const bool use2ndOrderIntegration); + /// Re-initialize PreintegratedMeasurements + void resetIntegration(); + /// methods to access class variables bool use2ndOrderIntegration() const { return use2ndOrderIntegration_; @@ -121,9 +124,6 @@ class PreintegrationBase : public PreintegratedRotation { /// check equality bool equals(const PreintegrationBase& other, double tol) const; - /// Re-initialize PreintegratedMeasurements - void resetIntegration(); - /// Update preintegrated measurements void updatePreintegratedMeasurements(const Vector3& correctedAcc, const Rot3& incrR, const double deltaT, OptionalJacobian<9, 9> F); From ba0d16adf0217645a121e9f811a90896ca6ad2f7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 23 May 2015 17:30:19 -0700 Subject: [PATCH 180/964] Moved things to appropriate header --- gtsam/nonlinear/expressionTesting.h | 31 -------------------- gtsam/nonlinear/factorTesting.h | 44 +++++++++++++++++++++++++---- 2 files changed, 39 insertions(+), 36 deletions(-) diff --git a/gtsam/nonlinear/expressionTesting.h b/gtsam/nonlinear/expressionTesting.h index 47f61b8b1..abaa9288a 100644 --- a/gtsam/nonlinear/expressionTesting.h +++ b/gtsam/nonlinear/expressionTesting.h @@ -26,39 +26,8 @@ #include #include -#include -#include -#include - namespace gtsam { -namespace internal { -// CPPUnitLite-style test for linearization of a factor -void testFactorJacobians(TestResult& result_, const std::string& name_, - const NoiseModelFactor& factor, const gtsam::Values& values, double delta, - double tolerance) { - - // Create expected value by numerical differentiation - JacobianFactor expected = linearizeNumerically(factor, values, delta); - - // Create actual value by linearize - boost::shared_ptr actual = // - boost::dynamic_pointer_cast(factor.linearize(values)); - - // Check cast result and then equality - CHECK(actual); - EXPECT(assert_equal(expected, *actual, tolerance)); -} -} - -/// \brief Check the Jacobians produced by a factor against finite differences. -/// \param factor The factor to test. -/// \param values Values filled in for testing the Jacobians. -/// \param numerical_derivative_step The step to use when computing the numerical derivative Jacobians -/// \param tolerance The numerical tolerance to use when comparing Jacobians. -#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \ - { gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance); } - namespace internal { // CPPUnitLite-style test for linearization of an ExpressionFactor template diff --git a/gtsam/nonlinear/factorTesting.h b/gtsam/nonlinear/factorTesting.h index 442b29382..14aeeec4c 100644 --- a/gtsam/nonlinear/factorTesting.h +++ b/gtsam/nonlinear/factorTesting.h @@ -22,6 +22,10 @@ #include #include +#include +#include +#include + namespace gtsam { /** @@ -30,9 +34,8 @@ namespace gtsam { * involved to evaluate the factor. If all the machinery of gtsam is working * correctly, we should get the correct numerical derivatives out the other side. */ -JacobianFactor linearizeNumerically(const NoiseModelFactor& factor, - const Values& values, double delta = 1e-5) { - +JacobianFactor linearizeNumerically(const NoiseModelFactor& factor, const Values& values, + double delta = 1e-5) { // We will fill a vector of key/Jacobians pairs (a map would sort) std::vector > jacobians; @@ -58,11 +61,42 @@ JacobianFactor linearizeNumerically(const NoiseModelFactor& factor, Eigen::VectorXd right = factor.whitenedError(eval_values); J.col(col) = (left - right) * (1.0 / (2.0 * delta)); } - jacobians.push_back(std::make_pair(key,J)); + jacobians.push_back(std::make_pair(key, J)); } // Next step...return JacobianFactor return JacobianFactor(jacobians, -e); } -} // namespace gtsam +namespace internal { + +// CPPUnitLite-style test for linearization of a factor +void testFactorJacobians(TestResult& result_, const std::string& name_, + const NoiseModelFactor& factor, const gtsam::Values& values, double delta, + double tolerance) { + // Create expected value by numerical differentiation + JacobianFactor expected = linearizeNumerically(factor, values, delta); + + // Create actual value by linearize + boost::shared_ptr actual = // + boost::dynamic_pointer_cast(factor.linearize(values)); + + // Check cast result and then equality + CHECK(actual); + EXPECT(assert_equal(expected, *actual, tolerance)); +} + +} // namespace internal +} // namespace gtsam + +/// \brief Check the Jacobians produced by a factor against finite differences. +/// \param factor The factor to test. +/// \param values Values filled in for testing the Jacobians. +/// \param numerical_derivative_step The step to use when computing the numerical derivative +/// Jacobians +/// \param tolerance The numerical tolerance to use when comparing Jacobians. +#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \ + { \ + gtsam::internal::testFactorJacobians(result_, name_, factor, values, \ + numerical_derivative_step, tolerance); \ + } From 69c0d68891c30902355e5196f7e0a9a48d48f16e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 23 May 2015 17:30:36 -0700 Subject: [PATCH 181/964] Removed a lot of copy paste, use factorTesting macro --- gtsam/navigation/tests/testImuFactor.cpp | 747 ++++++++--------------- 1 file changed, 256 insertions(+), 491 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index c27921fc9..9a93948d9 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -36,31 +36,26 @@ using symbol_shorthand::X; using symbol_shorthand::V; using symbol_shorthand::B; +static const Vector3 kGravity(0, 0, 9.81); +static const Vector3 kZeroOmegaCoriolis(0, 0, 0); + /* ************************************************************************* */ namespace { // Auxiliary functions to test evaluate error in ImuFactor /* ************************************************************************* */ -Vector callEvaluateError(const ImuFactor& factor, const Pose3& pose_i, - const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, - const imuBias::ConstantBias& bias) { - return factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias); -} - -Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, - const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, - const imuBias::ConstantBias& bias) { - return Rot3::Expmap( - factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3)); +Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, const Vector3& vel_i, + const Pose3& pose_j, const Vector3& vel_j, + const imuBias::ConstantBias& bias) { + return Rot3::Expmap(factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3)); } // Auxiliary functions to test Jacobians F and G used for // covariance propagation during preintegration /* ************************************************************************* */ -Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, - const Vector3& deltaVij_old, const Rot3& deltaRij_old, - const Vector3& correctedAcc, const Vector3& correctedOmega, - const double deltaT, const bool use2ndOrderIntegration_) { - +Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, const Vector3& deltaVij_old, + const Rot3& deltaRij_old, const Vector3& correctedAcc, + const Vector3& correctedOmega, const double deltaT, + const bool use2ndOrderIntegration_) { Matrix3 dRij = deltaRij_old.matrix(); Vector3 temp = dRij * correctedAcc * deltaT; Vector3 deltaPij_new; @@ -76,8 +71,8 @@ Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, return result; } -Rot3 updatePreintegratedRot(const Rot3& deltaRij_old, - const Vector3& correctedOmega, const double deltaT) { +Rot3 updatePreintegratedRot(const Rot3& deltaRij_old, const Vector3& correctedOmega, + const double deltaT) { Rot3 deltaRij_new = deltaRij_old * Rot3::Expmap(correctedOmega * deltaT); return deltaRij_new; } @@ -98,10 +93,8 @@ ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements( const imuBias::ConstantBias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs, const bool use2ndOrderIntegration = false) { - ImuFactor::PreintegratedMeasurements result(bias, - kMeasuredAccCovariance, - kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, + ImuFactor::PreintegratedMeasurements result(bias, kMeasuredAccCovariance, + kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderIntegration); list::const_iterator itAcc = measuredAccs.begin(); @@ -113,30 +106,29 @@ ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements( return result; } -Vector3 evaluatePreintegratedMeasurementsPosition( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaPij(); +Vector3 evaluatePreintegratedMeasurementsPosition(const imuBias::ConstantBias& bias, + const list& measuredAccs, + const list& measuredOmegas, + const list& deltaTs) { + return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaPij(); } -Vector3 evaluatePreintegratedMeasurementsVelocity( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaVij(); +Vector3 evaluatePreintegratedMeasurementsVelocity(const imuBias::ConstantBias& bias, + const list& measuredAccs, + const list& measuredOmegas, + const list& deltaTs) { + return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaVij(); } -Rot3 evaluatePreintegratedMeasurementsRotation( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { +Rot3 evaluatePreintegratedMeasurementsRotation(const imuBias::ConstantBias& bias, + const list& measuredAccs, + const list& measuredOmegas, + const list& deltaTs) { return Rot3( - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaRij()); + evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaRij()); } -Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, - const double deltaT) { +Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, const double deltaT) { return Rot3::Expmap((measuredOmega - biasOmega) * deltaT); } @@ -144,12 +136,12 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { return Rot3::Logmap(Rot3::Expmap(thetahat).compose(Rot3::Expmap(deltatheta))); } -} +} // namespace /* ************************************************************************* */ -TEST( ImuFactor, PreintegratedMeasurements ) { +TEST(ImuFactor, PreintegratedMeasurements) { // Linearization point - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Measurements Vector3 measuredAcc(0.1, 0.0, 0.0); @@ -165,25 +157,20 @@ TEST( ImuFactor, PreintegratedMeasurements ) { bool use2ndOrderIntegration = true; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements actual1(bias, - kMeasuredAccCovariance, + ImuFactor::PreintegratedMeasurements actual1(bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, - use2ndOrderIntegration); + kIntegrationErrorCovariance, use2ndOrderIntegration); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT( - assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()), 1e-6)); - EXPECT( - assert_equal(Vector(expectedDeltaV1), Vector(actual1.deltaVij()), 1e-6)); + EXPECT(assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()), 1e-6)); + EXPECT(assert_equal(Vector(expectedDeltaV1), Vector(actual1.deltaVij()), 1e-6)); EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()), 1e-6)); DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-6); // Integrate again Vector3 expectedDeltaP2; expectedDeltaP2 << 0.025 + expectedDeltaP1(0) + 0.5 * 0.1 * 0.5 * 0.5, 0, 0; - Vector3 expectedDeltaV2 = Vector3(0.05, 0.0, 0.0) - + expectedDeltaR1.matrix() * measuredAcc * 0.5; + Vector3 expectedDeltaV2 = Vector3(0.05, 0.0, 0.0) + expectedDeltaR1.matrix() * measuredAcc * 0.5; Rot3 expectedDeltaR2 = Rot3::RzRyRx(2.0 * 0.5 * M_PI / 100.0, 0.0, 0.0); double expectedDeltaT2(1); @@ -191,145 +178,100 @@ TEST( ImuFactor, PreintegratedMeasurements ) { ImuFactor::PreintegratedMeasurements actual2 = actual1; actual2.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT( - assert_equal(Vector(expectedDeltaP2), Vector(actual2.deltaPij()), 1e-6)); - EXPECT( - assert_equal(Vector(expectedDeltaV2), Vector(actual2.deltaVij()), 1e-6)); + EXPECT(assert_equal(Vector(expectedDeltaP2), Vector(actual2.deltaPij()), 1e-6)); + EXPECT(assert_equal(Vector(expectedDeltaV2), Vector(actual2.deltaVij()), 1e-6)); EXPECT(assert_equal(expectedDeltaR2, Rot3(actual2.deltaRij()), 1e-6)); DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-6); } -/* ************************************************************************* */ -TEST( ImuFactor, ErrorAndJacobians ) { - // Linearization point - imuBias::ConstantBias bias; // Bias - Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), - Point3(5.0, 1.0, -50.0)); - Vector3 v1(Vector3(0.5, 0.0, 0.0)); - Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0), - Point3(5.5, 1.0, -50.0)); - Vector3 v2(Vector3(0.5, 0.0, 0.0)); +// Common linearization point and measurements for tests +namespace common { +imuBias::ConstantBias bias; // Bias +Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), Point3(5.0, 1.0, -50.0)); +Vector3 v1(Vector3(0.5, 0.0, 0.0)); +Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0), Point3(5.5, 1.0, -50.0)); +Vector3 v2(Vector3(0.5, 0.0, 0.0)); - // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0, 0; - Vector3 measuredOmega; - measuredOmega << M_PI / 100, 0, 0; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(gravity)).vector(); - double deltaT = 1.0; +// Measurements +Vector3 measuredOmega(M_PI / 100, 0, 0); +Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector(); +double deltaT = 1.0; +} // namespace common + +/* ************************************************************************* */ +TEST(ImuFactor, ErrorAndJacobians) { + using namespace common; bool use2ndOrderIntegration = true; - ImuFactor::PreintegratedMeasurements pre_int_data(bias, - kMeasuredAccCovariance, - kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, - use2ndOrderIntegration); + ImuFactor::PreintegratedMeasurements pre_int_data( + bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, + use2ndOrderIntegration); pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, - omegaCoriolis); - - Vector errorActual = factor.evaluateError(x1, v1, x2, v2, bias); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, kZeroOmegaCoriolis); // Expected error Vector errorExpected(9); errorExpected << 0, 0, 0, 0, 0, 0, 0, 0, 0; - EXPECT(assert_equal(errorExpected, errorActual, 1e-6)); - - // Actual Jacobians - Matrix H1a, H2a, H3a, H4a, H5a; - (void) factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); - - // Expected Jacobians - /////////////////// H1 /////////////////////////// - Matrix H1e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, _1, v1, x2, v2, bias), x1); - // Jacobians are around zero, so the rotation part is the same as: - Matrix H1Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, bias), x1); - EXPECT(assert_equal(H1Rot3, H1e.bottomRows(3))); - EXPECT(assert_equal(H1e, H1a)); - - /////////////////// H2 /////////////////////////// - Matrix H2e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, _1, x2, v2, bias), v1); - EXPECT(assert_equal(H2e, H2a)); - - /////////////////// H3 /////////////////////////// - Matrix H3e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, _1, v2, bias), x2); - // Jacobians are around zero, so the rotation part is the same as: - Matrix H3Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, bias), x2); - EXPECT(assert_equal(H3Rot3, H3e.bottomRows(3))); - EXPECT(assert_equal(H3e, H3a)); - - /////////////////// H4 /////////////////////////// - Matrix H4e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, _1, bias), v2); - EXPECT(assert_equal(H4e, H4a)); - - /////////////////// H5 /////////////////////////// - Matrix H5e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, v2, _1), bias); - EXPECT(assert_equal(H5e, H5a)); - - //////////////////////////////////////////////////////////////////////////// - // Evaluate error with wrong values - Vector3 v2_wrong = v2 + Vector3(0.1, 0.1, 0.1); - errorActual = factor.evaluateError(x1, v1, x2, v2_wrong, bias); - errorExpected << 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901, 0, 0, 0; - EXPECT(assert_equal(errorExpected, errorActual, 1e-6)); + EXPECT(assert_equal(errorExpected, factor.evaluateError(x1, v1, x2, v2, bias), 1e-6)); Values values; values.insert(X(1), x1); values.insert(V(1), v1); values.insert(X(2), x2); - values.insert(V(2), v2_wrong); + values.insert(V(2), v2); values.insert(B(1), bias); + EXPECT(assert_equal(errorExpected, factor.unwhitenedError(values), 1e-6)); + + // Make sure linearization is correct + double diffDelta = 1e-5; + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); + + // Actual Jacobians + Matrix H1a, H2a, H3a, H4a, H5a; + (void)factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); + + // Make sure rotation part is correct when error is interpreted as axis-angle + // Jacobians are around zero, so the rotation part is the same as: + Matrix H1Rot3 = numericalDerivative11( + boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, bias), x1); + EXPECT(assert_equal(H1Rot3, H1a.bottomRows(3))); + + Matrix H3Rot3 = numericalDerivative11( + boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, bias), x2); + EXPECT(assert_equal(H3Rot3, H3a.bottomRows(3))); + + // Evaluate error with wrong values + Vector3 v2_wrong = v2 + Vector3(0.1, 0.1, 0.1); + values.update(V(2), v2_wrong); errorExpected << 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901, 0, 0, 0; - EXPECT(assert_equal(factor.unwhitenedError(values), errorActual, 1e-6)); + EXPECT(assert_equal(errorExpected, factor.evaluateError(x1, v1, x2, v2_wrong, bias), 1e-6)); + EXPECT(assert_equal(errorExpected, factor.unwhitenedError(values), 1e-6)); // Make sure the whitening is done correctly Matrix cov = pre_int_data.preintMeasCov(); Matrix R = RtR(cov.inverse()); - Vector whitened = R * errorActual; + Vector whitened = R * errorExpected; EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values), 1e-6)); - /////////////////////////////////////////////////////////////////////////////// // Make sure linearization is correct - // Create expected value by numerical differentiation - JacobianFactor expected = linearizeNumerically(factor, values, 1e-8); - - // Create actual value by linearize - GaussianFactor::shared_ptr linearized = factor.linearize(values); - JacobianFactor* actual = dynamic_cast(linearized.get()); - - // Check cast result and then equality - EXPECT(assert_equal(expected, *actual, 1e-4)); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); } /* ************************************************************************* */ -TEST( ImuFactor, ErrorAndJacobianWithBiases ) { - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) - Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 10.0), - Point3(5.0, 1.0, -50.0)); - Vector3 v1(Vector3(0.5, 0.0, 0.0)); - Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), - Point3(5.5, 1.0, -50.0)); - Vector3 v2(Vector3(0.5, 0.0, 0.0)); +TEST(ImuFactor, ErrorAndJacobianWithBiases) { + using common::x1; + using common::v1; + using common::v2; + imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0.1, 0.1; + Vector3 nonZeroOmegaCoriolis; + nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(gravity)).vector() - + Vector3(0.2, 0.0, 0.0); + Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; ImuFactor::PreintegratedMeasurements pre_int_data( @@ -338,68 +280,34 @@ TEST( ImuFactor, ErrorAndJacobianWithBiases ) { pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, - omegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, nonZeroOmegaCoriolis); - SETDEBUG("ImuFactor evaluateError", false); - Vector errorActual = factor.evaluateError(x1, v1, x2, v2, bias); - SETDEBUG("ImuFactor evaluateError", false); + Values values; + values.insert(X(1), x1); + values.insert(V(1), v1); + values.insert(X(2), x2); + values.insert(V(2), v2); + values.insert(B(1), bias); - // Expected error (should not be zero in this test, as we want to evaluate Jacobians - // at a nontrivial linearization point) - // Vector errorExpected(9); errorExpected << 0, 0, 0, 0, 0, 0, 0, 0, 0; - // EXPECT(assert_equal(errorExpected, errorActual, 1e-6)); - - // Expected Jacobians - Matrix H1e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, _1, v1, x2, v2, bias), x1); - Matrix H2e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, _1, x2, v2, bias), v1); - Matrix H3e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, _1, v2, bias), x2); - Matrix H4e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, _1, bias), v2); - Matrix H5e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, v2, _1), bias); - - // Check rotation Jacobians - Matrix RH1e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, bias), x1); - Matrix RH3e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, bias), x2); - Matrix RH5e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, x2, v2, _1), bias); - - // Actual Jacobians - Matrix H1a, H2a, H3a, H4a, H5a; - (void) factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); - - EXPECT(assert_equal(H1e, H1a)); - EXPECT(assert_equal(H2e, H2a)); - EXPECT(assert_equal(H3e, H3a)); - EXPECT(assert_equal(H4e, H4a)); - EXPECT(assert_equal(H5e, H5a)); + // Make sure linearization is correct + double diffDelta = 1e-5; + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); } /* ************************************************************************* */ -TEST( ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis ) { - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) - Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 10.0), - Point3(5.0, 1.0, -50.0)); - Vector3 v1(Vector3(0.5, 0.0, 0.0)); - Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), - Point3(5.5, 1.0, -50.0)); - Vector3 v2(Vector3(0.5, 0.0, 0.0)); +TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { + using common::x1; + using common::v1; + using common::v2; + imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0.1, 0.1; + Vector3 nonZeroOmegaCoriolis; + nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(gravity)).vector() - + Vector3(0.2, 0.0, 0.0); + Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; ImuFactor::PreintegratedMeasurements pre_int_data( @@ -410,83 +318,50 @@ TEST( ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis ) { // Create factor Pose3 bodyPsensor = Pose3(); bool use2ndOrderCoriolis = true; - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, - omegaCoriolis, bodyPsensor, use2ndOrderCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, nonZeroOmegaCoriolis, + bodyPsensor, use2ndOrderCoriolis); - SETDEBUG("ImuFactor evaluateError", false); - Vector errorActual = factor.evaluateError(x1, v1, x2, v2, bias); - SETDEBUG("ImuFactor evaluateError", false); + Values values; + values.insert(X(1), x1); + values.insert(V(1), v1); + values.insert(X(2), x2); + values.insert(V(2), v2); + values.insert(B(1), bias); - // Expected error (should not be zero in this test, as we want to evaluate Jacobians - // at a nontrivial linearization point) - // Vector errorExpected(9); errorExpected << 0, 0, 0, 0, 0, 0, 0, 0, 0; - // EXPECT(assert_equal(errorExpected, errorActual, 1e-6)); - - // Expected Jacobians - Matrix H1e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, _1, v1, x2, v2, bias), x1); - Matrix H2e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, _1, x2, v2, bias), v1); - Matrix H3e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, _1, v2, bias), x2); - Matrix H4e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, _1, bias), v2); - Matrix H5e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, v2, _1), bias); - - // Check rotation Jacobians - Matrix RH1e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, bias), x1); - Matrix RH3e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, bias), x2); - Matrix RH5e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, x2, v2, _1), bias); - - // Actual Jacobians - Matrix H1a, H2a, H3a, H4a, H5a; - (void) factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); - - EXPECT(assert_equal(H1e, H1a)); - EXPECT(assert_equal(H2e, H2a)); - EXPECT(assert_equal(H3e, H3a)); - EXPECT(assert_equal(H4e, H4a)); - EXPECT(assert_equal(H5e, H5a)); + // Make sure linearization is correct + double diffDelta = 1e-5; + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); } /* ************************************************************************* */ -TEST( ImuFactor, PartialDerivative_wrt_Bias ) { +TEST(ImuFactor, PartialDerivative_wrt_Bias) { // Linearization point - Vector3 biasOmega; - biasOmega << 0, 0, 0; ///< Current estimate of rotation rate bias + Vector3 biasOmega(0, 0, 0); // Current estimate of rotation rate bias // Measurements - Vector3 measuredOmega; - measuredOmega << 0.1, 0, 0; + Vector3 measuredOmega(0.1, 0, 0); double deltaT = 0.5; // Compute numerical derivatives Matrix expectedDelRdelBiasOmega = numericalDerivative11( - boost::bind(&evaluateRotation, measuredOmega, _1, deltaT), - Vector3(biasOmega)); + boost::bind(&evaluateRotation, measuredOmega, _1, deltaT), Vector3(biasOmega)); - const Matrix3 Jr = Rot3::ExpmapDerivative( - (measuredOmega - biasOmega) * deltaT); + const Matrix3 Jr = Rot3::ExpmapDerivative((measuredOmega - biasOmega) * deltaT); - Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign + Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign // Compare Jacobians - EXPECT(assert_equal(expectedDelRdelBiasOmega, actualdelRdelBiasOmega, 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations + // 1e-3 needs to be added only when using quaternions for rotations + EXPECT(assert_equal(expectedDelRdelBiasOmega, actualdelRdelBiasOmega, 1e-3)); } /* ************************************************************************* */ -TEST( ImuFactor, PartialDerivativeLogmap ) { +TEST(ImuFactor, PartialDerivativeLogmap) { // Linearization point - Vector3 thetahat; - thetahat << 0.1, 0.1, 0; ///< Current estimate of rotation rate bias + Vector3 thetahat(0.1, 0.1, 0); // Current estimate of rotation rate bias // Measurements - Vector3 deltatheta; - deltatheta << 0, 0, 0; + Vector3 deltatheta(0, 0, 0); // Compute numerical derivatives Matrix expectedDelFdeltheta = numericalDerivative11( @@ -499,14 +374,12 @@ TEST( ImuFactor, PartialDerivativeLogmap ) { } /* ************************************************************************* */ -TEST( ImuFactor, fistOrderExponential ) { +TEST(ImuFactor, fistOrderExponential) { // Linearization point - Vector3 biasOmega; - biasOmega << 0, 0, 0; ///< Current estimate of rotation rate bias + Vector3 biasOmega(0, 0, 0); // Current estimate of rotation rate bias // Measurements - Vector3 measuredOmega; - measuredOmega << 0.1, 0, 0; + Vector3 measuredOmega(0.1, 0, 0); double deltaT = 1.0; // change w.r.t. linearization point @@ -514,28 +387,25 @@ TEST( ImuFactor, fistOrderExponential ) { Vector3 deltabiasOmega; deltabiasOmega << alpha, alpha, alpha; - const Matrix3 Jr = Rot3::ExpmapDerivative( - (measuredOmega - biasOmega) * deltaT); + const Matrix3 Jr = Rot3::ExpmapDerivative((measuredOmega - biasOmega) * deltaT); - Matrix3 delRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign + Matrix3 delRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign - const Matrix expectedRot = Rot3::Expmap( - (measuredOmega - biasOmega - deltabiasOmega) * deltaT).matrix(); + const Matrix expectedRot = + Rot3::Expmap((measuredOmega - biasOmega - deltabiasOmega) * deltaT).matrix(); - const Matrix3 hatRot = - Rot3::Expmap((measuredOmega - biasOmega) * deltaT).matrix(); - const Matrix3 actualRot = hatRot - * Rot3::Expmap(delRdelBiasOmega * deltabiasOmega).matrix(); - //hatRot * (Matrix3::Identity() + skewSymmetric(delRdelBiasOmega * deltabiasOmega)); + const Matrix3 hatRot = Rot3::Expmap((measuredOmega - biasOmega) * deltaT).matrix(); + const Matrix3 actualRot = hatRot * Rot3::Expmap(delRdelBiasOmega * deltabiasOmega).matrix(); + // hatRot * (Matrix3::Identity() + skewSymmetric(delRdelBiasOmega * deltabiasOmega)); // This is a first order expansion so the equality is only an approximation EXPECT(assert_equal(expectedRot, actualRot)); } /* ************************************************************************* */ -TEST( ImuFactor, FirstOrderPreIntegratedMeasurements ) { +TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { // Linearization point - imuBias::ConstantBias bias; ///< Current estimate of acceleration and rotation rate biases + imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1)); @@ -550,56 +420,51 @@ TEST( ImuFactor, FirstOrderPreIntegratedMeasurements ) { deltaTs.push_back(0.01); for (int i = 1; i < 100; i++) { measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); + measuredOmegas.push_back(Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } // Actual preintegrated values ImuFactor::PreintegratedMeasurements preintegrated = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs); + evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs); // Compute numerical derivatives - Matrix expectedDelPdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, - measuredOmegas, deltaTs), bias); + Matrix expectedDelPdelBias = numericalDerivative11( + boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, measuredOmegas, + deltaTs), + bias); Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); - Matrix expectedDelVdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, - measuredOmegas, deltaTs), bias); + Matrix expectedDelVdelBias = numericalDerivative11( + boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, measuredOmegas, + deltaTs), + bias); Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); - Matrix expectedDelRdelBias = - numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, - measuredAccs, measuredOmegas, deltaTs), bias); + Matrix expectedDelRdelBias = numericalDerivative11( + boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, measuredAccs, measuredOmegas, + deltaTs), + bias); Matrix expectedDelRdelBiasAcc = expectedDelRdelBias.leftCols(3); Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3); // Compare Jacobians EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); - EXPECT( - assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega())); + EXPECT(assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega())); EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc())); - EXPECT( - assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega())); + EXPECT(assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega())); EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); - EXPECT( - assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(), - 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations + EXPECT(assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(), + 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations } /* ************************************************************************* */ -TEST( ImuFactor, JacobianPreintegratedCovariancePropagation ) { +TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // Linearization point - imuBias::ConstantBias bias; ///< Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); + imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases + Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); // Measurements list measuredAccs, measuredOmegas; @@ -612,50 +477,48 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation ) { deltaTs.push_back(0.01); for (int i = 1; i < 100; i++) { measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); + measuredOmegas.push_back(Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } bool use2ndOrderIntegration = false; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements preintegrated = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs, use2ndOrderIntegration); + ImuFactor::PreintegratedMeasurements preintegrated = evaluatePreintegratedMeasurements( + bias, measuredAccs, measuredOmegas, deltaTs, use2ndOrderIntegration); // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); const double newDeltaT = 0.01; - const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement + const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement + const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement + const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement Matrix oldPreintCovariance = preintegrated.preintMeasCov(); Matrix Factual, Gactual; - preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, body_P_sensor, Factual, Gactual); + preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, newDeltaT, body_P_sensor, + Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F ////////////////////////////////////////////////////////////////////////////////////////////// // Compute expected f_pos_vel wrt positions Matrix dfpv_dpos = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, newMeasuredAcc, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaPij_old); // Compute expected f_pos_vel wrt velocities Matrix dfpv_dvel = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, newMeasuredAcc, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaVij_old); // Compute expected f_pos_vel wrt angles Matrix dfpv_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, newMeasuredAcc, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaRij_old); Matrix FexpectedTop6(6, 9); @@ -663,8 +526,7 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation ) { // Compute expected f_rot wrt angles Matrix dfr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), - deltaRij_old); + boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), deltaRij_old); Matrix FexpectedBottom3(3, 9); FexpectedBottom3 << Z_3x3, Z_3x3, dfr_dangle; @@ -678,26 +540,25 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation ) { ////////////////////////////////////////////////////////////////////////////////////////////// // Compute jacobian wrt integration noise Matrix dgpv_dintNoise(6, 3); - dgpv_dintNoise << I_3x3 * newDeltaT, Z_3x3; + dgpv_dintNoise << I_3x3* newDeltaT, Z_3x3; // Compute jacobian wrt acc noise Matrix dgpv_daccNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, _1, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), newMeasuredAcc); + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, _1, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + newMeasuredAcc); // Compute expected F wrt gyro noise Matrix dgpv_domegaNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, + newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), newMeasuredOmega); Matrix GexpectedTop6(6, 9); GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; // Compute expected f_rot wrt gyro noise Matrix dgr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), - newMeasuredOmega); + boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), newMeasuredOmega); Matrix GexpectedBottom3(3, 9); GexpectedBottom3 << Z_3x3, Z_3x3, dgr_dangle; @@ -708,22 +569,22 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation ) { // Check covariance propagation Matrix9 measurementCovariance; - measurementCovariance << intNoiseVar * I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar - * I_3x3, Z_3x3, Z_3x3, Z_3x3, omegaNoiseVar * I_3x3; + measurementCovariance << intNoiseVar* I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar* I_3x3, Z_3x3, + Z_3x3, Z_3x3, omegaNoiseVar* I_3x3; - Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance - * Factual.transpose() - + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); + Matrix newPreintCovarianceExpected = + Factual * oldPreintCovariance * Factual.transpose() + + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); } /* ************************************************************************* */ -TEST( ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt ) { +TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { // Linearization point - imuBias::ConstantBias bias; ///< Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); + imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases + Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); // Measurements list measuredAccs, measuredOmegas; @@ -736,50 +597,48 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt ) { deltaTs.push_back(0.01); for (int i = 1; i < 100; i++) { measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); + measuredOmegas.push_back(Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } bool use2ndOrderIntegration = true; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements preintegrated = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs, use2ndOrderIntegration); + ImuFactor::PreintegratedMeasurements preintegrated = evaluatePreintegratedMeasurements( + bias, measuredAccs, measuredOmegas, deltaTs, use2ndOrderIntegration); // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); const double newDeltaT = 0.01; - const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement + const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement + const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement + const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement Matrix oldPreintCovariance = preintegrated.preintMeasCov(); Matrix Factual, Gactual; - preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, body_P_sensor, Factual, Gactual); + preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, newDeltaT, body_P_sensor, + Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F ////////////////////////////////////////////////////////////////////////////////////////////// // Compute expected f_pos_vel wrt positions Matrix dfpv_dpos = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, newMeasuredAcc, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaPij_old); // Compute expected f_pos_vel wrt velocities Matrix dfpv_dvel = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, newMeasuredAcc, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaVij_old); // Compute expected f_pos_vel wrt angles Matrix dfpv_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, newMeasuredAcc, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaRij_old); Matrix FexpectedTop6(6, 9); @@ -787,8 +646,7 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt ) { // Compute expected f_rot wrt angles Matrix dfr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), - deltaRij_old); + boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), deltaRij_old); Matrix FexpectedBottom3(3, 9); FexpectedBottom3 << Z_3x3, Z_3x3, dfr_dangle; @@ -802,26 +660,25 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt ) { ////////////////////////////////////////////////////////////////////////////////////////////// // Compute jacobian wrt integration noise Matrix dgpv_dintNoise(6, 3); - dgpv_dintNoise << I_3x3 * newDeltaT, Z_3x3; + dgpv_dintNoise << I_3x3* newDeltaT, Z_3x3; // Compute jacobian wrt acc noise Matrix dgpv_daccNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, _1, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), newMeasuredAcc); + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, _1, + newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + newMeasuredAcc); // Compute expected F wrt gyro noise Matrix dgpv_domegaNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, + newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), newMeasuredOmega); Matrix GexpectedTop6(6, 9); GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; // Compute expected f_rot wrt gyro noise Matrix dgr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), - newMeasuredOmega); + boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), newMeasuredOmega); Matrix GexpectedBottom3(3, 9); GexpectedBottom3 << Z_3x3, Z_3x3, dgr_dangle; @@ -832,95 +689,34 @@ TEST( ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt ) { // Check covariance propagation Matrix9 measurementCovariance; - measurementCovariance << intNoiseVar * I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar - * I_3x3, Z_3x3, Z_3x3, Z_3x3, omegaNoiseVar * I_3x3; + measurementCovariance << intNoiseVar* I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar* I_3x3, Z_3x3, + Z_3x3, Z_3x3, omegaNoiseVar* I_3x3; - Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance - * Factual.transpose() - + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); + Matrix newPreintCovarianceExpected = + Factual * oldPreintCovariance * Factual.transpose() + + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); } -//#include -///* ************************************************************************* */ -//TEST( ImuFactor, LinearizeTiming) -//{ -// // Linearization point -// Pose3 x1(Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, -50.0)); -// Vector3 v1(Vector3(0.5, 0.0, 0.0)); -// Pose3 x2(Rot3::RzRyRx(M_PI/12.0 + M_PI/100.0, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, -50.0)); -// Vector3 v2(Vector3(0.5, 0.0, 0.0)); -// imuBias::ConstantBias bias(Vector3(0.001, 0.002, 0.008), Vector3(0.002, 0.004, 0.012)); -// -// // Pre-integrator -// imuBias::ConstantBias biasHat(Vector3(0, 0, 0.10), Vector3(0, 0, 0.10)); -// Vector3 gravity; gravity << 0, 0, 9.81; -// Vector3 omegaCoriolis; omegaCoriolis << 0.0001, 0, 0.01; -// ImuFactor::PreintegratedMeasurements pre_int_data(biasHat, Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity()); -// -// // Pre-integrate Measurements -// Vector3 measuredAcc(0.1, 0.0, 0.0); -// Vector3 measuredOmega(M_PI/100.0, 0.0, 0.0); -// double deltaT = 0.5; -// for(size_t i = 0; i < 50; ++i) { -// pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); -// } -// -// // Create factor -// noiseModel::Base::shared_ptr model = noiseModel::Gaussian::Covariance(pre_int_data.MeasurementCovariance()); -// ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis); -// -// Values values; -// values.insert(X(1), x1); -// values.insert(X(2), x2); -// values.insert(V(1), v1); -// values.insert(V(2), v2); -// values.insert(B(1), bias); -// -// Ordering ordering; -// ordering.push_back(X(1)); -// ordering.push_back(V(1)); -// ordering.push_back(X(2)); -// ordering.push_back(V(2)); -// ordering.push_back(B(1)); -// -// GaussianFactorGraph graph; -// gttic_(LinearizeTiming); -// for(size_t i = 0; i < 100000; ++i) { -// GaussianFactor::shared_ptr g = factor.linearize(values, ordering); -// graph.push_back(g); -// } -// gttoc_(LinearizeTiming); -// tictoc_finishedIteration_(); -// std::cout << "Linear Error: " << graph.error(values.zeroVectors(ordering)) << std::endl; -// tictoc_print_(); -//} - /* ************************************************************************* */ -TEST( ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement ) { - - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) +TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { + imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0)); Vector3 v1(Vector3(0.5, 0.0, 0.0)); - Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), - Point3(5.5, 1.0, -50.0)); + Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); Vector3 v2(Vector3(0.5, 0.0, 0.0)); // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0.1, 0.1; + Vector3 nonZeroOmegaCoriolis; + nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(gravity)).vector() - + Vector3(0.2, 0.0, 0.0); + Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), - Point3(1, 0, 0)); + const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), Point3(1, 0, 0)); ImuFactor::PreintegratedMeasurements pre_int_data( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, @@ -929,51 +725,27 @@ TEST( ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement ) { pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, - omegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, nonZeroOmegaCoriolis); - // Expected Jacobians - Matrix H1e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, _1, v1, x2, v2, bias), x1); - Matrix H2e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, _1, x2, v2, bias), v1); - Matrix H3e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, _1, v2, bias), x2); - Matrix H4e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, _1, bias), v2); - Matrix H5e = numericalDerivative11( - boost::bind(&callEvaluateError, factor, x1, v1, x2, v2, _1), bias); + Values values; + values.insert(X(1), x1); + values.insert(V(1), v1); + values.insert(X(2), x2); + values.insert(V(2), v2); + values.insert(B(1), bias); - // Check rotation Jacobians - Matrix RH1e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, bias), x1); - Matrix RH3e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, bias), x2); - Matrix RH5e = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, x2, v2, _1), bias); - - // Actual Jacobians - Matrix H1a, H2a, H3a, H4a, H5a; - (void) factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); - - EXPECT(assert_equal(H1e, H1a)); - EXPECT(assert_equal(H2e, H2a)); - EXPECT(assert_equal(H3e, H3a)); - EXPECT(assert_equal(H4e, H4a)); - EXPECT(assert_equal(H5e, H5a)); + // Make sure linearization is correct + double diffDelta = 1e-5; + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); } /* ************************************************************************* */ TEST(ImuFactor, PredictPositionAndVelocity) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0, 0; Vector3 measuredOmega; - measuredOmega << 0, 0, 0; //M_PI/10.0+0.3; + measuredOmega << 0, 0, 0; // M_PI/10.0+0.3; Vector3 measuredAcc; measuredAcc << 0, 1, -9.81; double deltaT = 0.001; @@ -989,14 +761,12 @@ TEST(ImuFactor, PredictPositionAndVelocity) { pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, - omegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, kZeroOmegaCoriolis); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, gravity, - omegaCoriolis); + PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, kGravity, kZeroOmegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 1, 0; @@ -1006,15 +776,11 @@ TEST(ImuFactor, PredictPositionAndVelocity) { /* ************************************************************************* */ TEST(ImuFactor, PredictRotation) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0, 0; Vector3 measuredOmega; - measuredOmega << 0, 0, M_PI / 10; //M_PI/10.0+0.3; + measuredOmega << 0, 0, M_PI / 10; // M_PI/10.0+0.3; Vector3 measuredAcc; measuredAcc << 0, 0, -9.81; double deltaT = 0.001; @@ -1030,15 +796,14 @@ TEST(ImuFactor, PredictRotation) { pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, - omegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, kZeroOmegaCoriolis); // Predict Pose3 x1, x2; Vector3 v1 = Vector3(0, 0.0, 0.0); Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, factor.preintegratedMeasurements(), - gravity, omegaCoriolis); + ImuFactor::Predict(x1, v1, x2, v2, bias, factor.preintegratedMeasurements(), kGravity, + kZeroOmegaCoriolis); Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 0, 0; From b01eb4e960a51d6e64be6faa8641b3d1dc3f4b15 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 23 May 2015 17:49:52 -0700 Subject: [PATCH 182/964] Added a test for PoseVelocityBias --- .../navigation/tests/testPoseVelocityBias.cpp | 64 +++++++++++++++++++ 1 file changed, 64 insertions(+) create mode 100644 gtsam/navigation/tests/testPoseVelocityBias.cpp diff --git a/gtsam/navigation/tests/testPoseVelocityBias.cpp b/gtsam/navigation/tests/testPoseVelocityBias.cpp new file mode 100644 index 000000000..ce419fdd0 --- /dev/null +++ b/gtsam/navigation/tests/testPoseVelocityBias.cpp @@ -0,0 +1,64 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testPoseVelocityBias.cpp + * @brief Unit test for PoseVelocityBias + * @author Frank Dellaert + */ + +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +// Should be seen as between(pvb1,pvb2), i.e., written as pvb2 \omin pvb1 +Vector9 error(const PoseVelocityBias& pvb1, const PoseVelocityBias& pvb2) { + Matrix3 R1 = pvb1.pose.rotation().matrix(); + // Ri.transpose() translate the error from the global frame into pose1's frame + const Vector3 fp = R1.transpose() * (pvb2.pose.translation() - pvb1.pose.translation()).vector(); + const Vector3 fv = R1.transpose() * (pvb2.velocity - pvb1.velocity); + const Rot3 R1BetweenR2 = pvb1.pose.rotation().between(pvb2.pose.rotation()); + const Vector3 fR = Rot3::Logmap(R1BetweenR2); + Vector9 r; + r << fp, fv, fR; + return r; +} + +/* ************************************************************************************************/ +TEST(PoseVelocityBias, error) { + Point3 i1(0, 1, 0), j1(-1, 0, 0), k1(0, 0, 1); + Pose3 x1(Rot3(i1, j1, k1), Point3(5.0, 1.0, 0.0)); + Vector3 v1(Vector3(0.5, 0.0, 0.0)); + imuBias::ConstantBias bias1(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); + + Pose3 x2(Rot3(i1, j1, k1).expmap(Vector3(0.1, 0.2, 0.3)), Point3(5.5, 1.0, 6.0)); + Vector3 v2(Vector3(0.5, 4.0, 3.0)); + imuBias::ConstantBias bias2(Vector3(0.1, 0.2, -0.3), Vector3(0.2, 0.3, 0.1)); + + PoseVelocityBias pvb1(x1, v1, bias1), pvb2(x2, v2, bias2); + + Vector9 expected, actual = error(pvb1, pvb2); + expected << 0.0, -0.5, 6.0, 4.0, 0.0, 3.0, 0.1, 0.2, 0.3; + EXPECT(assert_equal(expected, actual, 1e-9)); +} + +/* ************************************************************************************************/ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************************************/ From e0f6570f8fe63a5969ad65f8c2774b0cdbf780ab Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 7 Jun 2015 20:53:54 -0700 Subject: [PATCH 183/964] Timing script that takes BAL file as input. Compile with BUILD_TYPE=Timing --- timing/timeSFMBAL.cpp | 67 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 timing/timeSFMBAL.cpp diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp new file mode 100644 index 000000000..49bf23024 --- /dev/null +++ b/timing/timeSFMBAL.cpp @@ -0,0 +1,67 @@ +/* ---------------------------------------------------------------------------- + + * 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 timeSFMBAL.cpp + * @brief time structure from motion with BAL file + * @author Frank Dellaert + * @date June 6, 2015 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +//#define TERNARY + +int main(int argc, char *argv[]) { + typedef GeneralSFMFactor, Point3> sfmFactor; + using symbol_shorthand::P; + + string defaultFilename = findExampleDataFile("dubrovnik-3-7-pre"); + SfM_data db; + bool success = readBAL(argc>1 ? argv[1] : defaultFilename, db); + if (!success) throw runtime_error("Could not access file!"); + + SharedNoiseModel unit2 = noiseModel::Unit::Create(2); + NonlinearFactorGraph graph; + + for (size_t j = 0; j < db.number_tracks(); j++) { + BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) + graph.push_back(sfmFactor(m.second, unit2, m.first, P(j))); + } + + Values initial = initialCamerasAndPointsEstimate(db); + + LevenbergMarquardtOptimizer lm(graph, initial); + + Values actual = lm.optimize(); + tictoc_print_(); + + return 0; +} From 73a09c508d81678e9f5ff926f08a6651b7c6923b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 7 Jun 2015 20:54:03 -0700 Subject: [PATCH 184/964] isUnit --- gtsam/linear/NoiseModel.h | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 923e7c7e9..05ed21977 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -62,10 +62,11 @@ namespace gtsam { Base(size_t dim = 1):dim_(dim) {} virtual ~Base() {} - /// true if a constrained noise mode, saves slow/clumsy dynamic casting - virtual bool isConstrained() const { - return false; // default false - } + /// true if a constrained noise model, saves slow/clumsy dynamic casting + virtual bool isConstrained() const { return false; } // default false + + /// true if a unit noise model, saves slow/clumsy dynamic casting + virtual bool isUnit() const { return false; } // default false /// Dimensionality inline size_t dim() const { return dim_;} @@ -390,9 +391,7 @@ namespace gtsam { virtual ~Constrained() {} /// true if a constrained noise mode, saves slow/clumsy dynamic casting - virtual bool isConstrained() const { - return true; - } + virtual bool isConstrained() const { return true; } /// Return true if a particular dimension is free or constrained bool constrained(size_t i) const; @@ -590,6 +589,9 @@ namespace gtsam { return shared_ptr(new Unit(dim)); } + /// true if a unit noise model, saves slow/clumsy dynamic casting + virtual bool isUnit() const { return true; } + virtual void print(const std::string& name) const; virtual double Mahalanobis(const Vector& v) const {return v.dot(v); } virtual Vector whiten(const Vector& v) const { return v; } From 5fd5f5786f672d39b983de867eaa8c4939058ce4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 7 Jun 2015 20:54:24 -0700 Subject: [PATCH 185/964] Header discipline, and split up updateATA timing --- gtsam/linear/HessianFactor.cpp | 27 ++++++++++++++------------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index f2bebcab9..6df4e7337 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -15,17 +15,17 @@ * @date Dec 8, 2010 */ -#include -#include -#include -#include -#include #include #include #include #include #include #include +#include +#include +#include +#include +#include #include #include @@ -405,7 +405,7 @@ double HessianFactor::error(const VectorValues& c) const { /* ************************************************************************* */ void HessianFactor::updateATA(const HessianFactor& update, const Scatter& scatter) { - gttic(updateATA); + gttic(updateATA_HessianFactor); // This function updates 'combined' with the information in 'update'. 'scatter' maps variables in // the update factor to slots in the combined factor. @@ -440,15 +440,16 @@ void HessianFactor::updateATA(const JacobianFactor& update, // 'scatter' maps variables in the update factor to slots in the combined // factor. - gttic(updateATA); + gttic(updateATA_JacobianFactor); if (update.rows() > 0) { gttic(whiten); // Whiten the factor if it has a noise model boost::optional _whitenedFactor; const JacobianFactor* whitenedFactor = &update; - if (update.get_model()) { - if (update.get_model()->isConstrained()) + const SharedDiagonal& model = update.get_model(); + if (model && !model->isUnit()) { + if (model->isConstrained()) throw invalid_argument( "Cannot update HessianFactor from JacobianFactor with constrained noise model"); _whitenedFactor = update.whiten(); @@ -457,10 +458,10 @@ void HessianFactor::updateATA(const JacobianFactor& update, gttoc(whiten); // A is the whitened Jacobian matrix A, and we are going to perform I += A'*A below - const VerticalBlockMatrix& A = whitenedFactor->matrixObject(); + const VerticalBlockMatrix& Ab = whitenedFactor->matrixObject(); // N is number of variables in HessianFactor, n in JacobianFactor - DenseIndex N = this->info_.nBlocks() - 1, n = A.nBlocks() - 1; + DenseIndex N = this->info_.nBlocks() - 1, n = Ab.nBlocks() - 1; // First build an array of slots gttic(slots); @@ -479,10 +480,10 @@ void HessianFactor::updateATA(const JacobianFactor& update, // Fill off-diagonal blocks with Ai'*Aj for (DenseIndex i = 0; i < j; ++i) { DenseIndex I = slots[i]; // get block in Hessian - info_(I, J).knownOffDiagonal() += A(i).transpose() * A(j); + info_(I, J).knownOffDiagonal() += Ab(i).transpose() * Ab(j); } // Fill diagonal block with Aj'*Aj - info_(J, J).selfadjointView().rankUpdate(A(j).transpose()); + info_(J, J).selfadjointView().rankUpdate(Ab(j).transpose()); } gttoc(update); } From c6269dfe7684c7955bf14b2c6954412a7c1c29f3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 8 Jun 2015 18:28:27 -0400 Subject: [PATCH 186/964] Better iteration timing --- gtsam/nonlinear/NonlinearOptimizer.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index 00746d9b7..77d26d361 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -68,6 +68,7 @@ void NonlinearOptimizer::defaultOptimize() { // Do next iteration currentError = this->error(); this->iterate(); + tictoc_finishedIteration(); // Maybe show output if(params.verbosity >= NonlinearOptimizerParams::VALUES) this->values().print("newValues"); From 116c9d43980c87f6638f95a953aae4a79356c9a5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 8 Jun 2015 18:28:46 -0400 Subject: [PATCH 187/964] Use same defaults as ceres --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 009b480f2..b3cc3746d 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -60,7 +60,7 @@ public: double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) LevenbergMarquardtParams() : - lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), lambdaLowerBound( + lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound( 0.0), verbosityLM(SILENT), minModelFidelity(1e-3), diagonalDamping(false), reuse_diagonal_(false), useFixedLambdaFactor_(true), min_diagonal_(1e-6), max_diagonal_(1e32) { From 7f49a7a1fb170c90736c7bac04e04f69ef63bf2c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 8 Jun 2015 20:00:49 -0400 Subject: [PATCH 188/964] Fixed comments --- gtsam/inference/Ordering.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 274d5681c..98c369fcb 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -104,9 +104,9 @@ namespace gtsam { /// VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains /// the variables in \c constrainLast to the end of the ordering, and orders all other variables /// before in a fill-reducing ordering. If \c forceOrder is true, the variables in \c - /// constrainLast will be ordered in the same order specified in the vector \c - /// constrainLast. If \c forceOrder is false, the variables in \c constrainFirst will be - /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. + /// constrainFirst will be ordered in the same order specified in the vector \c + /// constrainFirst. If \c forceOrder is false, the variables in \c constrainFirst will be + /// ordered before all the others, but will be rearranged by CCOLAMD to reduce fill-in as well. template static Ordering colamdConstrainedFirst(const FactorGraph& graph, const std::vector& constrainFirst, bool forceOrder = false) { @@ -117,7 +117,7 @@ namespace gtsam { /// orders all other variables after in a fill-reducing ordering. If \c forceOrder is true, the /// variables in \c constrainFirst will be ordered in the same order specified in the /// vector \c constrainFirst. If \c forceOrder is false, the variables in \c - /// constrainFirst will be ordered after all the others, but will be rearranged by CCOLAMD to + /// constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to /// reduce fill-in as well. static GTSAM_EXPORT Ordering colamdConstrainedFirst(const VariableIndex& variableIndex, const std::vector& constrainFirst, bool forceOrder = false); From 627febfbaa1ea92b5dba8c291630d61b819c9b34 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 8 Jun 2015 20:01:04 -0400 Subject: [PATCH 189/964] Fixed headers --- gtsam/base/FastDefaultAllocator.h | 5 ++--- gtsam/base/FastMap.h | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/gtsam/base/FastDefaultAllocator.h b/gtsam/base/FastDefaultAllocator.h index 156a87f55..bf5cfc498 100644 --- a/gtsam/base/FastDefaultAllocator.h +++ b/gtsam/base/FastDefaultAllocator.h @@ -17,8 +17,7 @@ */ #pragma once - -#include +#include // Configuration from CMake #if !defined GTSAM_ALLOCATOR_BOOSTPOOL && !defined GTSAM_ALLOCATOR_TBB && !defined GTSAM_ALLOCATOR_STL # ifdef GTSAM_USE_TBB @@ -85,4 +84,4 @@ namespace gtsam }; } -} \ No newline at end of file +} diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h index 7cd6e28b8..65d532191 100644 --- a/gtsam/base/FastMap.h +++ b/gtsam/base/FastMap.h @@ -19,9 +19,9 @@ #pragma once #include -#include #include #include +#include namespace gtsam { From f3e54ff916f3c9e665139ab462567dcb8809c438 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 8 Jun 2015 20:01:33 -0400 Subject: [PATCH 190/964] Some refactoring/formatting --- gtsam/base/timing.cpp | 61 ++++++++++++++++++------------------- gtsam/base/timing.h | 71 +++++++++++++++++++++++++++---------------- 2 files changed, 74 insertions(+), 58 deletions(-) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index 36f1c2f5f..b76746ba0 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -16,24 +16,28 @@ * @date Oct 5, 2010 */ -#include -#include -#include -#include -#include -#include -#include -#include - #include #include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + namespace gtsam { namespace internal { -GTSAM_EXPORT boost::shared_ptr timingRoot( +GTSAM_EXPORT boost::shared_ptr gTimingRoot( new TimingOutline("Total", getTicTocID("Total"))); -GTSAM_EXPORT boost::weak_ptr timingCurrent(timingRoot); +GTSAM_EXPORT boost::weak_ptr gCurrentTimer(gTimingRoot); /* ************************************************************************* */ // Implementation of TimingOutline @@ -50,8 +54,8 @@ void TimingOutline::add(size_t usecs, size_t usecsWall) { } /* ************************************************************************* */ -TimingOutline::TimingOutline(const std::string& label, size_t myId) : - myId_(myId), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_( +TimingOutline::TimingOutline(const std::string& label, size_t id) : + id_(id), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_( 0), lastChildOrder_(0), label_(label) { #ifdef GTSAM_USING_NEW_BOOST_TIMERS timer_.stop(); @@ -153,7 +157,7 @@ const boost::shared_ptr& TimingOutline::child(size_t child, } /* ************************************************************************* */ -void TimingOutline::ticInternal() { +void TimingOutline::tic() { #ifdef GTSAM_USING_NEW_BOOST_TIMERS assert(timer_.is_stopped()); timer_.start(); @@ -169,7 +173,7 @@ void TimingOutline::ticInternal() { } /* ************************************************************************* */ -void TimingOutline::tocInternal() { +void TimingOutline::toc() { #ifdef GTSAM_USING_NEW_BOOST_TIMERS assert(!timer_.is_stopped()); @@ -212,7 +216,6 @@ void TimingOutline::finishedIteration() { } /* ************************************************************************* */ -// Generate or retrieve a unique global ID number that will be used to look up tic_/toc statements size_t getTicTocID(const char *descriptionC) { const std::string description(descriptionC); // Global (static) map from strings to ID numbers and current next ID number @@ -232,37 +235,33 @@ size_t getTicTocID(const char *descriptionC) { } /* ************************************************************************* */ -void ticInternal(size_t id, const char *labelC) { +void tic(size_t id, const char *labelC) { const std::string label(labelC); - if (ISDEBUG("timing-verbose")) - std::cout << "gttic_(" << id << ", " << label << ")" << std::endl; boost::shared_ptr node = // - timingCurrent.lock()->child(id, label, timingCurrent); - timingCurrent = node; - node->ticInternal(); + gCurrentTimer.lock()->child(id, label, gCurrentTimer); + gCurrentTimer = node; + node->tic(); } /* ************************************************************************* */ -void tocInternal(size_t id, const char *label) { - if (ISDEBUG("timing-verbose")) - std::cout << "gttoc(" << id << ", " << label << ")" << std::endl; - boost::shared_ptr current(timingCurrent.lock()); - if (id != current->myId_) { - timingRoot->print(); +void toc(size_t id, const char *label) { + boost::shared_ptr current(gCurrentTimer.lock()); + if (id != current->id_) { + gTimingRoot->print(); throw std::invalid_argument( (boost::format( "gtsam timing: Mismatched tic/toc: gttoc(\"%s\") called when last tic was \"%s\".") % label % current->label_).str()); } if (!current->parent_.lock()) { - timingRoot->print(); + gTimingRoot->print(); throw std::invalid_argument( (boost::format( "gtsam timing: Mismatched tic/toc: extra gttoc(\"%s\"), already at the root") % label).str()); } - current->tocInternal(); - timingCurrent = current->parent_; + current->toc(); + gCurrentTimer = current->parent_; } } // namespace internal diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 7a43ef884..a904c5f08 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -17,12 +17,15 @@ */ #pragma once -#include -#include -#include -#include -#include #include +#include + +#include +#include +#include + +#include +#include // This file contains the GTSAM timing instrumentation library, a low-overhead method for // learning at a medium-fine level how much time various components of an algorithm take @@ -125,16 +128,21 @@ namespace gtsam { namespace internal { + // Generate/retrieve a unique global ID number that will be used to look up tic/toc statements GTSAM_EXPORT size_t getTicTocID(const char *description); - GTSAM_EXPORT void ticInternal(size_t id, const char *label); - GTSAM_EXPORT void tocInternal(size_t id, const char *label); + + // Create new TimingOutline child for gCurrentTimer, make it gCurrentTimer, and call tic method + GTSAM_EXPORT void tic(size_t id, const char *label); + + // Call toc on gCurrentTimer and then set gCurrentTimer to the parent of gCurrentTimer + GTSAM_EXPORT void toc(size_t id, const char *label); /** * Timing Entry, arranged in a tree */ class GTSAM_EXPORT TimingOutline { protected: - size_t myId_; + size_t id_; size_t t_; size_t tWall_; double t2_ ; ///< cache the \sum t_i^2 @@ -176,29 +184,38 @@ namespace gtsam { void print2(const std::string& outline = "", const double parentTotal = -1.0) const; const boost::shared_ptr& child(size_t child, const std::string& label, const boost::weak_ptr& thisPtr); - void ticInternal(); - void tocInternal(); + void tic(); + void toc(); void finishedIteration(); - GTSAM_EXPORT friend void tocInternal(size_t id, const char *label); + GTSAM_EXPORT friend void toc(size_t id, const char *label); }; // \TimingOutline /** - * No documentation + * Small class that calls internal::tic at construction, and internol::toc when destroyed */ class AutoTicToc { - private: + private: size_t id_; - const char *label_; + const char* label_; bool isSet_; - public: - AutoTicToc(size_t id, const char* label) : id_(id), label_(label), isSet_(true) { ticInternal(id_, label_); } - void stop() { tocInternal(id_, label_); isSet_ = false; } - ~AutoTicToc() { if(isSet_) stop(); } + + public: + AutoTicToc(size_t id, const char* label) + : id_(id), label_(label), isSet_(true) { + tic(id_, label_); + } + void stop() { + toc(id_, label_); + isSet_ = false; + } + ~AutoTicToc() { + if (isSet_) stop(); + } }; - GTSAM_EXTERN_EXPORT boost::shared_ptr timingRoot; - GTSAM_EXTERN_EXPORT boost::weak_ptr timingCurrent; + GTSAM_EXTERN_EXPORT boost::shared_ptr gTimingRoot; + GTSAM_EXTERN_EXPORT boost::weak_ptr gCurrentTimer; } // Tic and toc functions that are always active (whether or not ENABLE_TIMING is defined) @@ -210,7 +227,7 @@ namespace gtsam { // tic #define gttic_(label) \ static const size_t label##_id_tic = ::gtsam::internal::getTicTocID(#label); \ - ::gtsam::internal::AutoTicToc label##_obj = ::gtsam::internal::AutoTicToc(label##_id_tic, #label) + ::gtsam::internal::AutoTicToc label##_obj(label##_id_tic, #label) // toc #define gttoc_(label) \ @@ -228,26 +245,26 @@ namespace gtsam { // indicate iteration is finished inline void tictoc_finishedIteration_() { - ::gtsam::internal::timingRoot->finishedIteration(); } + ::gtsam::internal::gTimingRoot->finishedIteration(); } // print inline void tictoc_print_() { - ::gtsam::internal::timingRoot->print(); } + ::gtsam::internal::gTimingRoot->print(); } // print mean and standard deviation inline void tictoc_print2_() { - ::gtsam::internal::timingRoot->print2(); } + ::gtsam::internal::gTimingRoot->print2(); } // get a node by label and assign it to variable #define tictoc_getNode(variable, label) \ static const size_t label##_id_getnode = ::gtsam::internal::getTicTocID(#label); \ const boost::shared_ptr variable = \ - ::gtsam::internal::timingCurrent.lock()->child(label##_id_getnode, #label, ::gtsam::internal::timingCurrent); + ::gtsam::internal::gCurrentTimer.lock()->child(label##_id_getnode, #label, ::gtsam::internal::gCurrentTimer); // reset inline void tictoc_reset_() { - ::gtsam::internal::timingRoot.reset(new ::gtsam::internal::TimingOutline("Total", ::gtsam::internal::getTicTocID("Total"))); - ::gtsam::internal::timingCurrent = ::gtsam::internal::timingRoot; } + ::gtsam::internal::gTimingRoot.reset(new ::gtsam::internal::TimingOutline("Total", ::gtsam::internal::getTicTocID("Total"))); + ::gtsam::internal::gCurrentTimer = ::gtsam::internal::gTimingRoot; } #ifdef ENABLE_TIMING #define gttic(label) gttic_(label) From 71caa400950f1c809c72f689b5232ca343065774 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 8 Jun 2015 20:01:56 -0400 Subject: [PATCH 191/964] Use Schur ordering --- timing/timeSFMBAL.cpp | 34 ++++++++++++++++++++++------------ 1 file changed, 22 insertions(+), 12 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 49bf23024..98fa3d249 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -16,20 +16,20 @@ * @date June 6, 2015 */ -#include -#include +#include +#include #include #include #include -#include -#include -#include #include #include -#include #include -#include -#include +#include +#include +#include +#include + +#include #include #include #include @@ -39,18 +39,19 @@ using namespace gtsam; //#define TERNARY -int main(int argc, char *argv[]) { +int main(int argc, char* argv[]) { typedef GeneralSFMFactor, Point3> sfmFactor; using symbol_shorthand::P; + // Load BAL file (default is tiny) string defaultFilename = findExampleDataFile("dubrovnik-3-7-pre"); SfM_data db; - bool success = readBAL(argc>1 ? argv[1] : defaultFilename, db); + bool success = readBAL(argc > 1 ? argv[1] : defaultFilename, db); if (!success) throw runtime_error("Could not access file!"); + // Build graph SharedNoiseModel unit2 = noiseModel::Unit::Create(2); NonlinearFactorGraph graph; - for (size_t j = 0; j < db.number_tracks(); j++) { BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) graph.push_back(sfmFactor(m.second, unit2, m.first, P(j))); @@ -58,9 +59,18 @@ int main(int argc, char *argv[]) { Values initial = initialCamerasAndPointsEstimate(db); - LevenbergMarquardtOptimizer lm(graph, initial); + // Create Schur-complement ordering + vector pointKeys; + for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j)); + Ordering schurOrdering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); + // Optimize + LevenbergMarquardtParams params; + params.setOrdering(schurOrdering); + LevenbergMarquardtOptimizer lm(graph, initial, params); Values actual = lm.optimize(); + + tictoc_finishedIteration_(); tictoc_print_(); return 0; From 39ffe3ac32f7143de468e6a0f241243a21b4186c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 10 Jun 2015 15:53:43 -0400 Subject: [PATCH 192/964] Made updateATA a virtual method for a small saving in CPU, but more importantly to allow for custom Jacobian or HessianFactors... --- gtsam/linear/GaussianFactor.h | 10 +++ gtsam/linear/HessianFactor.cpp | 115 ++++++-------------------------- gtsam/linear/HessianFactor.h | 13 +--- gtsam/linear/JacobianFactor.cpp | 43 ++++++++++++ gtsam/linear/JacobianFactor.h | 7 ++ 5 files changed, 85 insertions(+), 103 deletions(-) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index 6a7d91bc9..bb4b20e58 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -28,6 +28,8 @@ namespace gtsam { // Forward declarations class VectorValues; + class Scatter; + class SymmetricBlockMatrix; /** * An abstract virtual base class for JacobianFactor and HessianFactor. A GaussianFactor has a @@ -119,6 +121,14 @@ namespace gtsam { */ virtual GaussianFactor::shared_ptr negate() const = 0; + /** Update an information matrix by adding the information corresponding to this factor + * (used internally during elimination). + * @param scatter A mapping from variable index to slot index in this HessianFactor + * @param info The information matrix to be updated + */ + virtual void updateATA(const Scatter& scatter, + SymmetricBlockMatrix* info) const = 0; + /// y += alpha * A'*A*x virtual void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const = 0; diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 6df4e7337..9dbc2b52d 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -75,7 +75,7 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, const JacobianFactor* asJacobian = dynamic_cast(factor.get()); if (!asJacobian || asJacobian->cols() > 1) - this->insert( + insert( make_pair(*variable, SlotEntry(none, factor->getDim(variable)))); } } @@ -296,16 +296,8 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, // Form A' * A gttic(update); BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) - { - if(factor) { - if(const HessianFactor* hessian = dynamic_cast(factor.get())) - updateATA(*hessian, *scatter); - else if(const JacobianFactor* jacobian = dynamic_cast(factor.get())) - updateATA(*jacobian, *scatter); - else - throw invalid_argument("GaussianFactor is neither Hessian nor Jacobian"); - } - } + if(factor) + factor->updateATA(*scatter, &info_); gttoc(update); } @@ -313,8 +305,8 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, void HessianFactor::print(const std::string& s, const KeyFormatter& formatter) const { cout << s << "\n"; cout << " keys: "; - for(const_iterator key=this->begin(); key!=this->end(); ++key) - cout << formatter(*key) << "(" << this->getDim(key) << ") "; + for(const_iterator key=begin(); key!=end(); ++key) + cout << formatter(*key) << "(" << getDim(key) << ") "; cout << "\n"; gtsam::print(Matrix(info_.full().selfadjointView()), "Augmented information matrix: "); } @@ -326,7 +318,7 @@ bool HessianFactor::equals(const GaussianFactor& lf, double tol) const { else { if(!Factor::equals(lf, tol)) return false; - Matrix thisMatrix = this->info_.full().selfadjointView(); + Matrix thisMatrix = info_.full().selfadjointView(); thisMatrix(thisMatrix.rows()-1, thisMatrix.cols()-1) = 0.0; Matrix rhsMatrix = static_cast(lf).info_.full().selfadjointView(); rhsMatrix(rhsMatrix.rows()-1, rhsMatrix.cols()-1) = 0.0; @@ -343,7 +335,7 @@ Matrix HessianFactor::augmentedInformation() const /* ************************************************************************* */ Matrix HessianFactor::information() const { - return info_.range(0, this->size(), 0, this->size()).selfadjointView(); + return info_.range(0, size(), 0, size()).selfadjointView(); } /* ************************************************************************* */ @@ -396,97 +388,34 @@ double HessianFactor::error(const VectorValues& c) const { double xtg = 0, xGx = 0; // extract the relevant subset of the VectorValues // NOTE may not be as efficient - const Vector x = c.vector(this->keys()); + const Vector x = c.vector(keys()); xtg = x.dot(linearTerm()); - xGx = x.transpose() * info_.range(0, this->size(), 0, this->size()).selfadjointView() * x; + xGx = x.transpose() * info_.range(0, size(), 0, size()).selfadjointView() * x; return 0.5 * (f - 2.0 * xtg + xGx); } /* ************************************************************************* */ -void HessianFactor::updateATA(const HessianFactor& update, const Scatter& scatter) -{ +void HessianFactor::updateATA(const Scatter& scatter, + SymmetricBlockMatrix* info) const { gttic(updateATA_HessianFactor); - // This function updates 'combined' with the information in 'update'. 'scatter' maps variables in - // the update factor to slots in the combined factor. + // N is number of variables in information matrix, n in HessianFactor + DenseIndex N = info->nBlocks() - 1, n = size(); // First build an array of slots - gttic(slots); - FastVector slots(update.size()); + FastVector slots(n + 1); DenseIndex slot = 0; - BOOST_FOREACH(Key j, update) { - slots[slot] = scatter.at(j).slot; - ++ slot; - } - gttoc(slots); + BOOST_FOREACH (Key key, *this) + slots[slot++] = scatter.at(key).slot; + slots[n] = N; // Apply updates to the upper triangle - gttic(update); - size_t nrInfoBlocks = this->info_.nBlocks(); - for(DenseIndex j2=0; j2 0) { - gttic(whiten); - // Whiten the factor if it has a noise model - boost::optional _whitenedFactor; - const JacobianFactor* whitenedFactor = &update; - const SharedDiagonal& model = update.get_model(); - if (model && !model->isUnit()) { - if (model->isConstrained()) - throw invalid_argument( - "Cannot update HessianFactor from JacobianFactor with constrained noise model"); - _whitenedFactor = update.whiten(); - whitenedFactor = &(*_whitenedFactor); - } - gttoc(whiten); - - // A is the whitened Jacobian matrix A, and we are going to perform I += A'*A below - const VerticalBlockMatrix& Ab = whitenedFactor->matrixObject(); - - // N is number of variables in HessianFactor, n in JacobianFactor - DenseIndex N = this->info_.nBlocks() - 1, n = Ab.nBlocks() - 1; - - // First build an array of slots - gttic(slots); - FastVector slots(n + 1); - DenseIndex slot = 0; - BOOST_FOREACH(Key j, update) - slots[slot++] = scatter.at(j).slot; - slots[n] = N; - gttoc(slots); - - // Apply updates to the upper triangle - gttic(update); - // Loop over blocks of A, including RHS with j==n - for (DenseIndex j = 0; j <= n; ++j) { - DenseIndex J = slots[j]; // get block in Hessian - // Fill off-diagonal blocks with Ai'*Aj - for (DenseIndex i = 0; i < j; ++i) { - DenseIndex I = slots[i]; // get block in Hessian - info_(I, J).knownOffDiagonal() += Ab(i).transpose() * Ab(j); - } - // Fill diagonal block with Aj'*Aj - info_(J, J).selfadjointView().rankUpdate(Ab(j).transpose()); - } - gttoc(update); - } } /* ************************************************************************* */ diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index dbec5bb59..c3cea3f51 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -363,19 +363,12 @@ namespace gtsam { /** Return the full augmented Hessian matrix of this factor as a SymmetricBlockMatrix object. */ const SymmetricBlockMatrix& matrixObject() const { return info_; } - /** Update the factor by adding the information from the JacobianFactor + /** Update an information matrix by adding the information corresponding to this factor * (used internally during elimination). - * @param update The JacobianFactor containing the new information to add * @param scatter A mapping from variable index to slot index in this HessianFactor + * @param info The information matrix to be updated */ - void updateATA(const JacobianFactor& update, const Scatter& scatter); - - /** Update the factor by adding the information from the HessianFactor - * (used internally during elimination). - * @param update The HessianFactor containing the new information to add - * @param scatter A mapping from variable index to slot index in this HessianFactor - */ - void updateATA(const HessianFactor& update, const Scatter& scatter); + void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const; /** y += alpha * A'*A*x */ void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 11025fc0f..bb910aedb 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -497,6 +497,49 @@ map JacobianFactor::hessianBlockDiagonal() const { return blocks; } +/* ************************************************************************* */ +void JacobianFactor::updateATA(const Scatter& scatter, + SymmetricBlockMatrix* info) const { + gttic(updateATA_JacobianFactor); + + if (rows() == 0) return; + + // Whiten the factor if it has a noise model + const SharedDiagonal& model = get_model(); + if (model && !model->isUnit()) { + if (model->isConstrained()) + throw invalid_argument( + "JacobianFactor::updateATA: cannot update information with " + "constrained noise model"); + JacobianFactor whitenedFactor = whiten(); + whitenedFactor.updateATA(scatter, info); + } else { + // Ab_ is the augmented Jacobian matrix A, and we perform I += A'*A below + // N is number of variables in information matrix, n in JacobianFactor + DenseIndex N = info->nBlocks() - 1, n = Ab_.nBlocks() - 1; + + // First build an array of slots + FastVector slots(n + 1); + DenseIndex slot = 0; + BOOST_FOREACH (Key key, *this) + slots[slot++] = scatter.at(key).slot; + slots[n] = N; + + // Apply updates to the upper triangle + // Loop over blocks of A, including RHS with j==n + for (DenseIndex j = 0; j <= n; ++j) { + DenseIndex J = slots[j]; + // Fill off-diagonal blocks with Ai'*Aj + for (DenseIndex i = 0; i < j; ++i) { + DenseIndex I = slots[i]; + (*info)(I, J).knownOffDiagonal() += Ab_(i).transpose() * Ab_(j); + } + // Fill diagonal block with Aj'*Aj + (*info)(J, J).selfadjointView().rankUpdate(Ab_(j).transpose()); + } + } +} + /* ************************************************************************* */ Vector JacobianFactor::operator*(const VectorValues& x) const { Vector Ax = zero(Ab_.rows()); diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 194ba5c67..73f992770 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -273,6 +273,13 @@ namespace gtsam { /** Get a view of the A matrix */ ABlock getA() { return Ab_.range(0, size()); } + /** Update an information matrix by adding the information corresponding to this factor + * (used internally during elimination). + * @param scatter A mapping from variable index to slot index in this HessianFactor + * @param info The information matrix to be updated + */ + void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const; + /** Return A*x */ Vector operator*(const VectorValues& x) const; From 7ec26ff3239c33d646832939da6ab905c49ae718 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 10 Jun 2015 18:27:10 -0400 Subject: [PATCH 193/964] Added Whiten --- gtsam/linear/NoiseModel.cpp | 7 +++++-- gtsam/linear/NoiseModel.h | 5 +++++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index a8b177b43..06c5fe7fb 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -376,8 +376,11 @@ double Constrained::distance(const Vector& v) const { /* ************************************************************************* */ Matrix Constrained::Whiten(const Matrix& H) const { - // selective scaling - return vector_scale(invsigmas(), H, true); + Matrix A = H; + for (DenseIndex i=0; i<(DenseIndex)dim_; ++i) + if (!constrained(i)) // if constrained, leave row of A as is + A.row(i) *= invsigmas_(i); + return A; } /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 05ed21977..a6c63da50 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -81,6 +81,9 @@ namespace gtsam { /// Whiten an error vector. virtual Vector whiten(const Vector& v) const = 0; + /// Whiten a matrix. + virtual Matrix Whiten(const Matrix& H) const = 0; + /// Unwhiten an error vector. virtual Vector unwhiten(const Vector& v) const = 0; @@ -856,6 +859,8 @@ namespace gtsam { // TODO: functions below are dummy but necessary for the noiseModel::Base inline virtual Vector whiten(const Vector& v) const { Vector r = v; this->WhitenSystem(r); return r; } + inline virtual Matrix Whiten(const Matrix& A) const + { 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."); } inline virtual double distance(const Vector& v) const From 171793aad33f6d0a5966cc6c3b87b53b8f6ae612 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 10 Jun 2015 18:27:34 -0400 Subject: [PATCH 194/964] Prototype (faster?) linearize --- gtsam/slam/tests/testGeneralSFMFactor.cpp | 101 ++++++++++++++++++++-- 1 file changed, 95 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 240b19a46..ad25b611c 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -19,13 +19,13 @@ #include #include #include +#include +#include #include -#include #include #include #include -#include -#include +#include #include #include @@ -101,8 +101,8 @@ TEST( GeneralSFMFactor, equals ) /* ************************************************************************* */ TEST( GeneralSFMFactor, error ) { Point2 z(3.,0.); - const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); - boost::shared_ptr factor(new Projection(z, sigma, X(1), L(1))); + const SharedNoiseModel sigma(noiseModel::Unit::Create(2)); + Projection factor(z, sigma, X(1), L(1)); // For the following configuration, the factor predicts 320,240 Values values; Rot3 R; @@ -110,7 +110,7 @@ TEST( GeneralSFMFactor, error ) { Pose3 x1(R,t1); values.insert(X(1), GeneralCamera(x1)); Point3 l1; values.insert(L(1), l1); - EXPECT(assert_equal(((Vector) Vector2(-3.0, 0.0)), factor->unwhitenedError(values))); + EXPECT(assert_equal(((Vector) Vector2(-3.0, 0.0)), factor.unwhitenedError(values))); } static const double baseline = 5.0 ; @@ -430,6 +430,95 @@ TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { EXPECT(assert_equal(expected, actual, 1e-4)); } +/* ************************************************************************* */ + +static const int DimC = 11, DimL = 3; + +/// Linearize using fixed-size matrices +boost::shared_ptr linearize(const Projection& factor, + const Values& values) { + // Only linearize if the factor is active + if (!factor.active(values)) return boost::shared_ptr(); + + const Key key1 = factor.key1(), key2 = factor.key2(); + Eigen::Matrix H1; + Eigen::Matrix H2; + Vector2 b; + try { + const GeneralCamera& camera = values.at(key1); + const Point3& point = values.at(key2); + Point2 reprojError(camera.project2(point, H1, H2) - factor.measured()); + b = -reprojError.vector(); + } catch (CheiralityException& e) { + // TODO warn if verbose output asked for + return boost::make_shared(); + } + + // Whiten the system if needed + const SharedNoiseModel& noiseModel = factor.get_noiseModel(); + if (noiseModel && !noiseModel->isUnit()) { + // TODO: implement WhitenSystem for fixed size matrices and include above + H1 = noiseModel->Whiten(H1); + H2 = noiseModel->Whiten(H2); + b = noiseModel->Whiten(b); + } + + if (noiseModel && noiseModel->isConstrained()) { + using noiseModel::Constrained; + return boost::make_shared( + key1, H1, key2, H2, b, + boost::static_pointer_cast(noiseModel)->unit()); + } else { + return boost::make_shared(key1, H1, key2, H2, b); + } +} + +/* ************************************************************************* */ +TEST(GeneralSFMFactor, Linearize) { + Point2 z(3.,0.); + + // Create Values + Values values; + Rot3 R; + Point3 t1(0,0,-6); + Pose3 x1(R,t1); + values.insert(X(1), GeneralCamera(x1)); + Point3 l1; values.insert(L(1), l1); + + // Test with Empty Model + { + const SharedNoiseModel model; + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); + GaussianFactor::shared_ptr actual = linearize(factor, values); + EXPECT(assert_equal(*expected,*actual,1e-9)); + } + // Test with Unit Model + { + const SharedNoiseModel model(noiseModel::Unit::Create(2)); + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.linearize(values); + GaussianFactor::shared_ptr actual = linearize(factor, values); + EXPECT(assert_equal(*expected,*actual,1e-9)); + } + // Test with Isotropic noise + { + const SharedNoiseModel model(noiseModel::Isotropic::Sigma(2,0.5)); + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.linearize(values); + GaussianFactor::shared_ptr actual = linearize(factor, values); + EXPECT(assert_equal(*expected,*actual,1e-9)); + } + // Test with Constrained Model + { + const SharedNoiseModel model(noiseModel::Constrained::All(2)); + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.linearize(values); + GaussianFactor::shared_ptr actual = linearize(factor, values); + EXPECT(assert_equal(*expected,*actual,1e-9)); + } +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 5dc149fe232f81ab82952d4c97c677c76451b8e3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 10 Jun 2015 18:37:09 -0400 Subject: [PATCH 195/964] Faster linearize now in class --- gtsam/slam/GeneralSFMFactor.h | 43 +++++++++++++++-- gtsam/slam/tests/testGeneralSFMFactor.cpp | 57 +++-------------------- 2 files changed, 47 insertions(+), 53 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 2516b2bcc..ba3d27202 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -116,7 +116,6 @@ namespace gtsam { /** h(x)-z */ Vector evaluateError(const CAMERA& camera, const LANDMARK& point, boost::optional H1=boost::none, boost::optional H2=boost::none) const { - try { Point2 reprojError(camera.project2(point,H1,H2) - measured_); return reprojError.vector(); @@ -124,12 +123,50 @@ namespace gtsam { catch( CheiralityException& e) { if (H1) *H1 = zeros(2, DimC); if (H2) *H2 = zeros(2, DimL); - std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) - << " behind Camera " << DefaultKeyFormatter(this->key1()) << std::endl; + // TODO warn if verbose output asked for return zero(2); } } + /// Linearize using fixed-size matrices + boost::shared_ptr linearize(const Values& values) { + // Only linearize if the factor is active + if (!this->active(values)) return boost::shared_ptr(); + + const Key key1 = this->key1(), key2 = this->key2(); + Eigen::Matrix H1; + Eigen::Matrix H2; + Vector2 b; + try { + const CAMERA& camera = values.at(key1); + const LANDMARK& point = values.at(key2); + Point2 reprojError(camera.project2(point, H1, H2) - measured()); + b = -reprojError.vector(); + } catch (CheiralityException& e) { + // TODO warn if verbose output asked for + return boost::make_shared(); + } + + // Whiten the system if needed + const SharedNoiseModel& noiseModel = this->get_noiseModel(); + if (noiseModel && !noiseModel->isUnit()) { + // TODO: implement WhitenSystem for fixed size matrices and include + // above + H1 = noiseModel->Whiten(H1); + H2 = noiseModel->Whiten(H2); + b = noiseModel->Whiten(b); + } + + if (noiseModel && noiseModel->isConstrained()) { + using noiseModel::Constrained; + return boost::make_shared( + key1, H1, key2, H2, b, + boost::static_pointer_cast(noiseModel)->unit()); + } else { + return boost::make_shared(key1, H1, key2, H2, b); + } + } + /** return the measured */ inline const Point2 measured() const { return measured_; diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index ad25b611c..a83db3f1d 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -430,49 +430,6 @@ TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { EXPECT(assert_equal(expected, actual, 1e-4)); } -/* ************************************************************************* */ - -static const int DimC = 11, DimL = 3; - -/// Linearize using fixed-size matrices -boost::shared_ptr linearize(const Projection& factor, - const Values& values) { - // Only linearize if the factor is active - if (!factor.active(values)) return boost::shared_ptr(); - - const Key key1 = factor.key1(), key2 = factor.key2(); - Eigen::Matrix H1; - Eigen::Matrix H2; - Vector2 b; - try { - const GeneralCamera& camera = values.at(key1); - const Point3& point = values.at(key2); - Point2 reprojError(camera.project2(point, H1, H2) - factor.measured()); - b = -reprojError.vector(); - } catch (CheiralityException& e) { - // TODO warn if verbose output asked for - return boost::make_shared(); - } - - // Whiten the system if needed - const SharedNoiseModel& noiseModel = factor.get_noiseModel(); - if (noiseModel && !noiseModel->isUnit()) { - // TODO: implement WhitenSystem for fixed size matrices and include above - H1 = noiseModel->Whiten(H1); - H2 = noiseModel->Whiten(H2); - b = noiseModel->Whiten(b); - } - - if (noiseModel && noiseModel->isConstrained()) { - using noiseModel::Constrained; - return boost::make_shared( - key1, H1, key2, H2, b, - boost::static_pointer_cast(noiseModel)->unit()); - } else { - return boost::make_shared(key1, H1, key2, H2, b); - } -} - /* ************************************************************************* */ TEST(GeneralSFMFactor, Linearize) { Point2 z(3.,0.); @@ -490,31 +447,31 @@ TEST(GeneralSFMFactor, Linearize) { const SharedNoiseModel model; Projection factor(z, model, X(1), L(1)); GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); - GaussianFactor::shared_ptr actual = linearize(factor, values); + GaussianFactor::shared_ptr actual = factor.linearize(values); EXPECT(assert_equal(*expected,*actual,1e-9)); } // Test with Unit Model { const SharedNoiseModel model(noiseModel::Unit::Create(2)); Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.linearize(values); - GaussianFactor::shared_ptr actual = linearize(factor, values); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); + GaussianFactor::shared_ptr actual = factor.linearize(values); EXPECT(assert_equal(*expected,*actual,1e-9)); } // Test with Isotropic noise { const SharedNoiseModel model(noiseModel::Isotropic::Sigma(2,0.5)); Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.linearize(values); - GaussianFactor::shared_ptr actual = linearize(factor, values); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); + GaussianFactor::shared_ptr actual = factor.linearize(values); EXPECT(assert_equal(*expected,*actual,1e-9)); } // Test with Constrained Model { const SharedNoiseModel model(noiseModel::Constrained::All(2)); Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.linearize(values); - GaussianFactor::shared_ptr actual = linearize(factor, values); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); + GaussianFactor::shared_ptr actual = factor.linearize(values); EXPECT(assert_equal(*expected,*actual,1e-9)); } } From 304cc61decdfded28412c1e4fbfaa5365193a6db Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 10 Jun 2015 23:47:53 -0700 Subject: [PATCH 196/964] Specialized fixed-size matrix --- gtsam/slam/GeneralSFMFactor.h | 69 +++++++++++++++++++++++++++++++---- 1 file changed, 61 insertions(+), 8 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index ba3d27202..e44576e5f 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -25,13 +25,16 @@ #include #include #include +#include #include #include #include #include +#include #include #include #include +#include #include #include @@ -61,6 +64,8 @@ namespace gtsam { static const int DimC = FixedDimension::value; static const int DimL = FixedDimension::value; + typedef Eigen::Matrix JacobianC; + typedef Eigen::Matrix JacobianL; protected: @@ -121,21 +126,69 @@ namespace gtsam { return reprojError.vector(); } catch( CheiralityException& e) { - if (H1) *H1 = zeros(2, DimC); - if (H2) *H2 = zeros(2, DimL); + if (H1) *H1 = JacobianC::Zero(); + if (H2) *H2 = JacobianL::Zero(); // TODO warn if verbose output asked for return zero(2); } } + class LinearizedFactor : public JacobianFactor { + // Fixed size matrices + // TODO: implement generic BinaryJacobianFactor next to + // JacobianFactor + JacobianC AC_; + JacobianL AL_; + Vector2 b_; + + public: + /// Constructor + LinearizedFactor(Key i1, const JacobianC& A1, Key i2, const JacobianL& A2, + const Vector2& b, + const SharedDiagonal& model = SharedDiagonal()) + : JacobianFactor(i1, A1, i2, A2, b, model), AC_(A1), AL_(A2), b_(b) {} + + // Fixed-size matrix update + void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const { + gttic(updateATA_LinearizedFactor); + + // Whiten the factor if it has a noise model + const SharedDiagonal& model = get_model(); + if (model && !model->isUnit()) { + if (model->isConstrained()) + throw std::invalid_argument( + "JacobianFactor::updateATA: cannot update information with " + "constrained noise model"); + JacobianFactor whitenedFactor = whiten(); + whitenedFactor.updateATA(scatter, info); + } else { + // N is number of variables in information matrix + DenseIndex N = info->nBlocks() - 1; + + // First build an array of slots + DenseIndex slotC = scatter.at(this->keys().front()).slot; + DenseIndex slotL = scatter.at(this->keys().back()).slot; + DenseIndex slotB = N; + + // We perform I += A'*A to the upper triangle + (*info)(slotC, slotC).knownOffDiagonal() += AC_.transpose() * AC_; + (*info)(slotC, slotL).knownOffDiagonal() += AC_.transpose() * AL_; + (*info)(slotC, slotB).knownOffDiagonal() += AC_.transpose() * b_; + (*info)(slotL, slotL).knownOffDiagonal() += AL_.transpose() * AL_; + (*info)(slotL, slotB).knownOffDiagonal() += AL_.transpose() * b_; + (*info)(slotB, slotB).knownOffDiagonal() += b_.transpose() * b_; + } + } + }; + /// Linearize using fixed-size matrices - boost::shared_ptr linearize(const Values& values) { + boost::shared_ptr linearize(const Values& values) const { // Only linearize if the factor is active - if (!this->active(values)) return boost::shared_ptr(); + if (!this->active(values)) return boost::shared_ptr(); const Key key1 = this->key1(), key2 = this->key2(); - Eigen::Matrix H1; - Eigen::Matrix H2; + JacobianC H1; + JacobianL H2; Vector2 b; try { const CAMERA& camera = values.at(key1); @@ -159,11 +212,11 @@ namespace gtsam { if (noiseModel && noiseModel->isConstrained()) { using noiseModel::Constrained; - return boost::make_shared( + return boost::make_shared( key1, H1, key2, H2, b, boost::static_pointer_cast(noiseModel)->unit()); } else { - return boost::make_shared(key1, H1, key2, H2, b); + return boost::make_shared(key1, H1, key2, H2, b); } } From 05a120d94c5f066356135ec77ebbd955cc37b47f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 09:44:23 -0700 Subject: [PATCH 197/964] Hardcode ordering and add verbosity --- timing/timeSFMBAL.cpp | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 98fa3d249..568c3a756 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -59,14 +59,22 @@ int main(int argc, char* argv[]) { Values initial = initialCamerasAndPointsEstimate(db); - // Create Schur-complement ordering +// Create Schur-complement ordering +#ifdef CCOLAMD vector pointKeys; for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j)); - Ordering schurOrdering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); + Ordering ordering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); +#else + Ordering ordering; + for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j)); + for (size_t i = 0; i < db.number_cameras(); i++) ordering.push_back(i); +#endif // Optimize LevenbergMarquardtParams params; - params.setOrdering(schurOrdering); + params.setOrdering(ordering); + params.setVerbosity("ERROR"); + params.setVerbosityLM("TRYLAMBDA"); LevenbergMarquardtOptimizer lm(graph, initial, params); Values actual = lm.optimize(); From 635a2a079256b73002c8fdabcd631b0b26e47ce6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 13:22:26 -0700 Subject: [PATCH 198/964] Fix bug that could disconnect graph --- gtsam/slam/GeneralSFMFactor.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index e44576e5f..be20ee3fa 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -196,8 +196,10 @@ namespace gtsam { Point2 reprojError(camera.project2(point, H1, H2) - measured()); b = -reprojError.vector(); } catch (CheiralityException& e) { + H1.setZero(); + H2.setZero(); + b.setZero(); // TODO warn if verbose output asked for - return boost::make_shared(); } // Whiten the system if needed From e140538a48b34375201f08a7750e1dab6cb5bfaa Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 13:22:38 -0700 Subject: [PATCH 199/964] Use diagonal damping by default --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index b3cc3746d..4e4479cd6 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -62,7 +62,7 @@ public: LevenbergMarquardtParams() : lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound( 0.0), verbosityLM(SILENT), minModelFidelity(1e-3), - diagonalDamping(false), reuse_diagonal_(false), useFixedLambdaFactor_(true), + diagonalDamping(true), reuse_diagonal_(false), useFixedLambdaFactor_(true), min_diagonal_(1e-6), max_diagonal_(1e32) { } virtual ~LevenbergMarquardtParams() { From 29c2b47ace48b3b3b87ddea153db3f3bd994e1ba Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 14:09:00 -0700 Subject: [PATCH 200/964] Fixed comments, added TODO --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 4e4479cd6..04b2d9e8d 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -46,7 +46,7 @@ public: public: - double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-5) + double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-4) double lambdaFactor; ///< The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0) double lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5) double lambdaLowerBound; ///< The minimum lambda used in LM (default: 0) @@ -54,7 +54,7 @@ public: double minModelFidelity; ///< Lower bound for the modelFidelity to accept the result of an LM iteration std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda] bool diagonalDamping; ///< if true, use diagonal of Hessian - bool reuse_diagonal_; ///< an additional option in Ceres for diagonalDamping (related to efficiency) + bool reuse_diagonal_; ///< an additional option in Ceres for diagonalDamping (TODO: should be in state?) bool useFixedLambdaFactor_; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor double min_diagonal_; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) From 257060e8dda5793796c409e6c8e6a5dba2aaa4ad Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 21:21:01 -0700 Subject: [PATCH 201/964] Scatter class in separate compilation unit --- gtsam/linear/HessianFactor.cpp | 49 --------------- gtsam/linear/HessianFactor.h | 28 +-------- gtsam/linear/JacobianFactor.cpp | 2 +- gtsam/linear/Scatter.cpp | 77 ++++++++++++++++++++++++ gtsam/linear/Scatter.h | 56 +++++++++++++++++ gtsam/linear/tests/testHessianFactor.cpp | 2 +- gtsam/linear/tests/testScatter.cpp | 63 +++++++++++++++++++ 7 files changed, 200 insertions(+), 77 deletions(-) create mode 100644 gtsam/linear/Scatter.cpp create mode 100644 gtsam/linear/Scatter.h create mode 100644 gtsam/linear/tests/testScatter.cpp diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 9dbc2b52d..a5b3e4a9a 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -53,55 +53,6 @@ namespace br { using namespace boost::range; using namespace boost::adaptors; } namespace gtsam { -/* ************************************************************************* */ -string SlotEntry::toString() const { - ostringstream oss; - oss << "SlotEntry: slot=" << slot << ", dim=" << dimension; - return oss.str(); -} - -/* ************************************************************************* */ -Scatter::Scatter(const GaussianFactorGraph& gfg, - boost::optional ordering) { - gttic(Scatter_Constructor); - static const size_t none = std::numeric_limits::max(); - - // First do the set union. - BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, gfg) { - if (factor) { - for (GaussianFactor::const_iterator variable = factor->begin(); - variable != factor->end(); ++variable) { - // TODO: Fix this hack to cope with zero-row Jacobians that come from BayesTreeOrphanWrappers - const JacobianFactor* asJacobian = - dynamic_cast(factor.get()); - if (!asJacobian || asJacobian->cols() > 1) - insert( - make_pair(*variable, SlotEntry(none, factor->getDim(variable)))); - } - } - } - - // If we have an ordering, pre-fill the ordered variables first - size_t slot = 0; - if (ordering) { - BOOST_FOREACH(Key key, *ordering) { - const_iterator entry = find(key); - if (entry == end()) - throw std::invalid_argument( - "The ordering provided to the HessianFactor Scatter constructor\n" - "contained extra variables that did not appear in the factors to combine."); - at(key).slot = (slot++); - } - } - - // Next fill in the slot indices (we can only get these after doing the set - // union. - BOOST_FOREACH(value_type& var_slot, *this) { - if (var_slot.second.slot == none) - var_slot.second.slot = (slot++); - } -} - /* ************************************************************************* */ HessianFactor::HessianFactor() : info_(cref_list_of<1>(1)) diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index c3cea3f51..50a81b579 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -18,10 +18,10 @@ #pragma once +#include +#include #include #include -#include -#include #include @@ -41,30 +41,6 @@ namespace gtsam { GTSAM_EXPORT std::pair, boost::shared_ptr > EliminateCholesky(const GaussianFactorGraph& factors, const Ordering& keys); - /** - * One SlotEntry stores the slot index for a variable, as well its dimension. - */ - struct GTSAM_EXPORT SlotEntry { - size_t slot, dimension; - SlotEntry(size_t _slot, size_t _dimension) - : slot(_slot), dimension(_dimension) {} - std::string toString() const; - }; - - /** - * Scatter is an intermediate data structure used when building a HessianFactor - * incrementally, to get the keys in the right order. The "scatter" is a map from - * global variable indices to slot indices in the union of involved variables. - * We also include the dimensionality of the variable. - */ - class Scatter: public FastMap { - public: - Scatter() { - } - Scatter(const GaussianFactorGraph& gfg, - boost::optional ordering = boost::none); - }; - /** * @brief A Gaussian factor using the canonical parameters (information form) * diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index bb910aedb..9d0917919 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp new file mode 100644 index 000000000..3efbc2004 --- /dev/null +++ b/gtsam/linear/Scatter.cpp @@ -0,0 +1,77 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file HessianFactor.cpp + * @author Richard Roberts + * @date Dec 8, 2010 + */ + +#include +#include +#include + +#include + +using namespace std; + +namespace gtsam { + +/* ************************************************************************* */ +string SlotEntry::toString() const { + ostringstream oss; + oss << "SlotEntry: slot=" << slot << ", dim=" << dimension; + return oss.str(); +} + +/* ************************************************************************* */ +Scatter::Scatter(const GaussianFactorGraph& gfg, + boost::optional ordering) { + gttic(Scatter_Constructor); + static const size_t none = std::numeric_limits::max(); + + // First do the set union. + BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, gfg) { + if (factor) { + for (GaussianFactor::const_iterator variable = factor->begin(); + variable != factor->end(); ++variable) { + // TODO: Fix this hack to cope with zero-row Jacobians that come from BayesTreeOrphanWrappers + const JacobianFactor* asJacobian = + dynamic_cast(factor.get()); + if (!asJacobian || asJacobian->cols() > 1) + insert( + make_pair(*variable, SlotEntry(none, factor->getDim(variable)))); + } + } + } + + // If we have an ordering, pre-fill the ordered variables first + size_t slot = 0; + if (ordering) { + BOOST_FOREACH(Key key, *ordering) { + const_iterator entry = find(key); + if (entry == end()) + throw std::invalid_argument( + "The ordering provided to the HessianFactor Scatter constructor\n" + "contained extra variables that did not appear in the factors to combine."); + at(key).slot = (slot++); + } + } + + // Next fill in the slot indices (we can only get these after doing the set + // union. + BOOST_FOREACH(value_type& var_slot, *this) { + if (var_slot.second.slot == none) + var_slot.second.slot = (slot++); + } +} + +} // gtsam diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h new file mode 100644 index 000000000..e212c5867 --- /dev/null +++ b/gtsam/linear/Scatter.h @@ -0,0 +1,56 @@ +/* ---------------------------------------------------------------------------- + + * 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 Scatter.h + * @brief Maps global variable indices to slot indices + * @author Richard Roberts + * @author Frank Dellaert + * @date Dec 8, 2010 + */ + +#pragma once + +#include +#include +#include + +#include + +namespace gtsam { + +class GaussianFactorGraph; +class Ordering; + +/** + * One SlotEntry stores the slot index for a variable, as well its dimension. + */ +struct GTSAM_EXPORT SlotEntry { + size_t slot, dimension; + SlotEntry(size_t _slot, size_t _dimension) + : slot(_slot), dimension(_dimension) {} + std::string toString() const; +}; + +/** + * Scatter is an intermediate data structure used when building a HessianFactor + * incrementally, to get the keys in the right order. The "scatter" is a map + * from + * global variable indices to slot indices in the union of involved variables. + * We also include the dimensionality of the variable. + */ +class Scatter : public FastMap { + public: + Scatter(const GaussianFactorGraph& gfg, + boost::optional ordering = boost::none); +}; + +} // \ namespace gtsam diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index 3a2cd0fd4..557ba3f36 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file testCholeskyFactor.cpp + * @file testHessianFactor.cpp * @author Richard Roberts * @date Dec 15, 2010 */ diff --git a/gtsam/linear/tests/testScatter.cpp b/gtsam/linear/tests/testScatter.cpp new file mode 100644 index 000000000..19d099616 --- /dev/null +++ b/gtsam/linear/tests/testScatter.cpp @@ -0,0 +1,63 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testScatter.cpp + * @author Frank Dellaert + * @date June, 2015 + */ + +#include +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +TEST(HessianFactor, CombineAndEliminate) { + static const size_t m = 3, n = 3; + Matrix A01 = + (Matrix(m, n) << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0).finished(); + Vector3 b0(1.5, 1.5, 1.5); + Vector3 s0(1.6, 1.6, 1.6); + + Matrix A10 = + (Matrix(m, n) << 2.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 2.0).finished(); + Matrix A11 = (Matrix(m, n) << -2.0, 0.0, 0.0, 0.0, -2.0, 0.0, 0.0, 0.0, -2.0) + .finished(); + Vector3 b1(2.5, 2.5, 2.5); + Vector3 s1(2.6, 2.6, 2.6); + + Matrix A21 = + (Matrix(m, n) << 3.0, 0.0, 0.0, 0.0, 3.0, 0.0, 0.0, 0.0, 3.0).finished(); + Vector3 b2(3.5, 3.5, 3.5); + Vector3 s2(3.6, 3.6, 3.6); + + GaussianFactorGraph gfg; + gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); + gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); + gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); + + Scatter scatter(gfg); + EXPECT_LONGS_EQUAL(2, scatter.size()); + EXPECT_LONGS_EQUAL(0, scatter.at(0).slot); + EXPECT_LONGS_EQUAL(1, scatter.at(1).slot); + EXPECT_LONGS_EQUAL(n, scatter.at(0).dimension); + EXPECT_LONGS_EQUAL(n, scatter.at(1).dimension); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From 5f41529ffffe4a090ae830c34ec5ffcba86bc196 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 21:45:01 -0700 Subject: [PATCH 202/964] Added required method --- gtsam/slam/RegularImplicitSchurFactor.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index b1490d465..f2fc4e819 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -115,6 +115,11 @@ public: return D; } + virtual void updateATA(const Scatter& scatter, + SymmetricBlockMatrix* info) const { + throw std::runtime_error( + "RegularImplicitSchurFactor::updateATA non implemented"); + } virtual Matrix augmentedJacobian() const { throw std::runtime_error( "RegularImplicitSchurFactor::augmentedJacobian non implemented"); From f89ffdc81cd6a09465cb3779e86478c84595c1bf Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 23:11:24 -0700 Subject: [PATCH 203/964] Restored defaults (test failed) --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 72 +++++++------------ 1 file changed, 26 insertions(+), 46 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 04b2d9e8d..315e95512 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -59,60 +59,40 @@ public: double min_diagonal_; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) - LevenbergMarquardtParams() : - lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound( - 0.0), verbosityLM(SILENT), minModelFidelity(1e-3), - diagonalDamping(true), reuse_diagonal_(false), useFixedLambdaFactor_(true), - min_diagonal_(1e-6), max_diagonal_(1e32) { - } - virtual ~LevenbergMarquardtParams() { - } + LevenbergMarquardtParams() + : lambdaInitial(1e-5), + lambdaFactor(10.0), + lambdaUpperBound(1e5), + lambdaLowerBound(0.0), + verbosityLM(SILENT), + minModelFidelity(1e-3), + diagonalDamping(false), + reuse_diagonal_(false), + useFixedLambdaFactor_(true), + min_diagonal_(1e-6), + max_diagonal_(1e32) {} + virtual ~LevenbergMarquardtParams() {} virtual void print(const std::string& str = "") const; - - inline double getlambdaInitial() const { - return lambdaInitial; - } - inline double getlambdaFactor() const { - return lambdaFactor; - } - inline double getlambdaUpperBound() const { - return lambdaUpperBound; - } - inline double getlambdaLowerBound() const { - return lambdaLowerBound; - } + inline double getlambdaInitial() const { return lambdaInitial; } + inline double getlambdaFactor() const { return lambdaFactor; } + inline double getlambdaUpperBound() const { return lambdaUpperBound; } + inline double getlambdaLowerBound() const { return lambdaLowerBound; } inline std::string getVerbosityLM() const { return verbosityLMTranslator(verbosityLM); } - inline std::string getLogFile() const { - return logFile; - } - inline bool getDiagonalDamping() const { - return diagonalDamping; - } + inline std::string getLogFile() const { return logFile; } + inline bool getDiagonalDamping() const { return diagonalDamping; } - inline void setlambdaInitial(double value) { - lambdaInitial = value; - } - inline void setlambdaFactor(double value) { - lambdaFactor = value; - } - inline void setlambdaUpperBound(double value) { - lambdaUpperBound = value; - } - inline void setlambdaLowerBound(double value) { - lambdaLowerBound = value; - } - inline void setVerbosityLM(const std::string &s) { + inline void setlambdaInitial(double value) { lambdaInitial = value; } + inline void setlambdaFactor(double value) { lambdaFactor = value; } + inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; } + inline void setlambdaLowerBound(double value) { lambdaLowerBound = value; } + inline void setVerbosityLM(const std::string& s) { verbosityLM = verbosityLMTranslator(s); } - inline void setLogFile(const std::string &s) { - logFile = s; - } - inline void setDiagonalDamping(bool flag) { - diagonalDamping = flag; - } + inline void setLogFile(const std::string& s) { logFile = s; } + inline void setDiagonalDamping(bool flag) { diagonalDamping = flag; } inline void setUseFixedLambdaFactor(bool flag) { useFixedLambdaFactor_ = flag; } From 6ed82459ba8abe3f860455b4b97e7ffbbc378b66 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 23:11:35 -0700 Subject: [PATCH 204/964] Set params to be like ceres --- timing/timeSFMBAL.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 568c3a756..154a72dc9 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -71,10 +71,14 @@ int main(int argc, char* argv[]) { #endif // Optimize + // Set parameters to be similar to ceres LevenbergMarquardtParams params; params.setOrdering(ordering); params.setVerbosity("ERROR"); params.setVerbosityLM("TRYLAMBDA"); + params.setDiagonalDamping(true); + params.setlambdaInitial(1e-4); + params.setlambdaFactor(2.0); LevenbergMarquardtOptimizer lm(graph, initial, params); Values actual = lm.optimize(); From 63d918ed7a4876eabb7bbbcd08559f1ca9488627 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 23:38:29 -0700 Subject: [PATCH 205/964] Now FastVector --- gtsam/inference/Ordering.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 98c369fcb..e2e7fac4c 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -22,17 +22,18 @@ #include #include -#include #include #include #include #include +#include +#include namespace gtsam { - class Ordering : public std::vector { + class Ordering : public FastVector { protected: - typedef std::vector Base; + typedef FastVector Base; public: From 692ddd8f361ad957f4adf7738a19ef41acdcbf47 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 23:38:57 -0700 Subject: [PATCH 206/964] Made node keys ordered to avoid copy constructor in eliminate --- gtsam/inference/ClusterTree.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 5a412a79e..09bec7452 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -11,7 +11,7 @@ #include #include -#include +#include namespace gtsam { @@ -37,7 +37,7 @@ namespace gtsam typedef typename FactorGraphType::Eliminate Eliminate; ///< Typedef for an eliminate subroutine struct Cluster { - typedef FastVector Keys; + typedef Ordering Keys; typedef FastVector Factors; typedef FastVector > Children; From 15d55428096082e23082dd32f7bec527adf6ab46 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 23:48:18 -0700 Subject: [PATCH 207/964] Renamed variable --- gtsam/inference/ClusterTree-inst.h | 4 ++-- gtsam/inference/ClusterTree.h | 2 +- gtsam/inference/JunctionTree-inst.h | 17 ++++++++++++----- .../symbolic/tests/testSymbolicJunctionTree.cpp | 4 ++-- 4 files changed, 17 insertions(+), 10 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index 13130bf2e..a94baaf6c 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -99,7 +99,7 @@ namespace gtsam // Do dense elimination step std::pair, boost::shared_ptr > eliminationResult = - eliminationFunction(gatheredFactors, Ordering(node->keys)); + eliminationFunction(gatheredFactors, Ordering(node->orderedFrontalKeys)); // Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor myData.bayesTreeNode->setEliminationResult(eliminationResult); @@ -123,7 +123,7 @@ namespace gtsam const std::string& s, const KeyFormatter& keyFormatter) const { std::cout << s; - BOOST_FOREACH(Key j, keys) + BOOST_FOREACH(Key j, orderedFrontalKeys) std::cout << j << " "; std::cout << "problemSize = " << problemSize_ << std::endl; } diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 09bec7452..435631b21 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -41,7 +41,7 @@ namespace gtsam typedef FastVector Factors; typedef FastVector > Children; - Keys keys; ///< Frontal keys of this node + Keys orderedFrontalKeys; ///< Frontal keys of this node Factors factors; ///< Factors associated with this node Children children; ///< sub-trees int problemSize_; diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index 9d96c5b9c..f12e5afd2 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -49,7 +49,7 @@ namespace gtsam { // structure with its own JT node, and create a child pointer in its parent. ConstructorTraversalData myData = ConstructorTraversalData(&parentData); myData.myJTNode = boost::make_shared::Node>(); - myData.myJTNode->keys.push_back(node->key); + myData.myJTNode->orderedFrontalKeys.push_back(node->key); myData.myJTNode->factors.insert(myData.myJTNode->factors.begin(), node->factors.begin(), node->factors.end()); parentData.myJTNode->children.push_back(myData.myJTNode); return myData; @@ -101,13 +101,20 @@ namespace gtsam { const typename JunctionTree::Node& childToMerge = *myData.myJTNode->children[child - nrMergedChildren]; // Merge keys, factors, and children. - myData.myJTNode->keys.insert(myData.myJTNode->keys.begin(), childToMerge.keys.begin(), childToMerge.keys.end()); - myData.myJTNode->factors.insert(myData.myJTNode->factors.end(), childToMerge.factors.begin(), childToMerge.factors.end()); - myData.myJTNode->children.insert(myData.myJTNode->children.end(), childToMerge.children.begin(), childToMerge.children.end()); + myData.myJTNode->orderedFrontalKeys.insert( + myData.myJTNode->orderedFrontalKeys.begin(), + childToMerge.orderedFrontalKeys.begin(), + childToMerge.orderedFrontalKeys.end()); + myData.myJTNode->factors.insert(myData.myJTNode->factors.end(), + childToMerge.factors.begin(), + childToMerge.factors.end()); + myData.myJTNode->children.insert(myData.myJTNode->children.end(), + childToMerge.children.begin(), + childToMerge.children.end()); // Increment problem size combinedProblemSize = std::max(combinedProblemSize, childToMerge.problemSize_); // Increment number of frontal variables - myNrFrontals += childToMerge.keys.size(); + myNrFrontals += childToMerge.orderedFrontalKeys.size(); // Remove child from list. myData.myJTNode->children.erase(myData.myJTNode->children.begin() + (child - nrMergedChildren)); // Increment number of merged children diff --git a/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp b/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp index 49b14bc07..f2d891827 100644 --- a/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp +++ b/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp @@ -46,10 +46,10 @@ TEST( JunctionTree, constructor ) frontal1 = list_of(2)(3), frontal2 = list_of(0)(1), sep1, sep2 = list_of(2); - EXPECT(assert_container_equality(frontal1, actual.roots().front()->keys)); + EXPECT(assert_container_equality(frontal1, actual.roots().front()->orderedFrontalKeys)); //EXPECT(assert_equal(sep1, actual.roots().front()->separator)); LONGS_EQUAL(1, (long)actual.roots().front()->factors.size()); - EXPECT(assert_container_equality(frontal2, actual.roots().front()->children.front()->keys)); + EXPECT(assert_container_equality(frontal2, actual.roots().front()->children.front()->orderedFrontalKeys)); //EXPECT(assert_equal(sep2, actual.roots().front()->children.front()->separator)); LONGS_EQUAL(2, (long)actual.roots().front()->children.front()->factors.size()); EXPECT(assert_equal(*simpleChain[2], *actual.roots().front()->factors[0])); From bcc34d1c127d746d8aff845133cfd53d51438e9a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 23:49:28 -0700 Subject: [PATCH 208/964] No more copy constructor --- gtsam/inference/ClusterTree-inst.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index a94baaf6c..ad7ab0063 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -99,7 +99,7 @@ namespace gtsam // Do dense elimination step std::pair, boost::shared_ptr > eliminationResult = - eliminationFunction(gatheredFactors, Ordering(node->orderedFrontalKeys)); + eliminationFunction(gatheredFactors, node->orderedFrontalKeys); // Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor myData.bayesTreeNode->setEliminationResult(eliminationResult); From c9910625c2754b982ff2a01959b177a5c337de98 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 23:51:35 -0700 Subject: [PATCH 209/964] Fixed headers --- gtsam/inference/Ordering.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index e2e7fac4c..3e7828944 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -18,10 +18,6 @@ #pragma once -#include -#include -#include - #include #include #include @@ -29,6 +25,10 @@ #include #include +#include +#include +#include + namespace gtsam { class Ordering : public FastVector { From 41a0146b051d5f412245911adcb5e93f4b9b26d3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 12 Jun 2015 00:20:37 -0700 Subject: [PATCH 210/964] changed updateATA -> updateHessian. Much clearer --- gtsam/linear/GaussianFactor.h | 2 +- gtsam/linear/HessianFactor.cpp | 4 ++-- gtsam/linear/HessianFactor.h | 2 +- gtsam/linear/JacobianFactor.cpp | 6 +++--- gtsam/linear/JacobianFactor.h | 2 +- gtsam/slam/GeneralSFMFactor.h | 6 +++--- gtsam/slam/RegularImplicitSchurFactor.h | 4 ++-- 7 files changed, 13 insertions(+), 13 deletions(-) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index bb4b20e58..bc14cc670 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -126,7 +126,7 @@ namespace gtsam { * @param scatter A mapping from variable index to slot index in this HessianFactor * @param info The information matrix to be updated */ - virtual void updateATA(const Scatter& scatter, + virtual void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const = 0; /// y += alpha * A'*A*x diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index a5b3e4a9a..0cb813b01 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -248,7 +248,7 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, gttic(update); BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) if(factor) - factor->updateATA(*scatter, &info_); + factor->updateHessian(*scatter, &info_); gttoc(update); } @@ -346,7 +346,7 @@ double HessianFactor::error(const VectorValues& c) const { } /* ************************************************************************* */ -void HessianFactor::updateATA(const Scatter& scatter, +void HessianFactor::updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { gttic(updateATA_HessianFactor); // N is number of variables in information matrix, n in HessianFactor diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 50a81b579..160d05b15 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -344,7 +344,7 @@ namespace gtsam { * @param scatter A mapping from variable index to slot index in this HessianFactor * @param info The information matrix to be updated */ - void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const; + void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const; /** y += alpha * A'*A*x */ void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 9d0917919..c960dca04 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -498,7 +498,7 @@ map JacobianFactor::hessianBlockDiagonal() const { } /* ************************************************************************* */ -void JacobianFactor::updateATA(const Scatter& scatter, +void JacobianFactor::updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { gttic(updateATA_JacobianFactor); @@ -509,10 +509,10 @@ void JacobianFactor::updateATA(const Scatter& scatter, if (model && !model->isUnit()) { if (model->isConstrained()) throw invalid_argument( - "JacobianFactor::updateATA: cannot update information with " + "JacobianFactor::updateHessian: cannot update information with " "constrained noise model"); JacobianFactor whitenedFactor = whiten(); - whitenedFactor.updateATA(scatter, info); + whitenedFactor.updateHessian(scatter, info); } else { // Ab_ is the augmented Jacobian matrix A, and we perform I += A'*A below // N is number of variables in information matrix, n in JacobianFactor diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 73f992770..00a9b5488 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -278,7 +278,7 @@ namespace gtsam { * @param scatter A mapping from variable index to slot index in this HessianFactor * @param info The information matrix to be updated */ - void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const; + void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const; /** Return A*x */ Vector operator*(const VectorValues& x) const; diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index be20ee3fa..9a8d613ad 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -149,7 +149,7 @@ namespace gtsam { : JacobianFactor(i1, A1, i2, A2, b, model), AC_(A1), AL_(A2), b_(b) {} // Fixed-size matrix update - void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const { + void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { gttic(updateATA_LinearizedFactor); // Whiten the factor if it has a noise model @@ -157,10 +157,10 @@ namespace gtsam { if (model && !model->isUnit()) { if (model->isConstrained()) throw std::invalid_argument( - "JacobianFactor::updateATA: cannot update information with " + "JacobianFactor::updateHessian: cannot update information with " "constrained noise model"); JacobianFactor whitenedFactor = whiten(); - whitenedFactor.updateATA(scatter, info); + whitenedFactor.updateHessian(scatter, info); } else { // N is number of variables in information matrix DenseIndex N = info->nBlocks() - 1; diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index f2fc4e819..87d78911d 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -115,10 +115,10 @@ public: return D; } - virtual void updateATA(const Scatter& scatter, + virtual void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { throw std::runtime_error( - "RegularImplicitSchurFactor::updateATA non implemented"); + "RegularImplicitSchurFactor::updateHessian non implemented"); } virtual Matrix augmentedJacobian() const { throw std::runtime_error( From b712a65c21c145c7662d220eb9b0f7922740a00c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 12 Jun 2015 00:28:15 -0700 Subject: [PATCH 211/964] Updated gttic strings as well --- gtsam/linear/HessianFactor.cpp | 2 +- gtsam/linear/JacobianFactor.cpp | 2 +- gtsam/slam/GeneralSFMFactor.h | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 0cb813b01..27bd61fbd 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -348,7 +348,7 @@ double HessianFactor::error(const VectorValues& c) const { /* ************************************************************************* */ void HessianFactor::updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { - gttic(updateATA_HessianFactor); + gttic(updateHessian_HessianFactor); // N is number of variables in information matrix, n in HessianFactor DenseIndex N = info->nBlocks() - 1, n = size(); diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index c960dca04..ff5431432 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -500,7 +500,7 @@ map JacobianFactor::hessianBlockDiagonal() const { /* ************************************************************************* */ void JacobianFactor::updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { - gttic(updateATA_JacobianFactor); + gttic(updateHessian_JacobianFactor); if (rows() == 0) return; diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 9a8d613ad..ec779cbd4 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -150,7 +150,7 @@ namespace gtsam { // Fixed-size matrix update void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { - gttic(updateATA_LinearizedFactor); + gttic(updateHessian_LinearizedFactor); // Whiten the factor if it has a noise model const SharedDiagonal& model = get_model(); From 6664699c4c124d5c82bb72c491b7d9d2401b42ab Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 12 Jun 2015 09:33:55 -0700 Subject: [PATCH 212/964] getSlots method --- gtsam/linear/HessianFactor.cpp | 12 +++-------- gtsam/linear/JacobianFactor.cpp | 20 +++++++----------- gtsam/linear/Scatter.cpp | 37 +++++++++++++++++++++++---------- gtsam/linear/Scatter.h | 22 +++++++++++++------- gtsam/slam/GeneralSFMFactor.h | 5 +++-- 5 files changed, 54 insertions(+), 42 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 27bd61fbd..a038a7ff8 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -347,19 +347,13 @@ double HessianFactor::error(const VectorValues& c) const { /* ************************************************************************* */ void HessianFactor::updateHessian(const Scatter& scatter, - SymmetricBlockMatrix* info) const { + SymmetricBlockMatrix* info) const { gttic(updateHessian_HessianFactor); - // N is number of variables in information matrix, n in HessianFactor - DenseIndex N = info->nBlocks() - 1, n = size(); - // First build an array of slots - FastVector slots(n + 1); - DenseIndex slot = 0; - BOOST_FOREACH (Key key, *this) - slots[slot++] = scatter.at(key).slot; - slots[n] = N; + FastVector slots = scatter.getSlotsForKeys(keys_); // Apply updates to the upper triangle + DenseIndex n = size(); for (DenseIndex j = 0; j <= n; ++j) { DenseIndex J = slots[j]; for (DenseIndex i = 0; i <= j; ++i) { diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index ff5431432..3d42db1ca 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -499,7 +499,7 @@ map JacobianFactor::hessianBlockDiagonal() const { /* ************************************************************************* */ void JacobianFactor::updateHessian(const Scatter& scatter, - SymmetricBlockMatrix* info) const { + SymmetricBlockMatrix* info) const { gttic(updateHessian_JacobianFactor); if (rows() == 0) return; @@ -514,24 +514,20 @@ void JacobianFactor::updateHessian(const Scatter& scatter, JacobianFactor whitenedFactor = whiten(); whitenedFactor.updateHessian(scatter, info); } else { - // Ab_ is the augmented Jacobian matrix A, and we perform I += A'*A below - // N is number of variables in information matrix, n in JacobianFactor - DenseIndex N = info->nBlocks() - 1, n = Ab_.nBlocks() - 1; - // First build an array of slots - FastVector slots(n + 1); - DenseIndex slot = 0; - BOOST_FOREACH (Key key, *this) - slots[slot++] = scatter.at(key).slot; - slots[n] = N; + FastVector slots = scatter.getSlotsForKeys(keys_); + + // Ab_ is the augmented Jacobian matrix A, and we perform I += A'*A below + DenseIndex n = Ab_.nBlocks() - 1; // Apply updates to the upper triangle // Loop over blocks of A, including RHS with j==n + // BOOST_FOREACH(DenseIndex J, slots) for (DenseIndex j = 0; j <= n; ++j) { - DenseIndex J = slots[j]; + const DenseIndex J = slots[j]; // Fill off-diagonal blocks with Ai'*Aj for (DenseIndex i = 0; i < j; ++i) { - DenseIndex I = slots[i]; + const DenseIndex I = slots[i]; (*info)(I, J).knownOffDiagonal() += Ab_(i).transpose() * Ab_(j); } // Fill diagonal block with Aj'*Aj diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index 3efbc2004..21d20c14c 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -34,16 +34,17 @@ string SlotEntry::toString() const { /* ************************************************************************* */ Scatter::Scatter(const GaussianFactorGraph& gfg, - boost::optional ordering) { + boost::optional ordering) { gttic(Scatter_Constructor); - static const size_t none = std::numeric_limits::max(); + static const DenseIndex none = std::numeric_limits::max(); // First do the set union. - BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, gfg) { + BOOST_FOREACH (const GaussianFactor::shared_ptr& factor, gfg) { if (factor) { for (GaussianFactor::const_iterator variable = factor->begin(); - variable != factor->end(); ++variable) { - // TODO: Fix this hack to cope with zero-row Jacobians that come from BayesTreeOrphanWrappers + variable != factor->end(); ++variable) { + // TODO: Fix this hack to cope with zero-row Jacobians that come from + // BayesTreeOrphanWrappers const JacobianFactor* asJacobian = dynamic_cast(factor.get()); if (!asJacobian || asJacobian->cols() > 1) @@ -56,22 +57,36 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, // If we have an ordering, pre-fill the ordered variables first size_t slot = 0; if (ordering) { - BOOST_FOREACH(Key key, *ordering) { + BOOST_FOREACH (Key key, *ordering) { const_iterator entry = find(key); if (entry == end()) throw std::invalid_argument( "The ordering provided to the HessianFactor Scatter constructor\n" - "contained extra variables that did not appear in the factors to combine."); + "contained extra variables that did not appear in the factors to " + "combine."); at(key).slot = (slot++); } } // Next fill in the slot indices (we can only get these after doing the set // union. - BOOST_FOREACH(value_type& var_slot, *this) { - if (var_slot.second.slot == none) - var_slot.second.slot = (slot++); + BOOST_FOREACH (value_type& var_slot, *this) { + if (var_slot.second.slot == none) var_slot.second.slot = (slot++); } } -} // gtsam +/* ************************************************************************* */ +FastVector Scatter::getSlotsForKeys( + const FastVector& keys) const { + gttic(getSlotsForKeys); + FastVector slots(keys.size() + 1); + DenseIndex slot = 0; + BOOST_FOREACH (Key key, keys) + slots[slot++] = at(key).slot; + slots.back() = size(); + return slots; +} + +/* ************************************************************************* */ + +} // gtsam diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index e212c5867..1d6c546b8 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -30,12 +30,11 @@ namespace gtsam { class GaussianFactorGraph; class Ordering; -/** - * One SlotEntry stores the slot index for a variable, as well its dimension. - */ +/// One SlotEntry stores the slot index for a variable, as well its dimension. struct GTSAM_EXPORT SlotEntry { - size_t slot, dimension; - SlotEntry(size_t _slot, size_t _dimension) + DenseIndex slot; + size_t dimension; + SlotEntry(DenseIndex _slot, size_t _dimension) : slot(_slot), dimension(_dimension) {} std::string toString() const; }; @@ -43,14 +42,21 @@ struct GTSAM_EXPORT SlotEntry { /** * Scatter is an intermediate data structure used when building a HessianFactor * incrementally, to get the keys in the right order. The "scatter" is a map - * from - * global variable indices to slot indices in the union of involved variables. - * We also include the dimensionality of the variable. + * from global variable indices to slot indices in the union of involved + * variables. We also include the dimensionality of the variable. */ class Scatter : public FastMap { public: Scatter(const GaussianFactorGraph& gfg, boost::optional ordering = boost::none); + + DenseIndex slot(Key key) const { return at(key).slot; } + + /** + * For the subset of keys given, return the slots in the same order, + * terminated by the a RHS slot equal to N, the size of the Scatter + */ + FastVector getSlotsForKeys(const FastVector& keys) const; }; } // \ namespace gtsam diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index ec779cbd4..c469bcada 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -166,8 +166,9 @@ namespace gtsam { DenseIndex N = info->nBlocks() - 1; // First build an array of slots - DenseIndex slotC = scatter.at(this->keys().front()).slot; - DenseIndex slotL = scatter.at(this->keys().back()).slot; + FastVector slots = scatter.getSlotsForKeys(keys_); + DenseIndex slotC = scatter.slot(keys_.front()); + DenseIndex slotL = scatter.slot(keys_.back()); DenseIndex slotB = N; // We perform I += A'*A to the upper triangle From c8cff296fbe24606811b567c65004a8552811e28 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 13 Jun 2015 09:01:13 -0700 Subject: [PATCH 213/964] Don't bother making an array --- gtsam/linear/HessianFactor.cpp | 9 +++------ gtsam/linear/JacobianFactor.cpp | 10 +++------- gtsam/slam/GeneralSFMFactor.h | 1 - 3 files changed, 6 insertions(+), 14 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index a038a7ff8..c74d53476 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -349,15 +349,12 @@ double HessianFactor::error(const VectorValues& c) const { void HessianFactor::updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { gttic(updateHessian_HessianFactor); - // First build an array of slots - FastVector slots = scatter.getSlotsForKeys(keys_); - // Apply updates to the upper triangle - DenseIndex n = size(); + DenseIndex n = size(), N = info->nBlocks()-1; for (DenseIndex j = 0; j <= n; ++j) { - DenseIndex J = slots[j]; + const DenseIndex J = j==n ? N : scatter.slot(keys_[j]); for (DenseIndex i = 0; i <= j; ++i) { - DenseIndex I = slots[i]; + const DenseIndex I = i==n ? N : scatter.slot(keys_[i]); (*info)(I, J) += info_(i, j); } } diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 3d42db1ca..1e3433268 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -514,20 +514,16 @@ void JacobianFactor::updateHessian(const Scatter& scatter, JacobianFactor whitenedFactor = whiten(); whitenedFactor.updateHessian(scatter, info); } else { - // First build an array of slots - FastVector slots = scatter.getSlotsForKeys(keys_); - // Ab_ is the augmented Jacobian matrix A, and we perform I += A'*A below - DenseIndex n = Ab_.nBlocks() - 1; + DenseIndex n = Ab_.nBlocks() - 1, N = info->nBlocks() - 1; // Apply updates to the upper triangle // Loop over blocks of A, including RHS with j==n - // BOOST_FOREACH(DenseIndex J, slots) for (DenseIndex j = 0; j <= n; ++j) { - const DenseIndex J = slots[j]; + const DenseIndex J = j==n ? N : scatter.slot(keys_[j]); // Fill off-diagonal blocks with Ai'*Aj for (DenseIndex i = 0; i < j; ++i) { - const DenseIndex I = slots[i]; + const DenseIndex I = scatter.slot(keys_[i]); (*info)(I, J).knownOffDiagonal() += Ab_(i).transpose() * Ab_(j); } // Fill diagonal block with Aj'*Aj diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index c469bcada..4425d63d0 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -166,7 +166,6 @@ namespace gtsam { DenseIndex N = info->nBlocks() - 1; // First build an array of slots - FastVector slots = scatter.getSlotsForKeys(keys_); DenseIndex slotC = scatter.slot(keys_.front()); DenseIndex slotL = scatter.slot(keys_.back()); DenseIndex slotB = N; From 08f30966dd4c4aaef6dd2c9f2f276b6ccfd3a3fe Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 13 Jun 2015 11:03:12 -0700 Subject: [PATCH 214/964] Got rid of obsolete getSlots method --- gtsam/linear/Scatter.cpp | 12 ------------ gtsam/linear/Scatter.h | 11 +++++------ 2 files changed, 5 insertions(+), 18 deletions(-) diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index 21d20c14c..2602e08ba 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -75,18 +75,6 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, } } -/* ************************************************************************* */ -FastVector Scatter::getSlotsForKeys( - const FastVector& keys) const { - gttic(getSlotsForKeys); - FastVector slots(keys.size() + 1); - DenseIndex slot = 0; - BOOST_FOREACH (Key key, keys) - slots[slot++] = at(key).slot; - slots.back() = size(); - return slots; -} - /* ************************************************************************* */ } // gtsam diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index 1d6c546b8..e1df2d658 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -30,7 +30,7 @@ namespace gtsam { class GaussianFactorGraph; class Ordering; -/// One SlotEntry stores the slot index for a variable, as well its dimension. +/// One SlotEntry stores the slot index for a variable, as well its dim. struct GTSAM_EXPORT SlotEntry { DenseIndex slot; size_t dimension; @@ -47,16 +47,15 @@ struct GTSAM_EXPORT SlotEntry { */ class Scatter : public FastMap { public: + /// Constructor Scatter(const GaussianFactorGraph& gfg, boost::optional ordering = boost::none); + /// Get the slot corresponding to the given key DenseIndex slot(Key key) const { return at(key).slot; } - /** - * For the subset of keys given, return the slots in the same order, - * terminated by the a RHS slot equal to N, the size of the Scatter - */ - FastVector getSlotsForKeys(const FastVector& keys) const; + /// Get the dimension corresponding to the given key + DenseIndex dim(Key key) const { return at(key).dimension; } }; } // \ namespace gtsam From f6575323d6dbd26bc8ac5ca23e57db65df62224a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 13 Jun 2015 12:06:13 -0700 Subject: [PATCH 215/964] Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map. --- gtsam/linear/GaussianFactor.h | 10 ++++++++-- gtsam/linear/HessianFactor.cpp | 8 ++++---- gtsam/linear/HessianFactor.h | 2 +- gtsam/linear/JacobianFactor.cpp | 8 ++++---- gtsam/linear/JacobianFactor.h | 2 +- gtsam/linear/tests/testHessianFactor.cpp | 18 +++++++++++++++--- gtsam/slam/GeneralSFMFactor.h | 13 +++++-------- gtsam/slam/RegularImplicitSchurFactor.h | 2 +- 8 files changed, 39 insertions(+), 24 deletions(-) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index bc14cc670..7f9c5ea3c 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -126,7 +126,7 @@ namespace gtsam { * @param scatter A mapping from variable index to slot index in this HessianFactor * @param info The information matrix to be updated */ - virtual void updateHessian(const Scatter& scatter, + virtual void updateHessian(const FastVector& keys, SymmetricBlockMatrix* info) const = 0; /// y += alpha * A'*A*x @@ -141,6 +141,12 @@ namespace gtsam { /// Gradient wrt a key at any values virtual Vector gradient(Key key, const VectorValues& x) const = 0; + // Determine position of a given key + template + static DenseIndex Slot(const CONTAINER& keys, Key key) { + return std::find(keys.begin(), keys.end(), key) - keys.begin(); + } + private: /** Serialization function */ friend class boost::serialization::access; @@ -150,7 +156,7 @@ namespace gtsam { } }; // GaussianFactor - + /// traits template<> struct traits : public Testable { diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index c74d53476..c071f8daa 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -248,7 +248,7 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, gttic(update); BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) if(factor) - factor->updateHessian(*scatter, &info_); + factor->updateHessian(keys_, &info_); gttoc(update); } @@ -346,15 +346,15 @@ double HessianFactor::error(const VectorValues& c) const { } /* ************************************************************************* */ -void HessianFactor::updateHessian(const Scatter& scatter, +void HessianFactor::updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { gttic(updateHessian_HessianFactor); // Apply updates to the upper triangle DenseIndex n = size(), N = info->nBlocks()-1; for (DenseIndex j = 0; j <= n; ++j) { - const DenseIndex J = j==n ? N : scatter.slot(keys_[j]); + const DenseIndex J = (j==n) ? N : Slot(infoKeys, keys_[j]); for (DenseIndex i = 0; i <= j; ++i) { - const DenseIndex I = i==n ? N : scatter.slot(keys_[i]); + const DenseIndex I = (i==n) ? N : Slot(infoKeys, keys_[i]); (*info)(I, J) += info_(i, j); } } diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 160d05b15..b74d557ea 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -344,7 +344,7 @@ namespace gtsam { * @param scatter A mapping from variable index to slot index in this HessianFactor * @param info The information matrix to be updated */ - void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const; + void updateHessian(const FastVector& keys, SymmetricBlockMatrix* info) const; /** y += alpha * A'*A*x */ void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 1e3433268..5b90d913d 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -498,7 +498,7 @@ map JacobianFactor::hessianBlockDiagonal() const { } /* ************************************************************************* */ -void JacobianFactor::updateHessian(const Scatter& scatter, +void JacobianFactor::updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { gttic(updateHessian_JacobianFactor); @@ -512,7 +512,7 @@ void JacobianFactor::updateHessian(const Scatter& scatter, "JacobianFactor::updateHessian: cannot update information with " "constrained noise model"); JacobianFactor whitenedFactor = whiten(); - whitenedFactor.updateHessian(scatter, info); + whitenedFactor.updateHessian(infoKeys, info); } else { // Ab_ is the augmented Jacobian matrix A, and we perform I += A'*A below DenseIndex n = Ab_.nBlocks() - 1, N = info->nBlocks() - 1; @@ -520,10 +520,10 @@ void JacobianFactor::updateHessian(const Scatter& scatter, // Apply updates to the upper triangle // Loop over blocks of A, including RHS with j==n for (DenseIndex j = 0; j <= n; ++j) { - const DenseIndex J = j==n ? N : scatter.slot(keys_[j]); + const DenseIndex J = (j==n) ? N : Slot(infoKeys, keys_[j]); // Fill off-diagonal blocks with Ai'*Aj for (DenseIndex i = 0; i < j; ++i) { - const DenseIndex I = scatter.slot(keys_[i]); + const DenseIndex I = Slot(infoKeys, keys_[i]); (*info)(I, J).knownOffDiagonal() += Ab_(i).transpose() * Ab_(j); } // Fill diagonal block with Aj'*Aj diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 00a9b5488..ff7310d9c 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -278,7 +278,7 @@ namespace gtsam { * @param scatter A mapping from variable index to slot index in this HessianFactor * @param info The information matrix to be updated */ - void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const; + void updateHessian(const FastVector& keys, SymmetricBlockMatrix* info) const; /** Return A*x */ Vector operator*(const VectorValues& x) const; diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index 557ba3f36..96e61aa33 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -38,6 +38,16 @@ using namespace gtsam; const double tol = 1e-5; +/* ************************************************************************* */ +TEST(HessianFactor, Slot) +{ + FastVector keys = list_of(2)(4)(1); + EXPECT_LONGS_EQUAL(0, GaussianFactor::Slot(keys,2)); + EXPECT_LONGS_EQUAL(1, GaussianFactor::Slot(keys,4)); + EXPECT_LONGS_EQUAL(2, GaussianFactor::Slot(keys,1)); + EXPECT_LONGS_EQUAL(3, GaussianFactor::Slot(keys,5)); // does not exist +} + /* ************************************************************************* */ TEST(HessianFactor, emptyConstructor) { @@ -302,15 +312,17 @@ TEST(HessianFactor, CombineAndEliminate) gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); - Matrix zero3x3 = zeros(3,3); - Matrix A0 = gtsam::stack(3, &A10, &zero3x3, &zero3x3); - Matrix A1 = gtsam::stack(3, &A11, &A01, &A21); + Matrix93 A0; A0 << A10, Z_3x3, Z_3x3; + Matrix93 A1; A1 << A11, A01, A21; Vector9 b; b << b1, b0, b2; Vector9 sigmas; sigmas << s1, s0, s2; // create a full, uneliminated version of the factor JacobianFactor expectedFactor(0, A0, 1, A1, b, noiseModel::Diagonal::Sigmas(sigmas, true)); + // Make sure combining works + EXPECT(assert_equal(HessianFactor(expectedFactor), HessianFactor(gfg), 1e-6)); + // perform elimination on jacobian GaussianConditional::shared_ptr expectedConditional; JacobianFactor::shared_ptr expectedRemainingFactor; diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 4425d63d0..d969f08a2 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -149,7 +149,7 @@ namespace gtsam { : JacobianFactor(i1, A1, i2, A2, b, model), AC_(A1), AL_(A2), b_(b) {} // Fixed-size matrix update - void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const { + void updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { gttic(updateHessian_LinearizedFactor); // Whiten the factor if it has a noise model @@ -160,15 +160,12 @@ namespace gtsam { "JacobianFactor::updateHessian: cannot update information with " "constrained noise model"); JacobianFactor whitenedFactor = whiten(); - whitenedFactor.updateHessian(scatter, info); + whitenedFactor.updateHessian(infoKeys, info); } else { - // N is number of variables in information matrix - DenseIndex N = info->nBlocks() - 1; - // First build an array of slots - DenseIndex slotC = scatter.slot(keys_.front()); - DenseIndex slotL = scatter.slot(keys_.back()); - DenseIndex slotB = N; + DenseIndex slotC = Slot(infoKeys, keys_.front()); + DenseIndex slotL = Slot(infoKeys, keys_.back()); + DenseIndex slotB = info->nBlocks() - 1; // We perform I += A'*A to the upper triangle (*info)(slotC, slotC).knownOffDiagonal() += AC_.transpose() * AC_; diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index 87d78911d..71944c670 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -115,7 +115,7 @@ public: return D; } - virtual void updateHessian(const Scatter& scatter, + virtual void updateHessian(const FastVector& keys, SymmetricBlockMatrix* info) const { throw std::runtime_error( "RegularImplicitSchurFactor::updateHessian non implemented"); From d0775faebaa732f2565484f41d7fe24374dfc959 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 13 Jun 2015 12:26:10 -0700 Subject: [PATCH 216/964] Save slots to bring cost down from O(n^3) to O(n^2) - again, in theory. In practice, it did seem to help for larger HessianFactors (as expected). --- gtsam/linear/HessianFactor.cpp | 8 +++++--- gtsam/linear/JacobianFactor.cpp | 6 ++++-- 2 files changed, 9 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index c071f8daa..7f3929488 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -350,11 +350,13 @@ void HessianFactor::updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { gttic(updateHessian_HessianFactor); // Apply updates to the upper triangle - DenseIndex n = size(), N = info->nBlocks()-1; + DenseIndex n = size(), N = info->nBlocks() - 1; + vector slots(n + 1); for (DenseIndex j = 0; j <= n; ++j) { - const DenseIndex J = (j==n) ? N : Slot(infoKeys, keys_[j]); + const DenseIndex J = (j == n) ? N : Slot(infoKeys, keys_[j]); + slots[j] = J; for (DenseIndex i = 0; i <= j; ++i) { - const DenseIndex I = (i==n) ? N : Slot(infoKeys, keys_[i]); + const DenseIndex I = slots[i]; // because i<=j, slots[i] is valid. (*info)(I, J) += info_(i, j); } } diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 5b90d913d..8214294b2 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -519,11 +519,13 @@ void JacobianFactor::updateHessian(const FastVector& infoKeys, // Apply updates to the upper triangle // Loop over blocks of A, including RHS with j==n + vector slots(n+1); for (DenseIndex j = 0; j <= n; ++j) { - const DenseIndex J = (j==n) ? N : Slot(infoKeys, keys_[j]); + const DenseIndex J = (j == n) ? N : Slot(infoKeys, keys_[j]); + slots[j] = J; // Fill off-diagonal blocks with Ai'*Aj for (DenseIndex i = 0; i < j; ++i) { - const DenseIndex I = Slot(infoKeys, keys_[i]); + const DenseIndex I = slots[i]; // because i Date: Sat, 13 Jun 2015 20:19:44 -0700 Subject: [PATCH 217/964] Reverted back to vector to avoid troubles w TBB --- gtsam/inference/Ordering.h | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 3e7828944..9de3fb66a 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -23,7 +23,6 @@ #include #include #include -#include #include #include @@ -31,9 +30,9 @@ namespace gtsam { - class Ordering : public FastVector { + class Ordering : public std::vector { protected: - typedef FastVector Base; + typedef std::vector Base; public: From 4909fef21a5a2f98e643e6315953f0a996804707 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 13 Jun 2015 20:20:33 -0700 Subject: [PATCH 218/964] Fixed issue --- gtsam/slam/GeneralSFMFactor.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index d969f08a2..0ad635d0e 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -168,12 +168,12 @@ namespace gtsam { DenseIndex slotB = info->nBlocks() - 1; // We perform I += A'*A to the upper triangle - (*info)(slotC, slotC).knownOffDiagonal() += AC_.transpose() * AC_; + (*info)(slotC, slotC).selfadjointView().rankUpdate(AC_.transpose()); (*info)(slotC, slotL).knownOffDiagonal() += AC_.transpose() * AL_; (*info)(slotC, slotB).knownOffDiagonal() += AC_.transpose() * b_; - (*info)(slotL, slotL).knownOffDiagonal() += AL_.transpose() * AL_; + (*info)(slotL, slotL).selfadjointView().rankUpdate(AL_.transpose()); (*info)(slotL, slotB).knownOffDiagonal() += AL_.transpose() * b_; - (*info)(slotB, slotB).knownOffDiagonal() += b_.transpose() * b_; + (*info)(slotB, slotB).selfadjointView().rankUpdate(b_.transpose()); } } }; From 2c99f68ed7379b2896554be0bfdbce9e3dc31cb7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 10:56:22 -0700 Subject: [PATCH 219/964] Some formatting/cleanup before fixing bug --- gtsam/slam/GeneralSFMFactor.h | 532 +++++++++--------- gtsam/slam/tests/testGeneralSFMFactor.cpp | 370 ++++++------ .../testGeneralSFMFactor_Cal3Bundler.cpp | 288 +++++----- 3 files changed, 607 insertions(+), 583 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 0ad635d0e..fbf64de6c 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -51,295 +51,295 @@ class access; namespace gtsam { - /** - * Non-linear factor for a constraint derived from a 2D measurement. - * The calibration is unknown here compared to GenericProjectionFactor - * @addtogroup SLAM - */ - template - class GeneralSFMFactor: public NoiseModelFactor2 { +/** + * Non-linear factor for a constraint derived from a 2D measurement. + * The calibration is unknown here compared to GenericProjectionFactor + * @addtogroup SLAM + */ +template +class GeneralSFMFactor: public NoiseModelFactor2 { - GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA) - GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK) + GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA); + GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK); - static const int DimC = FixedDimension::value; - static const int DimL = FixedDimension::value; - typedef Eigen::Matrix JacobianC; - typedef Eigen::Matrix JacobianL; + static const int DimC = FixedDimension::value; + static const int DimL = FixedDimension::value; + typedef Eigen::Matrix JacobianC; + typedef Eigen::Matrix JacobianL; - protected: +protected: - Point2 measured_; ///< the 2D measurement + Point2 measured_; ///< the 2D measurement - public: +public: - typedef GeneralSFMFactor This; ///< typedef for this object - typedef NoiseModelFactor2 Base; ///< typedef for the base class + typedef GeneralSFMFactor This;///< typedef for this object + typedef NoiseModelFactor2 Base;///< typedef for the base class - // shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; - - /** - * Constructor - * @param measured is the 2 dimensional location of point in image (the measurement) - * @param model is the standard deviation of the measurements - * @param cameraKey is the index of the camera - * @param landmarkKey is the index of the landmark - */ - GeneralSFMFactor(const Point2& measured, const SharedNoiseModel& model, Key cameraKey, Key landmarkKey) : - Base(model, cameraKey, landmarkKey), measured_(measured) {} - - GeneralSFMFactor():measured_(0.0,0.0) {} ///< default constructor - GeneralSFMFactor(const Point2 & p):measured_(p) {} ///< constructor that takes a Point2 - GeneralSFMFactor(double x, double y):measured_(x,y) {} ///< constructor that takes doubles x,y to make a Point2 - - virtual ~GeneralSFMFactor() {} ///< destructor - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** - * print - * @param s optional string naming the factor - * @param keyFormatter optional formatter for printing out Symbols - */ - void print(const std::string& s = "SFMFactor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - Base::print(s, keyFormatter); - measured_.print(s + ".z"); - } - - /** - * equals - */ - bool equals(const NonlinearFactor &p, double tol = 1e-9) const { - const This* e = dynamic_cast(&p); - return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) ; - } - - /** h(x)-z */ - Vector evaluateError(const CAMERA& camera, const LANDMARK& point, - boost::optional H1=boost::none, boost::optional H2=boost::none) const { - try { - Point2 reprojError(camera.project2(point,H1,H2) - measured_); - return reprojError.vector(); - } - catch( CheiralityException& e) { - if (H1) *H1 = JacobianC::Zero(); - if (H2) *H2 = JacobianL::Zero(); - // TODO warn if verbose output asked for - return zero(2); - } - } - - class LinearizedFactor : public JacobianFactor { - // Fixed size matrices - // TODO: implement generic BinaryJacobianFactor next to - // JacobianFactor - JacobianC AC_; - JacobianL AL_; - Vector2 b_; - - public: - /// Constructor - LinearizedFactor(Key i1, const JacobianC& A1, Key i2, const JacobianL& A2, - const Vector2& b, - const SharedDiagonal& model = SharedDiagonal()) - : JacobianFactor(i1, A1, i2, A2, b, model), AC_(A1), AL_(A2), b_(b) {} - - // Fixed-size matrix update - void updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { - gttic(updateHessian_LinearizedFactor); - - // Whiten the factor if it has a noise model - const SharedDiagonal& model = get_model(); - if (model && !model->isUnit()) { - if (model->isConstrained()) - throw std::invalid_argument( - "JacobianFactor::updateHessian: cannot update information with " - "constrained noise model"); - JacobianFactor whitenedFactor = whiten(); - whitenedFactor.updateHessian(infoKeys, info); - } else { - // First build an array of slots - DenseIndex slotC = Slot(infoKeys, keys_.front()); - DenseIndex slotL = Slot(infoKeys, keys_.back()); - DenseIndex slotB = info->nBlocks() - 1; - - // We perform I += A'*A to the upper triangle - (*info)(slotC, slotC).selfadjointView().rankUpdate(AC_.transpose()); - (*info)(slotC, slotL).knownOffDiagonal() += AC_.transpose() * AL_; - (*info)(slotC, slotB).knownOffDiagonal() += AC_.transpose() * b_; - (*info)(slotL, slotL).selfadjointView().rankUpdate(AL_.transpose()); - (*info)(slotL, slotB).knownOffDiagonal() += AL_.transpose() * b_; - (*info)(slotB, slotB).selfadjointView().rankUpdate(b_.transpose()); - } - } - }; - - /// Linearize using fixed-size matrices - boost::shared_ptr linearize(const Values& values) const { - // Only linearize if the factor is active - if (!this->active(values)) return boost::shared_ptr(); - - const Key key1 = this->key1(), key2 = this->key2(); - JacobianC H1; - JacobianL H2; - Vector2 b; - try { - const CAMERA& camera = values.at(key1); - const LANDMARK& point = values.at(key2); - Point2 reprojError(camera.project2(point, H1, H2) - measured()); - b = -reprojError.vector(); - } catch (CheiralityException& e) { - H1.setZero(); - H2.setZero(); - b.setZero(); - // TODO warn if verbose output asked for - } - - // Whiten the system if needed - const SharedNoiseModel& noiseModel = this->get_noiseModel(); - if (noiseModel && !noiseModel->isUnit()) { - // TODO: implement WhitenSystem for fixed size matrices and include - // above - H1 = noiseModel->Whiten(H1); - H2 = noiseModel->Whiten(H2); - b = noiseModel->Whiten(b); - } - - if (noiseModel && noiseModel->isConstrained()) { - using noiseModel::Constrained; - return boost::make_shared( - key1, H1, key2, H2, b, - boost::static_pointer_cast(noiseModel)->unit()); - } else { - return boost::make_shared(key1, H1, key2, H2, b); - } - } - - /** return the measured */ - inline const Point2 measured() const { - return measured_; - } - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("NoiseModelFactor2", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(measured_); - } - }; - - template - struct traits > : Testable< - GeneralSFMFactor > { - }; + // shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; /** - * Non-linear factor for a constraint derived from a 2D measurement. - * Compared to GeneralSFMFactor, it is a ternary-factor because the calibration is isolated from camera.. + * Constructor + * @param measured is the 2 dimensional location of point in image (the measurement) + * @param model is the standard deviation of the measurements + * @param cameraKey is the index of the camera + * @param landmarkKey is the index of the landmark */ - template - class GeneralSFMFactor2: public NoiseModelFactor3 { + GeneralSFMFactor(const Point2& measured, const SharedNoiseModel& model, Key cameraKey, Key landmarkKey) : + Base(model, cameraKey, landmarkKey), measured_(measured) {} - GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) - static const int DimK = FixedDimension::value; + GeneralSFMFactor():measured_(0.0,0.0) {} ///< default constructor + GeneralSFMFactor(const Point2 & p):measured_(p) {} ///< constructor that takes a Point2 + GeneralSFMFactor(double x, double y):measured_(x,y) {} ///< constructor that takes doubles x,y to make a Point2 - protected: + virtual ~GeneralSFMFactor() {} ///< destructor - Point2 measured_; ///< the 2D measurement + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this)));} - public: + /** + * print + * @param s optional string naming the factor + * @param keyFormatter optional formatter for printing out Symbols + */ + void print(const std::string& s = "SFMFactor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + Base::print(s, keyFormatter); + measured_.print(s + ".z"); + } - typedef GeneralSFMFactor2 This; - typedef PinholeCamera Camera; ///< typedef for camera type - typedef NoiseModelFactor3 Base; ///< typedef for the base class + /** + * equals + */ + bool equals(const NonlinearFactor &p, double tol = 1e-9) const { + const This* e = dynamic_cast(&p); + return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol); + } - // shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; - - /** - * Constructor - * @param measured is the 2 dimensional location of point in image (the measurement) - * @param model is the standard deviation of the measurements - * @param poseKey is the index of the camera - * @param landmarkKey is the index of the landmark - * @param calibKey is the index of the calibration - */ - GeneralSFMFactor2(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key landmarkKey, Key calibKey) : - Base(model, poseKey, landmarkKey, calibKey), measured_(measured) {} - GeneralSFMFactor2():measured_(0.0,0.0) {} ///< default constructor - - virtual ~GeneralSFMFactor2() {} ///< destructor - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** - * print - * @param s optional string naming the factor - * @param keyFormatter optional formatter useful for printing Symbols - */ - void print(const std::string& s = "SFMFactor2", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - Base::print(s, keyFormatter); - measured_.print(s + ".z"); + /** h(x)-z */ + Vector evaluateError(const CAMERA& camera, const LANDMARK& point, + boost::optional H1=boost::none, boost::optional H2=boost::none) const { + try { + Point2 reprojError(camera.project2(point,H1,H2) - measured_); + return reprojError.vector(); } - - /** - * equals - */ - bool equals(const NonlinearFactor &p, double tol = 1e-9) const { - const This* e = dynamic_cast(&p); - return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) ; - } - - /** h(x)-z */ - Vector evaluateError(const Pose3& pose3, const Point3& point, const CALIBRATION &calib, - boost::optional H1=boost::none, - boost::optional H2=boost::none, - boost::optional H3=boost::none) const - { - try { - Camera camera(pose3,calib); - Point2 reprojError(camera.project(point, H1, H2, H3) - measured_); - return reprojError.vector(); - } - catch( CheiralityException& e) { - if (H1) *H1 = zeros(2, 6); - if (H2) *H2 = zeros(2, 3); - if (H3) *H3 = zeros(2, DimK); - std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) - << " behind Camera " << DefaultKeyFormatter(this->key1()) << std::endl; - } + catch( CheiralityException& e) { + if (H1) *H1 = JacobianC::Zero(); + if (H2) *H2 = JacobianL::Zero(); + // TODO warn if verbose output asked for return zero(2); } + } - /** return the measured */ - inline const Point2 measured() const { - return measured_; - } + class LinearizedFactor : public JacobianFactor { + // Fixed size matrices + // TODO: implement generic BinaryJacobianFactor next to + // JacobianFactor + JacobianC AC_; + JacobianL AL_; + Vector2 b_; - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("NoiseModelFactor3", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(measured_); + public: + /// Constructor + LinearizedFactor(Key i1, const JacobianC& A1, Key i2, const JacobianL& A2, + const Vector2& b, + const SharedDiagonal& model = SharedDiagonal()) + : JacobianFactor(i1, A1, i2, A2, b, model), AC_(A1), AL_(A2), b_(b) {} + + // Fixed-size matrix update + void updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { + gttic(updateHessian_LinearizedFactor); + + // Whiten the factor if it has a noise model + const SharedDiagonal& model = get_model(); + if (model && !model->isUnit()) { + if (model->isConstrained()) + throw std::invalid_argument( + "JacobianFactor::updateHessian: cannot update information with " + "constrained noise model"); + JacobianFactor whitenedFactor = whiten(); + whitenedFactor.updateHessian(infoKeys, info); + } else { + // First build an array of slots + DenseIndex slotC = Slot(infoKeys, keys_.front()); + DenseIndex slotL = Slot(infoKeys, keys_.back()); + DenseIndex slotB = info->nBlocks() - 1; + + // We perform I += A'*A to the upper triangle + (*info)(slotC, slotC).selfadjointView().rankUpdate(AC_.transpose()); + (*info)(slotC, slotL).knownOffDiagonal() += AC_.transpose() * AL_; + (*info)(slotC, slotB).knownOffDiagonal() += AC_.transpose() * b_; + (*info)(slotL, slotL).selfadjointView().rankUpdate(AL_.transpose()); + (*info)(slotL, slotB).knownOffDiagonal() += AL_.transpose() * b_; + (*info)(slotB, slotB).selfadjointView().rankUpdate(b_.transpose()); + } } }; - template - struct traits > : Testable< - GeneralSFMFactor2 > { - }; + /// Linearize using fixed-size matrices + boost::shared_ptr linearize(const Values& values) const { + // Only linearize if the factor is active + if (!this->active(values)) return boost::shared_ptr(); + + const Key key1 = this->key1(), key2 = this->key2(); + JacobianC H1; + JacobianL H2; + Vector2 b; + try { + const CAMERA& camera = values.at(key1); + const LANDMARK& point = values.at(key2); + Point2 reprojError(camera.project2(point, H1, H2) - measured()); + b = -reprojError.vector(); + } catch (CheiralityException& e) { + H1.setZero(); + H2.setZero(); + b.setZero(); + // TODO warn if verbose output asked for + } + + // Whiten the system if needed + const SharedNoiseModel& noiseModel = this->get_noiseModel(); + if (noiseModel && !noiseModel->isUnit()) { + // TODO: implement WhitenSystem for fixed size matrices and include + // above + H1 = noiseModel->Whiten(H1); + H2 = noiseModel->Whiten(H2); + b = noiseModel->Whiten(b); + } + + if (noiseModel && noiseModel->isConstrained()) { + using noiseModel::Constrained; + return boost::make_shared( + key1, H1, key2, H2, b, + boost::static_pointer_cast(noiseModel)->unit()); + } else { + return boost::make_shared(key1, H1, key2, H2, b); + } + } + + /** return the measured */ + inline const Point2 measured() const { + return measured_; + } + +private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int /*version*/) { + ar & boost::serialization::make_nvp("NoiseModelFactor2", + boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(measured_); + } +}; + +template +struct traits > : Testable< + GeneralSFMFactor > { +}; + +/** + * Non-linear factor for a constraint derived from a 2D measurement. + * Compared to GeneralSFMFactor, it is a ternary-factor because the calibration is isolated from camera.. + */ +template +class GeneralSFMFactor2: public NoiseModelFactor3 { + + GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION); + static const int DimK = FixedDimension::value; + +protected: + + Point2 measured_; ///< the 2D measurement + +public: + + typedef GeneralSFMFactor2 This; + typedef PinholeCamera Camera;///< typedef for camera type + typedef NoiseModelFactor3 Base;///< typedef for the base class + + // shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + /** + * Constructor + * @param measured is the 2 dimensional location of point in image (the measurement) + * @param model is the standard deviation of the measurements + * @param poseKey is the index of the camera + * @param landmarkKey is the index of the landmark + * @param calibKey is the index of the calibration + */ + GeneralSFMFactor2(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key landmarkKey, Key calibKey) : + Base(model, poseKey, landmarkKey, calibKey), measured_(measured) {} + GeneralSFMFactor2():measured_(0.0,0.0) {} ///< default constructor + + virtual ~GeneralSFMFactor2() {} ///< destructor + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this)));} + + /** + * print + * @param s optional string naming the factor + * @param keyFormatter optional formatter useful for printing Symbols + */ + void print(const std::string& s = "SFMFactor2", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + Base::print(s, keyFormatter); + measured_.print(s + ".z"); + } + + /** + * equals + */ + bool equals(const NonlinearFactor &p, double tol = 1e-9) const { + const This* e = dynamic_cast(&p); + return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol); + } + + /** h(x)-z */ + Vector evaluateError(const Pose3& pose3, const Point3& point, const CALIBRATION &calib, + boost::optional H1=boost::none, + boost::optional H2=boost::none, + boost::optional H3=boost::none) const + { + try { + Camera camera(pose3,calib); + Point2 reprojError(camera.project(point, H1, H2, H3) - measured_); + return reprojError.vector(); + } + catch( CheiralityException& e) { + if (H1) *H1 = zeros(2, 6); + if (H2) *H2 = zeros(2, 3); + if (H3) *H3 = zeros(2, DimK); + std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) + << " behind Camera " << DefaultKeyFormatter(this->key1()) << std::endl; + } + return zero(2); + } + + /** return the measured */ + inline const Point2 measured() const { + return measured_; + } + +private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int /*version*/) { + ar & boost::serialization::make_nvp("NoiseModelFactor3", + boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(measured_); + } +}; + +template +struct traits > : Testable< + GeneralSFMFactor2 > { +}; } //namespace diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index a83db3f1d..7da6cdbdf 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -49,7 +49,8 @@ typedef NonlinearEquality Point3Constraint; class Graph: public NonlinearFactorGraph { public: - void addMeasurement(int i, int j, const Point2& z, const SharedNoiseModel& model) { + void addMeasurement(int i, int j, const Point2& z, + const SharedNoiseModel& model) { push_back(boost::make_shared(z, model, X(i), L(j))); } @@ -65,98 +66,100 @@ public: }; -static double getGaussian() -{ - double S,V1,V2; - // Use Box-Muller method to create gauss noise from uniform noise - do - { - double U1 = rand() / (double)(RAND_MAX); - double U2 = rand() / (double)(RAND_MAX); - V1 = 2 * U1 - 1; /* V1=[-1,1] */ - V2 = 2 * U2 - 1; /* V2=[-1,1] */ - S = V1 * V1 + V2 * V2; - } while(S>=1); - return sqrt(-2.0f * (double)log(S) / S) * V1; +static double getGaussian() { + double S, V1, V2; + // Use Box-Muller method to create gauss noise from uniform noise + do { + double U1 = rand() / (double) (RAND_MAX); + double U2 = rand() / (double) (RAND_MAX); + V1 = 2 * U1 - 1; /* V1=[-1,1] */ + V2 = 2 * U2 - 1; /* V2=[-1,1] */ + S = V1 * V1 + V2 * V2; + } while (S >= 1); + return sqrt(-2.f * (double) log(S) / S) * V1; } static const SharedNoiseModel sigma1(noiseModel::Unit::Create(2)); /* ************************************************************************* */ -TEST( GeneralSFMFactor, equals ) -{ +TEST( GeneralSFMFactor, equals ) { // Create two identical factors and make sure they're equal - Point2 z(323.,240.); - const Symbol cameraFrameNumber('x',1), landmarkNumber('l',1); + Point2 z(323., 240.); + const Symbol cameraFrameNumber('x', 1), landmarkNumber('l', 1); const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); - boost::shared_ptr - factor1(new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + boost::shared_ptr factor1( + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); - boost::shared_ptr - factor2(new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + boost::shared_ptr factor2( + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); EXPECT(assert_equal(*factor1, *factor2)); } /* ************************************************************************* */ TEST( GeneralSFMFactor, error ) { - Point2 z(3.,0.); + Point2 z(3., 0.); const SharedNoiseModel sigma(noiseModel::Unit::Create(2)); Projection factor(z, sigma, X(1), L(1)); // For the following configuration, the factor predicts 320,240 Values values; Rot3 R; - Point3 t1(0,0,-6); - Pose3 x1(R,t1); + Point3 t1(0, 0, -6); + Pose3 x1(R, t1); values.insert(X(1), GeneralCamera(x1)); - Point3 l1; values.insert(L(1), l1); - EXPECT(assert_equal(((Vector) Vector2(-3.0, 0.0)), factor.unwhitenedError(values))); + Point3 l1; + values.insert(L(1), l1); + EXPECT( + assert_equal(((Vector ) Vector2(-3., 0.)), + factor.unwhitenedError(values))); } -static const double baseline = 5.0 ; +static const double baseline = 5.; /* ************************************************************************* */ static vector genPoint3() { const double z = 5; - vector landmarks ; - landmarks.push_back(Point3 (-1.0,-1.0, z)); - landmarks.push_back(Point3 (-1.0, 1.0, z)); - landmarks.push_back(Point3 ( 1.0, 1.0, z)); - landmarks.push_back(Point3 ( 1.0,-1.0, z)); - landmarks.push_back(Point3 (-1.5,-1.5, 1.5*z)); - landmarks.push_back(Point3 (-1.5, 1.5, 1.5*z)); - landmarks.push_back(Point3 ( 1.5, 1.5, 1.5*z)); - landmarks.push_back(Point3 ( 1.5,-1.5, 1.5*z)); - landmarks.push_back(Point3 (-2.0,-2.0, 2*z)); - landmarks.push_back(Point3 (-2.0, 2.0, 2*z)); - landmarks.push_back(Point3 ( 2.0, 2.0, 2*z)); - landmarks.push_back(Point3 ( 2.0,-2.0, 2*z)); - return landmarks ; + vector landmarks; + landmarks.push_back(Point3(-1., -1., z)); + landmarks.push_back(Point3(-1., 1., z)); + landmarks.push_back(Point3(1., 1., z)); + landmarks.push_back(Point3(1., -1., z)); + landmarks.push_back(Point3(-1.5, -1.5, 1.5 * z)); + landmarks.push_back(Point3(-1.5, 1.5, 1.5 * z)); + landmarks.push_back(Point3(1.5, 1.5, 1.5 * z)); + landmarks.push_back(Point3(1.5, -1.5, 1.5 * z)); + landmarks.push_back(Point3(-2., -2., 2 * z)); + landmarks.push_back(Point3(-2., 2., 2 * z)); + landmarks.push_back(Point3(2., 2., 2 * z)); + landmarks.push_back(Point3(2., -2., 2 * z)); + return landmarks; } static vector genCameraDefaultCalibration() { - vector X ; - X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); - X.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); - return X ; + vector X; + X.push_back(GeneralCamera(Pose3(eye(3), Point3(-baseline / 2., 0., 0.)))); + X.push_back(GeneralCamera(Pose3(eye(3), Point3(baseline / 2., 0., 0.)))); + return X; } static vector genCameraVariableCalibration() { - const Cal3_S2 K(640,480,0.01,320,240); - vector X ; - X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); - X.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)), K)); - return X ; + const Cal3_S2 K(640, 480, 0.1, 320, 240); + vector X; + X.push_back(GeneralCamera(Pose3(eye(3), Point3(-baseline / 2., 0., 0.)), K)); + X.push_back(GeneralCamera(Pose3(eye(3), Point3(baseline / 2., 0., 0.)), K)); + return X; } -static boost::shared_ptr getOrdering(const vector& cameras, const vector& landmarks) { +static boost::shared_ptr getOrdering( + const vector& cameras, const vector& landmarks) { boost::shared_ptr ordering(new Ordering); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; - return ordering ; + for (size_t i = 0; i < landmarks.size(); ++i) + ordering->push_back(L(i)); + for (size_t i = 0; i < cameras.size(); ++i) + ordering->push_back(X(i)); + return ordering; } - /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_defaultK ) { @@ -165,32 +168,32 @@ TEST( GeneralSFMFactor, optimize_defaultK ) { // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = cameras.size()*landmarks.size() ; + const size_t nMeasurements = cameras.size() * landmarks.size(); // add initial - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); - values.insert(L(i), pt) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); + values.insert(L(i), pt); } graph.addCameraConstraint(0, cameras[0]); // Create an ordering of the variables - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * 1e-5 * nMeasurements); @@ -202,38 +205,37 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = cameras.size()*landmarks.size() ; + const size_t nMeasurements = cameras.size() * landmarks.size(); // add initial - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); // add noise only to the first landmark - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - if ( i == 0 ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); - values.insert(L(i), pt) ; - } - else { - values.insert(L(i), landmarks[i]) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + if (i == 0) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); + values.insert(L(i), pt); + } else { + values.insert(L(i), landmarks[i]); } } graph.addCameraConstraint(0, cameras[0]); const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -246,35 +248,35 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { vector cameras = genCameraVariableCalibration(); // add measurement with noise - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = landmarks.size()*cameras.size(); + const size_t nMeasurements = landmarks.size() * cameras.size(); Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); + for (size_t i = 0; i < landmarks.size(); ++i) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); //Point3 pt(landmarks[i].x(), landmarks[i].y(), landmarks[i].z()); - values.insert(L(i), pt) ; + values.insert(L(i), pt); } - for ( size_t i = 0 ; i < cameras.size() ; ++i ) + for (size_t i = 0; i < cameras.size(); ++i) graph.addCameraConstraint(i, cameras[i]); - const double reproj_error = 1e-5 ; + const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -288,50 +290,45 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = landmarks.size()*cameras.size(); + const size_t nMeasurements = landmarks.size() * cameras.size(); Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) { - const double - rot_noise = 1e-5, - trans_noise = 1e-3, - focal_noise = 1, - skew_noise = 1e-5; - if ( i == 0 ) { - values.insert(X(i), cameras[i]) ; - } - else { + for (size_t i = 0; i < cameras.size(); ++i) { + const double rot_noise = 1e-5, trans_noise = 1e-3, focal_noise = 1, + skew_noise = 1e-5; + if (i == 0) { + values.insert(X(i), cameras[i]); + } else { - Vector delta = (Vector(11) << - rot_noise, rot_noise, rot_noise, // rotation - trans_noise, trans_noise, trans_noise, // translation - focal_noise, focal_noise, // f_x, f_y - skew_noise, // s - trans_noise, trans_noise // ux, uy + Vector delta = (Vector(11) << rot_noise, rot_noise, rot_noise, // rotation + trans_noise, trans_noise, trans_noise, // translation + focal_noise, focal_noise, // f_x, f_y + skew_noise, // s + trans_noise, trans_noise // ux, uy ).finished(); - values.insert(X(i), cameras[i].retract(delta)) ; + values.insert(X(i), cameras[i].retract(delta)); } } - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - values.insert(L(i), landmarks[i]) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + values.insert(L(i), landmarks[i]); } // fix X0 and all landmarks, allow only the cameras[1] to move graph.addCameraConstraint(0, cameras[0]); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) + for (size_t i = 0; i < landmarks.size(); ++i) graph.addPoint3Constraint(i, landmarks[i]); - const double reproj_error = 1e-5 ; + const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -344,38 +341,40 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) { // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = cameras.size()*landmarks.size() ; + const size_t nMeasurements = cameras.size() * landmarks.size(); // add initial - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); // add noise only to the first landmark - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); - values.insert(L(i), pt) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); + values.insert(L(i), pt); } // Constrain position of system with the first camera constrained to the origin graph.addCameraConstraint(0, cameras[0]); // Constrain the scale of the problem with a soft range factor of 1m between the cameras - graph.push_back(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0))); + graph.push_back( + RangeFactor(X(0), X(1), 2., + noiseModel::Isotropic::Sigma(1, 10.))); - const double reproj_error = 1e-5 ; + const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -386,17 +385,21 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { // Tests range factor between a GeneralCamera and a Pose3 Graph graph; graph.addCameraConstraint(0, GeneralCamera()); - graph.push_back(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0))); - graph.push_back(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0))); + graph.push_back( + RangeFactor(X(0), X(1), 2., + noiseModel::Isotropic::Sigma(1, 1.))); + graph.push_back( + PriorFactor(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), + noiseModel::Isotropic::Sigma(6, 1.))); Values init; init.insert(X(0), GeneralCamera()); - init.insert(X(1), Pose3(Rot3(), Point3(1.0,1.0,1.0))); + init.insert(X(1), Pose3(Rot3(), Point3(1., 1., 1.))); // The optimal value between the 2m range factor and 1m prior is 1.5m Values expected; expected.insert(X(0), GeneralCamera()); - expected.insert(X(1), Pose3(Rot3(), Point3(1.5,0.0,0.0))); + expected.insert(X(1), Pose3(Rot3(), Point3(1.5, 0., 0.))); LevenbergMarquardtParams params; params.absoluteErrorTol = 1e-9; @@ -410,16 +413,23 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { // Tests range factor between a CalibratedCamera and a Pose3 NonlinearFactorGraph graph; - graph.push_back(PriorFactor(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.0))); - graph.push_back(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0))); - graph.push_back(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0))); + graph.push_back( + PriorFactor(X(0), CalibratedCamera(), + noiseModel::Isotropic::Sigma(6, 1.))); + graph.push_back( + RangeFactor(X(0), X(1), 2., + noiseModel::Isotropic::Sigma(1, 1.))); + graph.push_back( + PriorFactor(X(1), Pose3(Rot3(), Point3(1., 0., 0.)), + noiseModel::Isotropic::Sigma(6, 1.))); Values init; init.insert(X(0), CalibratedCamera()); - init.insert(X(1), Pose3(Rot3(), Point3(1.0,1.0,1.0))); + init.insert(X(1), Pose3(Rot3(), Point3(1., 1., 1.))); Values expected; - expected.insert(X(0), CalibratedCamera(Pose3(Rot3(), Point3(-0.333333333333, 0, 0)))); + expected.insert(X(0), + CalibratedCamera(Pose3(Rot3(), Point3(-0.333333333333, 0, 0)))); expected.insert(X(1), Pose3(Rot3(), Point3(1.333333333333, 0, 0))); LevenbergMarquardtParams params; @@ -432,50 +442,58 @@ TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { /* ************************************************************************* */ TEST(GeneralSFMFactor, Linearize) { - Point2 z(3.,0.); + Point2 z(3., 0.); // Create Values Values values; Rot3 R; - Point3 t1(0,0,-6); - Pose3 x1(R,t1); + Point3 t1(0, 0, -6); + Pose3 x1(R, t1); values.insert(X(1), GeneralCamera(x1)); - Point3 l1; values.insert(L(1), l1); + Point3 l1; + values.insert(L(1), l1); // Test with Empty Model { - const SharedNoiseModel model; - Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); - GaussianFactor::shared_ptr actual = factor.linearize(values); - EXPECT(assert_equal(*expected,*actual,1e-9)); + const SharedNoiseModel model; + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( + values); + GaussianFactor::shared_ptr actual = factor.linearize(values); + EXPECT(assert_equal(*expected, *actual, 1e-9)); } // Test with Unit Model { - const SharedNoiseModel model(noiseModel::Unit::Create(2)); - Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); - GaussianFactor::shared_ptr actual = factor.linearize(values); - EXPECT(assert_equal(*expected,*actual,1e-9)); + const SharedNoiseModel model(noiseModel::Unit::Create(2)); + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( + values); + GaussianFactor::shared_ptr actual = factor.linearize(values); + EXPECT(assert_equal(*expected, *actual, 1e-9)); } // Test with Isotropic noise { - const SharedNoiseModel model(noiseModel::Isotropic::Sigma(2,0.5)); - Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); - GaussianFactor::shared_ptr actual = factor.linearize(values); - EXPECT(assert_equal(*expected,*actual,1e-9)); + const SharedNoiseModel model(noiseModel::Isotropic::Sigma(2, 0.5)); + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( + values); + GaussianFactor::shared_ptr actual = factor.linearize(values); + EXPECT(assert_equal(*expected, *actual, 1e-9)); } // Test with Constrained Model { - const SharedNoiseModel model(noiseModel::Constrained::All(2)); - Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize(values); - GaussianFactor::shared_ptr actual = factor.linearize(values); - EXPECT(assert_equal(*expected,*actual,1e-9)); + const SharedNoiseModel model(noiseModel::Constrained::All(2)); + Projection factor(z, model, X(1), L(1)); + GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( + values); + GaussianFactor::shared_ptr actual = factor.linearize(values); + EXPECT(assert_equal(*expected, *actual, 1e-9)); } } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index df56f5260..f812cd308 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -49,7 +49,8 @@ typedef NonlinearEquality Point3Constraint; /* ************************************************************************* */ class Graph: public NonlinearFactorGraph { public: - void addMeasurement(const int& i, const int& j, const Point2& z, const SharedNoiseModel& model) { + void addMeasurement(const int& i, const int& j, const Point2& z, + const SharedNoiseModel& model) { push_back(boost::make_shared(z, model, X(i), L(j))); } @@ -65,97 +66,101 @@ public: }; -static double getGaussian() -{ - double S,V1,V2; - // Use Box-Muller method to create gauss noise from uniform noise - do - { - double U1 = rand() / (double)(RAND_MAX); - double U2 = rand() / (double)(RAND_MAX); - V1 = 2 * U1 - 1; /* V1=[-1,1] */ - V2 = 2 * U2 - 1; /* V2=[-1,1] */ - S = V1 * V1 + V2 * V2; - } while(S>=1); - return sqrt(-2.0f * (double)log(S) / S) * V1; +static double getGaussian() { + double S, V1, V2; + // Use Box-Muller method to create gauss noise from uniform noise + do { + double U1 = rand() / (double) (RAND_MAX); + double U2 = rand() / (double) (RAND_MAX); + V1 = 2 * U1 - 1; /* V1=[-1,1] */ + V2 = 2 * U2 - 1; /* V2=[-1,1] */ + S = V1 * V1 + V2 * V2; + } while (S >= 1); + return sqrt(-2.f * (double) log(S) / S) * V1; } static const SharedNoiseModel sigma1(noiseModel::Unit::Create(2)); /* ************************************************************************* */ -TEST( GeneralSFMFactor_Cal3Bundler, equals ) -{ +TEST( GeneralSFMFactor_Cal3Bundler, equals ) { // Create two identical factors and make sure they're equal - Point2 z(323.,240.); - const Symbol cameraFrameNumber('x',1), landmarkNumber('l',1); + Point2 z(323., 240.); + const Symbol cameraFrameNumber('x', 1), landmarkNumber('l', 1); const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); - boost::shared_ptr - factor1(new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + boost::shared_ptr factor1( + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); - boost::shared_ptr - factor2(new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + boost::shared_ptr factor2( + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); EXPECT(assert_equal(*factor1, *factor2)); } /* ************************************************************************* */ TEST( GeneralSFMFactor_Cal3Bundler, error ) { - Point2 z(3.,0.); + Point2 z(3., 0.); const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); - boost::shared_ptr - factor(new Projection(z, sigma, X(1), L(1))); + boost::shared_ptr factor(new Projection(z, sigma, X(1), L(1))); // For the following configuration, the factor predicts 320,240 Values values; Rot3 R; - Point3 t1(0,0,-6); - Pose3 x1(R,t1); + Point3 t1(0, 0, -6); + Pose3 x1(R, t1); values.insert(X(1), GeneralCamera(x1)); - Point3 l1; values.insert(L(1), l1); - EXPECT(assert_equal(Vector2(-3.0, 0.0), factor->unwhitenedError(values))); + Point3 l1; + values.insert(L(1), l1); + EXPECT(assert_equal(Vector2(-3., 0.), factor->unwhitenedError(values))); } - -static const double baseline = 5.0 ; +static const double baseline = 5.; /* ************************************************************************* */ static vector genPoint3() { const double z = 5; - vector landmarks ; - landmarks.push_back(Point3 (-1.0,-1.0, z)); - landmarks.push_back(Point3 (-1.0, 1.0, z)); - landmarks.push_back(Point3 ( 1.0, 1.0, z)); - landmarks.push_back(Point3 ( 1.0,-1.0, z)); - landmarks.push_back(Point3 (-1.5,-1.5, 1.5*z)); - landmarks.push_back(Point3 (-1.5, 1.5, 1.5*z)); - landmarks.push_back(Point3 ( 1.5, 1.5, 1.5*z)); - landmarks.push_back(Point3 ( 1.5,-1.5, 1.5*z)); - landmarks.push_back(Point3 (-2.0,-2.0, 2*z)); - landmarks.push_back(Point3 (-2.0, 2.0, 2*z)); - landmarks.push_back(Point3 ( 2.0, 2.0, 2*z)); - landmarks.push_back(Point3 ( 2.0,-2.0, 2*z)); - return landmarks ; + vector landmarks; + landmarks.push_back(Point3(-1., -1., z)); + landmarks.push_back(Point3(-1., 1., z)); + landmarks.push_back(Point3(1., 1., z)); + landmarks.push_back(Point3(1., -1., z)); + landmarks.push_back(Point3(-1.5, -1.5, 1.5 * z)); + landmarks.push_back(Point3(-1.5, 1.5, 1.5 * z)); + landmarks.push_back(Point3(1.5, 1.5, 1.5 * z)); + landmarks.push_back(Point3(1.5, -1.5, 1.5 * z)); + landmarks.push_back(Point3(-2., -2., 2 * z)); + landmarks.push_back(Point3(-2., 2., 2 * z)); + landmarks.push_back(Point3(2., 2., 2 * z)); + landmarks.push_back(Point3(2., -2., 2 * z)); + return landmarks; } static vector genCameraDefaultCalibration() { - vector cameras ; - cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); - cameras.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); - return cameras ; + vector cameras; + cameras.push_back( + GeneralCamera(Pose3(Rot3(), Point3(-baseline / 2., 0., 0.)))); + cameras.push_back( + GeneralCamera(Pose3(Rot3(), Point3(baseline / 2., 0., 0.)))); + return cameras; } static vector genCameraVariableCalibration() { - const Cal3Bundler K(500,1e-3,1e-3); - vector cameras ; - cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); - cameras.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)), K)); - return cameras ; + const Cal3Bundler K(500, 1e-3, 1e-3); + vector cameras; + cameras.push_back( + GeneralCamera(Pose3(Rot3(), Point3(-baseline / 2., 0., 0.)), K)); + cameras.push_back( + GeneralCamera(Pose3(Rot3(), Point3(baseline / 2., 0., 0.)), K)); + return cameras; } -static boost::shared_ptr getOrdering(const std::vector& cameras, const std::vector& landmarks) { +static boost::shared_ptr getOrdering( + const std::vector& cameras, + const std::vector& landmarks) { boost::shared_ptr ordering(new Ordering); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; - return ordering ; + for (size_t i = 0; i < landmarks.size(); ++i) + ordering->push_back(L(i)); + for (size_t i = 0; i < cameras.size(); ++i) + ordering->push_back(X(i)); + return ordering; } /* ************************************************************************* */ @@ -166,32 +171,32 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_defaultK ) { // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = cameras.size()*landmarks.size() ; + const size_t nMeasurements = cameras.size() * landmarks.size(); // add initial - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); - values.insert(L(i), pt) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); + values.insert(L(i), pt); } graph.addCameraConstraint(0, cameras[0]); // Create an ordering of the variables - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * 1e-5 * nMeasurements); @@ -203,38 +208,37 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_SingleMeasurementError ) { vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = cameras.size()*landmarks.size() ; + const size_t nMeasurements = cameras.size() * landmarks.size(); // add initial - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); // add noise only to the first landmark - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - if ( i == 0 ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); - values.insert(L(i), pt) ; - } - else { - values.insert(L(i), landmarks[i]) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + if (i == 0) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); + values.insert(L(i), pt); + } else { + values.insert(L(i), landmarks[i]); } } graph.addCameraConstraint(0, cameras[0]); const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -247,35 +251,35 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_FixCameras ) { vector cameras = genCameraVariableCalibration(); // add measurement with noise - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = landmarks.size()*cameras.size(); + const size_t nMeasurements = landmarks.size() * cameras.size(); Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); + for (size_t i = 0; i < landmarks.size(); ++i) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); //Point3 pt(landmarks[i].x(), landmarks[i].y(), landmarks[i].z()); - values.insert(L(i), pt) ; + values.insert(L(i), pt); } - for ( size_t i = 0 ; i < cameras.size() ; ++i ) + for (size_t i = 0; i < cameras.size(); ++i) graph.addCameraConstraint(i, cameras[i]); - const double reproj_error = 1e-5 ; + const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -289,46 +293,43 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_FixLandmarks ) { // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = landmarks.size()*cameras.size(); + const size_t nMeasurements = landmarks.size() * cameras.size(); Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) { - const double - rot_noise = 1e-5, trans_noise = 1e-3, - focal_noise = 1, distort_noise = 1e-3; - if ( i == 0 ) { - values.insert(X(i), cameras[i]) ; - } - else { + for (size_t i = 0; i < cameras.size(); ++i) { + const double rot_noise = 1e-5, trans_noise = 1e-3, focal_noise = 1, + distort_noise = 1e-3; + if (i == 0) { + values.insert(X(i), cameras[i]); + } else { - Vector delta = (Vector(9) << - rot_noise, rot_noise, rot_noise, // rotation - trans_noise, trans_noise, trans_noise, // translation - focal_noise, distort_noise, distort_noise // f, k1, k2 + Vector delta = (Vector(9) << rot_noise, rot_noise, rot_noise, // rotation + trans_noise, trans_noise, trans_noise, // translation + focal_noise, distort_noise, distort_noise // f, k1, k2 ).finished(); - values.insert(X(i), cameras[i].retract(delta)) ; + values.insert(X(i), cameras[i].retract(delta)); } } - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - values.insert(L(i), landmarks[i]) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + values.insert(L(i), landmarks[i]); } // fix X0 and all landmarks, allow only the cameras[1] to move graph.addCameraConstraint(0, cameras[0]); - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) + for (size_t i = 0; i < landmarks.size(); ++i) graph.addPoint3Constraint(i, landmarks[i]); - const double reproj_error = 1e-5 ; + const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -341,43 +342,48 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) { // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < cameras.size() ; ++j) { - for ( size_t i = 0 ; i < landmarks.size() ; ++i) { - Point2 pt = cameras[j].project(landmarks[i]) ; + for (size_t j = 0; j < cameras.size(); ++j) { + for (size_t i = 0; i < landmarks.size(); ++i) { + Point2 pt = cameras[j].project(landmarks[i]); graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = cameras.size()*landmarks.size() ; + const size_t nMeasurements = cameras.size() * landmarks.size(); // add initial - const double noise = baseline*0.1; + const double noise = baseline * 0.1; Values values; - for ( size_t i = 0 ; i < cameras.size() ; ++i ) - values.insert(X(i), cameras[i]) ; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); // add noise only to the first landmark - for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { - Point3 pt(landmarks[i].x()+noise*getGaussian(), - landmarks[i].y()+noise*getGaussian(), - landmarks[i].z()+noise*getGaussian()); - values.insert(L(i), pt) ; + for (size_t i = 0; i < landmarks.size(); ++i) { + Point3 pt(landmarks[i].x() + noise * getGaussian(), + landmarks[i].y() + noise * getGaussian(), + landmarks[i].z() + noise * getGaussian()); + values.insert(L(i), pt); } // Constrain position of system with the first camera constrained to the origin graph.addCameraConstraint(0, cameras[0]); // Constrain the scale of the problem with a soft range factor of 1m between the cameras - graph.push_back(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0))); + graph.push_back( + RangeFactor(X(0), X(1), 2., + noiseModel::Isotropic::Sigma(1, 10.))); - const double reproj_error = 1e-5 ; + const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(cameras,landmarks); + Ordering ordering = *getOrdering(cameras, landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ From 850501ed52370cec5196125d391bafebd12e6e44 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 11:16:54 -0700 Subject: [PATCH 220/964] BORG Formatting --- gtsam/linear/HessianFactor.cpp | 294 +++++++++++++++++---------------- 1 file changed, 149 insertions(+), 145 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 7f3929488..bbc684a10 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -49,183 +49,185 @@ using namespace std; using namespace boost::assign; -namespace br { using namespace boost::range; using namespace boost::adaptors; } +namespace br { +using namespace boost::range; +using namespace boost::adaptors; +} namespace gtsam { /* ************************************************************************* */ HessianFactor::HessianFactor() : - info_(cref_list_of<1>(1)) -{ + info_(cref_list_of<1>(1)) { linearTerm().setZero(); constantTerm() = 0.0; } /* ************************************************************************* */ HessianFactor::HessianFactor(Key j, const Matrix& G, const Vector& g, double f) : - GaussianFactor(cref_list_of<1>(j)), info_(cref_list_of<2>(G.cols())(1)) -{ - if(G.rows() != G.cols() || G.rows() != g.size()) throw invalid_argument( - "Attempting to construct HessianFactor with inconsistent matrix and/or vector dimensions"); - info_(0,0) = G; - info_(0,1) = g; - info_(1,1)(0,0) = f; + GaussianFactor(cref_list_of<1>(j)), info_(cref_list_of<2>(G.cols())(1)) { + if (G.rows() != G.cols() || G.rows() != g.size()) + throw invalid_argument( + "Attempting to construct HessianFactor with inconsistent matrix and/or vector dimensions"); + info_(0, 0) = G; + info_(0, 1) = g; + info_(1, 1)(0, 0) = f; } /* ************************************************************************* */ // error is 0.5*(x-mu)'*inv(Sigma)*(x-mu) = 0.5*(x'*G*x - 2*x'*G*mu + mu'*G*mu) // where G = inv(Sigma), g = G*mu, f = mu'*G*mu = mu'*g HessianFactor::HessianFactor(Key j, const Vector& mu, const Matrix& Sigma) : - GaussianFactor(cref_list_of<1>(j)), - info_(cref_list_of<2> (Sigma.cols()) (1) ) -{ - if (Sigma.rows() != Sigma.cols() || Sigma.rows() != mu.size()) throw invalid_argument( - "Attempting to construct HessianFactor with inconsistent matrix and/or vector dimensions"); - info_(0,0) = Sigma.inverse(); // G - info_(0,1) = info_(0,0).selfadjointView() * mu; // g - info_(1,1)(0,0) = mu.dot(info_(0,1).knownOffDiagonal().col(0)); // f + GaussianFactor(cref_list_of<1>(j)), info_(cref_list_of<2>(Sigma.cols())(1)) { + if (Sigma.rows() != Sigma.cols() || Sigma.rows() != mu.size()) + throw invalid_argument( + "Attempting to construct HessianFactor with inconsistent matrix and/or vector dimensions"); + info_(0, 0) = Sigma.inverse(); // G + info_(0, 1) = info_(0, 0).selfadjointView() * mu; // g + info_(1, 1)(0, 0) = mu.dot(info_(0, 1).knownOffDiagonal().col(0)); // f } /* ************************************************************************* */ -HessianFactor::HessianFactor(Key j1, Key j2, - const Matrix& G11, const Matrix& G12, const Vector& g1, - const Matrix& G22, const Vector& g2, double f) : - GaussianFactor(cref_list_of<2>(j1)(j2)), - info_(cref_list_of<3> (G11.cols()) (G22.cols()) (1) ) -{ - info_(0,0) = G11; - info_(0,1) = G12; - info_(0,2) = g1; - info_(1,1) = G22; - info_(1,2) = g2; - info_(2,2)(0,0) = f; +HessianFactor::HessianFactor(Key j1, Key j2, const Matrix& G11, + const Matrix& G12, const Vector& g1, const Matrix& G22, const Vector& g2, + double f) : + GaussianFactor(cref_list_of<2>(j1)(j2)), info_( + cref_list_of<3>(G11.cols())(G22.cols())(1)) { + info_(0, 0) = G11; + info_(0, 1) = G12; + info_(0, 2) = g1; + info_(1, 1) = G22; + info_(1, 2) = g2; + info_(2, 2)(0, 0) = f; } /* ************************************************************************* */ -HessianFactor::HessianFactor(Key j1, Key j2, Key j3, - const Matrix& G11, const Matrix& G12, const Matrix& G13, const Vector& g1, - const Matrix& G22, const Matrix& G23, const Vector& g2, - const Matrix& G33, const Vector& g3, double f) : - GaussianFactor(cref_list_of<3>(j1)(j2)(j3)), - info_(cref_list_of<4> (G11.cols()) (G22.cols()) (G33.cols()) (1) ) -{ - if(G11.rows() != G11.cols() || G11.rows() != G12.rows() || G11.rows() != G13.rows() || G11.rows() != g1.size() || - G22.cols() != G12.cols() || G33.cols() != G13.cols() || G22.cols() != g2.size() || G33.cols() != g3.size()) - throw invalid_argument("Inconsistent matrix and/or vector dimensions in HessianFactor constructor"); - info_(0,0) = G11; - info_(0,1) = G12; - info_(0,2) = G13; - info_(0,3) = g1; - info_(1,1) = G22; - info_(1,2) = G23; - info_(1,3) = g2; - info_(2,2) = G33; - info_(2,3) = g3; - info_(3,3)(0,0) = f; +HessianFactor::HessianFactor(Key j1, Key j2, Key j3, const Matrix& G11, + const Matrix& G12, const Matrix& G13, const Vector& g1, const Matrix& G22, + const Matrix& G23, const Vector& g2, const Matrix& G33, const Vector& g3, + double f) : + GaussianFactor(cref_list_of<3>(j1)(j2)(j3)), info_( + cref_list_of<4>(G11.cols())(G22.cols())(G33.cols())(1)) { + if (G11.rows() != G11.cols() || G11.rows() != G12.rows() + || G11.rows() != G13.rows() || G11.rows() != g1.size() + || G22.cols() != G12.cols() || G33.cols() != G13.cols() + || G22.cols() != g2.size() || G33.cols() != g3.size()) + throw invalid_argument( + "Inconsistent matrix and/or vector dimensions in HessianFactor constructor"); + info_(0, 0) = G11; + info_(0, 1) = G12; + info_(0, 2) = G13; + info_(0, 3) = g1; + info_(1, 1) = G22; + info_(1, 2) = G23; + info_(1, 3) = g2; + info_(2, 2) = G33; + info_(2, 3) = g3; + info_(3, 3)(0, 0) = f; } /* ************************************************************************* */ namespace { -DenseIndex _getSizeHF(const Vector& m) { return m.size(); } +DenseIndex _getSizeHF(const Vector& m) { + return m.size(); +} } /* ************************************************************************* */ -HessianFactor::HessianFactor(const std::vector& js, const std::vector& Gs, - const std::vector& gs, double f) : - GaussianFactor(js), info_(gs | br::transformed(&_getSizeHF), true) -{ +HessianFactor::HessianFactor(const std::vector& js, + const std::vector& Gs, const std::vector& gs, double f) : + GaussianFactor(js), info_(gs | br::transformed(&_getSizeHF), true) { // Get the number of variables size_t variable_count = js.size(); // Verify the provided number of entries in the vectors are consistent - if(gs.size() != variable_count || Gs.size() != (variable_count*(variable_count+1))/2) - throw invalid_argument("Inconsistent number of entries between js, Gs, and gs in HessianFactor constructor.\nThe number of keys provided \ + if (gs.size() != variable_count + || Gs.size() != (variable_count * (variable_count + 1)) / 2) + throw invalid_argument( + "Inconsistent number of entries between js, Gs, and gs in HessianFactor constructor.\nThe number of keys provided \ in js must match the number of linear vector pieces in gs. The number of upper-diagonal blocks in Gs must be n*(n+1)/2"); // Verify the dimensions of each provided matrix are consistent // Note: equations for calculating the indices derived from the "sum of an arithmetic sequence" formula - for(size_t i = 0; i < variable_count; ++i){ + for (size_t i = 0; i < variable_count; ++i) { DenseIndex block_size = gs[i].size(); // Check rows - for(size_t j = 0; j < variable_count-i; ++j){ - size_t index = i*(2*variable_count - i + 1)/2 + j; - if(Gs[index].rows() != block_size){ - throw invalid_argument("Inconsistent matrix and/or vector dimensions in HessianFactor constructor"); + for (size_t j = 0; j < variable_count - i; ++j) { + size_t index = i * (2 * variable_count - i + 1) / 2 + j; + if (Gs[index].rows() != block_size) { + throw invalid_argument( + "Inconsistent matrix and/or vector dimensions in HessianFactor constructor"); } } // Check cols - for(size_t j = 0; j <= i; ++j){ - size_t index = j*(2*variable_count - j + 1)/2 + (i-j); - if(Gs[index].cols() != block_size){ - throw invalid_argument("Inconsistent matrix and/or vector dimensions in HessianFactor constructor"); + for (size_t j = 0; j <= i; ++j) { + size_t index = j * (2 * variable_count - j + 1) / 2 + (i - j); + if (Gs[index].cols() != block_size) { + throw invalid_argument( + "Inconsistent matrix and/or vector dimensions in HessianFactor constructor"); } } } // Fill in the blocks size_t index = 0; - for(size_t i = 0; i < variable_count; ++i){ - for(size_t j = i; j < variable_count; ++j){ + for (size_t i = 0; i < variable_count; ++i) { + for (size_t j = i; j < variable_count; ++j) { info_(i, j) = Gs[index++]; } info_(i, variable_count) = gs[i]; } - info_(variable_count, variable_count)(0,0) = f; + info_(variable_count, variable_count)(0, 0) = f; } /* ************************************************************************* */ namespace { -void _FromJacobianHelper(const JacobianFactor& jf, SymmetricBlockMatrix& info) -{ +void _FromJacobianHelper(const JacobianFactor& jf, SymmetricBlockMatrix& info) { gttic(HessianFactor_fromJacobian); const SharedDiagonal& jfModel = jf.get_model(); - if(jfModel) - { - if(jf.get_model()->isConstrained()) - throw invalid_argument("Cannot construct HessianFactor from JacobianFactor with constrained noise model"); - info.full().triangularView() = jf.matrixObject().full().transpose() * - (jfModel->invsigmas().array() * jfModel->invsigmas().array()).matrix().asDiagonal() * - jf.matrixObject().full(); + if (jfModel) { + if (jf.get_model()->isConstrained()) + throw invalid_argument( + "Cannot construct HessianFactor from JacobianFactor with constrained noise model"); + info.full().triangularView() = + jf.matrixObject().full().transpose() + * (jfModel->invsigmas().array() * jfModel->invsigmas().array()).matrix().asDiagonal() + * jf.matrixObject().full(); } else { - info.full().triangularView() = jf.matrixObject().full().transpose() * jf.matrixObject().full(); + info.full().triangularView() = jf.matrixObject().full().transpose() + * jf.matrixObject().full(); } } } /* ************************************************************************* */ HessianFactor::HessianFactor(const JacobianFactor& jf) : - GaussianFactor(jf), info_(SymmetricBlockMatrix::LikeActiveViewOf(jf.matrixObject())) -{ + GaussianFactor(jf), info_( + SymmetricBlockMatrix::LikeActiveViewOf(jf.matrixObject())) { _FromJacobianHelper(jf, info_); } /* ************************************************************************* */ HessianFactor::HessianFactor(const GaussianFactor& gf) : - GaussianFactor(gf) -{ + GaussianFactor(gf) { // Copy the matrix data depending on what type of factor we're copying from - if(const JacobianFactor* jf = dynamic_cast(&gf)) - { + if (const JacobianFactor* jf = dynamic_cast(&gf)) { info_ = SymmetricBlockMatrix::LikeActiveViewOf(jf->matrixObject()); _FromJacobianHelper(*jf, info_); - } - else if(const HessianFactor* hf = dynamic_cast(&gf)) - { + } else if (const HessianFactor* hf = dynamic_cast(&gf)) { info_ = hf->info_; - } - else - { - throw std::invalid_argument("In HessianFactor(const GaussianFactor& gf), gf is neither a JacobianFactor nor a HessianFactor"); + } else { + throw std::invalid_argument( + "In HessianFactor(const GaussianFactor& gf), gf is neither a JacobianFactor nor a HessianFactor"); } } /* ************************************************************************* */ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, - boost::optional scatter) -{ + boost::optional scatter) { gttic(HessianFactor_MergeConstructor); boost::optional computedScatter; - if(!scatter) { + if (!scatter) { computedScatter = Scatter(factors); scatter = computedScatter; } @@ -247,45 +249,46 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, // Form A' * A gttic(update); BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) - if(factor) + if (factor) factor->updateHessian(keys_, &info_); gttoc(update); } /* ************************************************************************* */ -void HessianFactor::print(const std::string& s, const KeyFormatter& formatter) const { +void HessianFactor::print(const std::string& s, + const KeyFormatter& formatter) const { cout << s << "\n"; cout << " keys: "; - for(const_iterator key=begin(); key!=end(); ++key) + for (const_iterator key = begin(); key != end(); ++key) cout << formatter(*key) << "(" << getDim(key) << ") "; cout << "\n"; - gtsam::print(Matrix(info_.full().selfadjointView()), "Augmented information matrix: "); + gtsam::print(Matrix(info_.full().selfadjointView()), + "Augmented information matrix: "); } /* ************************************************************************* */ bool HessianFactor::equals(const GaussianFactor& lf, double tol) const { - if(!dynamic_cast(&lf)) + if (!dynamic_cast(&lf)) return false; else { - if(!Factor::equals(lf, tol)) + if (!Factor::equals(lf, tol)) return false; Matrix thisMatrix = info_.full().selfadjointView(); - thisMatrix(thisMatrix.rows()-1, thisMatrix.cols()-1) = 0.0; - Matrix rhsMatrix = static_cast(lf).info_.full().selfadjointView(); - rhsMatrix(rhsMatrix.rows()-1, rhsMatrix.cols()-1) = 0.0; + thisMatrix(thisMatrix.rows() - 1, thisMatrix.cols() - 1) = 0.0; + Matrix rhsMatrix = + static_cast(lf).info_.full().selfadjointView(); + rhsMatrix(rhsMatrix.rows() - 1, rhsMatrix.cols() - 1) = 0.0; return equal_with_abs_tol(thisMatrix, rhsMatrix, tol); } } /* ************************************************************************* */ -Matrix HessianFactor::augmentedInformation() const -{ +Matrix HessianFactor::augmentedInformation() const { return info_.full().selfadjointView(); } /* ************************************************************************* */ -Matrix HessianFactor::information() const -{ +Matrix HessianFactor::information() const { return info_.range(0, size(), 0, size()).selfadjointView(); } @@ -293,10 +296,10 @@ Matrix HessianFactor::information() const VectorValues HessianFactor::hessianDiagonal() const { VectorValues d; // Loop over all variables - for (DenseIndex j = 0; j < (DenseIndex)size(); ++j) { + for (DenseIndex j = 0; j < (DenseIndex) size(); ++j) { // Get the diagonal block, and insert its diagonal Matrix B = info_(j, j).selfadjointView(); - d.insert(keys_[j],B.diagonal()); + d.insert(keys_[j], B.diagonal()); } return d; } @@ -309,26 +312,24 @@ void HessianFactor::hessianDiagonal(double* d) const { } /* ************************************************************************* */ -map HessianFactor::hessianBlockDiagonal() const { - map blocks; +map HessianFactor::hessianBlockDiagonal() const { + map blocks; // Loop over all variables - for (DenseIndex j = 0; j < (DenseIndex)size(); ++j) { + for (DenseIndex j = 0; j < (DenseIndex) size(); ++j) { // Get the diagonal block, and insert it Matrix B = info_(j, j).selfadjointView(); - blocks.insert(make_pair(keys_[j],B)); + blocks.insert(make_pair(keys_[j], B)); } return blocks; } /* ************************************************************************* */ -Matrix HessianFactor::augmentedJacobian() const -{ +Matrix HessianFactor::augmentedJacobian() const { return JacobianFactor(*this).augmentedJacobian(); } /* ************************************************************************* */ -std::pair HessianFactor::jacobian() const -{ +std::pair HessianFactor::jacobian() const { return JacobianFactor(*this).jacobian(); } @@ -341,13 +342,13 @@ double HessianFactor::error(const VectorValues& c) const { // NOTE may not be as efficient const Vector x = c.vector(keys()); xtg = x.dot(linearTerm()); - xGx = x.transpose() * info_.range(0, size(), 0, size()).selfadjointView() * x; - return 0.5 * (f - 2.0 * xtg + xGx); + xGx = x.transpose() * info_.range(0, size(), 0, size()).selfadjointView() * x; + return 0.5 * (f - 2.0 * xtg + xGx); } /* ************************************************************************* */ void HessianFactor::updateHessian(const FastVector& infoKeys, - SymmetricBlockMatrix* info) const { + SymmetricBlockMatrix* info) const { gttic(updateHessian_HessianFactor); // Apply updates to the upper triangle DenseIndex n = size(), N = info->nBlocks() - 1; @@ -356,17 +357,17 @@ void HessianFactor::updateHessian(const FastVector& infoKeys, const DenseIndex J = (j == n) ? N : Slot(infoKeys, keys_[j]); slots[j] = J; for (DenseIndex i = 0; i <= j; ++i) { - const DenseIndex I = slots[i]; // because i<=j, slots[i] is valid. + const DenseIndex I = slots[i]; // because i<=j, slots[i] is valid. (*info)(I, J) += info_(i, j); } } } /* ************************************************************************* */ -GaussianFactor::shared_ptr HessianFactor::negate() const -{ +GaussianFactor::shared_ptr HessianFactor::negate() const { shared_ptr result = boost::make_shared(*this); - result->info_.full().triangularView() = -result->info_.full().triangularView().nestedExpression(); // Negate the information matrix of the result + result->info_.full().triangularView() = + -result->info_.full().triangularView().nestedExpression(); // Negate the information matrix of the result return result; } @@ -383,7 +384,7 @@ void HessianFactor::multiplyHessianAdd(double alpha, const VectorValues& x, // Accessing the VectorValues one by one is expensive // So we will loop over columns to access x only once per column // And fill the above temporary y values, to be added into yvalues after - for (DenseIndex j = 0; j < (DenseIndex)size(); ++j) { + for (DenseIndex j = 0; j < (DenseIndex) size(); ++j) { // xj is the input vector Vector xj = x.at(keys_[j]); DenseIndex i = 0; @@ -392,13 +393,13 @@ void HessianFactor::multiplyHessianAdd(double alpha, const VectorValues& x, // blocks on the diagonal are only half y[i] += info_(j, j).selfadjointView() * xj; // for below diagonal, we take transpose block from upper triangular part - for (i = j + 1; i < (DenseIndex)size(); ++i) + for (i = j + 1; i < (DenseIndex) size(); ++i) y[i] += info_(i, j).knownOffDiagonal() * xj; } // copy to yvalues - for(DenseIndex i = 0; i < (DenseIndex)size(); ++i) { - bool didNotExist; + for (DenseIndex i = 0; i < (DenseIndex) size(); ++i) { + bool didNotExist; VectorValues::iterator it; boost::tie(it, didNotExist) = yvalues.tryInsert(keys_[i], Vector()); if (didNotExist) @@ -413,7 +414,7 @@ VectorValues HessianFactor::gradientAtZero() const { VectorValues g; size_t n = size(); for (size_t j = 0; j < n; ++j) - g.insert(keys_[j], -info_(j,n).knownOffDiagonal()); + g.insert(keys_[j], -info_(j, n).knownOffDiagonal()); return g; } @@ -436,8 +437,7 @@ Vector HessianFactor::gradient(Key key, const VectorValues& x) const { if (i > j) { Matrix Gji = info(j, i); Gij = Gji.transpose(); - } - else { + } else { Gij = info(i, j); } // Accumulate Gij*xj to gradf @@ -449,30 +449,34 @@ Vector HessianFactor::gradient(Key key, const VectorValues& x) const { } /* ************************************************************************* */ -std::pair, boost::shared_ptr > -EliminateCholesky(const GaussianFactorGraph& factors, const Ordering& keys) -{ +std::pair, + boost::shared_ptr > EliminateCholesky( + const GaussianFactorGraph& factors, const Ordering& keys) { gttic(EliminateCholesky); // Build joint factor HessianFactor::shared_ptr jointFactor; try { - jointFactor = boost::make_shared(factors, Scatter(factors, keys)); - } catch(std::invalid_argument&) { + jointFactor = boost::make_shared(factors, + Scatter(factors, keys)); + } catch (std::invalid_argument&) { throw InvalidDenseElimination( "EliminateCholesky was called with a request to eliminate variables that are not\n" - "involved in the provided factors."); + "involved in the provided factors."); } // Do dense elimination GaussianConditional::shared_ptr conditional; try { size_t numberOfKeysToEliminate = keys.size(); - VerticalBlockMatrix Ab = jointFactor->info_.choleskyPartial(numberOfKeysToEliminate); - conditional = boost::make_shared(jointFactor->keys(), numberOfKeysToEliminate, Ab); + VerticalBlockMatrix Ab = jointFactor->info_.choleskyPartial( + numberOfKeysToEliminate); + conditional = boost::make_shared(jointFactor->keys(), + numberOfKeysToEliminate, Ab); // Erase the eliminated keys in the remaining factor - jointFactor->keys_.erase(jointFactor->begin(), jointFactor->begin() + numberOfKeysToEliminate); - } catch(CholeskyFailed&) { + jointFactor->keys_.erase(jointFactor->begin(), + jointFactor->begin() + numberOfKeysToEliminate); + } catch (CholeskyFailed&) { throw IndeterminantLinearSystemException(keys.front()); } @@ -481,9 +485,9 @@ EliminateCholesky(const GaussianFactorGraph& factors, const Ordering& keys) } /* ************************************************************************* */ -std::pair, boost::shared_ptr > -EliminatePreferCholesky(const GaussianFactorGraph& factors, const Ordering& keys) -{ +std::pair, + boost::shared_ptr > EliminatePreferCholesky( + const GaussianFactorGraph& factors, const Ordering& keys) { gttic(EliminatePreferCholesky); // If any JacobianFactors have constrained noise models, we have to convert From e045a5e1f77d09da943e85d9750946e560b7dfcd Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 12:53:20 -0700 Subject: [PATCH 221/964] Added more powerful tests on updateHessian --- gtsam/slam/tests/testGeneralSFMFactor.cpp | 67 ++++++++++++----------- 1 file changed, 34 insertions(+), 33 deletions(-) diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 7da6cdbdf..d14847e52 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include #include @@ -28,9 +29,10 @@ #include #include +#include #include #include -using namespace boost; +using namespace boost::assign; #include #include @@ -441,7 +443,8 @@ TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { } /* ************************************************************************* */ -TEST(GeneralSFMFactor, Linearize) { +// Frank created these tests after switching to a custom LinearizedFactor +TEST(GeneralSFMFactor, LinearizedFactor) { Point2 z(3., 0.); // Create Values @@ -453,44 +456,42 @@ TEST(GeneralSFMFactor, Linearize) { Point3 l1; values.insert(L(1), l1); - // Test with Empty Model + vector models; { - const SharedNoiseModel model; - Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( - values); - GaussianFactor::shared_ptr actual = factor.linearize(values); - EXPECT(assert_equal(*expected, *actual, 1e-9)); + // Create various noise-models to test all cases + using namespace noiseModel; + Rot2 R = Rot2::fromAngle(0.3); + Matrix2 cov = R.matrix() * R.matrix().transpose(); + models += SharedNoiseModel(), Unit::Create(2), // + Isotropic::Sigma(2, 0.5), Constrained::All(2), Gaussian::Covariance(cov); } - // Test with Unit Model - { - const SharedNoiseModel model(noiseModel::Unit::Create(2)); + + // Now loop over all these noise models + BOOST_FOREACH(SharedNoiseModel model, models) { Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( - values); - GaussianFactor::shared_ptr actual = factor.linearize(values); - EXPECT(assert_equal(*expected, *actual, 1e-9)); - } - // Test with Isotropic noise - { - const SharedNoiseModel model(noiseModel::Isotropic::Sigma(2, 0.5)); - Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( - values); - GaussianFactor::shared_ptr actual = factor.linearize(values); - EXPECT(assert_equal(*expected, *actual, 1e-9)); - } - // Test with Constrained Model - { - const SharedNoiseModel model(noiseModel::Constrained::All(2)); - Projection factor(z, model, X(1), L(1)); - GaussianFactor::shared_ptr expected = factor.NoiseModelFactor::linearize( - values); + + // Test linearize + GaussianFactor::shared_ptr expected = // + factor.NoiseModelFactor::linearize(values); GaussianFactor::shared_ptr actual = factor.linearize(values); EXPECT(assert_equal(*expected, *actual, 1e-9)); + + // Test methods that rely on updateHessian + if (model && !model->isConstrained()) { + // Construct HessianFactor from single JacobianFactor + HessianFactor expectedHessian(*expected), actualHessian(*actual); + EXPECT(assert_equal(expectedHessian, actualHessian, 1e-9)); + + // Construct from GaussianFactorGraph + GaussianFactorGraph gfg1; + gfg1 += expected; + GaussianFactorGraph gfg2; + gfg2 += actual; + HessianFactor hessian1(gfg1), hessian2(gfg2); + EXPECT(assert_equal(hessian1, hessian2, 1e-9)); + } } } - /* ************************************************************************* */ int main() { TestResult tr; From df226fc43633f0a3650239fdd67fe3e79ba048e7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 12:54:18 -0700 Subject: [PATCH 222/964] No longer store my own matrices but get same performance using block --- gtsam/slam/GeneralSFMFactor.h | 29 +++++++++++++++-------------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index fbf64de6c..c026cd36a 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -135,23 +135,19 @@ public: class LinearizedFactor : public JacobianFactor { // Fixed size matrices - // TODO: implement generic BinaryJacobianFactor next to + // TODO(frank): implement generic BinaryJacobianFactor next to // JacobianFactor - JacobianC AC_; - JacobianL AL_; - Vector2 b_; public: /// Constructor LinearizedFactor(Key i1, const JacobianC& A1, Key i2, const JacobianL& A2, const Vector2& b, const SharedDiagonal& model = SharedDiagonal()) - : JacobianFactor(i1, A1, i2, A2, b, model), AC_(A1), AL_(A2), b_(b) {} + : JacobianFactor(i1, A1, i2, A2, b, model) {} // Fixed-size matrix update void updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { gttic(updateHessian_LinearizedFactor); - // Whiten the factor if it has a noise model const SharedDiagonal& model = get_model(); if (model && !model->isUnit()) { @@ -163,17 +159,22 @@ public: whitenedFactor.updateHessian(infoKeys, info); } else { // First build an array of slots - DenseIndex slotC = Slot(infoKeys, keys_.front()); - DenseIndex slotL = Slot(infoKeys, keys_.back()); + DenseIndex slot0 = Slot(infoKeys, keys_.front()); + DenseIndex slot1 = Slot(infoKeys, keys_.back()); DenseIndex slotB = info->nBlocks() - 1; + const Matrix& Ab = Ab_.matrix(); + Eigen::Block A0 = Ab.template block<2,DimC>(0,0); + Eigen::Block A1 = Ab.template block<2,DimL>(0,DimC); + Eigen::Block b = Ab.template block<2,1>(0,DimC+DimL); + // We perform I += A'*A to the upper triangle - (*info)(slotC, slotC).selfadjointView().rankUpdate(AC_.transpose()); - (*info)(slotC, slotL).knownOffDiagonal() += AC_.transpose() * AL_; - (*info)(slotC, slotB).knownOffDiagonal() += AC_.transpose() * b_; - (*info)(slotL, slotL).selfadjointView().rankUpdate(AL_.transpose()); - (*info)(slotL, slotB).knownOffDiagonal() += AL_.transpose() * b_; - (*info)(slotB, slotB).selfadjointView().rankUpdate(b_.transpose()); + (*info)(slot0, slot0).selfadjointView().rankUpdate(A0.transpose()); + (*info)(slot0, slot1).knownOffDiagonal() += A0.transpose() * A1; + (*info)(slot0, slotB).knownOffDiagonal() += A0.transpose() * b; + (*info)(slot1, slot1).selfadjointView().rankUpdate(A1.transpose()); + (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b; + (*info)(slotB, slotB).selfadjointView().rankUpdate(b.transpose()); } } }; From 8c22684bbb6bc1c871bdd73f6ae35a69599bd74d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 13:02:44 -0700 Subject: [PATCH 223/964] Went back to base 1, and used constructors for blocks (cleaner) --- gtsam/slam/GeneralSFMFactor.h | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index c026cd36a..8097394db 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -159,21 +159,21 @@ public: whitenedFactor.updateHessian(infoKeys, info); } else { // First build an array of slots - DenseIndex slot0 = Slot(infoKeys, keys_.front()); - DenseIndex slot1 = Slot(infoKeys, keys_.back()); + DenseIndex slot1 = Slot(infoKeys, keys_.front()); + DenseIndex slot2 = Slot(infoKeys, keys_.back()); DenseIndex slotB = info->nBlocks() - 1; const Matrix& Ab = Ab_.matrix(); - Eigen::Block A0 = Ab.template block<2,DimC>(0,0); - Eigen::Block A1 = Ab.template block<2,DimL>(0,DimC); - Eigen::Block b = Ab.template block<2,1>(0,DimC+DimL); + Eigen::Block A1(Ab,0,0); + Eigen::Block A2(Ab,0,DimC); + Eigen::Block b(Ab,0,DimC+DimL); // We perform I += A'*A to the upper triangle - (*info)(slot0, slot0).selfadjointView().rankUpdate(A0.transpose()); - (*info)(slot0, slot1).knownOffDiagonal() += A0.transpose() * A1; - (*info)(slot0, slotB).knownOffDiagonal() += A0.transpose() * b; (*info)(slot1, slot1).selfadjointView().rankUpdate(A1.transpose()); + (*info)(slot1, slot2).knownOffDiagonal() += A1.transpose() * A2; (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b; + (*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose()); + (*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b; (*info)(slotB, slotB).selfadjointView().rankUpdate(b.transpose()); } } From 9fcd498d6a6390c10dfb7ac43eb837ce42ee2797 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 13:37:51 -0700 Subject: [PATCH 224/964] BORG formatting --- gtsam/base/SymmetricBlockMatrix.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/base/SymmetricBlockMatrix.cpp b/gtsam/base/SymmetricBlockMatrix.cpp index 546b6a7f1..0fbdfeefc 100644 --- a/gtsam/base/SymmetricBlockMatrix.cpp +++ b/gtsam/base/SymmetricBlockMatrix.cpp @@ -61,13 +61,13 @@ VerticalBlockMatrix SymmetricBlockMatrix::choleskyPartial( // Split conditional - // Create one big conditionals with many frontal variables. - gttic(Construct_conditional); - const size_t varDim = offset(nFrontals); - VerticalBlockMatrix Ab = VerticalBlockMatrix::LikeActiveViewOf(*this, varDim); - Ab.full() = matrix_.topRows(varDim); - Ab.full().triangularView().setZero(); - gttoc(Construct_conditional); + // Create one big conditionals with many frontal variables. + gttic(Construct_conditional); + const size_t varDim = offset(nFrontals); + VerticalBlockMatrix Ab = VerticalBlockMatrix::LikeActiveViewOf(*this, varDim); + Ab.full() = matrix_.topRows(varDim); + Ab.full().triangularView().setZero(); + gttoc(Construct_conditional); gttic(Remaining_factor); // Take lower-right block of Ab_ to get the remaining factor From a94c2e7323b0c4f3911ead650bdd627e68bdf72f Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 15:02:48 -0700 Subject: [PATCH 225/964] Renamed to BinaryJacobianFactor --- gtsam/slam/GeneralSFMFactor.h | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 8097394db..ba8d478ad 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -133,29 +133,29 @@ public: } } - class LinearizedFactor : public JacobianFactor { + class BinaryJacobianFactor : public JacobianFactor { // Fixed size matrices // TODO(frank): implement generic BinaryJacobianFactor next to // JacobianFactor public: /// Constructor - LinearizedFactor(Key i1, const JacobianC& A1, Key i2, const JacobianL& A2, + BinaryJacobianFactor(Key key1, const JacobianC& A1, Key key2, const JacobianL& A2, const Vector2& b, const SharedDiagonal& model = SharedDiagonal()) - : JacobianFactor(i1, A1, i2, A2, b, model) {} + : JacobianFactor(key1, A1, key2, A2, b, model) {} // Fixed-size matrix update void updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { - gttic(updateHessian_LinearizedFactor); + gttic(updateHessian_BinaryJacobianFactor); // Whiten the factor if it has a noise model const SharedDiagonal& model = get_model(); if (model && !model->isUnit()) { if (model->isConstrained()) throw std::invalid_argument( - "JacobianFactor::updateHessian: cannot update information with " + "BinaryJacobianFactor::updateHessian: cannot update information with " "constrained noise model"); - JacobianFactor whitenedFactor = whiten(); + JacobianFactor whitenedFactor = whiten(); // TODO: make BinaryJacobianFactor whitenedFactor.updateHessian(infoKeys, info); } else { // First build an array of slots @@ -164,9 +164,9 @@ public: DenseIndex slotB = info->nBlocks() - 1; const Matrix& Ab = Ab_.matrix(); - Eigen::Block A1(Ab,0,0); - Eigen::Block A2(Ab,0,DimC); - Eigen::Block b(Ab,0,DimC+DimL); + Eigen::Block A1(Ab, 0, 0); + Eigen::Block A2(Ab, 0, DimC); + Eigen::Block b(Ab, 0, DimC + DimL); // We perform I += A'*A to the upper triangle (*info)(slot1, slot1).selfadjointView().rankUpdate(A1.transpose()); @@ -174,7 +174,7 @@ public: (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b; (*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose()); (*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b; - (*info)(slotB, slotB).selfadjointView().rankUpdate(b.transpose()); + (*info)(slotB, slotB)(0,0) = b.transpose() * b; } } }; @@ -182,7 +182,7 @@ public: /// Linearize using fixed-size matrices boost::shared_ptr linearize(const Values& values) const { // Only linearize if the factor is active - if (!this->active(values)) return boost::shared_ptr(); + if (!this->active(values)) return boost::shared_ptr(); const Key key1 = this->key1(), key2 = this->key2(); JacobianC H1; @@ -212,11 +212,11 @@ public: if (noiseModel && noiseModel->isConstrained()) { using noiseModel::Constrained; - return boost::make_shared( + return boost::make_shared( key1, H1, key2, H2, b, boost::static_pointer_cast(noiseModel)->unit()); } else { - return boost::make_shared(key1, H1, key2, H2, b); + return boost::make_shared(key1, H1, key2, H2, b); } } From 30104a114ea60ae5632406e463eb249289e77dae Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 15:03:44 -0700 Subject: [PATCH 226/964] More tests with failing example --- gtsam/slam/tests/testGeneralSFMFactor.cpp | 129 ++++++++++++++-------- 1 file changed, 82 insertions(+), 47 deletions(-) diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index d14847e52..dd19e0894 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -82,40 +82,6 @@ static double getGaussian() { } static const SharedNoiseModel sigma1(noiseModel::Unit::Create(2)); - -/* ************************************************************************* */ -TEST( GeneralSFMFactor, equals ) { - // Create two identical factors and make sure they're equal - Point2 z(323., 240.); - const Symbol cameraFrameNumber('x', 1), landmarkNumber('l', 1); - const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); - boost::shared_ptr factor1( - new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); - - boost::shared_ptr factor2( - new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); - - EXPECT(assert_equal(*factor1, *factor2)); -} - -/* ************************************************************************* */ -TEST( GeneralSFMFactor, error ) { - Point2 z(3., 0.); - const SharedNoiseModel sigma(noiseModel::Unit::Create(2)); - Projection factor(z, sigma, X(1), L(1)); - // For the following configuration, the factor predicts 320,240 - Values values; - Rot3 R; - Point3 t1(0, 0, -6); - Pose3 x1(R, t1); - values.insert(X(1), GeneralCamera(x1)); - Point3 l1; - values.insert(L(1), l1); - EXPECT( - assert_equal(((Vector ) Vector2(-3., 0.)), - factor.unwhitenedError(values))); -} - static const double baseline = 5.; /* ************************************************************************* */ @@ -162,6 +128,39 @@ static boost::shared_ptr getOrdering( return ordering; } +/* ************************************************************************* */ +TEST( GeneralSFMFactor, equals ) { + // Create two identical factors and make sure they're equal + Point2 z(323., 240.); + const Symbol cameraFrameNumber('x', 1), landmarkNumber('l', 1); + const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); + boost::shared_ptr factor1( + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + + boost::shared_ptr factor2( + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + + EXPECT(assert_equal(*factor1, *factor2)); +} + +/* ************************************************************************* */ +TEST( GeneralSFMFactor, error ) { + Point2 z(3., 0.); + const SharedNoiseModel sigma(noiseModel::Unit::Create(2)); + Projection factor(z, sigma, X(1), L(1)); + // For the following configuration, the factor predicts 320,240 + Values values; + Rot3 R; + Point3 t1(0, 0, -6); + Pose3 x1(R, t1); + values.insert(X(1), GeneralCamera(x1)); + Point3 l1; + values.insert(L(1), l1); + EXPECT( + assert_equal(((Vector ) Vector2(-3., 0.)), + factor.unwhitenedError(values))); +} + /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_defaultK ) { @@ -252,10 +251,10 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { // add measurement with noise const double noise = baseline * 0.1; Graph graph; - for (size_t j = 0; j < cameras.size(); ++j) { - for (size_t i = 0; i < landmarks.size(); ++i) { - Point2 pt = cameras[j].project(landmarks[i]); - graph.addMeasurement(j, i, pt, sigma1); + for (size_t i = 0; i < cameras.size(); ++i) { + for (size_t j = 0; j < landmarks.size(); ++j) { + Point2 z = cameras[i].project(landmarks[j]); + graph.addMeasurement(i, j, z, sigma1); } } @@ -265,12 +264,11 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { for (size_t i = 0; i < cameras.size(); ++i) values.insert(X(i), cameras[i]); - for (size_t i = 0; i < landmarks.size(); ++i) { - Point3 pt(landmarks[i].x() + noise * getGaussian(), - landmarks[i].y() + noise * getGaussian(), - landmarks[i].z() + noise * getGaussian()); - //Point3 pt(landmarks[i].x(), landmarks[i].y(), landmarks[i].z()); - values.insert(L(i), pt); + for (size_t j = 0; j < landmarks.size(); ++j) { + Point3 pt(landmarks[j].x() + noise * getGaussian(), + landmarks[j].y() + noise * getGaussian(), + landmarks[j].z() + noise * getGaussian()); + values.insert(L(j), pt); } for (size_t i = 0; i < cameras.size(); ++i) @@ -444,8 +442,8 @@ TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { /* ************************************************************************* */ // Frank created these tests after switching to a custom LinearizedFactor -TEST(GeneralSFMFactor, LinearizedFactor) { - Point2 z(3., 0.); +TEST(GeneralSFMFactor, BinaryJacobianFactor) { + Point2 measurement(3., -1.); // Create Values Values values; @@ -468,7 +466,7 @@ TEST(GeneralSFMFactor, LinearizedFactor) { // Now loop over all these noise models BOOST_FOREACH(SharedNoiseModel model, models) { - Projection factor(z, model, X(1), L(1)); + Projection factor(measurement, model, X(1), L(1)); // Test linearize GaussianFactor::shared_ptr expected = // @@ -482,6 +480,14 @@ TEST(GeneralSFMFactor, LinearizedFactor) { HessianFactor expectedHessian(*expected), actualHessian(*actual); EXPECT(assert_equal(expectedHessian, actualHessian, 1e-9)); + // Convert back + JacobianFactor actualJacobian(actualHessian); + // Note we do not expect the actualJacobian to match *expected + // Just that they have the same information on the variable. + EXPECT( + assert_equal(expected->augmentedInformation(), + actualJacobian.augmentedInformation(), 1e-9)); + // Construct from GaussianFactorGraph GaussianFactorGraph gfg1; gfg1 += expected; @@ -492,6 +498,35 @@ TEST(GeneralSFMFactor, LinearizedFactor) { } } } + +/* ************************************************************************* */ +// Do a thorough test of BinaryJacobianFactor +TEST( GeneralSFMFactor, BinaryJacobianFactor2 ) { + + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); + + Values values; + for (size_t i = 0; i < cameras.size(); ++i) + values.insert(X(i), cameras[i]); + for (size_t j = 0; j < landmarks.size(); ++j) + values.insert(L(j), landmarks[j]); + + for (size_t i = 0; i < cameras.size(); ++i) { + for (size_t j = 0; j < landmarks.size(); ++j) { + Point2 z = cameras[i].project(landmarks[j]); + Projection::shared_ptr nonlinear = // + boost::make_shared(z, sigma1, X(i), L(j)); + GaussianFactor::shared_ptr factor = nonlinear->linearize(values); + HessianFactor hessian(*factor); + JacobianFactor jacobian(hessian); + EXPECT( + assert_equal(factor->augmentedInformation(), + jacobian.augmentedInformation(), 1e-9)); + } + } +} + /* ************************************************************************* */ int main() { TestResult tr; From 06902209b0a3877ef6204de934767215362837ab Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 15:19:55 -0700 Subject: [PATCH 227/964] Fixed bug in hessian scalar computation --- gtsam/slam/GeneralSFMFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index ba8d478ad..a41047ae4 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -174,7 +174,7 @@ public: (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b; (*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose()); (*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b; - (*info)(slotB, slotB)(0,0) = b.transpose() * b; + (*info)(slotB, slotB)(0,0) += b.transpose() * b; } } }; From 7698c52ce9ceed0a2ef21acd47dffe5dd7a535e2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 15:50:15 -0700 Subject: [PATCH 228/964] Created BinaryJacobianFactor template --- gtsam/linear/BinaryJacobianFactor.h | 91 +++++++++++++++++++++++ gtsam/slam/GeneralSFMFactor.h | 61 ++------------- gtsam/slam/tests/testGeneralSFMFactor.cpp | 12 +-- 3 files changed, 104 insertions(+), 60 deletions(-) create mode 100644 gtsam/linear/BinaryJacobianFactor.h diff --git a/gtsam/linear/BinaryJacobianFactor.h b/gtsam/linear/BinaryJacobianFactor.h new file mode 100644 index 000000000..23d11964c --- /dev/null +++ b/gtsam/linear/BinaryJacobianFactor.h @@ -0,0 +1,91 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file BinaryJacobianFactor.h + * + * @brief A binary JacobianFactor specialization that uses fixed matrix math for speed + * + * @date June 2015 + * @author Frank Dellaert + */ + +#pragma once + +#include +#include +#include + +namespace gtsam { + +/** + * A binary JacobianFactor specialization that uses fixed matrix math for speed + */ +template +struct BinaryJacobianFactor: JacobianFactor { + + /// Constructor + BinaryJacobianFactor(Key key1, const Eigen::Matrix& A1, + Key key2, const Eigen::Matrix& A2, + const Eigen::Matrix& b, // + const SharedDiagonal& model = SharedDiagonal()) : + JacobianFactor(key1, A1, key2, A2, b, model) { + } + + inline Key key1() const { + return keys_[0]; + } + inline Key key2() const { + return keys_[1]; + } + + // Fixed-size matrix update + void updateHessian(const FastVector& infoKeys, + SymmetricBlockMatrix* info) const { + gttic(updateHessian_BinaryJacobianFactor); + // Whiten the factor if it has a noise model + const SharedDiagonal& model = get_model(); + if (model && !model->isUnit()) { + if (model->isConstrained()) + throw std::invalid_argument( + "BinaryJacobianFactor::updateHessian: cannot update information with " + "constrained noise model"); + BinaryJacobianFactor whitenedFactor(key1(), model->Whiten(getA(begin())), + key2(), model->Whiten(getA(end())), model->whiten(getb())); + whitenedFactor.updateHessian(infoKeys, info); + } else { + // First build an array of slots + DenseIndex slot1 = Slot(infoKeys, key1()); + DenseIndex slot2 = Slot(infoKeys, key2()); + DenseIndex slotB = info->nBlocks() - 1; + + const Matrix& Ab = Ab_.matrix(); + Eigen::Block A1(Ab, 0, 0); + Eigen::Block A2(Ab, 0, N1); + Eigen::Block b(Ab, 0, N1 + N2); + + // We perform I += A'*A to the upper triangle + (*info)(slot1, slot1).selfadjointView().rankUpdate(A1.transpose()); + (*info)(slot1, slot2).knownOffDiagonal() += A1.transpose() * A2; + (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b; + (*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose()); + (*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b; + (*info)(slotB, slotB)(0, 0) += b.transpose() * b; + } + } +}; + +template +struct traits > : Testable< + BinaryJacobianFactor > { +}; + +} //namespace gtsam diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index a41047ae4..d2b042fed 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -25,7 +25,7 @@ #include #include #include -#include +#include #include #include #include @@ -133,56 +133,10 @@ public: } } - class BinaryJacobianFactor : public JacobianFactor { - // Fixed size matrices - // TODO(frank): implement generic BinaryJacobianFactor next to - // JacobianFactor - - public: - /// Constructor - BinaryJacobianFactor(Key key1, const JacobianC& A1, Key key2, const JacobianL& A2, - const Vector2& b, - const SharedDiagonal& model = SharedDiagonal()) - : JacobianFactor(key1, A1, key2, A2, b, model) {} - - // Fixed-size matrix update - void updateHessian(const FastVector& infoKeys, SymmetricBlockMatrix* info) const { - gttic(updateHessian_BinaryJacobianFactor); - // Whiten the factor if it has a noise model - const SharedDiagonal& model = get_model(); - if (model && !model->isUnit()) { - if (model->isConstrained()) - throw std::invalid_argument( - "BinaryJacobianFactor::updateHessian: cannot update information with " - "constrained noise model"); - JacobianFactor whitenedFactor = whiten(); // TODO: make BinaryJacobianFactor - whitenedFactor.updateHessian(infoKeys, info); - } else { - // First build an array of slots - DenseIndex slot1 = Slot(infoKeys, keys_.front()); - DenseIndex slot2 = Slot(infoKeys, keys_.back()); - DenseIndex slotB = info->nBlocks() - 1; - - const Matrix& Ab = Ab_.matrix(); - Eigen::Block A1(Ab, 0, 0); - Eigen::Block A2(Ab, 0, DimC); - Eigen::Block b(Ab, 0, DimC + DimL); - - // We perform I += A'*A to the upper triangle - (*info)(slot1, slot1).selfadjointView().rankUpdate(A1.transpose()); - (*info)(slot1, slot2).knownOffDiagonal() += A1.transpose() * A2; - (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b; - (*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose()); - (*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b; - (*info)(slotB, slotB)(0,0) += b.transpose() * b; - } - } - }; - /// Linearize using fixed-size matrices boost::shared_ptr linearize(const Values& values) const { // Only linearize if the factor is active - if (!this->active(values)) return boost::shared_ptr(); + if (!this->active(values)) return boost::shared_ptr(); const Key key1 = this->key1(), key2 = this->key2(); JacobianC H1; @@ -210,14 +164,13 @@ public: b = noiseModel->Whiten(b); } + // Create new (unit) noiseModel, preserving constraints if applicable + SharedDiagonal model; if (noiseModel && noiseModel->isConstrained()) { - using noiseModel::Constrained; - return boost::make_shared( - key1, H1, key2, H2, b, - boost::static_pointer_cast(noiseModel)->unit()); - } else { - return boost::make_shared(key1, H1, key2, H2, b); + model = boost::static_pointer_cast(noiseModel)->unit(); } + + return boost::make_shared >(key1, H1, key2, H2, b, model); } /** return the measured */ diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index dd19e0894..a8f85301e 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -135,11 +135,11 @@ TEST( GeneralSFMFactor, equals ) { const Symbol cameraFrameNumber('x', 1), landmarkNumber('l', 1); const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); boost::shared_ptr factor1( - new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); - + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + boost::shared_ptr factor2( - new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); - + new Projection(z, sigma, cameraFrameNumber, landmarkNumber)); + EXPECT(assert_equal(*factor1, *factor2)); } @@ -157,8 +157,8 @@ TEST( GeneralSFMFactor, error ) { Point3 l1; values.insert(L(1), l1); EXPECT( - assert_equal(((Vector ) Vector2(-3., 0.)), - factor.unwhitenedError(values))); + assert_equal(((Vector ) Vector2(-3., 0.)), + factor.unwhitenedError(values))); } /* ************************************************************************* */ From 57716646227b619272f7fa00f11a488489c0ba91 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 16:01:54 -0700 Subject: [PATCH 229/964] Starting to diagnose issue with lower-left entry of Hessian --- gtsam/linear/HessianFactor.cpp | 15 ++++----------- gtsam/linear/JacobianFactor.cpp | 8 ++++---- gtsam/linear/tests/testHessianFactor.cpp | 14 ++++++++------ 3 files changed, 16 insertions(+), 21 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index bbc684a10..21f4b117f 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -268,18 +268,11 @@ void HessianFactor::print(const std::string& s, /* ************************************************************************* */ bool HessianFactor::equals(const GaussianFactor& lf, double tol) const { - if (!dynamic_cast(&lf)) + const HessianFactor* rhs = dynamic_cast(&lf); + if (!rhs || !Factor::equals(lf, tol)) return false; - else { - if (!Factor::equals(lf, tol)) - return false; - Matrix thisMatrix = info_.full().selfadjointView(); - thisMatrix(thisMatrix.rows() - 1, thisMatrix.cols() - 1) = 0.0; - Matrix rhsMatrix = - static_cast(lf).info_.full().selfadjointView(); - rhsMatrix(rhsMatrix.rows() - 1, rhsMatrix.cols() - 1) = 0.0; - return equal_with_abs_tol(thisMatrix, rhsMatrix, tol); - } + return equal_with_abs_tol(augmentedInformation(), rhs->augmentedInformation(), + tol); } /* ************************************************************************* */ diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 8214294b2..b38aa89e7 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -66,10 +66,10 @@ JacobianFactor::JacobianFactor() : /* ************************************************************************* */ JacobianFactor::JacobianFactor(const GaussianFactor& gf) { // Copy the matrix data depending on what type of factor we're copying from - if (const JacobianFactor* rhs = dynamic_cast(&gf)) - *this = JacobianFactor(*rhs); - else if (const HessianFactor* rhs = dynamic_cast(&gf)) - *this = JacobianFactor(*rhs); + if (const JacobianFactor* asJacobian = dynamic_cast(&gf)) + *this = JacobianFactor(*asJacobian); + else if (const HessianFactor* asHessian = dynamic_cast(&gf)) + *this = JacobianFactor(*asHessian); else throw std::invalid_argument( "In JacobianFactor(const GaussianFactor& rhs), rhs is neither a JacobianFactor nor a HessianFactor"); diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index 96e61aa33..afd611112 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -286,8 +286,8 @@ TEST(HessianFactor, CombineAndEliminate) 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0).finished(); - Vector3 b0(1.5, 1.5, 1.5); - Vector3 s0(1.6, 1.6, 1.6); + Vector3 b0(1,0,0);//(1.5, 1.5, 1.5); + Vector3 s0=Vector3::Ones();//(1.6, 1.6, 1.6); Matrix A10 = (Matrix(3,3) << 2.0, 0.0, 0.0, @@ -297,15 +297,15 @@ TEST(HessianFactor, CombineAndEliminate) -2.0, 0.0, 0.0, 0.0, -2.0, 0.0, 0.0, 0.0, -2.0).finished(); - Vector3 b1(2.5, 2.5, 2.5); - Vector3 s1(2.6, 2.6, 2.6); + Vector3 b1 = Vector3::Zero();//(2.5, 2.5, 2.5); + Vector3 s1=Vector3::Ones();//(2.6, 2.6, 2.6); Matrix A21 = (Matrix(3,3) << 3.0, 0.0, 0.0, 0.0, 3.0, 0.0, 0.0, 0.0, 3.0).finished(); - Vector3 b2(3.5, 3.5, 3.5); - Vector3 s2(3.6, 3.6, 3.6); + Vector3 b2 = Vector3::Zero();//(3.5, 3.5, 3.5); + Vector3 s2=Vector3::Ones();//(3.6, 3.6, 3.6); GaussianFactorGraph gfg; gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); @@ -334,6 +334,8 @@ TEST(HessianFactor, CombineAndEliminate) boost::tie(actualConditional, actualCholeskyFactor) = EliminateCholesky(gfg, Ordering(list_of(0))); EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6)); + VectorValues vv; vv.insert(1, Vector3(1,2,3)); + EXPECT_DOUBLES_EQUAL(expectedRemainingFactor->error(vv), actualCholeskyFactor->error(vv), 1e-9); EXPECT(assert_equal(HessianFactor(*expectedRemainingFactor), *actualCholeskyFactor, 1e-6)); } From a18875b598eb454378cf05de3ed4df5278fd87c9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 16:05:09 -0700 Subject: [PATCH 230/964] Changed headers to GTSAM-style (near to far) --- gtsam/base/FastDefaultAllocator.h | 5 ++--- gtsam/base/FastMap.h | 2 +- gtsam/base/timing.cpp | 22 +++++++++++++--------- gtsam/base/timing.h | 13 ++++++++----- 4 files changed, 24 insertions(+), 18 deletions(-) diff --git a/gtsam/base/FastDefaultAllocator.h b/gtsam/base/FastDefaultAllocator.h index 156a87f55..bf5cfc498 100644 --- a/gtsam/base/FastDefaultAllocator.h +++ b/gtsam/base/FastDefaultAllocator.h @@ -17,8 +17,7 @@ */ #pragma once - -#include +#include // Configuration from CMake #if !defined GTSAM_ALLOCATOR_BOOSTPOOL && !defined GTSAM_ALLOCATOR_TBB && !defined GTSAM_ALLOCATOR_STL # ifdef GTSAM_USE_TBB @@ -85,4 +84,4 @@ namespace gtsam }; } -} \ No newline at end of file +} diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h index 7cd6e28b8..65d532191 100644 --- a/gtsam/base/FastMap.h +++ b/gtsam/base/FastMap.h @@ -19,9 +19,9 @@ #pragma once #include -#include #include #include +#include namespace gtsam { diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index 36f1c2f5f..8df669227 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -16,18 +16,22 @@ * @date Oct 5, 2010 */ -#include -#include -#include -#include -#include -#include -#include -#include - #include #include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + namespace gtsam { namespace internal { diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 7a43ef884..49c43712a 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -17,12 +17,15 @@ */ #pragma once -#include -#include -#include -#include -#include #include +#include + +#include +#include +#include + +#include +#include // This file contains the GTSAM timing instrumentation library, a low-overhead method for // learning at a medium-fine level how much time various components of an algorithm take From 15966a65f253ddff73f135789e3662b73bc563b6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 16:05:18 -0700 Subject: [PATCH 231/964] Small reformat --- gtsam/base/SymmetricBlockMatrix.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/base/SymmetricBlockMatrix.cpp b/gtsam/base/SymmetricBlockMatrix.cpp index 546b6a7f1..0fbdfeefc 100644 --- a/gtsam/base/SymmetricBlockMatrix.cpp +++ b/gtsam/base/SymmetricBlockMatrix.cpp @@ -61,13 +61,13 @@ VerticalBlockMatrix SymmetricBlockMatrix::choleskyPartial( // Split conditional - // Create one big conditionals with many frontal variables. - gttic(Construct_conditional); - const size_t varDim = offset(nFrontals); - VerticalBlockMatrix Ab = VerticalBlockMatrix::LikeActiveViewOf(*this, varDim); - Ab.full() = matrix_.topRows(varDim); - Ab.full().triangularView().setZero(); - gttoc(Construct_conditional); + // Create one big conditionals with many frontal variables. + gttic(Construct_conditional); + const size_t varDim = offset(nFrontals); + VerticalBlockMatrix Ab = VerticalBlockMatrix::LikeActiveViewOf(*this, varDim); + Ab.full() = matrix_.topRows(varDim); + Ab.full().triangularView().setZero(); + gttoc(Construct_conditional); gttic(Remaining_factor); // Take lower-right block of Ab_ to get the remaining factor From 75e072396c5f3b8c2e97b4e0a803031c0645e53f Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 16:05:39 -0700 Subject: [PATCH 232/964] Refactored and renamed some internals --- gtsam/base/timing.cpp | 39 +++++++++++++---------------- gtsam/base/timing.h | 58 +++++++++++++++++++++++++++---------------- 2 files changed, 53 insertions(+), 44 deletions(-) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index 8df669227..b76746ba0 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -35,9 +35,9 @@ namespace gtsam { namespace internal { -GTSAM_EXPORT boost::shared_ptr timingRoot( +GTSAM_EXPORT boost::shared_ptr gTimingRoot( new TimingOutline("Total", getTicTocID("Total"))); -GTSAM_EXPORT boost::weak_ptr timingCurrent(timingRoot); +GTSAM_EXPORT boost::weak_ptr gCurrentTimer(gTimingRoot); /* ************************************************************************* */ // Implementation of TimingOutline @@ -54,8 +54,8 @@ void TimingOutline::add(size_t usecs, size_t usecsWall) { } /* ************************************************************************* */ -TimingOutline::TimingOutline(const std::string& label, size_t myId) : - myId_(myId), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_( +TimingOutline::TimingOutline(const std::string& label, size_t id) : + id_(id), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_( 0), lastChildOrder_(0), label_(label) { #ifdef GTSAM_USING_NEW_BOOST_TIMERS timer_.stop(); @@ -157,7 +157,7 @@ const boost::shared_ptr& TimingOutline::child(size_t child, } /* ************************************************************************* */ -void TimingOutline::ticInternal() { +void TimingOutline::tic() { #ifdef GTSAM_USING_NEW_BOOST_TIMERS assert(timer_.is_stopped()); timer_.start(); @@ -173,7 +173,7 @@ void TimingOutline::ticInternal() { } /* ************************************************************************* */ -void TimingOutline::tocInternal() { +void TimingOutline::toc() { #ifdef GTSAM_USING_NEW_BOOST_TIMERS assert(!timer_.is_stopped()); @@ -216,7 +216,6 @@ void TimingOutline::finishedIteration() { } /* ************************************************************************* */ -// Generate or retrieve a unique global ID number that will be used to look up tic_/toc statements size_t getTicTocID(const char *descriptionC) { const std::string description(descriptionC); // Global (static) map from strings to ID numbers and current next ID number @@ -236,37 +235,33 @@ size_t getTicTocID(const char *descriptionC) { } /* ************************************************************************* */ -void ticInternal(size_t id, const char *labelC) { +void tic(size_t id, const char *labelC) { const std::string label(labelC); - if (ISDEBUG("timing-verbose")) - std::cout << "gttic_(" << id << ", " << label << ")" << std::endl; boost::shared_ptr node = // - timingCurrent.lock()->child(id, label, timingCurrent); - timingCurrent = node; - node->ticInternal(); + gCurrentTimer.lock()->child(id, label, gCurrentTimer); + gCurrentTimer = node; + node->tic(); } /* ************************************************************************* */ -void tocInternal(size_t id, const char *label) { - if (ISDEBUG("timing-verbose")) - std::cout << "gttoc(" << id << ", " << label << ")" << std::endl; - boost::shared_ptr current(timingCurrent.lock()); - if (id != current->myId_) { - timingRoot->print(); +void toc(size_t id, const char *label) { + boost::shared_ptr current(gCurrentTimer.lock()); + if (id != current->id_) { + gTimingRoot->print(); throw std::invalid_argument( (boost::format( "gtsam timing: Mismatched tic/toc: gttoc(\"%s\") called when last tic was \"%s\".") % label % current->label_).str()); } if (!current->parent_.lock()) { - timingRoot->print(); + gTimingRoot->print(); throw std::invalid_argument( (boost::format( "gtsam timing: Mismatched tic/toc: extra gttoc(\"%s\"), already at the root") % label).str()); } - current->tocInternal(); - timingCurrent = current->parent_; + current->toc(); + gCurrentTimer = current->parent_; } } // namespace internal diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 49c43712a..a904c5f08 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -128,16 +128,21 @@ namespace gtsam { namespace internal { + // Generate/retrieve a unique global ID number that will be used to look up tic/toc statements GTSAM_EXPORT size_t getTicTocID(const char *description); - GTSAM_EXPORT void ticInternal(size_t id, const char *label); - GTSAM_EXPORT void tocInternal(size_t id, const char *label); + + // Create new TimingOutline child for gCurrentTimer, make it gCurrentTimer, and call tic method + GTSAM_EXPORT void tic(size_t id, const char *label); + + // Call toc on gCurrentTimer and then set gCurrentTimer to the parent of gCurrentTimer + GTSAM_EXPORT void toc(size_t id, const char *label); /** * Timing Entry, arranged in a tree */ class GTSAM_EXPORT TimingOutline { protected: - size_t myId_; + size_t id_; size_t t_; size_t tWall_; double t2_ ; ///< cache the \sum t_i^2 @@ -179,29 +184,38 @@ namespace gtsam { void print2(const std::string& outline = "", const double parentTotal = -1.0) const; const boost::shared_ptr& child(size_t child, const std::string& label, const boost::weak_ptr& thisPtr); - void ticInternal(); - void tocInternal(); + void tic(); + void toc(); void finishedIteration(); - GTSAM_EXPORT friend void tocInternal(size_t id, const char *label); + GTSAM_EXPORT friend void toc(size_t id, const char *label); }; // \TimingOutline /** - * No documentation + * Small class that calls internal::tic at construction, and internol::toc when destroyed */ class AutoTicToc { - private: + private: size_t id_; - const char *label_; + const char* label_; bool isSet_; - public: - AutoTicToc(size_t id, const char* label) : id_(id), label_(label), isSet_(true) { ticInternal(id_, label_); } - void stop() { tocInternal(id_, label_); isSet_ = false; } - ~AutoTicToc() { if(isSet_) stop(); } + + public: + AutoTicToc(size_t id, const char* label) + : id_(id), label_(label), isSet_(true) { + tic(id_, label_); + } + void stop() { + toc(id_, label_); + isSet_ = false; + } + ~AutoTicToc() { + if (isSet_) stop(); + } }; - GTSAM_EXTERN_EXPORT boost::shared_ptr timingRoot; - GTSAM_EXTERN_EXPORT boost::weak_ptr timingCurrent; + GTSAM_EXTERN_EXPORT boost::shared_ptr gTimingRoot; + GTSAM_EXTERN_EXPORT boost::weak_ptr gCurrentTimer; } // Tic and toc functions that are always active (whether or not ENABLE_TIMING is defined) @@ -213,7 +227,7 @@ namespace gtsam { // tic #define gttic_(label) \ static const size_t label##_id_tic = ::gtsam::internal::getTicTocID(#label); \ - ::gtsam::internal::AutoTicToc label##_obj = ::gtsam::internal::AutoTicToc(label##_id_tic, #label) + ::gtsam::internal::AutoTicToc label##_obj(label##_id_tic, #label) // toc #define gttoc_(label) \ @@ -231,26 +245,26 @@ namespace gtsam { // indicate iteration is finished inline void tictoc_finishedIteration_() { - ::gtsam::internal::timingRoot->finishedIteration(); } + ::gtsam::internal::gTimingRoot->finishedIteration(); } // print inline void tictoc_print_() { - ::gtsam::internal::timingRoot->print(); } + ::gtsam::internal::gTimingRoot->print(); } // print mean and standard deviation inline void tictoc_print2_() { - ::gtsam::internal::timingRoot->print2(); } + ::gtsam::internal::gTimingRoot->print2(); } // get a node by label and assign it to variable #define tictoc_getNode(variable, label) \ static const size_t label##_id_getnode = ::gtsam::internal::getTicTocID(#label); \ const boost::shared_ptr variable = \ - ::gtsam::internal::timingCurrent.lock()->child(label##_id_getnode, #label, ::gtsam::internal::timingCurrent); + ::gtsam::internal::gCurrentTimer.lock()->child(label##_id_getnode, #label, ::gtsam::internal::gCurrentTimer); // reset inline void tictoc_reset_() { - ::gtsam::internal::timingRoot.reset(new ::gtsam::internal::TimingOutline("Total", ::gtsam::internal::getTicTocID("Total"))); - ::gtsam::internal::timingCurrent = ::gtsam::internal::timingRoot; } + ::gtsam::internal::gTimingRoot.reset(new ::gtsam::internal::TimingOutline("Total", ::gtsam::internal::getTicTocID("Total"))); + ::gtsam::internal::gCurrentTimer = ::gtsam::internal::gTimingRoot; } #ifdef ENABLE_TIMING #define gttic(label) gttic_(label) From 83171b60960d8df2c823f29aaa6986f1c9edbdcf Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 14 Jun 2015 23:07:28 -0700 Subject: [PATCH 233/964] New example --- gtsam/linear/tests/testHessianFactor.cpp | 124 ++++++++++++++++------- 1 file changed, 87 insertions(+), 37 deletions(-) diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index afd611112..13fb9bd0c 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -280,63 +280,113 @@ TEST(HessianFactor, ConstructorNWay) } /* ************************************************************************* */ -TEST(HessianFactor, CombineAndEliminate) -{ - Matrix A01 = (Matrix(3,3) << - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0).finished(); - Vector3 b0(1,0,0);//(1.5, 1.5, 1.5); - Vector3 s0=Vector3::Ones();//(1.6, 1.6, 1.6); +namespace example { +Matrix A01 = (Matrix(3,3) << + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0).finished(); +Vector3 b0(1,0,0);//(1.5, 1.5, 1.5); +Vector3 s0=Vector3::Ones();//(1.6, 1.6, 1.6); - Matrix A10 = (Matrix(3,3) << - 2.0, 0.0, 0.0, - 0.0, 2.0, 0.0, - 0.0, 0.0, 2.0).finished(); - Matrix A11 = (Matrix(3,3) << - -2.0, 0.0, 0.0, - 0.0, -2.0, 0.0, - 0.0, 0.0, -2.0).finished(); - Vector3 b1 = Vector3::Zero();//(2.5, 2.5, 2.5); - Vector3 s1=Vector3::Ones();//(2.6, 2.6, 2.6); +Matrix A10 = (Matrix(3,3) << + 2.0, 0.0, 0.0, + 0.0, 2.0, 0.0, + 0.0, 0.0, 2.0).finished(); +Matrix A11 = (Matrix(3,3) << + -2.0, 0.0, 0.0, + 0.0, -2.0, 0.0, + 0.0, 0.0, -2.0).finished(); +Vector3 b1 = Vector3::Zero();//(2.5, 2.5, 2.5); +Vector3 s1=Vector3::Ones();//(2.6, 2.6, 2.6); - Matrix A21 = (Matrix(3,3) << - 3.0, 0.0, 0.0, - 0.0, 3.0, 0.0, - 0.0, 0.0, 3.0).finished(); - Vector3 b2 = Vector3::Zero();//(3.5, 3.5, 3.5); - Vector3 s2=Vector3::Ones();//(3.6, 3.6, 3.6); +Matrix A21 = (Matrix(3,3) << + 3.0, 0.0, 0.0, + 0.0, 3.0, 0.0, + 0.0, 0.0, 3.0).finished(); +Vector3 b2 = Vector3::Zero();//(3.5, 3.5, 3.5); +Vector3 s2=Vector3::Ones();//(3.6, 3.6, 3.6); +} +/* ************************************************************************* */ +TEST(HessianFactor, CombineAndEliminate1) { + using namespace example; GaussianFactorGraph gfg; gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); - gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); - Matrix93 A0; A0 << A10, Z_3x3, Z_3x3; - Matrix93 A1; A1 << A11, A01, A21; - Vector9 b; b << b1, b0, b2; - Vector9 sigmas; sigmas << s1, s0, s2; + Matrix63 A1; + A1 << A11, A21; + Vector6 b, sigmas; + b << b0, b2; + sigmas << s0, s2; // create a full, uneliminated version of the factor - JacobianFactor expectedFactor(0, A0, 1, A1, b, noiseModel::Diagonal::Sigmas(sigmas, true)); + JacobianFactor expectedFactor(1, A1, b, + noiseModel::Diagonal::Sigmas(sigmas, true)); // Make sure combining works EXPECT(assert_equal(HessianFactor(expectedFactor), HessianFactor(gfg), 1e-6)); // perform elimination on jacobian + Ordering ordering = list_of(1); GaussianConditional::shared_ptr expectedConditional; - JacobianFactor::shared_ptr expectedRemainingFactor; - boost::tie(expectedConditional, expectedRemainingFactor) = expectedFactor.eliminate(Ordering(list_of(0))); + JacobianFactor::shared_ptr expectedRemaining; + boost::tie(expectedConditional, expectedRemaining) = // + expectedFactor.eliminate(ordering); // Eliminate GaussianConditional::shared_ptr actualConditional; - HessianFactor::shared_ptr actualCholeskyFactor; - boost::tie(actualConditional, actualCholeskyFactor) = EliminateCholesky(gfg, Ordering(list_of(0))); + HessianFactor::shared_ptr actualHessian; + boost::tie(actualConditional, actualHessian) = // + EliminateCholesky(gfg, ordering); EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6)); - VectorValues vv; vv.insert(1, Vector3(1,2,3)); - EXPECT_DOUBLES_EQUAL(expectedRemainingFactor->error(vv), actualCholeskyFactor->error(vv), 1e-9); - EXPECT(assert_equal(HessianFactor(*expectedRemainingFactor), *actualCholeskyFactor, 1e-6)); + VectorValues vv; + vv.insert(1, Vector3(1, 2, 3)); + DOUBLES_EQUAL(expectedRemaining->error(vv), actualHessian->error(vv), 1e-9); + EXPECT(assert_equal(HessianFactor(*expectedRemaining), *actualHessian, 1e-6)); +} + +/* ************************************************************************* */ +TEST(HessianFactor, CombineAndEliminate2) { + using namespace example; + GaussianFactorGraph gfg; + gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); + gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); + gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); + + Matrix93 A0, A1; + A0 << A10, Z_3x3, Z_3x3; + A1 << A11, A01, A21; + Vector9 b, sigmas; + b << b1, b0, b2; + sigmas << s1, s0, s2; + + // create a full, uneliminated version of the factor + JacobianFactor expectedFactor(0, A0, 1, A1, b, + noiseModel::Diagonal::Sigmas(sigmas, true)); + + // Make sure combining works + EXPECT(assert_equal(HessianFactor(expectedFactor), HessianFactor(gfg), 1e-6)); + + // perform elimination on jacobian + Ordering ordering = list_of(0); + GaussianConditional::shared_ptr expectedConditional; + JacobianFactor::shared_ptr expectedRemaining; + boost::tie(expectedConditional, expectedRemaining) = // + expectedFactor.eliminate(ordering); + + // Eliminate + GaussianConditional::shared_ptr actualConditional; + HessianFactor::shared_ptr actualHessian; + boost::tie(actualConditional, actualHessian) = // + EliminateCholesky(gfg, ordering); + + EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6)); + VectorValues vv; + vv.insert(1, Vector3(1, 2, 3)); + DOUBLES_EQUAL(expectedRemaining->error(vv), actualHessian->error(vv), 1e-9); + EXPECT(assert_equal(HessianFactor(*expectedRemaining), *actualHessian, 1e-6)); } /* ************************************************************************* */ From f523db2d9887d3b4a37537173e8cb4171b6b01fc Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 15 Jun 2015 00:52:43 -0700 Subject: [PATCH 234/964] IMPORTANT CHANGE/BUGFIX: QR elimination now (I think properly) leaves a row of zeros if the RHS after QR contains a non-zero. A corresponding change in the error calculation makes that Jacobian and Hessian factors now agree on error. I think this was a bug, because it affected the error, but (I think) it only pertained to "empty" JacobianFactors which have no bearing on optimization/elimination. --- gtsam/linear/JacobianFactor.cpp | 12 +-- gtsam/linear/tests/testHessianFactor.cpp | 111 +++++++++++----------- gtsam/linear/tests/testJacobianFactor.cpp | 6 +- 3 files changed, 65 insertions(+), 64 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index b38aa89e7..61986e71d 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -432,8 +432,6 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const { /* ************************************************************************* */ double JacobianFactor::error(const VectorValues& c) const { - if (empty()) - return 0; Vector weighted = error_vector(c); return 0.5 * weighted.dot(weighted); } @@ -684,8 +682,8 @@ std::pair, jointFactor->Ab_.matrix().triangularView().setZero(); // Split elimination result into conditional and remaining factor - GaussianConditional::shared_ptr conditional = jointFactor->splitConditional( - keys.size()); + GaussianConditional::shared_ptr conditional = // + jointFactor->splitConditional(keys.size()); return make_pair(conditional, jointFactor); } @@ -714,11 +712,11 @@ GaussianConditional::shared_ptr JacobianFactor::splitConditional( } GaussianConditional::shared_ptr conditional = boost::make_shared< GaussianConditional>(Base::keys_, nrFrontals, Ab_, conditionalNoiseModel); - const DenseIndex maxRemainingRows = std::min(Ab_.cols() - 1, originalRowEnd) + const DenseIndex maxRemainingRows = std::min(Ab_.cols(), originalRowEnd) - Ab_.rowStart() - frontalDim; const DenseIndex remainingRows = - model_ ? - std::min(model_->sigmas().size() - frontalDim, maxRemainingRows) : + model_ ? std::min(model_->sigmas().size() - frontalDim, + maxRemainingRows) : maxRemainingRows; Ab_.rowStart() += frontalDim; Ab_.rowEnd() = Ab_.rowStart() + remainingRows; diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index 13fb9bd0c..10fb34988 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -279,60 +279,43 @@ TEST(HessianFactor, ConstructorNWay) EXPECT(assert_equal(G33, factor.info(factor.begin()+2, factor.begin()+2))); } -/* ************************************************************************* */ -namespace example { -Matrix A01 = (Matrix(3,3) << - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0).finished(); -Vector3 b0(1,0,0);//(1.5, 1.5, 1.5); -Vector3 s0=Vector3::Ones();//(1.6, 1.6, 1.6); - -Matrix A10 = (Matrix(3,3) << - 2.0, 0.0, 0.0, - 0.0, 2.0, 0.0, - 0.0, 0.0, 2.0).finished(); -Matrix A11 = (Matrix(3,3) << - -2.0, 0.0, 0.0, - 0.0, -2.0, 0.0, - 0.0, 0.0, -2.0).finished(); -Vector3 b1 = Vector3::Zero();//(2.5, 2.5, 2.5); -Vector3 s1=Vector3::Ones();//(2.6, 2.6, 2.6); - -Matrix A21 = (Matrix(3,3) << - 3.0, 0.0, 0.0, - 0.0, 3.0, 0.0, - 0.0, 0.0, 3.0).finished(); -Vector3 b2 = Vector3::Zero();//(3.5, 3.5, 3.5); -Vector3 s2=Vector3::Ones();//(3.6, 3.6, 3.6); -} - /* ************************************************************************* */ TEST(HessianFactor, CombineAndEliminate1) { - using namespace example; + Matrix3 A01 = 3.0 * I_3x3; + Vector3 b0(1, 0, 0); + + Matrix3 A21 = 4.0 * I_3x3; + Vector3 b2 = Vector3::Zero(); + GaussianFactorGraph gfg; - gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); - gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); + gfg.add(1, A01, b0); + gfg.add(1, A21, b2); Matrix63 A1; - A1 << A11, A21; - Vector6 b, sigmas; + A1 << A01, A21; + Vector6 b; b << b0, b2; - sigmas << s0, s2; // create a full, uneliminated version of the factor - JacobianFactor expectedFactor(1, A1, b, - noiseModel::Diagonal::Sigmas(sigmas, true)); + JacobianFactor jacobian(1, A1, b); // Make sure combining works - EXPECT(assert_equal(HessianFactor(expectedFactor), HessianFactor(gfg), 1e-6)); + HessianFactor hessian(gfg); + VectorValues v; + v.insert(1, Vector3(1, 0, 0)); + EXPECT_DOUBLES_EQUAL(jacobian.error(v), hessian.error(v), 1e-9); + EXPECT(assert_equal(HessianFactor(jacobian), hessian, 1e-6)); + EXPECT(assert_equal(25.0 * I_3x3, hessian.information(), 1e-9)); + EXPECT( + assert_equal(jacobian.augmentedInformation(), + hessian.augmentedInformation(), 1e-9)); // perform elimination on jacobian Ordering ordering = list_of(1); GaussianConditional::shared_ptr expectedConditional; - JacobianFactor::shared_ptr expectedRemaining; - boost::tie(expectedConditional, expectedRemaining) = // - expectedFactor.eliminate(ordering); + JacobianFactor::shared_ptr expectedFactor; + boost::tie(expectedConditional, expectedFactor) = // + jacobian.eliminate(ordering); // Eliminate GaussianConditional::shared_ptr actualConditional; @@ -341,15 +324,28 @@ TEST(HessianFactor, CombineAndEliminate1) { EliminateCholesky(gfg, ordering); EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6)); - VectorValues vv; - vv.insert(1, Vector3(1, 2, 3)); - DOUBLES_EQUAL(expectedRemaining->error(vv), actualHessian->error(vv), 1e-9); - EXPECT(assert_equal(HessianFactor(*expectedRemaining), *actualHessian, 1e-6)); + EXPECT_DOUBLES_EQUAL(expectedFactor->error(v), actualHessian->error(v), 1e-9); + EXPECT( + assert_equal(expectedFactor->augmentedInformation(), + actualHessian->augmentedInformation(), 1e-9)); + EXPECT(assert_equal(HessianFactor(*expectedFactor), *actualHessian, 1e-6)); } /* ************************************************************************* */ TEST(HessianFactor, CombineAndEliminate2) { - using namespace example; + Matrix A01 = I_3x3; + Vector3 b0(1.5, 1.5, 1.5); + Vector3 s0(1.6, 1.6, 1.6); + + Matrix A10 = 2.0 * I_3x3; + Matrix A11 = -2.0 * I_3x3; + Vector3 b1(2.5, 2.5, 2.5); + Vector3 s1(2.6, 2.6, 2.6); + + Matrix A21 = 3.0 * I_3x3; + Vector3 b2(3.5, 3.5, 3.5); + Vector3 s2(3.6, 3.6, 3.6); + GaussianFactorGraph gfg; gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); @@ -363,18 +359,22 @@ TEST(HessianFactor, CombineAndEliminate2) { sigmas << s1, s0, s2; // create a full, uneliminated version of the factor - JacobianFactor expectedFactor(0, A0, 1, A1, b, + JacobianFactor jacobian(0, A0, 1, A1, b, noiseModel::Diagonal::Sigmas(sigmas, true)); // Make sure combining works - EXPECT(assert_equal(HessianFactor(expectedFactor), HessianFactor(gfg), 1e-6)); + HessianFactor hessian(gfg); + EXPECT(assert_equal(HessianFactor(jacobian), hessian, 1e-6)); + EXPECT( + assert_equal(jacobian.augmentedInformation(), + hessian.augmentedInformation(), 1e-9)); // perform elimination on jacobian Ordering ordering = list_of(0); GaussianConditional::shared_ptr expectedConditional; - JacobianFactor::shared_ptr expectedRemaining; - boost::tie(expectedConditional, expectedRemaining) = // - expectedFactor.eliminate(ordering); + JacobianFactor::shared_ptr expectedFactor; + boost::tie(expectedConditional, expectedFactor) = // + jacobian.eliminate(ordering); // Eliminate GaussianConditional::shared_ptr actualConditional; @@ -383,10 +383,13 @@ TEST(HessianFactor, CombineAndEliminate2) { EliminateCholesky(gfg, ordering); EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6)); - VectorValues vv; - vv.insert(1, Vector3(1, 2, 3)); - DOUBLES_EQUAL(expectedRemaining->error(vv), actualHessian->error(vv), 1e-9); - EXPECT(assert_equal(HessianFactor(*expectedRemaining), *actualHessian, 1e-6)); + VectorValues v; + v.insert(1, Vector3(1, 2, 3)); + EXPECT_DOUBLES_EQUAL(expectedFactor->error(v), actualHessian->error(v), 1e-9); + EXPECT( + assert_equal(expectedFactor->augmentedInformation(), + actualHessian->augmentedInformation(), 1e-9)); + EXPECT(assert_equal(HessianFactor(*expectedFactor), *actualHessian, 1e-6)); } /* ************************************************************************* */ diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp index 7b2d59171..17ceaf5f0 100644 --- a/gtsam/linear/tests/testJacobianFactor.cpp +++ b/gtsam/linear/tests/testJacobianFactor.cpp @@ -540,9 +540,9 @@ TEST(JacobianFactor, EliminateQR) EXPECT(assert_equal(size_t(2), actualJF.keys().size())); EXPECT(assert_equal(Key(9), actualJF.keys()[0])); EXPECT(assert_equal(Key(11), actualJF.keys()[1])); - EXPECT(assert_equal(Matrix(R.block(6, 6, 4, 2)), actualJF.getA(actualJF.begin()), 0.001)); - EXPECT(assert_equal(Matrix(R.block(6, 8, 4, 2)), actualJF.getA(actualJF.begin()+1), 0.001)); - EXPECT(assert_equal(Vector(R.col(10).segment(6, 4)), actualJF.getb(), 0.001)); + EXPECT(assert_equal(Matrix(R.block(6, 6, 5, 2)), actualJF.getA(actualJF.begin()), 0.001)); + EXPECT(assert_equal(Matrix(R.block(6, 8, 5, 2)), actualJF.getA(actualJF.begin()+1), 0.001)); + EXPECT(assert_equal(Vector(R.col(10).segment(6, 5)), actualJF.getb(), 0.001)); EXPECT(!actualJF.get_model()); } From 33e412f2ee1fa3ccb55104b072c199e3590c267a Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 15 Jun 2015 01:05:48 -0700 Subject: [PATCH 235/964] Code review --- gtsam/linear/Scatter.cpp | 5 +++-- gtsam/linear/Scatter.h | 2 +- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 2 +- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index 2602e08ba..942b42160 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -10,9 +10,10 @@ * -------------------------------------------------------------------------- */ /** - * @file HessianFactor.cpp + * @file Scatter.cpp * @author Richard Roberts - * @date Dec 8, 2010 + * @author Frank Dellaert + * @date June 2015 */ #include diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index e1df2d658..7a37ba1e0 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -14,7 +14,7 @@ * @brief Maps global variable indices to slot indices * @author Richard Roberts * @author Frank Dellaert - * @date Dec 8, 2010 + * @date June 2015 */ #pragma once diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 315e95512..e5561af48 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -46,7 +46,7 @@ public: public: - double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-4) + double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-5) double lambdaFactor; ///< The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0) double lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5) double lambdaLowerBound; ///< The minimum lambda used in LM (default: 0) From ca2aa0cfd4bcbf80c2f18ebf040e72dc7aefab96 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 16 Jun 2015 20:33:33 -0700 Subject: [PATCH 236/964] Refactoring to get grouped factors to compile again --- gtsam/slam/RegularHessianFactor.h | 97 +++++++++++++------ gtsam/slam/tests/testRegularHessianFactor.cpp | 81 +++++++++++----- 2 files changed, 122 insertions(+), 56 deletions(-) diff --git a/gtsam/slam/RegularHessianFactor.h b/gtsam/slam/RegularHessianFactor.h index 5765f67fd..be14067db 100644 --- a/gtsam/slam/RegularHessianFactor.h +++ b/gtsam/slam/RegularHessianFactor.h @@ -19,6 +19,7 @@ #pragma once #include +#include #include #include @@ -27,15 +28,11 @@ namespace gtsam { template class RegularHessianFactor: public HessianFactor { -private: - - // Use Eigen magic to access raw memory - typedef Eigen::Matrix DVector; - typedef Eigen::Map DMap; - typedef Eigen::Map ConstDMap; - public: + typedef Eigen::Matrix VectorD; + typedef Eigen::Matrix MatrixD; + /** Construct an n-way factor. Gs contains the upper-triangle blocks of the * quadratic term (the Hessian matrix) provided in row-order, gs the pieces * of the linear vector term, and f the constant term. @@ -43,27 +40,68 @@ public: RegularHessianFactor(const std::vector& js, const std::vector& Gs, const std::vector& gs, double f) : HessianFactor(js, Gs, gs, f) { + checkInvariants(); } /** Construct a binary factor. Gxx are the upper-triangle blocks of the * quadratic term (the Hessian matrix), gx the pieces of the linear vector * term, and f the constant term. */ - RegularHessianFactor(Key j1, Key j2, const Matrix& G11, const Matrix& G12, - const Vector& g1, const Matrix& G22, const Vector& g2, double f) : + RegularHessianFactor(Key j1, Key j2, const MatrixD& G11, const MatrixD& G12, + const VectorD& g1, const MatrixD& G22, const VectorD& g2, double f) : HessianFactor(j1, j2, G11, G12, g1, G22, g2, f) { } + /** Construct a ternary factor. Gxx are the upper-triangle blocks of the + * quadratic term (the Hessian matrix), gx the pieces of the linear vector + * term, and f the constant term. + */ + RegularHessianFactor(Key j1, Key j2, Key j3, + const MatrixD& G11, const MatrixD& G12, const MatrixD& G13, const VectorD& g1, + const MatrixD& G22, const MatrixD& G23, const VectorD& g2, + const MatrixD& G33, const VectorD& g3, double f) : + HessianFactor(j1, j2, j3, G11, G12, G13, g1, G22, G23, g2, G33, g3, f) { + } + /** Constructor with an arbitrary number of keys and with the augmented information matrix * specified as a block matrix. */ template RegularHessianFactor(const KEYS& keys, const SymmetricBlockMatrix& augmentedInformation) : HessianFactor(keys, augmentedInformation) { + checkInvariants(); } + /// Construct from RegularJacobianFactor + RegularHessianFactor(const RegularJacobianFactor& jf) + : HessianFactor(jf) {} + + /// Construct from a GaussianFactorGraph + RegularHessianFactor(const GaussianFactorGraph& factors, + boost::optional scatter = boost::none) + : HessianFactor(factors, scatter) { + checkInvariants(); + } + +private: + + /// Check invariants after construction + void checkInvariants() { + if (info_.cols() != 1 + (info_.nBlocks()-1) * (DenseIndex)D) + throw std::invalid_argument( + "RegularHessianFactor constructor was given non-regular factors"); + } + + // Use Eigen magic to access raw memory + typedef Eigen::Map DMap; + typedef Eigen::Map ConstDMap; + // Scratch space for multiplyHessianAdd - mutable std::vector y; + // According to link below this is thread-safe. + // http://stackoverflow.com/questions/11160964/multiple-copies-of-the-same-object-c-thread-safe + mutable std::vector y_; + +public: /** y += alpha * A'*A*x */ virtual void multiplyHessianAdd(double alpha, const VectorValues& x, @@ -74,32 +112,32 @@ public: /** y += alpha * A'*A*x */ void multiplyHessianAdd(double alpha, const double* x, double* yvalues) const { - // Create a vector of temporary y values, corresponding to rows i - y.resize(size()); - BOOST_FOREACH(DVector & yi, y) + // Create a vector of temporary y_ values, corresponding to rows i + y_.resize(size()); + BOOST_FOREACH(VectorD & yi, y_) yi.setZero(); // Accessing the VectorValues one by one is expensive // So we will loop over columns to access x only once per column - // And fill the above temporary y values, to be added into yvalues after - DVector xj(D); + // And fill the above temporary y_ values, to be added into yvalues after + VectorD xj(D); for (DenseIndex j = 0; j < (DenseIndex) size(); ++j) { Key key = keys_[j]; const double* xj = x + key * D; DenseIndex i = 0; for (; i < j; ++i) - y[i] += info_(i, j).knownOffDiagonal() * ConstDMap(xj); + y_[i] += info_(i, j).knownOffDiagonal() * ConstDMap(xj); // blocks on the diagonal are only half - y[i] += info_(j, j).selfadjointView() * ConstDMap(xj); + y_[i] += info_(j, j).selfadjointView() * ConstDMap(xj); // for below diagonal, we take transpose block from upper triangular part for (i = j + 1; i < (DenseIndex) size(); ++i) - y[i] += info_(i, j).knownOffDiagonal() * ConstDMap(xj); + y_[i] += info_(i, j).knownOffDiagonal() * ConstDMap(xj); } // copy to yvalues for (DenseIndex i = 0; i < (DenseIndex) size(); ++i) { Key key = keys_[i]; - DMap(yvalues + key * D) += alpha * y[i]; + DMap(yvalues + key * D) += alpha * y_[i]; } } @@ -107,28 +145,27 @@ public: void multiplyHessianAdd(double alpha, const double* x, double* yvalues, std::vector offsets) const { - // Create a vector of temporary y values, corresponding to rows i - std::vector y; - y.reserve(size()); - for (const_iterator it = begin(); it != end(); it++) - y.push_back(zero(getDim(it))); + // Create a vector of temporary y_ values, corresponding to rows i + y_.resize(size()); + BOOST_FOREACH(VectorD & yi, y_) + yi.setZero(); // Accessing the VectorValues one by one is expensive // So we will loop over columns to access x only once per column - // And fill the above temporary y values, to be added into yvalues after + // And fill the above temporary y_ values, to be added into yvalues after for (DenseIndex j = 0; j < (DenseIndex) size(); ++j) { DenseIndex i = 0; for (; i < j; ++i) - y[i] += info_(i, j).knownOffDiagonal() + y_[i] += info_(i, j).knownOffDiagonal() * ConstDMap(x + offsets[keys_[j]], offsets[keys_[j] + 1] - offsets[keys_[j]]); // blocks on the diagonal are only half - y[i] += info_(j, j).selfadjointView() + y_[i] += info_(j, j).selfadjointView() * ConstDMap(x + offsets[keys_[j]], offsets[keys_[j] + 1] - offsets[keys_[j]]); // for below diagonal, we take transpose block from upper triangular part for (i = j + 1; i < (DenseIndex) size(); ++i) - y[i] += info_(i, j).knownOffDiagonal() + y_[i] += info_(i, j).knownOffDiagonal() * ConstDMap(x + offsets[keys_[j]], offsets[keys_[j] + 1] - offsets[keys_[j]]); } @@ -136,7 +173,7 @@ public: // copy to yvalues for (DenseIndex i = 0; i < (DenseIndex) size(); ++i) DMap(yvalues + offsets[keys_[i]], - offsets[keys_[i] + 1] - offsets[keys_[i]]) += alpha * y[i]; + offsets[keys_[i] + 1] - offsets[keys_[i]]) += alpha * y_[i]; } /** Return the diagonal of the Hessian for this factor (raw memory version) */ @@ -158,7 +195,7 @@ public: for (DenseIndex pos = 0; pos < (DenseIndex) size(); ++pos) { Key j = keys_[pos]; // Get the diagonal block, and insert its diagonal - DVector dj = -info_(pos, size()).knownOffDiagonal(); + VectorD dj = -info_(pos, size()).knownOffDiagonal(); DMap(d + D * j) += dj; } } diff --git a/gtsam/slam/tests/testRegularHessianFactor.cpp b/gtsam/slam/tests/testRegularHessianFactor.cpp index e2b8ac3cf..efdef9d44 100644 --- a/gtsam/slam/tests/testRegularHessianFactor.cpp +++ b/gtsam/slam/tests/testRegularHessianFactor.cpp @@ -16,6 +16,7 @@ */ #include +#include #include #include @@ -29,30 +30,58 @@ using namespace gtsam; using namespace boost::assign; /* ************************************************************************* */ -TEST(RegularHessianFactor, ConstructorNWay) +TEST(RegularHessianFactor, Constructors) { - Matrix G11 = (Matrix(2,2) << 111, 112, 113, 114).finished(); - Matrix G12 = (Matrix(2,2) << 121, 122, 123, 124).finished(); - Matrix G13 = (Matrix(2,2) << 131, 132, 133, 134).finished(); + // First construct a regular JacobianFactor + Matrix A1 = I_2x2, A2 = I_2x2, A3 = I_2x2; + Vector2 b(1,2); + vector > terms; + terms += make_pair(0, A1), make_pair(1, A2), make_pair(3, A3); + RegularJacobianFactor<2> jf(terms, b); - Matrix G22 = (Matrix(2,2) << 221, 222, 222, 224).finished(); - Matrix G23 = (Matrix(2,2) << 231, 232, 233, 234).finished(); + // Test conversion from JacobianFactor + RegularHessianFactor<2> factor(jf); - Matrix G33 = (Matrix(2,2) << 331, 332, 332, 334).finished(); + Matrix G11 = I_2x2; + Matrix G12 = I_2x2; + Matrix G13 = I_2x2; - Vector g1 = (Vector(2) << -7, -9).finished(); - Vector g2 = (Vector(2) << -9, 1).finished(); - Vector g3 = (Vector(2) << 2, 3).finished(); + Matrix G22 = I_2x2; + Matrix G23 = I_2x2; + + Matrix G33 = I_2x2; + + Vector2 g1 = b, g2 = b, g3 = b; double f = 10; - std::vector js; - js.push_back(0); js.push_back(1); js.push_back(3); - std::vector Gs; - Gs.push_back(G11); Gs.push_back(G12); Gs.push_back(G13); Gs.push_back(G22); Gs.push_back(G23); Gs.push_back(G33); - std::vector gs; - gs.push_back(g1); gs.push_back(g2); gs.push_back(g3); - RegularHessianFactor<2> factor(js, Gs, gs, f); + // Test ternary constructor + RegularHessianFactor<2> factor2(0, 1, 3, G11, G12, G13, g1, G22, G23, g2, G33, g3, f); + EXPECT(assert_equal(factor,factor2)); + + // Test n-way constructor + vector keys; keys += 0, 1, 3; + vector Gs; Gs += G11, G12, G13, G22, G23, G33; + vector gs; gs += g1, g2, g3; + RegularHessianFactor<2> factor3(keys, Gs, gs, f); + EXPECT(assert_equal(factor, factor3)); + + // Test constructor from Gaussian Factor Graph + GaussianFactorGraph gfg; + gfg += jf; + RegularHessianFactor<2> factor4(gfg); + EXPECT(assert_equal(factor, factor4)); + GaussianFactorGraph gfg2; + gfg2 += factor; + RegularHessianFactor<2> factor5(gfg); + EXPECT(assert_equal(factor, factor5)); + + // Test constructor from Information matrix + Matrix info = factor.augmentedInformation(); + vector dims; dims += 2, 2, 2; + SymmetricBlockMatrix sym(dims, info, true); + RegularHessianFactor<2> factor6(keys, sym); + EXPECT(assert_equal(factor, factor6)); // multiplyHessianAdd: { @@ -61,13 +90,13 @@ TEST(RegularHessianFactor, ConstructorNWay) HessianFactor::const_iterator i1 = factor.begin(); HessianFactor::const_iterator i2 = i1 + 1; Vector X(6); X << 1,2,3,4,5,6; - Vector Y(6); Y << 2633, 2674, 4465, 4501, 5669, 5696; + Vector Y(6); Y << 9, 12, 9, 12, 9, 12; EXPECT(assert_equal(Y,AtA*X)); VectorValues x = map_list_of - (0, (Vector(2) << 1,2).finished()) - (1, (Vector(2) << 3,4).finished()) - (3, (Vector(2) << 5,6).finished()); + (0, Vector2(1,2)) + (1, Vector2(3,4)) + (3, Vector2(5,6)); VectorValues expected; expected.insert(0, Y.segment<2>(0)); @@ -77,15 +106,15 @@ TEST(RegularHessianFactor, ConstructorNWay) // VectorValues version double alpha = 1.0; VectorValues actualVV; - actualVV.insert(0, zero(2)); - actualVV.insert(1, zero(2)); - actualVV.insert(3, zero(2)); + actualVV.insert(0, Vector2::Zero()); + actualVV.insert(1, Vector2::Zero()); + actualVV.insert(3, Vector2::Zero()); factor.multiplyHessianAdd(alpha, x, actualVV); EXPECT(assert_equal(expected, actualVV)); // RAW ACCESS - Vector expected_y(8); expected_y << 2633, 2674, 4465, 4501, 0, 0, 5669, 5696; - Vector fast_y = gtsam::zero(8); + Vector expected_y(8); expected_y << 9, 12, 9, 12, 0, 0, 9, 12; + Vector fast_y = Vector8::Zero(); double xvalues[8] = {1,2,3,4,0,0,5,6}; factor.multiplyHessianAdd(alpha, xvalues, fast_y.data()); EXPECT(assert_equal(expected_y, fast_y)); From b91ed6dc6ee404f1832deab575706dc1c0b82a3f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 16 Jun 2015 21:17:22 -0700 Subject: [PATCH 237/964] Got rid of warning --- gtsam/slam/SmartFactorBase.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index cdbe71718..c448dbed4 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -643,7 +643,6 @@ public: // gs = F' * (b - E * P * E' * b) MatrixDD matrixBlock; - typedef SymmetricBlockMatrix::Block Block; ///< A block from the Hessian matrix FastMap KeySlotMap; for (size_t slot = 0; slot < allKeys.size(); slot++) From 32044eaac879ad482d457b858983a415a63ebee6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 16 Jun 2015 22:24:39 -0700 Subject: [PATCH 238/964] Added a named constructor to mimick Ceres defaults --- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 12 +++--- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 42 +++++++++++++++---- timing/timeSFMBAL.cpp | 5 +-- 3 files changed, 42 insertions(+), 17 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 5fb51a243..398ccda75 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -105,8 +105,8 @@ void LevenbergMarquardtParams::print(const std::string& str) const { std::cout << " lambdaLowerBound: " << lambdaLowerBound << "\n"; std::cout << " minModelFidelity: " << minModelFidelity << "\n"; std::cout << " diagonalDamping: " << diagonalDamping << "\n"; - std::cout << " min_diagonal: " << min_diagonal_ << "\n"; - std::cout << " max_diagonal: " << max_diagonal_ << "\n"; + std::cout << " min_diagonal: " << min_diagonal << "\n"; + std::cout << " max_diagonal: " << max_diagonal << "\n"; std::cout << " verbosityLM: " << verbosityLMTranslator(verbosityLM) << "\n"; std::cout.flush(); @@ -119,7 +119,7 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::linearize() const { /* ************************************************************************* */ void LevenbergMarquardtOptimizer::increaseLambda() { - if (params_.useFixedLambdaFactor_) { + if (params_.useFixedLambdaFactor) { state_.lambda *= params_.lambdaFactor; } else { state_.lambda *= params_.lambdaFactor; @@ -131,7 +131,7 @@ void LevenbergMarquardtOptimizer::increaseLambda() { /* ************************************************************************* */ void LevenbergMarquardtOptimizer::decreaseLambda(double stepQuality) { - if (params_.useFixedLambdaFactor_) { + if (params_.useFixedLambdaFactor) { state_.lambda /= params_.lambdaFactor; } else { // CHECK_GT(step_quality, 0.0); @@ -156,8 +156,8 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem( state_.hessianDiagonal = linear.hessianDiagonal(); BOOST_FOREACH(Vector& v, state_.hessianDiagonal | map_values) { for (int aa = 0; aa < v.size(); aa++) { - v(aa) = std::min(std::max(v(aa), params_.min_diagonal_), - params_.max_diagonal_); + v(aa) = std::min(std::max(v(aa), params_.min_diagonal), + params_.max_diagonal); v(aa) = sqrt(v(aa)); } } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index e5561af48..632a7ac0c 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -55,9 +55,9 @@ public: std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda] bool diagonalDamping; ///< if true, use diagonal of Hessian bool reuse_diagonal_; ///< an additional option in Ceres for diagonalDamping (TODO: should be in state?) - bool useFixedLambdaFactor_; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor - double min_diagonal_; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) - double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) + bool useFixedLambdaFactor; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor + double min_diagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) + double max_diagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) LevenbergMarquardtParams() : lambdaInitial(1e-5), @@ -68,9 +68,37 @@ public: minModelFidelity(1e-3), diagonalDamping(false), reuse_diagonal_(false), - useFixedLambdaFactor_(true), - min_diagonal_(1e-6), - max_diagonal_(1e32) {} + useFixedLambdaFactor(true), + min_diagonal(1e-6), + max_diagonal(1e32) {} + + static LevenbergMarquardtParams CeresDefaults() { + LevenbergMarquardtParams p; + + // Termination condition, same as options.max_num_iterations + p.maxIterations = 50; + + // Termination condition, turn off because no corresponding option in CERES + p.absoluteErrorTol = 0; // Frank thinks this is not tolerance (was 1e-6) + + // Termination condition, turn off because no corresponding option in CERES + p.errorTol = 0; // 1e-6; + + // Termination condition, same as options.function_tolerance + p.relativeErrorTol = 1e-6; // This is function_tolerance (was 1e-03) + + // Change lambda parameters to be the same as Ceres + p.lambdaUpperBound = 1e32; + p.lambdaLowerBound = 1e-16; + p.lambdaInitial = 1e-04; + p.lambdaFactor = 2.0; + p.useFixedLambdaFactor = false; // Luca says this is important + + p.diagonalDamping = true; + p.minModelFidelity = 1e-3; // options.min_relative_decrease in CERES + + return p; + } virtual ~LevenbergMarquardtParams() {} virtual void print(const std::string& str = "") const; @@ -94,7 +122,7 @@ public: inline void setLogFile(const std::string& s) { logFile = s; } inline void setDiagonalDamping(bool flag) { diagonalDamping = flag; } inline void setUseFixedLambdaFactor(bool flag) { - useFixedLambdaFactor_ = flag; + useFixedLambdaFactor = flag; } }; diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 154a72dc9..45a1cae81 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -72,13 +72,10 @@ int main(int argc, char* argv[]) { // Optimize // Set parameters to be similar to ceres - LevenbergMarquardtParams params; + LevenbergMarquardtParams params = LevenbergMarquardtParams::CeresDefaults(); params.setOrdering(ordering); params.setVerbosity("ERROR"); params.setVerbosityLM("TRYLAMBDA"); - params.setDiagonalDamping(true); - params.setlambdaInitial(1e-4); - params.setlambdaFactor(2.0); LevenbergMarquardtOptimizer lm(graph, initial, params); Values actual = lm.optimize(); From 178c1aec8880801d6ebc0b8669fec0d7414ffff3 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 17 Jun 2015 09:05:02 -0700 Subject: [PATCH 239/964] Better comment --- gtsam/nonlinear/AdaptAutoDiff.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h index 7295f3160..adb2031df 100644 --- a/gtsam/nonlinear/AdaptAutoDiff.h +++ b/gtsam/nonlinear/AdaptAutoDiff.h @@ -65,7 +65,12 @@ struct Canonical { } }; -/// Adapt ceres-style autodiff +/** + * The AdaptAutoDiff class uses ceres-style autodiff to adapt a ceres-style + * Function evaluation, i.e., a function F that defines an operator + * template bool operator()(const T* const, const T* const, T* predicted) const; + * For now only binary operators are supported. + */ template class AdaptAutoDiff { From 6efc708c5ebfae6b3fc386540994380b23473033 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 17 Jun 2015 09:06:21 -0700 Subject: [PATCH 240/964] For exact comparison with Ceres, use exact same AutoDiff model --- timing/timeSFMBAL.cpp | 67 +++++++++++++++++++++++++++++++++++++++---- 1 file changed, 61 insertions(+), 6 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 45a1cae81..77bf4a708 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -16,11 +16,14 @@ * @date June 6, 2015 */ +#include #include #include #include #include #include +#include +#include #include #include #include @@ -39,6 +42,32 @@ using namespace gtsam; //#define TERNARY +// Special version of Cal3Bundler so that default constructor = 0,0,0 +struct CeresCalibration: public Cal3Bundler { + CeresCalibration(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, + double v0 = 0) : + Cal3Bundler(f, k1, k2, u0, v0) { + } + CeresCalibration(const Cal3Bundler& cal) : + Cal3Bundler(cal) { + } + CeresCalibration retract(const Vector& d) const { + return CeresCalibration(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); + } + Vector3 localCoordinates(const CeresCalibration& T2) const { + return T2.vector() - vector(); + } +}; + +namespace gtsam { +template<> +struct traits : public internal::Manifold { +}; +} + +// With that, camera below behaves like Snavely's 9-dim vector +typedef PinholeCamera CeresCamera; + int main(int argc, char* argv[]) { typedef GeneralSFMFactor, Point3> sfmFactor; using symbol_shorthand::P; @@ -47,17 +76,41 @@ int main(int argc, char* argv[]) { string defaultFilename = findExampleDataFile("dubrovnik-3-7-pre"); SfM_data db; bool success = readBAL(argc > 1 ? argv[1] : defaultFilename, db); - if (!success) throw runtime_error("Could not access file!"); + if (!success) + throw runtime_error("Could not access file!"); + + typedef AdaptAutoDiff Adaptor; // Build graph SharedNoiseModel unit2 = noiseModel::Unit::Create(2); NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { - BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) - graph.push_back(sfmFactor(m.second, unit2, m.first, P(j))); + BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) { + size_t i = m.first; + Point2 measurement = m.second; +#ifdef USE_GTSAM_FACTOR + graph.push_back(sfmFactor(measurement, unit2, i, P(j))); +#else + Expression camera_(i); + Expression point_(P(j)); + graph.addExpressionFactor(unit2, measurement, + Expression(Adaptor(), camera_, point_)); +#endif + } } - Values initial = initialCamerasAndPointsEstimate(db); + Values initial; + size_t i = 0, j = 0; + BOOST_FOREACH(const SfM_Camera& camera, db.cameras) { +#ifdef USE_GTSAM_FACTOR + initial.insert((i++), camera); +#else + CeresCamera ceresCamera(camera.pose(), camera.calibration()); + initial.insert((i++), ceresCamera); +#endif + } + BOOST_FOREACH(const SfM_Track& track, db.tracks) + initial.insert(P(j++), track.p); // Create Schur-complement ordering #ifdef CCOLAMD @@ -66,8 +119,10 @@ int main(int argc, char* argv[]) { Ordering ordering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); #else Ordering ordering; - for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j)); - for (size_t i = 0; i < db.number_cameras(); i++) ordering.push_back(i); + for (size_t j = 0; j < db.number_tracks(); j++) + ordering.push_back(P(j)); + for (size_t i = 0; i < db.number_cameras(); i++) + ordering.push_back(i); #endif // Optimize From d71e66ea48d5cb8cb78fb94ef63bb982b90aa0b2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 17 Jun 2015 09:20:46 -0700 Subject: [PATCH 241/964] Moved reuse_diagnal_ to reuseDiagonal in state --- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 8 ++++---- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 20 +++++++++---------- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 398ccda75..a691506e2 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -125,7 +125,7 @@ void LevenbergMarquardtOptimizer::increaseLambda() { state_.lambda *= params_.lambdaFactor; params_.lambdaFactor *= 2.0; } - params_.reuse_diagonal_ = true; + state_.reuseDiagonal = true; } /* ************************************************************************* */ @@ -139,7 +139,7 @@ void LevenbergMarquardtOptimizer::decreaseLambda(double stepQuality) { params_.lambdaFactor = 2.0; } state_.lambda = std::max(params_.lambdaLowerBound, state_.lambda); - params_.reuse_diagonal_ = false; + state_.reuseDiagonal = false; } @@ -152,7 +152,7 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem( cout << "building damped system with lambda " << state_.lambda << endl; // Only retrieve diagonal vector when reuse_diagonal = false - if (params_.diagonalDamping && params_.reuse_diagonal_ == false) { + if (params_.diagonalDamping && state_.reuseDiagonal == false) { state_.hessianDiagonal = linear.hessianDiagonal(); BOOST_FOREACH(Vector& v, state_.hessianDiagonal | map_values) { for (int aa = 0; aa < v.size(); aa++) { @@ -263,7 +263,7 @@ void LevenbergMarquardtOptimizer::iterate() { double linearizedCostChange = 0, newlinearizedError = 0; if (systemSolvedSuccessfully) { - params_.reuse_diagonal_ = true; + state_.reuseDiagonal = true; if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "linear delta norm = " << delta.norm() << endl; diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 632a7ac0c..d185bca0e 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -54,7 +54,6 @@ public: double minModelFidelity; ///< Lower bound for the modelFidelity to accept the result of an LM iteration std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda] bool diagonalDamping; ///< if true, use diagonal of Hessian - bool reuse_diagonal_; ///< an additional option in Ceres for diagonalDamping (TODO: should be in state?) bool useFixedLambdaFactor; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor double min_diagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) double max_diagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) @@ -67,7 +66,6 @@ public: verbosityLM(SILENT), minModelFidelity(1e-3), diagonalDamping(false), - reuse_diagonal_(false), useFixedLambdaFactor(true), min_diagonal(1e-6), max_diagonal(1e32) {} @@ -79,23 +77,23 @@ public: p.maxIterations = 50; // Termination condition, turn off because no corresponding option in CERES - p.absoluteErrorTol = 0; // Frank thinks this is not tolerance (was 1e-6) + p.absoluteErrorTol = 0; // Frank thinks this is not tolerance (was 1e-6) // Termination condition, turn off because no corresponding option in CERES - p.errorTol = 0; // 1e-6; + p.errorTol = 0; // 1e-6; // Termination condition, same as options.function_tolerance - p.relativeErrorTol = 1e-6; // This is function_tolerance (was 1e-03) + p.relativeErrorTol = 1e-6; // This is function_tolerance (was 1e-03) // Change lambda parameters to be the same as Ceres p.lambdaUpperBound = 1e32; p.lambdaLowerBound = 1e-16; p.lambdaInitial = 1e-04; p.lambdaFactor = 2.0; - p.useFixedLambdaFactor = false; // Luca says this is important + p.useFixedLambdaFactor = false; // Luca says this is important p.diagonalDamping = true; - p.minModelFidelity = 1e-3; // options.min_relative_decrease in CERES + p.minModelFidelity = 1e-3; // options.min_relative_decrease in CERES return p; } @@ -133,11 +131,13 @@ class GTSAM_EXPORT LevenbergMarquardtState: public NonlinearOptimizerState { public: double lambda; - int totalNumberInnerIterations; // The total number of inner iterations in the optimization (for each iteration, LM may try multiple iterations with different lambdas) boost::posix_time::ptime startTime; - VectorValues hessianDiagonal; //only update hessianDiagonal when reuse_diagonal_ = false + int totalNumberInnerIterations; //< The total number of inner iterations in the optimization (for each iteration, LM may try multiple iterations with different lambdas) + VectorValues hessianDiagonal; //< we only update hessianDiagonal when reuseDiagonal = false + bool reuseDiagonal; ///< an additional option in Ceres for diagonalDamping - LevenbergMarquardtState() { + LevenbergMarquardtState() : + reuseDiagonal(false) { initTime(); } From 1269785c0589e5347e35ea0b1e8fb67727899b0e Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 17 Jun 2015 09:23:24 -0700 Subject: [PATCH 242/964] Fixed naming convention --- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 8 ++++---- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index a691506e2..928b27167 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -105,8 +105,8 @@ void LevenbergMarquardtParams::print(const std::string& str) const { std::cout << " lambdaLowerBound: " << lambdaLowerBound << "\n"; std::cout << " minModelFidelity: " << minModelFidelity << "\n"; std::cout << " diagonalDamping: " << diagonalDamping << "\n"; - std::cout << " min_diagonal: " << min_diagonal << "\n"; - std::cout << " max_diagonal: " << max_diagonal << "\n"; + std::cout << " minDiagonal: " << minDiagonal << "\n"; + std::cout << " maxDiagonal: " << maxDiagonal << "\n"; std::cout << " verbosityLM: " << verbosityLMTranslator(verbosityLM) << "\n"; std::cout.flush(); @@ -156,8 +156,8 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem( state_.hessianDiagonal = linear.hessianDiagonal(); BOOST_FOREACH(Vector& v, state_.hessianDiagonal | map_values) { for (int aa = 0; aa < v.size(); aa++) { - v(aa) = std::min(std::max(v(aa), params_.min_diagonal), - params_.max_diagonal); + v(aa) = std::min(std::max(v(aa), params_.minDiagonal), + params_.maxDiagonal); v(aa) = sqrt(v(aa)); } } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index d185bca0e..bc4a55e26 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -55,8 +55,8 @@ public: std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda] bool diagonalDamping; ///< if true, use diagonal of Hessian bool useFixedLambdaFactor; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor - double min_diagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) - double max_diagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) + double minDiagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) + double maxDiagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) LevenbergMarquardtParams() : lambdaInitial(1e-5), @@ -67,8 +67,8 @@ public: minModelFidelity(1e-3), diagonalDamping(false), useFixedLambdaFactor(true), - min_diagonal(1e-6), - max_diagonal(1e32) {} + minDiagonal(1e-6), + maxDiagonal(1e32) {} static LevenbergMarquardtParams CeresDefaults() { LevenbergMarquardtParams p; From 0f02b7d47385fd04be4fc8ec96b30fbf8fe14735 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 17 Jun 2015 16:23:27 -0400 Subject: [PATCH 243/964] Prohibit Timing build mode with TBB. See issue #173 --- CMakeLists.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6e9aa0009..a77173ba0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -158,6 +158,12 @@ else() set(GTSAM_USE_TBB 0) # This will go into config.h endif() +############################################################################### +# Prohibit Timing build mode in combination with TBB +if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing")) + message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.") +endif() + ############################################################################### # Find Google perftools From ba932cafae108189ea4eccb188ffe7bd799250c8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 17 Jun 2015 19:43:04 -0700 Subject: [PATCH 244/964] Spelling --- gtsam/nonlinear/AdaptAutoDiff.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h index adb2031df..341bb7d10 100644 --- a/gtsam/nonlinear/AdaptAutoDiff.h +++ b/gtsam/nonlinear/AdaptAutoDiff.h @@ -33,7 +33,7 @@ namespace detail { template struct Origin { T operator()() { return traits::Identity();} }; -// but dimple manifolds don't have one, so we just use the default constructor +// but simple manifolds don't have one, so we just use the default constructor template struct Origin { T operator()() { return T();} }; @@ -109,7 +109,7 @@ public: // Get derivatives with AutoDiff double *parameters[] = { v1.data(), v2.data() }; - double rowMajor1[N * M1], rowMajor2[N * M2]; // om the stack + double rowMajor1[N * M1], rowMajor2[N * M2]; // on the stack double *jacobians[] = { rowMajor1, rowMajor2 }; success = AutoDiff::Differentiate(f, parameters, 2, result.data(), jacobians); From 62db9370ca926e6e1a5b0d64d41c532fca6997dc Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 17 Jun 2015 19:43:26 -0700 Subject: [PATCH 245/964] Better separation of cers/gtam paths --- timing/timeSFMBAL.cpp | 52 ++++++++++++++++++++++++++++--------------- 1 file changed, 34 insertions(+), 18 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 77bf4a708..743d98284 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -16,14 +16,8 @@ * @date June 6, 2015 */ -#include #include -#include -#include -#include #include -#include -#include #include #include #include @@ -40,8 +34,17 @@ using namespace std; using namespace gtsam; -//#define TERNARY - +#define USE_GTSAM_FACTOR +#ifdef USE_GTSAM_FACTOR +#include +#include +#include +typedef PinholeCamera Camera; +typedef GeneralSFMFactor SfmFactor; +#else +#include +#include +#include // Special version of Cal3Bundler so that default constructor = 0,0,0 struct CeresCalibration: public Cal3Bundler { CeresCalibration(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, @@ -66,10 +69,10 @@ struct traits : public internal::Manifold { } // With that, camera below behaves like Snavely's 9-dim vector -typedef PinholeCamera CeresCamera; +typedef PinholeCamera Camera; +#endif int main(int argc, char* argv[]) { - typedef GeneralSFMFactor, Point3> sfmFactor; using symbol_shorthand::P; // Load BAL file (default is tiny) @@ -79,7 +82,9 @@ int main(int argc, char* argv[]) { if (!success) throw runtime_error("Could not access file!"); - typedef AdaptAutoDiff Adaptor; +#ifndef USE_GTSAM_FACTOR + AdaptAutoDiff snavely; +#endif // Build graph SharedNoiseModel unit2 = noiseModel::Unit::Create(2); @@ -89,12 +94,12 @@ int main(int argc, char* argv[]) { size_t i = m.first; Point2 measurement = m.second; #ifdef USE_GTSAM_FACTOR - graph.push_back(sfmFactor(measurement, unit2, i, P(j))); + graph.push_back(SfmFactor(measurement, unit2, i, P(j))); #else - Expression camera_(i); + Expression camera_(i); Expression point_(P(j)); graph.addExpressionFactor(unit2, measurement, - Expression(Adaptor(), camera_, point_)); + Expression(snavely, camera_, point_)); #endif } } @@ -105,14 +110,25 @@ int main(int argc, char* argv[]) { #ifdef USE_GTSAM_FACTOR initial.insert((i++), camera); #else - CeresCamera ceresCamera(camera.pose(), camera.calibration()); + Camera ceresCamera(camera.pose(), camera.calibration()); initial.insert((i++), ceresCamera); #endif } BOOST_FOREACH(const SfM_Track& track, db.tracks) initial.insert(P(j++), track.p); -// Create Schur-complement ordering + // Check projection + Point2 expected = db.tracks.front().measurements.front().second; + Camera camera = initial.at(0); + Point3 point = initial.at(P(0)); +#ifdef USE_GTSAM_FACTOR + Point2 actual = camera.project(point); +#else + Point2 actual = snavely(camera, point); +#endif + assert_equal(expected,actual,10); + + // Create Schur-complement ordering #ifdef CCOLAMD vector pointKeys; for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j)); @@ -127,12 +143,12 @@ int main(int argc, char* argv[]) { // Optimize // Set parameters to be similar to ceres - LevenbergMarquardtParams params = LevenbergMarquardtParams::CeresDefaults(); + LevenbergMarquardtParams params;// = LevenbergMarquardtParams::CeresDefaults(); params.setOrdering(ordering); params.setVerbosity("ERROR"); params.setVerbosityLM("TRYLAMBDA"); LevenbergMarquardtOptimizer lm(graph, initial, params); - Values actual = lm.optimize(); + Values result = lm.optimize(); tictoc_finishedIteration_(); tictoc_print_(); From 62bfce7358bdcd9aa6b0763d2ab5eb7c8e0a3371 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 17 Jun 2015 19:54:21 -0700 Subject: [PATCH 246/964] Fixed state constructor to set reuseDiagonal properly --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index d185bca0e..bd02592fc 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -136,10 +136,7 @@ public: VectorValues hessianDiagonal; //< we only update hessianDiagonal when reuseDiagonal = false bool reuseDiagonal; ///< an additional option in Ceres for diagonalDamping - LevenbergMarquardtState() : - reuseDiagonal(false) { - initTime(); - } + LevenbergMarquardtState() {} // used in LM constructor but immediately overwritten void initTime() { startTime = boost::posix_time::microsec_clock::universal_time(); @@ -153,7 +150,7 @@ protected: const Values& initialValues, const LevenbergMarquardtParams& params, unsigned int iterations = 0) : NonlinearOptimizerState(graph, initialValues, iterations), lambda( - params.lambdaInitial), totalNumberInnerIterations(0) { + params.lambdaInitial), totalNumberInnerIterations(0),reuseDiagonal(false) { initTime(); } From 879e66a63a503984daab26725afce17e0ccc4ce6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 18 Jun 2015 09:51:22 -0700 Subject: [PATCH 247/964] TWo default param sets --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 134 ++++++++++-------- tests/testNonlinearOptimizer.cpp | 25 ++-- 2 files changed, 85 insertions(+), 74 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 9fe2471a8..1e395d550 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -52,76 +52,84 @@ public: double lambdaLowerBound; ///< The minimum lambda used in LM (default: 0) VerbosityLM verbosityLM; ///< The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity double minModelFidelity; ///< Lower bound for the modelFidelity to accept the result of an LM iteration - std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda] + std::string logFile; ///< an optional CSV log file, with [iteration, time, error, lambda] bool diagonalDamping; ///< if true, use diagonal of Hessian bool useFixedLambdaFactor; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor double minDiagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) double maxDiagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) LevenbergMarquardtParams() - : lambdaInitial(1e-5), - lambdaFactor(10.0), - lambdaUpperBound(1e5), - lambdaLowerBound(0.0), - verbosityLM(SILENT), - minModelFidelity(1e-3), + : verbosityLM(SILENT), diagonalDamping(false), - useFixedLambdaFactor(true), minDiagonal(1e-6), - maxDiagonal(1e32) {} + maxDiagonal(1e32) { + SetLegacyDefaults(this); + } + + static void SetLegacyDefaults(LevenbergMarquardtParams* p) { + // Relevant NonlinearOptimizerParams: + p->maxIterations = 100; + p->relativeErrorTol = 1e-5; + p->absoluteErrorTol = 1e-5; + // LM-specific: + p->lambdaInitial = 1e-5; + p->lambdaFactor = 10.0; + p->lambdaUpperBound = 1e5; + p->lambdaLowerBound = 0.0; + p->minModelFidelity = 1e-3; + p->diagonalDamping = false; + p->useFixedLambdaFactor = true; + } + + // these do seem to work better for SFM + static void SetCeresDefaults(LevenbergMarquardtParams* p) { + // Relevant NonlinearOptimizerParams: + p->maxIterations = 50; + p->absoluteErrorTol = 0; // No corresponding option in CERES + p->relativeErrorTol = 1e-6; // This is function_tolerance + // LM-specific: + p->lambdaUpperBound = 1e32; + p->lambdaLowerBound = 1e-16; + p->lambdaInitial = 1e-04; + p->lambdaFactor = 2.0; + p->minModelFidelity = 1e-3; // options.min_relative_decrease in CERES + p->diagonalDamping = true; + p->useFixedLambdaFactor = false; // This is important + } + + static LevenbergMarquardtParams LegacyDefaults() { + LevenbergMarquardtParams p; + SetLegacyDefaults(&p); + return p; + } static LevenbergMarquardtParams CeresDefaults() { LevenbergMarquardtParams p; - - // Termination condition, same as options.max_num_iterations - p.maxIterations = 50; - - // Termination condition, turn off because no corresponding option in CERES - p.absoluteErrorTol = 0; // Frank thinks this is not tolerance (was 1e-6) - - // Termination condition, turn off because no corresponding option in CERES - p.errorTol = 0; // 1e-6; - - // Termination condition, same as options.function_tolerance - p.relativeErrorTol = 1e-6; // This is function_tolerance (was 1e-03) - - // Change lambda parameters to be the same as Ceres - p.lambdaUpperBound = 1e32; - p.lambdaLowerBound = 1e-16; - p.lambdaInitial = 1e-04; - p.lambdaFactor = 2.0; - p.useFixedLambdaFactor = false; // Luca says this is important - - p.diagonalDamping = true; - p.minModelFidelity = 1e-3; // options.min_relative_decrease in CERES - + SetCeresDefaults(&p); return p; } virtual ~LevenbergMarquardtParams() {} virtual void print(const std::string& str = "") const; - inline double getlambdaInitial() const { return lambdaInitial; } - inline double getlambdaFactor() const { return lambdaFactor; } - inline double getlambdaUpperBound() const { return lambdaUpperBound; } - inline double getlambdaLowerBound() const { return lambdaLowerBound; } - inline std::string getVerbosityLM() const { - return verbosityLMTranslator(verbosityLM); - } - inline std::string getLogFile() const { return logFile; } - inline bool getDiagonalDamping() const { return diagonalDamping; } + std::string getVerbosityLM() const { return verbosityLMTranslator(verbosityLM);} + void setVerbosityLM(const std::string& s) { verbosityLM = verbosityLMTranslator(s);} - inline void setlambdaInitial(double value) { lambdaInitial = value; } - inline void setlambdaFactor(double value) { lambdaFactor = value; } - inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; } - inline void setlambdaLowerBound(double value) { lambdaLowerBound = value; } - inline void setVerbosityLM(const std::string& s) { - verbosityLM = verbosityLMTranslator(s); - } - inline void setLogFile(const std::string& s) { logFile = s; } - inline void setDiagonalDamping(bool flag) { diagonalDamping = flag; } - inline void setUseFixedLambdaFactor(bool flag) { - useFixedLambdaFactor = flag; - } + // @deprecated (just use fields) +#ifdef GTSAM_ALLOW_DEPRECATED + bool getDiagonalDamping() const { return diagonalDamping; } + double getlambdaFactor() const { return lambdaFactor; } + double getlambdaInitial() const { return lambdaInitial; } + double getlambdaLowerBound() const { return lambdaLowerBound; } + double getlambdaUpperBound() const { return lambdaUpperBound; } + std::string getLogFile() const { return logFile; } + void setDiagonalDamping(bool flag) { diagonalDamping = flag; } + void setlambdaFactor(double value) { lambdaFactor = value; } + void setlambdaInitial(double value) { lambdaInitial = value; } + void setlambdaLowerBound(double value) { lambdaLowerBound = value; } + void setlambdaUpperBound(double value) { lambdaUpperBound = value; } + void setLogFile(const std::string& s) { logFile = s; } + void setUseFixedLambdaFactor(bool flag) { useFixedLambdaFactor = flag;} +#endif }; /** @@ -180,12 +188,12 @@ public: * @param initialValues The initial variable assignments * @param params The optimization parameters */ - LevenbergMarquardtOptimizer(const NonlinearFactorGraph& graph, - const Values& initialValues, const LevenbergMarquardtParams& params = - LevenbergMarquardtParams()) : - NonlinearOptimizer(graph), params_(ensureHasOrdering(params, graph)), state_( - graph, initialValues, params_) { - } + LevenbergMarquardtOptimizer( + const NonlinearFactorGraph& graph, const Values& initialValues, + const LevenbergMarquardtParams& params = LevenbergMarquardtParams()) + : NonlinearOptimizer(graph), + params_(ensureHasOrdering(params, graph)), + state_(graph, initialValues, params_) {} /** Standard constructor, requires a nonlinear factor graph, initial * variable assignments, and optimization parameters. For convenience this @@ -194,9 +202,11 @@ public: * @param graph The nonlinear factor graph to optimize * @param initialValues The initial variable assignments */ - LevenbergMarquardtOptimizer(const NonlinearFactorGraph& graph, - const Values& initialValues, const Ordering& ordering) : - NonlinearOptimizer(graph) { + LevenbergMarquardtOptimizer( + const NonlinearFactorGraph& graph, const Values& initialValues, + const Ordering& ordering, + const LevenbergMarquardtParams& params = LevenbergMarquardtParams()) + : NonlinearOptimizer(graph), params_(params) { params_.ordering = ordering; state_ = LevenbergMarquardtState(graph, initialValues, params_); } diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 6d8a056fc..f927f45ae 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -187,7 +187,9 @@ TEST( NonlinearOptimizer, Factorization ) ordering.push_back(X(1)); ordering.push_back(X(2)); - LevenbergMarquardtOptimizer optimizer(graph, config, ordering); + LevenbergMarquardtParams params; + LevenbergMarquardtParams::SetLegacyDefaults(¶ms); + LevenbergMarquardtOptimizer optimizer(graph, config, ordering, params); optimizer.iterate(); Values expected; @@ -260,13 +262,13 @@ TEST_UNSAFE(NonlinearOptimizer, MoreOptimization) { expectedGradient.insert(2,zero(3)); // Try LM and Dogleg - LevenbergMarquardtParams params; -// params.setVerbosityLM("TRYDELTA"); -// params.setVerbosity("TERMINATION"); - params.setlambdaUpperBound(1e9); -// params.setRelativeErrorTol(0); -// params.setAbsoluteErrorTol(0); - //params.setlambdaInitial(10); + LevenbergMarquardtParams params = LevenbergMarquardtParams::LegacyDefaults(); + // params.setVerbosityLM("TRYDELTA"); + // params.setVerbosity("TERMINATION"); + params.lambdaUpperBound = 1e9; +// params.relativeErrorTol = 0; +// params.absoluteErrorTol = 0; + //params.lambdaInitial = 10; { LevenbergMarquardtOptimizer optimizer(fg, init, params); @@ -290,7 +292,7 @@ TEST_UNSAFE(NonlinearOptimizer, MoreOptimization) { initBetter.insert(2, Pose2(11,7,M_PI/2)); { - params.setDiagonalDamping(true); + params.diagonalDamping = true; LevenbergMarquardtOptimizer optimizer(fg, initBetter, params); // test the diagonal @@ -399,7 +401,7 @@ public: /// Constructor IterativeLM(const NonlinearFactorGraph& graph, const Values& initialValues, const ConjugateGradientParameters &p, - const LevenbergMarquardtParams& params = LevenbergMarquardtParams()) : + const LevenbergMarquardtParams& params = LevenbergMarquardtParams::LegacyDefaults()) : LevenbergMarquardtOptimizer(graph, initialValues, params), cgParams_(p) { } @@ -446,8 +448,7 @@ TEST( NonlinearOptimizer, logfile ) // Levenberg-Marquardt LevenbergMarquardtParams lmParams; static const string filename("testNonlinearOptimizer.log"); - lmParams.setLogFile(filename); - CHECK(lmParams.getLogFile()==filename); + lmParams.logFile = filename; LevenbergMarquardtOptimizer(fg, c0, lmParams).optimize(); // stringstream expected,actual; From c01618a7ffa867f6a7e40a41d20226ab0e07c07b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 18 Jun 2015 09:51:30 -0700 Subject: [PATCH 248/964] Use Ceres defaults --- .cproject | 3314 +++++++++++++++++++++-------------------- timing/timeSFMBAL.cpp | 3 +- 2 files changed, 1675 insertions(+), 1642 deletions(-) diff --git a/.cproject b/.cproject index ac9b166ec..866092c95 100644 --- a/.cproject +++ b/.cproject @@ -5,13 +5,13 @@ - - + + @@ -60,13 +60,13 @@ - - + + @@ -116,13 +116,13 @@ - - + + @@ -484,341 +484,6 @@ - - make - -j5 - testCombinedImuFactor.run - true - true - true - - - make - -j5 - testImuFactor.run - true - true - true - - - make - -j5 - testAHRSFactor.run - true - true - true - - - make - -j8 - testAttitudeFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testNonlinearConstraint.run - true - true - true - - - make - -j2 - testLieConfig.run - true - true - true - - - make - -j2 - testConstraintOptimizer.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j4 - testImuFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testBTree.run - true - true - true - - - make - -j2 - testDSF.run - true - true - true - - - make - -j2 - testDSFVector.run - true - true - true - - - make - -j2 - testMatrix.run - true - true - true - - - make - -j2 - testSPQRUtil.run - true - true - true - - - make - -j2 - testVector.run - true - true - true - - - make - -j2 - timeMatrix.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - wrap - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - - - cmake - .. - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testLieConfig.run - true - true - true - - - make - -j4 - testSimilarity3.run - true - true - true - - - make - -j5 - testInvDepthCamera3.run - true - true - true - - - make - -j5 - testTriangulation.run - true - true - true - - - make - -j4 - testEvent.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - all - true - false - true - - - make - -j5 - check - true - false - true - make -j5 @@ -867,183 +532,39 @@ true true - - make - -j5 - testCal3Bundler.run - true - true - true - - - make - -j5 - testCal3DS2.run - true - true - true - - - make - -j5 - testCalibratedCamera.run - true - true - true - - - make - -j5 - testEssentialMatrix.run - true - true - true - - - make - -j1 VERBOSE=1 - testHomography2.run - true - false - true - - - make - -j5 - testPinholeCamera.run - true - true - true - - - make - -j5 - testPoint2.run - true - true - true - - - make - -j5 - testPoint3.run - true - true - true - - - make - -j5 - testPose2.run - true - true - true - - - make - -j5 - testPose3.run - true - true - true - - - make - -j5 - testRot3M.run - true - true - true - - - make - -j5 - testSphere2.run - true - true - true - - - make - -j5 - testStereoCamera.run - true - true - true - - - make - -j5 - testCal3Unified.run - true - true - true - - - make - -j5 - testRot2.run - true - true - true - - - make - -j5 - testRot3Q.run - true - true - true - - - make - -j5 - testRot3.run - true - true - true - - + make -j4 - testSO3.run + testSimilarity3.run true true true - + + make + -j5 + testInvDepthCamera3.run + true + true + true + + + make + -j5 + testTriangulation.run + true + true + true + + make -j4 - testQuaternion.run + testEvent.run true true true - - make - -j4 - testOrientedPlane3.run - true - true - true - - - make - -j4 - testPinholePose.run - true - true - true - - - make - -j4 - testCyclic.run - true - true - true - - + make -j2 all @@ -1051,7 +572,7 @@ true true - + make -j2 clean @@ -1059,23 +580,143 @@ true true - + + make + -k + check + true + false + true + + + make + + tests/testBayesTree.run + true + false + true + + + make + + testBinaryBayesNet.run + true + false + true + + make -j2 - clean all + testFactorGraph.run true true true - + make -j2 - install + testISAM.run true true true - + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + testKey.run + true + true + true + + + make + -j2 + testOrdering.run + true + true + true + + + make + + testSymbolicBayesNet.run + true + false + true + + + make + + tests/testSymbolicFactor.run + true + false + true + + + make + + testSymbolicFactorGraph.run + true + false + true + + + make + -j2 + timeSymbolMaps.run + true + true + true + + + make + + tests/testBayesTree + true + false + true + + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + make -j2 clean @@ -1227,6 +868,518 @@ true true + + make + -j5 + testGaussianFactorGraphUnordered.run + true + true + true + + + make + -j5 + testGaussianBayesNetUnordered.run + true + true + true + + + make + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testJacobianFactor.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testNoiseModel.run + true + true + true + + + make + -j5 + testSampler.run + true + true + true + + + make + -j5 + testSerializationLinear.run + true + true + true + + + make + -j5 + testVectorValues.run + true + true + true + + + make + -j5 + testGaussianBayesTree.run + true + true + true + + + make + -j5 + testCombinedImuFactor.run + true + true + true + + + make + -j5 + testImuFactor.run + true + true + true + + + make + -j5 + testAHRSFactor.run + true + true + true + + + make + -j8 + testAttitudeFactor.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + all + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testGaussianConditional.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + timeGaussianFactor.run + true + true + true + + + make + -j2 + timeVectorConfig.run + true + true + true + + + make + -j2 + testVectorBTree.run + true + true + true + + + make + -j2 + testVectorMap.run + true + true + true + + + make + -j2 + testNoiseModel.run + true + true + true + + + make + -j2 + testBayesNetPreconditioner.run + true + true + true + + + make + + testErrors.run + true + false + true + + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testGaussianJunctionTree.run + true + true + true + + + make + -j2 + tests/testGaussianFactor.run + true + true + true + + + make + -j2 + tests/testGaussianConditional.run + true + true + true + + + make + -j2 + tests/timeSLAMlike.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testBTree.run + true + true + true + + + make + -j2 + testDSF.run + true + true + true + + + make + -j2 + testDSFVector.run + true + true + true + + + make + -j2 + testMatrix.run + true + true + true + + + make + -j2 + testSPQRUtil.run + true + true + true + + + make + -j2 + testVector.run + true + true + true + + + make + -j2 + timeMatrix.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testClusterTree.run + true + true + true + + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + tests/testEliminationTree.run + true + true + true + + + make + -j2 + tests/testSymbolicFactor.run + true + true + true + + + make + -j2 + tests/testVariableSlots.run + true + true + true + + + make + -j2 + tests/testConditional.run + true + true + true + + + make + -j2 + tests/testSymbolicFactorGraph.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + testNonlinearConstraint.run + true + true + true + + + make + -j2 + testLieConfig.run + true + true + true + + + make + -j2 + testConstraintOptimizer.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFMap.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + make -j2 @@ -1368,23 +1521,55 @@ true true - + make - -j2 - all + -j5 + testEliminationTree.run true true true - + make - -j2 - clean + -j5 + testInference.run true true true - + + make + -j5 + testKey.run + true + true + true + + + make + -j1 + testSymbolicBayesTree.run + true + false + true + + + make + -j1 + testSymbolicSequentialSolver.run + true + false + true + + + make + -j4 + testLabeledSymbol.run + true + true + true + + make -j2 check @@ -1392,178 +1577,10 @@ true true - + make -j2 - testGaussianConditional.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - timeGaussianFactor.run - true - true - true - - - make - -j2 - timeVectorConfig.run - true - true - true - - - make - -j2 - testVectorBTree.run - true - true - true - - - make - -j2 - testVectorMap.run - true - true - true - - - make - -j2 - testNoiseModel.run - true - true - true - - - make - -j2 - testBayesNetPreconditioner.run - true - true - true - - - make - - testErrors.run - true - false - true - - - make - -j5 - testAntiFactor.run - true - true - true - - - make - -j5 - testPriorFactor.run - true - true - true - - - make - -j5 - testDataset.run - true - true - true - - - make - -j5 - testEssentialMatrixFactor.run - true - true - true - - - make - -j5 - testGeneralSFMFactor_Cal3Bundler.run - true - true - true - - - make - -j5 - testGeneralSFMFactor.run - true - true - true - - - make - -j5 - testProjectionFactor.run - true - true - true - - - make - -j5 - testRotateFactor.run - true - true - true - - - make - -j5 - testPoseRotationPrior.run - true - true - true - - - make - -j5 - testImplicitSchurFactor.run - true - true - true - - - make - -j4 - testRangeFactor.run - true - true - true - - - make - -j4 - testOrientedPlane3Factor.run - true - true - true - - - make - -j4 - testSmartProjectionPoseFactor.run + tests/testLieConfig.run true true true @@ -1975,7 +1992,7 @@ false true - + make -j2 check @@ -1983,54 +2000,38 @@ true true - + make - tests/testGaussianISAM2 + -j2 + clean + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + all + true + true + true + + + cmake + .. true false true - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testGaussianJunctionTree.run - true - true - true - - - make - -j2 - tests/testGaussianFactor.run - true - true - true - - - make - -j2 - tests/testGaussianConditional.run - true - true - true - - - make - -j2 - tests/timeSLAMlike.run - true - true - true - - + make -j2 testGaussianFactor.run @@ -2038,503 +2039,191 @@ true true - + make -j5 - testParticleFactor.run + testCal3Bundler.run true true true - + make -j5 - schedulingExample.run + testCal3DS2.run true true true - + make -j5 - schedulingQuals12.run - true - true - true - - - make - -j5 - schedulingQuals13.run - true - true - true - - - make - -j5 - testCSP.run - true - true - true - - - make - -j5 - testScheduler.run - true - true - true - - - make - -j5 - testSudoku.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -k - check - true - false - true - - - make - - tests/testBayesTree.run - true - false - true - - - make - - testBinaryBayesNet.run - true - false - true - - - make - -j2 - testFactorGraph.run - true - true - true - - - make - -j2 - testISAM.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - testKey.run - true - true - true - - - make - -j2 - testOrdering.run - true - true - true - - - make - - testSymbolicBayesNet.run - true - false - true - - - make - - tests/testSymbolicFactor.run - true - false - true - - - make - - testSymbolicFactorGraph.run - true - false - true - - - make - -j2 - timeSymbolMaps.run - true - true - true - - - make - - tests/testBayesTree - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - timeCalibratedCamera.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - - - make - -j2 - SimpleRotation.run - true - true - true - - - make - -j5 - CameraResectioning.run - true - true - true - - - make - -j5 - PlanarSLAMExample.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - easyPoint2KalmanFilter.run - true - true - true - - - make - -j2 - elaboratePoint2KalmanFilter.run - true - true - true - - - make - -j5 - Pose2SLAMExample.run - true - true - true - - - make - -j2 - Pose2SLAMwSPCG_easy.run - true - true - true - - - make - -j5 - UGM_small.run - true - true - true - - - make - -j5 - LocalizationExample.run - true - true - true - - - make - -j5 - OdometryExample.run - true - true - true - - - make - -j5 - RangeISAMExample_plaza2.run - true - true - true - - - make - -j5 - SelfCalibrationExample.run - true - true - true - - - make - -j5 - SFMExample.run - true - true - true - - - make - -j5 - VisualISAMExample.run - true - true - true - - - make - -j5 - VisualISAM2Example.run - true - true - true - - - make - -j5 - Pose2SLAMExample_graphviz.run - true - true - true - - - make - -j5 - Pose2SLAMExample_graph.run - true - true - true - - - make - -j5 - SFMExample_bal.run - true - true - true - - - make - -j5 - Pose2SLAMExample_lago.run - true - true - true - - - make - -j5 - Pose2SLAMExample_g2o.run - true - true - true - - - make - -j5 - SFMExample_SmartFactor.run - true - true - true - - - make - -j4 - Pose2SLAMExampleExpressions.run - true - true - true - - - make - -j4 - SFMExampleExpressions.run - true - true - true - - - make - -j4 - SFMExampleExpressions_bal.run - true - true - true - - - make - -j2 - testRot3.run - true - true - true - - - make - -j2 - testRot2.run - true - true - true - - - make - -j2 - testPose3.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - testPose2.run - true - true - true - - - make - -j2 - testCal3_S2.run - true - true - true - - - make - -j2 - testSimpleCamera.run - true - true - true - - - make - -j2 - testHomography2.run - true - true - true - - - make - -j2 testCalibratedCamera.run true true true - + + make + -j5 + testEssentialMatrix.run + true + true + true + + + make + -j1 VERBOSE=1 + testHomography2.run + true + false + true + + + make + -j5 + testPinholeCamera.run + true + true + true + + + make + -j5 + testPoint2.run + true + true + true + + + make + -j5 + testPoint3.run + true + true + true + + + make + -j5 + testPose2.run + true + true + true + + + make + -j5 + testPose3.run + true + true + true + + + make + -j5 + testRot3M.run + true + true + true + + + make + -j5 + testSphere2.run + true + true + true + + + make + -j5 + testStereoCamera.run + true + true + true + + + make + -j5 + testCal3Unified.run + true + true + true + + + make + -j5 + testRot2.run + true + true + true + + + make + -j5 + testRot3Q.run + true + true + true + + + make + -j5 + testRot3.run + true + true + true + + + make + -j4 + testSO3.run + true + true + true + + + make + -j4 + testQuaternion.run + true + true + true + + + make + -j4 + testOrientedPlane3.run + true + true + true + + + make + -j4 + testPinholePose.run + true + true + true + + + make + -j4 + testCyclic.run + true + true + true + + + make + -j2 + all + true + true + true + + make -j2 check @@ -2542,7 +2231,7 @@ true true - + make -j2 clean @@ -2550,10 +2239,58 @@ true true - + + make + -j5 + all + true + false + true + + + make + -j5 + check + true + false + true + + make -j2 - testPoint2.run + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + clean all true true true @@ -2598,198 +2335,6 @@ true true - - make - -j5 - testEliminationTree.run - true - true - true - - - make - -j5 - testInference.run - true - true - true - - - make - -j5 - testKey.run - true - true - true - - - make - -j1 - testSymbolicBayesTree.run - true - false - true - - - make - -j1 - testSymbolicSequentialSolver.run - true - false - true - - - make - -j4 - testLabeledSymbol.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testClusterTree.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - tests/testEliminationTree.run - true - true - true - - - make - -j2 - tests/testSymbolicFactor.run - true - true - true - - - make - -j2 - tests/testVariableSlots.run - true - true - true - - - make - -j2 - tests/testConditional.run - true - true - true - - - make - -j2 - tests/testSymbolicFactorGraph.run - true - true - true - - - make - -j5 - testLago.run - true - true - true - - - make - -j5 - testLinearContainerFactor.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testWhiteNoiseFactor.run - true - true - true - - - make - -j4 - testExpression.run - true - true - true - - - make - -j4 - testAdaptAutoDiff.run - true - true - true - - - make - -j4 - testCallRecord.run - true - true - true - - - make - -j4 - testExpressionFactor.run - true - true - true - - - make - -j4 - testExecutionTrace.run - true - true - true - make -j5 @@ -2822,135 +2367,31 @@ true true - + make - -j5 + -j2 + check + true + true + true + + + make + -j2 timeCalibratedCamera.run true true true - - make - -j5 - timePinholeCamera.run - true - true - true - - - make - -j5 - timeStereoCamera.run - true - true - true - - - make - -j5 - timeLago.run - true - true - true - - - make - -j5 - timePose3.run - true - true - true - - - make - -j4 - timeAdaptAutoDiff.run - true - true - true - - - make - -j4 - timeCameraExpression.run - true - true - true - - - make - -j4 - timeOneCameraExpression.run - true - true - true - - - make - -j4 - timeSFMExpressions.run - true - true - true - - - make - -j4 - timeIncremental.run - true - true - true - - - make - -j5 - testBTree.run - true - true - true - - - make - -j5 - testDSF.run - true - true - true - - - make - -j5 - testDSFMap.run - true - true - true - - - make - -j5 - testDSFVector.run - true - true - true - - - make - -j5 - testFixedVector.run - true - true - true - - + make -j2 - all + timeRot3.run true true true - + make -j2 clean @@ -2958,110 +2399,6 @@ true true - - make - -j5 - testGaussianFactorGraphUnordered.run - true - true - true - - - make - -j5 - testGaussianBayesNetUnordered.run - true - true - true - - - make - -j5 - testGaussianConditional.run - true - true - true - - - make - -j5 - testGaussianDensity.run - true - true - true - - - make - -j5 - testGaussianJunctionTree.run - true - true - true - - - make - -j5 - testHessianFactor.run - true - true - true - - - make - -j5 - testJacobianFactor.run - true - true - true - - - make - -j5 - testKalmanFilter.run - true - true - true - - - make - -j5 - testNoiseModel.run - true - true - true - - - make - -j5 - testSampler.run - true - true - true - - - make - -j5 - testSerializationLinear.run - true - true - true - - - make - -j5 - testVectorValues.run - true - true - true - - - make - -j5 - testGaussianBayesTree.run - true - true - true - make -j5 @@ -3142,18 +2479,66 @@ true true - + make - -j2 - all + -j5 + schedulingExample.run true true true - + + make + -j5 + schedulingQuals12.run + true + true + true + + + make + -j5 + schedulingQuals13.run + true + true + true + + + make + -j5 + testCSP.run + true + true + true + + + make + -j5 + testScheduler.run + true + true + true + + + make + -j5 + testSudoku.run + true + true + true + + make -j2 - clean + vSFMexample.run + true + true + true + + + make + -j2 + testVSLAMGraph true true true @@ -3438,31 +2823,487 @@ true true - + make - -j2 - vSFMexample.run + -j4 + testNonlinearOPtimizer.run true true true - + make -j5 + testParticleFactor.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 clean true true true - + make - -j5 + -j2 all true true true - + + make + -j2 + clean + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testAntiFactor.run + true + true + true + + + make + -j5 + testPriorFactor.run + true + true + true + + + make + -j5 + testDataset.run + true + true + true + + + make + -j5 + testEssentialMatrixFactor.run + true + true + true + + + make + -j5 + testGeneralSFMFactor_Cal3Bundler.run + true + true + true + + + make + -j5 + testGeneralSFMFactor.run + true + true + true + + + make + -j5 + testProjectionFactor.run + true + true + true + + + make + -j5 + testRotateFactor.run + true + true + true + + + make + -j5 + testPoseRotationPrior.run + true + true + true + + + make + -j5 + testImplicitSchurFactor.run + true + true + true + + + make + -j4 + testRangeFactor.run + true + true + true + + + make + -j4 + testOrientedPlane3Factor.run + true + true + true + + + make + -j4 + testSmartProjectionPoseFactor.run + true + true + true + + + make + -j4 + testRegularHessianFactor.run + true + true + true + + + make + -j4 + testRegularJacobianFactor.run + true + true + true + + + make + -j2 + SimpleRotation.run + true + true + true + + + make + -j5 + CameraResectioning.run + true + true + true + + + make + -j5 + PlanarSLAMExample.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + easyPoint2KalmanFilter.run + true + true + true + + + make + -j2 + elaboratePoint2KalmanFilter.run + true + true + true + + + make + -j5 + Pose2SLAMExample.run + true + true + true + + + make + -j2 + Pose2SLAMwSPCG_easy.run + true + true + true + + + make + -j5 + UGM_small.run + true + true + true + + + make + -j5 + LocalizationExample.run + true + true + true + + + make + -j5 + OdometryExample.run + true + true + true + + + make + -j5 + RangeISAMExample_plaza2.run + true + true + true + + + make + -j5 + SelfCalibrationExample.run + true + true + true + + + make + -j5 + SFMExample.run + true + true + true + + + make + -j5 + VisualISAMExample.run + true + true + true + + + make + -j5 + VisualISAM2Example.run + true + true + true + + + make + -j5 + Pose2SLAMExample_graphviz.run + true + true + true + + + make + -j5 + Pose2SLAMExample_graph.run + true + true + true + + + make + -j5 + SFMExample_bal.run + true + true + true + + + make + -j5 + Pose2SLAMExample_lago.run + true + true + true + + + make + -j5 + Pose2SLAMExample_g2o.run + true + true + true + + + make + -j5 + SFMExample_SmartFactor.run + true + true + true + + + make + -j4 + Pose2SLAMExampleExpressions.run + true + true + true + + + make + -j4 + SFMExampleExpressions.run + true + true + true + + + make + -j4 + SFMExampleExpressions_bal.run + true + true + true + + + make + -j5 + testLago.run + true + true + true + + + make + -j5 + testLinearContainerFactor.run + true + true + true + + + make + -j5 + testOrdering.run + true + true + true + + + make + -j5 + testValues.run + true + true + true + + + make + -j5 + testWhiteNoiseFactor.run + true + true + true + + + make + -j4 + testExpression.run + true + true + true + + + make + -j4 + testAdaptAutoDiff.run + true + true + true + + + make + -j4 + testCallRecord.run + true + true + true + + + make + -j4 + testExpressionFactor.run + true + true + true + + + make + -j4 + testExecutionTrace.run + true + true + true + + + make + -j4 + testImuFactor.run + true + true + true + + make -j2 check @@ -3470,10 +3311,201 @@ true true - + + make + tests/testGaussianISAM2 + true + false + true + + + make + -j5 + timeCalibratedCamera.run + true + true + true + + + make + -j5 + timePinholeCamera.run + true + true + true + + + make + -j5 + timeStereoCamera.run + true + true + true + + + make + -j5 + timeLago.run + true + true + true + + + make + -j5 + timePose3.run + true + true + true + + + make + -j4 + timeAdaptAutoDiff.run + true + true + true + + + make + -j4 + timeCameraExpression.run + true + true + true + + + make + -j4 + timeOneCameraExpression.run + true + true + true + + + make + -j4 + timeSFMExpressions.run + true + true + true + + + make + -j4 + timeIncremental.run + true + true + true + + + make + -j4 + timeSFMBAL.run + true + true + true + + make -j2 - testVSLAMGraph + testRot3.run + true + true + true + + + make + -j2 + testRot2.run + true + true + true + + + make + -j2 + testPose3.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + + make + -j2 + testPose2.run + true + true + true + + + make + -j2 + testCal3_S2.run + true + true + true + + + make + -j2 + testSimpleCamera.run + true + true + true + + + make + -j2 + testHomography2.run + true + true + true + + + make + -j2 + testCalibratedCamera.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testPoint2.run + true + true + true + + + make + -j5 + wrap true true true diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 743d98284..c1e4a9819 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -143,7 +143,8 @@ int main(int argc, char* argv[]) { // Optimize // Set parameters to be similar to ceres - LevenbergMarquardtParams params;// = LevenbergMarquardtParams::CeresDefaults(); + LevenbergMarquardtParams params; + SetCeresDefaults(¶ms); params.setOrdering(ordering); params.setVerbosity("ERROR"); params.setVerbosityLM("TRYLAMBDA"); From 9d40113dda74971e78a52c2b20a1908cd0cfcccb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 18 Jun 2015 09:56:04 -0700 Subject: [PATCH 249/964] Snavely does not work --- timing/timeSFMBAL.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index c1e4a9819..218bfe18e 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -34,7 +34,7 @@ using namespace std; using namespace gtsam; -#define USE_GTSAM_FACTOR +//#define USE_GTSAM_FACTOR #ifdef USE_GTSAM_FACTOR #include #include @@ -144,7 +144,7 @@ int main(int argc, char* argv[]) { // Optimize // Set parameters to be similar to ceres LevenbergMarquardtParams params; - SetCeresDefaults(¶ms); + LevenbergMarquardtParams::SetCeresDefaults(¶ms); params.setOrdering(ordering); params.setVerbosity("ERROR"); params.setVerbosityLM("TRYLAMBDA"); From 391386a6540e199f6db5172ebb50795e3a43cccf Mon Sep 17 00:00:00 2001 From: Luca Date: Thu, 18 Jun 2015 16:00:54 -0400 Subject: [PATCH 250/964] revived SmartProjectionPoseFactor. Compiles now, going to fix unit tests now --- .cproject | 120 +++---------- gtsam/slam/SmartProjectionFactor.h | 20 +-- gtsam/slam/SmartProjectionPoseFactor.h | 160 ++++++++++++++++++ gtsam/slam/tests/smartFactorScenarios.h | 5 +- .../tests/testSmartProjectionPoseFactor.cpp | 91 +++++----- 5 files changed, 243 insertions(+), 153 deletions(-) create mode 100644 gtsam/slam/SmartProjectionPoseFactor.h diff --git a/.cproject b/.cproject index 86952742b..1134896ad 100644 --- a/.cproject +++ b/.cproject @@ -5,13 +5,13 @@ - - + + @@ -60,13 +60,13 @@ - - + + @@ -116,13 +116,13 @@ - - + + @@ -819,10 +819,18 @@ false true - + make - -j4 - SmartStereoProjectionFactorExample.run + -j5 + SmartProjectionFactorExample_kitti_nonbatch.run + true + true + true + + + make + -j5 + SmartProjectionFactorExample_kitti.run true true true @@ -835,14 +843,6 @@ true true - - make - -j4 - SmartProjectionFactorExample.run - true - true - true - make -j2 @@ -1035,30 +1035,6 @@ true true - - make - -j4 - testCameraSet.run - true - true - true - - - make - -j4 - testTriangulation.run - true - true - true - - - make - -j4 - testPinholeSet.run - true - true - true - make -j2 @@ -1147,6 +1123,14 @@ true true + + make + -j5 + testSmartProjectionFactor.run + true + true + true + make -j5 @@ -1546,10 +1530,10 @@ true true - + make - -j4 - testRegularImplicitSchurFactor.run + -j5 + testImplicitSchurFactor.run true true true @@ -1578,30 +1562,6 @@ true true - - make - -j4 - testSmartProjectionCameraFactor.run - true - true - true - - - make - -j4 - testSmartFactorBase.run - true - true - true - - - make - -j4 - testTriangulationFactor.run - true - true - true - make -j3 @@ -2503,14 +2463,6 @@ true true - - make - -j4 - SFMExample_SmartFactorPCG.run - true - true - true - make -j2 @@ -3103,22 +3055,6 @@ true true - - make - -j4 - testRegularHessianFactor.run - true - true - true - - - make - -j4 - testRegularJacobianFactor.run - true - true - true - make -j5 diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index aad1a27f6..c7b2962e4 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -31,6 +31,16 @@ namespace gtsam { +/// Linearization mode: what factor to linearize to +enum LinearizationMode { + HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD +}; + +/// How to manage degeneracy +enum DegeneracyMode { + IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY +}; + /** * SmartProjectionFactor: triangulates point and keeps an estimate of it around. */ @@ -39,16 +49,6 @@ class SmartProjectionFactor: public SmartFactorBase { public: - /// Linearization mode: what factor to linearize to - enum LinearizationMode { - HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD - }; - - /// How to manage degeneracy - enum DegeneracyMode { - IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY - }; - private: typedef SmartFactorBase Base; typedef SmartProjectionFactor This; diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h new file mode 100644 index 000000000..7a5137bfc --- /dev/null +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -0,0 +1,160 @@ +/* ---------------------------------------------------------------------------- + + * 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 SmartProjectionPoseFactor.h + * @brief Produces an Hessian factors on POSES from monocular measurements of a single landmark + * @author Luca Carlone + * @author Chris Beall + * @author Zsolt Kira + */ + +#pragma once + +#include + +namespace gtsam { +/** + * + * @addtogroup SLAM + * + * If you are using the factor, please cite: + * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally + * independent sets in factor graphs: a unifying perspective based on smart factors, + * Int. Conf. on Robotics and Automation (ICRA), 2014. + * + */ + +/** + * The calibration is known here. The factor only constraints poses (variable dimension is 6) + * @addtogroup SLAM + */ +template +class SmartProjectionPoseFactor: public SmartProjectionFactor< + PinholePose > { + +private: + typedef PinholePose Camera; + typedef SmartProjectionFactor Base; + typedef SmartProjectionPoseFactor This; + +protected: + + boost::optional body_P_sensor_; ///< Pose of the camera in the body frame + std::vector > sharedKs_; ///< shared pointer to calibration object (one for each camera) + +public: + + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + /** + * Constructor + * @param rankTol tolerance used to check if point triangulation is degenerate + * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) + * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, + * otherwise the factor is simply neglected (this functionality is deprecated) + * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations + * @param body_P_sensor is the transform from sensor to body frame (default identity) + */ + SmartProjectionPoseFactor(const double rankTol = 1, + const double linThreshold = -1, const DegeneracyMode manageDegeneracy = IGNORE_DEGENERACY, + const bool enableEPI = false, boost::optional body_P_sensor = boost::none, + LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10, + double dynamicOutlierRejectionThreshold = -1) : + Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, + landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), body_P_sensor_(body_P_sensor) {} + + /** Virtual destructor */ + virtual ~SmartProjectionPoseFactor() {} + + /** + * print + * @param s optional string naming the factor + * @param keyFormatter optional formatter useful for printing Symbols + */ + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const { + std::cout << s << "SmartProjectionPoseFactor, z = \n "; + if(body_P_sensor_) + body_P_sensor_->print("body_P_sensor_:\n"); + Base::print("", keyFormatter); + } + + /// equals + virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { + const This *e = dynamic_cast(&p); + return e && Base::equals(p, tol); + } + + /** + * Linearize to Gaussian Factor + * @param values Values structure which must contain camera poses for this factor + * @return + */ + virtual boost::shared_ptr linearize( + const Values& values) const { + // depending on flag set on construction we may linearize to different linear factors +// switch(linearizeTo_){ +// case JACOBIAN_SVD : +// return this->createJacobianSVDFactor(Base::cameras(values), 0.0); +// break; +// case JACOBIAN_Q : +// return this->createJacobianQFactor(Base::cameras(values), 0.0); +// break; +// default: + return this->createHessianFactor(Base::cameras(values)); +// break; +// } + } + + /** + * error calculates the error of the factor. + */ + virtual double error(const Values& values) const { + if (this->active(values)) { + return this->totalReprojectionError(Base::cameras(values)); + } else { // else of active flag + return 0.0; + } + } + + /** return calibration shared pointers */ + inline const std::vector > calibration() const { + return sharedKs_; + } + + Pose3 body_P_sensor() const{ + if(body_P_sensor_) + return *body_P_sensor_; + else + return Pose3(); // if unspecified, the transformation is the identity + } + +private: + + /// Serialization function + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar & BOOST_SERIALIZATION_NVP(sharedKs_); + } + +}; // end of class declaration + +/// traits +template +struct traits > : public Testable< + SmartProjectionPoseFactor > { +}; + +} // \ namespace gtsam diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h index c3598e4c1..e821f9e40 100644 --- a/gtsam/slam/tests/smartFactorScenarios.h +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -17,6 +17,7 @@ */ #pragma once +#include #include #include #include @@ -66,7 +67,7 @@ typedef GeneralSFMFactor SFMFactor; // default Cal3_S2 poses namespace vanillaPose { typedef PinholePose Camera; -typedef SmartProjectionFactor SmartFactor; +typedef SmartProjectionPoseFactor SmartFactor; static Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h)); Camera level_camera(level_pose, sharedK); Camera level_camera_right(pose_right, sharedK); @@ -108,7 +109,7 @@ typedef GeneralSFMFactor SFMFactor; // Cal3Bundler poses namespace bundlerPose { typedef PinholePose Camera; -typedef SmartProjectionFactor SmartFactor; +typedef SmartProjectionPoseFactor SmartFactor; static boost::shared_ptr sharedBundlerK( new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); Camera level_camera(level_pose, sharedBundlerK); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 1e21a3afd..790e85dfb 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -59,7 +59,7 @@ TEST( SmartProjectionPoseFactor, Constructor) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor2) { using namespace vanillaPose; - SmartFactor factor1(SmartFactor::HESSIAN, rankTol); + SmartFactor factor1(gtsam::HESSIAN, rankTol); } /* ************************************************************************* */ @@ -72,7 +72,7 @@ TEST( SmartProjectionPoseFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { using namespace vanillaPose; - SmartFactor factor1(SmartFactor::HESSIAN, rankTol); + SmartFactor factor1(gtsam::HESSIAN, rankTol); factor1.add(measurement1, x1, model); } @@ -495,15 +495,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD)); + new SmartFactor(gtsam::JACOBIAN_SVD)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD)); + new SmartFactor(gtsam::JACOBIAN_SVD)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD)); + new SmartFactor(gtsam::JACOBIAN_SVD)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -549,21 +549,18 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, - SmartFactor::IGNORE_DEGENERACY, false, - excludeLandmarksFutherThanDist)); + new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, - SmartFactor::IGNORE_DEGENERACY, false, - excludeLandmarksFutherThanDist)); + new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, - SmartFactor::IGNORE_DEGENERACY, false, - excludeLandmarksFutherThanDist)); + new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -617,27 +614,23 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, - SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, - dynamicOutlierRejectionThreshold)); + new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, - SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, - dynamicOutlierRejectionThreshold)); + new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, - SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, - dynamicOutlierRejectionThreshold)); + new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(SmartFactor::JACOBIAN_SVD, 1, - SmartFactor::IGNORE_DEGENERACY, false, excludeLandmarksFutherThanDist, - dynamicOutlierRejectionThreshold)); + new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -680,15 +673,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::JACOBIAN_Q)); + new SmartFactor(gtsam::JACOBIAN_Q)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::JACOBIAN_Q)); + new SmartFactor(gtsam::JACOBIAN_Q)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::JACOBIAN_Q)); + new SmartFactor(gtsam::JACOBIAN_Q)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -799,15 +792,15 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol)); + new SmartFactor(gtsam::HESSIAN, rankTol)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol)); + new SmartFactor(gtsam::HESSIAN, rankTol)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::HESSIAN, rankTol)); + new SmartFactor(gtsam::HESSIAN, rankTol)); smartFactor3->add(measurements_cam3, views, model); NonlinearFactorGraph graph; @@ -880,13 +873,13 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::HANDLE_INFINITY)); + new SmartFactor(gtsam::HESSIAN, rankTol, + gtsam::HANDLE_INFINITY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::HANDLE_INFINITY)); + new SmartFactor(gtsam::HESSIAN, rankTol, + gtsam::HANDLE_INFINITY)); smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -961,18 +954,18 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + new SmartFactor(gtsam::HESSIAN, rankTol, + gtsam::ZERO_ON_DEGENERACY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + new SmartFactor(gtsam::HESSIAN, rankTol, + gtsam::ZERO_ON_DEGENERACY)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + new SmartFactor(gtsam::HESSIAN, rankTol, + gtsam::ZERO_ON_DEGENERACY)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1168,7 +1161,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { using namespace bundlerPose; - SmartFactor factor(SmartFactor::HESSIAN, rankTol); + SmartFactor factor(gtsam::HESSIAN, rankTol); factor.add(measurement1, x1, model); } @@ -1262,18 +1255,18 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + new SmartFactor(rankTol, -1.0, gtsam::ZERO_ON_DEGENERACY, + false, Pose3(), gtsam::HESSIAN)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + new SmartFactor(rankTol, -1, gtsam::ZERO_ON_DEGENERACY, + false, Pose3(), gtsam::HESSIAN)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(SmartFactor::HESSIAN, rankTol, - SmartFactor::ZERO_ON_DEGENERACY)); + new SmartFactor(rankTol, -1, gtsam::ZERO_ON_DEGENERACY, + false, Pose3(), gtsam::HESSIAN)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); From 66083f5e18d896f8212555aeb951f2261955f427 Mon Sep 17 00:00:00 2001 From: Luca Date: Thu, 18 Jun 2015 16:33:17 -0400 Subject: [PATCH 251/964] included calibration in constructor SmartProjectionPoseFactor --- gtsam/slam/SmartProjectionPoseFactor.h | 14 +- .../tests/testSmartProjectionPoseFactor.cpp | 177 +++++++++++++----- 2 files changed, 141 insertions(+), 50 deletions(-) diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 7a5137bfc..e86f8e555 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -48,8 +48,8 @@ private: protected: + boost::shared_ptr K_; ///< calibration object (one for all cameras) boost::optional body_P_sensor_; ///< Pose of the camera in the body frame - std::vector > sharedKs_; ///< shared pointer to calibration object (one for each camera) public: @@ -65,13 +65,13 @@ public: * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations * @param body_P_sensor is the transform from sensor to body frame (default identity) */ - SmartProjectionPoseFactor(const double rankTol = 1, + SmartProjectionPoseFactor(const boost::shared_ptr K, const double rankTol = 1, const double linThreshold = -1, const DegeneracyMode manageDegeneracy = IGNORE_DEGENERACY, const bool enableEPI = false, boost::optional body_P_sensor = boost::none, LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : - Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, - landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), body_P_sensor_(body_P_sensor) {} + Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, landmarkDistanceThreshold, + dynamicOutlierRejectionThreshold), K_(K), body_P_sensor_(body_P_sensor) {} /** Virtual destructor */ virtual ~SmartProjectionPoseFactor() {} @@ -128,8 +128,8 @@ public: } /** return calibration shared pointers */ - inline const std::vector > calibration() const { - return sharedKs_; + inline const boost::shared_ptr calibration() const { + return K_; } Pose3 body_P_sensor() const{ @@ -146,7 +146,7 @@ private: template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(sharedKs_); + ar & BOOST_SERIALIZATION_NVP(K_); } }; // end of class declaration diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 790e85dfb..14e15f6c9 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -53,36 +53,36 @@ LevenbergMarquardtParams params; /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor) { using namespace vanillaPose; - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartFactor::shared_ptr factor1(new SmartFactor(sharedK)); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor2) { using namespace vanillaPose; - SmartFactor factor1(gtsam::HESSIAN, rankTol); + SmartFactor factor1(sharedK, rankTol); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor3) { using namespace vanillaPose; - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartFactor::shared_ptr factor1(new SmartFactor(sharedK)); factor1->add(measurement1, x1, model); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { using namespace vanillaPose; - SmartFactor factor1(gtsam::HESSIAN, rankTol); + SmartFactor factor1(sharedK, rankTol); factor1.add(measurement1, x1, model); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Equals ) { using namespace vanillaPose; - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartFactor::shared_ptr factor1(new SmartFactor(sharedK)); factor1->add(measurement1, x1, model); - SmartFactor::shared_ptr factor2(new SmartFactor()); + SmartFactor::shared_ptr factor2(new SmartFactor(sharedK)); factor2->add(measurement1, x1, model); CHECK(assert_equal(*factor1, *factor2)); @@ -97,7 +97,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { Point2 level_uv = level_camera.project(landmark1); Point2 level_uv_right = level_camera_right.project(landmark1); - SmartFactor factor; + SmartFactor factor(sharedK); factor.add(level_uv, x1, model); factor.add(level_uv_right, x2, model); @@ -162,13 +162,13 @@ TEST( SmartProjectionPoseFactor, noisy ) { Point3(0.5, 0.1, 0.3)); values.insert(x2, Camera(pose_right.compose(noise_pose), sharedK)); - SmartFactor::shared_ptr factor(new SmartFactor()); + SmartFactor::shared_ptr factor(new SmartFactor((sharedK))); factor->add(level_uv, x1, model); factor->add(level_uv_right, x2, model); double actualError1 = factor->error(values); - SmartFactor::shared_ptr factor2(new SmartFactor()); + SmartFactor::shared_ptr factor2(new SmartFactor((sharedK))); vector measurements; measurements.push_back(level_uv); measurements.push_back(level_uv_right); @@ -186,6 +186,96 @@ TEST( SmartProjectionPoseFactor, noisy ) { DOUBLES_EQUAL(actualError1, actualError2, 1e-7); } +/* *************************************************************************/ +TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ + // make a realistic calibration matrix + double fov = 60; // degrees + size_t w=640,h=480; + + Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h)); + + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) + Pose3 cameraPose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses + Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0)); + Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0)); + + SimpleCamera cam1(cameraPose1, *K); // with camera poses + SimpleCamera cam2(cameraPose2, *K); + SimpleCamera cam3(cameraPose3, *K); + + // create arbitrary body_Pose_sensor (transforms from sensor to body) + Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); // + + // These are the poses we want to estimate, from camera measurements + Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse()); + Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse()); + Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse()); + + // three landmarks ~5 meters infront of camera + Point3 landmark1(5, 0.5, 1.2); + Point3 landmark2(5, -0.5, 1.2); + Point3 landmark3(5, 0, 3.0); + + vector measurements_cam1, measurements_cam2, measurements_cam3; + + // Project three landmarks into three cameras + projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); + projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); + projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + + // Create smart factors + std::vector views; + views.push_back(x1); + views.push_back(x2); + views.push_back(x3); + + bool enableEPI = false; + + SmartProjectionPoseFactor smartFactor1(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body); + smartFactor1.add(measurements_cam1, views, model); + + SmartProjectionPoseFactor smartFactor2(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body); + smartFactor2.add(measurements_cam2, views, model); + + SmartProjectionPoseFactor smartFactor3(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body); + smartFactor3.add(measurements_cam3, views, model); + + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + + // Put all factors in factor graph, adding priors + NonlinearFactorGraph graph; + graph.push_back(smartFactor1); + graph.push_back(smartFactor2); + graph.push_back(smartFactor3); + graph.push_back(PriorFactor(x1, bodyPose1, noisePrior)); + graph.push_back(PriorFactor(x2, bodyPose2, noisePrior)); + + // Check errors at ground truth poses + Values gtValues; + gtValues.insert(x1, bodyPose1); + gtValues.insert(x2, bodyPose2); + gtValues.insert(x3, bodyPose3); + double actualError = graph.error(gtValues); + double expectedError = 0.0; + DOUBLES_EQUAL(expectedError, actualError, 1e-7) + + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); + Values values; + values.insert(x1, bodyPose1); + values.insert(x2, bodyPose2); + // initialize third pose with some noise, we expect it to move back to original pose3 + values.insert(x3, bodyPose3*noise_pose); + + LevenbergMarquardtParams params; + Values result; + LevenbergMarquardtOptimizer optimizer(graph, values, params); + result = optimizer.optimize(); + + // result.print("results of 3 camera, 3 landmark optimization \n"); + // result.at(x3).print("Smart: Pose3 after optimization: "); + EXPECT(assert_equal(bodyPose3,result.at(x3))); +} + /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { @@ -277,7 +367,7 @@ TEST( SmartProjectionPoseFactor, Factors ) { views.push_back(x1); views.push_back(x2); - SmartFactor::shared_ptr smartFactor1 = boost::make_shared(); + SmartFactor::shared_ptr smartFactor1 = boost::make_shared(sharedK); smartFactor1->add(measurements_cam1, views, model); SmartFactor::Cameras cameras; @@ -435,13 +525,13 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedK)); smartFactor1->add(measurements_cam1, views, model); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedK)); smartFactor2->add(measurements_cam2, views, model); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedK)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -495,15 +585,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(gtsam::JACOBIAN_SVD)); + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(gtsam::JACOBIAN_SVD)); + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(gtsam::JACOBIAN_SVD)); + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -549,17 +639,17 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model); @@ -614,22 +704,22 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model); @@ -673,15 +763,19 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(gtsam::JACOBIAN_Q)); + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, + false, Pose3(), gtsam::JACOBIAN_Q)); + smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(gtsam::JACOBIAN_Q)); + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, + false, Pose3(), gtsam::JACOBIAN_Q)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(gtsam::JACOBIAN_Q)); + new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, + false, Pose3(), gtsam::JACOBIAN_Q)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -792,15 +886,15 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(gtsam::HESSIAN, rankTol)); + new SmartFactor(sharedK, rankTol)); // HESSIAN, by default smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(gtsam::HESSIAN, rankTol)); + new SmartFactor(sharedK, rankTol)); // HESSIAN, by default smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(gtsam::HESSIAN, rankTol)); + new SmartFactor(sharedK, rankTol)); // HESSIAN, by default smartFactor3->add(measurements_cam3, views, model); NonlinearFactorGraph graph; @@ -954,18 +1048,15 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(gtsam::HESSIAN, rankTol, - gtsam::ZERO_ON_DEGENERACY)); + new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(gtsam::HESSIAN, rankTol, - gtsam::ZERO_ON_DEGENERACY)); + new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(gtsam::HESSIAN, rankTol, - gtsam::ZERO_ON_DEGENERACY)); + new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1062,7 +1153,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); - SmartFactor::shared_ptr smartFactorInstance(new SmartFactor()); + SmartFactor::shared_ptr smartFactorInstance(new SmartFactor(sharedK)); smartFactorInstance->add(measurements_cam1, views, model); Values values; @@ -1161,7 +1252,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { using namespace bundlerPose; - SmartFactor factor(gtsam::HESSIAN, rankTol); + SmartFactor factor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY, false, Pose3(), gtsam::HESSIAN); factor.add(measurement1, x1, model); } @@ -1185,13 +1276,13 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { views.push_back(x2); views.push_back(x3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedBundlerK)); smartFactor1->add(measurements_cam1, views, model); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedBundlerK)); smartFactor2->add(measurements_cam2, views, model); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedBundlerK)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1255,17 +1346,17 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { double rankTol = 10; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(rankTol, -1.0, gtsam::ZERO_ON_DEGENERACY, + new SmartFactor(sharedBundlerK, rankTol, -1.0, gtsam::ZERO_ON_DEGENERACY, false, Pose3(), gtsam::HESSIAN)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(rankTol, -1, gtsam::ZERO_ON_DEGENERACY, + new SmartFactor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY, false, Pose3(), gtsam::HESSIAN)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(rankTol, -1, gtsam::ZERO_ON_DEGENERACY, + new SmartFactor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY, false, Pose3(), gtsam::HESSIAN)); smartFactor3->add(measurements_cam3, views, model); From 756d1d29b7bce6d8ffc89d80806d7d133375e4af Mon Sep 17 00:00:00 2001 From: Luca Date: Thu, 18 Jun 2015 17:23:39 -0400 Subject: [PATCH 252/964] fixing key unit tests - still failures in the optimization --- gtsam/slam/SmartProjectionFactor.h | 27 ++++++++-- gtsam/slam/SmartProjectionPoseFactor.h | 53 ++++++++++++++----- gtsam/slam/tests/smartFactorScenarios.h | 2 +- .../tests/testSmartProjectionPoseFactor.cpp | 30 +++++------ 4 files changed, 78 insertions(+), 34 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index c7b2962e4..b5b325bfe 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -290,10 +290,9 @@ public: * @param values Values structure which must contain camera poses for this factor * @return a Gaussian factor */ - boost::shared_ptr linearizeDamped(const Values& values, + boost::shared_ptr linearizeDamped(const Cameras& cameras, const double lambda = 0.0) const { // depending on flag set on construction we may linearize to different linear factors - Cameras cameras = this->cameras(values); switch (linearizationMode_) { case HESSIAN: return createHessianFactor(cameras, lambda); @@ -308,6 +307,18 @@ public: } } + /** + * Linearize to Gaussian Factor + * @param values Values structure which must contain camera poses for this factor + * @return a Gaussian factor + */ + boost::shared_ptr linearizeDamped(const Values& values, + const double lambda = 0.0) const { + // depending on flag set on construction we may linearize to different linear factors + Cameras cameras = this->cameras(values); + return linearizeDamped(cameras, lambda); + } + /// linearize virtual boost::shared_ptr linearize( const Values& values) const { @@ -318,14 +329,22 @@ public: * Triangulate and compute derivative of error with respect to point * @return whether triangulation worked */ - bool triangulateAndComputeE(Matrix& E, const Values& values) const { - Cameras cameras = this->cameras(values); + bool triangulateAndComputeE(Matrix& E, const Cameras& cameras) const { bool nonDegenerate = triangulateForLinearize(cameras); if (nonDegenerate) cameras.project2(*result_, boost::none, E); return nonDegenerate; } + /** + * Triangulate and compute derivative of error with respect to point + * @return whether triangulation worked + */ + bool triangulateAndComputeE(Matrix& E, const Values& values) const { + Cameras cameras = this->cameras(values); + return triangulateAndComputeE(E, cameras); + } + /// Compute F, E only (called below in both vanilla and SVD versions) /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index e86f8e555..275056735 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -98,22 +98,19 @@ public: /** * Linearize to Gaussian Factor * @param values Values structure which must contain camera poses for this factor - * @return + * @return a Gaussian factor */ + boost::shared_ptr linearizeDamped(const Values& values, + const double lambda = 0.0) const { + // depending on flag set on construction we may linearize to different linear factors + typename Base::Cameras cameras = this->cameras(values); + return Base::linearizeDamped(cameras, lambda); + } + + /// linearize virtual boost::shared_ptr linearize( const Values& values) const { - // depending on flag set on construction we may linearize to different linear factors -// switch(linearizeTo_){ -// case JACOBIAN_SVD : -// return this->createJacobianSVDFactor(Base::cameras(values), 0.0); -// break; -// case JACOBIAN_Q : -// return this->createJacobianQFactor(Base::cameras(values), 0.0); -// break; -// default: - return this->createHessianFactor(Base::cameras(values)); -// break; -// } + return linearizeDamped(values); } /** @@ -121,7 +118,7 @@ public: */ virtual double error(const Values& values) const { if (this->active(values)) { - return this->totalReprojectionError(Base::cameras(values)); + return this->totalReprojectionError(cameras(values)); } else { // else of active flag return 0.0; } @@ -139,6 +136,34 @@ public: return Pose3(); // if unspecified, the transformation is the identity } + /** + * Collect all cameras involved in this factor + * @param values Values structure which must contain camera poses corresponding + * to keys involved in this factor + * @return vector of Values + */ + typename Base::Cameras cameras(const Values& values) const { + typename Base::Cameras cameras; + BOOST_FOREACH(const Key& k, this->keys_) { + Pose3 pose = values.at(k); + if(body_P_sensor_) + pose = pose.compose(*(body_P_sensor_)); + + Camera camera(pose, K_); + cameras.push_back(camera); + } + return cameras; + } + + /** + * Triangulate and compute derivative of error with respect to point + * @return whether triangulation worked + */ + bool triangulateAndComputeE(Matrix& E, const Values& values) const { + typename Base::Cameras cameras = this->cameras(values); + return Base::triangulateAndComputeE(E, cameras); + } + private: /// Serialization function diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h index e821f9e40..e566146d0 100644 --- a/gtsam/slam/tests/smartFactorScenarios.h +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -80,7 +80,7 @@ Camera cam3(pose_above, sharedK); // default Cal3_S2 poses namespace vanillaPose2 { typedef PinholePose Camera; -typedef SmartProjectionFactor SmartFactor; +typedef SmartProjectionPoseFactor SmartFactor; static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480)); Camera level_camera(level_pose, sharedK2); Camera level_camera_right(pose_right, sharedK2); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 14e15f6c9..a540ccb52 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -89,7 +89,7 @@ TEST( SmartProjectionPoseFactor, Equals ) { } /* *************************************************************************/ -TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { +TEST( SmartProjectionPoseFactor, noiseless ) { using namespace vanillaPose; @@ -101,9 +101,9 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) { factor.add(level_uv, x1, model); factor.add(level_uv_right, x2, model); - Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + Values values; // it's a pose factor, hence these are poses + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); double actualError = factor.error(values); double expectedError = 0.0; @@ -157,10 +157,10 @@ TEST( SmartProjectionPoseFactor, noisy ) { Point2 level_uv_right = level_camera_right.project(landmark1); Values values; - values.insert(x1, cam1); + values.insert(x1, cam1.pose()); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); - values.insert(x2, Camera(pose_right.compose(noise_pose), sharedK)); + values.insert(x2, pose_right.compose(noise_pose)); SmartFactor::shared_ptr factor(new SmartFactor((sharedK))); factor->add(level_uv, x1, model); @@ -276,6 +276,7 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ EXPECT(assert_equal(bodyPose3,result.at(x3))); } +#if 0 /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { @@ -292,13 +293,13 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { views.push_back(x2); views.push_back(x3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedK2)); smartFactor1->add(measurements_cam1, views, model); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedK2)); smartFactor2->add(measurements_cam2, views, model); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedK2)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -967,13 +968,11 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac double rankTol = 50; SmartFactor::shared_ptr smartFactor1( - new SmartFactor(gtsam::HESSIAN, rankTol, - gtsam::HANDLE_INFINITY)); + new SmartFactor(sharedK2, rankTol, -1.0, gtsam::HANDLE_INFINITY)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(gtsam::HESSIAN, rankTol, - gtsam::HANDLE_INFINITY)); + new SmartFactor(sharedK2, rankTol, -1.0, gtsam::HANDLE_INFINITY)); smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1121,7 +1120,7 @@ TEST( SmartProjectionPoseFactor, Hessian ) { measurements_cam1.push_back(cam1_uv1); measurements_cam1.push_back(cam2_uv1); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedK2)); smartFactor1->add(measurements_cam1, views, model); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), @@ -1210,7 +1209,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { vector measurements_cam1; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); - SmartFactor::shared_ptr smartFactor(new SmartFactor()); + SmartFactor::shared_ptr smartFactor(new SmartFactor(sharedK2)); smartFactor->add(measurements_cam1, views, model); Values values; @@ -1405,6 +1404,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { Point3(0.0897734171, -0.110201006, 0.901022872)), values.at(x3).pose())); } +#endif /* ************************************************************************* */ int main() { From 100016e3af9377ca4b0dbff2c587295e175bc2a3 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 10:39:59 -0400 Subject: [PATCH 253/964] put sensor_T_body in SmartProjectionFactor --- gtsam/slam/SmartProjectionFactor.h | 19 +++++++++++++++++-- gtsam/slam/SmartProjectionPoseFactor.h | 16 +++------------- 2 files changed, 20 insertions(+), 15 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index b5b325bfe..92c9a7660 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -74,6 +74,10 @@ protected: const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) /// @} + /// @name Pose of the camera in the body frame + const boost::optional body_P_sensor_; ///< Pose of the camera in the body frame + /// @} + public: /// shorthand for a smart pointer to a factor @@ -94,14 +98,16 @@ public: double rankTolerance = 1, DegeneracyMode degeneracyMode = IGNORE_DEGENERACY, bool enableEPI = false, double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1) : + double dynamicOutlierRejectionThreshold = -1, + boost::optional body_P_sensor = boost::none) : linearizationMode_(linearizationMode), // degeneracyMode_(degeneracyMode), // parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), // result_(TriangulationResult::Degenerate()), // retriangulationThreshold_(1e-5), // - throwCheirality_(false), verboseCheirality_(false) { + throwCheirality_(false), verboseCheirality_(false), + body_P_sensor_(body_P_sensor){ } /** Virtual destructor */ @@ -119,6 +125,8 @@ public: std::cout << "linearizationMode:\n" << linearizationMode_ << std::endl; std::cout << "triangulationParameters:\n" << parameters_ << std::endl; std::cout << "result:\n" << result_ << std::endl; + if(body_P_sensor_) + body_P_sensor_->print("body_P_sensor_:\n"); Base::print("", keyFormatter); } @@ -468,6 +476,13 @@ public: return throwCheirality_; } + Pose3 body_P_sensor() const{ + if(body_P_sensor_) + return *body_P_sensor_; + else + return Pose3(); // if unspecified, the transformation is the identity + } + private: /// Serialization function diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 275056735..9a47bd34f 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -49,7 +49,6 @@ private: protected: boost::shared_ptr K_; ///< calibration object (one for all cameras) - boost::optional body_P_sensor_; ///< Pose of the camera in the body frame public: @@ -71,7 +70,7 @@ public: LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1) : Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, landmarkDistanceThreshold, - dynamicOutlierRejectionThreshold), K_(K), body_P_sensor_(body_P_sensor) {} + dynamicOutlierRejectionThreshold, body_P_sensor), K_(K) {} /** Virtual destructor */ virtual ~SmartProjectionPoseFactor() {} @@ -84,8 +83,6 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionPoseFactor, z = \n "; - if(body_P_sensor_) - body_P_sensor_->print("body_P_sensor_:\n"); Base::print("", keyFormatter); } @@ -129,13 +126,6 @@ public: return K_; } - Pose3 body_P_sensor() const{ - if(body_P_sensor_) - return *body_P_sensor_; - else - return Pose3(); // if unspecified, the transformation is the identity - } - /** * Collect all cameras involved in this factor * @param values Values structure which must contain camera poses corresponding @@ -146,8 +136,8 @@ public: typename Base::Cameras cameras; BOOST_FOREACH(const Key& k, this->keys_) { Pose3 pose = values.at(k); - if(body_P_sensor_) - pose = pose.compose(*(body_P_sensor_)); + if(Base::body_P_sensor_) + pose = pose.compose(*(Base::body_P_sensor_)); Camera camera(pose, K_); cameras.push_back(camera); From fb7bc12c84c939ed07b68dceb2ab73bdf24cd1ac Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 11:42:51 -0400 Subject: [PATCH 254/964] most unit tests fixed - 2 to go, now sensor_T_body is in the base class, probably not the best choice --- gtsam/slam/SmartFactorBase.h | 30 ++- gtsam/slam/SmartProjectionFactor.h | 18 +- .../tests/testSmartProjectionPoseFactor.cpp | 220 ++++++++---------- 3 files changed, 131 insertions(+), 137 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index e651244af..870f4d5db 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -58,7 +58,6 @@ private: SharedIsotropic noiseModel_; protected: - /** * 2D measurement and noise model for each of the m views * We keep a copy of measurements for I/O and computing the error. @@ -66,6 +65,10 @@ protected: */ std::vector measured_; + /// @name Pose of the camera in the body frame + const boost::optional body_P_sensor_; ///< Pose of the camera in the body frame + /// @} + static const int Dim = traits::dimension; ///< Camera dimension static const int ZDim = traits::dimension; ///< Measurement dimension @@ -105,6 +108,10 @@ public: /// We use the new CameraSte data structure to refer to a set of cameras typedef CameraSet Cameras; + /// Constructor + SmartFactorBase(boost::optional body_P_sensor = boost::none) : + body_P_sensor_(body_P_sensor){} + /// Virtual destructor, subclasses from NonlinearFactor virtual ~SmartFactorBase() { } @@ -189,6 +196,8 @@ public: std::cout << "measurement, p = " << measured_[k] << "\t"; noiseModel_->print("noise model = "); } + if(body_P_sensor_) + body_P_sensor_->print("body_P_sensor_:\n"); print("", keyFormatter); } @@ -210,7 +219,16 @@ public: Vector unwhitenedError(const Cameras& cameras, const POINT& point, boost::optional Fs = boost::none, // boost::optional E = boost::none) const { - return cameras.reprojectionError(point, measured_, Fs, E); + Vector ue = cameras.reprojectionError(point, measured_, Fs, E); + if(body_P_sensor_){ + for(size_t i=0; i < Fs->size(); i++){ + Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse()); + Matrix J(6, 6); + Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J); + Fs->at(i) = Fs->at(i) * J; + } + } + return ue; } /** @@ -375,6 +393,14 @@ public: F.block(ZDim * i, Dim * i) = Fblocks.at(i); } + + Pose3 body_P_sensor() const{ + if(body_P_sensor_) + return *body_P_sensor_; + else + return Pose3(); // if unspecified, the transformation is the identity + } + private: /// Serialization function diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 92c9a7660..9cb9855c8 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -74,10 +74,6 @@ protected: const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) /// @} - /// @name Pose of the camera in the body frame - const boost::optional body_P_sensor_; ///< Pose of the camera in the body frame - /// @} - public: /// shorthand for a smart pointer to a factor @@ -100,15 +96,14 @@ public: double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1, boost::optional body_P_sensor = boost::none) : + Base(body_P_sensor), linearizationMode_(linearizationMode), // degeneracyMode_(degeneracyMode), // parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), // result_(TriangulationResult::Degenerate()), // retriangulationThreshold_(1e-5), // - throwCheirality_(false), verboseCheirality_(false), - body_P_sensor_(body_P_sensor){ - } + throwCheirality_(false), verboseCheirality_(false) {} /** Virtual destructor */ virtual ~SmartProjectionFactor() { @@ -125,8 +120,6 @@ public: std::cout << "linearizationMode:\n" << linearizationMode_ << std::endl; std::cout << "triangulationParameters:\n" << parameters_ << std::endl; std::cout << "result:\n" << result_ << std::endl; - if(body_P_sensor_) - body_P_sensor_->print("body_P_sensor_:\n"); Base::print("", keyFormatter); } @@ -476,13 +469,6 @@ public: return throwCheirality_; } - Pose3 body_P_sensor() const{ - if(body_P_sensor_) - return *body_P_sensor_; - else - return Pose3(); // if unspecified, the transformation is the identity - } - private: /// Serialization function diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index a540ccb52..ffd8008ec 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -270,13 +270,9 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - - // result.print("results of 3 camera, 3 landmark optimization \n"); - // result.at(x3).print("Smart: Pose3 after optimization: "); EXPECT(assert_equal(bodyPose3,result.at(x3))); } -#if 0 /* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { @@ -308,39 +304,34 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); + graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); Values groundTruth; - groundTruth.insert(x1, cam1); - groundTruth.insert(x2, cam2); - groundTruth.insert(x3, cam3); + groundTruth.insert(x1, cam1.pose()); + groundTruth.insert(x2, cam2.pose()); + groundTruth.insert(x3, cam3.pose()); DOUBLES_EQUAL(0, graph.error(groundTruth), 1e-9); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose, sharedK2)); + values.insert(x3, pose_above * noise_pose); EXPECT( assert_equal( Pose3( Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), - Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); + Point3(0.1, -0.1, 1.9)), values.at(x3))); Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - -// GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); -// VectorValues delta = GFG->optimize(); - - // result.print("results of 3 camera, 3 landmark optimization \n"); - EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } /* *************************************************************************/ @@ -541,31 +532,29 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); + graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose, sharedK)); + values.insert(x3, pose_above * noise_pose); EXPECT( assert_equal( Pose3( Rot3(1.11022302e-16, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), - values.at(x3).pose())); + values.at(x3))); Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - - // result.print("results of 3 camera, 3 landmark optimization \n"); - EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-7)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); } /* *************************************************************************/ @@ -603,21 +592,21 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); + graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); - values.insert(x3, Camera(pose_above * noise_pose, sharedK)); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); + values.insert(x3, pose_above * noise_pose); Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } /* *************************************************************************/ @@ -660,22 +649,22 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); + graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); - values.insert(x3, Camera(pose_above * noise_pose, sharedK)); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); + values.insert(x3, pose_above * noise_pose); // All factors are disabled and pose should remain where it is Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(values.at(x3), result.at(x3))); + EXPECT(assert_equal(values.at(x3), result.at(x3))); } /* *************************************************************************/ @@ -731,19 +720,19 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); graph.push_back(smartFactor4); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); + graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); - values.insert(x3, cam3); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); + values.insert(x3, cam3.pose()); // All factors are disabled and pose should remain where it is Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(cam3, result.at(x3))); + EXPECT(assert_equal(cam3.pose(), result.at(x3))); } /* *************************************************************************/ @@ -766,7 +755,6 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { SmartFactor::shared_ptr smartFactor1( new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_Q)); - smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( @@ -785,20 +773,20 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); + graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); - values.insert(x3, Camera(pose_above * noise_pose, sharedK)); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); + values.insert(x3, pose_above * noise_pose); Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT(assert_equal(pose_above, result.at(x3).pose(), 1e-8)); + EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } /* *************************************************************************/ @@ -907,10 +895,10 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose3 * noise_pose, sharedK)); + values.insert(x3, pose3 * noise_pose); EXPECT( assert_equal( Pose3( @@ -918,7 +906,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { -0.130426831, -0.0115837907, 0.130819108, -0.98278564, -0.130455917), Point3(0.0897734171, -0.110201006, 0.901022872)), - values.at(x3).pose())); + values.at(x3))); boost::shared_ptr factor1 = smartFactor1->linearize(values); boost::shared_ptr factor2 = smartFactor2->linearize(values); @@ -938,14 +926,13 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { + factor2->augmentedInformation() + factor3->augmentedInformation(); // Check Information vector - // cout << AugInformationMatrix.size() << endl; Vector InfoVector = AugInformationMatrix.block(0, 18, 18, 1); // 18x18 Hessian + information vector // Check Hessian EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-8)); } -/* *************************************************************************/ +/* ************************************************************************* TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) { using namespace vanillaPose2; @@ -976,26 +963,25 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, - 0.10); + const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10); Point3 positionPrior = Point3(0, 0, 1); NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back( - PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( - PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, Camera(pose2 * noise_pose, sharedK2)); + values.insert(x1, cam1.pose()); + values.insert(x2, pose2 * noise_pose); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose3 * noise_pose * noise_pose, sharedK2)); + values.insert(x3, pose3 * noise_pose * noise_pose); EXPECT( assert_equal( Pose3( @@ -1003,7 +989,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac -0.572308662, -0.324093872, 0.639358349, -0.521617766, -0.564921063), Point3(0.145118171, -0.252907438, 0.819956033)), - values.at(x3).pose())); + values.at(x3))); Values result; params.verbosityLM = LevenbergMarquardtParams::SUMMARY; @@ -1017,10 +1003,10 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac -0.572308662, -0.324093872, 0.639358349, -0.521617766, -0.564921063), Point3(0.145118171, -0.252907438, 0.819956033)), - result.at(x3).pose())); + result.at(x3))); } -/* *************************************************************************/ +/* ************************************************************************* TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) { using namespace vanillaPose; @@ -1067,20 +1053,20 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back( - PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( - PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose3 * noise_pose, sharedK)); + values.insert(x3, pose3 * noise_pose); EXPECT( assert_equal( Pose3( @@ -1088,7 +1074,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) -0.130426831, -0.0115837907, 0.130819108, -0.98278564, -0.130455917), Point3(0.0897734171, -0.110201006, 0.901022872)), - values.at(x3).pose())); + values.at(x3))); Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); @@ -1101,7 +1087,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) -0.130426831, -0.0115837907, 0.130819108, -0.98278564, -0.130455917), Point3(0.0897734171, -0.110201006, 0.901022872)), - result.at(x3).pose())); + result.at(x3))); } /* *************************************************************************/ @@ -1126,8 +1112,8 @@ TEST( SmartProjectionPoseFactor, Hessian ) { Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); boost::shared_ptr factor = smartFactor1->linearize(values); @@ -1156,9 +1142,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { smartFactorInstance->add(measurements_cam1, views, model); Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); - values.insert(x3, cam3); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); + values.insert(x3, cam3.pose()); boost::shared_ptr factor = smartFactorInstance->linearize( values); @@ -1166,9 +1152,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, Camera(poseDrift.compose(level_pose), sharedK)); - rotValues.insert(x2, Camera(poseDrift.compose(pose_right), sharedK)); - rotValues.insert(x3, Camera(poseDrift.compose(pose_above), sharedK)); + rotValues.insert(x1, poseDrift.compose(level_pose)); + rotValues.insert(x2, poseDrift.compose(pose_right)); + rotValues.insert(x3, poseDrift.compose(pose_above)); boost::shared_ptr factorRot = smartFactorInstance->linearize( rotValues); @@ -1180,16 +1166,15 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, Camera(poseDrift2.compose(level_pose), sharedK)); - tranValues.insert(x2, Camera(poseDrift2.compose(pose_right), sharedK)); - tranValues.insert(x3, Camera(poseDrift2.compose(pose_above), sharedK)); + tranValues.insert(x1, poseDrift2.compose(level_pose)); + tranValues.insert(x2, poseDrift2.compose(pose_right)); + tranValues.insert(x3, poseDrift2.compose(pose_above)); boost::shared_ptr factorRotTran = smartFactorInstance->linearize(tranValues); // Hessian is invariant to rotations and translations in the nondegenerate case - EXPECT( - assert_equal(factor->information(), factorRotTran->information(), 1e-7)); + EXPECT(assert_equal(factor->information(), factorRotTran->information(), 1e-7)); } /* *************************************************************************/ @@ -1213,18 +1198,18 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { smartFactor->add(measurements_cam1, views, model); Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); - values.insert(x3, cam3); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); + values.insert(x3, cam3.pose()); boost::shared_ptr factor = smartFactor->linearize(values); Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; - rotValues.insert(x1, Camera(poseDrift.compose(level_pose), sharedK2)); - rotValues.insert(x2, Camera(poseDrift.compose(level_pose), sharedK2)); - rotValues.insert(x3, Camera(poseDrift.compose(level_pose), sharedK2)); + rotValues.insert(x1, poseDrift.compose(level_pose)); + rotValues.insert(x2, poseDrift.compose(level_pose)); + rotValues.insert(x3, poseDrift.compose(level_pose)); boost::shared_ptr factorRot = // smartFactor->linearize(rotValues); @@ -1236,16 +1221,15 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { Point3(10, -4, 5)); Values tranValues; - tranValues.insert(x1, Camera(poseDrift2.compose(level_pose), sharedK2)); - tranValues.insert(x2, Camera(poseDrift2.compose(level_pose), sharedK2)); - tranValues.insert(x3, Camera(poseDrift2.compose(level_pose), sharedK2)); + tranValues.insert(x1, poseDrift2.compose(level_pose)); + tranValues.insert(x2, poseDrift2.compose(level_pose)); + tranValues.insert(x3, poseDrift2.compose(level_pose)); boost::shared_ptr factorRotTran = smartFactor->linearize( tranValues); // Hessian is invariant to rotations and translations in the nondegenerate case - EXPECT( - assert_equal(factor->information(), factorRotTran->information(), 1e-7)); + EXPECT(assert_equal(factor->information(), factorRotTran->information(), 1e-7)); } /* ************************************************************************* */ @@ -1290,29 +1274,28 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); - graph.push_back(PriorFactor(x2, cam2, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); + graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose_above * noise_pose, sharedBundlerK)); + values.insert(x3, pose_above * noise_pose); EXPECT( assert_equal( Pose3( Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), - Point3(0.1, -0.1, 1.9)), values.at(x3).pose())); + Point3(0.1, -0.1, 1.9)), values.at(x3))); Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - - EXPECT(assert_equal(cam3, result.at(x3), 1e-6)); + EXPECT(assert_equal(cam3.pose(), result.at(x3), 1e-6)); } /* *************************************************************************/ @@ -1368,20 +1351,20 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { graph.push_back(smartFactor1); graph.push_back(smartFactor2); graph.push_back(smartFactor3); - graph.push_back(PriorFactor(x1, cam1, noisePrior)); + graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back( - PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); graph.push_back( - PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); + PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; - values.insert(x1, cam1); - values.insert(x2, cam2); + values.insert(x1, cam1.pose()); + values.insert(x2, cam2.pose()); // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, Camera(pose3 * noise_pose, sharedBundlerK)); + values.insert(x3, pose3 * noise_pose); EXPECT( assert_equal( Pose3( @@ -1389,7 +1372,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { -0.130426831, -0.0115837907, 0.130819108, -0.98278564, -0.130455917), Point3(0.0897734171, -0.110201006, 0.901022872)), - values.at(x3).pose())); + values.at(x3))); Values result; LevenbergMarquardtOptimizer optimizer(graph, values, params); @@ -1402,9 +1385,8 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { -0.130426831, -0.0115837907, 0.130819108, -0.98278564, -0.130455917), Point3(0.0897734171, -0.110201006, 0.901022872)), - values.at(x3).pose())); + values.at(x3))); } -#endif /* ************************************************************************* */ int main() { From 78c8160dc526e4f461fe05cef22d8413c86050e5 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 12:06:45 -0400 Subject: [PATCH 255/964] all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop --- .../tests/testSmartProjectionPoseFactor.cpp | 51 +++++-------------- .../examples/SmartProjectionFactorExample.cpp | 12 ++--- 2 files changed, 20 insertions(+), 43 deletions(-) diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index ffd8008ec..5f6c2fee3 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -932,7 +932,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-8)); } -/* ************************************************************************* +/* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) { using namespace vanillaPose2; @@ -941,13 +941,13 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac views.push_back(x2); views.push_back(x3); - // Two different cameras + // Two different cameras, at the same position, but different rotations Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3()); Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3()); Camera cam2(pose2, sharedK2); Camera cam3(pose3, sharedK2); - vector measurements_cam1, measurements_cam2, measurements_cam3; + vector measurements_cam1, measurements_cam2; // Project three landmarks into three cameras projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); @@ -975,38 +975,20 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac graph.push_back( PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); values.insert(x2, pose2 * noise_pose); - // initialize third pose with some noise, we expect it to move back to original pose_above - values.insert(x3, pose3 * noise_pose * noise_pose); - EXPECT( - assert_equal( - Pose3( - Rot3(0.154256096, -0.632754061, 0.75883289, -0.753276814, - -0.572308662, -0.324093872, 0.639358349, -0.521617766, - -0.564921063), - Point3(0.145118171, -0.252907438, 0.819956033)), - values.at(x3))); + values.insert(x3, pose3 * noise_pose); - Values result; - params.verbosityLM = LevenbergMarquardtParams::SUMMARY; + // params.verbosityLM = LevenbergMarquardtParams::SUMMARY; LevenbergMarquardtOptimizer optimizer(graph, values, params); - result = optimizer.optimize(); - - EXPECT( - assert_equal( - Pose3( - Rot3(0.154256096, -0.632754061, 0.75883289, -0.753276814, - -0.572308662, -0.324093872, 0.639358349, -0.521617766, - -0.564921063), - Point3(0.145118171, -0.252907438, 0.819956033)), - result.at(x3))); + Values result = optimizer.optimize(); + EXPECT(assert_equal(pose3, result.at(x3))); } -/* ************************************************************************* +/* *************************************************************************/ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) { using namespace vanillaPose; @@ -1016,7 +998,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) views.push_back(x2); views.push_back(x3); - // Two different cameras + // Two different cameras, at the same position, but different rotations Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); @@ -1065,7 +1047,6 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) Values values; values.insert(x1, cam1.pose()); values.insert(x2, cam2.pose()); - // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x3, pose3 * noise_pose); EXPECT( assert_equal( @@ -1080,14 +1061,10 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) LevenbergMarquardtOptimizer optimizer(graph, values, params); result = optimizer.optimize(); - EXPECT( - assert_equal( - Pose3( - Rot3(0.00563056869, -0.130848107, 0.991386438, -0.991390265, - -0.130426831, -0.0115837907, 0.130819108, -0.98278564, - -0.130455917), - Point3(0.0897734171, -0.110201006, 0.901022872)), - result.at(x3))); + // Since we do not do anything on degenerate instances (ZERO_ON_DEGENERACY) + // rotation remains the same as the initial guess, but position is fixed by PoseTranslationPrior + EXPECT(assert_equal(Pose3(values.at(x3).rotation(), + Point3(0,0,1)), result.at(x3))); } /* *************************************************************************/ diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp index 9e8523ebb..e00dcee57 100644 --- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp +++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp @@ -73,7 +73,7 @@ int main(int argc, char** argv){ while (pose_file >> i) { for (int i = 0; i < 16; i++) pose_file >> m.data()[i]; - initial_estimate.insert(i, Camera(Pose3(m),K)); + initial_estimate.insert(i, Pose3(m)); } // landmark keys @@ -87,24 +87,24 @@ int main(int argc, char** argv){ //read stereo measurements and construct smart factors - SmartFactor::shared_ptr factor(new SmartFactor()); + SmartFactor::shared_ptr factor(new SmartFactor(K)); size_t current_l = 3; // hardcoded landmark ID from first measurement while (factor_file >> i >> l >> uL >> uR >> v >> X >> Y >> Z) { if(current_l != l) { graph.push_back(factor); - factor = SmartFactor::shared_ptr(new SmartFactor()); + factor = SmartFactor::shared_ptr(new SmartFactor(K)); current_l = l; } factor->add(Point2(uL,v), i, model); } - Camera firstCamera = initial_estimate.at(1); + Pose3 firstPose = initial_estimate.at(1); //constrain the first pose such that it cannot change from its original value during optimization // NOTE: NonlinearEquality forces the optimizer to use QR rather than Cholesky // QR is much slower than Cholesky, but numerically more stable - graph.push_back(NonlinearEquality(1,firstCamera)); + graph.push_back(NonlinearEquality(1,firstPose)); LevenbergMarquardtParams params; params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; @@ -116,7 +116,7 @@ int main(int argc, char** argv){ Values result = optimizer.optimize(); cout << "Final result sample:" << endl; - Values pose_values = result.filter(); + Values pose_values = result.filter(); pose_values.print("Final camera poses:\n"); return 0; From 917e7c177d4a6b82445ac777b1418404331e2fed Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 13:10:34 -0400 Subject: [PATCH 256/964] fixed examples --- examples/SFMExample_SmartFactor.cpp | 2 +- examples/SFMExample_SmartFactorPCG.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index cd6024e6c..97d646552 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -58,7 +58,7 @@ int main(int argc, char* argv[]) { for (size_t j = 0; j < points.size(); ++j) { // every landmark represent a single landmark, we use shared pointer to init the factor, and then insert measurements. - SmartFactor::shared_ptr smartfactor(new SmartFactor()); + SmartFactor::shared_ptr smartfactor(new SmartFactor(K)); for (size_t i = 0; i < poses.size(); ++i) { diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index 27ef7b9cc..c1b18a946 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -54,7 +54,7 @@ int main(int argc, char* argv[]) { for (size_t j = 0; j < points.size(); ++j) { // every landmark represent a single landmark, we use shared pointer to init the factor, and then insert measurements. - SmartFactor::shared_ptr smartfactor(new SmartFactor()); + SmartFactor::shared_ptr smartfactor(new SmartFactor(K)); for (size_t i = 0; i < poses.size(); ++i) { From f1e5c61762f8346bf5a17644202bae91669f35a7 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 13:10:42 -0400 Subject: [PATCH 257/964] adding parameter structure --- gtsam/slam/SmartProjectionFactor.h | 115 +++++++++++++++++++---------- 1 file changed, 77 insertions(+), 38 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 9cb9855c8..9c206bdd5 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -41,6 +41,65 @@ enum DegeneracyMode { IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY }; +/* + * Parameters for the smart projection factors + */ +class GTSAM_EXPORT SmartProjectionFactorParams { + +public: + + const LinearizationMode linearizationMode; ///< How to linearize the factor + const DegeneracyMode degeneracyMode; ///< How to linearize the factor + + /// @name Parameters governing the triangulation + /// @{ + const TriangulationParameters triangulationParameters; + const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate + /// @} + + /// @name Parameters governing how triangulation result is treated + /// @{ + const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) + const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) + /// @} + + // Constructor + SmartProjectionFactorParams(LinearizationMode linMode = HESSIAN, + DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1, + bool enableEPI = false, double landmarkDistanceThreshold = 1e10, + double dynamicOutlierRejectionThreshold = -1): + linearizationMode(linMode), degeneracyMode(degMode), + triangulationParameters(rankTol, enableEPI, + landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), + retriangulationThreshold(1e-5), + throwCheirality(false), verboseCheirality(false) {} + + virtual ~SmartProjectionFactorParams() {} + + void print(const std::string& str) const { + std::cout << " linearizationMode: " << linearizationMode << "\n"; + std::cout << " degeneracyMode: " << degeneracyMode << "\n"; + std::cout << " rankTolerance: " << triangulationParameters.rankTolerance << "\n"; + std::cout << " enableEPI: " << triangulationParameters.enableEPI << "\n"; + std::cout << " landmarkDistanceThreshold: " << triangulationParameters.landmarkDistanceThreshold << "\n"; + std::cout << " OutlierRejectionThreshold: " << triangulationParameters.dynamicOutlierRejectionThreshold << "\n"; + std::cout.flush(); + } + + inline LinearizationMode getLinearizationMode() const { + return linearizationMode; + } + /** return cheirality verbosity */ + inline bool getVerboseCheirality() const { + return verboseCheirality; + } + /** return flag for throwing cheirality exceptions */ + inline bool getThrowCheirality() const { + return throwCheirality; + } + +}; + /** * SmartProjectionFactor: triangulates point and keeps an estimate of it around. */ @@ -56,24 +115,17 @@ private: protected: - LinearizationMode linearizationMode_; ///< How to linearize the factor - DegeneracyMode degeneracyMode_; ///< How to linearize the factor + /// @name Parameters + /// @{ + const SmartProjectionFactorParams params_; + /// @} /// @name Caching triangulation /// @{ - const TriangulationParameters parameters_; mutable TriangulationResult result_; ///< result from triangulateSafe - - const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate mutable std::vector cameraPosesTriangulation_; ///< current triangulation poses /// @} - /// @name Parameters governing how triangulation result is treated - /// @{ - const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) - const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) - /// @} - public: /// shorthand for a smart pointer to a factor @@ -97,13 +149,10 @@ public: double dynamicOutlierRejectionThreshold = -1, boost::optional body_P_sensor = boost::none) : Base(body_P_sensor), - linearizationMode_(linearizationMode), // - degeneracyMode_(degeneracyMode), // - parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, - dynamicOutlierRejectionThreshold), // - result_(TriangulationResult::Degenerate()), // - retriangulationThreshold_(1e-5), // - throwCheirality_(false), verboseCheirality_(false) {} + params_(linearizationMode, degeneracyMode, + rankTolerance, enableEPI, landmarkDistanceThreshold, + dynamicOutlierRejectionThreshold), // + result_(TriangulationResult::Degenerate()) {} /** Virtual destructor */ virtual ~SmartProjectionFactor() { @@ -117,8 +166,8 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionFactor\n"; - std::cout << "linearizationMode:\n" << linearizationMode_ << std::endl; - std::cout << "triangulationParameters:\n" << parameters_ << std::endl; + std::cout << "linearizationMode:\n" << params_.linearizationMode << std::endl; + std::cout << "triangulationParameters:\n" << params_.triangulationParameters << std::endl; std::cout << "result:\n" << result_ << std::endl; Base::print("", keyFormatter); } @@ -126,7 +175,7 @@ public: /// equals virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { const This *e = dynamic_cast(&p); - return e && linearizationMode_ == e->linearizationMode_ + return e && params_.linearizationMode == e->params_.linearizationMode && Base::equals(p, tol); } @@ -148,7 +197,7 @@ public: if (!retriangulate) { for (size_t i = 0; i < cameras.size(); i++) { if (!cameras[i].pose().equals(cameraPosesTriangulation_[i], - retriangulationThreshold_)) { + params_.retriangulationThreshold)) { retriangulate = true; // at least two poses are different, hence we retriangulate break; } @@ -175,7 +224,7 @@ public: bool retriangulate = decideIfTriangulate(cameras); if (retriangulate) - result_ = gtsam::triangulateSafe(cameras, this->measured_, parameters_); + result_ = gtsam::triangulateSafe(cameras, this->measured_, params_.triangulationParameters); return result_; } @@ -205,7 +254,7 @@ public: triangulateSafe(cameras); - if (degeneracyMode_ == ZERO_ON_DEGENERACY && !result_) { + if (params_.degeneracyMode == ZERO_ON_DEGENERACY && !result_) { // failed: return"empty" Hessian BOOST_FOREACH(Matrix& m, Gs) m = zeros(Base::Dim, Base::Dim); @@ -294,7 +343,7 @@ public: boost::shared_ptr linearizeDamped(const Cameras& cameras, const double lambda = 0.0) const { // depending on flag set on construction we may linearize to different linear factors - switch (linearizationMode_) { + switch (params_.linearizationMode) { case HESSIAN: return createHessianFactor(cameras, lambda); case IMPLICIT_SCHUR: @@ -414,7 +463,7 @@ public: if (result_) // All good, just use version in base class return Base::totalReprojectionError(cameras, *result_); - else if (degeneracyMode_ == HANDLE_INFINITY) { + else if (params_.degeneracyMode == HANDLE_INFINITY) { // Otherwise, manage the exceptions with rotation-only factors const Point2& z0 = this->measured_.at(0); Unit3 backprojected = cameras.front().backprojectPointAtInfinity(z0); @@ -459,16 +508,6 @@ public: return result_.behindCamera(); } - /** return cheirality verbosity */ - inline bool verboseCheirality() const { - return verboseCheirality_; - } - - /** return flag for throwing cheirality exceptions */ - inline bool throwCheirality() const { - return throwCheirality_; - } - private: /// Serialization function @@ -476,8 +515,8 @@ private: template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(throwCheirality_); - ar & BOOST_SERIALIZATION_NVP(verboseCheirality_); + ar & BOOST_SERIALIZATION_NVP(params_.throwCheirality); + ar & BOOST_SERIALIZATION_NVP(params_.verboseCheirality); } } ; From dcce21639f7d1e28e98884689fc6f0ed558b4e66 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 14:59:33 -0400 Subject: [PATCH 258/964] included new constructors (still commented out) --- gtsam/slam/SmartProjectionFactor.h | 19 +++++++++++++++---- gtsam/slam/SmartProjectionPoseFactor.h | 11 +++++++++++ 2 files changed, 26 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 9c206bdd5..7ac2a03be 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -44,7 +44,7 @@ enum DegeneracyMode { /* * Parameters for the smart projection factors */ -class GTSAM_EXPORT SmartProjectionFactorParams { +class GTSAM_EXPORT SmartProjectionParams { public: @@ -64,7 +64,7 @@ public: /// @} // Constructor - SmartProjectionFactorParams(LinearizationMode linMode = HESSIAN, + SmartProjectionParams(LinearizationMode linMode = HESSIAN, DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1, bool enableEPI = false, double landmarkDistanceThreshold = 1e10, double dynamicOutlierRejectionThreshold = -1): @@ -74,7 +74,7 @@ public: retriangulationThreshold(1e-5), throwCheirality(false), verboseCheirality(false) {} - virtual ~SmartProjectionFactorParams() {} + virtual ~SmartProjectionParams() {} void print(const std::string& str) const { std::cout << " linearizationMode: " << linearizationMode << "\n"; @@ -117,7 +117,7 @@ protected: /// @name Parameters /// @{ - const SmartProjectionFactorParams params_; + const SmartProjectionParams params_; /// @} /// @name Caching triangulation @@ -154,6 +154,17 @@ public: dynamicOutlierRejectionThreshold), // result_(TriangulationResult::Degenerate()) {} + /** + * Constructor + * @param body_P_sensor pose of the camera in the body frame + * @param params internal parameters of the smart factors + */ +// SmartProjectionFactor(const boost::optional body_P_sensor = boost::none, +// const SmartProjectionParams params = SmartProjectionParams()) : +// Base(body_P_sensor), +// params_(params), // +// result_(TriangulationResult::Degenerate()) {} + /** Virtual destructor */ virtual ~SmartProjectionFactor() { } diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 9a47bd34f..fbd9e1ca6 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -72,6 +72,17 @@ public: Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, landmarkDistanceThreshold, dynamicOutlierRejectionThreshold, body_P_sensor), K_(K) {} + /** + * Constructor + * @param K (fixed) calibration, assumed to be the same for all cameras + * @param body_P_sensor pose of the camera in the body frame + * @param params internal parameters of the smart factors + */ +// SmartProjectionPoseFactor(const boost::shared_ptr K, +// const boost::optional body_P_sensor = boost::none, +// const SmartProjectionParams params = SmartProjectionParams()) : +// Base(body_P_sensor, params), K_(K) {} + /** Virtual destructor */ virtual ~SmartProjectionPoseFactor() {} From 2d9fddbcaa5687c0e1e4469b6f5a49b9dc683c14 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 15:33:18 -0400 Subject: [PATCH 259/964] made cameras virtual and simplified pose factor (with Frank) --- gtsam/slam/SmartFactorBase.h | 6 +++--- gtsam/slam/SmartProjectionPoseFactor.h | 27 -------------------------- 2 files changed, 3 insertions(+), 30 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 870f4d5db..ba38a65d9 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -142,7 +142,7 @@ public: } /** - * Add a bunch of measurements and uses the same noise model for all of them + * Add a bunch of measurements and use the same noise model for all of them */ void add(std::vector& measurements, std::vector& cameraKeys, const SharedNoiseModel& noise) { @@ -177,7 +177,7 @@ public: } /// Collect all cameras: important that in key order - Cameras cameras(const Values& values) const { + virtual Cameras cameras(const Values& values) const { Cameras cameras; BOOST_FOREACH(const Key& k, this->keys_) cameras.push_back(values.at(k)); @@ -214,7 +214,7 @@ public: return e && Base::equals(p, tol) && areMeasurementsEqual; } - ///Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives + /// Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives template Vector unwhitenedError(const Cameras& cameras, const POINT& point, boost::optional Fs = boost::none, // diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index fbd9e1ca6..e089e6f4f 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -103,24 +103,6 @@ public: return e && Base::equals(p, tol); } - /** - * Linearize to Gaussian Factor - * @param values Values structure which must contain camera poses for this factor - * @return a Gaussian factor - */ - boost::shared_ptr linearizeDamped(const Values& values, - const double lambda = 0.0) const { - // depending on flag set on construction we may linearize to different linear factors - typename Base::Cameras cameras = this->cameras(values); - return Base::linearizeDamped(cameras, lambda); - } - - /// linearize - virtual boost::shared_ptr linearize( - const Values& values) const { - return linearizeDamped(values); - } - /** * error calculates the error of the factor. */ @@ -156,15 +138,6 @@ public: return cameras; } - /** - * Triangulate and compute derivative of error with respect to point - * @return whether triangulation worked - */ - bool triangulateAndComputeE(Matrix& E, const Values& values) const { - typename Base::Cameras cameras = this->cameras(values); - return Base::triangulateAndComputeE(E, cameras); - } - private: /// Serialization function From cd6c5ca0bd32a18899efd0510cd12303790c1180 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 19 Jun 2015 18:09:39 -0400 Subject: [PATCH 260/964] using parameters in smart projection factors constructors.. breaking the API, but now is way more elegant --- .cproject | 3534 ++++++++--------- gtsam/geometry/triangulation.h | 8 +- gtsam/slam/SmartProjectionFactor.h | 71 +- gtsam/slam/SmartProjectionPoseFactor.h | 25 +- gtsam/slam/tests/smartFactorScenarios.h | 1 + .../tests/testSmartProjectionCameraFactor.cpp | 81 +- .../tests/testSmartProjectionPoseFactor.cpp | 152 +- 7 files changed, 1945 insertions(+), 1927 deletions(-) diff --git a/.cproject b/.cproject index fa20e5794..2051b74fb 100644 --- a/.cproject +++ b/.cproject @@ -1,17 +1,19 @@ - + + + + + - - @@ -60,13 +62,13 @@ + + - - @@ -116,13 +118,13 @@ + + - - @@ -484,341 +486,6 @@ - - make - -j5 - testCombinedImuFactor.run - true - true - true - - - make - -j5 - testImuFactor.run - true - true - true - - - make - -j5 - testAHRSFactor.run - true - true - true - - - make - -j8 - testAttitudeFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testNonlinearConstraint.run - true - true - true - - - make - -j2 - testLieConfig.run - true - true - true - - - make - -j2 - testConstraintOptimizer.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j4 - testImuFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testBTree.run - true - true - true - - - make - -j2 - testDSF.run - true - true - true - - - make - -j2 - testDSFVector.run - true - true - true - - - make - -j2 - testMatrix.run - true - true - true - - - make - -j2 - testSPQRUtil.run - true - true - true - - - make - -j2 - testVector.run - true - true - true - - - make - -j2 - timeMatrix.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - wrap - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - - - cmake - .. - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testLieConfig.run - true - true - true - - - make - -j4 - testSimilarity3.run - true - true - true - - - make - -j5 - testInvDepthCamera3.run - true - true - true - - - make - -j5 - testTriangulation.run - true - true - true - - - make - -j4 - testEvent.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - all - true - false - true - - - make - -j5 - check - true - false - true - make -j5 @@ -867,183 +534,39 @@ true true - - make - -j5 - testCal3Bundler.run - true - true - true - - - make - -j5 - testCal3DS2.run - true - true - true - - - make - -j5 - testCalibratedCamera.run - true - true - true - - - make - -j5 - testEssentialMatrix.run - true - true - true - - - make - -j1 VERBOSE=1 - testHomography2.run - true - false - true - - - make - -j5 - testPinholeCamera.run - true - true - true - - - make - -j5 - testPoint2.run - true - true - true - - - make - -j5 - testPoint3.run - true - true - true - - - make - -j5 - testPose2.run - true - true - true - - - make - -j5 - testPose3.run - true - true - true - - - make - -j5 - testRot3M.run - true - true - true - - - make - -j5 - testSphere2.run - true - true - true - - - make - -j5 - testStereoCamera.run - true - true - true - - - make - -j5 - testCal3Unified.run - true - true - true - - - make - -j5 - testRot2.run - true - true - true - - - make - -j5 - testRot3Q.run - true - true - true - - - make - -j5 - testRot3.run - true - true - true - - + make -j4 - testSO3.run + testSimilarity3.run true true true - + + make + -j5 + testInvDepthCamera3.run + true + true + true + + + make + -j5 + testTriangulation.run + true + true + true + + make -j4 - testQuaternion.run + testEvent.run true true true - - make - -j4 - testOrientedPlane3.run - true - true - true - - - make - -j4 - testPinholePose.run - true - true - true - - - make - -j4 - testCyclic.run - true - true - true - - + make -j2 all @@ -1051,7 +574,7 @@ true true - + make -j2 clean @@ -1059,23 +582,137 @@ true true - + + make + -k + check + true + false + true + + + make + tests/testBayesTree.run + true + false + true + + + make + testBinaryBayesNet.run + true + false + true + + make -j2 - clean all + testFactorGraph.run true true true - + make -j2 - install + testISAM.run true true true - + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + testKey.run + true + true + true + + + make + -j2 + testOrdering.run + true + true + true + + + make + testSymbolicBayesNet.run + true + false + true + + + make + tests/testSymbolicFactor.run + true + false + true + + + make + testSymbolicFactorGraph.run + true + false + true + + + make + -j2 + timeSymbolMaps.run + true + true + true + + + make + tests/testBayesTree + true + false + true + + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + make -j2 clean @@ -1227,143 +864,154 @@ true true - + make - -j2 - all + -j5 + testGaussianFactorGraphUnordered.run true true true - + make - -j2 - check + -j5 + testGaussianBayesNetUnordered.run true true true - + make - -j2 + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testJacobianFactor.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testNoiseModel.run + true + true + true + + + make + -j5 + testSampler.run + true + true + true + + + make + -j5 + testSerializationLinear.run + true + true + true + + + make + -j5 + testVectorValues.run + true + true + true + + + make + -j5 + testGaussianBayesTree.run + true + true + true + + + make + -j5 + testCombinedImuFactor.run + true + true + true + + + make + -j5 + testImuFactor.run + true + true + true + + + make + -j5 + testAHRSFactor.run + true + true + true + + + make + -j8 + testAttitudeFactor.run + true + true + true + + + make + -j5 clean true true true - + make - -j2 - testPlanarSLAM.run - true - true - true - - - make - -j2 - testPose2Config.run - true - true - true - - - make - -j2 - testPose2Factor.run - true - true - true - - - make - -j2 - testPose2Prior.run - true - true - true - - - make - -j2 - testPose2SLAM.run - true - true - true - - - make - -j2 - testPose3Config.run - true - true - true - - - make - -j2 - testPose3SLAM.run - true - true - true - - - make - testSimulated2DOriented.run - true - false - true - - - make - -j2 - testVSLAMConfig.run - true - true - true - - - make - -j2 - testVSLAMFactor.run - true - true - true - - - make - -j2 - testVSLAMGraph.run - true - true - true - - - make - -j2 - testPose3Factor.run - true - true - true - - - make - testSimulated2D.run - true - false - true - - - make - testSimulated3D.run - true - false - true - - - make - -j2 - tests/testGaussianISAM2 + -j5 + all true true true @@ -1458,112 +1106,479 @@ make - testErrors.run true false true - + make - -j5 - testAntiFactor.run + -j2 + check true true true - + make - -j5 - testPriorFactor.run + -j2 + tests/testGaussianJunctionTree.run true true true - + make - -j5 - testDataset.run + -j2 + tests/testGaussianFactor.run true true true - + make - -j5 - testEssentialMatrixFactor.run + -j2 + tests/testGaussianConditional.run true true true - + make - -j5 - testGeneralSFMFactor_Cal3Bundler.run + -j2 + tests/timeSLAMlike.run true true true - + make - -j5 - testGeneralSFMFactor.run + -j2 + check true true true - + make - -j5 - testProjectionFactor.run + -j2 + clean true true true - + make - -j5 - testRotateFactor.run + -j2 + testBTree.run true true true - + make - -j5 - testPoseRotationPrior.run + -j2 + testDSF.run true true true - + make - -j5 - testImplicitSchurFactor.run + -j2 + testDSFVector.run true true true - + + make + -j2 + testMatrix.run + true + true + true + + + make + -j2 + testSPQRUtil.run + true + true + true + + + make + -j2 + testVector.run + true + true + true + + + make + -j2 + timeMatrix.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testClusterTree.run + true + true + true + + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + tests/testEliminationTree.run + true + true + true + + + make + -j2 + tests/testSymbolicFactor.run + true + true + true + + + make + -j2 + tests/testVariableSlots.run + true + true + true + + + make + -j2 + tests/testConditional.run + true + true + true + + + make + -j2 + tests/testSymbolicFactorGraph.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + testNonlinearConstraint.run + true + true + true + + + make + -j2 + testLieConfig.run + true + true + true + + + make + -j2 + testConstraintOptimizer.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testPlanarSLAM.run + true + true + true + + + make + -j2 + testPose2Config.run + true + true + true + + + make + -j2 + testPose2Factor.run + true + true + true + + + make + -j2 + testPose2Prior.run + true + true + true + + + make + -j2 + testPose2SLAM.run + true + true + true + + + make + -j2 + testPose3Config.run + true + true + true + + + make + -j2 + testPose3SLAM.run + true + true + true + + + make + + testSimulated2DOriented.run + true + false + true + + + make + -j2 + testVSLAMConfig.run + true + true + true + + + make + -j2 + testVSLAMFactor.run + true + true + true + + + make + -j2 + testVSLAMGraph.run + true + true + true + + + make + -j2 + testPose3Factor.run + true + true + true + + + make + + testSimulated2D.run + true + false + true + + + make + + testSimulated3D.run + true + false + true + + + make + -j2 + tests/testGaussianISAM2 + true + true + true + + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFMap.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + + + make + -j5 + testEliminationTree.run + true + true + true + + + make + -j5 + testInference.run + true + true + true + + + make + -j5 + testKey.run + true + true + true + + + make + -j1 + testSymbolicBayesTree.run + true + false + true + + + make + -j1 + testSymbolicSequentialSolver.run + true + false + true + + make -j4 - testRangeFactor.run + testLabeledSymbol.run true true true - + make - -j4 - testOrientedPlane3Factor.run + -j2 + check true true true - + make - -j4 - testSmartProjectionPoseFactor.run + -j2 + tests/testLieConfig.run true true true @@ -1769,7 +1784,6 @@ cpack - -G DEB true false @@ -1777,7 +1791,6 @@ cpack - -G RPM true false @@ -1785,7 +1798,6 @@ cpack - -G TGZ true false @@ -1793,7 +1805,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -1975,7 +1986,7 @@ false true - + make -j2 check @@ -1983,54 +1994,38 @@ true true - + make - tests/testGaussianISAM2 + -j2 + clean + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + all + true + true + true + + + cmake + .. true false true - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testGaussianJunctionTree.run - true - true - true - - - make - -j2 - tests/testGaussianFactor.run - true - true - true - - - make - -j2 - tests/testGaussianConditional.run - true - true - true - - - make - -j2 - tests/timeSLAMlike.run - true - true - true - - + make -j2 testGaussianFactor.run @@ -2038,10 +2033,442 @@ true true - + make -j5 - testParticleFactor.run + testCal3Bundler.run + true + true + true + + + make + -j5 + testCal3DS2.run + true + true + true + + + make + -j5 + testCalibratedCamera.run + true + true + true + + + make + -j5 + testEssentialMatrix.run + true + true + true + + + make + -j1 VERBOSE=1 + testHomography2.run + true + false + true + + + make + -j5 + testPinholeCamera.run + true + true + true + + + make + -j5 + testPoint2.run + true + true + true + + + make + -j5 + testPoint3.run + true + true + true + + + make + -j5 + testPose2.run + true + true + true + + + make + -j5 + testPose3.run + true + true + true + + + make + -j5 + testRot3M.run + true + true + true + + + make + -j5 + testSphere2.run + true + true + true + + + make + -j5 + testStereoCamera.run + true + true + true + + + make + -j5 + testCal3Unified.run + true + true + true + + + make + -j5 + testRot2.run + true + true + true + + + make + -j5 + testRot3Q.run + true + true + true + + + make + -j5 + testRot3.run + true + true + true + + + make + -j4 + testSO3.run + true + true + true + + + make + -j4 + testQuaternion.run + true + true + true + + + make + -j4 + testOrientedPlane3.run + true + true + true + + + make + -j4 + testPinholePose.run + true + true + true + + + make + -j4 + testCyclic.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + all + true + false + true + + + make + -j5 + check + true + false + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + clean all + true + true + true + + + make + -j1 + testDiscreteBayesTree.run + true + false + true + + + make + -j5 + testDiscreteConditional.run + true + true + true + + + make + -j5 + testDiscreteFactor.run + true + true + true + + + make + -j5 + testDiscreteFactorGraph.run + true + true + true + + + make + -j5 + testDiscreteMarginals.run + true + true + true + + + make + -j5 + testIMUSystem.run + true + true + true + + + make + -j5 + testPoseRTV.run + true + true + true + + + make + -j5 + testVelocityConstraint.run + true + true + true + + + make + -j5 + testVelocityConstraint3.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + timeCalibratedCamera.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + testMethod.run + true + true + true + + + make + -j5 + testClass.run + true + true + true + + + make + -j4 + testType.run + true + true + true + + + make + -j4 + testArgument.run + true + true + true + + + make + -j4 + testReturnValue.run + true + true + true + + + make + -j4 + testTemplate.run + true + true + true + + + make + -j4 + testGlobalFunction.run true true true @@ -2094,7 +2521,332 @@ true true - + + make + -j2 + vSFMexample.run + true + true + true + + + make + -j5 + testMatrix.run + true + true + true + + + make + -j5 + testVector.run + true + true + true + + + make + -j5 + testNumericalDerivative.run + true + true + true + + + make + -j5 + testVerticalBlockMatrix.run + true + true + true + + + make + -j4 + testOptionalJacobian.run + true + true + true + + + make + -j4 + testGroup.run + true + true + true + + + make + -j2 + testVSLAMGraph + true + true + true + + + make + -j5 + check.tests + true + true + true + + + make + -j2 + timeGaussianFactorGraph.run + true + true + true + + + make + -j5 + testMarginals.run + true + true + true + + + make + -j5 + testGaussianISAM2.run + true + true + true + + + make + -j5 + testSymbolicFactorGraphB.run + true + true + true + + + make + -j2 + timeSequentialOnDataset.run + true + true + true + + + make + -j5 + testGradientDescentOptimizer.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + testNonlinearOptimizer.run + true + true + true + + + make + -j2 + testGaussianBayesNet.run + true + true + true + + + make + -j2 + testNonlinearISAM.run + true + true + true + + + make + -j2 + testNonlinearEquality.run + true + true + true + + + make + -j2 + testExtendedKalmanFilter.run + true + true + true + + + make + -j5 + timing.tests + true + true + true + + + make + -j5 + testNonlinearFactor.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + testGaussianJunctionTreeB.run + true + true + true + + + make + testGraph.run + true + false + true + + + make + testJunctionTree.run + true + false + true + + + make + testSymbolicBayesNetB.run + true + false + true + + + make + -j5 + testGaussianISAM.run + true + true + true + + + make + -j5 + testDoglegOptimizer.run + true + true + true + + + make + -j5 + testNonlinearFactorGraph.run + true + true + true + + + make + -j5 + testIterative.run + true + true + true + + + make + -j5 + testSubgraphSolver.run + true + true + true + + + make + -j5 + testGaussianFactorGraphB.run + true + true + true + + + make + -j5 + testSummarization.run + true + true + true + + + make + -j5 + testManifold.run + true + true + true + + + make + -j4 + testLie.run + true + true + true + + + make + -j5 + testParticleFactor.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + clean + true + true + true + + make -j2 all @@ -2102,7 +2854,7 @@ true true - + make -j2 clean @@ -2110,135 +2862,15 @@ true true - - make - -k - check - true - false - true - - - make - - tests/testBayesTree.run - true - false - true - - - make - - testBinaryBayesNet.run - true - false - true - - + make -j2 - testFactorGraph.run + all true true true - - make - -j2 - testISAM.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - testKey.run - true - true - true - - - make - -j2 - testOrdering.run - true - true - true - - - make - - testSymbolicBayesNet.run - true - false - true - - - make - - tests/testSymbolicFactor.run - true - false - true - - - make - - testSymbolicFactorGraph.run - true - false - true - - - make - -j2 - timeSymbolMaps.run - true - true - true - - - make - - tests/testBayesTree - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - timeCalibratedCamera.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - + make -j2 clean @@ -2246,18 +2878,114 @@ true true - + make - -j2 - tests/testPose2.run + -j5 + testAntiFactor.run true true true - + make - -j2 - tests/testPose3.run + -j5 + testPriorFactor.run + true + true + true + + + make + -j5 + testDataset.run + true + true + true + + + make + -j5 + testEssentialMatrixFactor.run + true + true + true + + + make + -j5 + testGeneralSFMFactor_Cal3Bundler.run + true + true + true + + + make + -j5 + testGeneralSFMFactor.run + true + true + true + + + make + -j5 + testProjectionFactor.run + true + true + true + + + make + -j5 + testRotateFactor.run + true + true + true + + + make + -j5 + testPoseRotationPrior.run + true + true + true + + + make + -j5 + testImplicitSchurFactor.run + true + true + true + + + make + -j4 + testRangeFactor.run + true + true + true + + + make + -j4 + testOrientedPlane3Factor.run + true + true + true + + + make + -j4 + testSmartProjectionPoseFactor.run + true + true + true + + + make + -j4 + testSmartProjectionCameraFactor.run true true true @@ -2462,6 +3190,190 @@ true true + + make + -j5 + testLago.run + true + true + true + + + make + -j5 + testLinearContainerFactor.run + true + true + true + + + make + -j5 + testOrdering.run + true + true + true + + + make + -j5 + testValues.run + true + true + true + + + make + -j5 + testWhiteNoiseFactor.run + true + true + true + + + make + -j4 + testExpression.run + true + true + true + + + make + -j4 + testAdaptAutoDiff.run + true + true + true + + + make + -j4 + testCallRecord.run + true + true + true + + + make + -j4 + testExpressionFactor.run + true + true + true + + + make + -j4 + testExecutionTrace.run + true + true + true + + + make + -j4 + testImuFactor.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + + tests/testGaussianISAM2 + true + false + true + + + make + -j5 + timeCalibratedCamera.run + true + true + true + + + make + -j5 + timePinholeCamera.run + true + true + true + + + make + -j5 + timeStereoCamera.run + true + true + true + + + make + -j5 + timeLago.run + true + true + true + + + make + -j5 + timePose3.run + true + true + true + + + make + -j4 + timeAdaptAutoDiff.run + true + true + true + + + make + -j4 + timeCameraExpression.run + true + true + true + + + make + -j4 + timeOneCameraExpression.run + true + true + true + + + make + -j4 + timeSFMExpressions.run + true + true + true + + + make + -j4 + timeIncremental.run + true + true + true + make -j2 @@ -2558,922 +3470,10 @@ true true - - make - -j1 - testDiscreteBayesTree.run - true - false - true - - - make - -j5 - testDiscreteConditional.run - true - true - true - - - make - -j5 - testDiscreteFactor.run - true - true - true - - - make - -j5 - testDiscreteFactorGraph.run - true - true - true - - - make - -j5 - testDiscreteMarginals.run - true - true - true - - - make - -j5 - testEliminationTree.run - true - true - true - - - make - -j5 - testInference.run - true - true - true - - - make - -j5 - testKey.run - true - true - true - - - make - -j1 - testSymbolicBayesTree.run - true - false - true - - - make - -j1 - testSymbolicSequentialSolver.run - true - false - true - - - make - -j4 - testLabeledSymbol.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testClusterTree.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - tests/testEliminationTree.run - true - true - true - - - make - -j2 - tests/testSymbolicFactor.run - true - true - true - - - make - -j2 - tests/testVariableSlots.run - true - true - true - - - make - -j2 - tests/testConditional.run - true - true - true - - - make - -j2 - tests/testSymbolicFactorGraph.run - true - true - true - - - make - -j5 - testLago.run - true - true - true - - - make - -j5 - testLinearContainerFactor.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testWhiteNoiseFactor.run - true - true - true - - - make - -j4 - testExpression.run - true - true - true - - - make - -j4 - testAdaptAutoDiff.run - true - true - true - - - make - -j4 - testCallRecord.run - true - true - true - - - make - -j4 - testExpressionFactor.run - true - true - true - - - make - -j4 - testExecutionTrace.run - true - true - true - - - make - -j5 - testIMUSystem.run - true - true - true - - - make - -j5 - testPoseRTV.run - true - true - true - - - make - -j5 - testVelocityConstraint.run - true - true - true - - - make - -j5 - testVelocityConstraint3.run - true - true - true - - - make - -j5 - timeCalibratedCamera.run - true - true - true - - - make - -j5 - timePinholeCamera.run - true - true - true - - - make - -j5 - timeStereoCamera.run - true - true - true - - - make - -j5 - timeLago.run - true - true - true - - - make - -j5 - timePose3.run - true - true - true - - - make - -j4 - timeAdaptAutoDiff.run - true - true - true - - - make - -j4 - timeCameraExpression.run - true - true - true - - - make - -j4 - timeOneCameraExpression.run - true - true - true - - - make - -j4 - timeSFMExpressions.run - true - true - true - - - make - -j4 - timeIncremental.run - true - true - true - - - make - -j5 - testBTree.run - true - true - true - - - make - -j5 - testDSF.run - true - true - true - - - make - -j5 - testDSFMap.run - true - true - true - - - make - -j5 - testDSFVector.run - true - true - true - - - make - -j5 - testFixedVector.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testGaussianFactorGraphUnordered.run - true - true - true - - - make - -j5 - testGaussianBayesNetUnordered.run - true - true - true - - - make - -j5 - testGaussianConditional.run - true - true - true - - - make - -j5 - testGaussianDensity.run - true - true - true - - - make - -j5 - testGaussianJunctionTree.run - true - true - true - - - make - -j5 - testHessianFactor.run - true - true - true - - - make - -j5 - testJacobianFactor.run - true - true - true - - + make -j5 - testKalmanFilter.run - true - true - true - - - make - -j5 - testNoiseModel.run - true - true - true - - - make - -j5 - testSampler.run - true - true - true - - - make - -j5 - testSerializationLinear.run - true - true - true - - - make - -j5 - testVectorValues.run - true - true - true - - - make - -j5 - testGaussianBayesTree.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - testMethod.run - true - true - true - - - make - -j5 - testClass.run - true - true - true - - - make - -j4 - testType.run - true - true - true - - - make - -j4 - testArgument.run - true - true - true - - - make - -j4 - testReturnValue.run - true - true - true - - - make - -j4 - testTemplate.run - true - true - true - - - make - -j4 - testGlobalFunction.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testMatrix.run - true - true - true - - - make - -j5 - testVector.run - true - true - true - - - make - -j5 - testNumericalDerivative.run - true - true - true - - - make - -j5 - testVerticalBlockMatrix.run - true - true - true - - - make - -j4 - testOptionalJacobian.run - true - true - true - - - make - -j4 - testGroup.run - true - true - true - - - make - -j5 - check.tests - true - true - true - - - make - -j2 - timeGaussianFactorGraph.run - true - true - true - - - make - -j5 - testMarginals.run - true - true - true - - - make - -j5 - testGaussianISAM2.run - true - true - true - - - make - -j5 - testSymbolicFactorGraphB.run - true - true - true - - - make - -j2 - timeSequentialOnDataset.run - true - true - true - - - make - -j5 - testGradientDescentOptimizer.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - testNonlinearOptimizer.run - true - true - true - - - make - -j2 - testGaussianBayesNet.run - true - true - true - - - make - -j2 - testNonlinearISAM.run - true - true - true - - - make - -j2 - testNonlinearEquality.run - true - true - true - - - make - -j2 - testExtendedKalmanFilter.run - true - true - true - - - make - -j5 - timing.tests - true - true - true - - - make - -j5 - testNonlinearFactor.run - true - true - true - - - make - -j5 - clean - true - true - true - - - make - -j5 - testGaussianJunctionTreeB.run - true - true - true - - - make - - testGraph.run - true - false - true - - - make - - testJunctionTree.run - true - false - true - - - make - - testSymbolicBayesNetB.run - true - false - true - - - make - -j5 - testGaussianISAM.run - true - true - true - - - make - -j5 - testDoglegOptimizer.run - true - true - true - - - make - -j5 - testNonlinearFactorGraph.run - true - true - true - - - make - -j5 - testIterative.run - true - true - true - - - make - -j5 - testSubgraphSolver.run - true - true - true - - - make - -j5 - testGaussianFactorGraphB.run - true - true - true - - - make - -j5 - testSummarization.run - true - true - true - - - make - -j5 - testManifold.run - true - true - true - - - make - -j4 - testLie.run - true - true - true - - - make - -j2 - vSFMexample.run - true - true - true - - - make - -j5 - clean - true - true - true - - - make - -j5 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testVSLAMGraph + wrap true true true diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index adaa3dbaf..4ac634f03 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -320,21 +320,21 @@ Point3 triangulatePoint3( struct TriangulationParameters { - const double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate - const bool enableEPI; ///< if set to true, will refine triangulation using LM + double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate + bool enableEPI; ///< if set to true, will refine triangulation using LM /** * if the landmark is triangulated at distance larger than this, * result is flagged as degenerate. */ - const double landmarkDistanceThreshold; // + double landmarkDistanceThreshold; // /** * If this is nonnegative the we will check if the average reprojection error * is smaller than this threshold after triangulation, otherwise result is * flagged as degenerate. */ - const double dynamicOutlierRejectionThreshold; + double dynamicOutlierRejectionThreshold; /** * Constructor diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 7ac2a03be..3ad2d05a5 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -48,12 +48,12 @@ class GTSAM_EXPORT SmartProjectionParams { public: - const LinearizationMode linearizationMode; ///< How to linearize the factor - const DegeneracyMode degeneracyMode; ///< How to linearize the factor + LinearizationMode linearizationMode; ///< How to linearize the factor + DegeneracyMode degeneracyMode; ///< How to linearize the factor /// @name Parameters governing the triangulation /// @{ - const TriangulationParameters triangulationParameters; + mutable TriangulationParameters triangulationParameters; const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate /// @} @@ -64,10 +64,10 @@ public: /// @} // Constructor - SmartProjectionParams(LinearizationMode linMode = HESSIAN, - DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1, - bool enableEPI = false, double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1): + SmartProjectionParams(const LinearizationMode linMode = HESSIAN, + const DegeneracyMode degMode = IGNORE_DEGENERACY, const double rankTol = 1, + const bool enableEPI = false, const double landmarkDistanceThreshold = 1e10, + const double dynamicOutlierRejectionThreshold = -1): linearizationMode(linMode), degeneracyMode(degMode), triangulationParameters(rankTol, enableEPI, landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), @@ -89,15 +89,36 @@ public: inline LinearizationMode getLinearizationMode() const { return linearizationMode; } - /** return cheirality verbosity */ + inline DegeneracyMode getDegeneracyMode() const { + return degeneracyMode; + } + inline TriangulationParameters getTriangulationParameters() const { + return triangulationParameters; + } inline bool getVerboseCheirality() const { return verboseCheirality; } - /** return flag for throwing cheirality exceptions */ inline bool getThrowCheirality() const { return throwCheirality; } - + inline void setLinearizationMode(LinearizationMode linMode) { + linearizationMode = linMode; + } + inline void setDegeneracyMode(DegeneracyMode degMode) { + degeneracyMode = degMode; + } + inline void setRankTolerance(double rankTol) { + triangulationParameters.rankTolerance = rankTol; + } + inline void setEnableEPI(bool enableEPI) { + triangulationParameters.enableEPI = enableEPI; + } + inline void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) { + triangulationParameters.landmarkDistanceThreshold = landmarkDistanceThreshold; + } + inline void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) { + triangulationParameters.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold; + } }; /** @@ -134,36 +155,16 @@ public: /// shorthand for a set of cameras typedef CameraSet Cameras; - /** - * Constructor - * @param rankTol tolerance used to check if point triangulation is degenerate - * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) - * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, - * otherwise the factor is simply neglected - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - */ - SmartProjectionFactor(LinearizationMode linearizationMode = HESSIAN, - double rankTolerance = 1, DegeneracyMode degeneracyMode = - IGNORE_DEGENERACY, bool enableEPI = false, - double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1, - boost::optional body_P_sensor = boost::none) : - Base(body_P_sensor), - params_(linearizationMode, degeneracyMode, - rankTolerance, enableEPI, landmarkDistanceThreshold, - dynamicOutlierRejectionThreshold), // - result_(TriangulationResult::Degenerate()) {} - /** * Constructor * @param body_P_sensor pose of the camera in the body frame * @param params internal parameters of the smart factors */ -// SmartProjectionFactor(const boost::optional body_P_sensor = boost::none, -// const SmartProjectionParams params = SmartProjectionParams()) : -// Base(body_P_sensor), -// params_(params), // -// result_(TriangulationResult::Degenerate()) {} + SmartProjectionFactor(const boost::optional body_P_sensor = boost::none, + const SmartProjectionParams params = SmartProjectionParams()) : + Base(body_P_sensor), + params_(params), // + result_(TriangulationResult::Degenerate()) {} /** Virtual destructor */ virtual ~SmartProjectionFactor() { diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index b428d7b05..322c3790f 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -55,33 +55,16 @@ public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; - /** - * Constructor - * @param rankTol tolerance used to check if point triangulation is degenerate - * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) - * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, - * otherwise the factor is simply neglected (this functionality is deprecated) - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - * @param body_P_sensor is the transform from sensor to body frame (default identity) - */ - SmartProjectionPoseFactor(const boost::shared_ptr K, const double rankTol = 1, - const double linThreshold = -1, const DegeneracyMode manageDegeneracy = IGNORE_DEGENERACY, - const bool enableEPI = false, boost::optional body_P_sensor = boost::none, - LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1) : - Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, landmarkDistanceThreshold, - dynamicOutlierRejectionThreshold, body_P_sensor), K_(K) {} - /** * Constructor * @param K (fixed) calibration, assumed to be the same for all cameras * @param body_P_sensor pose of the camera in the body frame * @param params internal parameters of the smart factors */ -// SmartProjectionPoseFactor(const boost::shared_ptr K, -// const boost::optional body_P_sensor = boost::none, -// const SmartProjectionParams params = SmartProjectionParams()) : -// Base(body_P_sensor, params), K_(K) {} + SmartProjectionPoseFactor(const boost::shared_ptr K, + const boost::optional body_P_sensor = boost::none, + const SmartProjectionParams params = SmartProjectionParams()) : + Base(body_P_sensor, params), K_(K) {} /** Virtual destructor */ virtual ~SmartProjectionPoseFactor() {} diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h index e566146d0..8e83ec503 100644 --- a/gtsam/slam/tests/smartFactorScenarios.h +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -61,6 +61,7 @@ Camera cam1(level_pose, K2); Camera cam2(pose_right, K2); Camera cam3(pose_above, K2); typedef GeneralSFMFactor SFMFactor; +SmartProjectionParams params; } /* ************************************************************************* */ diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 636e69b4b..533e16bec 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -30,8 +30,6 @@ using namespace boost::assign; static bool isDebugTest = false; -static double rankTol = 1.0; - // Convenience for named keys using symbol_shorthand::X; using symbol_shorthand::L; @@ -42,6 +40,8 @@ Key c1 = 1, c2 = 2, c3 = 3; static Point2 measurement1(323.0, 240.0); +static double rankTol = 1.0; + template PinholeCamera perturbCameraPoseAndCalibration( const PinholeCamera& camera) { @@ -78,7 +78,8 @@ TEST( SmartProjectionCameraFactor, Constructor) { /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor2) { using namespace vanilla; - SmartFactor factor1(gtsam::HESSIAN, rankTol); + params.setRankTolerance(rankTol); + SmartFactor factor1(boost::none, params); } /* ************************************************************************* */ @@ -91,7 +92,8 @@ TEST( SmartProjectionCameraFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor4) { using namespace vanilla; - SmartFactor factor1(gtsam::HESSIAN, rankTol); + params.setRankTolerance(rankTol); + SmartFactor factor1(boost::none, params); factor1.add(measurement1, x1, unit2); } @@ -257,12 +259,12 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { EXPECT(assert_equal(expected, actual, 1)); // Optimize - LevenbergMarquardtParams params; + LevenbergMarquardtParams lmParams; if (isDebugTest) { - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; - params.verbosity = NonlinearOptimizerParams::ERROR; + lmParams.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + lmParams.verbosity = NonlinearOptimizerParams::ERROR; } - LevenbergMarquardtOptimizer optimizer(graph, initial, params); + LevenbergMarquardtOptimizer optimizer(graph, initial, lmParams); Values result = optimizer.optimize(); EXPECT(assert_equal(landmark1, *smartFactor1->point(), 1e-7)); @@ -338,14 +340,14 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { if (isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); - LevenbergMarquardtParams params; + LevenbergMarquardtParams lmParams; if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + lmParams.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; + lmParams.verbosity = NonlinearOptimizerParams::ERROR; Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); @@ -415,17 +417,17 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { if (isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); - LevenbergMarquardtParams params; - params.relativeErrorTol = 1e-8; - params.absoluteErrorTol = 0; - params.maxIterations = 20; + LevenbergMarquardtParams lmParams; + lmParams.relativeErrorTol = 1e-8; + lmParams.absoluteErrorTol = 0; + lmParams.maxIterations = 20; if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + lmParams.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; + lmParams.verbosity = NonlinearOptimizerParams::ERROR; Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); // GaussianFactorGraph::shared_ptr GFG = graph.linearize(values); @@ -494,17 +496,17 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { if (isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); - LevenbergMarquardtParams params; - params.relativeErrorTol = 1e-8; - params.absoluteErrorTol = 0; - params.maxIterations = 20; + LevenbergMarquardtParams lmParams; + lmParams.relativeErrorTol = 1e-8; + lmParams.absoluteErrorTol = 0; + lmParams.maxIterations = 20; if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + lmParams.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; + lmParams.verbosity = NonlinearOptimizerParams::ERROR; Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); if (isDebugTest) @@ -570,17 +572,17 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { if (isDebugTest) values.at(c3).print("Smart: Pose3 before optimization: "); - LevenbergMarquardtParams params; - params.relativeErrorTol = 1e-8; - params.absoluteErrorTol = 0; - params.maxIterations = 20; + LevenbergMarquardtParams lmParams; + lmParams.relativeErrorTol = 1e-8; + lmParams.absoluteErrorTol = 0; + lmParams.maxIterations = 20; if (isDebugTest) - params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + lmParams.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; if (isDebugTest) - params.verbosity = NonlinearOptimizerParams::ERROR; + lmParams.verbosity = NonlinearOptimizerParams::ERROR; Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); if (isDebugTest) @@ -805,9 +807,14 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { bool useEPI = false; // Hessian version + SmartProjectionParams params; + params.setRankTolerance(rankTol); + params.setLinearizationMode(gtsam::HESSIAN); + params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY); + params.setEnableEPI(useEPI); + SmartFactor::shared_ptr explicitFactor( - new SmartFactor(gtsam::HESSIAN, rankTol, - gtsam::IGNORE_DEGENERACY, useEPI)); + new SmartFactor(boost::none, params)); explicitFactor->add(level_uv, c1, unit2); explicitFactor->add(level_uv_right, c2, unit2); @@ -817,9 +824,9 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { dynamic_cast(*gaussianHessianFactor); // Implicit Schur version + params.setLinearizationMode(gtsam::IMPLICIT_SCHUR); SmartFactor::shared_ptr implicitFactor( - new SmartFactor(gtsam::IMPLICIT_SCHUR, rankTol, - gtsam::IGNORE_DEGENERACY, useEPI)); + new SmartFactor(boost::none, params)); implicitFactor->add(level_uv, c1, unit2); implicitFactor->add(level_uv_right, c2, unit2); GaussianFactor::shared_ptr gaussianImplicitSchurFactor = diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 5f6c2fee3..72147ff35 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -46,7 +46,7 @@ static Symbol x3('X', 3); static Point2 measurement1(323.0, 240.0); -LevenbergMarquardtParams params; +LevenbergMarquardtParams lmParams; // Make more verbose like so (in tests): // params.verbosityLM = LevenbergMarquardtParams::SUMMARY; @@ -59,7 +59,9 @@ TEST( SmartProjectionPoseFactor, Constructor) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor2) { using namespace vanillaPose; - SmartFactor factor1(sharedK, rankTol); + SmartProjectionParams params; + params.setRankTolerance(rankTol); + SmartFactor factor1(sharedK, boost::none, params); } /* ************************************************************************* */ @@ -72,7 +74,9 @@ TEST( SmartProjectionPoseFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor4) { using namespace vanillaPose; - SmartFactor factor1(sharedK, rankTol); + SmartProjectionParams params; + params.setRankTolerance(rankTol); + SmartFactor factor1(sharedK, boost::none, params); factor1.add(measurement1, x1, model); } @@ -229,15 +233,18 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ views.push_back(x2); views.push_back(x3); - bool enableEPI = false; + SmartProjectionParams params; + params.setRankTolerance(1.0); + params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY); + params.setEnableEPI(false); - SmartProjectionPoseFactor smartFactor1(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body); + SmartProjectionPoseFactor smartFactor1(K, sensor_to_body, params); smartFactor1.add(measurements_cam1, views, model); - SmartProjectionPoseFactor smartFactor2(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body); + SmartProjectionPoseFactor smartFactor2(K, sensor_to_body, params); smartFactor2.add(measurements_cam2, views, model); - SmartProjectionPoseFactor smartFactor3(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body); + SmartProjectionPoseFactor smartFactor3(K, sensor_to_body, params); smartFactor3.add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -266,9 +273,9 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ // initialize third pose with some noise, we expect it to move back to original pose3 values.insert(x3, bodyPose3*noise_pose); - LevenbergMarquardtParams params; + LevenbergMarquardtParams lmParams; Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(bodyPose3,result.at(x3))); } @@ -329,7 +336,7 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { Point3(0.1, -0.1, 1.9)), values.at(x3))); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } @@ -552,7 +559,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { values.at(x3))); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3), 1e-7)); } @@ -574,16 +581,23 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + SmartProjectionParams params; + params.setRankTolerance(1.0); + params.setLinearizationMode(gtsam::JACOBIAN_SVD); + params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY); + params.setEnableEPI(false); + SmartFactor factor1(sharedK, boost::none, params); + SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD)); + new SmartFactor(sharedK, boost::none, params)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD)); + new SmartFactor(sharedK, boost::none, params)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD)); + new SmartFactor(sharedK, boost::none, params)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -604,7 +618,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { values.insert(x3, pose_above * noise_pose); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } @@ -628,19 +642,23 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + SmartProjectionParams params; + params.setRankTolerance(1.0); + params.setLinearizationMode(gtsam::JACOBIAN_SVD); + params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY); + params.setLandmarkDistanceThreshold(excludeLandmarksFutherThanDist); + params.setEnableEPI(false); + SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), - gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); + new SmartFactor(sharedK, boost::none, params)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), - gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); + new SmartFactor(sharedK, boost::none, params)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), - gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist)); + new SmartFactor(sharedK, boost::none, params)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -662,7 +680,7 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { // All factors are disabled and pose should remain where it is Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(values.at(x3), result.at(x3))); } @@ -693,24 +711,25 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_cam4); measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier + SmartProjectionParams params; + params.setLinearizationMode(gtsam::JACOBIAN_SVD); + params.setLandmarkDistanceThreshold(excludeLandmarksFutherThanDist); + params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold); + SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), - gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(sharedK, boost::none, params)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), - gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(sharedK, boost::none, params)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), - gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(sharedK, boost::none, params)); smartFactor3->add(measurements_cam3, views, model); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), - gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + new SmartFactor(sharedK, boost::none, params)); smartFactor4->add(measurements_cam4, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -730,7 +749,7 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { // All factors are disabled and pose should remain where it is Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(cam3.pose(), result.at(x3))); } @@ -752,19 +771,19 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); + SmartProjectionParams params; + params.setLinearizationMode(gtsam::JACOBIAN_Q); + SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, - false, Pose3(), gtsam::JACOBIAN_Q)); + new SmartFactor(sharedK, boost::none, params)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, - false, Pose3(), gtsam::JACOBIAN_Q)); + new SmartFactor(sharedK, boost::none, params)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, - false, Pose3(), gtsam::JACOBIAN_Q)); + new SmartFactor(sharedK, boost::none, params)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -784,7 +803,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { values.insert(x3, pose_above * noise_pose); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(pose_above, result.at(x3), 1e-8)); } @@ -840,7 +859,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { DOUBLES_EQUAL(48406055, graph.error(values), 1); - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); Values result = optimizer.optimize(); DOUBLES_EQUAL(0, graph.error(result), 1e-9); @@ -872,18 +891,19 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); - double rankTol = 10; + SmartProjectionParams params; + params.setRankTolerance(10); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, rankTol)); // HESSIAN, by default + new SmartFactor(sharedK, boost::none, params)); // HESSIAN, by default smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, rankTol)); // HESSIAN, by default + new SmartFactor(sharedK, boost::none, params)); // HESSIAN, by default smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, rankTol)); // HESSIAN, by default + new SmartFactor(sharedK, boost::none, params)); // HESSIAN, by default smartFactor3->add(measurements_cam3, views, model); NonlinearFactorGraph graph; @@ -953,13 +973,16 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); - double rankTol = 50; + SmartProjectionParams params; + params.setRankTolerance(50); + params.setDegeneracyMode(gtsam::HANDLE_INFINITY); + SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK2, rankTol, -1.0, gtsam::HANDLE_INFINITY)); + new SmartFactor(sharedK2, boost::none, params)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK2, rankTol, -1.0, gtsam::HANDLE_INFINITY)); + new SmartFactor(sharedK2, boost::none, params)); smartFactor2->add(measurements_cam2, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -983,7 +1006,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac values.insert(x3, pose3 * noise_pose); // params.verbosityLM = LevenbergMarquardtParams::SUMMARY; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); Values result = optimizer.optimize(); EXPECT(assert_equal(pose3, result.at(x3))); } @@ -1012,18 +1035,20 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); - double rankTol = 10; + SmartProjectionParams params; + params.setRankTolerance(10); + params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY)); + new SmartFactor(sharedK, boost::none, params)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY)); + new SmartFactor(sharedK, boost::none, params)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY)); + new SmartFactor(sharedK, boost::none, params)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1058,7 +1083,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) values.at(x3))); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); // Since we do not do anything on degenerate instances (ZERO_ON_DEGENERACY) @@ -1212,7 +1237,9 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { using namespace bundlerPose; - SmartFactor factor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY, false, Pose3(), gtsam::HESSIAN); + SmartProjectionParams params; + params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY); + SmartFactor factor(sharedBundlerK, boost::none, params); factor.add(measurement1, x1, model); } @@ -1221,7 +1248,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { using namespace bundlerPose; - // three landmarks ~5 meters infront of camera + // three landmarks ~5 meters in front of camera Point3 landmark3(3, 0, 3.0); vector measurements_cam1, measurements_cam2, measurements_cam3; @@ -1270,7 +1297,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { Point3(0.1, -0.1, 1.9)), values.at(x3))); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT(assert_equal(cam3.pose(), result.at(x3), 1e-6)); } @@ -1302,21 +1329,20 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); - double rankTol = 10; + SmartProjectionParams params; + params.setRankTolerance(10); + params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedBundlerK, rankTol, -1.0, gtsam::ZERO_ON_DEGENERACY, - false, Pose3(), gtsam::HESSIAN)); + new SmartFactor(sharedBundlerK, boost::none, params)); smartFactor1->add(measurements_cam1, views, model); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY, - false, Pose3(), gtsam::HESSIAN)); + new SmartFactor(sharedBundlerK, boost::none, params)); smartFactor2->add(measurements_cam2, views, model); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY, - false, Pose3(), gtsam::HESSIAN)); + new SmartFactor(sharedBundlerK, boost::none, params)); smartFactor3->add(measurements_cam3, views, model); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1352,7 +1378,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { values.at(x3))); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); result = optimizer.optimize(); EXPECT( From 51df837f74760fb0ec40f9a77561631e134b1e2d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 11:49:13 -0700 Subject: [PATCH 261/964] Fixed small c++ issues (const, reference) and formatted --- gtsam/slam/SmartProjectionFactor.h | 62 +++++++++++++++----------- gtsam/slam/SmartProjectionPoseFactor.h | 13 +++--- 2 files changed, 45 insertions(+), 30 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 3ad2d05a5..903be1e8d 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -64,25 +64,30 @@ public: /// @} // Constructor - SmartProjectionParams(const LinearizationMode linMode = HESSIAN, - const DegeneracyMode degMode = IGNORE_DEGENERACY, const double rankTol = 1, - const bool enableEPI = false, const double landmarkDistanceThreshold = 1e10, - const double dynamicOutlierRejectionThreshold = -1): - linearizationMode(linMode), degeneracyMode(degMode), - triangulationParameters(rankTol, enableEPI, - landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), - retriangulationThreshold(1e-5), - throwCheirality(false), verboseCheirality(false) {} + SmartProjectionParams(LinearizationMode linMode = HESSIAN, + DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1, + bool enableEPI = false, double landmarkDistanceThreshold = 1e10, + double dynamicOutlierRejectionThreshold = -1) : + linearizationMode(linMode), degeneracyMode(degMode), triangulationParameters( + rankTol, enableEPI, landmarkDistanceThreshold, + dynamicOutlierRejectionThreshold), retriangulationThreshold(1e-5), throwCheirality( + false), verboseCheirality(false) { + } - virtual ~SmartProjectionParams() {} + virtual ~SmartProjectionParams() { + } void print(const std::string& str) const { std::cout << " linearizationMode: " << linearizationMode << "\n"; std::cout << " degeneracyMode: " << degeneracyMode << "\n"; - std::cout << " rankTolerance: " << triangulationParameters.rankTolerance << "\n"; - std::cout << " enableEPI: " << triangulationParameters.enableEPI << "\n"; - std::cout << " landmarkDistanceThreshold: " << triangulationParameters.landmarkDistanceThreshold << "\n"; - std::cout << " OutlierRejectionThreshold: " << triangulationParameters.dynamicOutlierRejectionThreshold << "\n"; + std::cout << " rankTolerance: " + << triangulationParameters.rankTolerance << "\n"; + std::cout << " enableEPI: " + << triangulationParameters.enableEPI << "\n"; + std::cout << " landmarkDistanceThreshold: " + << triangulationParameters.landmarkDistanceThreshold << "\n"; + std::cout << " OutlierRejectionThreshold: " + << triangulationParameters.dynamicOutlierRejectionThreshold << "\n"; std::cout.flush(); } @@ -114,10 +119,13 @@ public: triangulationParameters.enableEPI = enableEPI; } inline void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) { - triangulationParameters.landmarkDistanceThreshold = landmarkDistanceThreshold; + triangulationParameters.landmarkDistanceThreshold = + landmarkDistanceThreshold; } - inline void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) { - triangulationParameters.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold; + inline void setDynamicOutlierRejectionThreshold( + bool dynOutRejectionThreshold) { + triangulationParameters.dynamicOutlierRejectionThreshold = + dynOutRejectionThreshold; } }; @@ -160,11 +168,12 @@ public: * @param body_P_sensor pose of the camera in the body frame * @param params internal parameters of the smart factors */ - SmartProjectionFactor(const boost::optional body_P_sensor = boost::none, - const SmartProjectionParams params = SmartProjectionParams()) : - Base(body_P_sensor), - params_(params), // - result_(TriangulationResult::Degenerate()) {} + SmartProjectionFactor( + const boost::optional body_P_sensor = boost::none, + const SmartProjectionParams& params = SmartProjectionParams()) : + Base(body_P_sensor), params_(params), // + result_(TriangulationResult::Degenerate()) { + } /** Virtual destructor */ virtual ~SmartProjectionFactor() { @@ -178,8 +187,10 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionFactor\n"; - std::cout << "linearizationMode:\n" << params_.linearizationMode << std::endl; - std::cout << "triangulationParameters:\n" << params_.triangulationParameters << std::endl; + std::cout << "linearizationMode:\n" << params_.linearizationMode + << std::endl; + std::cout << "triangulationParameters:\n" << params_.triangulationParameters + << std::endl; std::cout << "result:\n" << result_ << std::endl; Base::print("", keyFormatter); } @@ -236,7 +247,8 @@ public: bool retriangulate = decideIfTriangulate(cameras); if (retriangulate) - result_ = gtsam::triangulateSafe(cameras, this->measured_, params_.triangulationParameters); + result_ = gtsam::triangulateSafe(cameras, this->measured_, + params_.triangulationParameters); return result_; } diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 322c3790f..93a4449f5 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -63,11 +63,13 @@ public: */ SmartProjectionPoseFactor(const boost::shared_ptr K, const boost::optional body_P_sensor = boost::none, - const SmartProjectionParams params = SmartProjectionParams()) : - Base(body_P_sensor, params), K_(K) {} + const SmartProjectionParams& params = SmartProjectionParams()) : + Base(body_P_sensor, params), K_(K) { + } /** Virtual destructor */ - virtual ~SmartProjectionPoseFactor() {} + virtual ~SmartProjectionPoseFactor() { + } /** * print @@ -112,7 +114,7 @@ public: typename Base::Cameras cameras; BOOST_FOREACH(const Key& k, this->keys_) { Pose3 pose = values.at(k); - if(Base::body_P_sensor_) + if (Base::body_P_sensor_) pose = pose.compose(*(Base::body_P_sensor_)); Camera camera(pose, K_); @@ -131,7 +133,8 @@ private: ar & BOOST_SERIALIZATION_NVP(K_); } -}; // end of class declaration +}; +// end of class declaration /// traits template From acf4629f8588a921d2b9c755d350aa26cccaab1d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 11:49:44 -0700 Subject: [PATCH 262/964] Fixed MATLAB wrapping of smart factor --- gtsam.h | 27 ++++++++++++++++++++------- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/gtsam.h b/gtsam.h index b9edfe14f..8f0bcf634 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2354,18 +2354,31 @@ virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { void serialize() const; }; +#include +class SmartProjectionParams { + SmartProjectionParams(); + // TODO(frank): make these work: + // void setLinearizationMode(LinearizationMode linMode); + // void setDegeneracyMode(DegeneracyMode degMode); + void setRankTolerance(double rankTol); + void setEnableEPI(bool enableEPI); + void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold); + void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold); +}; + #include template -virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor { +virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor { - SmartProjectionPoseFactor(double rankTol, double linThreshold, - bool manageDegeneracy, bool enableEPI, const gtsam::Pose3& body_P_sensor); - - SmartProjectionPoseFactor(double rankTol); - SmartProjectionPoseFactor(); + SmartProjectionPoseFactor(const CALIBRATION* K); + SmartProjectionPoseFactor(const CALIBRATION* K, + const gtsam::Pose3& body_P_sensor); + SmartProjectionPoseFactor(const CALIBRATION* K, + const gtsam::Pose3& body_P_sensor, + const gtsam::SmartProjectionParams& params); void add(const gtsam::Point2& measured_i, size_t poseKey_i, - const gtsam::noiseModel::Base* noise_i, const CALIBRATION* K_i); + const gtsam::noiseModel::Base* noise_i); // enabling serialization functionality //void serialize() const; From ef73de4b512df127f0da922222f15d154010ac9e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 12:00:49 -0700 Subject: [PATCH 263/964] Grouped getters/setters, removed define (MATLAB wrapper needs these) --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 1e395d550..a965c6cf0 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -111,17 +111,16 @@ public: virtual ~LevenbergMarquardtParams() {} virtual void print(const std::string& str = "") const; - std::string getVerbosityLM() const { return verbosityLMTranslator(verbosityLM);} - void setVerbosityLM(const std::string& s) { verbosityLM = verbosityLMTranslator(s);} - // @deprecated (just use fields) -#ifdef GTSAM_ALLOW_DEPRECATED + /// @name Getters/Setters, mainly for MATLAB. Use fields above in C++. + /// @{ bool getDiagonalDamping() const { return diagonalDamping; } double getlambdaFactor() const { return lambdaFactor; } double getlambdaInitial() const { return lambdaInitial; } double getlambdaLowerBound() const { return lambdaLowerBound; } double getlambdaUpperBound() const { return lambdaUpperBound; } std::string getLogFile() const { return logFile; } + std::string getVerbosityLM() const { return verbosityLMTranslator(verbosityLM);} void setDiagonalDamping(bool flag) { diagonalDamping = flag; } void setlambdaFactor(double value) { lambdaFactor = value; } void setlambdaInitial(double value) { lambdaInitial = value; } @@ -129,7 +128,8 @@ public: void setlambdaUpperBound(double value) { lambdaUpperBound = value; } void setLogFile(const std::string& s) { logFile = s; } void setUseFixedLambdaFactor(bool flag) { useFixedLambdaFactor = flag;} -#endif + void setVerbosityLM(const std::string& s) { verbosityLM = verbosityLMTranslator(s);} + // @} }; /** From 8e1b4cc3be0f8f364091596bc275103f9725758d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 12:16:57 -0700 Subject: [PATCH 264/964] Fixed bug in test --- gtsam/slam/tests/testRegularHessianFactor.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/tests/testRegularHessianFactor.cpp b/gtsam/slam/tests/testRegularHessianFactor.cpp index efdef9d44..6457e45fe 100644 --- a/gtsam/slam/tests/testRegularHessianFactor.cpp +++ b/gtsam/slam/tests/testRegularHessianFactor.cpp @@ -33,6 +33,7 @@ using namespace boost::assign; TEST(RegularHessianFactor, Constructors) { // First construct a regular JacobianFactor + // 0.5*|x0 + x1 + x3 - [1;2]|^2 = 0.5*|A*x-b|^2, with A=[I I I] Matrix A1 = I_2x2, A2 = I_2x2, A3 = I_2x2; Vector2 b(1,2); vector > terms; @@ -42,6 +43,9 @@ TEST(RegularHessianFactor, Constructors) // Test conversion from JacobianFactor RegularHessianFactor<2> factor(jf); + // 0.5*|A*x-b|^2 = 0.5*(Ax-b)'*(Ax-b) = 0.5*x'*A'A*x - x'*A'b + 0.5*b'*b + // Compare with comment in HessianFactor: E(x) = 0.5 x^T G x - x^T g + 0.5 f + // Hence G = I6, g A'*b = [b;b;b], and f = b'*b = 1+4 = 5 Matrix G11 = I_2x2; Matrix G12 = I_2x2; Matrix G13 = I_2x2; @@ -53,7 +57,7 @@ TEST(RegularHessianFactor, Constructors) Vector2 g1 = b, g2 = b, g3 = b; - double f = 10; + double f = 5; // Test ternary constructor RegularHessianFactor<2> factor2(0, 1, 3, G11, G12, G13, g1, G22, G23, g2, G33, g3, f); From 2ce252fdc0d7ba48bccc3c98ce17a7fd9b076aeb Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 12:42:59 -0700 Subject: [PATCH 265/964] Got rid of inline --- gtsam/slam/SmartProjectionFactor.h | 29 ++++++++++++++--------------- 1 file changed, 14 insertions(+), 15 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 903be1e8d..26dba2f55 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -91,39 +91,38 @@ public: std::cout.flush(); } - inline LinearizationMode getLinearizationMode() const { + LinearizationMode getLinearizationMode() const { return linearizationMode; } - inline DegeneracyMode getDegeneracyMode() const { + DegeneracyMode getDegeneracyMode() const { return degeneracyMode; } - inline TriangulationParameters getTriangulationParameters() const { + TriangulationParameters getTriangulationParameters() const { return triangulationParameters; } - inline bool getVerboseCheirality() const { + bool getVerboseCheirality() const { return verboseCheirality; } - inline bool getThrowCheirality() const { + bool getThrowCheirality() const { return throwCheirality; } - inline void setLinearizationMode(LinearizationMode linMode) { + void setLinearizationMode(LinearizationMode linMode) { linearizationMode = linMode; } - inline void setDegeneracyMode(DegeneracyMode degMode) { + void setDegeneracyMode(DegeneracyMode degMode) { degeneracyMode = degMode; } - inline void setRankTolerance(double rankTol) { + void setRankTolerance(double rankTol) { triangulationParameters.rankTolerance = rankTol; } - inline void setEnableEPI(bool enableEPI) { + void setEnableEPI(bool enableEPI) { triangulationParameters.enableEPI = enableEPI; } - inline void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) { + void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) { triangulationParameters.landmarkDistanceThreshold = landmarkDistanceThreshold; } - inline void setDynamicOutlierRejectionThreshold( - bool dynOutRejectionThreshold) { + void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) { triangulationParameters.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold; } @@ -518,17 +517,17 @@ public: } /// Is result valid? - inline bool isValid() const { + bool isValid() const { return result_; } /** return the degenerate state */ - inline bool isDegenerate() const { + bool isDegenerate() const { return result_.degenerate(); } /** return the cheirality status flag */ - inline bool isPointBehindCamera() const { + bool isPointBehindCamera() const { return result_.behindCamera(); } From 1f8adc9381939434f7e304de54ed50c3663555a7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 13:09:39 -0700 Subject: [PATCH 266/964] Cleaned up parameters a bit --- gtsam/slam/SmartProjectionFactor.h | 42 ++++++++++++++---------------- 1 file changed, 19 insertions(+), 23 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 26dba2f55..7867200e6 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -53,7 +53,7 @@ public: /// @name Parameters governing the triangulation /// @{ - mutable TriangulationParameters triangulationParameters; + mutable TriangulationParameters triangulation; const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate /// @} @@ -65,13 +65,11 @@ public: // Constructor SmartProjectionParams(LinearizationMode linMode = HESSIAN, - DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1, - bool enableEPI = false, double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1) : - linearizationMode(linMode), degeneracyMode(degMode), triangulationParameters( - rankTol, enableEPI, landmarkDistanceThreshold, - dynamicOutlierRejectionThreshold), retriangulationThreshold(1e-5), throwCheirality( - false), verboseCheirality(false) { + DegeneracyMode degMode = IGNORE_DEGENERACY, bool throwCheirality = false, + bool verboseCheirality = false) : + linearizationMode(linMode), degeneracyMode(degMode), retriangulationThreshold( + 1e-5), throwCheirality(throwCheirality), verboseCheirality( + verboseCheirality) { } virtual ~SmartProjectionParams() { @@ -80,14 +78,14 @@ public: void print(const std::string& str) const { std::cout << " linearizationMode: " << linearizationMode << "\n"; std::cout << " degeneracyMode: " << degeneracyMode << "\n"; - std::cout << " rankTolerance: " - << triangulationParameters.rankTolerance << "\n"; - std::cout << " enableEPI: " - << triangulationParameters.enableEPI << "\n"; + std::cout << " rankTolerance: " << triangulation.rankTolerance + << "\n"; + std::cout << " enableEPI: " << triangulation.enableEPI + << "\n"; std::cout << " landmarkDistanceThreshold: " - << triangulationParameters.landmarkDistanceThreshold << "\n"; + << triangulation.landmarkDistanceThreshold << "\n"; std::cout << " OutlierRejectionThreshold: " - << triangulationParameters.dynamicOutlierRejectionThreshold << "\n"; + << triangulation.dynamicOutlierRejectionThreshold << "\n"; std::cout.flush(); } @@ -98,7 +96,7 @@ public: return degeneracyMode; } TriangulationParameters getTriangulationParameters() const { - return triangulationParameters; + return triangulation; } bool getVerboseCheirality() const { return verboseCheirality; @@ -113,18 +111,16 @@ public: degeneracyMode = degMode; } void setRankTolerance(double rankTol) { - triangulationParameters.rankTolerance = rankTol; + triangulation.rankTolerance = rankTol; } void setEnableEPI(bool enableEPI) { - triangulationParameters.enableEPI = enableEPI; + triangulation.enableEPI = enableEPI; } void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) { - triangulationParameters.landmarkDistanceThreshold = - landmarkDistanceThreshold; + triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold; } void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) { - triangulationParameters.dynamicOutlierRejectionThreshold = - dynOutRejectionThreshold; + triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold; } }; @@ -188,7 +184,7 @@ public: std::cout << s << "SmartProjectionFactor\n"; std::cout << "linearizationMode:\n" << params_.linearizationMode << std::endl; - std::cout << "triangulationParameters:\n" << params_.triangulationParameters + std::cout << "triangulationParameters:\n" << params_.triangulation << std::endl; std::cout << "result:\n" << result_ << std::endl; Base::print("", keyFormatter); @@ -247,7 +243,7 @@ public: bool retriangulate = decideIfTriangulate(cameras); if (retriangulate) result_ = gtsam::triangulateSafe(cameras, this->measured_, - params_.triangulationParameters); + params_.triangulation); return result_; } From 1f2e7892408ac03d38c5d667980340c333f8eeca Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 13:26:25 -0700 Subject: [PATCH 267/964] Fixed print --- gtsam/slam/SmartProjectionFactor.h | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 7867200e6..d6b549acb 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -76,17 +76,9 @@ public: } void print(const std::string& str) const { - std::cout << " linearizationMode: " << linearizationMode << "\n"; - std::cout << " degeneracyMode: " << degeneracyMode << "\n"; - std::cout << " rankTolerance: " << triangulation.rankTolerance - << "\n"; - std::cout << " enableEPI: " << triangulation.enableEPI - << "\n"; - std::cout << " landmarkDistanceThreshold: " - << triangulation.landmarkDistanceThreshold << "\n"; - std::cout << " OutlierRejectionThreshold: " - << triangulation.dynamicOutlierRejectionThreshold << "\n"; - std::cout.flush(); + std::cout << "linearizationMode: " << linearizationMode << "\n"; + std::cout << " degeneracyMode: " << degeneracyMode << "\n"; + std::cout << triangulation << std::endl; } LinearizationMode getLinearizationMode() const { From 5719ba27fad1013d45ac921bf2e26f4a0e4332c9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 15:28:25 -0700 Subject: [PATCH 268/964] Reducing header bloat by introducing new ThreadSafeException header. --- gtsam/base/FastSet.h | 9 +- gtsam/base/FastVector.h | 47 +++--- gtsam/base/SymmetricBlockMatrix.cpp | 1 + gtsam/base/SymmetricBlockMatrix.h | 23 ++- gtsam/base/TestableAssertions.h | 11 +- gtsam/base/ThreadsafeException.h | 152 ++++++++++++++++++ .../treeTraversal/parallelTraversalTasks.h | 1 + gtsam/base/types.h | 108 +------------ gtsam/geometry/CalibratedCamera.h | 5 + gtsam/inference/VariableIndex-inl.h | 2 + gtsam/inference/VariableIndex.h | 13 +- gtsam/inference/tests/testKey.cpp | 1 + gtsam/linear/HessianFactor.cpp | 18 ++- gtsam/linear/SubgraphPreconditioner.cpp | 35 +++- gtsam/linear/SubgraphPreconditioner.h | 21 ++- gtsam/linear/linearExceptions.cpp | 1 + gtsam/linear/linearExceptions.h | 5 +- tests/testMarginals.cpp | 3 +- 18 files changed, 282 insertions(+), 174 deletions(-) create mode 100644 gtsam/base/ThreadsafeException.h diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h index 73df17b0d..c3352dfd5 100644 --- a/gtsam/base/FastSet.h +++ b/gtsam/base/FastSet.h @@ -19,15 +19,18 @@ #pragma once #include + #include #include #include #include #include -#include -#include -#include + #include +#include +#include +#include +#include BOOST_MPL_HAS_XXX_TRAIT_DEF(print) diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index d154ea52a..0a4932e01 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -18,12 +18,9 @@ #pragma once -#include +#include #include -#include - -#include -#include +#include namespace gtsam { @@ -35,20 +32,27 @@ namespace gtsam { * @addtogroup base */ template -class FastVector: public std::vector::type> { +class FastVector: public std::vector::type> { public: - typedef std::vector::type> Base; + typedef std::vector::type> Base; /** Default constructor */ - FastVector() {} + FastVector() { + } /** Constructor from size */ - explicit FastVector(size_t size) : Base(size) {} + explicit FastVector(size_t size) : + Base(size) { + } /** Constructor from size and initial values */ - explicit FastVector(size_t size, const VALUE& initial) : Base(size, initial) {} + explicit FastVector(size_t size, const VALUE& initial) : + Base(size, initial) { + } /** Constructor from a range, passes through to base class */ template @@ -56,33 +60,22 @@ public: // This if statement works around a bug in boost pool allocator and/or // STL vector where if the size is zero, the pool allocator will allocate // huge amounts of memory. - if(first != last) + if (first != last) Base::assign(first, last); } - /** Copy constructor from a FastList */ - FastVector(const FastList& x) { - if(x.size() > 0) - Base::assign(x.begin(), x.end()); - } - - /** Copy constructor from a FastSet */ - FastVector(const FastSet& x) { - if(x.size() > 0) - Base::assign(x.begin(), x.end()); - } - /** Copy constructor from the base class */ - FastVector(const Base& x) : Base(x) {} + FastVector(const Base& x) : + Base(x) { + } /** Copy constructor from a standard STL container */ template - FastVector(const std::vector& x) - { + FastVector(const std::vector& x) { // This if statement works around a bug in boost pool allocator and/or // STL vector where if the size is zero, the pool allocator will allocate // huge amounts of memory. - if(x.size() > 0) + if (x.size() > 0) Base::assign(x.begin(), x.end()); } diff --git a/gtsam/base/SymmetricBlockMatrix.cpp b/gtsam/base/SymmetricBlockMatrix.cpp index 0fbdfeefc..7cca63092 100644 --- a/gtsam/base/SymmetricBlockMatrix.cpp +++ b/gtsam/base/SymmetricBlockMatrix.cpp @@ -20,6 +20,7 @@ #include #include #include +#include namespace gtsam { diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h index 41584c7f9..1f81ca1f9 100644 --- a/gtsam/base/SymmetricBlockMatrix.h +++ b/gtsam/base/SymmetricBlockMatrix.h @@ -17,9 +17,21 @@ */ #pragma once -#include #include +#include #include +#include +#include +#include +#include +#include +#include + +namespace boost { +namespace serialization { +class access; +} /* namespace serialization */ +} /* namespace boost */ namespace gtsam { @@ -247,13 +259,8 @@ namespace gtsam { } }; - /* ************************************************************************* */ - class CholeskyFailed : public gtsam::ThreadsafeException - { - public: - CholeskyFailed() throw() {} - virtual ~CholeskyFailed() throw() {} - }; + /// Foward declare exception class + class CholeskyFailed; } diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index 04d3fc676..f976be0e7 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -17,13 +17,14 @@ #pragma once -#include -#include -#include +#include +#include + #include #include -#include -#include +#include +#include +#include namespace gtsam { diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h new file mode 100644 index 000000000..3bdd42608 --- /dev/null +++ b/gtsam/base/ThreadsafeException.h @@ -0,0 +1,152 @@ +/* ---------------------------------------------------------------------------- + + * 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 ThreadSafeException.h + * @brief Base exception type that uses tbb_exception if GTSAM is compiled with TBB + * @author Richard Roberts + * @date Aug 21, 2010 + * @addtogroup base + */ + +#pragma once + +#include +#include +#include +#include + +#ifdef GTSAM_USE_TBB +#include +#include +#endif + +namespace gtsam { + +/// Base exception type that uses tbb_exception if GTSAM is compiled with TBB. +template +class ThreadsafeException: +#ifdef GTSAM_USE_TBB + public tbb::tbb_exception +#else +public std::exception +#endif +{ +#ifdef GTSAM_USE_TBB +private: + typedef tbb::tbb_exception Base; +protected: + typedef std::basic_string, + tbb::tbb_allocator > String; +#else +private: + typedef std::exception Base; +protected: + typedef std::string String; +#endif + +protected: + bool dynamic_; ///< Whether this object was moved + mutable boost::optional description_; ///< Optional description + + /// Default constructor is protected - may only be created from derived classes + ThreadsafeException() : + dynamic_(false) { + } + + /// Copy constructor is protected - may only be created from derived classes + ThreadsafeException(const ThreadsafeException& other) : + Base(other), dynamic_(false) { + } + + /// Construct with description string + ThreadsafeException(const std::string& description) : + dynamic_(false), description_( + String(description.begin(), description.end())) { + } + + /// Default destructor doesn't have the throw() + virtual ~ThreadsafeException() throw () { + } + +public: + // Implement functions for tbb_exception +#ifdef GTSAM_USE_TBB + virtual tbb::tbb_exception* move() throw () { + void* cloneMemory = scalable_malloc(sizeof(DERIVED)); + if (!cloneMemory) { + std::cerr << "Failed allocating memory to copy thrown exception, exiting now." << std::endl; + exit(-1); + } + DERIVED* clone = ::new(cloneMemory) DERIVED(static_cast(*this)); + clone->dynamic_ = true; + return clone; + } + + virtual void destroy() throw () { + if (dynamic_) { + DERIVED* derivedPtr = static_cast(this); + derivedPtr->~DERIVED(); + scalable_free(derivedPtr); + } + } + + virtual void throw_self() { + throw *static_cast(this); + } + + virtual const char* name() const throw () { + return typeid(DERIVED).name(); + } +#endif + + virtual const char* what() const throw () { + return description_ ? description_->c_str() : ""; + } +}; + +/// Thread-safe runtime error exception +class RuntimeErrorThreadsafe: public ThreadsafeException { +public: + /// Construct with a string describing the exception + RuntimeErrorThreadsafe(const std::string& description) : + ThreadsafeException(description) { + } +}; + +/// Thread-safe out of range exception +class OutOfRangeThreadsafe: public ThreadsafeException { +public: + /// Construct with a string describing the exception + OutOfRangeThreadsafe(const std::string& description) : + ThreadsafeException(description) { + } +}; + +/// Thread-safe invalid argument exception +class InvalidArgumentThreadsafe: public ThreadsafeException< + InvalidArgumentThreadsafe> { +public: + /// Construct with a string describing the exception + InvalidArgumentThreadsafe(const std::string& description) : + ThreadsafeException(description) { + } +}; + +/// Indicate Cholesky factorization failure +class CholeskyFailed : public gtsam::ThreadsafeException +{ +public: + CholeskyFailed() throw() {} + virtual ~CholeskyFailed() throw() {} +}; + +} // namespace gtsam diff --git a/gtsam/base/treeTraversal/parallelTraversalTasks.h b/gtsam/base/treeTraversal/parallelTraversalTasks.h index 7986f9534..c1df47a01 100644 --- a/gtsam/base/treeTraversal/parallelTraversalTasks.h +++ b/gtsam/base/treeTraversal/parallelTraversalTasks.h @@ -24,6 +24,7 @@ #ifdef GTSAM_USE_TBB # include +# include # undef max // TBB seems to include windows.h and we don't want these macros # undef min # undef ERROR diff --git a/gtsam/base/types.h b/gtsam/base/types.h index a66db13c8..a325fb1ad 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -20,19 +20,16 @@ #pragma once #include -#include -#include +#include +#include #include -#include +#include #include -#include -#include #ifdef GTSAM_USE_TBB #include #include #include -#include #endif #ifdef GTSAM_USE_EIGEN_MKL_OPENMP @@ -73,7 +70,6 @@ namespace gtsam { /// The index type for Eigen objects typedef ptrdiff_t DenseIndex; - /* ************************************************************************* */ /** * Helper class that uses templates to select between two types based on @@ -148,104 +144,6 @@ namespace gtsam { return ListOfOneContainer(element); } - /* ************************************************************************* */ - /// Base exception type that uses tbb_exception if GTSAM is compiled with TBB. - template - class ThreadsafeException : -#ifdef GTSAM_USE_TBB - public tbb::tbb_exception -#else - public std::exception -#endif - { -#ifdef GTSAM_USE_TBB - private: - typedef tbb::tbb_exception Base; - protected: - typedef std::basic_string, tbb::tbb_allocator > String; -#else - private: - typedef std::exception Base; - protected: - typedef std::string String; -#endif - - protected: - bool dynamic_; ///< Whether this object was moved - mutable boost::optional description_; ///< Optional description - - /// Default constructor is protected - may only be created from derived classes - ThreadsafeException() : dynamic_(false) {} - - /// Copy constructor is protected - may only be created from derived classes - ThreadsafeException(const ThreadsafeException& other) : Base(other), dynamic_(false) {} - - /// Construct with description string - ThreadsafeException(const std::string& description) : dynamic_(false), description_(String(description.begin(), description.end())) {} - - /// Default destructor doesn't have the throw() - virtual ~ThreadsafeException() throw () {} - - public: - // Implement functions for tbb_exception -#ifdef GTSAM_USE_TBB - virtual tbb::tbb_exception* move() throw () { - void* cloneMemory = scalable_malloc(sizeof(DERIVED)); - if (!cloneMemory) { - std::cerr << "Failed allocating memory to copy thrown exception, exiting now." << std::endl; - exit(-1); - } - DERIVED* clone = ::new(cloneMemory) DERIVED(static_cast(*this)); - clone->dynamic_ = true; - return clone; - } - - virtual void destroy() throw() { - if (dynamic_) { - DERIVED* derivedPtr = static_cast(this); - derivedPtr->~DERIVED(); - scalable_free(derivedPtr); - } - } - - virtual void throw_self() { - throw *static_cast(this); } - - virtual const char* name() const throw() { - return typeid(DERIVED).name(); } -#endif - - virtual const char* what() const throw() { - return description_ ? description_->c_str() : ""; } - }; - - /* ************************************************************************* */ - /// Threadsafe runtime error exception - class RuntimeErrorThreadsafe : public ThreadsafeException - { - public: - /// Construct with a string describing the exception - RuntimeErrorThreadsafe(const std::string& description) : ThreadsafeException(description) {} - }; - - /* ************************************************************************* */ - /// Threadsafe runtime error exception - class OutOfRangeThreadsafe : public ThreadsafeException - { - public: - /// Construct with a string describing the exception - OutOfRangeThreadsafe(const std::string& description) : ThreadsafeException(description) {} - }; - - /* ************************************************************************* */ - /// Threadsafe invalid argument exception - class InvalidArgumentThreadsafe : public ThreadsafeException - { - public: - /// Construct with a string describing the exception - InvalidArgumentThreadsafe(const std::string& description) : ThreadsafeException(description) {} - }; - /* ************************************************************************* */ #ifdef __clang__ # pragma clang diagnostic push diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index f17cc6441..0b278bade 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -19,6 +19,11 @@ #pragma once #include +#include +#include +#include +#include +#include namespace gtsam { diff --git a/gtsam/inference/VariableIndex-inl.h b/gtsam/inference/VariableIndex-inl.h index 82eb85c76..c00a3633e 100644 --- a/gtsam/inference/VariableIndex-inl.h +++ b/gtsam/inference/VariableIndex-inl.h @@ -18,6 +18,8 @@ #pragma once #include +#include +#include namespace gtsam { diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index bcaec6ee4..d4b8eeacf 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -17,17 +17,18 @@ #pragma once -#include #include #include -#include +#include #include -#include +#include +#include -#include +#include +#include +#include -#include -#include +#include #include namespace gtsam { diff --git a/gtsam/inference/tests/testKey.cpp b/gtsam/inference/tests/testKey.cpp index 1033c0cc9..b0708e660 100644 --- a/gtsam/inference/tests/testKey.cpp +++ b/gtsam/inference/tests/testKey.cpp @@ -14,6 +14,7 @@ * @author Alex Cunningham */ +#include #include #include #include diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 21f4b117f..f3e54cffb 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -15,17 +15,19 @@ * @date Dec 8, 2010 */ -#include +#include + #include #include -#include -#include #include -#include -#include -#include -#include +#include +#include #include +#include +#include +#include +#include +#include #include #include @@ -469,7 +471,7 @@ std::pair, // Erase the eliminated keys in the remaining factor jointFactor->keys_.erase(jointFactor->begin(), jointFactor->begin() + numberOfKeysToEliminate); - } catch (CholeskyFailed&) { + } catch (const CholeskyFailed& e) { throw IndeterminantLinearSystemException(keys.front()); } diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index f5ee4ddfc..e0bd8d8cd 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -15,20 +15,41 @@ * @author: Frank Dellaert */ -#include #include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + #include -#include #include +#include +#include +#include +#include +#include + +#include +#include +#include #include +#include #include -#include +#include +#include +#include +#include // accumulate #include #include +#include +#include #include #include diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index 350963bcf..c1600dd45 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -17,13 +17,32 @@ #pragma once -#include #include +#include +#include #include #include #include +#include +#include +#include +#include +#include + +#include #include +#include +#include +#include +#include + +namespace boost { +namespace serialization { +class access; +} /* namespace serialization */ +} /* namespace boost */ + namespace gtsam { // Forward declarations diff --git a/gtsam/linear/linearExceptions.cpp b/gtsam/linear/linearExceptions.cpp index 88758ae7a..a4168af2d 100644 --- a/gtsam/linear/linearExceptions.cpp +++ b/gtsam/linear/linearExceptions.cpp @@ -19,6 +19,7 @@ #include #include #include +#include namespace gtsam { diff --git a/gtsam/linear/linearExceptions.h b/gtsam/linear/linearExceptions.h index 63bc61e80..32db27fc9 100644 --- a/gtsam/linear/linearExceptions.h +++ b/gtsam/linear/linearExceptions.h @@ -17,9 +17,8 @@ */ #pragma once -#include -#include -#include +#include +#include namespace gtsam { diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index dd22ae738..0af4c4a57 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -226,7 +226,8 @@ TEST(Marginals, order) { vals.at(3).range(vals.at(101)), noiseModel::Unit::Create(2)); Marginals marginals(fg, vals); - FastVector keys(fg.keys()); + FastSet set = fg.keys(); + FastVector keys(set.begin(), set.end()); JointMarginal joint = marginals.jointMarginalCovariance(keys); LONGS_EQUAL(3, (long)joint(0,0).rows()); From 63c28f89bfa0f959bdc3f1616bef8a9ecedd6b51 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 15:37:11 -0700 Subject: [PATCH 269/964] Removed system-specific header --- gtsam/base/types.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/base/types.h b/gtsam/base/types.h index a325fb1ad..4010eb70e 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -23,7 +23,6 @@ #include #include #include -#include #include #ifdef GTSAM_USE_TBB From 8ba8a0ff947e0e0ac85ffa49b54a23cdef74402f Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 15:47:30 -0700 Subject: [PATCH 270/964] Removed system specific header (damn eclipse organize includes!) --- gtsam/linear/SubgraphPreconditioner.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index c1600dd45..e74b92df1 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -32,7 +32,6 @@ #include #include -#include #include #include #include From d2bf0120fc5c2740c2bce439348ba75c470bf93b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 15:50:57 -0700 Subject: [PATCH 271/964] And another one ! --- gtsam/linear/SubgraphPreconditioner.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index e0bd8d8cd..ee2447d2f 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -34,7 +34,6 @@ #include #include #include -#include #include #include From e0afc0e05c63e87bd9e855bd97a0d36990e849c9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 18:36:03 -0700 Subject: [PATCH 272/964] Removed mpl-based Testable scheme with GTSAM 4 traits. This means you now have to be Testable to be a "FastSet". Future plan is to completely get rid of ths data structure, which is probably all but fast. --- gtsam/base/FastSet.h | 122 ++++++++++++++----------------------------- 1 file changed, 39 insertions(+), 83 deletions(-) diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h index c3352dfd5..8c23ae9e5 100644 --- a/gtsam/base/FastSet.h +++ b/gtsam/base/FastSet.h @@ -18,29 +18,22 @@ #pragma once -#include - -#include -#include -#include #include #include +#include +#include -#include -#include -#include +#include #include -#include -BOOST_MPL_HAS_XXX_TRAIT_DEF(print) +namespace boost { +namespace serialization { +class access; +} /* namespace serialization */ +} /* namespace boost */ namespace gtsam { -// This is used internally to allow this container to be Testable even when it -// contains non-testable elements. -template -struct FastSetTestableHelper; - /** * FastSet is a thin wrapper around std::set that uses the boost * fast_pool_allocator instead of the default STL allocator. This is just a @@ -48,12 +41,16 @@ struct FastSetTestableHelper; * we've seen that the fast_pool_allocator can lead to speedups of several %. * @addtogroup base */ -template -class FastSet: public std::set, typename internal::FastDefaultAllocator::type> { +template +class FastSet: public std::set, + typename internal::FastDefaultAllocator::type> { + + BOOST_CONCEPT_ASSERT ((IsTestable )); public: - typedef std::set, typename internal::FastDefaultAllocator::type> Base; + typedef std::set, + typename internal::FastDefaultAllocator::type> Base; /** Default constructor */ FastSet() { @@ -62,23 +59,23 @@ public: /** Constructor from a range, passes through to base class */ template explicit FastSet(INPUTITERATOR first, INPUTITERATOR last) : - Base(first, last) { + Base(first, last) { } /** Constructor from a iterable container, passes through to base class */ template explicit FastSet(const INPUTCONTAINER& container) : - Base(container.begin(), container.end()) { + Base(container.begin(), container.end()) { } /** Copy constructor from another FastSet */ FastSet(const FastSet& x) : - Base(x) { + Base(x) { } /** Copy constructor from the base set class */ FastSet(const Base& x) : - Base(x) { + Base(x) { } #ifdef GTSAM_ALLOCATOR_BOOSTPOOL @@ -88,7 +85,7 @@ public: // STL vector where if the size is zero, the pool allocator will allocate // huge amounts of memory. if(x.size() > 0) - Base::insert(x.begin(), x.end()); + Base::insert(x.begin(), x.end()); } #endif @@ -98,17 +95,31 @@ public: } /** Handy 'exists' function */ - bool exists(const VALUE& e) const { return this->find(e) != this->end(); } + bool exists(const VALUE& e) const { + return this->find(e) != this->end(); + } - /** Print to implement Testable */ - void print(const std::string& str = "") const { FastSetTestableHelper::print(*this, str); } + /** Print to implement Testable: pretty basic */ + void print(const std::string& str = "") const { + for (typename Base::const_iterator it = this->begin(); it != this->end(); ++it) + traits::Print(*it, str); + } /** Check for equality within tolerance to implement Testable */ - bool equals(const FastSet& other, double tol = 1e-9) const { return FastSetTestableHelper::equals(*this, other, tol); } + bool equals(const FastSet& other, double tol = 1e-9) const { + typename Base::const_iterator it1 = this->begin(), it2 = other.begin(); + while (it1 != this->end()) { + if (it2 == other.end() || !traits::Equals(*it2, *it2, tol)) + return false; + ++it1; + ++it2; + } + return true; + } /** insert another set: handy for MATLAB access */ void merge(const FastSet& other) { - Base::insert(other.begin(),other.end()); + Base::insert(other.begin(), other.end()); } private: @@ -120,59 +131,4 @@ private: } }; -// This is the default Testable interface for *non*Testable elements, which -// uses stream operators. -template -struct FastSetTestableHelper { - - typedef FastSet Set; - - static void print(const Set& set, const std::string& str) { - std::cout << str << "\n"; - for (typename Set::const_iterator it = set.begin(); it != set.end(); ++it) - std::cout << " " << *it << "\n"; - std::cout.flush(); - } - - static bool equals(const Set& set1, const Set& set2, double tol) { - typename Set::const_iterator it1 = set1.begin(); - typename Set::const_iterator it2 = set2.begin(); - while (it1 != set1.end()) { - if (it2 == set2.end() || - fabs((double)(*it1) - (double)(*it2)) > tol) - return false; - ++it1; - ++it2; - } - return true; - } -}; - -// This is the Testable interface for Testable elements -template -struct FastSetTestableHelper >::type> { - - typedef FastSet Set; - - static void print(const Set& set, const std::string& str) { - std::cout << str << "\n"; - for (typename Set::const_iterator it = set.begin(); it != set.end(); ++it) - it->print(" "); - std::cout.flush(); - } - - static bool equals(const Set& set1, const Set& set2, double tol) { - typename Set::const_iterator it1 = set1.begin(); - typename Set::const_iterator it2 = set2.begin(); - while (it1 != set1.end()) { - if (it2 == set2.end() || - !it1->equals(*it2, tol)) - return false; - ++it1; - ++it2; - } - return true; - } -}; - } From d1be7caed5f15c1b78b024fe3c8f48d466f05d24 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 18:37:25 -0700 Subject: [PATCH 273/964] Made Key Testable, and moved all but base type away from types.h --- gtsam/base/types.cpp | 35 ---------------- gtsam/base/types.h | 13 ------ gtsam/inference/Key.cpp | 55 ++++++++++++++++--------- gtsam/inference/Key.h | 90 +++++++++++++++++++++++++++-------------- 4 files changed, 95 insertions(+), 98 deletions(-) delete mode 100644 gtsam/base/types.cpp diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp deleted file mode 100644 index 03e7fd120..000000000 --- a/gtsam/base/types.cpp +++ /dev/null @@ -1,35 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file types.h - * @brief Typedefs for easier changing of types - * @author Richard Roberts - * @date Aug 21, 2010 - * @addtogroup base - */ - -#include -#include -#include - -namespace gtsam { - - /* ************************************************************************* */ - std::string _defaultKeyFormatter(Key key) { - const Symbol asSymbol(key); - if(asSymbol.chr() > 0) - return (std::string)asSymbol; - else - return boost::lexical_cast(key); - } - -} \ No newline at end of file diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 4010eb70e..69e4e4192 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -21,7 +21,6 @@ #include #include -#include #include #include @@ -54,18 +53,6 @@ namespace gtsam { /// Integer nonlinear key type typedef size_t Key; - /// Typedef for a function to format a key, i.e. to convert it to a string - typedef boost::function KeyFormatter; - - // Helper function for DefaultKeyFormatter - GTSAM_EXPORT std::string _defaultKeyFormatter(Key key); - - /// The default KeyFormatter, which is used if no KeyFormatter is passed to - /// a nonlinear 'print' function. Automatically detects plain integer keys - /// and Symbol keys. - static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter; - - /// The index type for Eigen objects typedef ptrdiff_t DenseIndex; diff --git a/gtsam/inference/Key.cpp b/gtsam/inference/Key.cpp index 0b9be2f1c..a2a6906d1 100644 --- a/gtsam/inference/Key.cpp +++ b/gtsam/inference/Key.cpp @@ -17,57 +17,72 @@ * @date Feb 20, 2012 */ -#include - -#include -#include - #include #include +#include +#include +#include + +using namespace std; + namespace gtsam { /* ************************************************************************* */ -std::string _multirobotKeyFormatter(Key key) { +string _defaultKeyFormatter(Key key) { + const Symbol asSymbol(key); + if (asSymbol.chr() > 0) + return (string) asSymbol; + else + return boost::lexical_cast(key); +} + +/* ************************************************************************* */ +void PrintKey(Key key, const string& s, const KeyFormatter& keyFormatter) { + cout << s << keyFormatter(key); +} + +/* ************************************************************************* */ +string _multirobotKeyFormatter(Key key) { const LabeledSymbol asLabeledSymbol(key); if (asLabeledSymbol.chr() > 0 && asLabeledSymbol.label() > 0) - return (std::string) asLabeledSymbol; + return (string) asLabeledSymbol; const Symbol asSymbol(key); if (asLabeledSymbol.chr() > 0) - return (std::string) asSymbol; + return (string) asSymbol; else - return boost::lexical_cast(key); + return boost::lexical_cast(key); } /* ************************************************************************* */ template -static void print(const CONTAINER& keys, const std::string& s, +static void Print(const CONTAINER& keys, const string& s, const KeyFormatter& keyFormatter) { - std::cout << s << " "; + cout << s << " "; if (keys.empty()) - std::cout << "(none)" << std::endl; + cout << "(none)" << endl; else { BOOST_FOREACH(const Key& key, keys) - std::cout << keyFormatter(key) << " "; - std::cout << std::endl; + cout << keyFormatter(key) << " "; + cout << endl; } } /* ************************************************************************* */ -void printKeyList(const KeyList& keys, const std::string& s, +void PrintKeyList(const KeyList& keys, const string& s, const KeyFormatter& keyFormatter) { - print(keys, s, keyFormatter); + Print(keys, s, keyFormatter); } /* ************************************************************************* */ -void printKeyVector(const KeyVector& keys, const std::string& s, +void PrintKeyVector(const KeyVector& keys, const string& s, const KeyFormatter& keyFormatter) { - print(keys, s, keyFormatter); + Print(keys, s, keyFormatter); } /* ************************************************************************* */ -void printKeySet(const KeySet& keys, const std::string& s, +void PrintKeySet(const KeySet& keys, const string& s, const KeyFormatter& keyFormatter) { - print(keys, s, keyFormatter); + Print(keys, s, keyFormatter); } /* ************************************************************************* */ diff --git a/gtsam/inference/Key.h b/gtsam/inference/Key.h index e2be79dc7..d2b342575 100644 --- a/gtsam/inference/Key.h +++ b/gtsam/inference/Key.h @@ -17,45 +17,75 @@ */ #pragma once -#include -#include - -#include -#include #include -#include #include +#include +#include +#include +#include +#include + +#include namespace gtsam { +/// Typedef for a function to format a key, i.e. to convert it to a string +typedef boost::function KeyFormatter; - // Helper function for Multi-robot Key Formatter - GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key); +// Helper function for DefaultKeyFormatter +GTSAM_EXPORT std::string _defaultKeyFormatter(Key key); - /// - /// A KeyFormatter that will check for LabeledSymbol keys, as well as Symbol and plain - /// integer keys. This keyformatter will need to be passed in to override the default - /// formatter in print functions. - /// - /// Checks for LabeledSymbol, Symbol and then plain keys, in order. - static const gtsam::KeyFormatter MultiRobotKeyFormatter = &_multirobotKeyFormatter; +/// The default KeyFormatter, which is used if no KeyFormatter is passed to +/// a nonlinear 'print' function. Automatically detects plain integer keys +/// and Symbol keys. +static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter; - /// Useful typedefs for operations with Values - allow for matlab interfaces - typedef FastList KeyList; - typedef FastVector KeyVector; - typedef FastSet KeySet; - typedef FastMap KeyGroupMap; +// Helper function for Multi-robot Key Formatter +GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key); - /// Utility function to print sets of keys with optional prefix - GTSAM_EXPORT void printKeyList(const KeyList& keys, const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter); +/// +/// A KeyFormatter that will check for LabeledSymbol keys, as well as Symbol and plain +/// integer keys. This keyformatter will need to be passed in to override the default +/// formatter in print functions. +/// +/// Checks for LabeledSymbol, Symbol and then plain keys, in order. +static const gtsam::KeyFormatter MultiRobotKeyFormatter = + &_multirobotKeyFormatter; - /// Utility function to print sets of keys with optional prefix - GTSAM_EXPORT void printKeyVector(const KeyVector& keys, const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter); +/// Useful typedef for operations with Values - allows for matlab interface +typedef FastVector KeyVector; - /// Utility function to print sets of keys with optional prefix - GTSAM_EXPORT void printKeySet(const KeySet& keys, const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter); -} +// TODO(frank): Nothing fast about these :-( +typedef FastList KeyList; +typedef FastSet KeySet; +typedef FastMap KeyGroupMap; + +/// Utility function to print one key with optional prefix +GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter); + +/// Utility function to print sets of keys with optional prefix +GTSAM_EXPORT void PrintKeyList(const KeyList& keys, const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter); + +/// Utility function to print sets of keys with optional prefix +GTSAM_EXPORT void PrintKeyVector(const KeyVector& keys, const std::string& s = + "", const KeyFormatter& keyFormatter = DefaultKeyFormatter); + +/// Utility function to print sets of keys with optional prefix +GTSAM_EXPORT void PrintKeySet(const KeySet& keys, const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter); + +// Define Key to be Testable by specializing gtsam::traits +template struct traits; +template<> struct traits { + static void Print(const Key& key, const std::string& str = "") { + PrintKey(key, str); + } + static bool Equals(const Key& key1, const Key& key2, double tol = 1e-8) { + return key1 == key2; + } +}; + +} // namespace gtsam From 128bac616cfd6753db3624cc8d87ed49aa2d898a Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 20 Jun 2015 18:38:25 -0700 Subject: [PATCH 274/964] Globally replaced FastSet with KeySet. --- gtsam/base/tests/testFastContainers.cpp | 9 +++-- gtsam/base/tests/testSerializationBase.cpp | 10 +++-- gtsam/discrete/DiscreteFactorGraph.cpp | 4 +- gtsam/discrete/DiscreteFactorGraph.h | 2 +- gtsam/discrete/Potentials.h | 1 + gtsam/inference/BayesTree-inst.h | 4 +- gtsam/inference/BayesTree.h | 6 +-- gtsam/inference/BayesTreeCliqueBase-inst.h | 8 ++-- gtsam/inference/FactorGraph-inst.h | 5 ++- gtsam/inference/FactorGraph.h | 2 +- gtsam/inference/ISAM-inst.h | 4 +- gtsam/inference/MetisIndex-inl.h | 4 +- gtsam/inference/Ordering.h | 2 +- gtsam/inference/VariableIndex.h | 5 +-- gtsam/linear/GaussianFactorGraph.cpp | 2 +- gtsam/linear/GaussianFactorGraph.h | 2 +- gtsam/nonlinear/ISAM2-impl.cpp | 28 +++++++------- gtsam/nonlinear/ISAM2-impl.h | 18 ++++----- gtsam/nonlinear/ISAM2-inl.h | 12 +++--- gtsam/nonlinear/ISAM2.cpp | 38 +++++++++---------- gtsam/nonlinear/ISAM2.h | 16 ++++---- gtsam/nonlinear/NonlinearFactorGraph.cpp | 8 ++-- gtsam/nonlinear/NonlinearFactorGraph.h | 2 +- gtsam/symbolic/SymbolicFactor-inst.h | 4 +- .../discrete/tests/testLoopyBelief.cpp | 2 +- gtsam_unstable/linear/QPSolver.h | 2 +- .../nonlinear/BatchFixedLagSmoother.cpp | 6 +-- .../nonlinear/BatchFixedLagSmoother.h | 2 +- .../nonlinear/ConcurrentBatchFilter.cpp | 6 +-- .../nonlinear/ConcurrentBatchSmoother.cpp | 2 +- .../ConcurrentFilteringAndSmoothing.cpp | 8 ++-- .../ConcurrentFilteringAndSmoothing.h | 2 +- .../nonlinear/ConcurrentIncrementalFilter.cpp | 6 +-- .../ConcurrentIncrementalSmoother.cpp | 2 +- .../tests/testConcurrentBatchSmoother.cpp | 2 +- .../testConcurrentIncrementalSmootherDL.cpp | 2 +- .../testConcurrentIncrementalSmootherGN.cpp | 2 +- gtsam_unstable/slam/MultiProjectionFactor.h | 4 +- .../slam/tests/testMultiProjectionFactor.cpp | 2 +- matlab.h | 8 ++-- tests/testGaussianISAM2.cpp | 4 +- tests/testMarginals.cpp | 2 +- tests/testNonlinearFactorGraph.cpp | 4 +- 43 files changed, 133 insertions(+), 131 deletions(-) diff --git a/gtsam/base/tests/testFastContainers.cpp b/gtsam/base/tests/testFastContainers.cpp index 464624bd4..19870fdeb 100644 --- a/gtsam/base/tests/testFastContainers.cpp +++ b/gtsam/base/tests/testFastContainers.cpp @@ -7,13 +7,14 @@ * @author Alex Cunningham */ -#include +#include +#include +#include #include #include -#include -#include +#include using namespace boost::assign; using namespace gtsam; @@ -21,7 +22,7 @@ using namespace gtsam; /* ************************************************************************* */ TEST( testFastContainers, KeySet ) { - FastVector init_vector; + FastVector init_vector; init_vector += 2, 3, 4, 5; FastSet actSet(init_vector); diff --git a/gtsam/base/tests/testSerializationBase.cpp b/gtsam/base/tests/testSerializationBase.cpp index fceb2f4b4..1db28bcc8 100644 --- a/gtsam/base/tests/testSerializationBase.cpp +++ b/gtsam/base/tests/testSerializationBase.cpp @@ -16,6 +16,8 @@ * @date Feb 7, 2012 */ +#include + #include #include #include @@ -60,10 +62,10 @@ TEST (Serialization, FastMap) { /* ************************************************************************* */ TEST (Serialization, FastSet) { - FastSet set; - set.insert(1.0); - set.insert(2.0); - set.insert(3.0); + KeySet set; + set.insert(1); + set.insert(2); + set.insert(3); EXPECT(equality(set)); EXPECT(equalityXML(set)); diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index 77be1d277..c2128c776 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -39,8 +39,8 @@ namespace gtsam { } /* ************************************************************************* */ - FastSet DiscreteFactorGraph::keys() const { - FastSet keys; + KeySet DiscreteFactorGraph::keys() const { + KeySet keys; BOOST_FOREACH(const sharedFactor& factor, *this) if (factor) keys.insert(factor->begin(), factor->end()); return keys; diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h index c5b11adf1..cdfd7d522 100644 --- a/gtsam/discrete/DiscreteFactorGraph.h +++ b/gtsam/discrete/DiscreteFactorGraph.h @@ -120,7 +120,7 @@ public: } /** Return the set of variables involved in the factors (set union) */ - FastSet keys() const; + KeySet keys() const; /** return product of all factors as a single factor */ DecisionTreeFactor product() const; diff --git a/gtsam/discrete/Potentials.h b/gtsam/discrete/Potentials.h index 978781d63..1078b4c61 100644 --- a/gtsam/discrete/Potentials.h +++ b/gtsam/discrete/Potentials.h @@ -19,6 +19,7 @@ #include #include +#include #include #include diff --git a/gtsam/inference/BayesTree-inst.h b/gtsam/inference/BayesTree-inst.h index 281648409..3a3e1317c 100644 --- a/gtsam/inference/BayesTree-inst.h +++ b/gtsam/inference/BayesTree-inst.h @@ -344,7 +344,7 @@ namespace gtsam { gttic(Full_root_factoring); boost::shared_ptr p_C1_B; { FastVector C1_minus_B; { - FastSet C1_minus_B_set(C1->conditional()->beginParents(), C1->conditional()->endParents()); + KeySet C1_minus_B_set(C1->conditional()->beginParents(), C1->conditional()->endParents()); BOOST_FOREACH(const Key j, *B->conditional()) { C1_minus_B_set.erase(j); } C1_minus_B.assign(C1_minus_B_set.begin(), C1_minus_B_set.end()); @@ -356,7 +356,7 @@ namespace gtsam { } boost::shared_ptr p_C2_B; { FastVector C2_minus_B; { - FastSet C2_minus_B_set(C2->conditional()->beginParents(), C2->conditional()->endParents()); + KeySet C2_minus_B_set(C2->conditional()->beginParents(), C2->conditional()->endParents()); BOOST_FOREACH(const Key j, *B->conditional()) { C2_minus_B_set.erase(j); } C2_minus_B.assign(C2_minus_B_set.begin(), C2_minus_B_set.end()); diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index ff50c9781..4d68acb5b 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -19,13 +19,13 @@ #pragma once -#include - -#include +#include #include #include #include +#include + namespace gtsam { // Forward declarations diff --git a/gtsam/inference/BayesTreeCliqueBase-inst.h b/gtsam/inference/BayesTreeCliqueBase-inst.h index 274886c21..256ff983d 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inst.h +++ b/gtsam/inference/BayesTreeCliqueBase-inst.h @@ -44,8 +44,8 @@ namespace gtsam { FastVector BayesTreeCliqueBase::separator_setminus_B(const derived_ptr& B) const { - FastSet p_F_S_parents(this->conditional()->beginParents(), this->conditional()->endParents()); - FastSet indicesB(B->conditional()->begin(), B->conditional()->end()); + KeySet p_F_S_parents(this->conditional()->beginParents(), this->conditional()->endParents()); + KeySet indicesB(B->conditional()->begin(), B->conditional()->end()); FastVector S_setminus_B; std::set_difference(p_F_S_parents.begin(), p_F_S_parents.end(), indicesB.begin(), indicesB.end(), back_inserter(S_setminus_B)); @@ -58,8 +58,8 @@ namespace gtsam { const derived_ptr& B, const FactorGraphType& p_Cp_B) const { gttic(shortcut_indices); - FastSet allKeys = p_Cp_B.keys(); - FastSet indicesB(B->conditional()->begin(), B->conditional()->end()); + KeySet allKeys = p_Cp_B.keys(); + KeySet indicesB(B->conditional()->begin(), B->conditional()->end()); FastVector S_setminus_B = separator_setminus_B(B); FastVector keep; // keep = S\B intersect allKeys (S_setminus_B is already sorted) diff --git a/gtsam/inference/FactorGraph-inst.h b/gtsam/inference/FactorGraph-inst.h index 8c19d4ff4..c629d336a 100644 --- a/gtsam/inference/FactorGraph-inst.h +++ b/gtsam/inference/FactorGraph-inst.h @@ -28,6 +28,7 @@ #include #include +#include // for cout :-( namespace gtsam { @@ -72,8 +73,8 @@ namespace gtsam { /* ************************************************************************* */ template - FastSet FactorGraph::keys() const { - FastSet allKeys; + KeySet FactorGraph::keys() const { + KeySet allKeys; BOOST_FOREACH(const sharedFactor& factor, factors_) if (factor) allKeys.insert(factor->begin(), factor->end()); diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 4d5428e5c..e97860eaa 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -332,7 +332,7 @@ namespace gtsam { size_t nrFactors() const; /** Potentially very slow function to return all keys involved */ - FastSet keys() const; + KeySet keys() const; /** MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer */ inline bool exists(size_t idx) const { return idx < size() && at(idx); } diff --git a/gtsam/inference/ISAM-inst.h b/gtsam/inference/ISAM-inst.h index 7cb3d9817..8be01ac5f 100644 --- a/gtsam/inference/ISAM-inst.h +++ b/gtsam/inference/ISAM-inst.h @@ -29,7 +29,7 @@ namespace gtsam { // Remove the contaminated part of the Bayes tree BayesNetType bn; if (!this->empty()) { - const FastSet newFactorKeys = newFactors.keys(); + const KeySet newFactorKeys = newFactors.keys(); this->removeTop(std::vector(newFactorKeys.begin(), newFactorKeys.end()), bn, orphans); } @@ -44,7 +44,7 @@ namespace gtsam { // eliminate into a Bayes net const VariableIndex varIndex(factors); - const FastSet newFactorKeys = newFactors.keys(); + const KeySet newFactorKeys = newFactors.keys(); const Ordering constrainedOrdering = Ordering::colamdConstrainedLast(varIndex, std::vector(newFactorKeys.begin(), newFactorKeys.end())); Base bayesTree = *factors.eliminateMultifrontal(constrainedOrdering, function, varIndex); diff --git a/gtsam/inference/MetisIndex-inl.h b/gtsam/inference/MetisIndex-inl.h index 7299d7c8a..06e5ddeec 100644 --- a/gtsam/inference/MetisIndex-inl.h +++ b/gtsam/inference/MetisIndex-inl.h @@ -26,8 +26,8 @@ namespace gtsam { /* ************************************************************************* */ template void MetisIndex::augment(const FactorGraph& factors) { - std::map > iAdjMap; // Stores a set of keys that are adjacent to key x, with adjMap.first - std::map >::iterator iAdjMapIt; + std::map > iAdjMap; // Stores a set of keys that are adjacent to key x, with adjMap.first + std::map >::iterator iAdjMapIt; std::set keySet; /* ********** Convert to CSR format ********** */ diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 9de3fb66a..2d95442de 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -149,7 +149,7 @@ namespace gtsam { /// Return a natural Ordering. Typically used by iterative solvers template static Ordering Natural(const FactorGraph &fg) { - FastSet src = fg.keys(); + KeySet src = fg.keys(); std::vector keys(src.begin(), src.end()); std::stable_sort(keys.begin(), keys.end()); return Ordering(keys); diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index d4b8eeacf..f395fd4ab 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -17,14 +17,11 @@ #pragma once -#include +#include #include #include -#include -#include #include -#include #include #include diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index cd60a3eb9..a39b1d91e 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -47,7 +47,7 @@ namespace gtsam { /* ************************************************************************* */ GaussianFactorGraph::Keys GaussianFactorGraph::keys() const { - FastSet keys; + KeySet keys; BOOST_FOREACH(const sharedFactor& factor, *this) if (factor) keys.insert(factor->begin(), factor->end()); diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 832114ff6..02bc95511 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -135,7 +135,7 @@ namespace gtsam { * Return the set of variables involved in the factors (computes a set * union). */ - typedef FastSet Keys; + typedef KeySet Keys; Keys keys() const; /* return a map of (Key, dimension) */ diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 41ee52b3a..6df1c8b10 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -84,11 +84,11 @@ void ISAM2::Impl::AddFactorsStep1(const NonlinearFactorGraph& newFactors, bool u } /* ************************************************************************* */ -void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, const FastVector& roots, +void ISAM2::Impl::RemoveVariables(const KeySet& unusedKeys, const FastVector& roots, Values& theta, VariableIndex& variableIndex, VectorValues& delta, VectorValues& deltaNewton, VectorValues& RgProd, - FastSet& replacedKeys, Base::Nodes& nodes, - FastSet& fixedVariables) + KeySet& replacedKeys, Base::Nodes& nodes, + KeySet& fixedVariables) { variableIndex.removeUnusedVariables(unusedKeys.begin(), unusedKeys.end()); BOOST_FOREACH(Key key, unusedKeys) { @@ -103,10 +103,10 @@ void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, const FastVect } /* ************************************************************************* */ -FastSet ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta, +KeySet ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold) { - FastSet relinKeys; + KeySet relinKeys; if(const double* threshold = boost::get(&relinearizeThreshold)) { @@ -131,7 +131,7 @@ FastSet ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta, } /* ************************************************************************* */ -void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double threshold, +void CheckRelinearizationRecursiveDouble(KeySet& relinKeys, double threshold, const VectorValues& delta, const ISAM2Clique::shared_ptr& clique) { // Check the current clique for relinearization @@ -153,7 +153,7 @@ void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double thresho } /* ************************************************************************* */ -void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap& thresholds, +void CheckRelinearizationRecursiveMap(KeySet& relinKeys, const FastMap& thresholds, const VectorValues& delta, const ISAM2Clique::shared_ptr& clique) { @@ -185,11 +185,11 @@ void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap ISAM2::Impl::CheckRelinearizationPartial(const FastVector& roots, +KeySet ISAM2::Impl::CheckRelinearizationPartial(const FastVector& roots, const VectorValues& delta, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold) { - FastSet relinKeys; + KeySet relinKeys; BOOST_FOREACH(const ISAM2::sharedClique& root, roots) { if(relinearizeThreshold.type() == typeid(double)) CheckRelinearizationRecursiveDouble(relinKeys, boost::get(relinearizeThreshold), delta, root); @@ -200,7 +200,7 @@ FastSet ISAM2::Impl::CheckRelinearizationPartial(const FastVector& keys, const FastSet& markedMask) +void ISAM2::Impl::FindAll(ISAM2Clique::shared_ptr clique, KeySet& keys, const KeySet& markedMask) { static const bool debug = false; // does the separator contain any of the variables? @@ -224,7 +224,7 @@ void ISAM2::Impl::FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, co /* ************************************************************************* */ void ISAM2::Impl::ExpmapMasked(Values& values, const VectorValues& delta, - const FastSet& mask, boost::optional invalidateIfDebug, const KeyFormatter& keyFormatter) + const KeySet& mask, boost::optional invalidateIfDebug, const KeyFormatter& keyFormatter) { // If debugging, invalidate if requested, otherwise do not invalidate. // Invalidating means setting expmapped entries to Inf, to trigger assertions @@ -272,7 +272,7 @@ inline static void optimizeInPlace(const boost::shared_ptr& clique, /* ************************************************************************* */ size_t ISAM2::Impl::UpdateGaussNewtonDelta(const FastVector& roots, - const FastSet& replacedKeys, VectorValues& delta, double wildfireThreshold) { + const KeySet& replacedKeys, VectorValues& delta, double wildfireThreshold) { size_t lastBacksubVariableCount; @@ -300,7 +300,7 @@ size_t ISAM2::Impl::UpdateGaussNewtonDelta(const FastVector /* ************************************************************************* */ namespace internal { -void updateRgProd(const boost::shared_ptr& clique, const FastSet& replacedKeys, +void updateRgProd(const boost::shared_ptr& clique, const KeySet& replacedKeys, const VectorValues& grad, VectorValues& RgProd, size_t& varsUpdated) { // Check if any frontal or separator keys were recalculated, if so, we need @@ -344,7 +344,7 @@ void updateRgProd(const boost::shared_ptr& clique, const FastSet& replacedKeys, +size_t ISAM2::Impl::UpdateRgProd(const ISAM2::Roots& roots, const KeySet& replacedKeys, const VectorValues& gradAtZero, VectorValues& RgProd) { // Update variables diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index a8d03df13..d34480144 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -57,10 +57,10 @@ struct GTSAM_EXPORT ISAM2::Impl { /** * Remove variables from the ISAM2 system. */ - static void RemoveVariables(const FastSet& unusedKeys, const FastVector& roots, + static void RemoveVariables(const KeySet& unusedKeys, const FastVector& roots, Values& theta, VariableIndex& variableIndex, VectorValues& delta, VectorValues& deltaNewton, - VectorValues& RgProd, FastSet& replacedKeys, Base::Nodes& nodes, - FastSet& fixedVariables); + VectorValues& RgProd, KeySet& replacedKeys, Base::Nodes& nodes, + KeySet& fixedVariables); /** * Find the set of variables to be relinearized according to relinearizeThreshold. @@ -71,7 +71,7 @@ struct GTSAM_EXPORT ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearizationFull(const VectorValues& delta, + static KeySet CheckRelinearizationFull(const VectorValues& delta, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold); /** @@ -85,7 +85,7 @@ struct GTSAM_EXPORT ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearizationPartial(const FastVector& roots, + static KeySet CheckRelinearizationPartial(const FastVector& roots, const VectorValues& delta, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold); /** @@ -103,7 +103,7 @@ struct GTSAM_EXPORT ISAM2::Impl { * * Alternatively could we trace up towards the root for each variable here? */ - static void FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, const FastSet& markedMask); + static void FindAll(ISAM2Clique::shared_ptr clique, KeySet& keys, const KeySet& markedMask); /** * Apply expmap to the given values, but only for indices appearing in @@ -119,7 +119,7 @@ struct GTSAM_EXPORT ISAM2::Impl { * @param keyFormatter Formatter for printing nonlinear keys during debugging */ static void ExpmapMasked(Values& values, const VectorValues& delta, - const FastSet& mask, + const KeySet& mask, boost::optional invalidateIfDebug = boost::none, const KeyFormatter& keyFormatter = DefaultKeyFormatter); @@ -127,13 +127,13 @@ struct GTSAM_EXPORT ISAM2::Impl { * Update the Newton's method step point, using wildfire */ static size_t UpdateGaussNewtonDelta(const FastVector& roots, - const FastSet& replacedKeys, VectorValues& delta, double wildfireThreshold); + const KeySet& replacedKeys, VectorValues& delta, double wildfireThreshold); /** * Update the RgProd (R*g) incrementally taking into account which variables * have been recalculated in \c replacedKeys. Only used in Dogleg. */ - static size_t UpdateRgProd(const ISAM2::Roots& roots, const FastSet& replacedKeys, + static size_t UpdateRgProd(const ISAM2::Roots& roots, const KeySet& replacedKeys, const VectorValues& gradAtZero, VectorValues& RgProd); /** diff --git a/gtsam/nonlinear/ISAM2-inl.h b/gtsam/nonlinear/ISAM2-inl.h index f7c6d0345..538c66068 100644 --- a/gtsam/nonlinear/ISAM2-inl.h +++ b/gtsam/nonlinear/ISAM2-inl.h @@ -36,7 +36,7 @@ VALUE ISAM2::calculateEstimate(Key key) const { namespace internal { template void optimizeWildfire(const boost::shared_ptr& clique, double threshold, - FastSet& changed, const FastSet& replaced, VectorValues& delta, size_t& count) + KeySet& changed, const KeySet& replaced, VectorValues& delta, size_t& count) { // if none of the variables in this clique (frontal and separator!) changed // significantly, then by the running intersection property, none of the @@ -113,7 +113,7 @@ void optimizeWildfire(const boost::shared_ptr& clique, double threshold, template bool optimizeWildfireNode(const boost::shared_ptr& clique, double threshold, - FastSet& changed, const FastSet& replaced, VectorValues& delta, size_t& count) + KeySet& changed, const KeySet& replaced, VectorValues& delta, size_t& count) { // if none of the variables in this clique (frontal and separator!) changed // significantly, then by the running intersection property, none of the @@ -245,8 +245,8 @@ bool optimizeWildfireNode(const boost::shared_ptr& clique, double thresh /* ************************************************************************* */ template -size_t optimizeWildfire(const boost::shared_ptr& root, double threshold, const FastSet& keys, VectorValues& delta) { - FastSet changed; +size_t optimizeWildfire(const boost::shared_ptr& root, double threshold, const KeySet& keys, VectorValues& delta) { + KeySet changed; int count = 0; // starting from the root, call optimize on each conditional if(root) @@ -256,9 +256,9 @@ size_t optimizeWildfire(const boost::shared_ptr& root, double threshold, /* ************************************************************************* */ template -size_t optimizeWildfireNonRecursive(const boost::shared_ptr& root, double threshold, const FastSet& keys, VectorValues& delta) +size_t optimizeWildfireNonRecursive(const boost::shared_ptr& root, double threshold, const KeySet& keys, VectorValues& delta) { - FastSet changed; + KeySet changed; size_t count = 0; if (root) { diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 00ffdccef..f7ef09773 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -194,7 +194,7 @@ FastSet ISAM2::getAffectedFactors(const FastList& keys) const { // (note that the remaining stuff is summarized in the cached factors) GaussianFactorGraph::shared_ptr -ISAM2::relinearizeAffectedFactors(const FastList& affectedKeys, const FastSet& relinKeys) const +ISAM2::relinearizeAffectedFactors(const FastList& affectedKeys, const KeySet& relinKeys) const { gttic(getAffectedFactors); FastSet candidates = getAffectedFactors(affectedKeys); @@ -204,7 +204,7 @@ ISAM2::relinearizeAffectedFactors(const FastList& affectedKeys, const FastS gttic(affectedKeysSet); // for fast lookup below - FastSet affectedKeysSet; + KeySet affectedKeysSet; affectedKeysSet.insert(affectedKeys.begin(), affectedKeys.end()); gttoc(affectedKeysSet); @@ -260,9 +260,9 @@ GaussianFactorGraph ISAM2::getCachedBoundaryFactors(Cliques& orphans) { } /* ************************************************************************* */ -boost::shared_ptr > ISAM2::recalculate(const FastSet& markedKeys, const FastSet& relinKeys, +boost::shared_ptr ISAM2::recalculate(const KeySet& markedKeys, const KeySet& relinKeys, const vector& observedKeys, - const FastSet& unusedIndices, + const KeySet& unusedIndices, const boost::optional >& constrainKeys, ISAM2Result& result) { @@ -326,7 +326,7 @@ boost::shared_ptr > ISAM2::recalculate(const FastSet& markedKe affectedKeys.insert(affectedKeys.end(), conditional->beginFrontals(), conditional->endFrontals()); gttoc(affectedKeys); - boost::shared_ptr > affectedKeysSet(new FastSet()); // Will return this result + boost::shared_ptr affectedKeysSet(new KeySet()); // Will return this result if(affectedKeys.size() >= theta_.size() * batchThreshold) { @@ -566,17 +566,17 @@ ISAM2Result ISAM2::update( variableIndex_.remove(removeFactorIndices.begin(), removeFactorIndices.end(), removeFactors); // Compute unused keys and indices - FastSet unusedKeys; - FastSet unusedIndices; + KeySet unusedKeys; + KeySet unusedIndices; { // Get keys from removed factors and new factors, and compute unused keys, // i.e., keys that are empty now and do not appear in the new factors. - FastSet removedAndEmpty; + KeySet removedAndEmpty; BOOST_FOREACH(Key key, removeFactors.keys()) { if(variableIndex_[key].empty()) removedAndEmpty.insert(removedAndEmpty.end(), key); } - FastSet newFactorSymbKeys = newFactors.keys(); + KeySet newFactorSymbKeys = newFactors.keys(); std::set_difference(removedAndEmpty.begin(), removedAndEmpty.end(), newFactorSymbKeys.begin(), newFactorSymbKeys.end(), std::inserter(unusedKeys, unusedKeys.end())); @@ -602,10 +602,10 @@ ISAM2Result ISAM2::update( gttic(gather_involved_keys); // 3. Mark linear update - FastSet markedKeys = newFactors.keys(); // Get keys from new factors + KeySet markedKeys = newFactors.keys(); // Get keys from new factors // Also mark keys involved in removed factors { - FastSet markedRemoveKeys = removeFactors.keys(); // Get keys involved in removed factors + KeySet markedRemoveKeys = removeFactors.keys(); // Get keys involved in removed factors markedKeys.insert(markedRemoveKeys.begin(), markedRemoveKeys.end()); // Add to the overall set of marked keys } // Also mark any provided extra re-eliminate keys @@ -632,7 +632,7 @@ ISAM2Result ISAM2::update( gttoc(gather_involved_keys); // Check relinearization if we're at the nth step, or we are using a looser loop relin threshold - FastSet relinKeys; + KeySet relinKeys; if (relinearizeThisStep) { gttic(gather_relinearize_keys); // 4. Mark keys in \Delta above threshold \beta: J=\{\Delta_{j}\in\Delta|\Delta_{j}\geq\beta\}. @@ -659,7 +659,7 @@ ISAM2Result ISAM2::update( result.detail->variableStatus[key].isRelinearized = true; } } // Add the variables being relinearized to the marked keys - FastSet markedRelinMask; + KeySet markedRelinMask; BOOST_FOREACH(const Key key, relinKeys) markedRelinMask.insert(key); markedKeys.insert(relinKeys.begin(), relinKeys.end()); @@ -674,7 +674,7 @@ ISAM2Result ISAM2::update( // Relin involved keys for detailed results if(params_.enableDetailedResults) { - FastSet involvedRelinKeys; + KeySet involvedRelinKeys; BOOST_FOREACH(const sharedClique& root, roots_) Impl::FindAll(root, involvedRelinKeys, markedRelinMask); BOOST_FOREACH(Key key, involvedRelinKeys) { @@ -726,7 +726,7 @@ ISAM2Result ISAM2::update( gttic(recalculate); // 8. Redo top of Bayes tree - boost::shared_ptr > replacedKeys; + boost::shared_ptr replacedKeys; if(!markedKeys.empty() || !observedKeys.empty()) replacedKeys = recalculate(markedKeys, relinKeys, observedKeys, unusedIndices, constrainedKeys, result); @@ -758,7 +758,7 @@ void ISAM2::marginalizeLeaves(const FastList& leafKeysList, boost::optional&> deletedFactorsIndices) { // Convert to ordered set - FastSet leafKeys(leafKeysList.begin(), leafKeysList.end()); + KeySet leafKeys(leafKeysList.begin(), leafKeysList.end()); // Keep track of marginal factors - map from clique to the marginal factors // that should be incorporated into it, passed up from it's children. @@ -769,7 +769,7 @@ void ISAM2::marginalizeLeaves(const FastList& leafKeysList, FastSet factorIndicesToRemove; // Keep track of variables removed in subtrees - FastSet leafKeysRemoved; + KeySet leafKeysRemoved; // Remove each variable and its subtrees BOOST_FOREACH(Key j, leafKeys) { @@ -881,7 +881,7 @@ void ISAM2::marginalizeLeaves(const FastList& leafKeysList, graph.push_back(nonlinearFactors_[i]->linearize(theta_)); } // Reeliminate the linear graph to get the marginal and discard the conditional - const FastSet cliqueFrontals(clique->conditional()->beginFrontals(), clique->conditional()->endFrontals()); + const KeySet cliqueFrontals(clique->conditional()->beginFrontals(), clique->conditional()->endFrontals()); FastVector cliqueFrontalsToEliminate; std::set_intersection(cliqueFrontals.begin(), cliqueFrontals.end(), leafKeys.begin(), leafKeys.end(), std::back_inserter(cliqueFrontalsToEliminate)); @@ -957,7 +957,7 @@ void ISAM2::marginalizeLeaves(const FastList& leafKeysList, deletedFactorsIndices->assign(factorIndicesToRemove.begin(), factorIndicesToRemove.end()); // Remove the marginalized variables - Impl::RemoveVariables(FastSet(leafKeys.begin(), leafKeys.end()), roots_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, + Impl::RemoveVariables(KeySet(leafKeys.begin(), leafKeys.end()), roots_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, deltaReplacedMask_, nodes_, fixedVariables_); } diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 5f5554e91..fdc0021e5 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -460,7 +460,7 @@ protected: * This is \c mutable because it is used internally to not update delta_ * until it is needed. */ - mutable FastSet deltaReplacedMask_; // TODO: Make sure accessed in the right way + mutable KeySet deltaReplacedMask_; // TODO: Make sure accessed in the right way /** All original nonlinear factors are stored here to use during relinearization */ NonlinearFactorGraph nonlinearFactors_; @@ -476,7 +476,7 @@ protected: /** Set of variables that are involved with linear factors from marginalized * variables and thus cannot have their linearization points changed. */ - FastSet fixedVariables_; + KeySet fixedVariables_; int update_count_; ///< Counter incremented every update(), used to determine periodic relinearization @@ -614,7 +614,7 @@ public: const VariableIndex& getVariableIndex() const { return variableIndex_; } /** Access the nonlinear variable index */ - const FastSet& getFixedVariables() const { return fixedVariables_; } + const KeySet& getFixedVariables() const { return fixedVariables_; } size_t lastAffectedVariableCount; size_t lastAffectedFactorCount; @@ -641,11 +641,11 @@ public: protected: FastSet getAffectedFactors(const FastList& keys) const; - GaussianFactorGraph::shared_ptr relinearizeAffectedFactors(const FastList& affectedKeys, const FastSet& relinKeys) const; + GaussianFactorGraph::shared_ptr relinearizeAffectedFactors(const FastList& affectedKeys, const KeySet& relinKeys) const; GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans); - virtual boost::shared_ptr > recalculate(const FastSet& markedKeys, const FastSet& relinKeys, - const std::vector& observedKeys, const FastSet& unusedIndices, const boost::optional >& constrainKeys, ISAM2Result& result); + virtual boost::shared_ptr recalculate(const KeySet& markedKeys, const KeySet& relinKeys, + const std::vector& observedKeys, const KeySet& unusedIndices, const boost::optional >& constrainKeys, ISAM2Result& result); void updateDelta(bool forceFullSolve = false) const; }; // ISAM2 @@ -666,11 +666,11 @@ template<> struct traits : public Testable {}; /// @return The number of variables that were solved for template size_t optimizeWildfire(const boost::shared_ptr& root, - double threshold, const FastSet& replaced, VectorValues& delta); + double threshold, const KeySet& replaced, VectorValues& delta); template size_t optimizeWildfireNonRecursive(const boost::shared_ptr& root, - double threshold, const FastSet& replaced, VectorValues& delta); + double threshold, const KeySet& replaced, VectorValues& delta); /// calculate the number of non-zero entries for the tree starting at clique (use root for complete matrix) template diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index f23418d2a..298ccf4b7 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -70,7 +70,7 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values, stm << " size=\"" << formatting.figureWidthInches << "," << formatting.figureHeightInches << "\";\n\n"; - FastSet keys = this->keys(); + KeySet keys = this->keys(); // Local utility function to extract x and y coordinates struct { boost::optional operator()( @@ -144,7 +144,7 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values, if (formatting.mergeSimilarFactors) { // Remove duplicate factors - FastSet > structure; + std::set > structure; BOOST_FOREACH(const sharedFactor& factor, *this){ if(factor) { vector factorKeys = factor->keys(); @@ -234,8 +234,8 @@ double NonlinearFactorGraph::error(const Values& c) const { } /* ************************************************************************* */ -FastSet NonlinearFactorGraph::keys() const { - FastSet keys; +KeySet NonlinearFactorGraph::keys() const { + KeySet keys; BOOST_FOREACH(const sharedFactor& factor, this->factors_) { if(factor) keys.insert(factor->begin(), factor->end()); diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 169d12455..ecd3b9b56 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -106,7 +106,7 @@ namespace gtsam { const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; /** return keys as an ordered set - ordering is by key value */ - FastSet keys() const; + KeySet keys() const; /** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */ double error(const Values& c) const; diff --git a/gtsam/symbolic/SymbolicFactor-inst.h b/gtsam/symbolic/SymbolicFactor-inst.h index 56850e991..c917b322e 100644 --- a/gtsam/symbolic/SymbolicFactor-inst.h +++ b/gtsam/symbolic/SymbolicFactor-inst.h @@ -38,7 +38,7 @@ namespace gtsam EliminateSymbolic(const FactorGraph& factors, const Ordering& keys) { // Gather all keys - FastSet allKeys; + KeySet allKeys; BOOST_FOREACH(const boost::shared_ptr& factor, factors) { allKeys.insert(factor->begin(), factor->end()); } @@ -50,7 +50,7 @@ namespace gtsam } // Sort frontal keys - FastSet frontals(keys); + KeySet frontals(keys); const size_t nFrontals = keys.size(); // Build a key vector with the frontals followed by the separator diff --git a/gtsam_unstable/discrete/tests/testLoopyBelief.cpp b/gtsam_unstable/discrete/tests/testLoopyBelief.cpp index b579364b6..37a4fe5a4 100644 --- a/gtsam_unstable/discrete/tests/testLoopyBelief.cpp +++ b/gtsam_unstable/discrete/tests/testLoopyBelief.cpp @@ -193,7 +193,7 @@ private: // add the belief factor for each neighbor variable to this star graph // also record the factor index for later modification - FastSet neighbors = star->keys(); + KeySet neighbors = star->keys(); neighbors.erase(key); CorrectedBeliefIndices correctedBeliefIndices; BOOST_FOREACH(Key neighbor, neighbors) { diff --git a/gtsam_unstable/linear/QPSolver.h b/gtsam_unstable/linear/QPSolver.h index f7a575f8c..68713f965 100644 --- a/gtsam_unstable/linear/QPSolver.h +++ b/gtsam_unstable/linear/QPSolver.h @@ -48,7 +48,7 @@ class QPSolver { GaussianFactorGraph baseGraph_; //!< factor graphs of cost factors and linear equalities. The working set of inequalities will be added to this base graph in the process. VariableIndex costVariableIndex_, equalityVariableIndex_, inequalityVariableIndex_; - FastSet constrainedKeys_; //!< all constrained keys, will become factors in the dual graph + KeySet constrainedKeys_; //!< all constrained keys, will become factors in the dual graph public: /// Constructor diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp index 563da4a9f..9d4249af4 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp @@ -463,7 +463,7 @@ void BatchFixedLagSmoother::PrintKeySet(const std::set& keys, } /* ************************************************************************* */ -void BatchFixedLagSmoother::PrintKeySet(const gtsam::FastSet& keys, +void BatchFixedLagSmoother::PrintKeySet(const gtsam::KeySet& keys, const std::string& label) { std::cout << label; BOOST_FOREACH(gtsam::Key key, keys) { @@ -531,13 +531,13 @@ NonlinearFactorGraph BatchFixedLagSmoother::calculateMarginalFactors( "BatchFixedLagSmoother::calculateMarginalFactors Marginalize Keys: "); // Get the set of all keys involved in the factor graph - FastSet allKeys(graph.keys()); + KeySet allKeys(graph.keys()); if (debug) PrintKeySet(allKeys, "BatchFixedLagSmoother::calculateMarginalFactors All Keys: "); // Calculate the set of RemainingKeys = AllKeys \Intersect marginalizeKeys - FastSet remainingKeys; + KeySet remainingKeys; std::set_difference(allKeys.begin(), allKeys.end(), marginalizeKeys.begin(), marginalizeKeys.end(), std::inserter(remainingKeys, remainingKeys.end())); if (debug) diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h index 89da3d7e5..605f3a5e8 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h @@ -161,7 +161,7 @@ protected: private: /** Private methods for printing debug information */ static void PrintKeySet(const std::set& keys, const std::string& label); - static void PrintKeySet(const gtsam::FastSet& keys, const std::string& label); + static void PrintKeySet(const gtsam::KeySet& keys, const std::string& label); static void PrintSymbolicFactor(const NonlinearFactor::shared_ptr& factor); static void PrintSymbolicFactor(const GaussianFactor::shared_ptr& factor); static void PrintSymbolicGraph(const NonlinearFactorGraph& graph, const std::string& label); diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp index fcaae9626..1d913d61f 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp @@ -221,7 +221,7 @@ void ConcurrentBatchFilter::synchronize(const NonlinearFactorGraph& smootherSumm if(debug) { PrintNonlinearFactorGraph(smootherSummarization_, "ConcurrentBatchFilter::synchronize ", "Updated Smoother Summarization:", DefaultKeyFormatter); } // Find the set of new separator keys - FastSet newSeparatorKeys; + KeySet newSeparatorKeys; BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, separatorValues_) { newSeparatorKeys.insert(key_value.key); } @@ -573,7 +573,7 @@ void ConcurrentBatchFilter::moveSeparator(const FastList& keysToMove) { } // Calculate the set of new separator keys: AffectedKeys + PreviousSeparatorKeys - KeysToMove - FastSet newSeparatorKeys = removedFactors.keys(); + KeySet newSeparatorKeys = removedFactors.keys(); BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, separatorValues_) { newSeparatorKeys.insert(key_value.key); } @@ -584,7 +584,7 @@ void ConcurrentBatchFilter::moveSeparator(const FastList& keysToMove) { if(debug) { PrintKeys(newSeparatorKeys, "ConcurrentBatchFilter::synchronize ", "New Separator Keys:", DefaultKeyFormatter); } // Calculate the set of shortcut keys: NewSeparatorKeys + OldSeparatorKeys - FastSet shortcutKeys = newSeparatorKeys; + KeySet shortcutKeys = newSeparatorKeys; BOOST_FOREACH(Key key, smootherSummarization_.keys()) { shortcutKeys.insert(key); } diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp index 0f6515056..14c312f9d 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp @@ -371,7 +371,7 @@ void ConcurrentBatchSmoother::updateSmootherSummarization() { } // Get the set of separator keys - gtsam::FastSet separatorKeys; + gtsam::KeySet separatorKeys; BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, separatorValues_) { separatorKeys.insert(key_value.key); } diff --git a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp index 3b6b884f6..b893860cc 100644 --- a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp @@ -52,16 +52,16 @@ namespace internal { /* ************************************************************************* */ NonlinearFactorGraph calculateMarginalFactors(const NonlinearFactorGraph& graph, const Values& theta, - const FastSet& remainingKeys, const GaussianFactorGraph::Eliminate& eliminateFunction) { + const KeySet& remainingKeys, const GaussianFactorGraph::Eliminate& eliminateFunction) { // Calculate the set of RootKeys = AllKeys \Intersect RemainingKeys - FastSet rootKeys; - FastSet allKeys(graph.keys()); + KeySet rootKeys; + KeySet allKeys(graph.keys()); std::set_intersection(allKeys.begin(), allKeys.end(), remainingKeys.begin(), remainingKeys.end(), std::inserter(rootKeys, rootKeys.end())); // Calculate the set of MarginalizeKeys = AllKeys - RemainingKeys - FastSet marginalizeKeys; + KeySet marginalizeKeys; std::set_difference(allKeys.begin(), allKeys.end(), remainingKeys.begin(), remainingKeys.end(), std::inserter(marginalizeKeys, marginalizeKeys.end())); if(marginalizeKeys.size() == 0) { diff --git a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h index fb4b78fc2..b8a9941ad 100644 --- a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h +++ b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h @@ -152,7 +152,7 @@ namespace internal { /** Calculate the marginal on the specified keys, returning a set of LinearContainerFactors. * Unlike other GTSAM functions with similar purposes, this version can operate on disconnected graphs. */ NonlinearFactorGraph calculateMarginalFactors(const NonlinearFactorGraph& graph, const Values& theta, - const FastSet& remainingKeys, const GaussianFactorGraph::Eliminate& eliminateFunction); + const KeySet& remainingKeys, const GaussianFactorGraph::Eliminate& eliminateFunction); } diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp index 9742aefd7..cf3155602 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp @@ -184,7 +184,7 @@ void ConcurrentIncrementalFilter::synchronize(const NonlinearFactorGraph& smooth previousSmootherSummarization_ = smootherSummarization; // Find the set of new separator keys - const FastSet& newSeparatorKeys = isam2_.getFixedVariables(); + const KeySet& newSeparatorKeys = isam2_.getFixedVariables(); // Use the shortcut to calculate an updated marginal on the current separator // Combine just the shortcut and the previousSmootherSummarization @@ -312,7 +312,7 @@ std::vector ConcurrentIncrementalFilter::FindAdjacentFactors(const ISAM2 void ConcurrentIncrementalFilter::updateShortcut(const NonlinearFactorGraph& removedFactors) { // Calculate the set of shortcut keys: NewSeparatorKeys + OldSeparatorKeys - FastSet shortcutKeys; + KeySet shortcutKeys; BOOST_FOREACH(size_t slot, currentSmootherSummarizationSlots_) { const NonlinearFactor::shared_ptr& factor = isam2_.getFactorsUnsafe().at(slot); if(factor) { @@ -343,7 +343,7 @@ NonlinearFactorGraph ConcurrentIncrementalFilter::calculateFilterSummarization() // variables that result from marginalizing out all of the other variables // Find the set of current separator keys - const FastSet& separatorKeys = isam2_.getFixedVariables(); + const KeySet& separatorKeys = isam2_.getFixedVariables(); // Find all cliques that contain any separator variables std::set separatorCliques; diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp index 16a336695..b87409aae 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp @@ -245,7 +245,7 @@ void ConcurrentIncrementalSmoother::updateSmootherSummarization() { } // Get the set of separator keys - gtsam::FastSet separatorKeys; + gtsam::KeySet separatorKeys; BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, separatorValues_) { separatorKeys.insert(key_value.key); } diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp index 51c2a55a2..558654367 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp @@ -559,7 +559,7 @@ TEST( ConcurrentBatchSmoother, synchronize_3 ) ordering = smoother.getOrdering(); // I'm really hoping this is an acceptable ordering... GaussianFactorGraph::shared_ptr linearFactors = allFactors.linearize(allValues); - FastSet eliminateKeys = linearFactors->keys(); + KeySet eliminateKeys = linearFactors->keys(); BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, filterSeparatorValues) { eliminateKeys.erase(key_value.key); } diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp index 5f91527e6..22dd0ccaa 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp @@ -579,7 +579,7 @@ TEST( ConcurrentIncrementalSmootherDL, synchronize_3 ) // GaussianSequentialSolver GSS = GaussianSequentialSolver(*LinFactorGraph); // GaussianBayesNet::shared_ptr GBNsptr = GSS.eliminate(); - FastSet allkeys = LinFactorGraph->keys(); + KeySet allkeys = LinFactorGraph->keys(); BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, filterSeparatorValues) { allkeys.erase(key_value.key); } diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp index 9708eedb5..c372577ca 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp @@ -581,7 +581,7 @@ TEST( ConcurrentIncrementalSmootherGN, synchronize_3 ) // GaussianSequentialSolver GSS = GaussianSequentialSolver(*LinFactorGraph); // GaussianBayesNet::shared_ptr GBNsptr = GSS.eliminate(); - FastSet allkeys = LinFactorGraph->keys(); + KeySet allkeys = LinFactorGraph->keys(); BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, filterSeparatorValues) allkeys.erase(key_value.key); std::vector variables(allkeys.begin(), allkeys.end()); diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h index da60c2c31..f1487f562 100644 --- a/gtsam_unstable/slam/MultiProjectionFactor.h +++ b/gtsam_unstable/slam/MultiProjectionFactor.h @@ -70,7 +70,7 @@ namespace gtsam { * @param body_P_sensor is the transform from body to sensor frame (default identity) */ MultiProjectionFactor(const Vector& measured, const SharedNoiseModel& model, - FastSet poseKeys, Key pointKey, const boost::shared_ptr& K, + KeySet poseKeys, Key pointKey, const boost::shared_ptr& K, boost::optional body_P_sensor = boost::none) : Base(model), measured_(measured), K_(K), body_P_sensor_(body_P_sensor), throwCheirality_(false), verboseCheirality_(false) { @@ -91,7 +91,7 @@ namespace gtsam { * @param body_P_sensor is the transform from body to sensor frame (default identity) */ MultiProjectionFactor(const Vector& measured, const SharedNoiseModel& model, - FastSet poseKeys, Key pointKey, const boost::shared_ptr& K, + KeySet poseKeys, Key pointKey, const boost::shared_ptr& K, bool throwCheirality, bool verboseCheirality, boost::optional body_P_sensor = boost::none) : Base(model), measured_(measured), K_(K), body_P_sensor_(body_P_sensor), diff --git a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp index 2794e5707..ca91d4cb5 100644 --- a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp +++ b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp @@ -69,7 +69,7 @@ TEST( MultiProjectionFactor, create ){ n_measPixel << 10, 10, 10, 10, 10, 10; const SharedDiagonal noiseProjection = noiseModel::Isotropic::Sigma(2, 1); - FastSet views; + KeySet views; views.insert(x1); views.insert(x2); views.insert(x3); diff --git a/matlab.h b/matlab.h index 349cdeea4..a215c6e07 100644 --- a/matlab.h +++ b/matlab.h @@ -71,16 +71,16 @@ FastVector createKeyVector(string s, const Vector& I) { } // Create a KeySet from indices -FastSet createKeySet(const Vector& I) { - FastSet set; +KeySet createKeySet(const Vector& I) { + KeySet set; for (int i = 0; i < I.size(); i++) set.insert(I[i]); return set; } // Create a KeySet from indices using symbol -FastSet createKeySet(string s, const Vector& I) { - FastSet set; +KeySet createKeySet(string s, const Vector& I) { + KeySet set; char c = s[0]; for (int i = 0; i < I.size(); i++) set.insert(symbol(c, I[i])); diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 4e14d49b3..7922c14d1 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -186,12 +186,12 @@ done: // Permuted permuted(permutation, values); // // // After permutation, the indices above the threshold are 2 and 2 -// FastSet expected; +// KeySet expected; // expected.insert(2); // expected.insert(3); // // // Indices checked by CheckRelinearization -// FastSet actual = Impl::CheckRelinearization(permuted, 0.1); +// KeySet actual = Impl::CheckRelinearization(permuted, 0.1); // // EXPECT(assert_equal(expected, actual)); //} diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index 0af4c4a57..bd202e991 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -226,7 +226,7 @@ TEST(Marginals, order) { vals.at(3).range(vals.at(101)), noiseModel::Unit::Create(2)); Marginals marginals(fg, vals); - FastSet set = fg.keys(); + KeySet set = fg.keys(); FastVector keys(set.begin(), set.end()); JointMarginal joint = marginals.jointMarginalCovariance(keys); diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index f398a33fe..b81a3113b 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -66,9 +66,9 @@ TEST( NonlinearFactorGraph, error ) TEST( NonlinearFactorGraph, keys ) { NonlinearFactorGraph fg = createNonlinearFactorGraph(); - FastSet actual = fg.keys(); + KeySet actual = fg.keys(); LONGS_EQUAL(3, (long)actual.size()); - FastSet::const_iterator it = actual.begin(); + KeySet::const_iterator it = actual.begin(); LONGS_EQUAL((long)L(1), (long)*(it++)); LONGS_EQUAL((long)X(1), (long)*(it++)); LONGS_EQUAL((long)X(2), (long)*(it++)); From 263805a329e3f41a3e38e92e2620ee4b0c9664de Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 22:01:37 -0700 Subject: [PATCH 275/964] Added constructor for ClusterNode --- gtsam/inference/ClusterTree.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 435631b21..bb7cf17e1 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -41,6 +41,11 @@ namespace gtsam typedef FastVector Factors; typedef FastVector > Children; + Cluster() {} + Cluster(Key key, const Factors& factors) : factors(factors) { + orderedFrontalKeys.push_back(key); + } + Keys orderedFrontalKeys; ///< Frontal keys of this node Factors factors; ///< Factors associated with this node Children children; ///< sub-trees From cab4eaa567462ab511079f028c5f4b23c3abfa79 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 22:02:08 -0700 Subject: [PATCH 276/964] Re-factored constructor to eliminate overly verbose types --- gtsam/inference/JunctionTree-inst.h | 229 ++++++++++++++-------------- 1 file changed, 117 insertions(+), 112 deletions(-) diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index f12e5afd2..70930949e 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -26,130 +26,135 @@ #include namespace gtsam { - - namespace { - /* ************************************************************************* */ - template - struct ConstructorTraversalData { - ConstructorTraversalData* const parentData; - typename JunctionTree::sharedNode myJTNode; - FastVector childSymbolicConditionals; - FastVector childSymbolicFactors; - ConstructorTraversalData(ConstructorTraversalData* _parentData) : parentData(_parentData) {} - }; - /* ************************************************************************* */ - // Pre-order visitor function - template - ConstructorTraversalData ConstructorTraversalVisitorPre( +template +struct ConstructorTraversalData { + typedef typename JunctionTree::Node Node; + typedef typename JunctionTree::sharedNode sharedNode; + + ConstructorTraversalData* const parentData; + sharedNode myJTNode; + FastVector childSymbolicConditionals; + FastVector childSymbolicFactors; + + ConstructorTraversalData(ConstructorTraversalData* _parentData) + : parentData(_parentData) {} + + // Pre-order visitor function + static ConstructorTraversalData ConstructorTraversalVisitorPre( const boost::shared_ptr& node, - ConstructorTraversalData& parentData) - { - // On the pre-order pass, before children have been visited, we just set up a traversal data - // structure with its own JT node, and create a child pointer in its parent. - ConstructorTraversalData myData = ConstructorTraversalData(&parentData); - myData.myJTNode = boost::make_shared::Node>(); - myData.myJTNode->orderedFrontalKeys.push_back(node->key); - myData.myJTNode->factors.insert(myData.myJTNode->factors.begin(), node->factors.begin(), node->factors.end()); - parentData.myJTNode->children.push_back(myData.myJTNode); - return myData; - } + ConstructorTraversalData& parentData) { + // On the pre-order pass, before children have been visited, we just set up + // a traversal data structure with its own JT node, and create a child + // pointer in its parent. + ConstructorTraversalData myData = ConstructorTraversalData(&parentData); + myData.myJTNode = boost::make_shared(node->key, node->factors); + parentData.myJTNode->children.push_back(myData.myJTNode); + return myData; + } - /* ************************************************************************* */ - // Post-order visitor function - template - void ConstructorTraversalVisitorPostAlg2( + // Post-order visitor function + static void ConstructorTraversalVisitorPostAlg2( const boost::shared_ptr& ETreeNode, - const ConstructorTraversalData& myData) - { - // In this post-order visitor, we combine the symbolic elimination results from the - // elimination tree children and symbolically eliminate the current elimination tree node. We - // then check whether each of our elimination tree child nodes should be merged with us. The - // check for this is that our number of symbolic elimination parents is exactly 1 less than - // our child's symbolic elimination parents - this condition indicates that eliminating the - // current node did not introduce any parents beyond those already in the child. + const ConstructorTraversalData& myData) { + // In this post-order visitor, we combine the symbolic elimination results + // from the elimination tree children and symbolically eliminate the current + // elimination tree node. We then check whether each of our elimination + // tree child nodes should be merged with us. The check for this is that + // our number of symbolic elimination parents is exactly 1 less than + // our child's symbolic elimination parents - this condition indicates that + // eliminating the current node did not introduce any parents beyond those + // already in the child. - // Do symbolic elimination for this node - class : public FactorGraph {} symbolicFactors; - symbolicFactors.reserve(ETreeNode->factors.size() + myData.childSymbolicFactors.size()); - // Add ETree node factors - symbolicFactors += ETreeNode->factors; - // Add symbolic factors passed up from children - symbolicFactors += myData.childSymbolicFactors; + // Do symbolic elimination for this node + class : public FactorGraph {} + symbolicFactors; + symbolicFactors.reserve(ETreeNode->factors.size() + + myData.childSymbolicFactors.size()); + // Add ETree node factors + symbolicFactors += ETreeNode->factors; + // Add symbolic factors passed up from children + symbolicFactors += myData.childSymbolicFactors; - Ordering keyAsOrdering; keyAsOrdering.push_back(ETreeNode->key); - std::pair symbolicElimResult = - internal::EliminateSymbolic(symbolicFactors, keyAsOrdering); + Ordering keyAsOrdering; + keyAsOrdering.push_back(ETreeNode->key); + std::pair + symbolicElimResult = + internal::EliminateSymbolic(symbolicFactors, keyAsOrdering); - // Store symbolic elimination results in the parent - myData.parentData->childSymbolicConditionals.push_back(symbolicElimResult.first); - myData.parentData->childSymbolicFactors.push_back(symbolicElimResult.second); + // Store symbolic elimination results in the parent + myData.parentData->childSymbolicConditionals.push_back( + symbolicElimResult.first); + myData.parentData->childSymbolicFactors.push_back( + symbolicElimResult.second); + sharedNode node = myData.myJTNode; - // Merge our children if they are in our clique - if our conditional has exactly one fewer - // parent than our child's conditional. - size_t myNrFrontals = 1; - const size_t myNrParents = symbolicElimResult.first->nrParents(); - size_t nrMergedChildren = 0; - assert(myData.myJTNode->children.size() == myData.childSymbolicConditionals.size()); - // Loop over children - int combinedProblemSize = (int) (symbolicElimResult.first->size() * symbolicFactors.size()); - for(size_t child = 0; child < myData.childSymbolicConditionals.size(); ++child) { - // Check if we should merge the child - if(myNrParents + myNrFrontals == myData.childSymbolicConditionals[child]->nrParents()) { - // Get a reference to the child, adjusting the index to account for children previously - // merged and removed from the child list. - const typename JunctionTree::Node& childToMerge = - *myData.myJTNode->children[child - nrMergedChildren]; - // Merge keys, factors, and children. - myData.myJTNode->orderedFrontalKeys.insert( - myData.myJTNode->orderedFrontalKeys.begin(), - childToMerge.orderedFrontalKeys.begin(), - childToMerge.orderedFrontalKeys.end()); - myData.myJTNode->factors.insert(myData.myJTNode->factors.end(), - childToMerge.factors.begin(), - childToMerge.factors.end()); - myData.myJTNode->children.insert(myData.myJTNode->children.end(), - childToMerge.children.begin(), - childToMerge.children.end()); - // Increment problem size - combinedProblemSize = std::max(combinedProblemSize, childToMerge.problemSize_); - // Increment number of frontal variables - myNrFrontals += childToMerge.orderedFrontalKeys.size(); - // Remove child from list. - myData.myJTNode->children.erase(myData.myJTNode->children.begin() + (child - nrMergedChildren)); - // Increment number of merged children - ++ nrMergedChildren; - } + // Merge our children if they are in our clique - if our conditional has + // exactly one fewer parent than our child's conditional. + size_t myNrFrontals = 1; + const size_t myNrParents = symbolicElimResult.first->nrParents(); + size_t nrMergedChildren = 0; + assert(node->children.size() == myData.childSymbolicConditionals.size()); + // Loop over children + int combinedProblemSize = + (int)(symbolicElimResult.first->size() * symbolicFactors.size()); + for (size_t i = 0; i < myData.childSymbolicConditionals.size(); ++i) { + // Check if we should merge the i^th child + if (myNrParents + myNrFrontals == + myData.childSymbolicConditionals[i]->nrParents()) { + // Get a reference to the i, adjusting the index to account for children + // previously merged and removed from the i list. + const Node& child = *node->children[i - nrMergedChildren]; + // Merge keys, factors, and children. + node->orderedFrontalKeys.insert(node->orderedFrontalKeys.begin(), + child.orderedFrontalKeys.begin(), + child.orderedFrontalKeys.end()); + node->factors.insert(node->factors.end(), child.factors.begin(), child.factors.end()); + node->children.insert(node->children.end(), child.children.begin(), child.children.end()); + // Increment problem size + combinedProblemSize = std::max(combinedProblemSize, child.problemSize_); + // Increment number of frontal variables + myNrFrontals += child.orderedFrontalKeys.size(); + // Remove i from list. + node->children.erase(node->children.begin() + (i - nrMergedChildren)); + // Increment number of merged children + ++nrMergedChildren; } - myData.myJTNode->problemSize_ = combinedProblemSize; } + node->problemSize_ = combinedProblemSize; } +}; - /* ************************************************************************* */ - template - template - JunctionTree::JunctionTree(const EliminationTree& eliminationTree) - { - gttic(JunctionTree_FromEliminationTree); - // Here we rely on the BayesNet having been produced by this elimination tree, such that the - // conditionals are arranged in DFS post-order. We traverse the elimination tree, and inspect - // the symbolic conditional corresponding to each node. The elimination tree node is added to - // the same clique with its parent if it has exactly one more Bayes net conditional parent than - // does its elimination tree parent. +/* ************************************************************************* */ +template +template +JunctionTree::JunctionTree( + const EliminationTree& eliminationTree) { + gttic(JunctionTree_FromEliminationTree); + // Here we rely on the BayesNet having been produced by this elimination tree, + // such that the conditionals are arranged in DFS post-order. We traverse the + // elimination tree, and inspect the symbolic conditional corresponding to + // each node. The elimination tree node is added to the same clique with its + // parent if it has exactly one more Bayes net conditional parent than + // does its elimination tree parent. - // Traverse the elimination tree, doing symbolic elimination and merging nodes as we go. Gather - // the created junction tree roots in a dummy Node. - typedef typename EliminationTree::Node ETreeNode; - ConstructorTraversalData rootData(0); - rootData.myJTNode = boost::make_shared(); // Make a dummy node to gather the junction tree roots - treeTraversal::DepthFirstForest(eliminationTree, rootData, - ConstructorTraversalVisitorPre, ConstructorTraversalVisitorPostAlg2); + // Traverse the elimination tree, doing symbolic elimination and merging nodes + // as we go. Gather the created junction tree roots in a dummy Node. + typedef typename EliminationTree::Node ETreeNode; + typedef ConstructorTraversalData Data; + Data rootData(0); + rootData.myJTNode = + boost::make_shared(); // Make a dummy node to gather + // the junction tree roots + treeTraversal::DepthFirstForest(eliminationTree, rootData, + Data::ConstructorTraversalVisitorPre, + Data::ConstructorTraversalVisitorPostAlg2); - // Assign roots from the dummy node - Base::roots_ = rootData.myJTNode->children; + // Assign roots from the dummy node + Base::roots_ = rootData.myJTNode->children; - // Transfer remaining factors from elimination tree - Base::remainingFactors_ = eliminationTree.remainingFactors(); - } + // Transfer remaining factors from elimination tree + Base::remainingFactors_ = eliminationTree.remainingFactors(); +} -} //namespace gtsam +} // namespace gtsam From 724bcdb6a007e5693f5026f9a909a883a3013424 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 22:11:05 -0700 Subject: [PATCH 277/964] Reversed adding of keys --- gtsam/inference/JunctionTree-inst.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index 70930949e..264985cb1 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -98,6 +98,7 @@ struct ConstructorTraversalData { // Loop over children int combinedProblemSize = (int)(symbolicElimResult.first->size() * symbolicFactors.size()); + gttic(merge_children); for (size_t i = 0; i < myData.childSymbolicConditionals.size(); ++i) { // Check if we should merge the i^th child if (myNrParents + myNrFrontals == @@ -105,6 +106,10 @@ struct ConstructorTraversalData { // Get a reference to the i, adjusting the index to account for children // previously merged and removed from the i list. const Node& child = *node->children[i - nrMergedChildren]; + // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. + node->orderedFrontalKeys.insert(node->orderedFrontalKeys.end(), + child.orderedFrontalKeys.rbegin(), + child.orderedFrontalKeys.rend()); // Merge keys, factors, and children. node->orderedFrontalKeys.insert(node->orderedFrontalKeys.begin(), child.orderedFrontalKeys.begin(), @@ -121,6 +126,8 @@ struct ConstructorTraversalData { ++nrMergedChildren; } } + std::reverse(node->orderedFrontalKeys.begin(), node->orderedFrontalKeys.end()); + gttoc(merge_children); node->problemSize_ = combinedProblemSize; } }; From 83487370ab452151cdf7da51d2f07645dcc8dc71 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 22:53:04 -0700 Subject: [PATCH 278/964] Headers and timing --- gtsam/symbolic/SymbolicFactor-inst.h | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/gtsam/symbolic/SymbolicFactor-inst.h b/gtsam/symbolic/SymbolicFactor-inst.h index c917b322e..f1e2b48c2 100644 --- a/gtsam/symbolic/SymbolicFactor-inst.h +++ b/gtsam/symbolic/SymbolicFactor-inst.h @@ -17,15 +17,17 @@ #pragma once -#include +#include +#include +#include +#include +#include + #include #include #include -#include -#include -#include -#include +#include namespace gtsam { @@ -37,6 +39,8 @@ namespace gtsam std::pair, boost::shared_ptr > EliminateSymbolic(const FactorGraph& factors, const Ordering& keys) { + gttic(EliminateSymbolic); + // Gather all keys KeySet allKeys; BOOST_FOREACH(const boost::shared_ptr& factor, factors) { From b6541c96de6213caffbc66f3490a888182d99036 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 22:54:23 -0700 Subject: [PATCH 279/964] Reverse keys, finalized --- gtsam/inference/JunctionTree-inst.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index 264985cb1..d7ff0281a 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -111,9 +111,6 @@ struct ConstructorTraversalData { child.orderedFrontalKeys.rbegin(), child.orderedFrontalKeys.rend()); // Merge keys, factors, and children. - node->orderedFrontalKeys.insert(node->orderedFrontalKeys.begin(), - child.orderedFrontalKeys.begin(), - child.orderedFrontalKeys.end()); node->factors.insert(node->factors.end(), child.factors.begin(), child.factors.end()); node->children.insert(node->children.end(), child.children.begin(), child.children.end()); // Increment problem size From 47279b56e0462b62b0879f2e92bd18acbf14d5f0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 23:45:22 -0700 Subject: [PATCH 280/964] Fixed print (now w symbols) --- gtsam/inference/ClusterTree-inst.h | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index ad7ab0063..1987a0a5a 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -122,10 +122,8 @@ namespace gtsam void ClusterTree::Cluster::print( const std::string& s, const KeyFormatter& keyFormatter) const { - std::cout << s; - BOOST_FOREACH(Key j, orderedFrontalKeys) - std::cout << j << " "; - std::cout << "problemSize = " << problemSize_ << std::endl; + std::cout << s << " (" << problemSize_ << ")" ; + PrintKeyVector(orderedFrontalKeys); } /* ************************************************************************* */ From 6727ae9ae502b38775f34a685ef392cf13b46998 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 20 Jun 2015 23:45:32 -0700 Subject: [PATCH 281/964] salvaged old test --- tests/testGaussianJunctionTreeB.cpp | 387 +++++++++++++++------------- 1 file changed, 204 insertions(+), 183 deletions(-) diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index cdb1509b6..0b7c16184 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -15,29 +15,42 @@ * @author nikai */ -#include - -#if 0 - #include -#include -#include #include +#include +#include +#include #include #include -#include -#include +#include +#include +#include +#include +#include #include +#include +#include +#include +#include +#include #include -#include -#include -#include -#include +#include +#include +#include +#include +#include -#include -#include // for operator += -#include // for operator += +#include + +#include +#include #include + +#include +#include +#include +#include + using namespace boost::assign; #include @@ -59,180 +72,188 @@ using symbol_shorthand::L; TEST( GaussianJunctionTreeB, constructor2 ) { // create a graph + NonlinearFactorGraph nlfg; + Values values; + boost::tie(nlfg,values) = createNonlinearSmoother(7); + SymbolicFactorGraph::shared_ptr symbolic = nlfg.symbolic(); + + // linearize + GaussianFactorGraph::shared_ptr fg = nlfg.linearize(values); + Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); - GaussianFactorGraph fg = createSmoother(7, ordering).first; // create an ordering - GaussianJunctionTree actual(fg); + GaussianEliminationTree etree(*fg, ordering); + SymbolicEliminationTree stree(*symbolic,ordering); + GaussianJunctionTree actual(etree); - vector frontal1; frontal1 += ordering[X(5)], ordering[X(6)], ordering[X(4)]; - vector frontal2; frontal2 += ordering[X(3)], ordering[X(2)]; - vector frontal3; frontal3 += ordering[X(1)]; - vector frontal4; frontal4 += ordering[X(7)]; - vector sep1; - vector sep2; sep2 += ordering[X(4)]; - vector sep3; sep3 += ordering[X(2)]; - vector sep4; sep4 += ordering[X(6)]; - EXPECT(assert_equal(frontal1, actual.root()->frontal)); - EXPECT(assert_equal(sep1, actual.root()->separator)); - LONGS_EQUAL(5, actual.root()->size()); - list::const_iterator child0it = actual.root()->children().begin(); - list::const_iterator child1it = child0it; ++child1it; - GaussianJunctionTree::sharedClique child0 = *child0it; - GaussianJunctionTree::sharedClique child1 = *child1it; - EXPECT(assert_equal(frontal2, child0->frontal)); - EXPECT(assert_equal(sep2, child0->separator)); - LONGS_EQUAL(4, child0->size()); - EXPECT(assert_equal(frontal3, child0->children().front()->frontal)); - EXPECT(assert_equal(sep3, child0->children().front()->separator)); - LONGS_EQUAL(2, child0->children().front()->size()); - EXPECT(assert_equal(frontal4, child1->frontal)); - EXPECT(assert_equal(sep4, child1->separator)); - LONGS_EQUAL(2, child1->size()); + Ordering frontal1; frontal1 += X(3), X(2), X(4); + Ordering frontal2; frontal2 += X(5), X(6); + Ordering frontal3; frontal3 += X(7); + Ordering frontal4; frontal4 += X(1); + + // Can no longer test these: +// Ordering sep1; +// Ordering sep2; sep2 += X(4); +// Ordering sep3; sep3 += X(6); +// Ordering sep4; sep4 += X(2); + + GaussianJunctionTree::sharedNode root = actual.roots().front(); + FastVector::const_iterator child0it = root->children.begin(); + FastVector::const_iterator child1it = child0it; ++child1it; + GaussianJunctionTree::sharedNode child0 = *child0it; + GaussianJunctionTree::sharedNode child1 = *child1it; + + EXPECT(assert_equal(frontal1, root->orderedFrontalKeys)); + LONGS_EQUAL(5, root->factors.size()); + EXPECT(assert_equal(frontal2, child0->orderedFrontalKeys)); + LONGS_EQUAL(4, child0->factors.size()); + EXPECT(assert_equal(frontal3, child0->children.front()->orderedFrontalKeys)); + LONGS_EQUAL(2, child0->children.front()->factors.size()); + EXPECT(assert_equal(frontal4, child1->orderedFrontalKeys)); + LONGS_EQUAL(2, child1->factors.size()); } -/* ************************************************************************* */ -TEST( GaussianJunctionTreeB, optimizeMultiFrontal ) -{ - // create a graph - GaussianFactorGraph fg; - Ordering ordering; - boost::tie(fg,ordering) = createSmoother(7); - - // optimize the graph - GaussianJunctionTree tree(fg); - VectorValues actual = tree.optimize(&EliminateQR); - - // verify - VectorValues expected(vector(7,2)); // expected solution - Vector v = Vector2(0., 0.); - for (int i=1; i<=7; i++) - expected[ordering[X(i)]] = v; - EXPECT(assert_equal(expected,actual)); -} - -/* ************************************************************************* */ -TEST( GaussianJunctionTreeB, optimizeMultiFrontal2) -{ - // create a graph - example::Graph nlfg = createNonlinearFactorGraph(); - Values noisy = createNoisyValues(); - Ordering ordering; ordering += X(1),X(2),L(1); - GaussianFactorGraph fg = *nlfg.linearize(noisy, ordering); - - // optimize the graph - GaussianJunctionTree tree(fg); - VectorValues actual = tree.optimize(&EliminateQR); - - // verify - VectorValues expected = createCorrectDelta(ordering); // expected solution - EXPECT(assert_equal(expected,actual)); -} - -/* ************************************************************************* */ -TEST(GaussianJunctionTreeB, slamlike) { - Values init; - NonlinearFactorGraph newfactors; - NonlinearFactorGraph fullgraph; - SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1)); - - size_t i = 0; - - newfactors = NonlinearFactorGraph(); - newfactors.add(PriorFactor(X(0), Pose2(0.0, 0.0, 0.0), odoNoise)); - init.insert(X(0), Pose2(0.01, 0.01, 0.01)); - fullgraph.push_back(newfactors); - - for( ; i<5; ++i) { - newfactors = NonlinearFactorGraph(); - newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); - init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullgraph.push_back(newfactors); - } - - newfactors = NonlinearFactorGraph(); - newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); - newfactors.add(BearingRangeFactor(X(i), L(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise)); - newfactors.add(BearingRangeFactor(X(i), L(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise)); - init.insert(X(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(L(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(L(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullgraph.push_back(newfactors); - ++ i; - - for( ; i<5; ++i) { - newfactors = NonlinearFactorGraph(); - newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); - init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullgraph.push_back(newfactors); - } - - newfactors = NonlinearFactorGraph(); - newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); - newfactors.add(BearingRangeFactor(X(i), L(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); - newfactors.add(BearingRangeFactor(X(i), L(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); - init.insert(X(i+1), Pose2(6.9, 0.1, 0.01)); - fullgraph.push_back(newfactors); - ++ i; - - // Compare solutions - Ordering ordering = *fullgraph.orderingCOLAMD(init); - GaussianFactorGraph linearized = *fullgraph.linearize(init, ordering); - - GaussianJunctionTree gjt(linearized); - VectorValues deltaactual = gjt.optimize(&EliminateQR); - Values actual = init.retract(deltaactual, ordering); - - GaussianBayesNet gbn = *GaussianSequentialSolver(linearized).eliminate(); - VectorValues delta = optimize(gbn); - Values expected = init.retract(delta, ordering); - - EXPECT(assert_equal(expected, actual)); -} - -/* ************************************************************************* */ -TEST(GaussianJunctionTreeB, simpleMarginal) { - - typedef BayesTree GaussianBayesTree; - - // Create a simple graph - NonlinearFactorGraph fg; - fg.add(PriorFactor(X(0), Pose2(), noiseModel::Isotropic::Sigma(3, 10.0))); - fg.add(BetweenFactor(X(0), X(1), Pose2(1.0, 0.0, 0.0), noiseModel::Diagonal::Sigmas(Vector3(10.0, 1.0, 1.0)))); - - Values init; - init.insert(X(0), Pose2()); - init.insert(X(1), Pose2(1.0, 0.0, 0.0)); - - Ordering ordering; - ordering += X(1), X(0); - - GaussianFactorGraph gfg = *fg.linearize(init, ordering); - - // Compute marginals with both sequential and multifrontal - Matrix expected = GaussianSequentialSolver(gfg).marginalCovariance(1); - - Matrix actual1 = GaussianMultifrontalSolver(gfg).marginalCovariance(1); - - // Compute marginal directly from marginal factor - GaussianFactor::shared_ptr marginalFactor = GaussianMultifrontalSolver(gfg).marginalFactor(1); - JacobianFactor::shared_ptr marginalJacobian = boost::dynamic_pointer_cast(marginalFactor); - Matrix actual2 = inverse(marginalJacobian->getA(marginalJacobian->begin()).transpose() * marginalJacobian->getA(marginalJacobian->begin())); - - // Compute marginal directly from BayesTree - GaussianBayesTree gbt; - gbt.insert(GaussianJunctionTree(gfg).eliminate(EliminateCholesky)); - marginalFactor = gbt.marginalFactor(1, EliminateCholesky); - marginalJacobian = boost::dynamic_pointer_cast(marginalFactor); - Matrix actual3 = inverse(marginalJacobian->getA(marginalJacobian->begin()).transpose() * marginalJacobian->getA(marginalJacobian->begin())); - - EXPECT(assert_equal(expected, actual1)); - EXPECT(assert_equal(expected, actual2)); - EXPECT(assert_equal(expected, actual3)); -} - -#endif +///* ************************************************************************* */ +//TEST( GaussianJunctionTreeB, optimizeMultiFrontal ) +//{ +// // create a graph +// GaussianFactorGraph fg; +// Ordering ordering; +// boost::tie(fg,ordering) = createSmoother(7); +// +// // optimize the graph +// GaussianJunctionTree tree(fg); +// VectorValues actual = tree.optimize(&EliminateQR); +// +// // verify +// VectorValues expected(vector(7,2)); // expected solution +// Vector v = Vector2(0., 0.); +// for (int i=1; i<=7; i++) +// expected[ordering[X(i)]] = v; +// EXPECT(assert_equal(expected,actual)); +//} +// +///* ************************************************************************* */ +//TEST( GaussianJunctionTreeB, optimizeMultiFrontal2) +//{ +// // create a graph +// example::Graph nlfg = createNonlinearFactorGraph(); +// Values noisy = createNoisyValues(); +// Ordering ordering; ordering += X(1),X(2),L(1); +// GaussianFactorGraph fg = *nlfg.linearize(noisy, ordering); +// +// // optimize the graph +// GaussianJunctionTree tree(fg); +// VectorValues actual = tree.optimize(&EliminateQR); +// +// // verify +// VectorValues expected = createCorrectDelta(ordering); // expected solution +// EXPECT(assert_equal(expected,actual)); +//} +// +///* ************************************************************************* */ +//TEST(GaussianJunctionTreeB, slamlike) { +// Values init; +// NonlinearFactorGraph newfactors; +// NonlinearFactorGraph fullgraph; +// SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0)); +// SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1)); +// +// size_t i = 0; +// +// newfactors = NonlinearFactorGraph(); +// newfactors.add(PriorFactor(X(0), Pose2(0.0, 0.0, 0.0), odoNoise)); +// init.insert(X(0), Pose2(0.01, 0.01, 0.01)); +// fullgraph.push_back(newfactors); +// +// for( ; i<5; ++i) { +// newfactors = NonlinearFactorGraph(); +// newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); +// init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); +// fullgraph.push_back(newfactors); +// } +// +// newfactors = NonlinearFactorGraph(); +// newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); +// newfactors.add(BearingRangeFactor(X(i), L(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise)); +// newfactors.add(BearingRangeFactor(X(i), L(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise)); +// init.insert(X(i+1), Pose2(1.01, 0.01, 0.01)); +// init.insert(L(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); +// init.insert(L(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); +// fullgraph.push_back(newfactors); +// ++ i; +// +// for( ; i<5; ++i) { +// newfactors = NonlinearFactorGraph(); +// newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); +// init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); +// fullgraph.push_back(newfactors); +// } +// +// newfactors = NonlinearFactorGraph(); +// newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); +// newfactors.add(BearingRangeFactor(X(i), L(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); +// newfactors.add(BearingRangeFactor(X(i), L(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); +// init.insert(X(i+1), Pose2(6.9, 0.1, 0.01)); +// fullgraph.push_back(newfactors); +// ++ i; +// +// // Compare solutions +// Ordering ordering = *fullgraph.orderingCOLAMD(init); +// GaussianFactorGraph linearized = *fullgraph.linearize(init, ordering); +// +// GaussianJunctionTree gjt(linearized); +// VectorValues deltaactual = gjt.optimize(&EliminateQR); +// Values actual = init.retract(deltaactual, ordering); +// +// GaussianBayesNet gbn = *GaussianSequentialSolver(linearized).eliminate(); +// VectorValues delta = optimize(gbn); +// Values expected = init.retract(delta, ordering); +// +// EXPECT(assert_equal(expected, actual)); +//} +// +///* ************************************************************************* */ +//TEST(GaussianJunctionTreeB, simpleMarginal) { +// +// typedef BayesTree GaussianBayesTree; +// +// // Create a simple graph +// NonlinearFactorGraph fg; +// fg.add(PriorFactor(X(0), Pose2(), noiseModel::Isotropic::Sigma(3, 10.0))); +// fg.add(BetweenFactor(X(0), X(1), Pose2(1.0, 0.0, 0.0), noiseModel::Diagonal::Sigmas(Vector3(10.0, 1.0, 1.0)))); +// +// Values init; +// init.insert(X(0), Pose2()); +// init.insert(X(1), Pose2(1.0, 0.0, 0.0)); +// +// Ordering ordering; +// ordering += X(1), X(0); +// +// GaussianFactorGraph gfg = *fg.linearize(init, ordering); +// +// // Compute marginals with both sequential and multifrontal +// Matrix expected = GaussianSequentialSolver(gfg).marginalCovariance(1); +// +// Matrix actual1 = GaussianMultifrontalSolver(gfg).marginalCovariance(1); +// +// // Compute marginal directly from marginal factor +// GaussianFactor::shared_ptr marginalFactor = GaussianMultifrontalSolver(gfg).marginalFactor(1); +// JacobianFactor::shared_ptr marginalJacobian = boost::dynamic_pointer_cast(marginalFactor); +// Matrix actual2 = inverse(marginalJacobian->getA(marginalJacobian->begin()).transpose() * marginalJacobian->getA(marginalJacobian->begin())); +// +// // Compute marginal directly from BayesTree +// GaussianBayesTree gbt; +// gbt.insert(GaussianJunctionTree(gfg).eliminate(EliminateCholesky)); +// marginalFactor = gbt.marginalFactor(1, EliminateCholesky); +// marginalJacobian = boost::dynamic_pointer_cast(marginalFactor); +// Matrix actual3 = inverse(marginalJacobian->getA(marginalJacobian->begin()).transpose() * marginalJacobian->getA(marginalJacobian->begin())); +// +// EXPECT(assert_equal(expected, actual1)); +// EXPECT(assert_equal(expected, actual2)); +// EXPECT(assert_equal(expected, actual3)); +//} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} From f9ddbb1345572c54d9b4094eb0cb4384dde60d2c Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 01:45:56 -0700 Subject: [PATCH 282/964] Eliminated linked list --- gtsam/inference/VariableIndex.h | 2 +- gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp | 2 +- gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp | 2 +- gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index f395fd4ab..3b80f0d01 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -43,7 +43,7 @@ class GTSAM_EXPORT VariableIndex { public: typedef boost::shared_ptr shared_ptr; - typedef FastList Factors; + typedef FastVector Factors; typedef Factors::iterator Factor_iterator; typedef Factors::const_iterator Factor_const_iterator; diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp index 9d4249af4..aa13b1462 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp @@ -407,7 +407,7 @@ void BatchFixedLagSmoother::marginalize(const std::set& marginalizeKeys) { std::set removedFactorSlots; VariableIndex variableIndex(factors_); BOOST_FOREACH(Key key, marginalizeKeys) { - const FastList& slots = variableIndex[key]; + const FastVector& slots = variableIndex[key]; removedFactorSlots.insert(slots.begin(), slots.end()); } diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp index 1d913d61f..1a1622134 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp @@ -536,7 +536,7 @@ void ConcurrentBatchFilter::moveSeparator(const FastList& keysToMove) { std::vector removedFactorSlots; VariableIndex variableIndex(factors_); BOOST_FOREACH(Key key, keysToMove) { - const FastList& slots = variableIndex[key]; + const FastVector& slots = variableIndex[key]; removedFactorSlots.insert(removedFactorSlots.end(), slots.begin(), slots.end()); } diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp index cf3155602..4c4442141 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp @@ -291,7 +291,7 @@ std::vector ConcurrentIncrementalFilter::FindAdjacentFactors(const ISAM2 std::vector removedFactorSlots; const VariableIndex& variableIndex = isam2.getVariableIndex(); BOOST_FOREACH(Key key, keys) { - const FastList& slots = variableIndex[key]; + const FastVector& slots = variableIndex[key]; removedFactorSlots.insert(removedFactorSlots.end(), slots.begin(), slots.end()); } From e9d6feea5cf9e2ca47148d282b544e0c7c6eade4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 01:46:11 -0700 Subject: [PATCH 283/964] reserve vector --- gtsam/inference/EliminationTree-inst.h | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/gtsam/inference/EliminationTree-inst.h b/gtsam/inference/EliminationTree-inst.h index 70b0dd393..68e623b68 100644 --- a/gtsam/inference/EliminationTree-inst.h +++ b/gtsam/inference/EliminationTree-inst.h @@ -101,10 +101,12 @@ namespace gtsam { { // Retrieve the factors involving this variable and create the current node const VariableIndex::Factors& factors = structure[order[j]]; - nodes[j] = boost::make_shared(); - nodes[j]->key = order[j]; + const sharedNode node = boost::make_shared(); + node->key = order[j]; // for row i \in Struct[A*j] do + node->children.reserve(factors.size()); + node->factors.reserve(factors.size()); BOOST_FOREACH(const size_t i, factors) { // If we already hit a variable in this factor, make the subtree containing the previous // variable in this factor a child of the current node. This means that the variables @@ -123,16 +125,16 @@ namespace gtsam { if (r != j) { // Now that we found the root, hook up parent and child pointers in the nodes. parents[r] = j; - nodes[j]->children.push_back(nodes[r]); + node->children.push_back(nodes[r]); } } else { - // Add the current factor to the current node since we are at the first variable in this - // factor. - nodes[j]->factors.push_back(graph[i]); + // Add the factor to the current node since we are at the first variable in this factor. + node->factors.push_back(graph[i]); factorUsed[i] = true; } prevCol[i] = j; } + nodes[j] = node; } } catch(std::invalid_argument& e) { // If this is thrown from structure[order[j]] above, it means that it was requested to From c3811a54883eb1635d3500dd039dca0612f2468b Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 11:40:47 -0700 Subject: [PATCH 284/964] Fixed machine-dependent outcome --- tests/testGaussianJunctionTreeB.cpp | 44 ++++++++++++++++++----------- 1 file changed, 27 insertions(+), 17 deletions(-) diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 0b7c16184..c5401512b 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -85,12 +85,14 @@ TEST( GaussianJunctionTreeB, constructor2 ) // create an ordering GaussianEliminationTree etree(*fg, ordering); SymbolicEliminationTree stree(*symbolic,ordering); + GTSAM_PRINT(stree); GaussianJunctionTree actual(etree); + GTSAM_PRINT(actual); - Ordering frontal1; frontal1 += X(3), X(2), X(4); - Ordering frontal2; frontal2 += X(5), X(6); - Ordering frontal3; frontal3 += X(7); - Ordering frontal4; frontal4 += X(1); + Ordering o324; o324 += X(3), X(2), X(4); + Ordering o56; o56 += X(5), X(6); + Ordering o7; o7 += X(7); + Ordering o1; o1 += X(1); // Can no longer test these: // Ordering sep1; @@ -98,20 +100,28 @@ TEST( GaussianJunctionTreeB, constructor2 ) // Ordering sep3; sep3 += X(6); // Ordering sep4; sep4 += X(2); - GaussianJunctionTree::sharedNode root = actual.roots().front(); - FastVector::const_iterator child0it = root->children.begin(); - FastVector::const_iterator child1it = child0it; ++child1it; - GaussianJunctionTree::sharedNode child0 = *child0it; - GaussianJunctionTree::sharedNode child1 = *child1it; + GaussianJunctionTree::sharedNode x324 = actual.roots().front(); + LONGS_EQUAL(2, x324->children.size()); +#if defined(__APPLE__) // tie-breaking seems different :-( + GaussianJunctionTree::sharedNode x1 = x324->children[0]; + GaussianJunctionTree::sharedNode x56 = x324->children[1]; +#else + GaussianJunctionTree::sharedNode x1 = x324->children[1]; + GaussianJunctionTree::sharedNode x56 = x324->children[0]; +#endif + LONGS_EQUAL(0, x1->children.size()); + LONGS_EQUAL(1, x56->children.size()); + GaussianJunctionTree::sharedNode x7 = x56->children[0]; + LONGS_EQUAL(0, x7->children.size()); - EXPECT(assert_equal(frontal1, root->orderedFrontalKeys)); - LONGS_EQUAL(5, root->factors.size()); - EXPECT(assert_equal(frontal2, child0->orderedFrontalKeys)); - LONGS_EQUAL(4, child0->factors.size()); - EXPECT(assert_equal(frontal3, child0->children.front()->orderedFrontalKeys)); - LONGS_EQUAL(2, child0->children.front()->factors.size()); - EXPECT(assert_equal(frontal4, child1->orderedFrontalKeys)); - LONGS_EQUAL(2, child1->factors.size()); + EXPECT(assert_equal(o324, x324->orderedFrontalKeys)); + EXPECT_LONGS_EQUAL (5, x324->factors.size()); + EXPECT(assert_equal(o56, x56->orderedFrontalKeys)); + EXPECT_LONGS_EQUAL (4, x56->factors.size()); + EXPECT(assert_equal(o7, x7->orderedFrontalKeys)); + EXPECT_LONGS_EQUAL (2, x7->factors.size()); + EXPECT(assert_equal(o1, x1->orderedFrontalKeys)); + EXPECT_LONGS_EQUAL (2, x1->factors.size()); } ///* ************************************************************************* */ From 2dd83fd92c12d7a01bacaa8bc11e05ebf64b210a Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 11:44:17 -0700 Subject: [PATCH 285/964] Count then merge --- gtsam/inference/JunctionTree-inst.h | 125 +++++++++++++++++----------- 1 file changed, 77 insertions(+), 48 deletions(-) diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index d7ff0281a..5735a3bd2 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -27,7 +27,7 @@ namespace gtsam { -template +template struct ConstructorTraversalData { typedef typename JunctionTree::Node Node; typedef typename JunctionTree::sharedNode sharedNode; @@ -37,8 +37,13 @@ struct ConstructorTraversalData { FastVector childSymbolicConditionals; FastVector childSymbolicFactors; - ConstructorTraversalData(ConstructorTraversalData* _parentData) - : parentData(_parentData) {} + // Small inner class to store symbolic factors + class SymbolicFactors: public FactorGraph { + }; + + ConstructorTraversalData(ConstructorTraversalData* _parentData) : + parentData(_parentData) { + } // Pre-order visitor function static ConstructorTraversalData ConstructorTraversalVisitorPre( @@ -64,13 +69,11 @@ struct ConstructorTraversalData { // our number of symbolic elimination parents is exactly 1 less than // our child's symbolic elimination parents - this condition indicates that // eliminating the current node did not introduce any parents beyond those - // already in the child. + // already in the child-> // Do symbolic elimination for this node - class : public FactorGraph {} - symbolicFactors; - symbolicFactors.reserve(ETreeNode->factors.size() + - myData.childSymbolicFactors.size()); + SymbolicFactors symbolicFactors; + symbolicFactors.reserve(ETreeNode->factors.size() + myData.childSymbolicFactors.size()); // Add ETree node factors symbolicFactors += ETreeNode->factors; // Add symbolic factors passed up from children @@ -78,60 +81,87 @@ struct ConstructorTraversalData { Ordering keyAsOrdering; keyAsOrdering.push_back(ETreeNode->key); - std::pair - symbolicElimResult = - internal::EliminateSymbolic(symbolicFactors, keyAsOrdering); + SymbolicConditional::shared_ptr myConditional; + SymbolicFactor::shared_ptr mySeparatorFactor; + boost::tie(myConditional, mySeparatorFactor) = internal::EliminateSymbolic( + symbolicFactors, keyAsOrdering); // Store symbolic elimination results in the parent - myData.parentData->childSymbolicConditionals.push_back( - symbolicElimResult.first); - myData.parentData->childSymbolicFactors.push_back( - symbolicElimResult.second); + myData.parentData->childSymbolicConditionals.push_back(myConditional); + myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor); + sharedNode node = myData.myJTNode; + const FastVector& childConditionals = + myData.childSymbolicConditionals; // Merge our children if they are in our clique - if our conditional has // exactly one fewer parent than our child's conditional. size_t myNrFrontals = 1; - const size_t myNrParents = symbolicElimResult.first->nrParents(); - size_t nrMergedChildren = 0; - assert(node->children.size() == myData.childSymbolicConditionals.size()); - // Loop over children - int combinedProblemSize = - (int)(symbolicElimResult.first->size() * symbolicFactors.size()); + const size_t myNrParents = myConditional->nrParents(); + assert(node->newChildren.size() == childConditionals.size()); + gttic(merge_children); - for (size_t i = 0; i < myData.childSymbolicConditionals.size(); ++i) { + // First count how many keys, factors and children we'll end up with + size_t nrKeys = node->orderedFrontalKeys.size(); + size_t nrFactors = node->factors.size(); + size_t nrChildren = 0; + // Loop over children + for (size_t i = 0; i < childConditionals.size(); ++i) { // Check if we should merge the i^th child - if (myNrParents + myNrFrontals == - myData.childSymbolicConditionals[i]->nrParents()) { + if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { // Get a reference to the i, adjusting the index to account for children // previously merged and removed from the i list. - const Node& child = *node->children[i - nrMergedChildren]; - // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. - node->orderedFrontalKeys.insert(node->orderedFrontalKeys.end(), - child.orderedFrontalKeys.rbegin(), - child.orderedFrontalKeys.rend()); - // Merge keys, factors, and children. - node->factors.insert(node->factors.end(), child.factors.begin(), child.factors.end()); - node->children.insert(node->children.end(), child.children.begin(), child.children.end()); - // Increment problem size - combinedProblemSize = std::max(combinedProblemSize, child.problemSize_); + sharedNode child = node->children[i]; + nrKeys += child->orderedFrontalKeys.size(); + nrFactors += child->factors.size(); + nrChildren += child->children.size(); // Increment number of frontal variables - myNrFrontals += child.orderedFrontalKeys.size(); - // Remove i from list. - node->children.erase(node->children.begin() + (i - nrMergedChildren)); - // Increment number of merged children - ++nrMergedChildren; + myNrFrontals += child->orderedFrontalKeys.size(); + } else { + nrChildren += 1; // we keep the child } } + + // now reserve space, and really merge + node->orderedFrontalKeys.reserve(nrKeys); + node->factors.reserve(nrFactors); + typename Node::Children newChildren; + newChildren.reserve(nrChildren); + myNrFrontals = 1; + int combinedProblemSize = (int) (myConditional->size() * symbolicFactors.size()); + // Loop over newChildren + for (size_t i = 0; i < childConditionals.size(); ++i) { + // Check if we should merge the i^th child + sharedNode child = node->children[i]; + if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { + // Get a reference to the i, adjusting the index to account for newChildren + // previously merged and removed from the i list. + // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. + node->orderedFrontalKeys.insert(node->orderedFrontalKeys.end(), + child->orderedFrontalKeys.rbegin(), + child->orderedFrontalKeys.rend()); + // Merge keys, factors, and children. + node->factors.insert(node->factors.end(), child->factors.begin(), child->factors.end()); + newChildren.insert(newChildren.end(), child->children.begin(), child->children.end()); + // Increment problem size + combinedProblemSize = std::max(combinedProblemSize, child->problemSize_); + // Increment number of frontal variables + myNrFrontals += child->orderedFrontalKeys.size(); + } else { + newChildren.push_back(child); // we keep the child + } + } + node->children = newChildren; std::reverse(node->orderedFrontalKeys.begin(), node->orderedFrontalKeys.end()); gttoc(merge_children); node->problemSize_ = combinedProblemSize; } -}; +} +; /* ************************************************************************* */ -template -template +template +template JunctionTree::JunctionTree( const EliminationTree& eliminationTree) { gttic(JunctionTree_FromEliminationTree); @@ -147,12 +177,11 @@ JunctionTree::JunctionTree( typedef typename EliminationTree::Node ETreeNode; typedef ConstructorTraversalData Data; Data rootData(0); - rootData.myJTNode = - boost::make_shared(); // Make a dummy node to gather - // the junction tree roots + rootData.myJTNode = boost::make_shared(); // Make a dummy node to gather + // the junction tree roots treeTraversal::DepthFirstForest(eliminationTree, rootData, - Data::ConstructorTraversalVisitorPre, - Data::ConstructorTraversalVisitorPostAlg2); + Data::ConstructorTraversalVisitorPre, + Data::ConstructorTraversalVisitorPostAlg2); // Assign roots from the dummy node Base::roots_ = rootData.myJTNode->children; @@ -161,4 +190,4 @@ JunctionTree::JunctionTree( Base::remainingFactors_ = eliminationTree.remainingFactors(); } -} // namespace gtsam +} // namespace gtsam From 67013cba054e2e5bb81f7fbd8257a3ffb710b401 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 12:49:33 -0700 Subject: [PATCH 286/964] Separated merge decision from actual merging --- gtsam/inference/JunctionTree-inst.h | 61 ++++++++++++++++++----------- 1 file changed, 39 insertions(+), 22 deletions(-) diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index 5735a3bd2..232246d5e 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -73,7 +73,8 @@ struct ConstructorTraversalData { // Do symbolic elimination for this node SymbolicFactors symbolicFactors; - symbolicFactors.reserve(ETreeNode->factors.size() + myData.childSymbolicFactors.size()); + symbolicFactors.reserve( + ETreeNode->factors.size() + myData.childSymbolicFactors.size()); // Add ETree node factors symbolicFactors += ETreeNode->factors; // Add symbolic factors passed up from children @@ -96,29 +97,42 @@ struct ConstructorTraversalData { // Merge our children if they are in our clique - if our conditional has // exactly one fewer parent than our child's conditional. - size_t myNrFrontals = 1; const size_t myNrParents = myConditional->nrParents(); - assert(node->newChildren.size() == childConditionals.size()); + const size_t nrChildren = node->children.size(); + assert(childConditionals.size() == nrChildren); gttic(merge_children); - // First count how many keys, factors and children we'll end up with + + // decide which children to merge, as index into children + std::vector merge(nrChildren, false); + { + size_t myNrFrontals = 1; + for (size_t i = 0; i < nrChildren; ++i) { + // Check if we should merge the i^th child + if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { + sharedNode child = node->children[i]; + // Increment number of frontal variables + myNrFrontals += child->orderedFrontalKeys.size(); + merge[i] = true; + } + } + } + + // Count how many keys, factors and children we'll end up with size_t nrKeys = node->orderedFrontalKeys.size(); size_t nrFactors = node->factors.size(); - size_t nrChildren = 0; + size_t nrNewChildren = 0; // Loop over children - for (size_t i = 0; i < childConditionals.size(); ++i) { - // Check if we should merge the i^th child - if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { + for (size_t i = 0; i < nrChildren; ++i) { + if (merge[i]) { // Get a reference to the i, adjusting the index to account for children // previously merged and removed from the i list. sharedNode child = node->children[i]; nrKeys += child->orderedFrontalKeys.size(); nrFactors += child->factors.size(); - nrChildren += child->children.size(); - // Increment number of frontal variables - myNrFrontals += child->orderedFrontalKeys.size(); + nrNewChildren += child->children.size(); } else { - nrChildren += 1; // we keep the child + nrNewChildren += 1; // we keep the child } } @@ -126,14 +140,14 @@ struct ConstructorTraversalData { node->orderedFrontalKeys.reserve(nrKeys); node->factors.reserve(nrFactors); typename Node::Children newChildren; - newChildren.reserve(nrChildren); - myNrFrontals = 1; - int combinedProblemSize = (int) (myConditional->size() * symbolicFactors.size()); + newChildren.reserve(nrNewChildren); + int combinedProblemSize = (int) (myConditional->size() + * symbolicFactors.size()); // Loop over newChildren - for (size_t i = 0; i < childConditionals.size(); ++i) { + for (size_t i = 0; i < nrChildren; ++i) { // Check if we should merge the i^th child sharedNode child = node->children[i]; - if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { + if (merge[i]) { // Get a reference to the i, adjusting the index to account for newChildren // previously merged and removed from the i list. // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. @@ -141,18 +155,21 @@ struct ConstructorTraversalData { child->orderedFrontalKeys.rbegin(), child->orderedFrontalKeys.rend()); // Merge keys, factors, and children. - node->factors.insert(node->factors.end(), child->factors.begin(), child->factors.end()); - newChildren.insert(newChildren.end(), child->children.begin(), child->children.end()); + node->factors.insert(node->factors.end(), child->factors.begin(), + child->factors.end()); + newChildren.insert(newChildren.end(), child->children.begin(), + child->children.end()); // Increment problem size - combinedProblemSize = std::max(combinedProblemSize, child->problemSize_); + combinedProblemSize = std::max(combinedProblemSize, + child->problemSize_); // Increment number of frontal variables - myNrFrontals += child->orderedFrontalKeys.size(); } else { newChildren.push_back(child); // we keep the child } } node->children = newChildren; - std::reverse(node->orderedFrontalKeys.begin(), node->orderedFrontalKeys.end()); + std::reverse(node->orderedFrontalKeys.begin(), + node->orderedFrontalKeys.end()); gttoc(merge_children); node->problemSize_ = combinedProblemSize; } From 0d0a9e5b16308c1190ede3f4d4e9dfd901cf3b35 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 12:57:26 -0700 Subject: [PATCH 287/964] Formatting only --- gtsam/inference/ClusterTree.h | 209 +++++++++++++++++----------------- 1 file changed, 105 insertions(+), 104 deletions(-) diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index bb7cf17e1..260397ab1 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -13,118 +13,119 @@ #include #include -namespace gtsam -{ +namespace gtsam { - /** - * A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: - * each node k represents a subset \f$ C_k \sub X \f$, and the tree is family preserving, in that - * each factor \f$ f_i \f$ is associated with a single cluster and \f$ scope(f_i) \sub C_k \f$. - * \nosubgrouping - */ - template - class ClusterTree - { - public: - typedef GRAPH FactorGraphType; ///< The factor graph type - typedef typename GRAPH::FactorType FactorType; ///< The type of factors - typedef ClusterTree This; ///< This class - typedef boost::shared_ptr shared_ptr; ///< Shared pointer to this class - typedef boost::shared_ptr sharedFactor; ///< Shared pointer to a factor - typedef BAYESTREE BayesTreeType; ///< The BayesTree type produced by elimination - typedef typename BayesTreeType::ConditionalType ConditionalType; ///< The type of conditionals - typedef boost::shared_ptr sharedConditional; ///< Shared pointer to a conditional - typedef typename FactorGraphType::Eliminate Eliminate; ///< Typedef for an eliminate subroutine +/** + * A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: + * each node k represents a subset \f$ C_k \sub X \f$, and the tree is family preserving, in that + * each factor \f$ f_i \f$ is associated with a single cluster and \f$ scope(f_i) \sub C_k \f$. + * \nosubgrouping + */ +template +class ClusterTree { +public: + typedef GRAPH FactorGraphType; ///< The factor graph type + typedef typename GRAPH::FactorType FactorType; ///< The type of factors + typedef ClusterTree This; ///< This class + typedef boost::shared_ptr shared_ptr; ///< Shared pointer to this class + typedef boost::shared_ptr sharedFactor; ///< Shared pointer to a factor + typedef BAYESTREE BayesTreeType; ///< The BayesTree type produced by elimination + typedef typename BayesTreeType::ConditionalType ConditionalType; ///< The type of conditionals + typedef boost::shared_ptr sharedConditional; ///< Shared pointer to a conditional + typedef typename FactorGraphType::Eliminate Eliminate; ///< Typedef for an eliminate subroutine - struct Cluster { - typedef Ordering Keys; - typedef FastVector Factors; - typedef FastVector > Children; + struct Cluster { + typedef Ordering Keys; + typedef FastVector Factors; + typedef FastVector > Children; - Cluster() {} - Cluster(Key key, const Factors& factors) : factors(factors) { - orderedFrontalKeys.push_back(key); - } + Cluster() { + } + Cluster(Key key, const Factors& factors) : + factors(factors) { + orderedFrontalKeys.push_back(key); + } - Keys orderedFrontalKeys; ///< Frontal keys of this node - Factors factors; ///< Factors associated with this node - Children children; ///< sub-trees - int problemSize_; + Keys orderedFrontalKeys; ///< Frontal keys of this node + Factors factors; ///< Factors associated with this node + Children children; ///< sub-trees + int problemSize_; - int problemSize() const { return problemSize_; } - - /** print this node */ - void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; - }; - - typedef boost::shared_ptr sharedCluster; ///< Shared pointer to Cluster - typedef Cluster Node; ///< Define Node=Cluster for compatibility with tree traversal functions - typedef sharedCluster sharedNode; ///< Define Node=Cluster for compatibility with tree traversal functions - - /** concept check */ - GTSAM_CONCEPT_TESTABLE_TYPE(FactorType); - - protected: - FastVector roots_; - FastVector remainingFactors_; - - /// @name Standard Constructors - /// @{ - - /** Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are - * copied, factors are not cloned. */ - ClusterTree(const This& other) { *this = other; } - - /// @} - - public: - /// @name Testable - /// @{ - - /** Print the cluster tree */ - void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; - - /// @} - - /// @name Standard Interface - /// @{ - - /** Eliminate the factors to a Bayes tree and remaining factor graph - * @param function The function to use to eliminate, see the namespace functions - * in GaussianFactorGraph.h - * @return The Bayes tree and factor graph resulting from elimination - */ - std::pair, boost::shared_ptr > - eliminate(const Eliminate& function) const; - - /// @} - - /// @name Advanced Interface - /// @{ - - /** Return the set of roots (one for a tree, multiple for a forest) */ - const FastVector& roots() const { return roots_; } - - /** Return the remaining factors that are not pulled into elimination */ - const FastVector& remainingFactors() const { return remainingFactors_; } - - /// @} - - protected: - /// @name Details - - /// Assignment operator - makes a deep copy of the tree structure, but only pointers to factors - /// are copied, factors are not cloned. - This& operator=(const This& other); - - /// Default constructor to be used in derived classes - ClusterTree() {} - - /// @} + int problemSize() const { + return problemSize_; + } + /** print this node */ + void print(const std::string& s = "", const KeyFormatter& keyFormatter = + DefaultKeyFormatter) const; }; + typedef boost::shared_ptr sharedCluster; ///< Shared pointer to Cluster + typedef Cluster Node; ///< Define Node=Cluster for compatibility with tree traversal functions + typedef sharedCluster sharedNode; ///< Define Node=Cluster for compatibility with tree traversal functions + + /** concept check */ + GTSAM_CONCEPT_TESTABLE_TYPE(FactorType); + +protected: + FastVector roots_; + FastVector remainingFactors_; + + /// @name Standard Constructors + /// @{ + + /** Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are + * copied, factors are not cloned. */ + ClusterTree(const This& other) {*this = other;} + + /// @} + +public: + /// @name Testable + /// @{ + + /** Print the cluster tree */ + void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + + /// @} + + /// @name Standard Interface + /// @{ + + /** Eliminate the factors to a Bayes tree and remaining factor graph + * @param function The function to use to eliminate, see the namespace functions + * in GaussianFactorGraph.h + * @return The Bayes tree and factor graph resulting from elimination + */ + std::pair, boost::shared_ptr > + eliminate(const Eliminate& function) const; + + /// @} + + /// @name Advanced Interface + /// @{ + + /** Return the set of roots (one for a tree, multiple for a forest) */ + const FastVector& roots() const {return roots_;} + + /** Return the remaining factors that are not pulled into elimination */ + const FastVector& remainingFactors() const {return remainingFactors_;} + + /// @} + +protected: + /// @name Details + + /// Assignment operator - makes a deep copy of the tree structure, but only pointers to factors + /// are copied, factors are not cloned. + This& operator=(const This& other); + + /// Default constructor to be used in derived classes + ClusterTree() {} + + /// @} + +}; } - From c8f8791bab62fad97e9ed671533c9c733a09d500 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 13:06:42 -0700 Subject: [PATCH 288/964] Moved merging to ClusterTree --- gtsam/inference/ClusterTree.h | 55 +++++++++++++++++++++ gtsam/inference/JunctionTree-inst.h | 74 ++++------------------------- 2 files changed, 65 insertions(+), 64 deletions(-) diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 260397ab1..0b98d3e36 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -58,6 +58,61 @@ public: /** print this node */ void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + + void mergeChildren(const std::vector& merge) { + gttic(merge_children); + size_t nrChildren = children.size(); + + // Count how many keys, factors and children we'll end up with + size_t nrKeys = this->orderedFrontalKeys.size(); + size_t nrFactors = this->factors.size(); + size_t nrNewChildren = 0; + // Loop over children + for (size_t i = 0; i < nrChildren; ++i) { + if (merge[i]) { + // Get a reference to the i, adjusting the index to account for children + // previously merged and removed from the i list. + sharedNode child = this->children[i]; + nrKeys += child->orderedFrontalKeys.size(); + nrFactors += child->factors.size(); + nrNewChildren += child->children.size(); + } else { + nrNewChildren += 1; // we keep the child + } + } + + // now reserve space, and really merge + this->orderedFrontalKeys.reserve(nrKeys); + this->factors.reserve(nrFactors); + typename Node::Children newChildren; + newChildren.reserve(nrNewChildren); + // Loop over newChildren + for (size_t i = 0; i < nrChildren; ++i) { + // Check if we should merge the i^th child + sharedNode child = this->children[i]; + if (merge[i]) { + // Get a reference to the i, adjusting the index to account for newChildren + // previously merged and removed from the i list. + // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. + this->orderedFrontalKeys.insert(this->orderedFrontalKeys.end(), + child->orderedFrontalKeys.rbegin(), + child->orderedFrontalKeys.rend()); + // Merge keys, factors, and children. + this->factors.insert(this->factors.end(), child->factors.begin(), + child->factors.end()); + newChildren.insert(newChildren.end(), child->children.begin(), + child->children.end()); + // Increment problem size + problemSize_ = std::max(problemSize_, child->problemSize_); + // Increment number of frontal variables + } else { + newChildren.push_back(child); // we keep the child + } + } + this->children = newChildren; + std::reverse(this->orderedFrontalKeys.begin(), + this->orderedFrontalKeys.end()); + } }; typedef boost::shared_ptr sharedCluster; ///< Shared pointer to Cluster diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index 232246d5e..de349ddc8 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -94,6 +94,7 @@ struct ConstructorTraversalData { sharedNode node = myData.myJTNode; const FastVector& childConditionals = myData.childSymbolicConditionals; + node->problemSize_ = (int) (myConditional->size() * symbolicFactors.size()); // Merge our children if they are in our clique - if our conditional has // exactly one fewer parent than our child's conditional. @@ -105,76 +106,21 @@ struct ConstructorTraversalData { // decide which children to merge, as index into children std::vector merge(nrChildren, false); - { - size_t myNrFrontals = 1; - for (size_t i = 0; i < nrChildren; ++i) { - // Check if we should merge the i^th child - if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { - sharedNode child = node->children[i]; - // Increment number of frontal variables - myNrFrontals += child->orderedFrontalKeys.size(); - merge[i] = true; - } - } - } - - // Count how many keys, factors and children we'll end up with - size_t nrKeys = node->orderedFrontalKeys.size(); - size_t nrFactors = node->factors.size(); - size_t nrNewChildren = 0; - // Loop over children - for (size_t i = 0; i < nrChildren; ++i) { - if (merge[i]) { - // Get a reference to the i, adjusting the index to account for children - // previously merged and removed from the i list. - sharedNode child = node->children[i]; - nrKeys += child->orderedFrontalKeys.size(); - nrFactors += child->factors.size(); - nrNewChildren += child->children.size(); - } else { - nrNewChildren += 1; // we keep the child - } - } - - // now reserve space, and really merge - node->orderedFrontalKeys.reserve(nrKeys); - node->factors.reserve(nrFactors); - typename Node::Children newChildren; - newChildren.reserve(nrNewChildren); - int combinedProblemSize = (int) (myConditional->size() - * symbolicFactors.size()); - // Loop over newChildren + size_t myNrFrontals = 1; for (size_t i = 0; i < nrChildren; ++i) { // Check if we should merge the i^th child - sharedNode child = node->children[i]; - if (merge[i]) { - // Get a reference to the i, adjusting the index to account for newChildren - // previously merged and removed from the i list. - // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. - node->orderedFrontalKeys.insert(node->orderedFrontalKeys.end(), - child->orderedFrontalKeys.rbegin(), - child->orderedFrontalKeys.rend()); - // Merge keys, factors, and children. - node->factors.insert(node->factors.end(), child->factors.begin(), - child->factors.end()); - newChildren.insert(newChildren.end(), child->children.begin(), - child->children.end()); - // Increment problem size - combinedProblemSize = std::max(combinedProblemSize, - child->problemSize_); + if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { + sharedNode child = node->children[i]; // Increment number of frontal variables - } else { - newChildren.push_back(child); // we keep the child + myNrFrontals += child->orderedFrontalKeys.size(); + merge[i] = true; } } - node->children = newChildren; - std::reverse(node->orderedFrontalKeys.begin(), - node->orderedFrontalKeys.end()); - gttoc(merge_children); - node->problemSize_ = combinedProblemSize; + + // now really merge + node->mergeChildren(merge); } -} -; +}; /* ************************************************************************* */ template From 000f807eda758ee2423181e06b933b240e164fa9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 13:10:44 -0700 Subject: [PATCH 289/964] Formatting only --- gtsam/inference/ClusterTree-inst.h | 310 ++++++++++++++--------------- 1 file changed, 155 insertions(+), 155 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index 1987a0a5a..b76430c20 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -7,178 +7,178 @@ * @brief Collects factorgraph fragments defined on variable clusters, arranged in a tree */ -#include -#include #include #include #include +#include +#include #include #include -namespace gtsam -{ - namespace - { - /* ************************************************************************* */ - // Elimination traversal data - stores a pointer to the parent data and collects the factors - // resulting from elimination of the children. Also sets up BayesTree cliques with parent and - // child pointers. - template - struct EliminationData { - EliminationData* const parentData; - size_t myIndexInParent; - FastVector childFactors; - boost::shared_ptr bayesTreeNode; - EliminationData(EliminationData* _parentData, size_t nChildren) : - parentData(_parentData), - bayesTreeNode(boost::make_shared()) - { - if(parentData) { - myIndexInParent = parentData->childFactors.size(); - parentData->childFactors.push_back(typename CLUSTERTREE::sharedFactor()); - } else { - myIndexInParent = 0; - } - // Set up BayesTree parent and child pointers - if(parentData) { - if(parentData->parentData) // If our parent is not the dummy node - bayesTreeNode->parent_ = parentData->bayesTreeNode; - parentData->bayesTreeNode->children.push_back(bayesTreeNode); - } - } - }; +namespace gtsam { +namespace { +/* ************************************************************************* */ +// Elimination traversal data - stores a pointer to the parent data and collects the factors +// resulting from elimination of the children. Also sets up BayesTree cliques with parent and +// child pointers. +template +struct EliminationData { + EliminationData* const parentData; + size_t myIndexInParent; + FastVector childFactors; + boost::shared_ptr bayesTreeNode; + EliminationData(EliminationData* _parentData, size_t nChildren) : + parentData(_parentData), bayesTreeNode( + boost::make_shared()) { + if (parentData) { + myIndexInParent = parentData->childFactors.size(); + parentData->childFactors.push_back(typename CLUSTERTREE::sharedFactor()); + } else { + myIndexInParent = 0; + } + // Set up BayesTree parent and child pointers + if (parentData) { + if (parentData->parentData) // If our parent is not the dummy node + bayesTreeNode->parent_ = parentData->bayesTreeNode; + parentData->bayesTreeNode->children.push_back(bayesTreeNode); + } + } +}; - /* ************************************************************************* */ - // Elimination pre-order visitor - just creates the EliminationData structure for the visited - // node. - template - EliminationData eliminationPreOrderVisitor( - const typename CLUSTERTREE::sharedNode& node, EliminationData& parentData) - { - EliminationData myData(&parentData, node->children.size()); - myData.bayesTreeNode->problemSize_ = node->problemSize(); - return myData; +/* ************************************************************************* */ +// Elimination pre-order visitor - just creates the EliminationData structure for the visited +// node. +template +EliminationData eliminationPreOrderVisitor( + const typename CLUSTERTREE::sharedNode& node, + EliminationData& parentData) { + EliminationData myData(&parentData, node->children.size()); + myData.bayesTreeNode->problemSize_ = node->problemSize(); + return myData; +} + +/* ************************************************************************* */ +// Elimination post-order visitor - combine the child factors with our own factors, add the +// resulting conditional to the BayesTree, and add the remaining factor to the parent. +template +struct EliminationPostOrderVisitor { + const typename CLUSTERTREE::Eliminate& eliminationFunction; + typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex; + EliminationPostOrderVisitor( + const typename CLUSTERTREE::Eliminate& eliminationFunction, + typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex) : + eliminationFunction(eliminationFunction), nodesIndex(nodesIndex) { + } + void operator()(const typename CLUSTERTREE::sharedNode& node, + EliminationData& myData) { + // Typedefs + typedef typename CLUSTERTREE::sharedFactor sharedFactor; + typedef typename CLUSTERTREE::FactorType FactorType; + typedef typename CLUSTERTREE::FactorGraphType FactorGraphType; + typedef typename CLUSTERTREE::ConditionalType ConditionalType; + typedef typename CLUSTERTREE::BayesTreeType::Node BTNode; + + // Gather factors + FactorGraphType gatheredFactors; + gatheredFactors.reserve(node->factors.size() + node->children.size()); + gatheredFactors += node->factors; + gatheredFactors += myData.childFactors; + + // Check for Bayes tree orphan subtrees, and add them to our children + BOOST_FOREACH(const sharedFactor& f, node->factors) { + if (const BayesTreeOrphanWrapper* asSubtree = + dynamic_cast*>(f.get())) { + myData.bayesTreeNode->children.push_back(asSubtree->clique); + asSubtree->clique->parent_ = myData.bayesTreeNode; + } } - /* ************************************************************************* */ - // Elimination post-order visitor - combine the child factors with our own factors, add the - // resulting conditional to the BayesTree, and add the remaining factor to the parent. - template - struct EliminationPostOrderVisitor - { - const typename CLUSTERTREE::Eliminate& eliminationFunction; - typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex; - EliminationPostOrderVisitor(const typename CLUSTERTREE::Eliminate& eliminationFunction, - typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex) : - eliminationFunction(eliminationFunction), nodesIndex(nodesIndex) {} - void operator()(const typename CLUSTERTREE::sharedNode& node, EliminationData& myData) - { - // Typedefs - typedef typename CLUSTERTREE::sharedFactor sharedFactor; - typedef typename CLUSTERTREE::FactorType FactorType; - typedef typename CLUSTERTREE::FactorGraphType FactorGraphType; - typedef typename CLUSTERTREE::ConditionalType ConditionalType; - typedef typename CLUSTERTREE::BayesTreeType::Node BTNode; + // Do dense elimination step + std::pair, boost::shared_ptr > eliminationResult = + eliminationFunction(gatheredFactors, node->orderedFrontalKeys); - // Gather factors - FactorGraphType gatheredFactors; - gatheredFactors.reserve(node->factors.size() + node->children.size()); - gatheredFactors += node->factors; - gatheredFactors += myData.childFactors; + // Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor + myData.bayesTreeNode->setEliminationResult(eliminationResult); - // Check for Bayes tree orphan subtrees, and add them to our children - BOOST_FOREACH(const sharedFactor& f, node->factors) - { - if(const BayesTreeOrphanWrapper* asSubtree = dynamic_cast*>(f.get())) - { - myData.bayesTreeNode->children.push_back(asSubtree->clique); - asSubtree->clique->parent_ = myData.bayesTreeNode; - } - } + // Fill nodes index - we do this here instead of calling insertRoot at the end to avoid + // putting orphan subtrees in the index - they'll already be in the index of the ISAM2 + // object they're added to. + BOOST_FOREACH(const Key& j, myData.bayesTreeNode->conditional()->frontals()) + nodesIndex.insert(std::make_pair(j, myData.bayesTreeNode)); - // Do dense elimination step - std::pair, boost::shared_ptr > eliminationResult = - eliminationFunction(gatheredFactors, node->orderedFrontalKeys); - - // Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor - myData.bayesTreeNode->setEliminationResult(eliminationResult); - - // Fill nodes index - we do this here instead of calling insertRoot at the end to avoid - // putting orphan subtrees in the index - they'll already be in the index of the ISAM2 - // object they're added to. - BOOST_FOREACH(const Key& j, myData.bayesTreeNode->conditional()->frontals()) - nodesIndex.insert(std::make_pair(j, myData.bayesTreeNode)); - - // Store remaining factor in parent's gathered factors - if(!eliminationResult.second->empty()) - myData.parentData->childFactors[myData.myIndexInParent] = eliminationResult.second; - } - }; + // Store remaining factor in parent's gathered factors + if (!eliminationResult.second->empty()) + myData.parentData->childFactors[myData.myIndexInParent] = + eliminationResult.second; } +}; +} - /* ************************************************************************* */ - template - void ClusterTree::Cluster::print( - const std::string& s, const KeyFormatter& keyFormatter) const +/* ************************************************************************* */ +template +void ClusterTree::Cluster::print(const std::string& s, + const KeyFormatter& keyFormatter) const { + std::cout << s << " (" << problemSize_ << ")"; + PrintKeyVector(orderedFrontalKeys); +} + +/* ************************************************************************* */ +template +void ClusterTree::print(const std::string& s, + const KeyFormatter& keyFormatter) const { + treeTraversal::PrintForest(*this, s, keyFormatter); +} + +/* ************************************************************************* */ +template +ClusterTree& ClusterTree::operator=( + const This& other) { + // Start by duplicating the tree. + roots_ = treeTraversal::CloneForest(other); + + // Assign the remaining factors - these are pointers to factors in the original factor graph and + // we do not clone them. + remainingFactors_ = other.remainingFactors_; + + return *this; +} + +/* ************************************************************************* */ +template +std::pair, boost::shared_ptr > ClusterTree< + BAYESTREE, GRAPH>::eliminate(const Eliminate& function) const { + gttic(ClusterTree_eliminate); + // Do elimination (depth-first traversal). The rootsContainer stores a 'dummy' BayesTree node + // that contains all of the roots as its children. rootsContainer also stores the remaining + // uneliminated factors passed up from the roots. + boost::shared_ptr result = boost::make_shared(); + EliminationData rootsContainer(0, roots_.size()); + EliminationPostOrderVisitor visitorPost(function, result->nodes_); { - std::cout << s << " (" << problemSize_ << ")" ; - PrintKeyVector(orderedFrontalKeys); - } - - /* ************************************************************************* */ - template - void ClusterTree::print( - const std::string& s, const KeyFormatter& keyFormatter) const - { - treeTraversal::PrintForest(*this, s, keyFormatter); - } - - /* ************************************************************************* */ - template - ClusterTree& ClusterTree::operator=(const This& other) - { - // Start by duplicating the tree. - roots_ = treeTraversal::CloneForest(other); - - // Assign the remaining factors - these are pointers to factors in the original factor graph and - // we do not clone them. - remainingFactors_ = other.remainingFactors_; - - return *this; - } - - /* ************************************************************************* */ - template - std::pair, boost::shared_ptr > - ClusterTree::eliminate(const Eliminate& function) const - { - gttic(ClusterTree_eliminate); - // Do elimination (depth-first traversal). The rootsContainer stores a 'dummy' BayesTree node - // that contains all of the roots as its children. rootsContainer also stores the remaining - // uneliminated factors passed up from the roots. - boost::shared_ptr result = boost::make_shared(); - EliminationData rootsContainer(0, roots_.size()); - EliminationPostOrderVisitor visitorPost(function, result->nodes_); - { - TbbOpenMPMixedScope threadLimiter; // Limits OpenMP threads since we're mixing TBB and OpenMP - treeTraversal::DepthFirstForestParallel(*this, rootsContainer, + TbbOpenMPMixedScope threadLimiter; // Limits OpenMP threads since we're mixing TBB and OpenMP + treeTraversal::DepthFirstForestParallel(*this, rootsContainer, eliminationPreOrderVisitor, visitorPost, 10); - } - - // Create BayesTree from roots stored in the dummy BayesTree node. - result->roots_.insert(result->roots_.end(), rootsContainer.bayesTreeNode->children.begin(), rootsContainer.bayesTreeNode->children.end()); - - // Add remaining factors that were not involved with eliminated variables - boost::shared_ptr allRemainingFactors = boost::make_shared(); - allRemainingFactors->reserve(remainingFactors_.size() + rootsContainer.childFactors.size()); - allRemainingFactors->push_back(remainingFactors_.begin(), remainingFactors_.end()); - BOOST_FOREACH(const sharedFactor& factor, rootsContainer.childFactors) - if(factor) - allRemainingFactors->push_back(factor); - - // Return result - return std::make_pair(result, allRemainingFactors); } + // Create BayesTree from roots stored in the dummy BayesTree node. + result->roots_.insert(result->roots_.end(), + rootsContainer.bayesTreeNode->children.begin(), + rootsContainer.bayesTreeNode->children.end()); + + // Add remaining factors that were not involved with eliminated variables + boost::shared_ptr allRemainingFactors = boost::make_shared< + FactorGraphType>(); + allRemainingFactors->reserve( + remainingFactors_.size() + rootsContainer.childFactors.size()); + allRemainingFactors->push_back(remainingFactors_.begin(), + remainingFactors_.end()); + BOOST_FOREACH(const sharedFactor& factor, rootsContainer.childFactors) + if (factor) + allRemainingFactors->push_back(factor); + + // Return result + return std::make_pair(result, allRemainingFactors); +} + } From b95bc712f41f6c1dff21df02f431b8fedc2f9d02 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 13:18:28 -0700 Subject: [PATCH 290/964] Kill stray timing --- gtsam/inference/JunctionTree-inst.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index de349ddc8..2df7aa930 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -102,8 +102,6 @@ struct ConstructorTraversalData { const size_t nrChildren = node->children.size(); assert(childConditionals.size() == nrChildren); - gttic(merge_children); - // decide which children to merge, as index into children std::vector merge(nrChildren, false); size_t myNrFrontals = 1; From d34c1808a8d1f4b0dceea6a4b490ab367f89a96d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 13:18:43 -0700 Subject: [PATCH 291/964] Moved to inst file --- gtsam/inference/ClusterTree-inst.h | 56 +++++++++++++++++++++++++++++ gtsam/inference/ClusterTree.h | 58 ++---------------------------- 2 files changed, 59 insertions(+), 55 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index b76430c20..bbe878907 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -123,6 +123,62 @@ void ClusterTree::Cluster::print(const std::string& s, PrintKeyVector(orderedFrontalKeys); } +/* ************************************************************************* */ +template +void ClusterTree::Cluster::mergeChildren( + const std::vector& merge) { + gttic(Cluster::mergeChildren); + size_t nrChildren = children.size(); + + // Count how many keys, factors and children we'll end up with + size_t nrKeys = orderedFrontalKeys.size(); + size_t nrFactors = factors.size(); + size_t nrNewChildren = 0; + // Loop over children + for (size_t i = 0; i < nrChildren; ++i) { + if (merge[i]) { + // Get a reference to the i, adjusting the index to account for children + // previously merged and removed from the i list. + sharedNode child = children[i]; + nrKeys += child->orderedFrontalKeys.size(); + nrFactors += child->factors.size(); + nrNewChildren += child->children.size(); + } else { + nrNewChildren += 1; // we keep the child + } + } + + // now reserve space, and really merge + orderedFrontalKeys.reserve(nrKeys); + factors.reserve(nrFactors); + typename Node::Children newChildren; + newChildren.reserve(nrNewChildren); + // Loop over newChildren + for (size_t i = 0; i < nrChildren; ++i) { + // Check if we should merge the i^th child + sharedNode child = children[i]; + if (merge[i]) { + // Get a reference to the i, adjusting the index to account for newChildren + // previously merged and removed from the i list. + // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. + orderedFrontalKeys.insert(orderedFrontalKeys.end(), + child->orderedFrontalKeys.rbegin(), child->orderedFrontalKeys.rend()); + // Merge keys, factors, and children. + factors.insert(factors.end(), child->factors.begin(), + child->factors.end()); + newChildren.insert(newChildren.end(), child->children.begin(), + child->children.end()); + // Increment problem size + problemSize_ = std::max(problemSize_, child->problemSize_); + // Increment number of frontal variables + } else { + newChildren.push_back(child); // we keep the child + } + } + children = newChildren; + std::reverse(orderedFrontalKeys.begin(), orderedFrontalKeys.end()); +} + /* ************************************************************************* */ template void ClusterTree::print(const std::string& s, diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 0b98d3e36..b00532d22 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -55,64 +55,12 @@ public: return problemSize_; } - /** print this node */ + /// print this node void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; - void mergeChildren(const std::vector& merge) { - gttic(merge_children); - size_t nrChildren = children.size(); - - // Count how many keys, factors and children we'll end up with - size_t nrKeys = this->orderedFrontalKeys.size(); - size_t nrFactors = this->factors.size(); - size_t nrNewChildren = 0; - // Loop over children - for (size_t i = 0; i < nrChildren; ++i) { - if (merge[i]) { - // Get a reference to the i, adjusting the index to account for children - // previously merged and removed from the i list. - sharedNode child = this->children[i]; - nrKeys += child->orderedFrontalKeys.size(); - nrFactors += child->factors.size(); - nrNewChildren += child->children.size(); - } else { - nrNewChildren += 1; // we keep the child - } - } - - // now reserve space, and really merge - this->orderedFrontalKeys.reserve(nrKeys); - this->factors.reserve(nrFactors); - typename Node::Children newChildren; - newChildren.reserve(nrNewChildren); - // Loop over newChildren - for (size_t i = 0; i < nrChildren; ++i) { - // Check if we should merge the i^th child - sharedNode child = this->children[i]; - if (merge[i]) { - // Get a reference to the i, adjusting the index to account for newChildren - // previously merged and removed from the i list. - // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. - this->orderedFrontalKeys.insert(this->orderedFrontalKeys.end(), - child->orderedFrontalKeys.rbegin(), - child->orderedFrontalKeys.rend()); - // Merge keys, factors, and children. - this->factors.insert(this->factors.end(), child->factors.begin(), - child->factors.end()); - newChildren.insert(newChildren.end(), child->children.begin(), - child->children.end()); - // Increment problem size - problemSize_ = std::max(problemSize_, child->problemSize_); - // Increment number of frontal variables - } else { - newChildren.push_back(child); // we keep the child - } - } - this->children = newChildren; - std::reverse(this->orderedFrontalKeys.begin(), - this->orderedFrontalKeys.end()); - } + /// Merge all children for which bit is set into this node + void mergeChildren(const std::vector& merge); }; typedef boost::shared_ptr sharedCluster; ///< Shared pointer to Cluster From e2d49922d22ced379efe31fbaf4a7c0601bd56f6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 13:39:55 -0700 Subject: [PATCH 292/964] Switch to list - made code be container-agnostic --- gtsam/inference/ClusterTree-inst.h | 19 +++++++------------ gtsam/inference/ClusterTree.h | 2 +- gtsam/inference/JunctionTree-inst.h | 11 +++++++---- tests/testGaussianJunctionTreeB.cpp | 10 +++++----- 4 files changed, 20 insertions(+), 22 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index bbe878907..d777fcfe7 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -128,38 +128,32 @@ template void ClusterTree::Cluster::mergeChildren( const std::vector& merge) { gttic(Cluster::mergeChildren); - size_t nrChildren = children.size(); // Count how many keys, factors and children we'll end up with size_t nrKeys = orderedFrontalKeys.size(); size_t nrFactors = factors.size(); size_t nrNewChildren = 0; // Loop over children - for (size_t i = 0; i < nrChildren; ++i) { + size_t i = 0; + BOOST_FOREACH(const sharedNode& child, children) { if (merge[i]) { - // Get a reference to the i, adjusting the index to account for children - // previously merged and removed from the i list. - sharedNode child = children[i]; nrKeys += child->orderedFrontalKeys.size(); nrFactors += child->factors.size(); nrNewChildren += child->children.size(); } else { nrNewChildren += 1; // we keep the child } + ++i; } // now reserve space, and really merge orderedFrontalKeys.reserve(nrKeys); factors.reserve(nrFactors); typename Node::Children newChildren; - newChildren.reserve(nrNewChildren); - // Loop over newChildren - for (size_t i = 0; i < nrChildren; ++i) { - // Check if we should merge the i^th child - sharedNode child = children[i]; + // newChildren.reserve(nrNewChildren); + i = 0; + BOOST_FOREACH(const sharedNode& child, children) { if (merge[i]) { - // Get a reference to the i, adjusting the index to account for newChildren - // previously merged and removed from the i list. // Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after.. orderedFrontalKeys.insert(orderedFrontalKeys.end(), child->orderedFrontalKeys.rbegin(), child->orderedFrontalKeys.rend()); @@ -174,6 +168,7 @@ void ClusterTree::Cluster::mergeChildren( } else { newChildren.push_back(child); // we keep the child } + ++i; } children = newChildren; std::reverse(orderedFrontalKeys.begin(), orderedFrontalKeys.end()); diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index b00532d22..41232e1a1 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -37,7 +37,7 @@ public: struct Cluster { typedef Ordering Keys; typedef FastVector Factors; - typedef FastVector > Children; + typedef FastList > Children; Cluster() { } diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h index 2df7aa930..352a8dded 100644 --- a/gtsam/inference/JunctionTree-inst.h +++ b/gtsam/inference/JunctionTree-inst.h @@ -104,15 +104,15 @@ struct ConstructorTraversalData { // decide which children to merge, as index into children std::vector merge(nrChildren, false); - size_t myNrFrontals = 1; - for (size_t i = 0; i < nrChildren; ++i) { + size_t myNrFrontals = 1, i = 0; + BOOST_FOREACH(const sharedNode& child, node->children) { // Check if we should merge the i^th child if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) { - sharedNode child = node->children[i]; // Increment number of frontal variables myNrFrontals += child->orderedFrontalKeys.size(); merge[i] = true; } + ++i; } // now really merge @@ -145,7 +145,10 @@ JunctionTree::JunctionTree( Data::ConstructorTraversalVisitorPostAlg2); // Assign roots from the dummy node - Base::roots_ = rootData.myJTNode->children; + typedef typename JunctionTree::Node Node; + const typename Node::Children& children = rootData.myJTNode->children; + Base::roots_.reserve(children.size()); + Base::roots_.insert(Base::roots_.begin(), children.begin(), children.end()); // Transfer remaining factors from elimination tree Base::remainingFactors_ = eliminationTree.remainingFactors(); diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index c5401512b..18d249894 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -103,15 +103,15 @@ TEST( GaussianJunctionTreeB, constructor2 ) GaussianJunctionTree::sharedNode x324 = actual.roots().front(); LONGS_EQUAL(2, x324->children.size()); #if defined(__APPLE__) // tie-breaking seems different :-( - GaussianJunctionTree::sharedNode x1 = x324->children[0]; - GaussianJunctionTree::sharedNode x56 = x324->children[1]; + GaussianJunctionTree::sharedNode x1 = x324->children.front(); + GaussianJunctionTree::sharedNode x56 = x324->children.back(); #else - GaussianJunctionTree::sharedNode x1 = x324->children[1]; - GaussianJunctionTree::sharedNode x56 = x324->children[0]; + GaussianJunctionTree::sharedNode x1 = x324->children.back(); + GaussianJunctionTree::sharedNode x56 = x324->children.front(); #endif LONGS_EQUAL(0, x1->children.size()); LONGS_EQUAL(1, x56->children.size()); - GaussianJunctionTree::sharedNode x7 = x56->children[0]; + GaussianJunctionTree::sharedNode x7 = x56->children.front(); LONGS_EQUAL(0, x7->children.size()); EXPECT(assert_equal(o324, x324->orderedFrontalKeys)); From 22b7d8276aa80a56a19b6ac3e719175402d6f700 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 13:56:48 -0700 Subject: [PATCH 293/964] Formatting --- gtsam/base/treeTraversal-inst.h | 395 ++++++++++++++++---------------- 1 file changed, 200 insertions(+), 195 deletions(-) diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h index 3edd7d076..669186e3f 100644 --- a/gtsam/base/treeTraversal-inst.h +++ b/gtsam/base/treeTraversal-inst.h @@ -1,19 +1,19 @@ /* ---------------------------------------------------------------------------- -* 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) + * 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 + * See LICENSE for the license information -* -------------------------------------------------------------------------- */ + * -------------------------------------------------------------------------- */ /** -* @file treeTraversal-inst.h -* @author Richard Roberts -* @date April 9, 2013 -*/ + * @file treeTraversal-inst.h + * @author Richard Roberts + * @date April 9, 2013 + */ #pragma once #include @@ -33,192 +33,197 @@ namespace gtsam { - /** Internal functions used for traversing trees */ - namespace treeTraversal { +/** Internal functions used for traversing trees */ +namespace treeTraversal { - /* ************************************************************************* */ - namespace { - // Internal node used in DFS preorder stack - template - struct TraversalNode { - bool expanded; - const boost::shared_ptr& treeNode; - DATA& parentData; - typename FastList::iterator dataPointer; - TraversalNode(const boost::shared_ptr& _treeNode, DATA& _parentData) : - expanded(false), treeNode(_treeNode), parentData(_parentData) {} - }; - - // Do nothing - default argument for post-visitor for tree traversal - struct no_op { - template - void operator()(const boost::shared_ptr& node, const DATA& data) {} - }; - - } - - /** Traverse a forest depth-first with pre-order and post-order visits. - * @param forest The forest of trees to traverse. The method \c forest.roots() should exist - * and return a collection of (shared) pointers to \c FOREST::Node. - * @param visitorPre \c visitorPre(node, parentData) will be called at every node, before - * visiting its children, and will be passed, by reference, the \c DATA object returned - * by the visit to its parent. Likewise, \c visitorPre should return the \c DATA object - * to pass to the children. The returned \c DATA object will be copy-constructed only - * upon returning to store internally, thus may be modified by visiting the children. - * Regarding efficiency, this copy-on-return is usually optimized out by the compiler. - * @param visitorPost \c visitorPost(node, data) will be called at every node, after visiting - * its children, and will be passed, by reference, the \c DATA object returned by the - * call to \c visitorPre (the \c DATA object may be modified by visiting the children). - * @param rootData The data to pass by reference to \c visitorPre when it is called on each - * root node. */ - template - void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost) - { - // Typedefs - typedef typename FOREST::Node Node; - typedef boost::shared_ptr sharedNode; - - // Depth first traversal stack - typedef TraversalNode TraversalNode; - typedef FastList Stack; - Stack stack; - FastList dataList; // List to store node data as it is returned from the pre-order visitor - - // Add roots to stack (insert such that they are visited and processed in order - { - typename Stack::iterator insertLocation = stack.begin(); - BOOST_FOREACH(const sharedNode& root, forest.roots()) - stack.insert(insertLocation, TraversalNode(root, rootData)); - } - - // Traverse - while(!stack.empty()) - { - // Get next node - TraversalNode& node = stack.front(); - - if(node.expanded) { - // If already expanded, then the data stored in the node is no longer needed, so visit - // then delete it. - (void) visitorPost(node.treeNode, *node.dataPointer); - dataList.erase(node.dataPointer); - stack.pop_front(); - } else { - // If not already visited, visit the node and add its children (use reverse iterators so - // children are processed in the order they appear) - node.dataPointer = dataList.insert(dataList.end(), visitorPre(node.treeNode, node.parentData)); - typename Stack::iterator insertLocation = stack.begin(); - BOOST_FOREACH(const sharedNode& child, node.treeNode->children) - stack.insert(insertLocation, TraversalNode(child, *node.dataPointer)); - node.expanded = true; - } - } - assert(dataList.empty()); - } - - /** Traverse a forest depth-first, with a pre-order visit but no post-order visit. - * @param forest The forest of trees to traverse. The method \c forest.roots() should exist - * and return a collection of (shared) pointers to \c FOREST::Node. - * @param visitorPre \c visitorPre(node, parentData) will be called at every node, before - * visiting its children, and will be passed, by reference, the \c DATA object returned - * by the visit to its parent. Likewise, \c visitorPre should return the \c DATA object - * to pass to the children. The returned \c DATA object will be copy-constructed only - * upon returning to store internally, thus may be modified by visiting the children. - * Regarding efficiency, this copy-on-return is usually optimized out by the compiler. - * @param rootData The data to pass by reference to \c visitorPre when it is called on each - * root node. */ - template - void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) - { - no_op visitorPost; - DepthFirstForest(forest, rootData, visitorPre, visitorPost); - } - - /** Traverse a forest depth-first with pre-order and post-order visits. - * @param forest The forest of trees to traverse. The method \c forest.roots() should exist - * and return a collection of (shared) pointers to \c FOREST::Node. - * @param visitorPre \c visitorPre(node, parentData) will be called at every node, before - * visiting its children, and will be passed, by reference, the \c DATA object returned - * by the visit to its parent. Likewise, \c visitorPre should return the \c DATA object - * to pass to the children. The returned \c DATA object will be copy-constructed only - * upon returning to store internally, thus may be modified by visiting the children. - * Regarding efficiency, this copy-on-return is usually optimized out by the compiler. - * @param visitorPost \c visitorPost(node, data) will be called at every node, after visiting - * its children, and will be passed, by reference, the \c DATA object returned by the - * call to \c visitorPre (the \c DATA object may be modified by visiting the children). - * @param rootData The data to pass by reference to \c visitorPre when it is called on each - * root node. */ - template - void DepthFirstForestParallel(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, - int problemSizeThreshold = 10) - { -#ifdef GTSAM_USE_TBB - // Typedefs - typedef typename FOREST::Node Node; - typedef boost::shared_ptr sharedNode; - - tbb::task::spawn_root_and_wait(internal::CreateRootTask( - forest.roots(), rootData, visitorPre, visitorPost, problemSizeThreshold)); -#else - DepthFirstForest(forest, rootData, visitorPre, visitorPost); -#endif - } - - - /* ************************************************************************* */ - /** Traversal function for CloneForest */ - namespace { - template - boost::shared_ptr - CloneForestVisitorPre(const boost::shared_ptr& node, const boost::shared_ptr& parentPointer) - { - // Clone the current node and add it to its cloned parent - boost::shared_ptr clone = boost::make_shared(*node); - clone->children.clear(); - parentPointer->children.push_back(clone); - return clone; - } - } - - /** Clone a tree, copy-constructing new nodes (calling boost::make_shared) and setting up child - * pointers for a clone of the original tree. - * @param forest The forest of trees to clone. The method \c forest.roots() should exist and - * return a collection of shared pointers to \c FOREST::Node. - * @return The new collection of roots. */ - template - FastVector > CloneForest(const FOREST& forest) - { - typedef typename FOREST::Node Node; - boost::shared_ptr rootContainer = boost::make_shared(); - DepthFirstForest(forest, rootContainer, CloneForestVisitorPre); - return FastVector >(rootContainer->children.begin(), rootContainer->children.end()); - } - - - /* ************************************************************************* */ - /** Traversal function for PrintForest */ - namespace { - struct PrintForestVisitorPre - { - const KeyFormatter& formatter; - PrintForestVisitorPre(const KeyFormatter& formatter) : formatter(formatter) {} - template std::string operator()(const boost::shared_ptr& node, const std::string& parentString) - { - // Print the current node - node->print(parentString + "-", formatter); - // Increment the indentation - return parentString + "| "; - } - }; - } - - /** Print a tree, prefixing each line with \c str, and formatting keys using \c keyFormatter. - * To print each node, this function calls the \c print function of the tree nodes. */ - template - void PrintForest(const FOREST& forest, std::string str, const KeyFormatter& keyFormatter) { - PrintForestVisitorPre visitor(keyFormatter); - DepthFirstForest(forest, str, visitor); - } +/* ************************************************************************* */ +namespace { +// Internal node used in DFS preorder stack +template +struct TraversalNode { + bool expanded; + const boost::shared_ptr& treeNode; + DATA& parentData; + typename FastList::iterator dataPointer; + TraversalNode(const boost::shared_ptr& _treeNode, DATA& _parentData) : + expanded(false), treeNode(_treeNode), parentData(_parentData) { } +}; + +// Do nothing - default argument for post-visitor for tree traversal +struct no_op { + template + void operator()(const boost::shared_ptr& node, const DATA& data) { + } +}; + +} + +/** Traverse a forest depth-first with pre-order and post-order visits. + * @param forest The forest of trees to traverse. The method \c forest.roots() should exist + * and return a collection of (shared) pointers to \c FOREST::Node. + * @param visitorPre \c visitorPre(node, parentData) will be called at every node, before + * visiting its children, and will be passed, by reference, the \c DATA object returned + * by the visit to its parent. Likewise, \c visitorPre should return the \c DATA object + * to pass to the children. The returned \c DATA object will be copy-constructed only + * upon returning to store internally, thus may be modified by visiting the children. + * Regarding efficiency, this copy-on-return is usually optimized out by the compiler. + * @param visitorPost \c visitorPost(node, data) will be called at every node, after visiting + * its children, and will be passed, by reference, the \c DATA object returned by the + * call to \c visitorPre (the \c DATA object may be modified by visiting the children). + * @param rootData The data to pass by reference to \c visitorPre when it is called on each + * root node. */ +template +void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, + VISITOR_POST& visitorPost) { + // Typedefs + typedef typename FOREST::Node Node; + typedef boost::shared_ptr sharedNode; + + // Depth first traversal stack + typedef TraversalNode TraversalNode; + typedef FastList Stack; + Stack stack; + FastList dataList; // List to store node data as it is returned from the pre-order visitor + + // Add roots to stack (insert such that they are visited and processed in order + { + typename Stack::iterator insertLocation = stack.begin(); + BOOST_FOREACH(const sharedNode& root, forest.roots()) + stack.insert(insertLocation, TraversalNode(root, rootData)); + } + + // Traverse + while (!stack.empty()) { + // Get next node + TraversalNode& node = stack.front(); + + if (node.expanded) { + // If already expanded, then the data stored in the node is no longer needed, so visit + // then delete it. + (void) visitorPost(node.treeNode, *node.dataPointer); + dataList.erase(node.dataPointer); + stack.pop_front(); + } else { + // If not already visited, visit the node and add its children (use reverse iterators so + // children are processed in the order they appear) + node.dataPointer = dataList.insert(dataList.end(), + visitorPre(node.treeNode, node.parentData)); + typename Stack::iterator insertLocation = stack.begin(); + BOOST_FOREACH(const sharedNode& child, node.treeNode->children) + stack.insert(insertLocation, TraversalNode(child, *node.dataPointer)); + node.expanded = true; + } + } + assert(dataList.empty()); +} + +/** Traverse a forest depth-first, with a pre-order visit but no post-order visit. + * @param forest The forest of trees to traverse. The method \c forest.roots() should exist + * and return a collection of (shared) pointers to \c FOREST::Node. + * @param visitorPre \c visitorPre(node, parentData) will be called at every node, before + * visiting its children, and will be passed, by reference, the \c DATA object returned + * by the visit to its parent. Likewise, \c visitorPre should return the \c DATA object + * to pass to the children. The returned \c DATA object will be copy-constructed only + * upon returning to store internally, thus may be modified by visiting the children. + * Regarding efficiency, this copy-on-return is usually optimized out by the compiler. + * @param rootData The data to pass by reference to \c visitorPre when it is called on each + * root node. */ +template +void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) { + no_op visitorPost; + DepthFirstForest(forest, rootData, visitorPre, visitorPost); +} + +/** Traverse a forest depth-first with pre-order and post-order visits. + * @param forest The forest of trees to traverse. The method \c forest.roots() should exist + * and return a collection of (shared) pointers to \c FOREST::Node. + * @param visitorPre \c visitorPre(node, parentData) will be called at every node, before + * visiting its children, and will be passed, by reference, the \c DATA object returned + * by the visit to its parent. Likewise, \c visitorPre should return the \c DATA object + * to pass to the children. The returned \c DATA object will be copy-constructed only + * upon returning to store internally, thus may be modified by visiting the children. + * Regarding efficiency, this copy-on-return is usually optimized out by the compiler. + * @param visitorPost \c visitorPost(node, data) will be called at every node, after visiting + * its children, and will be passed, by reference, the \c DATA object returned by the + * call to \c visitorPre (the \c DATA object may be modified by visiting the children). + * @param rootData The data to pass by reference to \c visitorPre when it is called on each + * root node. */ +template +void DepthFirstForestParallel(FOREST& forest, DATA& rootData, + VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, + int problemSizeThreshold = 10) { +#ifdef GTSAM_USE_TBB + // Typedefs + typedef typename FOREST::Node Node; + typedef boost::shared_ptr sharedNode; + + tbb::task::spawn_root_and_wait( + internal::CreateRootTask(forest.roots(), rootData, visitorPre, + visitorPost, problemSizeThreshold)); +#else + DepthFirstForest(forest, rootData, visitorPre, visitorPost); +#endif +} + +/* ************************************************************************* */ +/** Traversal function for CloneForest */ +namespace { +template +boost::shared_ptr CloneForestVisitorPre( + const boost::shared_ptr& node, + const boost::shared_ptr& parentPointer) { + // Clone the current node and add it to its cloned parent + boost::shared_ptr clone = boost::make_shared(*node); + clone->children.clear(); + parentPointer->children.push_back(clone); + return clone; +} +} + +/** Clone a tree, copy-constructing new nodes (calling boost::make_shared) and setting up child + * pointers for a clone of the original tree. + * @param forest The forest of trees to clone. The method \c forest.roots() should exist and + * return a collection of shared pointers to \c FOREST::Node. + * @return The new collection of roots. */ +template +FastVector > CloneForest( + const FOREST& forest) { + typedef typename FOREST::Node Node; + boost::shared_ptr rootContainer = boost::make_shared(); + DepthFirstForest(forest, rootContainer, CloneForestVisitorPre); + return FastVector >(rootContainer->children.begin(), + rootContainer->children.end()); +} + +/* ************************************************************************* */ +/** Traversal function for PrintForest */ +namespace { +struct PrintForestVisitorPre { + const KeyFormatter& formatter; + PrintForestVisitorPre(const KeyFormatter& formatter) : + formatter(formatter) { + } + template std::string operator()( + const boost::shared_ptr& node, const std::string& parentString) { + // Print the current node + node->print(parentString + "-", formatter); + // Increment the indentation + return parentString + "| "; + } +}; +} + +/** Print a tree, prefixing each line with \c str, and formatting keys using \c keyFormatter. + * To print each node, this function calls the \c print function of the tree nodes. */ +template +void PrintForest(const FOREST& forest, std::string str, + const KeyFormatter& keyFormatter) { + PrintForestVisitorPre visitor(keyFormatter); + DepthFirstForest(forest, str, visitor); +} +} } From a35adc127cc52c09048e0cd887bfab35a562001e Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 14:18:24 -0700 Subject: [PATCH 294/964] Reverted back to vector --- gtsam/inference/ClusterTree.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 41232e1a1..b00532d22 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -37,7 +37,7 @@ public: struct Cluster { typedef Ordering Keys; typedef FastVector Factors; - typedef FastList > Children; + typedef FastVector > Children; Cluster() { } From ef829c333e114646132bcf664ee785fd2dfbcbea Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 14:19:01 -0700 Subject: [PATCH 295/964] Refactored elimination traversal a tiny bit --- gtsam/inference/ClusterTree-inst.h | 156 ++++++++++++++--------------- 1 file changed, 77 insertions(+), 79 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index d777fcfe7..2cf1f5c58 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -17,23 +17,29 @@ #include namespace gtsam { -namespace { + /* ************************************************************************* */ // Elimination traversal data - stores a pointer to the parent data and collects the factors // resulting from elimination of the children. Also sets up BayesTree cliques with parent and // child pointers. template struct EliminationData { + // Typedefs + typedef typename CLUSTERTREE::sharedFactor sharedFactor; + typedef typename CLUSTERTREE::FactorType FactorType; + typedef typename CLUSTERTREE::FactorGraphType FactorGraphType; + typedef typename CLUSTERTREE::ConditionalType ConditionalType; + typedef typename CLUSTERTREE::BayesTreeType::Node BTNode; + EliminationData* const parentData; size_t myIndexInParent; - FastVector childFactors; - boost::shared_ptr bayesTreeNode; + FastVector childFactors; + boost::shared_ptr bayesTreeNode; EliminationData(EliminationData* _parentData, size_t nChildren) : - parentData(_parentData), bayesTreeNode( - boost::make_shared()) { + parentData(_parentData), bayesTreeNode(boost::make_shared()) { if (parentData) { myIndexInParent = parentData->childFactors.size(); - parentData->childFactors.push_back(typename CLUSTERTREE::sharedFactor()); + parentData->childFactors.push_back(sharedFactor()); } else { myIndexInParent = 0; } @@ -44,76 +50,67 @@ struct EliminationData { parentData->bayesTreeNode->children.push_back(bayesTreeNode); } } -}; -/* ************************************************************************* */ -// Elimination pre-order visitor - just creates the EliminationData structure for the visited -// node. -template -EliminationData eliminationPreOrderVisitor( - const typename CLUSTERTREE::sharedNode& node, - EliminationData& parentData) { - EliminationData myData(&parentData, node->children.size()); - myData.bayesTreeNode->problemSize_ = node->problemSize(); - return myData; -} - -/* ************************************************************************* */ -// Elimination post-order visitor - combine the child factors with our own factors, add the -// resulting conditional to the BayesTree, and add the remaining factor to the parent. -template -struct EliminationPostOrderVisitor { - const typename CLUSTERTREE::Eliminate& eliminationFunction; - typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex; - EliminationPostOrderVisitor( - const typename CLUSTERTREE::Eliminate& eliminationFunction, - typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex) : - eliminationFunction(eliminationFunction), nodesIndex(nodesIndex) { + // Elimination pre-order visitor - creates the EliminationData structure for the visited node. + static EliminationData EliminationPreOrderVisitor( + const typename CLUSTERTREE::sharedNode& node, + EliminationData& parentData) { + assert(node); + EliminationData myData(&parentData, node->children.size()); + myData.bayesTreeNode->problemSize_ = node->problemSize(); + return myData; } - void operator()(const typename CLUSTERTREE::sharedNode& node, - EliminationData& myData) { - // Typedefs - typedef typename CLUSTERTREE::sharedFactor sharedFactor; - typedef typename CLUSTERTREE::FactorType FactorType; - typedef typename CLUSTERTREE::FactorGraphType FactorGraphType; - typedef typename CLUSTERTREE::ConditionalType ConditionalType; - typedef typename CLUSTERTREE::BayesTreeType::Node BTNode; - // Gather factors - FactorGraphType gatheredFactors; - gatheredFactors.reserve(node->factors.size() + node->children.size()); - gatheredFactors += node->factors; - gatheredFactors += myData.childFactors; - - // Check for Bayes tree orphan subtrees, and add them to our children - BOOST_FOREACH(const sharedFactor& f, node->factors) { - if (const BayesTreeOrphanWrapper* asSubtree = - dynamic_cast*>(f.get())) { - myData.bayesTreeNode->children.push_back(asSubtree->clique); - asSubtree->clique->parent_ = myData.bayesTreeNode; - } + // Elimination post-order visitor - combine the child factors with our own factors, add the + // resulting conditional to the BayesTree, and add the remaining factor to the parent. + struct EliminationPostOrderVisitor { + const typename CLUSTERTREE::Eliminate& eliminationFunction; + typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex; + EliminationPostOrderVisitor( + const typename CLUSTERTREE::Eliminate& eliminationFunction, + typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex) : + eliminationFunction(eliminationFunction), nodesIndex(nodesIndex) { } + void operator()(const typename CLUSTERTREE::sharedNode& node, + EliminationData& myData) { + assert(node); - // Do dense elimination step - std::pair, boost::shared_ptr > eliminationResult = - eliminationFunction(gatheredFactors, node->orderedFrontalKeys); + // Gather factors + FactorGraphType gatheredFactors; + gatheredFactors.reserve(node->factors.size() + node->children.size()); + gatheredFactors += node->factors; + gatheredFactors += myData.childFactors; - // Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor - myData.bayesTreeNode->setEliminationResult(eliminationResult); + // Check for Bayes tree orphan subtrees, and add them to our children + BOOST_FOREACH(const sharedFactor& f, node->factors) { + if (const BayesTreeOrphanWrapper* asSubtree = + dynamic_cast*>(f.get())) { + myData.bayesTreeNode->children.push_back(asSubtree->clique); + asSubtree->clique->parent_ = myData.bayesTreeNode; + } + } - // Fill nodes index - we do this here instead of calling insertRoot at the end to avoid - // putting orphan subtrees in the index - they'll already be in the index of the ISAM2 - // object they're added to. - BOOST_FOREACH(const Key& j, myData.bayesTreeNode->conditional()->frontals()) - nodesIndex.insert(std::make_pair(j, myData.bayesTreeNode)); + // Do dense elimination step + std::pair, + boost::shared_ptr > eliminationResult = + eliminationFunction(gatheredFactors, node->orderedFrontalKeys); - // Store remaining factor in parent's gathered factors - if (!eliminationResult.second->empty()) - myData.parentData->childFactors[myData.myIndexInParent] = - eliminationResult.second; - } + // Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor + myData.bayesTreeNode->setEliminationResult(eliminationResult); + + // Fill nodes index - we do this here instead of calling insertRoot at the end to avoid + // putting orphan subtrees in the index - they'll already be in the index of the ISAM2 + // object they're added to. + BOOST_FOREACH(const Key& j, myData.bayesTreeNode->conditional()->frontals()) + nodesIndex.insert(std::make_pair(j, myData.bayesTreeNode)); + + // Store remaining factor in parent's gathered factors + if (!eliminationResult.second->empty()) + myData.parentData->childFactors[myData.myIndexInParent] = + eliminationResult.second; + } + }; }; -} /* ************************************************************************* */ template @@ -150,7 +147,7 @@ void ClusterTree::Cluster::mergeChildren( orderedFrontalKeys.reserve(nrKeys); factors.reserve(nrFactors); typename Node::Children newChildren; - // newChildren.reserve(nrNewChildren); + newChildren.reserve(nrNewChildren); i = 0; BOOST_FOREACH(const sharedNode& child, children) { if (merge[i]) { @@ -204,12 +201,14 @@ std::pair, boost::shared_ptr > ClusterTree< // that contains all of the roots as its children. rootsContainer also stores the remaining // uneliminated factors passed up from the roots. boost::shared_ptr result = boost::make_shared(); - EliminationData rootsContainer(0, roots_.size()); - EliminationPostOrderVisitor visitorPost(function, result->nodes_); + typedef EliminationData Data; + Data rootsContainer(0, roots_.size()); + typename Data::EliminationPostOrderVisitor visitorPost(function, + result->nodes_); { TbbOpenMPMixedScope threadLimiter; // Limits OpenMP threads since we're mixing TBB and OpenMP treeTraversal::DepthFirstForestParallel(*this, rootsContainer, - eliminationPreOrderVisitor, visitorPost, 10); + Data::EliminationPreOrderVisitor, visitorPost, 10); } // Create BayesTree from roots stored in the dummy BayesTree node. @@ -218,18 +217,17 @@ std::pair, boost::shared_ptr > ClusterTree< rootsContainer.bayesTreeNode->children.end()); // Add remaining factors that were not involved with eliminated variables - boost::shared_ptr allRemainingFactors = boost::make_shared< + boost::shared_ptr remaining = boost::make_shared< FactorGraphType>(); - allRemainingFactors->reserve( + remaining->reserve( remainingFactors_.size() + rootsContainer.childFactors.size()); - allRemainingFactors->push_back(remainingFactors_.begin(), - remainingFactors_.end()); - BOOST_FOREACH(const sharedFactor& factor, rootsContainer.childFactors) + remaining->push_back(remainingFactors_.begin(), remainingFactors_.end()); + BOOST_FOREACH(const sharedFactor& factor, rootsContainer.childFactors) { if (factor) - allRemainingFactors->push_back(factor); - + remaining->push_back(factor); + } // Return result - return std::make_pair(result, allRemainingFactors); + return std::make_pair(result, remaining); } } From 5237c7492834d2949613759d19f03bed3d3b9a90 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 14:36:23 -0700 Subject: [PATCH 296/964] Strengthened test and now checks problemSize_ --- tests/testGaussianJunctionTreeB.cpp | 66 +++++++++++++++++------------ 1 file changed, 39 insertions(+), 27 deletions(-) diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index c5401512b..4fa7fc761 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -64,35 +64,39 @@ using symbol_shorthand::L; /* ************************************************************************* * Bayes tree for smoother with "nested dissection" ordering: - C1 x5 x6 x4 - C2 x3 x2 : x4 - C3 x1 : x2 - C4 x7 : x6 -*/ -TEST( GaussianJunctionTreeB, constructor2 ) -{ + C1 x5 x6 x4 + C2 x3 x2 : x4 + C3 x1 : x2 + C4 x7 : x6 + */ +TEST( GaussianJunctionTreeB, constructor2 ) { // create a graph NonlinearFactorGraph nlfg; Values values; - boost::tie(nlfg,values) = createNonlinearSmoother(7); + boost::tie(nlfg, values) = createNonlinearSmoother(7); SymbolicFactorGraph::shared_ptr symbolic = nlfg.symbolic(); // linearize GaussianFactorGraph::shared_ptr fg = nlfg.linearize(values); - Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); + Ordering ordering; + ordering += X(1), X(3), X(5), X(7), X(2), X(6), X(4); // create an ordering GaussianEliminationTree etree(*fg, ordering); - SymbolicEliminationTree stree(*symbolic,ordering); + SymbolicEliminationTree stree(*symbolic, ordering); GTSAM_PRINT(stree); GaussianJunctionTree actual(etree); GTSAM_PRINT(actual); - Ordering o324; o324 += X(3), X(2), X(4); - Ordering o56; o56 += X(5), X(6); - Ordering o7; o7 += X(7); - Ordering o1; o1 += X(1); + Ordering o324; + o324 += X(3), X(2), X(4); + Ordering o56; + o56 += X(5), X(6); + Ordering o7; + o7 += X(7); + Ordering o1; + o1 += X(1); // Can no longer test these: // Ordering sep1; @@ -102,26 +106,31 @@ TEST( GaussianJunctionTreeB, constructor2 ) GaussianJunctionTree::sharedNode x324 = actual.roots().front(); LONGS_EQUAL(2, x324->children.size()); -#if defined(__APPLE__) // tie-breaking seems different :-( GaussianJunctionTree::sharedNode x1 = x324->children[0]; GaussianJunctionTree::sharedNode x56 = x324->children[1]; -#else - GaussianJunctionTree::sharedNode x1 = x324->children[1]; - GaussianJunctionTree::sharedNode x56 = x324->children[0]; -#endif + if (x1->children.size() > 0) + x1.swap(x56); // makes it work with different tie-breakers + LONGS_EQUAL(0, x1->children.size()); LONGS_EQUAL(1, x56->children.size()); GaussianJunctionTree::sharedNode x7 = x56->children[0]; LONGS_EQUAL(0, x7->children.size()); EXPECT(assert_equal(o324, x324->orderedFrontalKeys)); - EXPECT_LONGS_EQUAL (5, x324->factors.size()); - EXPECT(assert_equal(o56, x56->orderedFrontalKeys)); - EXPECT_LONGS_EQUAL (4, x56->factors.size()); - EXPECT(assert_equal(o7, x7->orderedFrontalKeys)); - EXPECT_LONGS_EQUAL (2, x7->factors.size()); - EXPECT(assert_equal(o1, x1->orderedFrontalKeys)); - EXPECT_LONGS_EQUAL (2, x1->factors.size()); + EXPECT_LONGS_EQUAL(5, x324->factors.size()); + EXPECT_LONGS_EQUAL(9, x324->problemSize_); + + EXPECT(assert_equal(o56, x56->orderedFrontalKeys)); + EXPECT_LONGS_EQUAL(4, x56->factors.size()); + EXPECT_LONGS_EQUAL(9, x56->problemSize_); + + EXPECT(assert_equal(o7, x7->orderedFrontalKeys)); + EXPECT_LONGS_EQUAL(2, x7->factors.size()); + EXPECT_LONGS_EQUAL(4, x7->problemSize_); + + EXPECT(assert_equal(o1, x1->orderedFrontalKeys)); + EXPECT_LONGS_EQUAL(2, x1->factors.size()); + EXPECT_LONGS_EQUAL(4, x1->problemSize_); } ///* ************************************************************************* */ @@ -266,6 +275,9 @@ TEST( GaussianJunctionTreeB, constructor2 ) //} /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr);} +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ From b546a1f0a79374051b4873dd9d4631b77ec528ad Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 14:39:56 -0700 Subject: [PATCH 297/964] Use front/back --- tests/testGaussianJunctionTreeB.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 4fa7fc761..57890d876 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -106,8 +106,8 @@ TEST( GaussianJunctionTreeB, constructor2 ) { GaussianJunctionTree::sharedNode x324 = actual.roots().front(); LONGS_EQUAL(2, x324->children.size()); - GaussianJunctionTree::sharedNode x1 = x324->children[0]; - GaussianJunctionTree::sharedNode x56 = x324->children[1]; + GaussianJunctionTree::sharedNode x1 = x324->children.front(); + GaussianJunctionTree::sharedNode x56 = x324->children.back(); if (x1->children.size() > 0) x1.swap(x56); // makes it work with different tie-breakers From f9bf63b71c88f9aa131f0d49c2117e7330a94029 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 14:55:30 -0700 Subject: [PATCH 298/964] Documentation and formatting --- gtsam/inference/ClusterTree-inst.h | 20 +++++++----- gtsam/nonlinear/NonlinearFactorGraph.cpp | 39 +++++++++++++----------- 2 files changed, 34 insertions(+), 25 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index 2cf1f5c58..ed19ba4e0 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -63,14 +63,19 @@ struct EliminationData { // Elimination post-order visitor - combine the child factors with our own factors, add the // resulting conditional to the BayesTree, and add the remaining factor to the parent. - struct EliminationPostOrderVisitor { - const typename CLUSTERTREE::Eliminate& eliminationFunction; - typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex; + class EliminationPostOrderVisitor { + const typename CLUSTERTREE::Eliminate& eliminationFunction_; + typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex_; + + public: + // Construct functor EliminationPostOrderVisitor( const typename CLUSTERTREE::Eliminate& eliminationFunction, typename CLUSTERTREE::BayesTreeType::Nodes& nodesIndex) : - eliminationFunction(eliminationFunction), nodesIndex(nodesIndex) { + eliminationFunction_(eliminationFunction), nodesIndex_(nodesIndex) { } + + // Function that does the HEAVY lifting void operator()(const typename CLUSTERTREE::sharedNode& node, EliminationData& myData) { assert(node); @@ -90,10 +95,11 @@ struct EliminationData { } } - // Do dense elimination step + // >>>>>>>>>>>>>> Do dense elimination step >>>>>>>>>>>>>>>>>>>>>>>>>>>>> std::pair, boost::shared_ptr > eliminationResult = - eliminationFunction(gatheredFactors, node->orderedFrontalKeys); + eliminationFunction_(gatheredFactors, node->orderedFrontalKeys); + // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< // Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor myData.bayesTreeNode->setEliminationResult(eliminationResult); @@ -102,7 +108,7 @@ struct EliminationData { // putting orphan subtrees in the index - they'll already be in the index of the ISAM2 // object they're added to. BOOST_FOREACH(const Key& j, myData.bayesTreeNode->conditional()->frontals()) - nodesIndex.insert(std::make_pair(j, myData.bayesTreeNode)); + nodesIndex_.insert(std::make_pair(j, myData.bayesTreeNode)); // Store remaining factor in parent's gathered factors if (!eliminationResult.second->empty()) diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 298ccf4b7..7dacb5bcb 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -276,23 +276,26 @@ SymbolicFactorGraph::shared_ptr NonlinearFactorGraph::symbolic() const namespace { #ifdef GTSAM_USE_TBB - struct _LinearizeOneFactor { - const NonlinearFactorGraph& graph; - const Values& linearizationPoint; - GaussianFactorGraph& result; - _LinearizeOneFactor(const NonlinearFactorGraph& graph, const Values& linearizationPoint, GaussianFactorGraph& result) : - graph(graph), linearizationPoint(linearizationPoint), result(result) {} - void operator()(const tbb::blocked_range& r) const - { - for(size_t i = r.begin(); i != r.end(); ++i) - { - if(graph[i]) - result[i] = graph[i]->linearize(linearizationPoint); - else - result[i] = GaussianFactor::shared_ptr(); - } +class _LinearizeOneFactor { + const NonlinearFactorGraph& nonlinearGraph_; + const Values& linearizationPoint_; + GaussianFactorGraph& result_; +public: + // Create functor with constant parameters + _LinearizeOneFactor(const NonlinearFactorGraph& graph, + const Values& linearizationPoint, GaussianFactorGraph& result) : + nonlinearGraph_(graph), linearizationPoint_(linearizationPoint), result_(result) { + } + // Operator that linearizes a given range of the factors + void operator()(const tbb::blocked_range& blocked_range) const { + for (size_t i = blocked_range.begin(); i != blocked_range.end(); ++i) { + if (nonlinearGraph_[i]) + result_[i] = nonlinearGraph_[i]->linearize(linearizationPoint_); + else + result_[i] = GaussianFactor::shared_ptr(); } - }; + } +}; #endif } @@ -319,9 +322,9 @@ GaussianFactorGraph::shared_ptr NonlinearFactorGraph::linearize(const Values& li // linearize all factors BOOST_FOREACH(const sharedFactor& factor, this->factors_) { if(factor) { - (*linearFG) += factor->linearize(linearizationPoint); + (*linearFG) += factor->linearize(linearizationPoint_); } else - (*linearFG) += GaussianFactor::shared_ptr(); + (*linearFG) += GaussianFactor::shared_ptr(); } #endif From 47495c8f46addc6212334a1802c784006f7fcae4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 18:14:20 -0700 Subject: [PATCH 299/964] Included config where needed --- examples/SolverComparer.cpp | 1 + examples/TimeTBB.cpp | 2 ++ gtsam/base/ThreadsafeException.h | 3 +++ gtsam/base/debug.cpp | 2 ++ gtsam/base/timing.h | 1 + gtsam/base/treeTraversal-inst.h | 1 + gtsam/base/types.h | 2 ++ gtsam/geometry/Unit3.cpp | 1 + gtsam/nonlinear/ISAM2-impl.cpp | 2 ++ gtsam/nonlinear/NonlinearFactorGraph.cpp | 14 ++++++++------ 10 files changed, 23 insertions(+), 6 deletions(-) diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 0393affe1..f8f1411a3 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -44,6 +44,7 @@ #include #include #include +#include // for GTSAM_USE_TBB #include #include diff --git a/examples/TimeTBB.cpp b/examples/TimeTBB.cpp index a35980836..de472b10c 100644 --- a/examples/TimeTBB.cpp +++ b/examples/TimeTBB.cpp @@ -17,6 +17,8 @@ #include #include +#include // for GTSAM_USE_TBB + #include #include #include diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h index 3bdd42608..d464e9f21 100644 --- a/gtsam/base/ThreadsafeException.h +++ b/gtsam/base/ThreadsafeException.h @@ -19,6 +19,8 @@ #pragma once +#include // for GTSAM_USE_TBB + #include #include #include @@ -27,6 +29,7 @@ #ifdef GTSAM_USE_TBB #include #include +#include #endif namespace gtsam { diff --git a/gtsam/base/debug.cpp b/gtsam/base/debug.cpp index 6abc98642..1c4d08dcd 100644 --- a/gtsam/base/debug.cpp +++ b/gtsam/base/debug.cpp @@ -17,6 +17,8 @@ */ #include +#include // for GTSAM_USE_TBB + #ifdef GTSAM_USE_TBB #include #endif diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index a904c5f08..d0bca4a9d 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -19,6 +19,7 @@ #include #include +#include // for GTSAM_USE_TBB #include #include diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h index 3edd7d076..ab2792a89 100644 --- a/gtsam/base/treeTraversal-inst.h +++ b/gtsam/base/treeTraversal-inst.h @@ -22,6 +22,7 @@ #include #include #include +#include // for GTSAM_USE_TBB #include #include diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 69e4e4192..84c94e73d 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -22,6 +22,8 @@ #include #include #include +#include // for GTSAM_USE_TBB + #include #ifdef GTSAM_USE_TBB diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index cc3865b8e..a74e39f47 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -21,6 +21,7 @@ #include #include #include +#include // for GTSAM_USE_TBB #ifdef __clang__ # pragma clang diagnostic push diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 6df1c8b10..4e8c0e303 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -19,6 +19,8 @@ #include #include // for selective linearization thresholds #include +#include // for GTSAM_USE_TBB + #include #include diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 298ccf4b7..827aaa7d8 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -17,22 +17,24 @@ * @author Christian Potthast */ -#include -#include -#include #include #include -#include -#include #include -#include #include #include +#include +#include +#include +#include // for GTSAM_USE_TBB #ifdef GTSAM_USE_TBB # include #endif +#include +#include +#include + using namespace std; namespace gtsam { From 2b9e9ae9787921ac4c8bd93597d2a515ab6e3584 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 18:20:12 -0700 Subject: [PATCH 300/964] Turned off AutoDiff by default --- timing/timeSFMBAL.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 218bfe18e..68b3c4932 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -34,7 +34,7 @@ using namespace std; using namespace gtsam; -//#define USE_GTSAM_FACTOR +#define USE_GTSAM_FACTOR #ifdef USE_GTSAM_FACTOR #include #include From c30bd3e654d427a3ff3b85813617d8db9135ab98 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 20:09:38 -0700 Subject: [PATCH 301/964] Comments --- gtsam/inference/ClusterTree-inst.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index ed19ba4e0..a71ccebf9 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -19,9 +19,9 @@ namespace gtsam { /* ************************************************************************* */ -// Elimination traversal data - stores a pointer to the parent data and collects the factors -// resulting from elimination of the children. Also sets up BayesTree cliques with parent and -// child pointers. +// Elimination traversal data - stores a pointer to the parent data and collects +// the factors resulting from elimination of the children. Also sets up BayesTree +// cliques with parent and child pointers. template struct EliminationData { // Typedefs From a3ed636fce680aec31af21900703c9917e6e2a29 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 21:09:31 -0700 Subject: [PATCH 302/964] Use symbols --- gtsam/linear/tests/testScatter.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/tests/testScatter.cpp b/gtsam/linear/tests/testScatter.cpp index 19d099616..465763282 100644 --- a/gtsam/linear/tests/testScatter.cpp +++ b/gtsam/linear/tests/testScatter.cpp @@ -17,10 +17,12 @@ #include #include +#include #include using namespace std; using namespace gtsam; +using symbol_shorthand::X; /* ************************************************************************* */ TEST(HessianFactor, CombineAndEliminate) { @@ -43,14 +45,14 @@ TEST(HessianFactor, CombineAndEliminate) { Vector3 s2(3.6, 3.6, 3.6); GaussianFactorGraph gfg; - gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); - gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); - gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); + gfg.add(X(1), A01, b0, noiseModel::Diagonal::Sigmas(s0, true)); + gfg.add(X(0), A10, X(1), A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); + gfg.add(X(1), A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); Scatter scatter(gfg); EXPECT_LONGS_EQUAL(2, scatter.size()); - EXPECT_LONGS_EQUAL(0, scatter.at(0).slot); - EXPECT_LONGS_EQUAL(1, scatter.at(1).slot); + EXPECT(assert_equal(X(1), scatter.at(0).key)); + EXPECT(assert_equal(X(0), scatter.at(1).key)); EXPECT_LONGS_EQUAL(n, scatter.at(0).dimension); EXPECT_LONGS_EQUAL(n, scatter.at(1).dimension); } From a28ebc5461a6781e0b37d796ee68468a386b0452 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 22:41:12 -0700 Subject: [PATCH 303/964] Switched to vector --- gtsam/linear/HessianFactor.cpp | 13 +++--- gtsam/linear/Scatter.cpp | 74 +++++++++++++++++++--------------- gtsam/linear/Scatter.h | 20 ++++----- 3 files changed, 61 insertions(+), 46 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index f3e54cffb..2b275b60f 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -237,11 +237,14 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors, // Allocate and copy keys gttic(allocate); // Allocate with dimensions for each variable plus 1 at the end for the information vector - keys_.resize(scatter->size()); - FastVector dims(scatter->size() + 1); - BOOST_FOREACH(const Scatter::value_type& key_slotentry, *scatter) { - keys_[key_slotentry.second.slot] = key_slotentry.first; - dims[key_slotentry.second.slot] = key_slotentry.second.dimension; + const size_t n = scatter->size(); + keys_.resize(n); + FastVector dims(n + 1); + DenseIndex slot = 0; + BOOST_FOREACH(const SlotEntry& slotentry, *scatter) { + keys_[slot] = slotentry.key; + dims[slot] = slotentry.dimension; + ++slot; } dims.back() = 1; info_ = SymmetricBlockMatrix(dims); diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index 942b42160..dde83712a 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -21,6 +21,7 @@ #include #include +#include using namespace std; @@ -29,53 +30,62 @@ namespace gtsam { /* ************************************************************************* */ string SlotEntry::toString() const { ostringstream oss; - oss << "SlotEntry: slot=" << slot << ", dim=" << dimension; + oss << "SlotEntry: key=" << key << ", dim=" << dimension; return oss.str(); } /* ************************************************************************* */ Scatter::Scatter(const GaussianFactorGraph& gfg, - boost::optional ordering) { + boost::optional ordering) { gttic(Scatter_Constructor); - static const DenseIndex none = std::numeric_limits::max(); - - // First do the set union. - BOOST_FOREACH (const GaussianFactor::shared_ptr& factor, gfg) { - if (factor) { - for (GaussianFactor::const_iterator variable = factor->begin(); - variable != factor->end(); ++variable) { - // TODO: Fix this hack to cope with zero-row Jacobians that come from - // BayesTreeOrphanWrappers - const JacobianFactor* asJacobian = - dynamic_cast(factor.get()); - if (!asJacobian || asJacobian->cols() > 1) - insert( - make_pair(*variable, SlotEntry(none, factor->getDim(variable)))); - } - } - } // If we have an ordering, pre-fill the ordered variables first - size_t slot = 0; if (ordering) { BOOST_FOREACH (Key key, *ordering) { - const_iterator entry = find(key); - if (entry == end()) - throw std::invalid_argument( - "The ordering provided to the HessianFactor Scatter constructor\n" - "contained extra variables that did not appear in the factors to " - "combine."); - at(key).slot = (slot++); + push_back(SlotEntry(key, 0)); } } - // Next fill in the slot indices (we can only get these after doing the set - // union. - BOOST_FOREACH (value_type& var_slot, *this) { - if (var_slot.second.slot == none) var_slot.second.slot = (slot++); + iterator first = end(); // remember position + + // Now, find dimensions of variables and/or extend + BOOST_FOREACH (const GaussianFactor::shared_ptr& factor, gfg) { + if (!factor) continue; + + // TODO: Fix this hack to cope with zero-row Jacobians that come from BayesTreeOrphanWrappers + const JacobianFactor* asJacobian = dynamic_cast(factor.get()); + if (asJacobian && asJacobian->cols() <= 1) continue; + + // loop over variables + for (GaussianFactor::const_iterator variable = factor->begin(); + variable != factor->end(); ++variable) { + const Key key = *variable; + iterator it = find(key); // theoretically expensive, yet cache friendly + if (it!=end()) + it->dimension = factor->getDim(variable); + else + push_back(SlotEntry(key, factor->getDim(variable))); + } } + + // Filter out keys with zero dimensions (if ordering had more keys) + erase(std::remove_if(begin(), end(), SlotEntry::Zero), end()); + + // To keep the same behavior as before, sort the keys after the ordering + if (first != end()) std::sort(begin(), end()); +} + +/* ************************************************************************* */ +FastVector::iterator Scatter::find(Key key) { + iterator it = begin(); + while(it != end()) { + if (it->key == key) + return it; + ++it; + } + return it; // end() } /* ************************************************************************* */ -} // gtsam +} // gtsam diff --git a/gtsam/linear/Scatter.h b/gtsam/linear/Scatter.h index 7a37ba1e0..39bfa6b8d 100644 --- a/gtsam/linear/Scatter.h +++ b/gtsam/linear/Scatter.h @@ -32,30 +32,32 @@ class Ordering; /// One SlotEntry stores the slot index for a variable, as well its dim. struct GTSAM_EXPORT SlotEntry { - DenseIndex slot; + Key key; size_t dimension; - SlotEntry(DenseIndex _slot, size_t _dimension) - : slot(_slot), dimension(_dimension) {} + SlotEntry(Key _key, size_t _dimension) : key(_key), dimension(_dimension) {} std::string toString() const; + friend bool operator<(const SlotEntry& p, const SlotEntry& q) { + return p.key < q.key; + } + static bool Zero(const SlotEntry& p) { return p.dimension==0;} }; /** * Scatter is an intermediate data structure used when building a HessianFactor - * incrementally, to get the keys in the right order. The "scatter" is a map + * incrementally, to get the keys in the right order. In spirit, it is a map * from global variable indices to slot indices in the union of involved * variables. We also include the dimensionality of the variable. */ -class Scatter : public FastMap { +class Scatter : public FastVector { public: /// Constructor Scatter(const GaussianFactorGraph& gfg, boost::optional ordering = boost::none); - /// Get the slot corresponding to the given key - DenseIndex slot(Key key) const { return at(key).slot; } + private: - /// Get the dimension corresponding to the given key - DenseIndex dim(Key key) const { return at(key).dimension; } + /// Find the SlotEntry with the right key (linear time worst case) + iterator find(Key key); }; } // \ namespace gtsam From 41d4c4893886eadce687a18ac3355791ef24b2ef Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 22:48:36 -0700 Subject: [PATCH 304/964] Checked scatter --- gtsam/linear/tests/testGaussianBayesTree.cpp | 24 ++++++++++++++++++-- 1 file changed, 22 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/tests/testGaussianBayesTree.cpp b/gtsam/linear/tests/testGaussianBayesTree.cpp index 05f8c3d2a..1beac1994 100644 --- a/gtsam/linear/tests/testGaussianBayesTree.cpp +++ b/gtsam/linear/tests/testGaussianBayesTree.cpp @@ -83,13 +83,33 @@ TEST( GaussianBayesTree, eliminate ) { GaussianBayesTree bt = *chain.eliminateMultifrontal(chainOrdering); + Scatter scatter(chain); + BOOST_FOREACH(const Scatter::value_type& entry, scatter) + cout << entry.first << " " << entry.second.toString() << endl; + + EXPECT_LONGS_EQUAL(4, scatter.size()); + EXPECT_LONGS_EQUAL(0, scatter.at(x1).slot); + EXPECT_LONGS_EQUAL(1, scatter.at(x2).slot); + EXPECT_LONGS_EQUAL(2, scatter.at(x3).slot); + EXPECT_LONGS_EQUAL(3, scatter.at(x4).slot); + Matrix two = (Matrix(1, 1) << 2.).finished(); Matrix one = (Matrix(1, 1) << 1.).finished(); GaussianBayesTree bayesTree_expected; bayesTree_expected.insertRoot( - MakeClique(GaussianConditional(pair_list_of(x3, (Matrix(2, 1) << 2., 0.).finished()) (x4, (Matrix(2, 1) << 2., 2.).finished()), 2, Vector2(2., 2.)), list_of - (MakeClique(GaussianConditional(pair_list_of(x2, (Matrix(2, 1) << -2.*sqrt(2.), 0.).finished()) (x1, (Matrix(2, 1) << -sqrt(2.), -sqrt(2.)).finished()) (x3, (Matrix(2, 1) << -sqrt(2.), sqrt(2.)).finished()), 2, (Vector(2) << -2.*sqrt(2.), 0.).finished()))))); + MakeClique( + GaussianConditional( + pair_list_of(x3, (Matrix21() << 2., 0.).finished())( + x4, (Matrix21() << 2., 2.).finished()), 2, Vector2(2., 2.)), + list_of( + MakeClique( + GaussianConditional( + pair_list_of(x2, + (Matrix21() << -2. * sqrt(2.), 0.).finished())(x1, + (Matrix21() << -sqrt(2.), -sqrt(2.)).finished())(x3, + (Matrix21() << -sqrt(2.), sqrt(2.)).finished()), 2, + (Vector(2) << -2. * sqrt(2.), 0.).finished()))))); EXPECT(assert_equal(bayesTree_expected, bt)); } From 0d2558cbb5c59bf7643082de0fb54dcf82d2982e Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 23:33:59 -0700 Subject: [PATCH 305/964] Removed print --- gtsam/linear/tests/testGaussianBayesTree.cpp | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/gtsam/linear/tests/testGaussianBayesTree.cpp b/gtsam/linear/tests/testGaussianBayesTree.cpp index 1beac1994..4f7c5c335 100644 --- a/gtsam/linear/tests/testGaussianBayesTree.cpp +++ b/gtsam/linear/tests/testGaussianBayesTree.cpp @@ -84,14 +84,11 @@ TEST( GaussianBayesTree, eliminate ) GaussianBayesTree bt = *chain.eliminateMultifrontal(chainOrdering); Scatter scatter(chain); - BOOST_FOREACH(const Scatter::value_type& entry, scatter) - cout << entry.first << " " << entry.second.toString() << endl; - EXPECT_LONGS_EQUAL(4, scatter.size()); - EXPECT_LONGS_EQUAL(0, scatter.at(x1).slot); - EXPECT_LONGS_EQUAL(1, scatter.at(x2).slot); - EXPECT_LONGS_EQUAL(2, scatter.at(x3).slot); - EXPECT_LONGS_EQUAL(3, scatter.at(x4).slot); + EXPECT_LONGS_EQUAL(1, scatter.at(0).key); + EXPECT_LONGS_EQUAL(2, scatter.at(1).key); + EXPECT_LONGS_EQUAL(3, scatter.at(2).key); + EXPECT_LONGS_EQUAL(4, scatter.at(3).key); Matrix two = (Matrix(1, 1) << 2.).finished(); Matrix one = (Matrix(1, 1) << 1.).finished(); From c33bb7a89a43979ca06546aaee7e1ca55006c0ea Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 21 Jun 2015 23:34:11 -0700 Subject: [PATCH 306/964] Solved Scatter bug --- gtsam/linear/Scatter.cpp | 10 +++++----- gtsam/linear/tests/testScatter.cpp | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/linear/Scatter.cpp b/gtsam/linear/Scatter.cpp index dde83712a..ed2af529f 100644 --- a/gtsam/linear/Scatter.cpp +++ b/gtsam/linear/Scatter.cpp @@ -46,8 +46,6 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, } } - iterator first = end(); // remember position - // Now, find dimensions of variables and/or extend BOOST_FOREACH (const GaussianFactor::shared_ptr& factor, gfg) { if (!factor) continue; @@ -68,11 +66,13 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, } } + // To keep the same behavior as before, sort the keys after the ordering + iterator first = begin(); + if (ordering) first += ordering->size(); + if (first != end()) std::sort(first, end()); + // Filter out keys with zero dimensions (if ordering had more keys) erase(std::remove_if(begin(), end(), SlotEntry::Zero), end()); - - // To keep the same behavior as before, sort the keys after the ordering - if (first != end()) std::sort(begin(), end()); } /* ************************************************************************* */ diff --git a/gtsam/linear/tests/testScatter.cpp b/gtsam/linear/tests/testScatter.cpp index 465763282..575f29c26 100644 --- a/gtsam/linear/tests/testScatter.cpp +++ b/gtsam/linear/tests/testScatter.cpp @@ -51,8 +51,8 @@ TEST(HessianFactor, CombineAndEliminate) { Scatter scatter(gfg); EXPECT_LONGS_EQUAL(2, scatter.size()); - EXPECT(assert_equal(X(1), scatter.at(0).key)); - EXPECT(assert_equal(X(0), scatter.at(1).key)); + EXPECT(assert_equal(X(0), scatter.at(0).key)); + EXPECT(assert_equal(X(1), scatter.at(1).key)); EXPECT_LONGS_EQUAL(n, scatter.at(0).dimension); EXPECT_LONGS_EQUAL(n, scatter.at(1).dimension); } From 304f12b106c733f88df3226e98ed75c5e0ba5f54 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 22 Jun 2015 00:33:35 -0700 Subject: [PATCH 307/964] Small fixes for TBB/Timing path --- gtsam/inference/ClusterTree-inst.h | 2 +- gtsam/nonlinear/NonlinearFactorGraph.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index a71ccebf9..6b28f2dbf 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -130,7 +130,7 @@ void ClusterTree::Cluster::print(const std::string& s, template void ClusterTree::Cluster::mergeChildren( const std::vector& merge) { - gttic(Cluster::mergeChildren); + gttic(Cluster_mergeChildren); // Count how many keys, factors and children we'll end up with size_t nrKeys = orderedFrontalKeys.size(); diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 291907a73..fbc7190de 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -324,7 +324,7 @@ GaussianFactorGraph::shared_ptr NonlinearFactorGraph::linearize(const Values& li // linearize all factors BOOST_FOREACH(const sharedFactor& factor, this->factors_) { if(factor) { - (*linearFG) += factor->linearize(linearizationPoint_); + (*linearFG) += factor->linearize(linearizationPoint); } else (*linearFG) += GaussianFactor::shared_ptr(); } From 48c3f5813b6dd4968e2a8f2d498d2b0ef29fab47 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 22 Jun 2015 00:35:21 -0700 Subject: [PATCH 308/964] removed printing --- tests/testGaussianJunctionTreeB.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 57890d876..98adfc1dc 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -85,9 +85,7 @@ TEST( GaussianJunctionTreeB, constructor2 ) { // create an ordering GaussianEliminationTree etree(*fg, ordering); SymbolicEliminationTree stree(*symbolic, ordering); - GTSAM_PRINT(stree); GaussianJunctionTree actual(etree); - GTSAM_PRINT(actual); Ordering o324; o324 += X(3), X(2), X(4); From 3ca9cb8022978d3306163394d50208efdb52edab Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 22 Jun 2015 11:43:30 -0400 Subject: [PATCH 309/964] this should fix the MKL linking problem --- CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index a77173ba0..fd11a6733 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -179,6 +179,11 @@ if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL) set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL include_directories(${MKL_INCLUDE_DIR}) list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES}) + + # --no-as-needed is required with gcc according to the MKL link advisor + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed") + endif() else() set(GTSAM_USE_EIGEN_MKL 0) set(EIGEN_USE_MKL_ALL 0) From c4e0a109490bf8bae19843b5f3ada441db395466 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 22 Jun 2015 12:00:44 -0400 Subject: [PATCH 310/964] Add gtsam/config.h include to all files which include Eigen --- gtsam/base/Matrix.h | 2 ++ gtsam/base/OptionalJacobian.h | 2 +- gtsam/nonlinear/internal/ExecutionTrace.h | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index caee2071c..41ffa27b5 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -22,6 +22,8 @@ #pragma once #include +#include // Configuration from CMake + #include #include #include diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index 7055a287a..d0e2297ef 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -18,7 +18,7 @@ */ #pragma once - +#include // Configuration from CMake #include #ifndef OPTIONALJACOBIAN_NOBOOST diff --git a/gtsam/nonlinear/internal/ExecutionTrace.h b/gtsam/nonlinear/internal/ExecutionTrace.h index 37ce4dfd5..45817a3f9 100644 --- a/gtsam/nonlinear/internal/ExecutionTrace.h +++ b/gtsam/nonlinear/internal/ExecutionTrace.h @@ -17,7 +17,7 @@ */ #pragma once - +#include // Configuration from CMake #include #include #include From da726aa21f87d16f684c8434db83ea5707040553 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 22 Jun 2015 12:02:40 -0400 Subject: [PATCH 311/964] remove config.h include as global_includes.h and config.h are redundant --- examples/TimeTBB.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/examples/TimeTBB.cpp b/examples/TimeTBB.cpp index de472b10c..602a00593 100644 --- a/examples/TimeTBB.cpp +++ b/examples/TimeTBB.cpp @@ -17,7 +17,6 @@ #include #include -#include // for GTSAM_USE_TBB #include #include From ff7393b9dac53affb0c9c42beede42ad3135ef43 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 22 Jun 2015 13:34:49 -0700 Subject: [PATCH 312/964] Reverted to develop version --- .cproject | 3146 ++++++++++++++++++++++++++--------------------------- 1 file changed, 1557 insertions(+), 1589 deletions(-) diff --git a/.cproject b/.cproject index 866092c95..ac9b166ec 100644 --- a/.cproject +++ b/.cproject @@ -5,13 +5,13 @@ + + - - @@ -60,13 +60,13 @@ + + - - @@ -116,13 +116,13 @@ + + - - @@ -484,6 +484,341 @@ + + make + -j5 + testCombinedImuFactor.run + true + true + true + + + make + -j5 + testImuFactor.run + true + true + true + + + make + -j5 + testAHRSFactor.run + true + true + true + + + make + -j8 + testAttitudeFactor.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + testNonlinearConstraint.run + true + true + true + + + make + -j2 + testLieConfig.run + true + true + true + + + make + -j2 + testConstraintOptimizer.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j4 + testImuFactor.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testBTree.run + true + true + true + + + make + -j2 + testDSF.run + true + true + true + + + make + -j2 + testDSFVector.run + true + true + true + + + make + -j2 + testMatrix.run + true + true + true + + + make + -j2 + testSPQRUtil.run + true + true + true + + + make + -j2 + testVector.run + true + true + true + + + make + -j2 + timeMatrix.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + wrap + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + all + true + true + true + + + cmake + .. + true + false + true + + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testLieConfig.run + true + true + true + + + make + -j4 + testSimilarity3.run + true + true + true + + + make + -j5 + testInvDepthCamera3.run + true + true + true + + + make + -j5 + testTriangulation.run + true + true + true + + + make + -j4 + testEvent.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + all + true + false + true + + + make + -j5 + check + true + false + true + make -j5 @@ -532,39 +867,183 @@ true true - - make - -j4 - testSimilarity3.run - true - true - true - - + make -j5 - testInvDepthCamera3.run + testCal3Bundler.run true true true - + make -j5 - testTriangulation.run + testCal3DS2.run true true true - + + make + -j5 + testCalibratedCamera.run + true + true + true + + + make + -j5 + testEssentialMatrix.run + true + true + true + + + make + -j1 VERBOSE=1 + testHomography2.run + true + false + true + + + make + -j5 + testPinholeCamera.run + true + true + true + + + make + -j5 + testPoint2.run + true + true + true + + + make + -j5 + testPoint3.run + true + true + true + + + make + -j5 + testPose2.run + true + true + true + + + make + -j5 + testPose3.run + true + true + true + + + make + -j5 + testRot3M.run + true + true + true + + + make + -j5 + testSphere2.run + true + true + true + + + make + -j5 + testStereoCamera.run + true + true + true + + + make + -j5 + testCal3Unified.run + true + true + true + + + make + -j5 + testRot2.run + true + true + true + + + make + -j5 + testRot3Q.run + true + true + true + + + make + -j5 + testRot3.run + true + true + true + + make -j4 - testEvent.run + testSO3.run true true true - + + make + -j4 + testQuaternion.run + true + true + true + + + make + -j4 + testOrientedPlane3.run + true + true + true + + + make + -j4 + testPinholePose.run + true + true + true + + + make + -j4 + testCyclic.run + true + true + true + + make -j2 all @@ -572,7 +1051,7 @@ true true - + make -j2 clean @@ -580,143 +1059,23 @@ true true - - make - -k - check - true - false - true - - - make - - tests/testBayesTree.run - true - false - true - - - make - - testBinaryBayesNet.run - true - false - true - - + make -j2 - testFactorGraph.run + clean all true true true - + make -j2 - testISAM.run + install true true true - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - testKey.run - true - true - true - - - make - -j2 - testOrdering.run - true - true - true - - - make - - testSymbolicBayesNet.run - true - false - true - - - make - - tests/testSymbolicFactor.run - true - false - true - - - make - - testSymbolicFactorGraph.run - true - false - true - - - make - -j2 - timeSymbolMaps.run - true - true - true - - - make - - tests/testBayesTree - true - false - true - - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - + make -j2 clean @@ -868,518 +1227,6 @@ true true - - make - -j5 - testGaussianFactorGraphUnordered.run - true - true - true - - - make - -j5 - testGaussianBayesNetUnordered.run - true - true - true - - - make - -j5 - testGaussianConditional.run - true - true - true - - - make - -j5 - testGaussianDensity.run - true - true - true - - - make - -j5 - testGaussianJunctionTree.run - true - true - true - - - make - -j5 - testHessianFactor.run - true - true - true - - - make - -j5 - testJacobianFactor.run - true - true - true - - - make - -j5 - testKalmanFilter.run - true - true - true - - - make - -j5 - testNoiseModel.run - true - true - true - - - make - -j5 - testSampler.run - true - true - true - - - make - -j5 - testSerializationLinear.run - true - true - true - - - make - -j5 - testVectorValues.run - true - true - true - - - make - -j5 - testGaussianBayesTree.run - true - true - true - - - make - -j5 - testCombinedImuFactor.run - true - true - true - - - make - -j5 - testImuFactor.run - true - true - true - - - make - -j5 - testAHRSFactor.run - true - true - true - - - make - -j8 - testAttitudeFactor.run - true - true - true - - - make - -j5 - clean - true - true - true - - - make - -j5 - all - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testGaussianConditional.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - timeGaussianFactor.run - true - true - true - - - make - -j2 - timeVectorConfig.run - true - true - true - - - make - -j2 - testVectorBTree.run - true - true - true - - - make - -j2 - testVectorMap.run - true - true - true - - - make - -j2 - testNoiseModel.run - true - true - true - - - make - -j2 - testBayesNetPreconditioner.run - true - true - true - - - make - - testErrors.run - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testGaussianJunctionTree.run - true - true - true - - - make - -j2 - tests/testGaussianFactor.run - true - true - true - - - make - -j2 - tests/testGaussianConditional.run - true - true - true - - - make - -j2 - tests/timeSLAMlike.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testBTree.run - true - true - true - - - make - -j2 - testDSF.run - true - true - true - - - make - -j2 - testDSFVector.run - true - true - true - - - make - -j2 - testMatrix.run - true - true - true - - - make - -j2 - testSPQRUtil.run - true - true - true - - - make - -j2 - testVector.run - true - true - true - - - make - -j2 - timeMatrix.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testClusterTree.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - tests/testEliminationTree.run - true - true - true - - - make - -j2 - tests/testSymbolicFactor.run - true - true - true - - - make - -j2 - tests/testVariableSlots.run - true - true - true - - - make - -j2 - tests/testConditional.run - true - true - true - - - make - -j2 - tests/testSymbolicFactorGraph.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testNonlinearConstraint.run - true - true - true - - - make - -j2 - testLieConfig.run - true - true - true - - - make - -j2 - testConstraintOptimizer.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j5 - testBTree.run - true - true - true - - - make - -j5 - testDSF.run - true - true - true - - - make - -j5 - testDSFMap.run - true - true - true - - - make - -j5 - testDSFVector.run - true - true - true - - - make - -j5 - testFixedVector.run - true - true - true - make -j2 @@ -1521,55 +1368,23 @@ true true - + make - -j5 - testEliminationTree.run + -j2 + all true true true - + make - -j5 - testInference.run + -j2 + clean true true true - - make - -j5 - testKey.run - true - true - true - - - make - -j1 - testSymbolicBayesTree.run - true - false - true - - - make - -j1 - testSymbolicSequentialSolver.run - true - false - true - - - make - -j4 - testLabeledSymbol.run - true - true - true - - + make -j2 check @@ -1577,10 +1392,178 @@ true true - + make -j2 - tests/testLieConfig.run + testGaussianConditional.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + timeGaussianFactor.run + true + true + true + + + make + -j2 + timeVectorConfig.run + true + true + true + + + make + -j2 + testVectorBTree.run + true + true + true + + + make + -j2 + testVectorMap.run + true + true + true + + + make + -j2 + testNoiseModel.run + true + true + true + + + make + -j2 + testBayesNetPreconditioner.run + true + true + true + + + make + + testErrors.run + true + false + true + + + make + -j5 + testAntiFactor.run + true + true + true + + + make + -j5 + testPriorFactor.run + true + true + true + + + make + -j5 + testDataset.run + true + true + true + + + make + -j5 + testEssentialMatrixFactor.run + true + true + true + + + make + -j5 + testGeneralSFMFactor_Cal3Bundler.run + true + true + true + + + make + -j5 + testGeneralSFMFactor.run + true + true + true + + + make + -j5 + testProjectionFactor.run + true + true + true + + + make + -j5 + testRotateFactor.run + true + true + true + + + make + -j5 + testPoseRotationPrior.run + true + true + true + + + make + -j5 + testImplicitSchurFactor.run + true + true + true + + + make + -j4 + testRangeFactor.run + true + true + true + + + make + -j4 + testOrientedPlane3Factor.run + true + true + true + + + make + -j4 + testSmartProjectionPoseFactor.run true true true @@ -1992,7 +1975,7 @@ false true - + make -j2 check @@ -2000,38 +1983,54 @@ true true - + make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - - - cmake - .. + tests/testGaussianISAM2 true false true - + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testGaussianJunctionTree.run + true + true + true + + + make + -j2 + tests/testGaussianFactor.run + true + true + true + + + make + -j2 + tests/testGaussianConditional.run + true + true + true + + + make + -j2 + tests/timeSLAMlike.run + true + true + true + + make -j2 testGaussianFactor.run @@ -2039,191 +2038,503 @@ true true - + make -j5 - testCal3Bundler.run + testParticleFactor.run true true true - + make -j5 - testCal3DS2.run + schedulingExample.run true true true - + make -j5 - testCalibratedCamera.run + schedulingQuals12.run true true true - + make -j5 - testEssentialMatrix.run + schedulingQuals13.run true true true - + make - -j1 VERBOSE=1 - testHomography2.run + -j5 + testCSP.run + true + true + true + + + make + -j5 + testScheduler.run + true + true + true + + + make + -j5 + testSudoku.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -k + check true false true - + make - -j5 - testPinholeCamera.run + + tests/testBayesTree.run + true + false + true + + + make + + testBinaryBayesNet.run + true + false + true + + + make + -j2 + testFactorGraph.run true true true - + make - -j5 - testPoint2.run + -j2 + testISAM.run true true true - + make - -j5 - testPoint3.run + -j2 + testJunctionTree.run true true true - + make - -j5 - testPose2.run + -j2 + testKey.run true true true - + make - -j5 - testPose3.run + -j2 + testOrdering.run true true true - + make - -j5 - testRot3M.run + + testSymbolicBayesNet.run + true + false + true + + + make + + tests/testSymbolicFactor.run + true + false + true + + + make + + testSymbolicFactorGraph.run + true + false + true + + + make + -j2 + timeSymbolMaps.run true true true - + make - -j5 - testSphere2.run + + tests/testBayesTree + true + false + true + + + make + -j2 + check true true true - + make - -j5 - testStereoCamera.run + -j2 + timeCalibratedCamera.run true true true - + make - -j5 - testCal3Unified.run + -j2 + timeRot3.run true true true - + make - -j5 - testRot2.run + -j2 + clean true true true - + make - -j5 - testRot3Q.run + -j2 + tests/testPose2.run true true true - + + make + -j2 + tests/testPose3.run + true + true + true + + + make + -j2 + SimpleRotation.run + true + true + true + + make -j5 + CameraResectioning.run + true + true + true + + + make + -j5 + PlanarSLAMExample.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + easyPoint2KalmanFilter.run + true + true + true + + + make + -j2 + elaboratePoint2KalmanFilter.run + true + true + true + + + make + -j5 + Pose2SLAMExample.run + true + true + true + + + make + -j2 + Pose2SLAMwSPCG_easy.run + true + true + true + + + make + -j5 + UGM_small.run + true + true + true + + + make + -j5 + LocalizationExample.run + true + true + true + + + make + -j5 + OdometryExample.run + true + true + true + + + make + -j5 + RangeISAMExample_plaza2.run + true + true + true + + + make + -j5 + SelfCalibrationExample.run + true + true + true + + + make + -j5 + SFMExample.run + true + true + true + + + make + -j5 + VisualISAMExample.run + true + true + true + + + make + -j5 + VisualISAM2Example.run + true + true + true + + + make + -j5 + Pose2SLAMExample_graphviz.run + true + true + true + + + make + -j5 + Pose2SLAMExample_graph.run + true + true + true + + + make + -j5 + SFMExample_bal.run + true + true + true + + + make + -j5 + Pose2SLAMExample_lago.run + true + true + true + + + make + -j5 + Pose2SLAMExample_g2o.run + true + true + true + + + make + -j5 + SFMExample_SmartFactor.run + true + true + true + + + make + -j4 + Pose2SLAMExampleExpressions.run + true + true + true + + + make + -j4 + SFMExampleExpressions.run + true + true + true + + + make + -j4 + SFMExampleExpressions_bal.run + true + true + true + + + make + -j2 testRot3.run true true true - - make - -j4 - testSO3.run - true - true - true - - - make - -j4 - testQuaternion.run - true - true - true - - - make - -j4 - testOrientedPlane3.run - true - true - true - - - make - -j4 - testPinholePose.run - true - true - true - - - make - -j4 - testCyclic.run - true - true - true - - + make -j2 - all + testRot2.run true true true - + + make + -j2 + testPose3.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + + make + -j2 + testPose2.run + true + true + true + + + make + -j2 + testCal3_S2.run + true + true + true + + + make + -j2 + testSimpleCamera.run + true + true + true + + + make + -j2 + testHomography2.run + true + true + true + + + make + -j2 + testCalibratedCamera.run + true + true + true + + make -j2 check @@ -2231,7 +2542,7 @@ true true - + make -j2 clean @@ -2239,58 +2550,10 @@ true true - - make - -j5 - all - true - false - true - - - make - -j5 - check - true - false - true - - + make -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - clean all + testPoint2.run true true true @@ -2335,6 +2598,198 @@ true true + + make + -j5 + testEliminationTree.run + true + true + true + + + make + -j5 + testInference.run + true + true + true + + + make + -j5 + testKey.run + true + true + true + + + make + -j1 + testSymbolicBayesTree.run + true + false + true + + + make + -j1 + testSymbolicSequentialSolver.run + true + false + true + + + make + -j4 + testLabeledSymbol.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testClusterTree.run + true + true + true + + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + tests/testEliminationTree.run + true + true + true + + + make + -j2 + tests/testSymbolicFactor.run + true + true + true + + + make + -j2 + tests/testVariableSlots.run + true + true + true + + + make + -j2 + tests/testConditional.run + true + true + true + + + make + -j2 + tests/testSymbolicFactorGraph.run + true + true + true + + + make + -j5 + testLago.run + true + true + true + + + make + -j5 + testLinearContainerFactor.run + true + true + true + + + make + -j5 + testOrdering.run + true + true + true + + + make + -j5 + testValues.run + true + true + true + + + make + -j5 + testWhiteNoiseFactor.run + true + true + true + + + make + -j4 + testExpression.run + true + true + true + + + make + -j4 + testAdaptAutoDiff.run + true + true + true + + + make + -j4 + testCallRecord.run + true + true + true + + + make + -j4 + testExpressionFactor.run + true + true + true + + + make + -j4 + testExecutionTrace.run + true + true + true + make -j5 @@ -2367,31 +2822,135 @@ true true - + make - -j2 - check - true - true - true - - - make - -j2 + -j5 timeCalibratedCamera.run true true true - + make - -j2 - timeRot3.run + -j5 + timePinholeCamera.run true true true - + + make + -j5 + timeStereoCamera.run + true + true + true + + + make + -j5 + timeLago.run + true + true + true + + + make + -j5 + timePose3.run + true + true + true + + + make + -j4 + timeAdaptAutoDiff.run + true + true + true + + + make + -j4 + timeCameraExpression.run + true + true + true + + + make + -j4 + timeOneCameraExpression.run + true + true + true + + + make + -j4 + timeSFMExpressions.run + true + true + true + + + make + -j4 + timeIncremental.run + true + true + true + + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFMap.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + + + make + -j2 + all + true + true + true + + make -j2 clean @@ -2399,6 +2958,110 @@ true true + + make + -j5 + testGaussianFactorGraphUnordered.run + true + true + true + + + make + -j5 + testGaussianBayesNetUnordered.run + true + true + true + + + make + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testJacobianFactor.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testNoiseModel.run + true + true + true + + + make + -j5 + testSampler.run + true + true + true + + + make + -j5 + testSerializationLinear.run + true + true + true + + + make + -j5 + testVectorValues.run + true + true + true + + + make + -j5 + testGaussianBayesTree.run + true + true + true + make -j5 @@ -2479,66 +3142,18 @@ true true - - make - -j5 - schedulingExample.run - true - true - true - - - make - -j5 - schedulingQuals12.run - true - true - true - - - make - -j5 - schedulingQuals13.run - true - true - true - - - make - -j5 - testCSP.run - true - true - true - - - make - -j5 - testScheduler.run - true - true - true - - - make - -j5 - testSudoku.run - true - true - true - - + make -j2 - vSFMexample.run + all true true true - + make -j2 - testVSLAMGraph + clean true true true @@ -2823,487 +3438,31 @@ true true - + make - -j4 - testNonlinearOPtimizer.run + -j2 + vSFMexample.run true true true - + make -j5 - testParticleFactor.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 clean true true true - + make - -j2 + -j5 all true true true - - make - -j2 - clean - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testAntiFactor.run - true - true - true - - - make - -j5 - testPriorFactor.run - true - true - true - - - make - -j5 - testDataset.run - true - true - true - - - make - -j5 - testEssentialMatrixFactor.run - true - true - true - - - make - -j5 - testGeneralSFMFactor_Cal3Bundler.run - true - true - true - - - make - -j5 - testGeneralSFMFactor.run - true - true - true - - - make - -j5 - testProjectionFactor.run - true - true - true - - - make - -j5 - testRotateFactor.run - true - true - true - - - make - -j5 - testPoseRotationPrior.run - true - true - true - - - make - -j5 - testImplicitSchurFactor.run - true - true - true - - - make - -j4 - testRangeFactor.run - true - true - true - - - make - -j4 - testOrientedPlane3Factor.run - true - true - true - - - make - -j4 - testSmartProjectionPoseFactor.run - true - true - true - - - make - -j4 - testRegularHessianFactor.run - true - true - true - - - make - -j4 - testRegularJacobianFactor.run - true - true - true - - - make - -j2 - SimpleRotation.run - true - true - true - - - make - -j5 - CameraResectioning.run - true - true - true - - - make - -j5 - PlanarSLAMExample.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - easyPoint2KalmanFilter.run - true - true - true - - - make - -j2 - elaboratePoint2KalmanFilter.run - true - true - true - - - make - -j5 - Pose2SLAMExample.run - true - true - true - - - make - -j2 - Pose2SLAMwSPCG_easy.run - true - true - true - - - make - -j5 - UGM_small.run - true - true - true - - - make - -j5 - LocalizationExample.run - true - true - true - - - make - -j5 - OdometryExample.run - true - true - true - - - make - -j5 - RangeISAMExample_plaza2.run - true - true - true - - - make - -j5 - SelfCalibrationExample.run - true - true - true - - - make - -j5 - SFMExample.run - true - true - true - - - make - -j5 - VisualISAMExample.run - true - true - true - - - make - -j5 - VisualISAM2Example.run - true - true - true - - - make - -j5 - Pose2SLAMExample_graphviz.run - true - true - true - - - make - -j5 - Pose2SLAMExample_graph.run - true - true - true - - - make - -j5 - SFMExample_bal.run - true - true - true - - - make - -j5 - Pose2SLAMExample_lago.run - true - true - true - - - make - -j5 - Pose2SLAMExample_g2o.run - true - true - true - - - make - -j5 - SFMExample_SmartFactor.run - true - true - true - - - make - -j4 - Pose2SLAMExampleExpressions.run - true - true - true - - - make - -j4 - SFMExampleExpressions.run - true - true - true - - - make - -j4 - SFMExampleExpressions_bal.run - true - true - true - - - make - -j5 - testLago.run - true - true - true - - - make - -j5 - testLinearContainerFactor.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testWhiteNoiseFactor.run - true - true - true - - - make - -j4 - testExpression.run - true - true - true - - - make - -j4 - testAdaptAutoDiff.run - true - true - true - - - make - -j4 - testCallRecord.run - true - true - true - - - make - -j4 - testExpressionFactor.run - true - true - true - - - make - -j4 - testExecutionTrace.run - true - true - true - - - make - -j4 - testImuFactor.run - true - true - true - - + make -j2 check @@ -3311,201 +3470,10 @@ true true - - make - tests/testGaussianISAM2 - true - false - true - - - make - -j5 - timeCalibratedCamera.run - true - true - true - - - make - -j5 - timePinholeCamera.run - true - true - true - - - make - -j5 - timeStereoCamera.run - true - true - true - - - make - -j5 - timeLago.run - true - true - true - - - make - -j5 - timePose3.run - true - true - true - - - make - -j4 - timeAdaptAutoDiff.run - true - true - true - - - make - -j4 - timeCameraExpression.run - true - true - true - - - make - -j4 - timeOneCameraExpression.run - true - true - true - - - make - -j4 - timeSFMExpressions.run - true - true - true - - - make - -j4 - timeIncremental.run - true - true - true - - - make - -j4 - timeSFMBAL.run - true - true - true - - + make -j2 - testRot3.run - true - true - true - - - make - -j2 - testRot2.run - true - true - true - - - make - -j2 - testPose3.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - testPose2.run - true - true - true - - - make - -j2 - testCal3_S2.run - true - true - true - - - make - -j2 - testSimpleCamera.run - true - true - true - - - make - -j2 - testHomography2.run - true - true - true - - - make - -j2 - testCalibratedCamera.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testPoint2.run - true - true - true - - - make - -j5 - wrap + testVSLAMGraph true true true From f7bf418c45f7bc7bb17207b798e4fae087164454 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 01:46:50 -0400 Subject: [PATCH 313/964] feature: add jacobian to Cal3_D2 calibrate() --- gtsam/geometry/Cal3_S2.cpp | 18 ++++++++++++++++++ gtsam/geometry/Cal3_S2.h | 10 ++++++++++ 2 files changed, 28 insertions(+) diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp index 3ec29bbd2..81123d9a9 100644 --- a/gtsam/geometry/Cal3_S2.cpp +++ b/gtsam/geometry/Cal3_S2.cpp @@ -89,6 +89,24 @@ Point2 Cal3_S2::calibrate(const Point2& p) const { (1 / fy_) * (v - v0_)); } +/* ************************************************************************* */ +Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, + OptionalJacobian<2,2> Dp = boost::none) const { + const double u = p.x(), v = p.y(); + double delta_u = u - u0_, delta_v = v - v0_; + double inv_fx = 1/ fx_, inv_fy = 1/fy_; + if(Dcal) + *Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) + << inv_fx * (s_ * inv_fy * inv_fy) * delta_v << -inv_fx * inv_fy * delta_v + << -inv_fx << inv_fx * s_ * inv_fy + << 0 << -inv_fy * inv_fy * delta_v << 0 << 0 << -inv_fy; + if(Dp) + *Dp << inv_fx << -inv_fx * s_ * inv_fy << 0 << inv_fy; + return Point2(inv_fx * (delta_u - s_ * inv_fy * delta_v), + inv_fy * delta_v); +} + + /* ************************************************************************* */ Vector3 Cal3_S2::calibrate(const Vector3& p) const { return matrix_inverse() * p; diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 3d5342c92..c448cb0b1 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -160,6 +160,16 @@ public: */ Point2 calibrate(const Point2& p) const; + /** + * convert image coordinates uv to intrinsic coordinates xy + * @param p point in image coordinates + * @param Dcal optional 2*5 Jacobian wrpt Cal3_S2 parameters + * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates + * @return point in intrinsic coordinates + */ + Point2 calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, + OptionalJacobian<2,2> Dp = boost::none) const; + /** * convert homogeneous image coordinates to intrinsic coordinates * @param p point in image coordinates From d8b9cae25dcc054042b09846567c1f283f811ecc Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 01:59:32 -0400 Subject: [PATCH 314/964] feature: add test to Cal3_S2 calibrate jacobian --- gtsam/geometry/tests/testCal3_S2.cpp | 29 ++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp index aa06a2e29..668b69a55 100644 --- a/gtsam/geometry/tests/testCal3_S2.cpp +++ b/gtsam/geometry/tests/testCal3_S2.cpp @@ -26,6 +26,8 @@ GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2) static Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2); static Point2 p(1, -2); +static Point2 p_uv(1320.3, 1740); +static Point2 p_xy(2, 3); /* ************************************************************************* */ TEST( Cal3_S2, easy_constructor) @@ -73,6 +75,33 @@ TEST( Cal3_S2, Duncalibrate2) CHECK(assert_equal(numerical,computed,1e-9)); } +Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {return k.calibrate(pt); } +/* ************************************************************************* */ +TEST(Cal3_S2, Dcalibrate1) +{ + Matrix computed; + Point2 expected = K.calibrate(p_uv, computed, boost::none); + Matrix numerical = numericalDerivative21(calibrate_, K, p); + CHECK(assert_equal(numerical, computed, 1e-8)); + CHECK(assert_equal(expected, p_xy, 1e-8)); +} + +/* ************************************************************************* */ +TEST(Cal3_S2, Dcalibrate1) +{ + Matrix computed; + Point2 expected = K.calibrate(p_uv, boost::none, computed); + Matrix numerical = numericalDerivative22(calibrate_, K, p); + CHECK(assert_equal(numerical, computed, 1e-8)); + CHECK(assert_equal(expected, p_xy, 1e-8)); +} + +/* ************************************************************************* */ +TEST(Cal3_S2, Dcalibrate2) +{ + +} + /* ************************************************************************* */ TEST( Cal3_S2, assert_equal) { From 1c3ab0ce30fbb1eeaad251f00c0ed6807d353409 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 02:03:44 -0400 Subject: [PATCH 315/964] fix: compile issue in previous jacobians... --- gtsam/geometry/Cal3_S2.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp index 81123d9a9..fb4fb191e 100644 --- a/gtsam/geometry/Cal3_S2.cpp +++ b/gtsam/geometry/Cal3_S2.cpp @@ -90,23 +90,22 @@ Point2 Cal3_S2::calibrate(const Point2& p) const { } /* ************************************************************************* */ -Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, - OptionalJacobian<2,2> Dp = boost::none) const { +Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal, + OptionalJacobian<2,2> Dp) const { const double u = p.x(), v = p.y(); double delta_u = u - u0_, delta_v = v - v0_; double inv_fx = 1/ fx_, inv_fy = 1/fy_; if(Dcal) - *Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) - << inv_fx * (s_ * inv_fy * inv_fy) * delta_v << -inv_fx * inv_fy * delta_v - << -inv_fx << inv_fx * s_ * inv_fy - << 0 << -inv_fy * inv_fy * delta_v << 0 << 0 << -inv_fy; + *Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) , + inv_fx * (s_ * inv_fy * inv_fy) * delta_v, -inv_fx * inv_fy * delta_v, + -inv_fx, inv_fx * s_ * inv_fy, + 0, -inv_fy * inv_fy * delta_v, 0, 0, -inv_fy; if(Dp) - *Dp << inv_fx << -inv_fx * s_ * inv_fy << 0 << inv_fy; + *Dp << inv_fx, -inv_fx * s_ * inv_fy, 0, inv_fy; return Point2(inv_fx * (delta_u - s_ * inv_fy * delta_v), inv_fy * delta_v); } - /* ************************************************************************* */ Vector3 Cal3_S2::calibrate(const Vector3& p) const { return matrix_inverse() * p; From a37f81fed71cc03bcc3aef150ae322e520ca3881 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 02:23:36 -0400 Subject: [PATCH 316/964] fix: some name conflicts. Change calibrate with optional jacobian to calibrate2 --- gtsam/geometry/Cal3_S2.cpp | 8 ++++---- gtsam/geometry/Cal3_S2.h | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp index fb4fb191e..8765fee76 100644 --- a/gtsam/geometry/Cal3_S2.cpp +++ b/gtsam/geometry/Cal3_S2.cpp @@ -90,14 +90,14 @@ Point2 Cal3_S2::calibrate(const Point2& p) const { } /* ************************************************************************* */ -Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal, - OptionalJacobian<2,2> Dp) const { +Point2 Cal3_S2::calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal, + OptionalJacobian<2,2> Dp) const { const double u = p.x(), v = p.y(); double delta_u = u - u0_, delta_v = v - v0_; double inv_fx = 1/ fx_, inv_fy = 1/fy_; if(Dcal) - *Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) , - inv_fx * (s_ * inv_fy * inv_fy) * delta_v, -inv_fx * inv_fy * delta_v, + *Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) , + inv_fx * (s_ * inv_fy * inv_fy) * delta_v, -inv_fx * inv_fy * delta_v, -inv_fx, inv_fx * s_ * inv_fy, 0, -inv_fy * inv_fy * delta_v, 0, 0, -inv_fy; if(Dp) diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index c448cb0b1..9347c563c 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -167,7 +167,7 @@ public: * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates * @return point in intrinsic coordinates */ - Point2 calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, + Point2 calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, OptionalJacobian<2,2> Dp = boost::none) const; /** From 89dc6399e26bda00be7ac0b2570c79483890f665 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 03:16:01 -0400 Subject: [PATCH 317/964] fix: correct a stupid test typo error. Jacobian is always fine, no issue --- gtsam/geometry/tests/testCal3_S2.cpp | 20 +++++++------------- 1 file changed, 7 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp index 668b69a55..8272760ef 100644 --- a/gtsam/geometry/tests/testCal3_S2.cpp +++ b/gtsam/geometry/tests/testCal3_S2.cpp @@ -80,26 +80,20 @@ Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {return k.calibrate(pt); TEST(Cal3_S2, Dcalibrate1) { Matrix computed; - Point2 expected = K.calibrate(p_uv, computed, boost::none); - Matrix numerical = numericalDerivative21(calibrate_, K, p); - CHECK(assert_equal(numerical, computed, 1e-8)); + Point2 expected = K.calibrate2(p_uv, computed, boost::none); + Matrix numerical = numericalDerivative21(calibrate_, K, p_uv); CHECK(assert_equal(expected, p_xy, 1e-8)); -} - -/* ************************************************************************* */ -TEST(Cal3_S2, Dcalibrate1) -{ - Matrix computed; - Point2 expected = K.calibrate(p_uv, boost::none, computed); - Matrix numerical = numericalDerivative22(calibrate_, K, p); CHECK(assert_equal(numerical, computed, 1e-8)); - CHECK(assert_equal(expected, p_xy, 1e-8)); } /* ************************************************************************* */ TEST(Cal3_S2, Dcalibrate2) { - + Matrix computed; + Point2 expected = K.calibrate2(p_uv, boost::none, computed); + Matrix numerical = numericalDerivative22(calibrate_, K, p_uv); + CHECK(assert_equal(expected, p_xy, 1e-8)); + CHECK(assert_equal(numerical, computed, 1e-8)); } /* ************************************************************************* */ From b758eafad2dc00420ef5c710a8fe7f36c2ae4061 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 03:16:32 -0400 Subject: [PATCH 318/964] change: simplifies the equation --- gtsam/geometry/Cal3_S2.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp index 8765fee76..c2c0b7d79 100644 --- a/gtsam/geometry/Cal3_S2.cpp +++ b/gtsam/geometry/Cal3_S2.cpp @@ -95,15 +95,15 @@ Point2 Cal3_S2::calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal, const double u = p.x(), v = p.y(); double delta_u = u - u0_, delta_v = v - v0_; double inv_fx = 1/ fx_, inv_fy = 1/fy_; + Point2 point(inv_fx * (delta_u - s_ * inv_fy * delta_v), + inv_fy * delta_v); if(Dcal) - *Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) , - inv_fx * (s_ * inv_fy * inv_fy) * delta_v, -inv_fx * inv_fy * delta_v, + *Dcal << - inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy * delta_v, -inv_fx * point.y(), -inv_fx, inv_fx * s_ * inv_fy, - 0, -inv_fy * inv_fy * delta_v, 0, 0, -inv_fy; + 0, -inv_fy * point.y(), 0, 0, -inv_fy; if(Dp) *Dp << inv_fx, -inv_fx * s_ * inv_fy, 0, inv_fy; - return Point2(inv_fx * (delta_u - s_ * inv_fy * delta_v), - inv_fy * delta_v); + return point; } /* ************************************************************************* */ From 3a264ecc8cdc8695c61221e9a8d45569cf2889bd Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 23 Jun 2015 09:30:59 -0400 Subject: [PATCH 319/964] .cproject from develop --- .cproject | 3438 ++++++++++++++++++++++++++--------------------------- 1 file changed, 1719 insertions(+), 1719 deletions(-) diff --git a/.cproject b/.cproject index 2051b74fb..ac9b166ec 100644 --- a/.cproject +++ b/.cproject @@ -1,7 +1,5 @@ - - - + @@ -486,6 +484,341 @@ + + make + -j5 + testCombinedImuFactor.run + true + true + true + + + make + -j5 + testImuFactor.run + true + true + true + + + make + -j5 + testAHRSFactor.run + true + true + true + + + make + -j8 + testAttitudeFactor.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + testNonlinearConstraint.run + true + true + true + + + make + -j2 + testLieConfig.run + true + true + true + + + make + -j2 + testConstraintOptimizer.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j4 + testImuFactor.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testBTree.run + true + true + true + + + make + -j2 + testDSF.run + true + true + true + + + make + -j2 + testDSFVector.run + true + true + true + + + make + -j2 + testMatrix.run + true + true + true + + + make + -j2 + testSPQRUtil.run + true + true + true + + + make + -j2 + testVector.run + true + true + true + + + make + -j2 + timeMatrix.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + wrap + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + all + true + true + true + + + cmake + .. + true + false + true + + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testLieConfig.run + true + true + true + + + make + -j4 + testSimilarity3.run + true + true + true + + + make + -j5 + testInvDepthCamera3.run + true + true + true + + + make + -j5 + testTriangulation.run + true + true + true + + + make + -j4 + testEvent.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + all + true + false + true + + + make + -j5 + check + true + false + true + make -j5 @@ -534,39 +867,183 @@ true true - - make - -j4 - testSimilarity3.run - true - true - true - - + make -j5 - testInvDepthCamera3.run + testCal3Bundler.run true true true - + make -j5 - testTriangulation.run + testCal3DS2.run true true true - + + make + -j5 + testCalibratedCamera.run + true + true + true + + + make + -j5 + testEssentialMatrix.run + true + true + true + + + make + -j1 VERBOSE=1 + testHomography2.run + true + false + true + + + make + -j5 + testPinholeCamera.run + true + true + true + + + make + -j5 + testPoint2.run + true + true + true + + + make + -j5 + testPoint3.run + true + true + true + + + make + -j5 + testPose2.run + true + true + true + + + make + -j5 + testPose3.run + true + true + true + + + make + -j5 + testRot3M.run + true + true + true + + + make + -j5 + testSphere2.run + true + true + true + + + make + -j5 + testStereoCamera.run + true + true + true + + + make + -j5 + testCal3Unified.run + true + true + true + + + make + -j5 + testRot2.run + true + true + true + + + make + -j5 + testRot3Q.run + true + true + true + + + make + -j5 + testRot3.run + true + true + true + + make -j4 - testEvent.run + testSO3.run true true true - + + make + -j4 + testQuaternion.run + true + true + true + + + make + -j4 + testOrientedPlane3.run + true + true + true + + + make + -j4 + testPinholePose.run + true + true + true + + + make + -j4 + testCyclic.run + true + true + true + + make -j2 all @@ -574,7 +1051,7 @@ true true - + make -j2 clean @@ -582,137 +1059,23 @@ true true - - make - -k - check - true - false - true - - - make - tests/testBayesTree.run - true - false - true - - - make - testBinaryBayesNet.run - true - false - true - - + make -j2 - testFactorGraph.run + clean all true true true - + make -j2 - testISAM.run + install true true true - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - testKey.run - true - true - true - - - make - -j2 - testOrdering.run - true - true - true - - - make - testSymbolicBayesNet.run - true - false - true - - - make - tests/testSymbolicFactor.run - true - false - true - - - make - testSymbolicFactorGraph.run - true - false - true - - - make - -j2 - timeSymbolMaps.run - true - true - true - - - make - tests/testBayesTree - true - false - true - - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - + make -j2 clean @@ -864,154 +1227,143 @@ true true - + make - -j5 - testGaussianFactorGraphUnordered.run + -j2 + all true true true - + make - -j5 - testGaussianBayesNetUnordered.run + -j2 + check true true true - + make - -j5 - testGaussianConditional.run - true - true - true - - - make - -j5 - testGaussianDensity.run - true - true - true - - - make - -j5 - testGaussianJunctionTree.run - true - true - true - - - make - -j5 - testHessianFactor.run - true - true - true - - - make - -j5 - testJacobianFactor.run - true - true - true - - - make - -j5 - testKalmanFilter.run - true - true - true - - - make - -j5 - testNoiseModel.run - true - true - true - - - make - -j5 - testSampler.run - true - true - true - - - make - -j5 - testSerializationLinear.run - true - true - true - - - make - -j5 - testVectorValues.run - true - true - true - - - make - -j5 - testGaussianBayesTree.run - true - true - true - - - make - -j5 - testCombinedImuFactor.run - true - true - true - - - make - -j5 - testImuFactor.run - true - true - true - - - make - -j5 - testAHRSFactor.run - true - true - true - - - make - -j8 - testAttitudeFactor.run - true - true - true - - - make - -j5 + -j2 clean true true true - + make - -j5 - all + -j2 + testPlanarSLAM.run + true + true + true + + + make + -j2 + testPose2Config.run + true + true + true + + + make + -j2 + testPose2Factor.run + true + true + true + + + make + -j2 + testPose2Prior.run + true + true + true + + + make + -j2 + testPose2SLAM.run + true + true + true + + + make + -j2 + testPose3Config.run + true + true + true + + + make + -j2 + testPose3SLAM.run + true + true + true + + + make + testSimulated2DOriented.run + true + false + true + + + make + -j2 + testVSLAMConfig.run + true + true + true + + + make + -j2 + testVSLAMFactor.run + true + true + true + + + make + -j2 + testVSLAMGraph.run + true + true + true + + + make + -j2 + testPose3Factor.run + true + true + true + + + make + testSimulated2D.run + true + false + true + + + make + testSimulated3D.run + true + false + true + + + make + -j2 + tests/testGaussianISAM2 true true true @@ -1106,479 +1458,112 @@ make + testErrors.run true false true - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testGaussianJunctionTree.run - true - true - true - - - make - -j2 - tests/testGaussianFactor.run - true - true - true - - - make - -j2 - tests/testGaussianConditional.run - true - true - true - - - make - -j2 - tests/timeSLAMlike.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testBTree.run - true - true - true - - - make - -j2 - testDSF.run - true - true - true - - - make - -j2 - testDSFVector.run - true - true - true - - - make - -j2 - testMatrix.run - true - true - true - - - make - -j2 - testSPQRUtil.run - true - true - true - - - make - -j2 - testVector.run - true - true - true - - - make - -j2 - timeMatrix.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testClusterTree.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - tests/testEliminationTree.run - true - true - true - - - make - -j2 - tests/testSymbolicFactor.run - true - true - true - - - make - -j2 - tests/testVariableSlots.run - true - true - true - - - make - -j2 - tests/testConditional.run - true - true - true - - - make - -j2 - tests/testSymbolicFactorGraph.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testNonlinearConstraint.run - true - true - true - - - make - -j2 - testLieConfig.run - true - true - true - - - make - -j2 - testConstraintOptimizer.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testPlanarSLAM.run - true - true - true - - - make - -j2 - testPose2Config.run - true - true - true - - - make - -j2 - testPose2Factor.run - true - true - true - - - make - -j2 - testPose2Prior.run - true - true - true - - - make - -j2 - testPose2SLAM.run - true - true - true - - - make - -j2 - testPose3Config.run - true - true - true - - - make - -j2 - testPose3SLAM.run - true - true - true - - - make - - testSimulated2DOriented.run - true - false - true - - - make - -j2 - testVSLAMConfig.run - true - true - true - - - make - -j2 - testVSLAMFactor.run - true - true - true - - - make - -j2 - testVSLAMGraph.run - true - true - true - - - make - -j2 - testPose3Factor.run - true - true - true - - - make - - testSimulated2D.run - true - false - true - - - make - - testSimulated3D.run - true - false - true - - - make - -j2 - tests/testGaussianISAM2 - true - true - true - - + make -j5 - testBTree.run + testAntiFactor.run true true true - + make -j5 - testDSF.run + testPriorFactor.run true true true - + make -j5 - testDSFMap.run + testDataset.run true true true - + make -j5 - testDSFVector.run + testEssentialMatrixFactor.run true true true - + make -j5 - testFixedVector.run + testGeneralSFMFactor_Cal3Bundler.run true true true - + make -j5 - testEliminationTree.run + testGeneralSFMFactor.run true true true - + make -j5 - testInference.run + testProjectionFactor.run true true true - + make -j5 - testKey.run + testRotateFactor.run true true true - + make - -j1 - testSymbolicBayesTree.run + -j5 + testPoseRotationPrior.run true - false + true true - + make - -j1 - testSymbolicSequentialSolver.run + -j5 + testImplicitSchurFactor.run true - false + true true - + make -j4 - testLabeledSymbol.run + testRangeFactor.run true true true - + make - -j2 - check + -j4 + testOrientedPlane3Factor.run true true true - + make - -j2 - tests/testLieConfig.run + -j4 + testSmartProjectionPoseFactor.run true true true @@ -1784,6 +1769,7 @@ cpack + -G DEB true false @@ -1791,6 +1777,7 @@ cpack + -G RPM true false @@ -1798,6 +1785,7 @@ cpack + -G TGZ true false @@ -1805,6 +1793,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -1986,7 +1975,7 @@ false true - + make -j2 check @@ -1994,38 +1983,54 @@ true true - + make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - - - cmake - .. + tests/testGaussianISAM2 true false true - + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testGaussianJunctionTree.run + true + true + true + + + make + -j2 + tests/testGaussianFactor.run + true + true + true + + + make + -j2 + tests/testGaussianConditional.run + true + true + true + + + make + -j2 + tests/timeSLAMlike.run + true + true + true + + make -j2 testGaussianFactor.run @@ -2033,442 +2038,10 @@ true true - + make -j5 - testCal3Bundler.run - true - true - true - - - make - -j5 - testCal3DS2.run - true - true - true - - - make - -j5 - testCalibratedCamera.run - true - true - true - - - make - -j5 - testEssentialMatrix.run - true - true - true - - - make - -j1 VERBOSE=1 - testHomography2.run - true - false - true - - - make - -j5 - testPinholeCamera.run - true - true - true - - - make - -j5 - testPoint2.run - true - true - true - - - make - -j5 - testPoint3.run - true - true - true - - - make - -j5 - testPose2.run - true - true - true - - - make - -j5 - testPose3.run - true - true - true - - - make - -j5 - testRot3M.run - true - true - true - - - make - -j5 - testSphere2.run - true - true - true - - - make - -j5 - testStereoCamera.run - true - true - true - - - make - -j5 - testCal3Unified.run - true - true - true - - - make - -j5 - testRot2.run - true - true - true - - - make - -j5 - testRot3Q.run - true - true - true - - - make - -j5 - testRot3.run - true - true - true - - - make - -j4 - testSO3.run - true - true - true - - - make - -j4 - testQuaternion.run - true - true - true - - - make - -j4 - testOrientedPlane3.run - true - true - true - - - make - -j4 - testPinholePose.run - true - true - true - - - make - -j4 - testCyclic.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - all - true - false - true - - - make - -j5 - check - true - false - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - clean all - true - true - true - - - make - -j1 - testDiscreteBayesTree.run - true - false - true - - - make - -j5 - testDiscreteConditional.run - true - true - true - - - make - -j5 - testDiscreteFactor.run - true - true - true - - - make - -j5 - testDiscreteFactorGraph.run - true - true - true - - - make - -j5 - testDiscreteMarginals.run - true - true - true - - - make - -j5 - testIMUSystem.run - true - true - true - - - make - -j5 - testPoseRTV.run - true - true - true - - - make - -j5 - testVelocityConstraint.run - true - true - true - - - make - -j5 - testVelocityConstraint3.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - timeCalibratedCamera.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - testMethod.run - true - true - true - - - make - -j5 - testClass.run - true - true - true - - - make - -j4 - testType.run - true - true - true - - - make - -j4 - testArgument.run - true - true - true - - - make - -j4 - testReturnValue.run - true - true - true - - - make - -j4 - testTemplate.run - true - true - true - - - make - -j4 - testGlobalFunction.run + testParticleFactor.run true true true @@ -2521,324 +2094,151 @@ true true - + make -j2 - vSFMexample.run + all true true true - - make - -j5 - testMatrix.run - true - true - true - - - make - -j5 - testVector.run - true - true - true - - - make - -j5 - testNumericalDerivative.run - true - true - true - - - make - -j5 - testVerticalBlockMatrix.run - true - true - true - - - make - -j4 - testOptionalJacobian.run - true - true - true - - - make - -j4 - testGroup.run - true - true - true - - + make -j2 - testVSLAMGraph - true - true - true - - - make - -j5 - check.tests - true - true - true - - - make - -j2 - timeGaussianFactorGraph.run - true - true - true - - - make - -j5 - testMarginals.run - true - true - true - - - make - -j5 - testGaussianISAM2.run - true - true - true - - - make - -j5 - testSymbolicFactorGraphB.run - true - true - true - - - make - -j2 - timeSequentialOnDataset.run - true - true - true - - - make - -j5 - testGradientDescentOptimizer.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - testNonlinearOptimizer.run - true - true - true - - - make - -j2 - testGaussianBayesNet.run - true - true - true - - - make - -j2 - testNonlinearISAM.run - true - true - true - - - make - -j2 - testNonlinearEquality.run - true - true - true - - - make - -j2 - testExtendedKalmanFilter.run - true - true - true - - - make - -j5 - timing.tests - true - true - true - - - make - -j5 - testNonlinearFactor.run - true - true - true - - - make - -j5 clean true true true - + make - -j5 - testGaussianJunctionTreeB.run - true - true - true - - - make - testGraph.run + -k + check true false true - + make + + tests/testBayesTree.run + true + false + true + + + make + + testBinaryBayesNet.run + true + false + true + + + make + -j2 + testFactorGraph.run + true + true + true + + + make + -j2 + testISAM.run + true + true + true + + + make + -j2 testJunctionTree.run true - false + true true - + make - testSymbolicBayesNetB.run + -j2 + testKey.run + true + true + true + + + make + -j2 + testOrdering.run + true + true + true + + + make + + testSymbolicBayesNet.run true false true - + make - -j5 - testGaussianISAM.run + + tests/testSymbolicFactor.run true - true + false true - + make - -j5 - testDoglegOptimizer.run + + testSymbolicFactorGraph.run true - true + false true - - make - -j5 - testNonlinearFactorGraph.run - true - true - true - - - make - -j5 - testIterative.run - true - true - true - - - make - -j5 - testSubgraphSolver.run - true - true - true - - - make - -j5 - testGaussianFactorGraphB.run - true - true - true - - - make - -j5 - testSummarization.run - true - true - true - - - make - -j5 - testManifold.run - true - true - true - - - make - -j4 - testLie.run - true - true - true - - - make - -j5 - testParticleFactor.run - true - true - true - - + make -j2 - testGaussianFactor.run + timeSymbolMaps.run true true true - + + make + + tests/testBayesTree + true + false + true + + make -j2 - install + check true true true - + + make + -j2 + timeCalibratedCamera.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + make -j2 clean @@ -2846,146 +2246,18 @@ true true - + make -j2 - all + tests/testPose2.run true true true - + make -j2 - clean - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testAntiFactor.run - true - true - true - - - make - -j5 - testPriorFactor.run - true - true - true - - - make - -j5 - testDataset.run - true - true - true - - - make - -j5 - testEssentialMatrixFactor.run - true - true - true - - - make - -j5 - testGeneralSFMFactor_Cal3Bundler.run - true - true - true - - - make - -j5 - testGeneralSFMFactor.run - true - true - true - - - make - -j5 - testProjectionFactor.run - true - true - true - - - make - -j5 - testRotateFactor.run - true - true - true - - - make - -j5 - testPoseRotationPrior.run - true - true - true - - - make - -j5 - testImplicitSchurFactor.run - true - true - true - - - make - -j4 - testRangeFactor.run - true - true - true - - - make - -j4 - testOrientedPlane3Factor.run - true - true - true - - - make - -j4 - testSmartProjectionPoseFactor.run - true - true - true - - - make - -j4 - testSmartProjectionCameraFactor.run + tests/testPose3.run true true true @@ -3190,190 +2462,6 @@ true true - - make - -j5 - testLago.run - true - true - true - - - make - -j5 - testLinearContainerFactor.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testWhiteNoiseFactor.run - true - true - true - - - make - -j4 - testExpression.run - true - true - true - - - make - -j4 - testAdaptAutoDiff.run - true - true - true - - - make - -j4 - testCallRecord.run - true - true - true - - - make - -j4 - testExpressionFactor.run - true - true - true - - - make - -j4 - testExecutionTrace.run - true - true - true - - - make - -j4 - testImuFactor.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - - tests/testGaussianISAM2 - true - false - true - - - make - -j5 - timeCalibratedCamera.run - true - true - true - - - make - -j5 - timePinholeCamera.run - true - true - true - - - make - -j5 - timeStereoCamera.run - true - true - true - - - make - -j5 - timeLago.run - true - true - true - - - make - -j5 - timePose3.run - true - true - true - - - make - -j4 - timeAdaptAutoDiff.run - true - true - true - - - make - -j4 - timeCameraExpression.run - true - true - true - - - make - -j4 - timeOneCameraExpression.run - true - true - true - - - make - -j4 - timeSFMExpressions.run - true - true - true - - - make - -j4 - timeIncremental.run - true - true - true - make -j2 @@ -3470,10 +2558,922 @@ true true - + + make + -j1 + testDiscreteBayesTree.run + true + false + true + + make -j5 - wrap + testDiscreteConditional.run + true + true + true + + + make + -j5 + testDiscreteFactor.run + true + true + true + + + make + -j5 + testDiscreteFactorGraph.run + true + true + true + + + make + -j5 + testDiscreteMarginals.run + true + true + true + + + make + -j5 + testEliminationTree.run + true + true + true + + + make + -j5 + testInference.run + true + true + true + + + make + -j5 + testKey.run + true + true + true + + + make + -j1 + testSymbolicBayesTree.run + true + false + true + + + make + -j1 + testSymbolicSequentialSolver.run + true + false + true + + + make + -j4 + testLabeledSymbol.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testClusterTree.run + true + true + true + + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + tests/testEliminationTree.run + true + true + true + + + make + -j2 + tests/testSymbolicFactor.run + true + true + true + + + make + -j2 + tests/testVariableSlots.run + true + true + true + + + make + -j2 + tests/testConditional.run + true + true + true + + + make + -j2 + tests/testSymbolicFactorGraph.run + true + true + true + + + make + -j5 + testLago.run + true + true + true + + + make + -j5 + testLinearContainerFactor.run + true + true + true + + + make + -j5 + testOrdering.run + true + true + true + + + make + -j5 + testValues.run + true + true + true + + + make + -j5 + testWhiteNoiseFactor.run + true + true + true + + + make + -j4 + testExpression.run + true + true + true + + + make + -j4 + testAdaptAutoDiff.run + true + true + true + + + make + -j4 + testCallRecord.run + true + true + true + + + make + -j4 + testExpressionFactor.run + true + true + true + + + make + -j4 + testExecutionTrace.run + true + true + true + + + make + -j5 + testIMUSystem.run + true + true + true + + + make + -j5 + testPoseRTV.run + true + true + true + + + make + -j5 + testVelocityConstraint.run + true + true + true + + + make + -j5 + testVelocityConstraint3.run + true + true + true + + + make + -j5 + timeCalibratedCamera.run + true + true + true + + + make + -j5 + timePinholeCamera.run + true + true + true + + + make + -j5 + timeStereoCamera.run + true + true + true + + + make + -j5 + timeLago.run + true + true + true + + + make + -j5 + timePose3.run + true + true + true + + + make + -j4 + timeAdaptAutoDiff.run + true + true + true + + + make + -j4 + timeCameraExpression.run + true + true + true + + + make + -j4 + timeOneCameraExpression.run + true + true + true + + + make + -j4 + timeSFMExpressions.run + true + true + true + + + make + -j4 + timeIncremental.run + true + true + true + + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFMap.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testGaussianFactorGraphUnordered.run + true + true + true + + + make + -j5 + testGaussianBayesNetUnordered.run + true + true + true + + + make + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testJacobianFactor.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testNoiseModel.run + true + true + true + + + make + -j5 + testSampler.run + true + true + true + + + make + -j5 + testSerializationLinear.run + true + true + true + + + make + -j5 + testVectorValues.run + true + true + true + + + make + -j5 + testGaussianBayesTree.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + testMethod.run + true + true + true + + + make + -j5 + testClass.run + true + true + true + + + make + -j4 + testType.run + true + true + true + + + make + -j4 + testArgument.run + true + true + true + + + make + -j4 + testReturnValue.run + true + true + true + + + make + -j4 + testTemplate.run + true + true + true + + + make + -j4 + testGlobalFunction.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testMatrix.run + true + true + true + + + make + -j5 + testVector.run + true + true + true + + + make + -j5 + testNumericalDerivative.run + true + true + true + + + make + -j5 + testVerticalBlockMatrix.run + true + true + true + + + make + -j4 + testOptionalJacobian.run + true + true + true + + + make + -j4 + testGroup.run + true + true + true + + + make + -j5 + check.tests + true + true + true + + + make + -j2 + timeGaussianFactorGraph.run + true + true + true + + + make + -j5 + testMarginals.run + true + true + true + + + make + -j5 + testGaussianISAM2.run + true + true + true + + + make + -j5 + testSymbolicFactorGraphB.run + true + true + true + + + make + -j2 + timeSequentialOnDataset.run + true + true + true + + + make + -j5 + testGradientDescentOptimizer.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + testNonlinearOptimizer.run + true + true + true + + + make + -j2 + testGaussianBayesNet.run + true + true + true + + + make + -j2 + testNonlinearISAM.run + true + true + true + + + make + -j2 + testNonlinearEquality.run + true + true + true + + + make + -j2 + testExtendedKalmanFilter.run + true + true + true + + + make + -j5 + timing.tests + true + true + true + + + make + -j5 + testNonlinearFactor.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + testGaussianJunctionTreeB.run + true + true + true + + + make + + testGraph.run + true + false + true + + + make + + testJunctionTree.run + true + false + true + + + make + + testSymbolicBayesNetB.run + true + false + true + + + make + -j5 + testGaussianISAM.run + true + true + true + + + make + -j5 + testDoglegOptimizer.run + true + true + true + + + make + -j5 + testNonlinearFactorGraph.run + true + true + true + + + make + -j5 + testIterative.run + true + true + true + + + make + -j5 + testSubgraphSolver.run + true + true + true + + + make + -j5 + testGaussianFactorGraphB.run + true + true + true + + + make + -j5 + testSummarization.run + true + true + true + + + make + -j5 + testManifold.run + true + true + true + + + make + -j4 + testLie.run + true + true + true + + + make + -j2 + vSFMexample.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testVSLAMGraph true true true From 93e1311e0de4408da845f09ff349d2daba5154ec Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 10:01:02 -0400 Subject: [PATCH 320/964] change: reduce some temporary computation --- gtsam/geometry/Cal3_S2.cpp | 20 +++++++------------- gtsam/geometry/Cal3_S2.h | 9 +-------- 2 files changed, 8 insertions(+), 21 deletions(-) diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp index c2c0b7d79..c131d46f7 100644 --- a/gtsam/geometry/Cal3_S2.cpp +++ b/gtsam/geometry/Cal3_S2.cpp @@ -83,26 +83,20 @@ Point2 Cal3_S2::uncalibrate(const Point2& p, OptionalJacobian<2, 5> Dcal, } /* ************************************************************************* */ -Point2 Cal3_S2::calibrate(const Point2& p) const { - const double u = p.x(), v = p.y(); - return Point2((1 / fx_) * (u - u0_ - (s_ / fy_) * (v - v0_)), - (1 / fy_) * (v - v0_)); -} - -/* ************************************************************************* */ -Point2 Cal3_S2::calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal, +Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal, OptionalJacobian<2,2> Dp) const { const double u = p.x(), v = p.y(); double delta_u = u - u0_, delta_v = v - v0_; double inv_fx = 1/ fx_, inv_fy = 1/fy_; - Point2 point(inv_fx * (delta_u - s_ * inv_fy * delta_v), - inv_fy * delta_v); + double inv_fy_delta_v = inv_fy * delta_v, inv_fx_s_inv_fy = inv_fx * s_ * inv_fy; + Point2 point(inv_fx * (delta_u - s_ * inv_fy_delta_v), + inv_fy_delta_v); if(Dcal) - *Dcal << - inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy * delta_v, -inv_fx * point.y(), - -inv_fx, inv_fx * s_ * inv_fy, + *Dcal << - inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy_delta_v, -inv_fx * point.y(), + -inv_fx, inv_fx_s_inv_fy, 0, -inv_fy * point.y(), 0, 0, -inv_fy; if(Dp) - *Dp << inv_fx, -inv_fx * s_ * inv_fy, 0, inv_fy; + *Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy; return point; } diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 9347c563c..4e62ca7e9 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -153,13 +153,6 @@ public: Point2 uncalibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, OptionalJacobian<2,2> Dp = boost::none) const; - /** - * convert image coordinates uv to intrinsic coordinates xy - * @param p point in image coordinates - * @return point in intrinsic coordinates - */ - Point2 calibrate(const Point2& p) const; - /** * convert image coordinates uv to intrinsic coordinates xy * @param p point in image coordinates @@ -167,7 +160,7 @@ public: * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates * @return point in intrinsic coordinates */ - Point2 calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, + Point2 calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none, OptionalJacobian<2,2> Dp = boost::none) const; /** From bb58550ae40e1d63ff8c27122f518672987a7802 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Tue, 23 Jun 2015 10:14:19 -0400 Subject: [PATCH 321/964] change:oops, forget the change in the test --- gtsam/geometry/tests/testCal3_S2.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp index 8272760ef..3e93dedc1 100644 --- a/gtsam/geometry/tests/testCal3_S2.cpp +++ b/gtsam/geometry/tests/testCal3_S2.cpp @@ -80,7 +80,7 @@ Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {return k.calibrate(pt); TEST(Cal3_S2, Dcalibrate1) { Matrix computed; - Point2 expected = K.calibrate2(p_uv, computed, boost::none); + Point2 expected = K.calibrate(p_uv, computed, boost::none); Matrix numerical = numericalDerivative21(calibrate_, K, p_uv); CHECK(assert_equal(expected, p_xy, 1e-8)); CHECK(assert_equal(numerical, computed, 1e-8)); @@ -90,7 +90,7 @@ TEST(Cal3_S2, Dcalibrate1) TEST(Cal3_S2, Dcalibrate2) { Matrix computed; - Point2 expected = K.calibrate2(p_uv, boost::none, computed); + Point2 expected = K.calibrate(p_uv, boost::none, computed); Matrix numerical = numericalDerivative22(calibrate_, K, p_uv); CHECK(assert_equal(expected, p_xy, 1e-8)); CHECK(assert_equal(numerical, computed, 1e-8)); From 0e022b3b332a1315fb343a7f4f9487b7ef41de3b Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 24 Jun 2015 00:35:32 -0400 Subject: [PATCH 322/964] Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper. --- gtsam.h | 16 +++++++--------- gtsam/nonlinear/Values.cpp | 5 +++-- gtsam/nonlinear/Values.h | 2 +- gtsam/nonlinear/tests/testValues.cpp | 5 +++-- .../nonlinear/ConcurrentBatchSmoother.cpp | 2 +- matlab.h | 2 +- 6 files changed, 16 insertions(+), 16 deletions(-) diff --git a/gtsam.h b/gtsam.h index 70f3b566f..c39b2005c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1654,12 +1654,12 @@ char symbolChr(size_t key); size_t symbolIndex(size_t key); // Default keyformatter -void printKeyList (const gtsam::KeyList& keys); -void printKeyList (const gtsam::KeyList& keys, string s); -void printKeyVector(const gtsam::KeyVector& keys); -void printKeyVector(const gtsam::KeyVector& keys, string s); -void printKeySet (const gtsam::KeySet& keys); -void printKeySet (const gtsam::KeySet& keys, string s); +void PrintKeyList (const gtsam::KeyList& keys); +void PrintKeyList (const gtsam::KeyList& keys, string s); +void PrintKeyVector(const gtsam::KeyVector& keys); +void PrintKeyVector(const gtsam::KeyVector& keys, string s); +void PrintKeySet (const gtsam::KeySet& keys); +void PrintKeySet (const gtsam::KeySet& keys, string s); #include class LabeledSymbol { @@ -1776,7 +1776,7 @@ class Values { void swap(gtsam::Values& values); bool exists(size_t j) const; - gtsam::KeyList keys() const; + gtsam::KeyVector keys() const; gtsam::VectorValues zeroVectors() const; @@ -1893,8 +1893,6 @@ class KeySet { class KeyVector { KeyVector(); KeyVector(const gtsam::KeyVector& other); - KeyVector(const gtsam::KeySet& other); - KeyVector(const gtsam::KeyList& other); // Note: no print function diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index 372bced8e..e3926aa64 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -210,8 +210,9 @@ namespace gtsam { } /* ************************************************************************* */ - FastList Values::keys() const { - FastList result; + KeyVector Values::keys() const { + KeyVector result; + result.reserve(size()); for(const_iterator key_value = begin(); key_value != end(); ++key_value) result.push_back(key_value->key); return result; diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 4eb89b084..d3c114657 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -291,7 +291,7 @@ namespace gtsam { * Returns a set of keys in the config * Note: by construction, the list is ordered */ - KeyList keys() const; + KeyVector keys() const; /** Replace all keys and variables */ Values& operator=(const Values& rhs); diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp index faa285cd5..dfc14e1e6 100644 --- a/gtsam/nonlinear/tests/testValues.cpp +++ b/gtsam/nonlinear/tests/testValues.cpp @@ -26,6 +26,7 @@ #include #include // for operator += +#include #include using namespace boost::assign; #include @@ -308,12 +309,12 @@ TEST(Values, extract_keys) config.insert(key3, Pose2()); config.insert(key4, Pose2()); - FastList expected, actual; + KeyVector expected, actual; expected += key1, key2, key3, key4; actual = config.keys(); CHECK(actual.size() == expected.size()); - FastList::const_iterator itAct = actual.begin(), itExp = expected.begin(); + KeyVector::const_iterator itAct = actual.begin(), itExp = expected.begin(); for (; itAct != actual.end() && itExp != expected.end(); ++itAct, ++itExp) { EXPECT(*itExp == *itAct); } diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp index 14c312f9d..e8a89cc17 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp @@ -230,7 +230,7 @@ void ConcurrentBatchSmoother::reorder() { // Recalculate the variable index variableIndex_ = VariableIndex(factors_); - FastList separatorKeys = separatorValues_.keys(); + KeyVector separatorKeys = separatorValues_.keys(); ordering_ = Ordering::colamdConstrainedLast(variableIndex_, std::vector(separatorKeys.begin(), separatorKeys.end())); } diff --git a/matlab.h b/matlab.h index a215c6e07..4a9ac2309 100644 --- a/matlab.h +++ b/matlab.h @@ -229,7 +229,7 @@ Values localToWorld(const Values& local, const Pose2& base, // if no keys given, get all keys from local values FastVector keys(user_keys); if (keys.size()==0) - keys = FastVector(local.keys()); + keys = local.keys(); // Loop over all keys BOOST_FOREACH(Key key, keys) { From 16cbb97181efccba9abdf4d7735186d92f35219b Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 23 Jun 2015 22:41:08 -0700 Subject: [PATCH 323/964] Moved insert to cpp --- gtsam/linear/VectorValues.cpp | 12 ++++++++++++ gtsam/linear/VectorValues.h | 13 ++----------- 2 files changed, 14 insertions(+), 11 deletions(-) diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 664fcf3b7..33c62cfb6 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -66,6 +66,18 @@ namespace gtsam { return result; } + /* ************************************************************************* */ + VectorValues::iterator VectorValues::insert(const std::pair& key_value) { + // Note that here we accept a pair with a reference to the Vector, but the Vector is copied as + // it is inserted into the values_ map. + std::pair result = values_.insert(key_value); + if(!result.second) + throw std::invalid_argument( + "Requested to insert variable '" + DefaultKeyFormatter(key_value.first) + + "' already in this VectorValues."); + return result.first; + } + /* ************************************************************************* */ void VectorValues::update(const VectorValues& values) { diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 968fc1adb..d04d9faac 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -181,23 +181,14 @@ namespace gtsam { * @param value The vector to be inserted. * @param j The index with which the value will be associated. */ iterator insert(Key j, const Vector& value) { - return insert(std::make_pair(j, value)); // Note only passing a reference to the Vector + return insert(std::make_pair(j, value)); } /** Insert a vector \c value with key \c j. Throws an invalid_argument exception if the key \c * j is already used. * @param value The vector to be inserted. * @param j The index with which the value will be associated. */ - iterator insert(const std::pair& key_value) { - // Note that here we accept a pair with a reference to the Vector, but the Vector is copied as - // it is inserted into the values_ map. - std::pair result = values_.insert(key_value); - if(!result.second) - throw std::invalid_argument( - "Requested to insert variable '" + DefaultKeyFormatter(key_value.first) - + "' already in this VectorValues."); - return result.first; - } + iterator insert(const std::pair& key_value); /** Insert all values from \c values. Throws an invalid_argument exception if any keys to be * inserted are already used. */ From 61315329bf6d88bc61f0202e76f59e399100cb68 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 24 Jun 2015 10:55:06 -0400 Subject: [PATCH 324/964] Fix Matlab serialization --- gtsam/base/FastVector.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index 0a4932e01..7d1cb970c 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -20,6 +20,7 @@ #include #include +#include #include namespace gtsam { From 6c34ce1e80729587ab7a08d39bb35d42c619d9bd Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 24 Jun 2015 16:11:29 -0400 Subject: [PATCH 325/964] change: add some comments --- gtsam/geometry/OrientedPlane3.h | 27 ++++++++++++++++++++------- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index d987ad7b3..661577739 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -27,12 +27,12 @@ namespace gtsam { /// Represents an infinite plane in 3D. -class OrientedPlane3: public DerivedValue { +class GTSAM_EXPORT OrientedPlane3 { private: - Unit3 n_; /// The direction of the planar normal - double d_; /// The perpendicular distance to this plane + Unit3 n_; ///< The direction of the planar normal + double d_; ///< The perpendicular distance to this plane public: enum { @@ -51,17 +51,22 @@ public: n_(s), d_(d) { } + /// Construct from a vector of plane coefficients OrientedPlane3(const Vector4& vec) : n_(vec(0), vec(1), vec(2)), d_(vec(3)) { } - /// Construct from a, b, c, d + /// Construct from four numbers of plane coeffcients (a, b, c, d) OrientedPlane3(double a, double b, double c, double d) { Point3 p(a, b, c); n_ = Unit3(p); d_ = d; } + /// @} + /// @name Testable + /// @{ + /// The print function void print(const std::string& s = std::string()) const; @@ -70,12 +75,20 @@ public: return (n_.equals(s.n_, tol) && (fabs(d_ - s.d_) < tol)); } - /// Transforms a plane to the specified pose + /** Transforms a plane to the specified pose + * @param The raw plane + * @param A transformation in current coordiante + * @param Hr optional jacobian wrpt incremental Pose + * @param Hp optional Jacobian wrpt the destination plane + */ static OrientedPlane3 Transform(const gtsam::OrientedPlane3& plane, const gtsam::Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none, OptionalJacobian<3, 3> Hp = boost::none); - /// Computes the error between two poses + /** Computes the error between two poses. + * The error is a norm 1 difference in tangent space. + * @param the other plane + */ Vector3 error(const gtsam::OrientedPlane3& plane) const; /// Dimensionality of tangent space = 3 DOF @@ -94,7 +107,7 @@ public: /// The local coordinates function Vector3 localCoordinates(const OrientedPlane3& s) const; - /// Returns the plane coefficients (a, b, c, d) + /// Returns the plane coefficients Vector3 planeCoefficients() const; inline Unit3 normal() const { From ff14e576ee27e0db81c61b716a6c3ef02d3b4984 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 24 Jun 2015 16:18:33 -0400 Subject: [PATCH 326/964] fix: return plane coefficents dimension was wrong, should be Vector4, not Vector3 --- gtsam/geometry/OrientedPlane3.cpp | 4 ++-- gtsam/geometry/OrientedPlane3.h | 2 +- gtsam/geometry/tests/testOrientedPlane3.cpp | 12 ++++++++++++ 3 files changed, 15 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index e96708942..b6594c29c 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -91,9 +91,9 @@ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const { } /* ************************************************************************* */ -Vector3 OrientedPlane3::planeCoefficients() const { +Vector4 OrientedPlane3::planeCoefficients() const { Vector unit_vec = n_.unitVector(); - Vector3 a; + Vector4 a; a << unit_vec[0], unit_vec[1], unit_vec[2], d_; return a; } diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index 661577739..e75e32c96 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -108,7 +108,7 @@ public: Vector3 localCoordinates(const OrientedPlane3& s) const; /// Returns the plane coefficients - Vector3 planeCoefficients() const; + Vector4 planeCoefficients() const; inline Unit3 normal() const { return n_; diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index b2b4ecc43..8a0c2f846 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -29,6 +29,18 @@ using boost::none; GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3) GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3) +//******************************************************************************* +TEST (OrientedPlane3, get) { + Vector4 c; + c << -1, 0, 0, 5; + OrientedPlane3 plane1(c); + OrientedPlane3 plane2(c[0], c[1], c[2], c[3]); + Vector coefficient1 = plane1.planeCoefficients(); + EXPECT(assert_equal(coefficient1, c, 1e-8)); + Vector coefficient2 = plane2.planeCoefficients(); + EXPECT(assert_equal(coefficient2, c, 1e-8)); +} + //******************************************************************************* TEST (OrientedPlane3, transform) { // Test transforming a plane to a pose From b7c1097f5811ceb16455bd90d16bd71c8c62e25a Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 24 Jun 2015 16:29:38 -0400 Subject: [PATCH 327/964] feature: add inline get methods --- gtsam/geometry/OrientedPlane3.cpp | 10 ---------- gtsam/geometry/OrientedPlane3.h | 11 ++++++++++- gtsam/geometry/tests/testOrientedPlane3.cpp | 8 ++++++-- 3 files changed, 16 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index b6594c29c..dff4eac9e 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -90,14 +90,4 @@ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const { return e; } -/* ************************************************************************* */ -Vector4 OrientedPlane3::planeCoefficients() const { - Vector unit_vec = n_.unitVector(); - Vector4 a; - a << unit_vec[0], unit_vec[1], unit_vec[2], d_; - return a; -} - -/* ************************************************************************* */ - } diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index e75e32c96..8ff29b88a 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -108,12 +108,21 @@ public: Vector3 localCoordinates(const OrientedPlane3& s) const; /// Returns the plane coefficients - Vector4 planeCoefficients() const; + inline Vector4 planeCoefficients() const { + Vector3 unit_vec = n_.unitVector(); + return Vector4(unit_vec[0], unit_vec[1], unit_vec[2], d_); + } + /// Return the normal inline Unit3 normal() const { return n_; } + /// Return the perpendicular distance to the origin + inline double distance() const { + return d_; + } + /// @} }; diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index 8a0c2f846..c6189b970 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -35,10 +35,14 @@ TEST (OrientedPlane3, get) { c << -1, 0, 0, 5; OrientedPlane3 plane1(c); OrientedPlane3 plane2(c[0], c[1], c[2], c[3]); - Vector coefficient1 = plane1.planeCoefficients(); + Vector4 coefficient1 = plane1.planeCoefficients(); + double distance1 = plane1.distance(); EXPECT(assert_equal(coefficient1, c, 1e-8)); - Vector coefficient2 = plane2.planeCoefficients(); + EXPECT_DOUBLES_EQUAL(distance1, 5, 1e-8); + Vector4 coefficient2 = plane2.planeCoefficients(); + double distance2 = plane2.distance(); EXPECT(assert_equal(coefficient2, c, 1e-8)); + EXPECT_DOUBLES_EQUAL(distance2, 5, 1e-8); } //******************************************************************************* From cd0fe5d98c38a344f195881f96b3cbd950a00814 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 24 Jun 2015 22:15:25 -0400 Subject: [PATCH 328/964] change: correct the naming, and inappropriate tests --- gtsam/geometry/tests/testOrientedPlane3.cpp | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index c6189b970..1fd9d9d6b 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -30,7 +30,7 @@ GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3) GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3) //******************************************************************************* -TEST (OrientedPlane3, get) { +TEST (OrientedPlane3, getMethods) { Vector4 c; c << -1, 0, 0, 5; OrientedPlane3 plane1(c); @@ -38,11 +38,13 @@ TEST (OrientedPlane3, get) { Vector4 coefficient1 = plane1.planeCoefficients(); double distance1 = plane1.distance(); EXPECT(assert_equal(coefficient1, c, 1e-8)); + EXPECT(assert_equal(Unit3(-1,0,0).unitVector(), plane1.normal().unitVector())); EXPECT_DOUBLES_EQUAL(distance1, 5, 1e-8); Vector4 coefficient2 = plane2.planeCoefficients(); double distance2 = plane2.distance(); EXPECT(assert_equal(coefficient2, c, 1e-8)); EXPECT_DOUBLES_EQUAL(distance2, 5, 1e-8); + EXPECT(assert_equal(Unit3(-1,0,0).unitVector(), plane2.normal().unitVector())); } //******************************************************************************* @@ -98,11 +100,11 @@ inline static Vector randomVector(const Vector& minLimits, TEST(OrientedPlane3, localCoordinates_retract) { size_t numIterations = 10000; - gtsam::Vector minPlaneLimit(4), maxPlaneLimit(4); + Vector4 minPlaneLimit, maxPlaneLimit; minPlaneLimit << -1.0, -1.0, -1.0, 0.01; maxPlaneLimit << 1.0, 1.0, 1.0, 10.0; - Vector minXiLimit(3), maxXiLimit(3); + Vector3 minXiLimit, maxXiLimit; minXiLimit << -M_PI, -M_PI, -10.0; maxXiLimit << M_PI, M_PI, 10.0; for (size_t i = 0; i < numIterations; i++) { @@ -114,15 +116,15 @@ TEST(OrientedPlane3, localCoordinates_retract) { Vector v12 = randomVector(minXiLimit, maxXiLimit); // Magnitude of the rotation can be at most pi - if (v12.segment<3>(0).norm() > M_PI) - v12.segment<3>(0) = v12.segment<3>(0) / M_PI; + if (v12.head<3>().norm() > M_PI) + v12.head<3>() = v12.head<3>() / M_PI; OrientedPlane3 p2 = p1.retract(v12); // Check if the local coordinates and retract return the same results. Vector actual_v12 = p1.localCoordinates(p2); - EXPECT(assert_equal(v12, actual_v12, 1e-3)); + EXPECT(assert_equal(v12, actual_v12, 1e-6)); OrientedPlane3 actual_p2 = p1.retract(actual_v12); - EXPECT(assert_equal(p2, actual_p2, 1e-3)); + EXPECT(assert_equal(p2, actual_p2, 1e-6)); } } From 2c1d8e38db65a0f80bde6e068ff1ab852cf48213 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 24 Jun 2015 22:24:09 -0400 Subject: [PATCH 329/964] change: remove redudant namespace --- gtsam/geometry/OrientedPlane3.cpp | 18 +++++++++--------- gtsam/geometry/OrientedPlane3.h | 7 +++---- 2 files changed, 12 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index dff4eac9e..48bd07382 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -26,27 +26,27 @@ namespace gtsam { /* ************************************************************************* */ /// The print fuction -void OrientedPlane3::print(const std::string& s) const { - Vector coeffs = planeCoefficients(); +void OrientedPlane3::print(const string& s) const { + Vector4 coeffs = planeCoefficients(); cout << s << " : " << coeffs << endl; } /* ************************************************************************* */ -OrientedPlane3 OrientedPlane3::Transform(const gtsam::OrientedPlane3& plane, - const gtsam::Pose3& xr, OptionalJacobian<3, 6> Hr, +OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, + const Pose3& xr, OptionalJacobian<3, 6> Hr, OptionalJacobian<3, 3> Hp) { Matrix n_hr; Matrix n_hp; Unit3 n_rotated = xr.rotation().unrotate(plane.n_, n_hr, n_hp); - Vector n_unit = plane.n_.unitVector(); - Vector unit_vec = n_rotated.unitVector(); + Vector3 n_unit = plane.n_.unitVector(); + Vector3 unit_vec = n_rotated.unitVector(); double pred_d = n_unit.dot(xr.translation().vector()) + plane.d_; OrientedPlane3 transformed_plane(unit_vec(0), unit_vec(1), unit_vec(2), pred_d); if (Hr) { - *Hr = gtsam::zeros(3, 6); + *Hr = zeros(3, 6); (*Hr).block<2, 3>(0, 0) = n_hr; (*Hr).block<1, 3>(2, 3) = unit_vec; } @@ -54,7 +54,7 @@ OrientedPlane3 OrientedPlane3::Transform(const gtsam::OrientedPlane3& plane, Vector xrp = xr.translation().vector(); Matrix n_basis = plane.n_.basis(); Vector hpp = n_basis.transpose() * xrp; - *Hp = gtsam::zeros(3, 3); + *Hp = zeros(3, 3); (*Hp).block<2, 2>(0, 0) = n_hp; (*Hp).block<1, 2>(2, 0) = hpp; (*Hp)(2, 2) = 1; @@ -64,7 +64,7 @@ OrientedPlane3 OrientedPlane3::Transform(const gtsam::OrientedPlane3& plane, } /* ************************************************************************* */ -Vector3 OrientedPlane3::error(const gtsam::OrientedPlane3& plane) const { +Vector3 OrientedPlane3::error(const OrientedPlane3& plane) const { Vector2 n_error = -n_.localCoordinates(plane.n_); double d_error = d_ - plane.d_; Vector3 e; diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index 8ff29b88a..a6fee420b 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -22,7 +22,6 @@ #include #include #include -#include namespace gtsam { @@ -81,15 +80,15 @@ public: * @param Hr optional jacobian wrpt incremental Pose * @param Hp optional Jacobian wrpt the destination plane */ - static OrientedPlane3 Transform(const gtsam::OrientedPlane3& plane, - const gtsam::Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none, + static OrientedPlane3 Transform(const OrientedPlane3& plane, + const Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none, OptionalJacobian<3, 3> Hp = boost::none); /** Computes the error between two poses. * The error is a norm 1 difference in tangent space. * @param the other plane */ - Vector3 error(const gtsam::OrientedPlane3& plane) const; + Vector3 error(const OrientedPlane3& plane) const; /// Dimensionality of tangent space = 3 DOF inline static size_t Dim() { From 89eec718dad11cf15ebcc7b471766ab2eb4f8080 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Wed, 24 Jun 2015 22:34:38 -0400 Subject: [PATCH 330/964] change: matrix with fixed size in OrientedPlane3 --- gtsam/geometry/OrientedPlane3.cpp | 14 ++++++-------- gtsam/geometry/Unit3.h | 2 +- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index 48bd07382..f40ad1c49 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -35,15 +35,13 @@ void OrientedPlane3::print(const string& s) const { OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, const Pose3& xr, OptionalJacobian<3, 6> Hr, OptionalJacobian<3, 3> Hp) { - Matrix n_hr; - Matrix n_hp; + Matrix23 n_hr; + Matrix22 n_hp; Unit3 n_rotated = xr.rotation().unrotate(plane.n_, n_hr, n_hp); Vector3 n_unit = plane.n_.unitVector(); Vector3 unit_vec = n_rotated.unitVector(); double pred_d = n_unit.dot(xr.translation().vector()) + plane.d_; - OrientedPlane3 transformed_plane(unit_vec(0), unit_vec(1), unit_vec(2), - pred_d); if (Hr) { *Hr = zeros(3, 6); @@ -51,16 +49,16 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, (*Hr).block<1, 3>(2, 3) = unit_vec; } if (Hp) { - Vector xrp = xr.translation().vector(); - Matrix n_basis = plane.n_.basis(); - Vector hpp = n_basis.transpose() * xrp; + Vector3 xrp = xr.translation().vector(); + Matrix32 n_basis = plane.n_.basis(); + Vector2 hpp = n_basis.transpose() * xrp; *Hp = zeros(3, 3); (*Hp).block<2, 2>(0, 0) = n_hp; (*Hp).block<1, 2>(2, 0) = hpp; (*Hp)(2, 2) = 1; } - return (transformed_plane); + return OrientedPlane3(unit_vec(0), unit_vec(1), unit_vec(2), pred_d); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index 12bfac5ce..f8cea092e 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -22,7 +22,7 @@ #include #include -#include + #include #include From 68daf2e9846ec51410a3e211ebf4fe133795d9cb Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 25 Jun 2015 01:27:20 -0400 Subject: [PATCH 331/964] change: clean the DerivedValue headers in other files --- gtsam/geometry/Cal3Bundler.h | 1 - gtsam/geometry/Cal3DS2.h | 1 - gtsam/geometry/Cal3Unified.h | 1 - 3 files changed, 3 deletions(-) diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h index 234ee261a..d95c47f7b 100644 --- a/gtsam/geometry/Cal3Bundler.h +++ b/gtsam/geometry/Cal3Bundler.h @@ -18,7 +18,6 @@ #pragma once -#include #include namespace gtsam { diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index 9f4641f71..81463ac06 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -18,7 +18,6 @@ #pragma once -#include #include namespace gtsam { diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h index 99bd04fb1..9982cec47 100644 --- a/gtsam/geometry/Cal3Unified.h +++ b/gtsam/geometry/Cal3Unified.h @@ -23,7 +23,6 @@ #pragma once #include -#include namespace gtsam { From a740acfeceead2b2ec8d12ed39e4eb8d2b7f9621 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 25 Jun 2015 01:27:58 -0400 Subject: [PATCH 332/964] change: clean redundant temporary variables --- gtsam/geometry/OrientedPlane3.cpp | 25 ++++++++------------- gtsam/geometry/OrientedPlane3.h | 6 ++++- gtsam/geometry/tests/testOrientedPlane3.cpp | 1 + 3 files changed, 15 insertions(+), 17 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index f40ad1c49..51d7a903b 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -13,6 +13,7 @@ * @file OrientedPlane3.cpp * @date Dec 19, 2013 * @author Alex Trevor + * @author Zhaoyang Lv * @brief A plane, represented by a normal direction and perpendicular distance */ @@ -25,7 +26,6 @@ using namespace std; namespace gtsam { /* ************************************************************************* */ -/// The print fuction void OrientedPlane3::print(const string& s) const { Vector4 coeffs = planeCoefficients(); cout << s << " : " << coeffs << endl; @@ -39,22 +39,19 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, Matrix22 n_hp; Unit3 n_rotated = xr.rotation().unrotate(plane.n_, n_hr, n_hp); - Vector3 n_unit = plane.n_.unitVector(); Vector3 unit_vec = n_rotated.unitVector(); - double pred_d = n_unit.dot(xr.translation().vector()) + plane.d_; + double pred_d = plane.n_.unitVector().dot(xr.translation().vector()) + plane.d_; if (Hr) { *Hr = zeros(3, 6); - (*Hr).block<2, 3>(0, 0) = n_hr; - (*Hr).block<1, 3>(2, 3) = unit_vec; + Hr->block<2, 3>(0, 0) = n_hr; + Hr->block<1, 3>(2, 3) = unit_vec; } if (Hp) { - Vector3 xrp = xr.translation().vector(); - Matrix32 n_basis = plane.n_.basis(); - Vector2 hpp = n_basis.transpose() * xrp; + Vector2 hpp = plane.n_.basis().transpose() * xr.translation().vector(); *Hp = zeros(3, 3); - (*Hp).block<2, 2>(0, 0) = n_hp; - (*Hp).block<1, 2>(2, 0) = hpp; + Hp->block<2, 2>(0, 0) = n_hp; + Hp->block<1, 2>(2, 0) = hpp; (*Hp)(2, 2) = 1; } @@ -65,14 +62,11 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, Vector3 OrientedPlane3::error(const OrientedPlane3& plane) const { Vector2 n_error = -n_.localCoordinates(plane.n_); double d_error = d_ - plane.d_; - Vector3 e; - e << n_error(0), n_error(1), d_error; - return (e); + return Vector3(n_error(0), n_error(1), d_error); } /* ************************************************************************* */ OrientedPlane3 OrientedPlane3::retract(const Vector3& v) const { - // Retract the Unit3 Vector2 n_v(v(0), v(1)); Unit3 n_retracted = n_.retract(n_v); double d_retracted = d_ + v(2); @@ -84,8 +78,7 @@ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const { Vector2 n_local = n_.localCoordinates(y.n_); double d_local = d_ - y.d_; Vector3 e; - e << n_local(0), n_local(1), -d_local; - return e; + return Vector3(n_local(0), n_local(1), -d_local); } } diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index a6fee420b..55e7188af 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -14,6 +14,7 @@ * @date Dec 19, 2013 * @author Alex Trevor * @author Frank Dellaert + * @author Zhaoyang Lv * @brief An infinite plane, represented by a normal direction and perpendicular distance */ @@ -37,6 +38,7 @@ public: enum { dimension = 3 }; + /// @name Constructors /// @{ @@ -74,10 +76,12 @@ public: return (n_.equals(s.n_, tol) && (fabs(d_ - s.d_) < tol)); } + /// @} + /** Transforms a plane to the specified pose * @param The raw plane * @param A transformation in current coordiante - * @param Hr optional jacobian wrpt incremental Pose + * @param Hr optional jacobian wrpt the pose transformation * @param Hp optional Jacobian wrpt the destination plane */ static OrientedPlane3 Transform(const OrientedPlane3& plane, diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index 1fd9d9d6b..127bc3d0c 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -13,6 +13,7 @@ * @file testOrientedPlane3.cpp * @date Dec 19, 2012 * @author Alex Trevor + * @author Zhaoyang Lv * @brief Tests the OrientedPlane3 class */ From 13be5add6e9ae205b57041c51156fe44c9a4df90 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 25 Jun 2015 02:11:28 -0400 Subject: [PATCH 333/964] change: add transform member class, and deprecate the static Transform class --- gtsam/geometry/OrientedPlane3.cpp | 38 ++++++++++++++---- gtsam/geometry/OrientedPlane3.h | 17 +++++++- gtsam/geometry/tests/testOrientedPlane3.cpp | 44 +++++++++++++-------- 3 files changed, 72 insertions(+), 27 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index 51d7a903b..22a1ad3aa 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -49,7 +49,7 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, } if (Hp) { Vector2 hpp = plane.n_.basis().transpose() * xr.translation().vector(); - *Hp = zeros(3, 3); + *Hp = Z_3x3; Hp->block<2, 2>(0, 0) = n_hp; Hp->block<1, 2>(2, 0) = hpp; (*Hp)(2, 2) = 1; @@ -58,26 +58,48 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, return OrientedPlane3(unit_vec(0), unit_vec(1), unit_vec(2), pred_d); } +/* ************************************************************************* */ +OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> Hp, + OptionalJacobian<3, 6> Hr) const { + Matrix23 n_hr; + Matrix22 n_hp; + Unit3 n_rotated = xr.rotation().unrotate(n_, n_hr, n_hp); + + Vector3 unit_vec = n_rotated.unitVector(); + double pred_d = n_.unitVector().dot(xr.translation().vector()) + d_; + + if (Hr) { + *Hr = zeros(3, 6); + Hr->block<2, 3>(0, 0) = n_hr; + Hr->block<1, 3>(2, 3) = unit_vec; + } + if (Hp) { + Vector2 hpp = n_.basis().transpose() * xr.translation().vector(); + *Hp = Z_3x3; + Hp->block<2, 2>(0, 0) = n_hp; + Hp->block<1, 2>(2, 0) = hpp; + (*Hp)(2, 2) = 1; + } + + return OrientedPlane3(unit_vec(0), unit_vec(1), unit_vec(2), pred_d); +} + + /* ************************************************************************* */ Vector3 OrientedPlane3::error(const OrientedPlane3& plane) const { Vector2 n_error = -n_.localCoordinates(plane.n_); - double d_error = d_ - plane.d_; - return Vector3(n_error(0), n_error(1), d_error); + return Vector3(n_error(0), n_error(1), d_ - plane.d_); } /* ************************************************************************* */ OrientedPlane3 OrientedPlane3::retract(const Vector3& v) const { - Vector2 n_v(v(0), v(1)); - Unit3 n_retracted = n_.retract(n_v); - double d_retracted = d_ + v(2); - return OrientedPlane3(n_retracted, d_retracted); + return OrientedPlane3(n_.retract(Vector2(v(0), v(1))), d_ + v(2)); } /* ************************************************************************* */ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const { Vector2 n_local = n_.localCoordinates(y.n_); double d_local = d_ - y.d_; - Vector3 e; return Vector3(n_local(0), n_local(1), -d_local); } diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index 55e7188af..ff57b590f 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -79,16 +79,29 @@ public: /// @} /** Transforms a plane to the specified pose + * @param xr a transformation in current coordiante + * @param Hp optional Jacobian wrpt the destination plane + * @param Hr optional jacobian wrpt the pose transformation + * @return the transformed plane + */ + OrientedPlane3 transform(const Pose3& xr, + OptionalJacobian<3, 3> Hp = boost::none, + OptionalJacobian<3, 6> Hr = boost::none) const; + + /** + * @ deprecated the static method has wrong Jacobian order, + * please use the member method transform() * @param The raw plane - * @param A transformation in current coordiante + * @param xr a transformation in current coordiante * @param Hr optional jacobian wrpt the pose transformation * @param Hp optional Jacobian wrpt the destination plane + * @return the transformed plane */ static OrientedPlane3 Transform(const OrientedPlane3& plane, const Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none, OptionalJacobian<3, 3> Hp = boost::none); - /** Computes the error between two poses. + /** Computes the error between two planes. * The error is a norm 1 difference in tangent space. * @param the other plane */ diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index 127bc3d0c..9d48fc7d5 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -48,36 +48,46 @@ TEST (OrientedPlane3, getMethods) { EXPECT(assert_equal(Unit3(-1,0,0).unitVector(), plane2.normal().unitVector())); } + //******************************************************************************* +OrientedPlane3 Transform_(const OrientedPlane3& plane, const Pose3& xr) { + return OrientedPlane3::Transform(plane, xr); +} + +OrientedPlane3 transform_(const OrientedPlane3& plane, const Pose3& xr) { + return plane.transform(xr); +} + TEST (OrientedPlane3, transform) { - // Test transforming a plane to a pose gtsam::Pose3 pose(gtsam::Rot3::ypr(-M_PI / 4.0, 0.0, 0.0), gtsam::Point3(2.0, 3.0, 4.0)); OrientedPlane3 plane(-1, 0, 0, 5); - OrientedPlane3 expected_meas(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0, 0.0, 3); - OrientedPlane3 transformed_plane = OrientedPlane3::Transform(plane, pose, + OrientedPlane3 expectedPlane(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0, 0.0, 3); + OrientedPlane3 transformedPlane1 = OrientedPlane3::Transform(plane, pose, none, none); - EXPECT(assert_equal(expected_meas, transformed_plane, 1e-9)); + OrientedPlane3 transformedPlane2 = plane.transform(pose, none, none); + EXPECT(assert_equal(expectedPlane, transformedPlane1, 1e-9)); + EXPECT(assert_equal(expectedPlane, transformedPlane2, 1e-9)); // Test the jacobians of transform Matrix actualH1, expectedH1, actualH2, expectedH2; { - expectedH1 = numericalDerivative11( - boost::bind(&OrientedPlane3::Transform, plane, _1, none, none), pose); - - OrientedPlane3 tformed = OrientedPlane3::Transform(plane, pose, actualH1, - none); - EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); + OrientedPlane3::Transform(plane, pose, actualH1, none); + // because the Transform class uses a wrong order of Jacobians in interface + expectedH1 = numericalDerivative22(Transform_, plane, pose); + EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); + OrientedPlane3::Transform(plane, pose, none, actualH2); + expectedH2 = numericalDerivative21(Transform_, plane, pose); + EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); } { - expectedH2 = numericalDerivative11( - boost::bind(&OrientedPlane3::Transform, _1, pose, none, none), plane); - - OrientedPlane3 tformed = OrientedPlane3::Transform(plane, pose, none, - actualH2); - EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); + plane.transform(pose, actualH1, none); + expectedH1 = numericalDerivative21(transform_, plane, pose); + EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); + plane.transform(pose, none, actualH2); + expectedH2 = numericalDerivative22(Transform_, plane, pose); + EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); } - } //******************************************************************************* From d8f0a35a9a048bb7d16cf57803e0baf7ab848a0a Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 25 Jun 2015 02:14:06 -0400 Subject: [PATCH 334/964] change: derivative naming changs according to our convention --- gtsam/geometry/OrientedPlane3.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index 22a1ad3aa..f9f30970a 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -35,22 +35,22 @@ void OrientedPlane3::print(const string& s) const { OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, const Pose3& xr, OptionalJacobian<3, 6> Hr, OptionalJacobian<3, 3> Hp) { - Matrix23 n_hr; - Matrix22 n_hp; - Unit3 n_rotated = xr.rotation().unrotate(plane.n_, n_hr, n_hp); + Matrix23 D_rotated_plane; + Matrix22 D_rotated_pose; + Unit3 n_rotated = xr.rotation().unrotate(plane.n_, D_rotated_plane, D_rotated_pose); Vector3 unit_vec = n_rotated.unitVector(); double pred_d = plane.n_.unitVector().dot(xr.translation().vector()) + plane.d_; if (Hr) { *Hr = zeros(3, 6); - Hr->block<2, 3>(0, 0) = n_hr; + Hr->block<2, 3>(0, 0) = D_rotated_plane; Hr->block<1, 3>(2, 3) = unit_vec; } if (Hp) { Vector2 hpp = plane.n_.basis().transpose() * xr.translation().vector(); *Hp = Z_3x3; - Hp->block<2, 2>(0, 0) = n_hp; + Hp->block<2, 2>(0, 0) = D_rotated_pose; Hp->block<1, 2>(2, 0) = hpp; (*Hp)(2, 2) = 1; } @@ -61,22 +61,22 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, /* ************************************************************************* */ OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> Hp, OptionalJacobian<3, 6> Hr) const { - Matrix23 n_hr; - Matrix22 n_hp; - Unit3 n_rotated = xr.rotation().unrotate(n_, n_hr, n_hp); + Matrix23 D_rotated_plane; + Matrix22 D_rotated_pose; + Unit3 n_rotated = xr.rotation().unrotate(n_, D_rotated_plane, D_rotated_pose); Vector3 unit_vec = n_rotated.unitVector(); double pred_d = n_.unitVector().dot(xr.translation().vector()) + d_; if (Hr) { *Hr = zeros(3, 6); - Hr->block<2, 3>(0, 0) = n_hr; + Hr->block<2, 3>(0, 0) = D_rotated_plane; Hr->block<1, 3>(2, 3) = unit_vec; } if (Hp) { Vector2 hpp = n_.basis().transpose() * xr.translation().vector(); *Hp = Z_3x3; - Hp->block<2, 2>(0, 0) = n_hp; + Hp->block<2, 2>(0, 0) = D_rotated_pose; Hp->block<1, 2>(2, 0) = hpp; (*Hp)(2, 2) = 1; } From e45f5faea1734abc4c30198136d735138e259b30 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Thu, 25 Jun 2015 09:44:18 -0400 Subject: [PATCH 335/964] change: formatting --- gtsam/geometry/OrientedPlane3.h | 14 ++++----- gtsam/geometry/tests/testOrientedPlane3.cpp | 32 ++++++++++----------- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index ff57b590f..2d2527a25 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -44,17 +44,17 @@ public: /// Default constructor OrientedPlane3() : - n_(), d_(0.0) { + n_(), d_(0.0) { } /// Construct from a Unit3 and a distance OrientedPlane3(const Unit3& s, double d) : - n_(s), d_(d) { + n_(s), d_(d) { } /// Construct from a vector of plane coefficients OrientedPlane3(const Vector4& vec) : - n_(vec(0), vec(1), vec(2)), d_(vec(3)) { + n_(vec(0), vec(1), vec(2)), d_(vec(3)) { } /// Construct from four numbers of plane coeffcients (a, b, c, d) @@ -85,8 +85,8 @@ public: * @return the transformed plane */ OrientedPlane3 transform(const Pose3& xr, - OptionalJacobian<3, 3> Hp = boost::none, - OptionalJacobian<3, 6> Hr = boost::none) const; + OptionalJacobian<3, 3> Hp = boost::none, + OptionalJacobian<3, 6> Hr = boost::none) const; /** * @ deprecated the static method has wrong Jacobian order, @@ -143,11 +143,11 @@ public: }; template<> struct traits : public internal::Manifold< - OrientedPlane3> { +OrientedPlane3> { }; template<> struct traits : public internal::Manifold< - OrientedPlane3> { +OrientedPlane3> { }; } // namespace gtsam diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index 9d48fc7d5..11931449f 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -51,11 +51,11 @@ TEST (OrientedPlane3, getMethods) { //******************************************************************************* OrientedPlane3 Transform_(const OrientedPlane3& plane, const Pose3& xr) { - return OrientedPlane3::Transform(plane, xr); + return OrientedPlane3::Transform(plane, xr); } OrientedPlane3 transform_(const OrientedPlane3& plane, const Pose3& xr) { - return plane.transform(xr); + return plane.transform(xr); } TEST (OrientedPlane3, transform) { @@ -72,26 +72,26 @@ TEST (OrientedPlane3, transform) { // Test the jacobians of transform Matrix actualH1, expectedH1, actualH2, expectedH2; { - OrientedPlane3::Transform(plane, pose, actualH1, none); - // because the Transform class uses a wrong order of Jacobians in interface - expectedH1 = numericalDerivative22(Transform_, plane, pose); - EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); - OrientedPlane3::Transform(plane, pose, none, actualH2); - expectedH2 = numericalDerivative21(Transform_, plane, pose); - EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); + // because the Transform class uses a wrong order of Jacobians in interface + OrientedPlane3::Transform(plane, pose, actualH1, none); + expectedH1 = numericalDerivative22(Transform_, plane, pose); + EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); + OrientedPlane3::Transform(plane, pose, none, actualH2); + expectedH2 = numericalDerivative21(Transform_, plane, pose); + EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); } { - plane.transform(pose, actualH1, none); - expectedH1 = numericalDerivative21(transform_, plane, pose); - EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); - plane.transform(pose, none, actualH2); - expectedH2 = numericalDerivative22(Transform_, plane, pose); - EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); + plane.transform(pose, actualH1, none); + expectedH1 = numericalDerivative21(transform_, plane, pose); + EXPECT(assert_equal(expectedH1, actualH1, 1e-9)); + plane.transform(pose, none, actualH2); + expectedH2 = numericalDerivative22(Transform_, plane, pose); + EXPECT(assert_equal(expectedH2, actualH2, 1e-9)); } } //******************************************************************************* -// Returns a random vector -- copied from testUnit3.cpp +// Returns a any size random vector inline static Vector randomVector(const Vector& minLimits, const Vector& maxLimits) { From 7ebc9e48e515b3d10dea51d616bd1625363312fa Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 25 Jun 2015 11:31:47 -0400 Subject: [PATCH 336/964] change: static method now calls the member method. Remove duplicate codes --- gtsam/geometry/OrientedPlane3.cpp | 27 --------------------------- gtsam/geometry/OrientedPlane3.h | 4 +++- 2 files changed, 3 insertions(+), 28 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp index f9f30970a..95290497d 100644 --- a/gtsam/geometry/OrientedPlane3.cpp +++ b/gtsam/geometry/OrientedPlane3.cpp @@ -31,33 +31,6 @@ void OrientedPlane3::print(const string& s) const { cout << s << " : " << coeffs << endl; } -/* ************************************************************************* */ -OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane, - const Pose3& xr, OptionalJacobian<3, 6> Hr, - OptionalJacobian<3, 3> Hp) { - Matrix23 D_rotated_plane; - Matrix22 D_rotated_pose; - Unit3 n_rotated = xr.rotation().unrotate(plane.n_, D_rotated_plane, D_rotated_pose); - - Vector3 unit_vec = n_rotated.unitVector(); - double pred_d = plane.n_.unitVector().dot(xr.translation().vector()) + plane.d_; - - if (Hr) { - *Hr = zeros(3, 6); - Hr->block<2, 3>(0, 0) = D_rotated_plane; - Hr->block<1, 3>(2, 3) = unit_vec; - } - if (Hp) { - Vector2 hpp = plane.n_.basis().transpose() * xr.translation().vector(); - *Hp = Z_3x3; - Hp->block<2, 2>(0, 0) = D_rotated_pose; - Hp->block<1, 2>(2, 0) = hpp; - (*Hp)(2, 2) = 1; - } - - return OrientedPlane3(unit_vec(0), unit_vec(1), unit_vec(2), pred_d); -} - /* ************************************************************************* */ OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> Hp, OptionalJacobian<3, 6> Hr) const { diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index 2d2527a25..949e4a285 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -99,7 +99,9 @@ public: */ static OrientedPlane3 Transform(const OrientedPlane3& plane, const Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none, - OptionalJacobian<3, 3> Hp = boost::none); + OptionalJacobian<3, 3> Hp = boost::none) { + return plane.transform(xr, Hp, Hr); + } /** Computes the error between two planes. * The error is a norm 1 difference in tangent space. From b569a4ab9230239f3c7738ad53f75d5e771ed077 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 25 Jun 2015 11:41:58 -0400 Subject: [PATCH 337/964] feature: add some comment descriptions to the class --- gtsam/geometry/OrientedPlane3.h | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index 949e4a285..5c9a5cdef 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -26,7 +26,12 @@ namespace gtsam { -/// Represents an infinite plane in 3D. +/** + * @brief Represents an infinite plane in 3D, which is composed of a planar normal and its + * perpendicular distance to the origin. + * Currently it provides a transform of the plane, and a norm 1 differencing of two planes. + * Refer to Trevor12iros for more math details. + */ class GTSAM_EXPORT OrientedPlane3 { private: @@ -89,7 +94,7 @@ public: OptionalJacobian<3, 6> Hr = boost::none) const; /** - * @ deprecated the static method has wrong Jacobian order, + * @deprecated the static method has wrong Jacobian order, * please use the member method transform() * @param The raw plane * @param xr a transformation in current coordiante From 3550ef5e9dce0c62558e90e956223544b8fe1baf Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 27 Jun 2015 13:29:54 -0700 Subject: [PATCH 338/964] Fixed compilation errors --- timing/DummyFactor.h | 10 +++++----- timing/timeSchurFactors.cpp | 23 ++++++++++++++--------- 2 files changed, 19 insertions(+), 14 deletions(-) diff --git a/timing/DummyFactor.h b/timing/DummyFactor.h index ff9732909..08e9d8f4b 100644 --- a/timing/DummyFactor.h +++ b/timing/DummyFactor.h @@ -13,20 +13,20 @@ namespace gtsam { /** * DummyFactor */ -template // -class DummyFactor: public RegularImplicitSchurFactor { +template // +class DummyFactor: public RegularImplicitSchurFactor { public: - typedef Eigen::Matrix Matrix2D; + typedef Eigen::Matrix Matrix2D; typedef std::pair KeyMatrix2D; DummyFactor() { } DummyFactor(const std::vector& Fblocks, const Matrix& E, - const Matrix3& P, const Vector& b) :RegularImplicitSchurFactor(Fblocks,E,P,b) - { + const Matrix3& P, const Vector& b) : + RegularImplicitSchurFactor(Fblocks, E, P, b) { } virtual ~DummyFactor() { diff --git a/timing/timeSchurFactors.cpp b/timing/timeSchurFactors.cpp index 06a526567..e08924400 100644 --- a/timing/timeSchurFactors.cpp +++ b/timing/timeSchurFactors.cpp @@ -11,6 +11,8 @@ #include #include "gtsam/slam/JacobianFactorQR.h" #include +#include +#include #include #include @@ -29,17 +31,20 @@ using namespace gtsam; ofstream os("timeSchurFactors.csv"); /*************************************************************************************/ -template +template void timeAll(size_t m, size_t N) { cout << m << endl; // create F + static const int D = CAMERA::dimension; typedef Eigen::Matrix Matrix2D; - typedef pair KeyMatrix2D; - vector < pair > Fblocks; - for (size_t i = 0; i < m; i++) - Fblocks.push_back(KeyMatrix2D(i, (i + 1) * Matrix::Ones(2, D))); + FastVector keys; + vector Fblocks; + for (size_t i = 0; i < m; i++) { + keys.push_back(i); + Fblocks.push_back((i + 1) * Matrix::Ones(2, D)); + } // create E Matrix E(2 * m, 3); @@ -60,11 +65,11 @@ void timeAll(size_t m, size_t N) { xvalues.insert(i, gtsam::repeat(D, 2)); // Implicit - RegularImplicitSchurFactor implicitFactor(Fblocks, E, P, b); + RegularImplicitSchurFactor implicitFactor(keys, Fblocks, E, P, b); // JacobianFactor with same error - JacobianFactorQ jf(Fblocks, E, P, b, model); + JacobianFactorQ jf(keys, Fblocks, E, P, b, model); // JacobianFactorQR with same error - JacobianFactorQR jqr(Fblocks, E, P, b, model); + JacobianFactorQR jqr(keys, Fblocks, E, P, b, model); // Hessian HessianFactor hessianFactor(jqr); @@ -146,7 +151,7 @@ int main(void) { //for (size_t m=10;m<=100;m+=10) ms += m; // loop over number of images BOOST_FOREACH(size_t m,ms) - timeAll<6>(m, NUM_ITERATIONS); + timeAll >(m, NUM_ITERATIONS); } //************************************************************************************* From dd079daf9be5fdcdf907b483272048f7bf732676 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 27 Jun 2015 13:30:13 -0700 Subject: [PATCH 339/964] Added target --- .cproject | 26 ++++++++++++-------------- 1 file changed, 12 insertions(+), 14 deletions(-) diff --git a/.cproject b/.cproject index ac9b166ec..5d8469baa 100644 --- a/.cproject +++ b/.cproject @@ -1309,6 +1309,7 @@ make + testSimulated2DOriented.run true false @@ -1348,6 +1349,7 @@ make + testSimulated2D.run true false @@ -1355,6 +1357,7 @@ make + testSimulated3D.run true false @@ -1458,7 +1461,6 @@ make - testErrors.run true false @@ -1769,7 +1771,6 @@ cpack - -G DEB true false @@ -1777,7 +1778,6 @@ cpack - -G RPM true false @@ -1785,7 +1785,6 @@ cpack - -G TGZ true false @@ -1793,7 +1792,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -1985,6 +1983,7 @@ make + tests/testGaussianISAM2 true false @@ -2120,7 +2119,6 @@ make - tests/testBayesTree.run true false @@ -2128,7 +2126,6 @@ make - testBinaryBayesNet.run true false @@ -2176,7 +2173,6 @@ make - testSymbolicBayesNet.run true false @@ -2184,7 +2180,6 @@ make - tests/testSymbolicFactor.run true false @@ -2192,7 +2187,6 @@ make - testSymbolicFactorGraph.run true false @@ -2208,7 +2202,6 @@ make - tests/testBayesTree true false @@ -2902,6 +2895,14 @@ true true + + make + -j4 + timeSchurFactors.run + true + true + true + make -j5 @@ -3344,7 +3345,6 @@ make - testGraph.run true false @@ -3352,7 +3352,6 @@ make - testJunctionTree.run true false @@ -3360,7 +3359,6 @@ make - testSymbolicBayesNetB.run true false From aa1e5962c91e3934c83a51f691f9e63cc0364089 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Sat, 27 Jun 2015 17:49:45 -0400 Subject: [PATCH 340/964] fix: correct some inappropriate floating point error, and its test --- gtsam/geometry/Unit3.cpp | 8 +-- gtsam/geometry/tests/testUnit3.cpp | 106 +++++++++++++++-------------- 2 files changed, 57 insertions(+), 57 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index a74e39f47..5196b9477 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -148,12 +148,11 @@ Unit3 Unit3::retract(const Vector2& v) const { // Compute the 3D xi_hat vector Vector3 xi_hat = v(0) * B.col(0) + v(1) * B.col(1); - double xi_hat_norm = xi_hat.norm(); // Avoid nan - if (xi_hat_norm == 0.0) { - if (v.norm() == 0.0) + if (xi_hat_norm < 1e-16) { + if (v.norm() < 1e-16) return Unit3(point3()); else return Unit3(-point3()); @@ -162,13 +161,12 @@ Unit3 Unit3::retract(const Vector2& v) const { Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p + sin(xi_hat_norm) * (xi_hat / xi_hat_norm); return Unit3(exp_p_xi_hat); - } /* ************************************************************************* */ Vector2 Unit3::localCoordinates(const Unit3& y) const { - Vector3 p = p_.vector(), q = y.p_.vector(); + Vector3 p = p_.vector(), q = y.unitVector(); double dot = p.dot(q); // Check for special cases diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 1d0c28ded..a30e816ed 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -66,7 +66,7 @@ TEST(Unit3, rotate) { Unit3 actual = R * p; EXPECT(assert_equal(expected, actual, 1e-8)); Matrix actualH, expectedH; - // Use numerical derivatives to calculate the expected Jacobian + { expectedH = numericalDerivative21(rotate_, R, p); R.rotate(p, actualH, boost::none); @@ -90,8 +90,8 @@ TEST(Unit3, unrotate) { Unit3 expected = Unit3(1, 1, 0); Unit3 actual = R.unrotate(p); EXPECT(assert_equal(expected, actual, 1e-8)); + Matrix actualH, expectedH; - // Use numerical derivatives to calculate the expected Jacobian { expectedH = numericalDerivative21(unrotate_, R, p); R.unrotate(p, actualH, boost::none); @@ -113,7 +113,6 @@ TEST(Unit3, error) { EXPECT(assert_equal((Vector)(Vector2(0.717356, 0)), p.error(r), 1e-5)); Matrix actual, expected; - // Use numerical derivatives to calculate the expected Jacobian { expected = numericalDerivative11( boost::bind(&Unit3::error, &p, _1, boost::none), q); @@ -153,31 +152,29 @@ TEST(Unit3, distance) { } //******************************************************************************* -TEST(Unit3, localCoordinates0) { - Unit3 p; - Vector actual = p.localCoordinates(p); - EXPECT(assert_equal(zero(2), actual, 1e-8)); -} - -//******************************************************************************* -TEST(Unit3, localCoordinates1) { - Unit3 p, q(1, 6.12385e-21, 0); - Vector actual = p.localCoordinates(q); - CHECK(assert_equal(zero(2), actual, 1e-8)); -} - -//******************************************************************************* -TEST(Unit3, localCoordinates2) { - Unit3 p, q(-1, 0, 0); - Vector expected = (Vector(2) << M_PI, 0).finished(); - Vector actual = p.localCoordinates(q); - CHECK(assert_equal(expected, actual, 1e-8)); +TEST(Unit3, localCoordinates) { + { + Unit3 p; + Vector2 actual = p.localCoordinates(p); + EXPECT(assert_equal(zero(2), actual, 1e-8)); + } + { + Unit3 p, q(1, 6.12385e-21, 0); + Vector2 actual = p.localCoordinates(q); + CHECK(assert_equal(zero(2), actual, 1e-8)); + } + { + Unit3 p, q(-1, 0, 0); + Vector2 expected(M_PI, 0); + Vector2 actual = p.localCoordinates(q); + CHECK(assert_equal(expected, actual, 1e-8)); + } } //******************************************************************************* TEST(Unit3, basis) { Unit3 p; - Matrix expected(3, 2); + Matrix32 expected; expected << 0, 0, 0, -1, 1, 0; Matrix actual = p.basis(); EXPECT(assert_equal(expected, actual, 1e-8)); @@ -185,20 +182,27 @@ TEST(Unit3, basis) { //******************************************************************************* TEST(Unit3, retract) { - Unit3 p; - Vector v(2); - v << 0.5, 0; - Unit3 expected(0.877583, 0, 0.479426); - Unit3 actual = p.retract(v); - EXPECT(assert_equal(expected, actual, 1e-6)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + { + Unit3 p; + Vector2 v(0.5, 0); + Unit3 expected(0.877583, 0, 0.479426); + Unit3 actual = p.retract(v); + EXPECT(assert_equal(expected, actual, 1e-6)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + } + { + Unit3 p; + Vector2 v(0, 0); + Unit3 actual = p.retract(v); + EXPECT(assert_equal(p, actual, 1e-6)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + } } //******************************************************************************* TEST(Unit3, retract_expmap) { Unit3 p; - Vector v(2); - v << (M_PI / 2.0), 0; + Vector2 v((M_PI / 2.0), 0); Unit3 expected(Point3(0, 0, 1)); Unit3 actual = p.retract(v); EXPECT(assert_equal(expected, actual, 1e-8)); @@ -228,9 +232,11 @@ inline static Vector randomVector(const Vector& minLimits, TEST(Unit3, localCoordinates_retract) { size_t numIterations = 10000; - Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = - Vector3(1.0, 1.0, 1.0); - Vector minXiLimit = Vector2(-1.0, -1.0), maxXiLimit = Vector2(1.0, 1.0); + Vector3 minSphereLimit(-1.0, -1.0, -1.0); + Vector3 maxSphereLimit(1.0, 1.0, 1.0); + Vector2 minXiLimit(-1.0, -1.0); + Vector2 maxXiLimit(1.0, 1.0); + for (size_t i = 0; i < numIterations; i++) { // Sleep for the random number generator (TODO?: Better create all of them first). @@ -246,9 +252,9 @@ TEST(Unit3, localCoordinates_retract) { // Check if the local coordinates and retract return the same results. Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-3)); + EXPECT(assert_equal(v12, actual_v12, 1e-6)); Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-3)); + EXPECT(assert_equal(s2, actual_s2, 1e-6)); } } @@ -258,30 +264,26 @@ TEST(Unit3, localCoordinates_retract) { TEST(Unit3, localCoordinates_retract_expmap) { size_t numIterations = 10000; - Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = - Vector3(1.0, 1.0, 1.0); - Vector minXiLimit = (Vector(2) << -M_PI, -M_PI).finished(), maxXiLimit = (Vector(2) << M_PI, M_PI).finished(); + Vector3 minSphereLimit = Vector3(-1.0, -1.0, -1.0); + Vector3 maxSphereLimit = Vector3(1.0, 1.0, 1.0); + Vector2 minXiLimit = Vector2(-M_PI, -M_PI); + Vector2 maxXiLimit = Vector2(M_PI, M_PI); + for (size_t i = 0; i < numIterations; i++) { // Sleep for the random number generator (TODO?: Better create all of them first). // boost::this_thread::sleep(boost::posix_time::milliseconds(0)); - - // Create the two Unit3s. - // Unlike the above case, we can use any two Unit3's. Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); // Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); - Vector v12 = randomVector(minXiLimit, maxXiLimit); + Vector v = randomVector(minXiLimit, maxXiLimit); // Magnitude of the rotation can be at most pi - if (v12.norm() > M_PI) - v12 = v12 / M_PI; - Unit3 s2 = s1.retract(v12); + if (v.norm() > M_PI) + v = v / M_PI; + Unit3 s2 = s1.retract(v); - // Check if the local coordinates and retract return the same results. - Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-3)); - Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-3)); + EXPECT(assert_equal(v, s1.localCoordinates(s1.retract(v)), 1e-6)); + EXPECT(assert_equal(s2, s1.retract(s1.localCoordinates(s2)), 1e-6)); } } From ab81c98ac27d57391ca8317f5061cf38cc335b28 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Sat, 27 Jun 2015 17:49:45 -0400 Subject: [PATCH 341/964] fix: correct some inappropriate floating point error, and its test --- gtsam/geometry/Unit3.cpp | 8 +-- gtsam/geometry/tests/testUnit3.cpp | 106 +++++++++++++++-------------- 2 files changed, 57 insertions(+), 57 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index a74e39f47..5196b9477 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -148,12 +148,11 @@ Unit3 Unit3::retract(const Vector2& v) const { // Compute the 3D xi_hat vector Vector3 xi_hat = v(0) * B.col(0) + v(1) * B.col(1); - double xi_hat_norm = xi_hat.norm(); // Avoid nan - if (xi_hat_norm == 0.0) { - if (v.norm() == 0.0) + if (xi_hat_norm < 1e-16) { + if (v.norm() < 1e-16) return Unit3(point3()); else return Unit3(-point3()); @@ -162,13 +161,12 @@ Unit3 Unit3::retract(const Vector2& v) const { Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p + sin(xi_hat_norm) * (xi_hat / xi_hat_norm); return Unit3(exp_p_xi_hat); - } /* ************************************************************************* */ Vector2 Unit3::localCoordinates(const Unit3& y) const { - Vector3 p = p_.vector(), q = y.p_.vector(); + Vector3 p = p_.vector(), q = y.unitVector(); double dot = p.dot(q); // Check for special cases diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 1d0c28ded..a30e816ed 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -66,7 +66,7 @@ TEST(Unit3, rotate) { Unit3 actual = R * p; EXPECT(assert_equal(expected, actual, 1e-8)); Matrix actualH, expectedH; - // Use numerical derivatives to calculate the expected Jacobian + { expectedH = numericalDerivative21(rotate_, R, p); R.rotate(p, actualH, boost::none); @@ -90,8 +90,8 @@ TEST(Unit3, unrotate) { Unit3 expected = Unit3(1, 1, 0); Unit3 actual = R.unrotate(p); EXPECT(assert_equal(expected, actual, 1e-8)); + Matrix actualH, expectedH; - // Use numerical derivatives to calculate the expected Jacobian { expectedH = numericalDerivative21(unrotate_, R, p); R.unrotate(p, actualH, boost::none); @@ -113,7 +113,6 @@ TEST(Unit3, error) { EXPECT(assert_equal((Vector)(Vector2(0.717356, 0)), p.error(r), 1e-5)); Matrix actual, expected; - // Use numerical derivatives to calculate the expected Jacobian { expected = numericalDerivative11( boost::bind(&Unit3::error, &p, _1, boost::none), q); @@ -153,31 +152,29 @@ TEST(Unit3, distance) { } //******************************************************************************* -TEST(Unit3, localCoordinates0) { - Unit3 p; - Vector actual = p.localCoordinates(p); - EXPECT(assert_equal(zero(2), actual, 1e-8)); -} - -//******************************************************************************* -TEST(Unit3, localCoordinates1) { - Unit3 p, q(1, 6.12385e-21, 0); - Vector actual = p.localCoordinates(q); - CHECK(assert_equal(zero(2), actual, 1e-8)); -} - -//******************************************************************************* -TEST(Unit3, localCoordinates2) { - Unit3 p, q(-1, 0, 0); - Vector expected = (Vector(2) << M_PI, 0).finished(); - Vector actual = p.localCoordinates(q); - CHECK(assert_equal(expected, actual, 1e-8)); +TEST(Unit3, localCoordinates) { + { + Unit3 p; + Vector2 actual = p.localCoordinates(p); + EXPECT(assert_equal(zero(2), actual, 1e-8)); + } + { + Unit3 p, q(1, 6.12385e-21, 0); + Vector2 actual = p.localCoordinates(q); + CHECK(assert_equal(zero(2), actual, 1e-8)); + } + { + Unit3 p, q(-1, 0, 0); + Vector2 expected(M_PI, 0); + Vector2 actual = p.localCoordinates(q); + CHECK(assert_equal(expected, actual, 1e-8)); + } } //******************************************************************************* TEST(Unit3, basis) { Unit3 p; - Matrix expected(3, 2); + Matrix32 expected; expected << 0, 0, 0, -1, 1, 0; Matrix actual = p.basis(); EXPECT(assert_equal(expected, actual, 1e-8)); @@ -185,20 +182,27 @@ TEST(Unit3, basis) { //******************************************************************************* TEST(Unit3, retract) { - Unit3 p; - Vector v(2); - v << 0.5, 0; - Unit3 expected(0.877583, 0, 0.479426); - Unit3 actual = p.retract(v); - EXPECT(assert_equal(expected, actual, 1e-6)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + { + Unit3 p; + Vector2 v(0.5, 0); + Unit3 expected(0.877583, 0, 0.479426); + Unit3 actual = p.retract(v); + EXPECT(assert_equal(expected, actual, 1e-6)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + } + { + Unit3 p; + Vector2 v(0, 0); + Unit3 actual = p.retract(v); + EXPECT(assert_equal(p, actual, 1e-6)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + } } //******************************************************************************* TEST(Unit3, retract_expmap) { Unit3 p; - Vector v(2); - v << (M_PI / 2.0), 0; + Vector2 v((M_PI / 2.0), 0); Unit3 expected(Point3(0, 0, 1)); Unit3 actual = p.retract(v); EXPECT(assert_equal(expected, actual, 1e-8)); @@ -228,9 +232,11 @@ inline static Vector randomVector(const Vector& minLimits, TEST(Unit3, localCoordinates_retract) { size_t numIterations = 10000; - Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = - Vector3(1.0, 1.0, 1.0); - Vector minXiLimit = Vector2(-1.0, -1.0), maxXiLimit = Vector2(1.0, 1.0); + Vector3 minSphereLimit(-1.0, -1.0, -1.0); + Vector3 maxSphereLimit(1.0, 1.0, 1.0); + Vector2 minXiLimit(-1.0, -1.0); + Vector2 maxXiLimit(1.0, 1.0); + for (size_t i = 0; i < numIterations; i++) { // Sleep for the random number generator (TODO?: Better create all of them first). @@ -246,9 +252,9 @@ TEST(Unit3, localCoordinates_retract) { // Check if the local coordinates and retract return the same results. Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-3)); + EXPECT(assert_equal(v12, actual_v12, 1e-6)); Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-3)); + EXPECT(assert_equal(s2, actual_s2, 1e-6)); } } @@ -258,30 +264,26 @@ TEST(Unit3, localCoordinates_retract) { TEST(Unit3, localCoordinates_retract_expmap) { size_t numIterations = 10000; - Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = - Vector3(1.0, 1.0, 1.0); - Vector minXiLimit = (Vector(2) << -M_PI, -M_PI).finished(), maxXiLimit = (Vector(2) << M_PI, M_PI).finished(); + Vector3 minSphereLimit = Vector3(-1.0, -1.0, -1.0); + Vector3 maxSphereLimit = Vector3(1.0, 1.0, 1.0); + Vector2 minXiLimit = Vector2(-M_PI, -M_PI); + Vector2 maxXiLimit = Vector2(M_PI, M_PI); + for (size_t i = 0; i < numIterations; i++) { // Sleep for the random number generator (TODO?: Better create all of them first). // boost::this_thread::sleep(boost::posix_time::milliseconds(0)); - - // Create the two Unit3s. - // Unlike the above case, we can use any two Unit3's. Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); // Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); - Vector v12 = randomVector(minXiLimit, maxXiLimit); + Vector v = randomVector(minXiLimit, maxXiLimit); // Magnitude of the rotation can be at most pi - if (v12.norm() > M_PI) - v12 = v12 / M_PI; - Unit3 s2 = s1.retract(v12); + if (v.norm() > M_PI) + v = v / M_PI; + Unit3 s2 = s1.retract(v); - // Check if the local coordinates and retract return the same results. - Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-3)); - Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-3)); + EXPECT(assert_equal(v, s1.localCoordinates(s1.retract(v)), 1e-6)); + EXPECT(assert_equal(s2, s1.retract(s1.localCoordinates(s2)), 1e-6)); } } From 4e9f365a7ed4cdd6d8bfc489210c0540a540a634 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Mon, 29 Jun 2015 18:28:07 -0400 Subject: [PATCH 342/964] test: add test for twist at singular value --- gtsam/geometry/tests/testUnit3.cpp | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index a30e816ed..16c7cd0e7 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -41,6 +41,7 @@ GTSAM_CONCEPT_MANIFOLD_INST(Unit3) Point3 point3_(const Unit3& p) { return p.point3(); } + TEST(Unit3, point3) { vector ps; ps += Point3(1, 0, 0), Point3(0, 1, 0), Point3(0, 0, 1), Point3(1, 1, 0) @@ -152,6 +153,7 @@ TEST(Unit3, distance) { } //******************************************************************************* + TEST(Unit3, localCoordinates) { { Unit3 p; @@ -169,6 +171,20 @@ TEST(Unit3, localCoordinates) { Vector2 actual = p.localCoordinates(q); CHECK(assert_equal(expected, actual, 1e-8)); } + + double twist = 1e-4; + { + Unit3 p(0, 1, 0), q(0 - twist, -1 + twist, 0); + Vector2 actual = p.localCoordinates(q); + EXPECT(actual(0) < 1e-2); + EXPECT(actual(1) > M_PI - 1e-2) + } + { + Unit3 p(0, 1, 0), q(0 + twist, -1 - twist, 0); + Vector2 actual = p.localCoordinates(q); + EXPECT(actual(0) < 1e-2); + EXPECT(actual(1) < -M_PI + 1e-2) + } } //******************************************************************************* @@ -252,9 +268,9 @@ TEST(Unit3, localCoordinates_retract) { // Check if the local coordinates and retract return the same results. Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-6)); + EXPECT(assert_equal(v12, actual_v12, 1e-8)); Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-6)); + EXPECT(assert_equal(s2, actual_s2, 1e-8)); } } From 3f5f0e852d1e7b1d5bc21c64174a884ca09fd9a2 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Mon, 29 Jun 2015 18:29:13 -0400 Subject: [PATCH 343/964] change: small value approximation for retract --- gtsam/geometry/Unit3.cpp | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 5196b9477..1a08b7fcc 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -150,12 +150,9 @@ Unit3 Unit3::retract(const Vector2& v) const { Vector3 xi_hat = v(0) * B.col(0) + v(1) * B.col(1); double xi_hat_norm = xi_hat.norm(); - // Avoid nan - if (xi_hat_norm < 1e-16) { - if (v.norm() < 1e-16) - return Unit3(point3()); - else - return Unit3(-point3()); + // When v is the so small and approximate as a direction + if (xi_hat_norm < 1e-8) { + return Unit3(cos(xi_hat_norm) * p + xi_hat); } Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p From 440a9557101e33e0dfad8dd896376b0f99d98bd1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 3 Jul 2015 11:33:30 -0700 Subject: [PATCH 344/964] Added missing includes --- gtsam/geometry/Unit3.h | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index f8cea092e..e20b77739 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -20,11 +20,16 @@ #pragma once -#include #include +#include +#include +#include -#include #include +#include +#include + +#include namespace gtsam { From d6ffe54fd2cf744e5e741b5dad9ea4ed559eccc6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 3 Jul 2015 11:34:18 -0700 Subject: [PATCH 345/964] Cleaned up basis a bit --- gtsam/geometry/Unit3.cpp | 18 ++++++++---------- 1 file changed, 8 insertions(+), 10 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 1a08b7fcc..b760c8459 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -15,12 +15,12 @@ * @author Can Erdogan * @author Frank Dellaert * @author Alex Trevor + * @author Zhaoyang Lv * @brief The Unit3 class - basically a point on a unit sphere */ #include #include -#include #include // for GTSAM_USE_TBB #ifdef __clang__ @@ -85,26 +85,24 @@ const Matrix32& Unit3::basis() const { return *B_; // Get the axis of rotation with the minimum projected length of the point - Point3 axis; + Vector3 axis; double mx = fabs(p_.x()), my = fabs(p_.y()), mz = fabs(p_.z()); if ((mx <= my) && (mx <= mz)) - axis = Point3(1.0, 0.0, 0.0); + axis = Vector3(1.0, 0.0, 0.0); else if ((my <= mx) && (my <= mz)) - axis = Point3(0.0, 1.0, 0.0); + axis = Vector3(0.0, 1.0, 0.0); else if ((mz <= mx) && (mz <= my)) - axis = Point3(0.0, 0.0, 1.0); + axis = Vector3(0.0, 0.0, 1.0); else assert(false); // Create the two basis vectors - Point3 b1 = p_.cross(axis); - b1 = b1 / b1.norm(); - Point3 b2 = p_.cross(b1); - b2 = b2 / b2.norm(); + Vector3 b1 = p_.vector().cross(axis).normalized(); + Vector3 b2 = p_.vector().cross(b1).normalized(); // Create the basis matrix B_.reset(Matrix32()); - (*B_) << b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z(); + (*B_) << b1, b2; return *B_; } From f0d10397718b97bec1192e3cc8dad0af2a527ce9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 3 Jul 2015 11:38:31 -0700 Subject: [PATCH 346/964] Removed temporaries --- gtsam/geometry/Unit3.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index b760c8459..82f6af9c1 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -120,10 +120,9 @@ Matrix3 Unit3::skew() const { /* ************************************************************************* */ Vector2 Unit3::error(const Unit3& q, OptionalJacobian<2,2> H) const { // 2D error is equal to B'*q, as B is 3x2 matrix and q is 3x1 - Matrix23 Bt = basis().transpose(); - Vector2 xi = Bt * q.p_.vector(); + Vector2 xi = basis().transpose() * q.p_.vector(); if (H) - *H = Bt * q.basis(); + *H = basis().transpose() * q.basis(); return xi; } @@ -142,10 +141,9 @@ Unit3 Unit3::retract(const Vector2& v) const { // Get the vector form of the point and the basis matrix Vector3 p = p_.vector(); - Matrix32 B = basis(); // Compute the 3D xi_hat vector - Vector3 xi_hat = v(0) * B.col(0) + v(1) * B.col(1); + Vector3 xi_hat = basis() * v; double xi_hat_norm = xi_hat.norm(); // When v is the so small and approximate as a direction From 51983c30a66b68e951293978028069f7e40ca2f7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 3 Jul 2015 11:46:51 -0700 Subject: [PATCH 347/964] Switched to Vector3 altogether --- gtsam/geometry/Unit3.cpp | 32 +++++++++++++------------------- gtsam/geometry/Unit3.h | 28 ++++++++++++++-------------- 2 files changed, 27 insertions(+), 33 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 82f6af9c1..a4153643e 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -62,12 +62,10 @@ Unit3 Unit3::Random(boost::mt19937 & rng) { boost::uniform_on_sphere randomDirection(3); // This variate_generator object is required for versions of boost somewhere // around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng). - boost::variate_generator > - generator(rng, randomDirection); + boost::variate_generator > generator( + rng, randomDirection); vector d = generator(); - Unit3 result; - result.p_ = Point3(d[0], d[1], d[2]); - return result; + return Unit3(d[0], d[1], d[2]); } #ifdef GTSAM_USE_TBB @@ -97,8 +95,8 @@ const Matrix32& Unit3::basis() const { assert(false); // Create the two basis vectors - Vector3 b1 = p_.vector().cross(axis).normalized(); - Vector3 b2 = p_.vector().cross(b1).normalized(); + Vector3 b1 = p_.cross(axis).normalized(); + Vector3 b2 = p_.cross(b1).normalized(); // Create the basis matrix B_.reset(Matrix32()); @@ -120,7 +118,7 @@ Matrix3 Unit3::skew() const { /* ************************************************************************* */ Vector2 Unit3::error(const Unit3& q, OptionalJacobian<2,2> H) const { // 2D error is equal to B'*q, as B is 3x2 matrix and q is 3x1 - Vector2 xi = basis().transpose() * q.p_.vector(); + Vector2 xi = basis().transpose() * q.p_; if (H) *H = basis().transpose() * q.basis(); return xi; @@ -139,19 +137,16 @@ double Unit3::distance(const Unit3& q, OptionalJacobian<1,2> H) const { /* ************************************************************************* */ Unit3 Unit3::retract(const Vector2& v) const { - // Get the vector form of the point and the basis matrix - Vector3 p = p_.vector(); - // Compute the 3D xi_hat vector Vector3 xi_hat = basis() * v; double xi_hat_norm = xi_hat.norm(); // When v is the so small and approximate as a direction if (xi_hat_norm < 1e-8) { - return Unit3(cos(xi_hat_norm) * p + xi_hat); + return Unit3(cos(xi_hat_norm) * p_ + xi_hat); } - Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p + Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p_ + sin(xi_hat_norm) * (xi_hat / xi_hat_norm); return Unit3(exp_p_xi_hat); } @@ -159,18 +154,17 @@ Unit3 Unit3::retract(const Vector2& v) const { /* ************************************************************************* */ Vector2 Unit3::localCoordinates(const Unit3& y) const { - Vector3 p = p_.vector(), q = y.unitVector(); - double dot = p.dot(q); + double dot = p_.dot(y.p_); // Check for special cases if (std::abs(dot - 1.0) < 1e-16) - return Vector2(0, 0); + return Vector2(0.0, 0.0); else if (std::abs(dot + 1.0) < 1e-16) - return Vector2(M_PI, 0); + return Vector2(M_PI, 0.0); else { // no special case - double theta = acos(dot); - Vector3 result_hat = (theta / sin(theta)) * (q - p * dot); + const double theta = acos(dot); + Vector3 result_hat = (theta / sin(theta)) * (y.p_ - p_ * dot); return basis().transpose() * result_hat; } } diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index e20b77739..9d0444844 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -38,7 +38,7 @@ class GTSAM_EXPORT Unit3 { private: - Point3 p_; ///< The location of the point on the unit sphere + Vector3 p_; ///< The location of the point on the unit sphere mutable boost::optional B_; ///< Cached basis public: @@ -57,18 +57,18 @@ public: /// Construct from point explicit Unit3(const Point3& p) : - p_(p / p.norm()) { + p_(p.vector().normalized()) { } /// Construct from a vector3 explicit Unit3(const Vector3& p) : - p_(p / p.norm()) { + p_(p.normalized()) { } /// Construct from x,y,z Unit3(double x, double y, double z) : p_(x, y, z) { - p_ = p_ / p_.norm(); + p_.normalize(); } /// Named constructor from Point3 with optional Jacobian @@ -88,7 +88,7 @@ public: /// The equals function with tolerance bool equals(const Unit3& s, double tol = 1e-9) const { - return p_.equals(s.p_, tol); + return equal_with_abs_tol(p_, s.p_, tol); } /// @} @@ -106,22 +106,22 @@ public: Matrix3 skew() const; /// Return unit-norm Point3 - const Point3& point3(OptionalJacobian<3, 2> H = boost::none) const { + Point3 point3(OptionalJacobian<3, 2> H = boost::none) const { + if (H) + *H = basis(); + return Point3(p_); + } + + /// Return unit-norm Vector + const Vector3& unitVector(boost::optional H = boost::none) const { if (H) *H = basis(); return p_; } - /// Return unit-norm Vector - Vector3 unitVector(boost::optional H = boost::none) const { - if (H) - *H = basis(); - return (p_.vector()); - } - /// Return scaled direction as Point3 friend Point3 operator*(double s, const Unit3& d) { - return s * d.p_; + return Point3(s * d.p_); } /// Signed, vector-valued error between two directions From cb1672d29211bd1b20cb80eac10841498865a19c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 15:10:00 -0700 Subject: [PATCH 348/964] slight refactor --- gtsam/geometry/SO3.cpp | 23 ++++++++++++++--------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 7e755d680..0fcf28dfb 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -32,18 +32,23 @@ SO3 SO3::Rodrigues(const Vector3& axis, double theta) { // get components of axis \omega double wx = axis(0), wy = axis(1), wz = axis(2); - double c = cos(theta), s = sin(theta), c_1 = 1 - c; - double wwTxx = wx * wx, wwTyy = wy * wy, wwTzz = wz * wz; - double swx = wx * s, swy = wy * s, swz = wz * s; + double costheta = cos(theta), sintheta = sin(theta), c_1 = 1 - costheta; + double wx_sintheta = wx * sintheta, wy_sintheta = wy * sintheta, wz_sintheta = wz * sintheta; - double C00 = c_1 * wwTxx, C01 = c_1 * wx * wy, C02 = c_1 * wx * wz; - double C11 = c_1 * wwTyy, C12 = c_1 * wy * wz; - double C22 = c_1 * wwTzz; + double C00 = c_1 * wx * wx, C01 = c_1 * wx * wy, C02 = c_1 * wx * wz; + double C11 = c_1 * wy * wy, C12 = c_1 * wy * wz; + double C22 = c_1 * wz * wz; Matrix3 R; - R << c + C00, -swz + C01, swy + C02, // - swz + C01, c + C11, -swx + C12, // - -swy + C02, swx + C12, c + C22; + R(0, 0) = costheta + C00; + R(1, 0) = wz_sintheta + C01; + R(2, 0) = -wy_sintheta + C02; + R(0, 1) = -wz_sintheta + C01; + R(1, 1) = costheta + C11; + R(2, 1) = wx_sintheta + C12; + R(0, 2) = wy_sintheta + C02; + R(1, 2) = -wx_sintheta + C12; + R(2, 2) = costheta + C22; return R; } From 8ceaa8a3cc8e6d7327c139e522c3c72c9aa7e8d1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 15:25:18 -0700 Subject: [PATCH 349/964] Check ceres rotation convention --- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 3f477098a..6b64aedfa 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -59,6 +59,16 @@ typedef PinholeCamera Camera; using namespace std; using namespace gtsam; +/* ************************************************************************* */ +// Make sure rotation convention is the same +TEST(AdaptAutoDiff, Rotation) { + Vector3 axisAngle(0.1,0.2,0.3); + Matrix3 expected = Rot3::rodriguez(axisAngle).matrix(); + Matrix3 actual; + ceres::AngleAxisToRotationMatrix(axisAngle.data(), actual.data()); + EXPECT(assert_equal(expected, actual)); +} + /* ************************************************************************* */ // charts TEST(AdaptAutoDiff, Canonical) { From a70815b6541e8906de132bee018780a8a640a954 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 15:54:46 -0700 Subject: [PATCH 350/964] Fixed gtsam-opengl convention mismatch --- timing/timeSFMBAL.cpp | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 68b3c4932..763c22af0 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -34,7 +34,7 @@ using namespace std; using namespace gtsam; -#define USE_GTSAM_FACTOR +//#define USE_GTSAM_FACTOR #ifdef USE_GTSAM_FACTOR #include #include @@ -92,14 +92,15 @@ int main(int argc, char* argv[]) { for (size_t j = 0; j < db.number_tracks(); j++) { BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) { size_t i = m.first; - Point2 measurement = m.second; + Point2 z = m.second; #ifdef USE_GTSAM_FACTOR - graph.push_back(SfmFactor(measurement, unit2, i, P(j))); + graph.push_back(SfmFactor(z, unit2, i, P(j))); #else Expression camera_(i); Expression point_(P(j)); - graph.addExpressionFactor(unit2, measurement, - Expression(snavely, camera_, point_)); + // Snavely expects measurements in OpenGL format, with y increasing upwards + graph.addExpressionFactor(unit2, Point2(z.x(), -z.y()), + Expression(snavely, camera_, point_)); #endif } } @@ -110,21 +111,23 @@ int main(int argc, char* argv[]) { #ifdef USE_GTSAM_FACTOR initial.insert((i++), camera); #else - Camera ceresCamera(camera.pose(), camera.calibration()); + // readBAL converts to GTSAM format, so we need to convert back ! + Camera ceresCamera(gtsam2openGL(camera.pose()), camera.calibration()); initial.insert((i++), ceresCamera); #endif } BOOST_FOREACH(const SfM_Track& track, db.tracks) initial.insert(P(j++), track.p); - // Check projection + // Check projection of first point in first camera Point2 expected = db.tracks.front().measurements.front().second; Camera camera = initial.at(0); Point3 point = initial.at(P(0)); #ifdef USE_GTSAM_FACTOR Point2 actual = camera.project(point); #else - Point2 actual = snavely(camera, point); + Point2 opengl = snavely(camera, point); + Point2 actual(opengl.x(), -opengl.y()); #endif assert_equal(expected,actual,10); From 23f8a98d66461ee1d4e72b610d9dc135c394b16c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 16:27:26 -0700 Subject: [PATCH 351/964] Some refactoring --- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 54 +++++++++++---------- 1 file changed, 28 insertions(+), 26 deletions(-) diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 6b64aedfa..49c5ab9ef 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -36,23 +36,23 @@ using boost::assign::map_list_of; namespace gtsam { // Special version of Cal3Bundler so that default constructor = 0,0,0 -struct Cal: public Cal3Bundler { - Cal(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, double v0 = 0) : +struct Cal3Bundler0: public Cal3Bundler { + Cal3Bundler0(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, double v0 = 0) : Cal3Bundler(f, k1, k2, u0, v0) { } - Cal retract(const Vector& d) const { - return Cal(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); + Cal3Bundler0 retract(const Vector& d) const { + return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); } - Vector3 localCoordinates(const Cal& T2) const { + Vector3 localCoordinates(const Cal3Bundler0& T2) const { return T2.vector() - vector(); } }; template<> -struct traits : public internal::Manifold {}; +struct traits : public internal::Manifold {}; // With that, camera below behaves like Snavely's 9-dim vector -typedef PinholeCamera Camera; +typedef PinholeCamera Camera; } @@ -60,7 +60,7 @@ using namespace std; using namespace gtsam; /* ************************************************************************* */ -// Make sure rotation convention is the same +// Check that ceres rotation convention is the same TEST(AdaptAutoDiff, Rotation) { Vector3 axisAngle(0.1,0.2,0.3); Matrix3 expected = Rot3::rodriguez(axisAngle).matrix(); @@ -70,15 +70,15 @@ TEST(AdaptAutoDiff, Rotation) { } /* ************************************************************************* */ -// charts +// Canonical sets up Local/Retract around the default-constructed value +// The tests below check this for all types that play a role i SFM TEST(AdaptAutoDiff, Canonical) { Canonical chart1; EXPECT(chart1.Local(Point2(1, 0))==Vector2(1, 0)); EXPECT(chart1.Retract(Vector2(1, 0))==Point2(1, 0)); - Vector v2(2); - v2 << 1, 0; + Vector2 v2(1, 0); Canonical chart2; EXPECT(assert_equal(v2, chart2.Local(Vector2(1, 0)))); EXPECT(chart2.Retract(v2)==Vector2(1, 0)); @@ -91,8 +91,7 @@ TEST(AdaptAutoDiff, Canonical) { Canonical chart4; Point3 point(1, 2, 3); - Vector v3(3); - v3 << 1, 2, 3; + Vector3 v3(1, 2, 3); EXPECT(assert_equal(v3, chart4.Local(point))); EXPECT(assert_equal(chart4.Retract(v3), point)); @@ -103,8 +102,8 @@ TEST(AdaptAutoDiff, Canonical) { EXPECT(assert_equal(v6, chart5.Local(pose))); EXPECT(assert_equal(chart5.Retract(v6), pose)); - Canonical chart6; - Cal cal0; + Canonical chart6; + Cal3Bundler0 cal0; Vector z3 = Vector3::Zero(); EXPECT(assert_equal(z3, chart6.Local(cal0))); EXPECT(assert_equal(chart6.Retract(z3), cal0)); @@ -207,17 +206,18 @@ Vector2 adapted(const Vector9& P, const Vector3& X) { throw std::runtime_error("Snavely fail"); } +/* ************************************************************************* */ +namespace example { +// zero rotation, (0,5,0) translation, focal length 1 +Vector9 P = (Vector9() << 0, 0, 0, 0, 5, 0, 1, 0, 0).finished(); +Vector3 X(10, 0, -5); // negative Z-axis convention of Snavely! +} + +/* ************************************************************************* */ TEST(AdaptAutoDiff, AutoDiff2) { + using namespace example; using ceres::internal::AutoDiff; - // Instantiate function - SnavelyProjection snavely; - - // Make arguments - Vector9 P; // zero rotation, (0,5,0) translation, focal length 1 - P << 0, 0, 0, 0, 5, 0, 1, 0, 0; - Vector3 X(10, 0, -5); // negative Z-axis convention of Snavely! - // Apply the mapping, to get image point b_x. Vector expected = Vector2(2, 1); Vector2 actual = adapted(P, X); @@ -227,6 +227,9 @@ TEST(AdaptAutoDiff, AutoDiff2) { Matrix E1 = numericalDerivative21(adapted, P, X); Matrix E2 = numericalDerivative22(adapted, P, X); + // Instantiate function + SnavelyProjection snavely; + // Get derivatives with AutoDiff Vector2 actual2; MatrixRowMajor H1(2, 9), H2(2, 3); @@ -241,9 +244,8 @@ TEST(AdaptAutoDiff, AutoDiff2) { /* ************************************************************************* */ // Test AutoDiff wrapper Snavely TEST(AdaptAutoDiff, AutoDiff3) { - // Make arguments - Camera P(Pose3(Rot3(), Point3(0, 5, 0)), Cal(1, 0, 0)); + Camera P(Pose3(Rot3(), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)); Point3 X(10, 0, -5); // negative Z-axis convention of Snavely! typedef AdaptAutoDiff Adaptor; @@ -269,7 +271,7 @@ TEST(AdaptAutoDiff, AutoDiff3) { /* ************************************************************************* */ // Test AutoDiff wrapper in an expression -TEST(AdaptAutoDiff, Snavely) { +TEST(AdaptAutoDiff, SnavelyExpression) { Expression P(1); Expression X(2); typedef AdaptAutoDiff Adaptor; From 1a81cd9929941ec663b730a38bfb2c9af62b2493 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 16:40:46 -0700 Subject: [PATCH 352/964] charts are types --- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 73 ++++++++++++--------- 1 file changed, 41 insertions(+), 32 deletions(-) diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 49c5ab9ef..a4a3ade87 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -71,48 +71,48 @@ TEST(AdaptAutoDiff, Rotation) { /* ************************************************************************* */ // Canonical sets up Local/Retract around the default-constructed value -// The tests below check this for all types that play a role i SFM +// The tests below check this for all types that play a role in SFM TEST(AdaptAutoDiff, Canonical) { - Canonical chart1; - EXPECT(chart1.Local(Point2(1, 0))==Vector2(1, 0)); - EXPECT(chart1.Retract(Vector2(1, 0))==Point2(1, 0)); + typedef Canonical Chart1; + EXPECT(Chart1::Local(Point2(1, 0))==Vector2(1, 0)); + EXPECT(Chart1::Retract(Vector2(1, 0))==Point2(1, 0)); Vector2 v2(1, 0); - Canonical chart2; - EXPECT(assert_equal(v2, chart2.Local(Vector2(1, 0)))); - EXPECT(chart2.Retract(v2)==Vector2(1, 0)); + typedef Canonical Chart2; + EXPECT(assert_equal(v2, Chart2::Local(Vector2(1, 0)))); + EXPECT(Chart2::Retract(v2)==Vector2(1, 0)); - Canonical chart3; + typedef Canonical Chart3; Eigen::Matrix v1; v1 << 1; - EXPECT(chart3.Local(1)==v1); - EXPECT_DOUBLES_EQUAL(chart3.Retract(v1), 1, 1e-9); + EXPECT(Chart3::Local(1)==v1); + EXPECT_DOUBLES_EQUAL(Chart3::Retract(v1), 1, 1e-9); - Canonical chart4; + typedef Canonical Chart4; Point3 point(1, 2, 3); Vector3 v3(1, 2, 3); - EXPECT(assert_equal(v3, chart4.Local(point))); - EXPECT(assert_equal(chart4.Retract(v3), point)); + EXPECT(assert_equal(v3, Chart4::Local(point))); + EXPECT(assert_equal(Chart4::Retract(v3), point)); - Canonical chart5; + typedef Canonical Chart5; Pose3 pose(Rot3::identity(), point); Vector v6(6); v6 << 0, 0, 0, 1, 2, 3; - EXPECT(assert_equal(v6, chart5.Local(pose))); - EXPECT(assert_equal(chart5.Retract(v6), pose)); + EXPECT(assert_equal(v6, Chart5::Local(pose))); + EXPECT(assert_equal(Chart5::Retract(v6), pose)); - Canonical chart6; + typedef Canonical Chart6; Cal3Bundler0 cal0; Vector z3 = Vector3::Zero(); - EXPECT(assert_equal(z3, chart6.Local(cal0))); - EXPECT(assert_equal(chart6.Retract(z3), cal0)); + EXPECT(assert_equal(z3, Chart6::Local(cal0))); + EXPECT(assert_equal(Chart6::Retract(z3), cal0)); - Canonical chart7; + typedef Canonical Chart7; Camera camera(Pose3(), cal0); Vector z9 = Vector9::Zero(); - EXPECT(assert_equal(z9, chart7.Local(camera))); - EXPECT(assert_equal(chart7.Retract(z9), camera)); + EXPECT(assert_equal(z9, Chart7::Local(camera))); + EXPECT(assert_equal(Chart7::Retract(z9), camera)); } /* ************************************************************************* */ @@ -208,9 +208,20 @@ Vector2 adapted(const Vector9& P, const Vector3& X) { /* ************************************************************************* */ namespace example { -// zero rotation, (0,5,0) translation, focal length 1 -Vector9 P = (Vector9() << 0, 0, 0, 0, 5, 0, 1, 0, 0).finished(); -Vector3 X(10, 0, -5); // negative Z-axis convention of Snavely! +Camera camera(Pose3(Rot3(), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)); +Point3 point(10, 0, -5); // negative Z-axis convention of Snavely! +Vector9 P = Canonical::Local(camera); +Vector3 X = Canonical::Local(point); +} + +/* ************************************************************************* */ +// Check that Local worked as expected +TEST(AdaptAutoDiff, Local) { + using namespace example; + Vector9 expectedP = (Vector9() << 0, 0, 0, 0, 5, 0, 1, 0, 0).finished(); + 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)); } /* ************************************************************************* */ @@ -244,26 +255,24 @@ TEST(AdaptAutoDiff, AutoDiff2) { /* ************************************************************************* */ // Test AutoDiff wrapper Snavely TEST(AdaptAutoDiff, AutoDiff3) { - // Make arguments - Camera P(Pose3(Rot3(), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)); - Point3 X(10, 0, -5); // negative Z-axis convention of Snavely! + using namespace example; typedef AdaptAutoDiff Adaptor; Adaptor snavely; // Apply the mapping, to get image point b_x. Point2 expected(2, 1); - Point2 actual = snavely(P, X); + Point2 actual = snavely(camera, point); EXPECT(assert_equal(expected,actual,1e-9)); // // Get expected derivatives - Matrix E1 = numericalDerivative21(Adaptor(), P, X); - Matrix E2 = numericalDerivative22(Adaptor(), P, X); + Matrix E1 = numericalDerivative21(Adaptor(), camera, point); + Matrix E2 = numericalDerivative22(Adaptor(), camera, point); // Get derivatives with AutoDiff, not gives RowMajor results! Matrix29 H1; Matrix23 H2; - Point2 actual2 = snavely(P, X, H1, H2); + Point2 actual2 = snavely(camera, point, H1, H2); EXPECT(assert_equal(expected,actual2,1e-9)); EXPECT(assert_equal(E1,H1,1e-8)); EXPECT(assert_equal(E2,H2,1e-8)); From bded06f97f13f099881ced87034f3253baabea0c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 16:50:46 -0700 Subject: [PATCH 353/964] Made testcase with nonzero rotation: fails test! --- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 39 +++++++++++---------- 1 file changed, 20 insertions(+), 19 deletions(-) diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index a4a3ade87..2ab52f6bc 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -208,31 +208,33 @@ Vector2 adapted(const Vector9& P, const Vector3& X) { /* ************************************************************************* */ namespace example { -Camera camera(Pose3(Rot3(), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)); +Camera camera(Pose3(Rot3::rodriguez(0.1, 0.2, 0.3), Point3(0, 5, 0)), + Cal3Bundler0(1, 0, 0)); Point3 point(10, 0, -5); // negative Z-axis convention of Snavely! Vector9 P = Canonical::Local(camera); Vector3 X = Canonical::Local(point); +Point2 expectedMeasurement(1.2431567, 1.2525694); } /* ************************************************************************* */ // Check that Local worked as expected TEST(AdaptAutoDiff, Local) { using namespace example; - Vector9 expectedP = (Vector9() << 0, 0, 0, 0, 5, 0, 1, 0, 0).finished(); + Vector9 expectedP = (Vector9() << 0.1, 0.2, 0.3, 0, 5, 0, 1, 0, 0).finished(); 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)); } /* ************************************************************************* */ +// Test Ceres AutoDiff TEST(AdaptAutoDiff, AutoDiff2) { using namespace example; using ceres::internal::AutoDiff; // Apply the mapping, to get image point b_x. - Vector expected = Vector2(2, 1); Vector2 actual = adapted(P, X); - EXPECT(assert_equal(expected,actual,1e-9)); + EXPECT(assert_equal(expectedMeasurement.vector(), actual, 1e-6)); // Get expected derivatives Matrix E1 = numericalDerivative21(adapted, P, X); @@ -244,28 +246,27 @@ TEST(AdaptAutoDiff, AutoDiff2) { // Get derivatives with AutoDiff Vector2 actual2; MatrixRowMajor H1(2, 9), H2(2, 3); - double *parameters[] = { P.data(), X.data() }; - double *jacobians[] = { H1.data(), H2.data() }; - CHECK( - (AutoDiff::Differentiate( snavely, parameters, 2, actual2.data(), jacobians))); - EXPECT(assert_equal(E1,H1,1e-8)); - EXPECT(assert_equal(E2,H2,1e-8)); + double* parameters[] = {P.data(), X.data()}; + double* jacobians[] = {H1.data(), H2.data()}; + CHECK((AutoDiff::Differentiate( + snavely, parameters, 2, actual2.data(), jacobians))); + EXPECT(assert_equal(E1, H1, 1e-8)); + EXPECT(assert_equal(E2, H2, 1e-8)); } /* ************************************************************************* */ // Test AutoDiff wrapper Snavely -TEST(AdaptAutoDiff, AutoDiff3) { +TEST(AdaptAutoDiff, AdaptAutoDiff) { using namespace example; typedef AdaptAutoDiff Adaptor; Adaptor snavely; // Apply the mapping, to get image point b_x. - Point2 expected(2, 1); Point2 actual = snavely(camera, point); - EXPECT(assert_equal(expected,actual,1e-9)); + EXPECT(assert_equal(expectedMeasurement, actual, 1e-6)); -// // Get expected derivatives + // // Get expected derivatives Matrix E1 = numericalDerivative21(Adaptor(), camera, point); Matrix E2 = numericalDerivative22(Adaptor(), camera, point); @@ -273,9 +274,9 @@ TEST(AdaptAutoDiff, AutoDiff3) { Matrix29 H1; Matrix23 H2; Point2 actual2 = snavely(camera, point, H1, H2); - EXPECT(assert_equal(expected,actual2,1e-9)); - EXPECT(assert_equal(E1,H1,1e-8)); - EXPECT(assert_equal(E2,H2,1e-8)); + EXPECT(assert_equal(expectedMeasurement, actual2, 1e-6)); + EXPECT(assert_equal(E1, H1, 1e-8)); + EXPECT(assert_equal(E2, H2, 1e-8)); } /* ************************************************************************* */ @@ -286,10 +287,10 @@ TEST(AdaptAutoDiff, SnavelyExpression) { typedef AdaptAutoDiff Adaptor; Expression expression(Adaptor(), P, X); #ifdef GTSAM_USE_QUATERNIONS - EXPECT_LONGS_EQUAL(384,expression.traceSize()); // Todo, should be zero + EXPECT_LONGS_EQUAL(384,expression.traceSize()); // TODO(frank): should be zero #else EXPECT_LONGS_EQUAL(sizeof(internal::BinaryExpression::Record), - expression.traceSize()); // Todo, should be zero + expression.traceSize()); // TODO(frank): should be zero #endif set expected = list_of(1)(2); EXPECT(expected == expression.keys()); From b752f8446ce95d3e3b459378aab63c945812a1e3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 18:06:01 -0700 Subject: [PATCH 354/964] Fixed and simplified (quite broken) AdaptAutoDiff, now works with fixed Vectors --- gtsam/nonlinear/AdaptAutoDiff.h | 100 ++++---------- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 140 ++++++-------------- 2 files changed, 68 insertions(+), 172 deletions(-) diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h index 341bb7d10..96ea9b182 100644 --- a/gtsam/nonlinear/AdaptAutoDiff.h +++ b/gtsam/nonlinear/AdaptAutoDiff.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -27,95 +27,44 @@ namespace gtsam { -namespace detail { - -// By default, we assume an Identity element -template -struct Origin { T operator()() { return traits::Identity();} }; - -// but simple manifolds don't have one, so we just use the default constructor -template -struct Origin { T operator()() { return T();} }; - -} // \ detail - -/** - * Canonical is a template that creates canonical coordinates for a given type. - * A simple manifold type (i.e., not a Lie Group) has no concept of identity, - * hence in that case we use the value given by the default constructor T() as - * the origin of a "canonical coordinate" parameterization. - */ -template -struct Canonical { - - GTSAM_CONCEPT_MANIFOLD_TYPE(T) - - typedef traits Traits; - enum { dimension = Traits::dimension }; - typedef typename Traits::TangentVector TangentVector; - typedef typename Traits::structure_category Category; - typedef detail::Origin Origin; - - static TangentVector Local(const T& other) { - return Traits::Local(Origin()(), other); - } - - static T Retract(const TangentVector& v) { - return Traits::Retract(Origin()(), v); - } -}; - /** * The AdaptAutoDiff class uses ceres-style autodiff to adapt a ceres-style - * Function evaluation, i.e., a function F that defines an operator - * template bool operator()(const T* const, const T* const, T* predicted) const; + * Function evaluation, i.e., a function FUNCTOR that defines an operator + * template bool operator()(const T* const, const T* const, T* + * predicted) const; * For now only binary operators are supported. */ -template +template class AdaptAutoDiff { + typedef Eigen::Matrix RowMajor1; + typedef Eigen::Matrix RowMajor2; - static const int N = traits::dimension; - static const int M1 = traits::dimension; - static const int M2 = traits::dimension; + typedef Eigen::Matrix VectorT; + typedef Eigen::Matrix Vector1; + typedef Eigen::Matrix Vector2; - typedef Eigen::Matrix RowMajor1; - typedef Eigen::Matrix RowMajor2; - - typedef Canonical CanonicalT; - typedef Canonical Canonical1; - typedef Canonical Canonical2; - - typedef typename CanonicalT::TangentVector VectorT; - typedef typename Canonical1::TangentVector Vector1; - typedef typename Canonical2::TangentVector Vector2; - - F f; - -public: - - T operator()(const A1& a1, const A2& a2, OptionalJacobian H1 = boost::none, - OptionalJacobian H2 = boost::none) { + FUNCTOR f; + public: + VectorT operator()(const Vector1& v1, const Vector2& v2, + OptionalJacobian H1 = boost::none, + OptionalJacobian H2 = boost::none) { using ceres::internal::AutoDiff; - // Make arguments - Vector1 v1 = Canonical1::Local(a1); - Vector2 v2 = Canonical2::Local(a2); - bool success; VectorT result; if (H1 || H2) { - // Get derivatives with AutoDiff - double *parameters[] = { v1.data(), v2.data() }; - double rowMajor1[N * M1], rowMajor2[N * M2]; // on the stack - double *jacobians[] = { rowMajor1, rowMajor2 }; - success = AutoDiff::Differentiate(f, parameters, 2, - result.data(), jacobians); + const double* parameters[] = {v1.data(), v2.data()}; + double rowMajor1[M * N1], rowMajor2[M * N2]; // on the stack + double* jacobians[] = {rowMajor1, rowMajor2}; + success = AutoDiff::Differentiate( + f, parameters, M, result.data(), jacobians); // Convert from row-major to columnn-major - // TODO: if this is a bottleneck (probably not!) fix Autodiff to be Column-Major + // TODO: if this is a bottleneck (probably not!) fix Autodiff to be + // Column-Major *H1 = Eigen::Map(rowMajor1); *H2 = Eigen::Map(rowMajor2); @@ -126,9 +75,8 @@ public: if (!success) throw std::runtime_error( "AdaptAutoDiff: function call resulted in failure"); - return CanonicalT::Retract(result); + return result; } - }; -} +} // namespace gtsam diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 2ab52f6bc..59f8cb7cd 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -36,10 +36,10 @@ using boost::assign::map_list_of; namespace gtsam { // Special version of Cal3Bundler so that default constructor = 0,0,0 -struct Cal3Bundler0: public Cal3Bundler { - Cal3Bundler0(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, double v0 = 0) : - Cal3Bundler(f, k1, k2, u0, v0) { - } +struct Cal3Bundler0 : public Cal3Bundler { + Cal3Bundler0(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, + double v0 = 0) + : Cal3Bundler(f, k1, k2, u0, v0) {} Cal3Bundler0 retract(const Vector& d) const { return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); } @@ -48,12 +48,11 @@ struct Cal3Bundler0: public Cal3Bundler { } }; -template<> +template <> struct traits : public internal::Manifold {}; // With that, camera below behaves like Snavely's 9-dim vector typedef PinholeCamera Camera; - } using namespace std; @@ -62,64 +61,18 @@ using namespace gtsam; /* ************************************************************************* */ // Check that ceres rotation convention is the same TEST(AdaptAutoDiff, Rotation) { - Vector3 axisAngle(0.1,0.2,0.3); + Vector3 axisAngle(0.1, 0.2, 0.3); Matrix3 expected = Rot3::rodriguez(axisAngle).matrix(); Matrix3 actual; ceres::AngleAxisToRotationMatrix(axisAngle.data(), actual.data()); EXPECT(assert_equal(expected, actual)); } -/* ************************************************************************* */ -// Canonical sets up Local/Retract around the default-constructed value -// The tests below check this for all types that play a role in SFM -TEST(AdaptAutoDiff, Canonical) { - - typedef Canonical Chart1; - EXPECT(Chart1::Local(Point2(1, 0))==Vector2(1, 0)); - EXPECT(Chart1::Retract(Vector2(1, 0))==Point2(1, 0)); - - Vector2 v2(1, 0); - typedef Canonical Chart2; - EXPECT(assert_equal(v2, Chart2::Local(Vector2(1, 0)))); - EXPECT(Chart2::Retract(v2)==Vector2(1, 0)); - - typedef Canonical Chart3; - Eigen::Matrix v1; - v1 << 1; - EXPECT(Chart3::Local(1)==v1); - EXPECT_DOUBLES_EQUAL(Chart3::Retract(v1), 1, 1e-9); - - typedef Canonical Chart4; - Point3 point(1, 2, 3); - Vector3 v3(1, 2, 3); - EXPECT(assert_equal(v3, Chart4::Local(point))); - EXPECT(assert_equal(Chart4::Retract(v3), point)); - - typedef Canonical Chart5; - Pose3 pose(Rot3::identity(), point); - Vector v6(6); - v6 << 0, 0, 0, 1, 2, 3; - EXPECT(assert_equal(v6, Chart5::Local(pose))); - EXPECT(assert_equal(Chart5::Retract(v6), pose)); - - typedef Canonical Chart6; - Cal3Bundler0 cal0; - Vector z3 = Vector3::Zero(); - EXPECT(assert_equal(z3, Chart6::Local(cal0))); - EXPECT(assert_equal(Chart6::Retract(z3), cal0)); - - typedef Canonical Chart7; - Camera camera(Pose3(), cal0); - Vector z9 = Vector9::Zero(); - EXPECT(assert_equal(z9, Chart7::Local(camera))); - EXPECT(assert_equal(Chart7::Retract(z9), camera)); -} - /* ************************************************************************* */ // Some Ceres Snippets copied for testing // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. -template inline T &RowMajorAccess(T *base, int rows, int cols, - int i, int j) { +template +inline T& RowMajorAccess(T* base, int rows, int cols, int i, int j) { return base[cols * i + j]; } @@ -133,14 +86,14 @@ inline double RandDouble() { struct Projective { // Function that takes P and X as separate vectors: // P, X -> x - template + template bool operator()(A const P[12], A const X[4], A x[2]) const { A PX[3]; for (int i = 0; i < 3; ++i) { - PX[i] = RowMajorAccess(P, 3, 4, i, 0) * X[0] - + RowMajorAccess(P, 3, 4, i, 1) * X[1] - + RowMajorAccess(P, 3, 4, i, 2) * X[2] - + RowMajorAccess(P, 3, 4, i, 3) * X[3]; + PX[i] = RowMajorAccess(P, 3, 4, i, 0) * X[0] + + RowMajorAccess(P, 3, 4, i, 1) * X[1] + + RowMajorAccess(P, 3, 4, i, 2) * X[2] + + RowMajorAccess(P, 3, 4, i, 3) * X[3]; } if (PX[2] != 0.0) { x[0] = PX[0] / PX[2]; @@ -169,29 +122,31 @@ TEST(AdaptAutoDiff, AutoDiff) { Projective projective; // Make arguments - typedef Eigen::Matrix M; - M P; + typedef Eigen::Matrix RowMajorMatrix34; + RowMajorMatrix34 P; P << 1, 0, 0, 0, 0, 1, 0, 5, 0, 0, 1, 0; Vector4 X(10, 0, 5, 1); // Apply the mapping, to get image point b_x. Vector expected = Vector2(2, 1); Vector2 actual = projective(P, X); - EXPECT(assert_equal(expected,actual,1e-9)); + EXPECT(assert_equal(expected, actual, 1e-9)); // Get expected derivatives - Matrix E1 = numericalDerivative21(Projective(), P, X); - Matrix E2 = numericalDerivative22(Projective(), P, X); + Matrix E1 = numericalDerivative21( + Projective(), P, X); + Matrix E2 = numericalDerivative22( + Projective(), P, X); // Get derivatives with AutoDiff Vector2 actual2; MatrixRowMajor H1(2, 12), H2(2, 4); - double *parameters[] = { P.data(), X.data() }; - double *jacobians[] = { H1.data(), H2.data() }; - CHECK( - (AutoDiff::Differentiate( projective, parameters, 2, actual2.data(), jacobians))); - EXPECT(assert_equal(E1,H1,1e-8)); - EXPECT(assert_equal(E2,H2,1e-8)); + double* parameters[] = {P.data(), X.data()}; + double* jacobians[] = {H1.data(), H2.data()}; + CHECK((AutoDiff::Differentiate( + projective, parameters, 2, actual2.data(), jacobians))); + EXPECT(assert_equal(E1, H1, 1e-8)); + EXPECT(assert_equal(E2, H2, 1e-8)); } /* ************************************************************************* */ @@ -211,9 +166,11 @@ namespace example { Camera camera(Pose3(Rot3::rodriguez(0.1, 0.2, 0.3), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)); Point3 point(10, 0, -5); // negative Z-axis convention of Snavely! -Vector9 P = Canonical::Local(camera); -Vector3 X = Canonical::Local(point); -Point2 expectedMeasurement(1.2431567, 1.2525694); +Vector9 P = Camera().localCoordinates(camera); +Vector3 X = Point3::Logmap(point); +Vector2 expectedMeasurement(1.2431567, 1.2525694); +Matrix E1 = numericalDerivative21(adapted, P, X); +Matrix E2 = numericalDerivative22(adapted, P, X); } /* ************************************************************************* */ @@ -234,11 +191,7 @@ TEST(AdaptAutoDiff, AutoDiff2) { // Apply the mapping, to get image point b_x. Vector2 actual = adapted(P, X); - EXPECT(assert_equal(expectedMeasurement.vector(), actual, 1e-6)); - - // Get expected derivatives - Matrix E1 = numericalDerivative21(adapted, P, X); - Matrix E2 = numericalDerivative22(adapted, P, X); + EXPECT(assert_equal(expectedMeasurement, actual, 1e-6)); // Instantiate function SnavelyProjection snavely; @@ -259,21 +212,17 @@ TEST(AdaptAutoDiff, AutoDiff2) { TEST(AdaptAutoDiff, AdaptAutoDiff) { using namespace example; - typedef AdaptAutoDiff Adaptor; + typedef AdaptAutoDiff Adaptor; Adaptor snavely; // Apply the mapping, to get image point b_x. - Point2 actual = snavely(camera, point); + Vector2 actual = snavely(P, X); EXPECT(assert_equal(expectedMeasurement, actual, 1e-6)); - // // Get expected derivatives - Matrix E1 = numericalDerivative21(Adaptor(), camera, point); - Matrix E2 = numericalDerivative22(Adaptor(), camera, point); - // Get derivatives with AutoDiff, not gives RowMajor results! Matrix29 H1; Matrix23 H2; - Point2 actual2 = snavely(camera, point, H1, H2); + Vector2 actual2 = snavely(P, X, H1, H2); EXPECT(assert_equal(expectedMeasurement, actual2, 1e-6)); EXPECT(assert_equal(E1, H1, 1e-8)); EXPECT(assert_equal(E2, H2, 1e-8)); @@ -282,15 +231,15 @@ TEST(AdaptAutoDiff, AdaptAutoDiff) { /* ************************************************************************* */ // Test AutoDiff wrapper in an expression TEST(AdaptAutoDiff, SnavelyExpression) { - Expression P(1); - Expression X(2); - typedef AdaptAutoDiff Adaptor; - Expression expression(Adaptor(), P, X); + Expression P(1); + Expression X(2); + typedef AdaptAutoDiff Adaptor; + Expression expression(Adaptor(), P, X); + EXPECT_LONGS_EQUAL( + sizeof(internal::BinaryExpression::Record), + expression.traceSize()); #ifdef GTSAM_USE_QUATERNIONS - EXPECT_LONGS_EQUAL(384,expression.traceSize()); // TODO(frank): should be zero -#else - EXPECT_LONGS_EQUAL(sizeof(internal::BinaryExpression::Record), - expression.traceSize()); // TODO(frank): should be zero + EXPECT_LONGS_EQUAL(336, expression.traceSize()); #endif set expected = list_of(1)(2); EXPECT(expected == expression.keys()); @@ -302,4 +251,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - From a305218bd93da95de2ced2cce1e8094b9cf7c1c7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 19:14:25 -0700 Subject: [PATCH 355/964] Made output more directly comparable with ceres --- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 25 +++++++++++-------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 59bb2d42b..ace35e530 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -25,6 +25,9 @@ #include #include +#include +#include + #include #include #include @@ -236,7 +239,7 @@ void LevenbergMarquardtOptimizer::iterate() { // Keep increasing lambda until we make make progress while (true) { - + boost::timer::cpu_timer timer; if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "trying lambda = " << state_.lambda << endl; @@ -248,7 +251,7 @@ void LevenbergMarquardtOptimizer::iterate() { double modelFidelity = 0.0; bool step_is_successful = false; bool stopSearchingLambda = false; - double newError = numeric_limits::infinity(); + double newError = numeric_limits::infinity(), costChange; Values newValues; VectorValues delta; @@ -261,8 +264,6 @@ void LevenbergMarquardtOptimizer::iterate() { systemSolvedSuccessfully = false; } - double linearizedCostChange = 0, - newlinearizedError = 0; if (systemSolvedSuccessfully) { state_.reuseDiagonal = true; @@ -272,9 +273,9 @@ void LevenbergMarquardtOptimizer::iterate() { delta.print("delta"); // cost change in the linearized system (old - new) - newlinearizedError = linear->error(delta); + double newlinearizedError = linear->error(delta); - linearizedCostChange = state_.error - newlinearizedError; + double linearizedCostChange = state_.error - newlinearizedError; if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "newlinearizedError = " << newlinearizedError << " linearizedCostChange = " << linearizedCostChange << endl; @@ -299,7 +300,7 @@ void LevenbergMarquardtOptimizer::iterate() { << ") new (tentative) error (" << newError << ")" << endl; // cost change in the original, nonlinear system (old - new) - double costChange = state_.error - newError; + costChange = state_.error - newError; if (linearizedCostChange > 1e-20) { // the (linear) error has to decrease to satisfy this condition // fidelity of linearized model VS original system between @@ -322,9 +323,13 @@ void LevenbergMarquardtOptimizer::iterate() { } if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) { - cout << "[" << state_.iterations << "]: " << "new error = " << newlinearizedError - << ", delta = " << linearizedCostChange << ", lambda = " << state_.lambda - << ", success = " << systemSolvedSuccessfully << std::endl; + // do timing + double iterationTime = 1e-9 * timer.elapsed().wall; + if (state_.iterations == 0) + cout << "iter cost cost_change lambda success iter_time" << endl; + cout << boost::format("% 4d % 8e % 3.2e % 3.2e % 4d % 3.2e") % + state_.iterations % newError % costChange % state_.lambda % + systemSolvedSuccessfully % iterationTime << endl; } ++state_.totalNumberInnerIterations; From 0fd1ff7b26d52cea75e942454eafb32c7f851fe3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 19:14:56 -0700 Subject: [PATCH 356/964] Now use Vector unknowns -> exactly same result as ceres... --- timing/timeSFMBAL.cpp | 37 ++++++++++++++++++++++++------------- 1 file changed, 24 insertions(+), 13 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 763c22af0..fce535d14 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -45,6 +45,7 @@ typedef GeneralSFMFactor SfmFactor; #include #include #include +// See http://www.cs.cornell.edu/~snavely/bundler/bundler-v0.3-manual.html for conventions // Special version of Cal3Bundler so that default constructor = 0,0,0 struct CeresCalibration: public Cal3Bundler { CeresCalibration(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, @@ -76,14 +77,15 @@ int main(int argc, char* argv[]) { using symbol_shorthand::P; // Load BAL file (default is tiny) - string defaultFilename = findExampleDataFile("dubrovnik-3-7-pre"); + //string defaultFilename = findExampleDataFile("dubrovnik-3-7-pre"); + string defaultFilename = "/home/frank/problem-16-22106-pre.txt"; SfM_data db; bool success = readBAL(argc > 1 ? argv[1] : defaultFilename, db); if (!success) throw runtime_error("Could not access file!"); #ifndef USE_GTSAM_FACTOR - AdaptAutoDiff snavely; + AdaptAutoDiff snavely; #endif // Build graph @@ -96,11 +98,11 @@ int main(int argc, char* argv[]) { #ifdef USE_GTSAM_FACTOR graph.push_back(SfmFactor(z, unit2, i, P(j))); #else - Expression camera_(i); - Expression point_(P(j)); + Expression camera_(i); + Expression point_(P(j)); // Snavely expects measurements in OpenGL format, with y increasing upwards - graph.addExpressionFactor(unit2, Point2(z.x(), -z.y()), - Expression(snavely, camera_, point_)); + graph.addExpressionFactor(unit2, Vector2(z.x(), -z.y()), + Expression(snavely, camera_, point_)); #endif } } @@ -113,21 +115,31 @@ int main(int argc, char* argv[]) { #else // readBAL converts to GTSAM format, so we need to convert back ! Camera ceresCamera(gtsam2openGL(camera.pose()), camera.calibration()); - initial.insert((i++), ceresCamera); + Vector9 v9 = Camera().localCoordinates(ceresCamera); + initial.insert((i++), v9); #endif } - BOOST_FOREACH(const SfM_Track& track, db.tracks) + BOOST_FOREACH(const SfM_Track& track, db.tracks) { +#ifdef USE_GTSAM_FACTOR initial.insert(P(j++), track.p); +#else + Vector3 v3 = track.p.vector(); + initial.insert(P(j++), v3); +#endif + } // Check projection of first point in first camera Point2 expected = db.tracks.front().measurements.front().second; +#ifdef USE_GTSAM_FACTOR Camera camera = initial.at(0); Point3 point = initial.at(P(0)); -#ifdef USE_GTSAM_FACTOR Point2 actual = camera.project(point); #else - Point2 opengl = snavely(camera, point); - Point2 actual(opengl.x(), -opengl.y()); + Vector9 camera = initial.at(0); + Vector3 point = initial.at(P(0)); + Point2 z = snavely(camera, point); + // Again: fix y to increase upwards + Point2 actual(z.x(), -z.y()); #endif assert_equal(expected,actual,10); @@ -149,8 +161,7 @@ int main(int argc, char* argv[]) { LevenbergMarquardtParams params; LevenbergMarquardtParams::SetCeresDefaults(¶ms); params.setOrdering(ordering); - params.setVerbosity("ERROR"); - params.setVerbosityLM("TRYLAMBDA"); + params.setVerbosityLM("SUMMARY"); LevenbergMarquardtOptimizer lm(graph, initial, params); Values result = lm.optimize(); From b5a366e8f1f435d3491e4d61a9d5ffd18d1831e7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 19:32:23 -0700 Subject: [PATCH 357/964] Fixed timing script --- gtsam/nonlinear/AdaptAutoDiff.h | 4 ++-- timing/timeAdaptAutoDiff.cpp | 15 +++++++++------ 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h index 96ea9b182..ff059ef78 100644 --- a/gtsam/nonlinear/AdaptAutoDiff.h +++ b/gtsam/nonlinear/AdaptAutoDiff.h @@ -65,8 +65,8 @@ class AdaptAutoDiff { // Convert from row-major to columnn-major // TODO: if this is a bottleneck (probably not!) fix Autodiff to be // Column-Major - *H1 = Eigen::Map(rowMajor1); - *H2 = Eigen::Map(rowMajor2); + if (H1) *H1 = Eigen::Map(rowMajor1); + if (H2) *H2 = Eigen::Map(rowMajor2); } else { // Apply the mapping, to get result diff --git a/timing/timeAdaptAutoDiff.cpp b/timing/timeAdaptAutoDiff.cpp index edfd420ef..3a9b5297a 100644 --- a/timing/timeAdaptAutoDiff.cpp +++ b/timing/timeAdaptAutoDiff.cpp @@ -57,16 +57,19 @@ int main() { f1 = boost::make_shared >(z, model, 1, 2); time("GeneralSFMFactor : ", f1, values); - // AdaptAutoDiff - typedef AdaptAutoDiff AdaptedSnavely; - Point2_ expression(AdaptedSnavely(), camera, point); - f2 = boost::make_shared >(model, z, expression); - time("Point2_(AdaptedSnavely(), camera, point): ", f2, values); - // ExpressionFactor Point2_ expression2(camera, &Camera::project2, point); f3 = boost::make_shared >(model, z, expression2); time("Point2_(camera, &Camera::project, point): ", f3, values); + // AdaptAutoDiff + values.clear(); + values.insert(1,Vector9(Vector9::Zero())); + values.insert(2,Vector3(0,0,1)); + typedef AdaptAutoDiff AdaptedSnavely; + Expression expression(AdaptedSnavely(), Expression(1), Expression(2)); + f2 = boost::make_shared >(model, z.vector(), expression); + time("Point2_(AdaptedSnavely(), camera, point): ", f2, values); + return 0; } From bfa8fbac994af2b5c5c939587d152b4d4a3a7226 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 23:39:51 -0700 Subject: [PATCH 358/964] Use retract so tests pass for both Rot3/Quaternion --- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 59f8cb7cd..377d6cd34 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -163,7 +163,7 @@ Vector2 adapted(const Vector9& P, const Vector3& X) { /* ************************************************************************* */ namespace example { -Camera camera(Pose3(Rot3::rodriguez(0.1, 0.2, 0.3), Point3(0, 5, 0)), +Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)); Point3 point(10, 0, -5); // negative Z-axis convention of Snavely! Vector9 P = Camera().localCoordinates(camera); From 7ec056f5cc022f1694b0da4f9e1bde00d4fd77dd Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 10:26:11 -0700 Subject: [PATCH 359/964] Split script into two scripts, isolated common code --- timing/timeSFMBAL.cpp | 144 ++++------------------------------ timing/timeSFMBAL.h | 84 ++++++++++++++++++++ timing/timeSFMBALautodiff.cpp | 92 ++++++++++++++++++++++ 3 files changed, 190 insertions(+), 130 deletions(-) create mode 100644 timing/timeSFMBAL.h create mode 100644 timing/timeSFMBALautodiff.cpp diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index fce535d14..26c3d3955 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -11,162 +11,46 @@ /** * @file timeSFMBAL.cpp - * @brief time structure from motion with BAL file + * @brief time structure from motion with BAL file, conventional GeneralSFMFactor * @author Frank Dellaert * @date June 6, 2015 */ -#include +#include "timeSFMBAL.h" + +#include +#include +#include #include -#include -#include -#include -#include -#include -#include -#include #include -#include -#include -#include using namespace std; using namespace gtsam; -//#define USE_GTSAM_FACTOR -#ifdef USE_GTSAM_FACTOR -#include -#include -#include typedef PinholeCamera Camera; typedef GeneralSFMFactor SfmFactor; -#else -#include -#include -#include -// See http://www.cs.cornell.edu/~snavely/bundler/bundler-v0.3-manual.html for conventions -// Special version of Cal3Bundler so that default constructor = 0,0,0 -struct CeresCalibration: public Cal3Bundler { - CeresCalibration(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, - double v0 = 0) : - Cal3Bundler(f, k1, k2, u0, v0) { - } - CeresCalibration(const Cal3Bundler& cal) : - Cal3Bundler(cal) { - } - CeresCalibration retract(const Vector& d) const { - return CeresCalibration(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); - } - Vector3 localCoordinates(const CeresCalibration& T2) const { - return T2.vector() - vector(); - } -}; - -namespace gtsam { -template<> -struct traits : public internal::Manifold { -}; -} - -// With that, camera below behaves like Snavely's 9-dim vector -typedef PinholeCamera Camera; -#endif int main(int argc, char* argv[]) { - using symbol_shorthand::P; + // parse options and read BAL file + SfM_data db = preamble(argc, argv); - // Load BAL file (default is tiny) - //string defaultFilename = findExampleDataFile("dubrovnik-3-7-pre"); - string defaultFilename = "/home/frank/problem-16-22106-pre.txt"; - SfM_data db; - bool success = readBAL(argc > 1 ? argv[1] : defaultFilename, db); - if (!success) - throw runtime_error("Could not access file!"); - -#ifndef USE_GTSAM_FACTOR - AdaptAutoDiff snavely; -#endif - - // Build graph - SharedNoiseModel unit2 = noiseModel::Unit::Create(2); + // Build graph using conventional GeneralSFMFactor NonlinearFactorGraph graph; for (size_t j = 0; j < db.number_tracks(); j++) { BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) { size_t i = m.first; Point2 z = m.second; -#ifdef USE_GTSAM_FACTOR - graph.push_back(SfmFactor(z, unit2, i, P(j))); -#else - Expression camera_(i); - Expression point_(P(j)); - // Snavely expects measurements in OpenGL format, with y increasing upwards - graph.addExpressionFactor(unit2, Vector2(z.x(), -z.y()), - Expression(snavely, camera_, point_)); -#endif + graph.push_back(SfmFactor(z, gNoiseModel, C(i), P(j))); } } Values initial; size_t i = 0, j = 0; - BOOST_FOREACH(const SfM_Camera& camera, db.cameras) { -#ifdef USE_GTSAM_FACTOR - initial.insert((i++), camera); -#else - // readBAL converts to GTSAM format, so we need to convert back ! - Camera ceresCamera(gtsam2openGL(camera.pose()), camera.calibration()); - Vector9 v9 = Camera().localCoordinates(ceresCamera); - initial.insert((i++), v9); -#endif - } - BOOST_FOREACH(const SfM_Track& track, db.tracks) { -#ifdef USE_GTSAM_FACTOR + BOOST_FOREACH (const SfM_Camera& camera, db.cameras) + initial.insert(C(i++), camera); + BOOST_FOREACH (const SfM_Track& track, db.tracks) initial.insert(P(j++), track.p); -#else - Vector3 v3 = track.p.vector(); - initial.insert(P(j++), v3); -#endif - } - // Check projection of first point in first camera - Point2 expected = db.tracks.front().measurements.front().second; -#ifdef USE_GTSAM_FACTOR - Camera camera = initial.at(0); - Point3 point = initial.at(P(0)); - Point2 actual = camera.project(point); -#else - Vector9 camera = initial.at(0); - Vector3 point = initial.at(P(0)); - Point2 z = snavely(camera, point); - // Again: fix y to increase upwards - Point2 actual(z.x(), -z.y()); -#endif - assert_equal(expected,actual,10); - - // Create Schur-complement ordering -#ifdef CCOLAMD - vector pointKeys; - for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j)); - Ordering ordering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); -#else - Ordering ordering; - for (size_t j = 0; j < db.number_tracks(); j++) - ordering.push_back(P(j)); - for (size_t i = 0; i < db.number_cameras(); i++) - ordering.push_back(i); -#endif - - // Optimize - // Set parameters to be similar to ceres - LevenbergMarquardtParams params; - LevenbergMarquardtParams::SetCeresDefaults(¶ms); - params.setOrdering(ordering); - params.setVerbosityLM("SUMMARY"); - LevenbergMarquardtOptimizer lm(graph, initial, params); - Values result = lm.optimize(); - - tictoc_finishedIteration_(); - tictoc_print_(); - - return 0; + return optimize(db, graph, initial); } diff --git a/timing/timeSFMBAL.h b/timing/timeSFMBAL.h new file mode 100644 index 000000000..e0f9d1458 --- /dev/null +++ b/timing/timeSFMBAL.h @@ -0,0 +1,84 @@ +/* ---------------------------------------------------------------------------- + + * 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 timeSFMBAL.h + * @brief Common code for timeSFMBAL scripts + * @author Frank Dellaert + * @date July 5, 2015 + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace std; +using namespace gtsam; +using symbol_shorthand::C; +using symbol_shorthand::K; +using symbol_shorthand::P; + +static bool gUseSchur = true; +static SharedNoiseModel gNoiseModel = noiseModel::Unit::Create(2); + +// parse options and read BAL file +SfM_data preamble(int argc, char* argv[]) { + // primitive argument parsing: + if (argc > 2) { + if (string(argv[1]) == "--colamd") + gUseSchur = false; + else + throw runtime_error("Usage: timeSFMBALxxx [--colamd] [BALfile]"); + } + + // Load BAL file + SfM_data db; + string defaultFilename = findExampleDataFile("dubrovnik-16-22106-pre"); + bool success = readBAL(argc > 1 ? argv[argc] : defaultFilename, db); + if (!success) throw runtime_error("Could not access file!"); + return db; +} + +// Create ordering and optimize +int optimize(const SfM_data& db, const NonlinearFactorGraph& graph, + const Values& initial) { + using symbol_shorthand::P; + + // Set parameters to be similar to ceres + LevenbergMarquardtParams params; + LevenbergMarquardtParams::SetCeresDefaults(¶ms); + params.setVerbosityLM("SUMMARY"); + + if (gUseSchur) { + // Create Schur-complement ordering + Ordering ordering; + for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j)); + for (size_t i = 0; i < db.number_cameras(); i++) ordering.push_back(C(i)); + params.setOrdering(ordering); + } + + // Optimize + LevenbergMarquardtOptimizer lm(graph, initial, params); + Values result = lm.optimize(); + + tictoc_finishedIteration_(); + tictoc_print_(); + + return 0; +} diff --git a/timing/timeSFMBALautodiff.cpp b/timing/timeSFMBALautodiff.cpp new file mode 100644 index 000000000..2674c5fdc --- /dev/null +++ b/timing/timeSFMBALautodiff.cpp @@ -0,0 +1,92 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file timeSFMBALautodiff.cpp + * @brief time structure from motion with BAL file, Ceres autodiff version + * @author Frank Dellaert + * @date July 5, 2015 + */ + +#include "timeSFMBAL.h" +#include +#include +#include +#include + +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +// See http://www.cs.cornell.edu/~snavely/bundler/bundler-v0.3-manual.html +// Special version of Cal3Bundler so that default constructor = 0,0,0 +// This is only used in localCoordinates below +struct CeresCalibration : public Cal3Bundler { + CeresCalibration(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, + double v0 = 0) + : Cal3Bundler(f, k1, k2, u0, v0) {} + CeresCalibration(const Cal3Bundler& cal) : Cal3Bundler(cal) {} + CeresCalibration retract(const Vector& d) const { + return CeresCalibration(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); + } + Vector3 localCoordinates(const CeresCalibration& T2) const { + return T2.vector() - vector(); + } +}; + +namespace gtsam { +template <> +struct traits : public internal::Manifold { +}; +} + +// With that, camera below behaves like Snavely's 9-dim vector +typedef PinholeCamera Camera; + +int main(int argc, char* argv[]) { + // parse options and read BAL file + SfM_data db = preamble(argc, argv); + + AdaptAutoDiff snavely; + + // Build graph + NonlinearFactorGraph graph; + for (size_t j = 0; j < db.number_tracks(); j++) { + BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) { + size_t i = m.first; + Point2 z = m.second; + Expression camera_(C(i)); + Expression point_(P(j)); + // Expects measurements in OpenGL format, with y increasing upwards + graph.addExpressionFactor(gNoiseModel, Vector2(z.x(), -z.y()), + Expression(snavely, camera_, point_)); + } + } + + Values initial; + size_t i = 0, j = 0; + BOOST_FOREACH (const SfM_Camera& camera, db.cameras) { + // readBAL converts to GTSAM format, so we need to convert back ! + Camera ceresCamera(gtsam2openGL(camera.pose()), camera.calibration()); + Vector9 v9 = Camera().localCoordinates(ceresCamera); + initial.insert(C(i++), v9); + } + BOOST_FOREACH (const SfM_Track& track, db.tracks) { + Vector3 v3 = track.p.vector(); + initial.insert(P(j++), v3); + } + + return optimize(db, graph, initial); +} From 59ac8b3f5b1d64349282065775033eb8484bd527 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 10:33:18 -0700 Subject: [PATCH 360/964] Considerably simplified --- timing/timeSFMBALautodiff.cpp | 30 ++++++------------------------ 1 file changed, 6 insertions(+), 24 deletions(-) diff --git a/timing/timeSFMBALautodiff.cpp b/timing/timeSFMBALautodiff.cpp index 2674c5fdc..9da009abc 100644 --- a/timing/timeSFMBALautodiff.cpp +++ b/timing/timeSFMBALautodiff.cpp @@ -31,29 +31,11 @@ using namespace std; using namespace gtsam; // See http://www.cs.cornell.edu/~snavely/bundler/bundler-v0.3-manual.html -// Special version of Cal3Bundler so that default constructor = 0,0,0 -// This is only used in localCoordinates below -struct CeresCalibration : public Cal3Bundler { - CeresCalibration(double f = 0, double k1 = 0, double k2 = 0, double u0 = 0, - double v0 = 0) - : Cal3Bundler(f, k1, k2, u0, v0) {} - CeresCalibration(const Cal3Bundler& cal) : Cal3Bundler(cal) {} - CeresCalibration retract(const Vector& d) const { - return CeresCalibration(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0()); - } - Vector3 localCoordinates(const CeresCalibration& T2) const { - return T2.vector() - vector(); - } -}; +// as to why so much gymnastics is needed to massage the initial estimates and +// measurements: basically, Snavely does not use computer vision conventions +// but OpenGL conventions :-( -namespace gtsam { -template <> -struct traits : public internal::Manifold { -}; -} - -// With that, camera below behaves like Snavely's 9-dim vector -typedef PinholeCamera Camera; +typedef PinholeCamera Camera; int main(int argc, char* argv[]) { // parse options and read BAL file @@ -79,8 +61,8 @@ int main(int argc, char* argv[]) { size_t i = 0, j = 0; BOOST_FOREACH (const SfM_Camera& camera, db.cameras) { // readBAL converts to GTSAM format, so we need to convert back ! - Camera ceresCamera(gtsam2openGL(camera.pose()), camera.calibration()); - Vector9 v9 = Camera().localCoordinates(ceresCamera); + Pose3 openGLpose = gtsam2openGL(camera.pose()); + Vector9 v9; v9 << Pose3::Logmap(openGLpose), camera.calibration().vector(); initial.insert(C(i++), v9); } BOOST_FOREACH (const SfM_Track& track, db.tracks) { From 14347f0d1c6606fa0514433f29893495899f5b87 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 11:18:45 -0700 Subject: [PATCH 361/964] Two new scripts with expressions --- gtsam/slam/expressions.h | 4 +++ timing/timeSFMBAL.h | 11 ++++--- timing/timeSFMBALcamTnav.cpp | 63 ++++++++++++++++++++++++++++++++++++ timing/timeSFMBALnavTcam.cpp | 63 ++++++++++++++++++++++++++++++++++++ 4 files changed, 137 insertions(+), 4 deletions(-) create mode 100644 timing/timeSFMBALcamTnav.cpp create mode 100644 timing/timeSFMBALnavTcam.cpp diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h index fac2cf03d..e81c76bd6 100644 --- a/gtsam/slam/expressions.h +++ b/gtsam/slam/expressions.h @@ -36,6 +36,10 @@ inline Point3_ transform_to(const Pose3_& x, const Point3_& p) { return Point3_(x, &Pose3::transform_to, p); } +inline Point3_ transform_from(const Pose3_& x, const Point3_& p) { + return Point3_(x, &Pose3::transform_from, p); +} + // Projection typedef Expression Cal3_S2_; diff --git a/timing/timeSFMBAL.h b/timing/timeSFMBAL.h index e0f9d1458..e9449af7b 100644 --- a/timing/timeSFMBAL.h +++ b/timing/timeSFMBAL.h @@ -41,7 +41,7 @@ static SharedNoiseModel gNoiseModel = noiseModel::Unit::Create(2); SfM_data preamble(int argc, char* argv[]) { // primitive argument parsing: if (argc > 2) { - if (string(argv[1]) == "--colamd") + if (strcmp(argv[1], "--colamd")) gUseSchur = false; else throw runtime_error("Usage: timeSFMBALxxx [--colamd] [BALfile]"); @@ -50,14 +50,14 @@ SfM_data preamble(int argc, char* argv[]) { // Load BAL file SfM_data db; string defaultFilename = findExampleDataFile("dubrovnik-16-22106-pre"); - bool success = readBAL(argc > 1 ? argv[argc] : defaultFilename, db); + bool success = readBAL(argc > 1 ? argv[argc - 1] : defaultFilename, db); if (!success) throw runtime_error("Could not access file!"); return db; } // Create ordering and optimize int optimize(const SfM_data& db, const NonlinearFactorGraph& graph, - const Values& initial) { + const Values& initial, bool separateCalibration = false) { using symbol_shorthand::P; // Set parameters to be similar to ceres @@ -69,7 +69,10 @@ int optimize(const SfM_data& db, const NonlinearFactorGraph& graph, // Create Schur-complement ordering Ordering ordering; for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j)); - for (size_t i = 0; i < db.number_cameras(); i++) ordering.push_back(C(i)); + for (size_t i = 0; i < db.number_cameras(); i++) { + ordering.push_back(C(i)); + if (separateCalibration) ordering.push_back(K(i)); + } params.setOrdering(ordering); } diff --git a/timing/timeSFMBALcamTnav.cpp b/timing/timeSFMBALcamTnav.cpp new file mode 100644 index 000000000..32fae4ac2 --- /dev/null +++ b/timing/timeSFMBALcamTnav.cpp @@ -0,0 +1,63 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file timeSFMBALcamTnav.cpp + * @brief time SFM with BAL file, expressions with camTnav pose + * @author Frank Dellaert + * @date July 5, 2015 + */ + +#include "timeSFMBAL.h" + +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char* argv[]) { + // parse options and read BAL file + SfM_data db = preamble(argc, argv); + + // Build graph using conventional GeneralSFMFactor + NonlinearFactorGraph graph; + for (size_t j = 0; j < db.number_tracks(); j++) { + BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) { + size_t i = m.first; + Point2 z = m.second; + Pose3_ camTnav_(C(i)); + Cal3Bundler_ calibration_(K(i)); + Point3_ nav_point_(P(j)); + graph.addExpressionFactor( + gNoiseModel, z, + uncalibrate(calibration_, // now using transform_from !!!: + project(transform_from(camTnav_, nav_point_)))); + } + } + + Values initial; + size_t i = 0, j = 0; + BOOST_FOREACH (const SfM_Camera& camera, db.cameras) { + initial.insert(C(i), camera.pose().inverse()); // inverse !!! + initial.insert(K(i), camera.calibration()); + i += 1; + } + BOOST_FOREACH (const SfM_Track& track, db.tracks) + initial.insert(P(j++), track.p); + + bool separateCalibration = true; + return optimize(db, graph, initial, separateCalibration); +} diff --git a/timing/timeSFMBALnavTcam.cpp b/timing/timeSFMBALnavTcam.cpp new file mode 100644 index 000000000..e370a5a67 --- /dev/null +++ b/timing/timeSFMBALnavTcam.cpp @@ -0,0 +1,63 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file timeSFMBALnavTcam.cpp + * @brief time SFM with BAL file, expressions with navTcam pose + * @author Frank Dellaert + * @date July 5, 2015 + */ + +#include "timeSFMBAL.h" + +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char* argv[]) { + // parse options and read BAL file + SfM_data db = preamble(argc, argv); + + // Build graph using conventional GeneralSFMFactor + NonlinearFactorGraph graph; + for (size_t j = 0; j < db.number_tracks(); j++) { + BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) { + size_t i = m.first; + Point2 z = m.second; + Pose3_ navTcam_(C(i)); + Cal3Bundler_ calibration_(K(i)); + Point3_ nav_point_(P(j)); + graph.addExpressionFactor( + gNoiseModel, z, + uncalibrate(calibration_, + project(transform_to(navTcam_, nav_point_)))); + } + } + + Values initial; + size_t i = 0, j = 0; + BOOST_FOREACH (const SfM_Camera& camera, db.cameras) { + initial.insert(C(i), camera.pose()); + initial.insert(K(i), camera.calibration()); + i += 1; + } + BOOST_FOREACH (const SfM_Track& track, db.tracks) + initial.insert(P(j++), track.p); + + bool separateCalibration = true; + return optimize(db, graph, initial, separateCalibration); +} From b6adeec6acd96a8d497245ee1ff7311cb9aa5d33 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 11:19:19 -0700 Subject: [PATCH 362/964] cleanup --- timing/timeSFMBAL.cpp | 2 +- timing/timeSFMBALautodiff.cpp | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 26c3d3955..6308a1d61 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -11,7 +11,7 @@ /** * @file timeSFMBAL.cpp - * @brief time structure from motion with BAL file, conventional GeneralSFMFactor + * @brief time SFM with BAL file, conventional GeneralSFMFactor * @author Frank Dellaert * @date June 6, 2015 */ diff --git a/timing/timeSFMBALautodiff.cpp b/timing/timeSFMBALautodiff.cpp index 9da009abc..4545abc21 100644 --- a/timing/timeSFMBALautodiff.cpp +++ b/timing/timeSFMBALautodiff.cpp @@ -11,7 +11,7 @@ /** * @file timeSFMBALautodiff.cpp - * @brief time structure from motion with BAL file, Ceres autodiff version + * @brief time SFM with BAL file, Ceres autodiff version * @author Frank Dellaert * @date July 5, 2015 */ @@ -62,7 +62,8 @@ int main(int argc, char* argv[]) { BOOST_FOREACH (const SfM_Camera& camera, db.cameras) { // readBAL converts to GTSAM format, so we need to convert back ! Pose3 openGLpose = gtsam2openGL(camera.pose()); - Vector9 v9; v9 << Pose3::Logmap(openGLpose), camera.calibration().vector(); + Vector9 v9; + v9 << Pose3::Logmap(openGLpose), camera.calibration().vector(); initial.insert(C(i++), v9); } BOOST_FOREACH (const SfM_Track& track, db.tracks) { From f9b5bc29365af5bf1939a5ad97bfda154d298085 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 12:18:34 -0700 Subject: [PATCH 363/964] Loosened test thresholds for Rot3/Pose3 expmap path --- gtsam/slam/tests/testInitializePose3.cpp | 2 +- gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 6 +++--- tests/testGeneralSFMFactorB.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/slam/tests/testInitializePose3.cpp b/gtsam/slam/tests/testInitializePose3.cpp index 61c4566bf..9fd8474eb 100644 --- a/gtsam/slam/tests/testInitializePose3.cpp +++ b/gtsam/slam/tests/testInitializePose3.cpp @@ -246,7 +246,7 @@ TEST( InitializePose3, initializePoses ) inputGraph->add(PriorFactor(0, Pose3(), priorModel)); Values initial = InitializePose3::initialize(*inputGraph); - EXPECT(assert_equal(*expectedValues,initial,1e-4)); + EXPECT(assert_equal(*expectedValues,initial,0.1)); // TODO(frank): very loose !! } diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 533e16bec..9838d65e5 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -267,9 +267,9 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { LevenbergMarquardtOptimizer optimizer(graph, initial, lmParams); Values result = optimizer.optimize(); - EXPECT(assert_equal(landmark1, *smartFactor1->point(), 1e-7)); - EXPECT(assert_equal(landmark2, *smartFactor2->point(), 1e-7)); - EXPECT(assert_equal(landmark3, *smartFactor3->point(), 1e-7)); + EXPECT(assert_equal(landmark1, *smartFactor1->point(), 1e-5)); + EXPECT(assert_equal(landmark2, *smartFactor2->point(), 1e-5)); + EXPECT(assert_equal(landmark3, *smartFactor3->point(), 1e-5)); // GaussianFactorGraph::shared_ptr GFG = graph.linearize(initial); // VectorValues delta = GFG->optimize(); diff --git a/tests/testGeneralSFMFactorB.cpp b/tests/testGeneralSFMFactorB.cpp index d43e7e31a..aea18c90d 100644 --- a/tests/testGeneralSFMFactorB.cpp +++ b/tests/testGeneralSFMFactorB.cpp @@ -61,7 +61,7 @@ TEST(PinholeCamera, BAL) { Values actual = lm.optimize(); double actualError = graph.error(actual); - EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-7); + EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5); } /* ************************************************************************* */ From b21d0737214a501fdd5925af47efbf8b73e6b0e2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 14:03:42 -0700 Subject: [PATCH 364/964] Fixed Rodrigues/Expmap behavior for small theta --- gtsam/geometry/SO3.cpp | 89 +++++++++++++++++++++++++----------------- gtsam/geometry/SO3.h | 2 +- 2 files changed, 54 insertions(+), 37 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 0fcf28dfb..a01be867d 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -19,52 +19,69 @@ #include #include #include - -using namespace std; +#include namespace gtsam { /* ************************************************************************* */ -SO3 SO3::Rodrigues(const Vector3& axis, double theta) { - using std::cos; - using std::sin; - - // get components of axis \omega - double wx = axis(0), wy = axis(1), wz = axis(2); - - double costheta = cos(theta), sintheta = sin(theta), c_1 = 1 - costheta; - double wx_sintheta = wx * sintheta, wy_sintheta = wy * sintheta, wz_sintheta = wz * sintheta; - - double C00 = c_1 * wx * wx, C01 = c_1 * wx * wy, C02 = c_1 * wx * wz; - double C11 = c_1 * wy * wy, C12 = c_1 * wy * wz; - double C22 = c_1 * wz * wz; - +// Near zero, we just have I + skew(omega) +static SO3 FirstOrder(const Vector3& omega) { Matrix3 R; - R(0, 0) = costheta + C00; - R(1, 0) = wz_sintheta + C01; - R(2, 0) = -wy_sintheta + C02; - R(0, 1) = -wz_sintheta + C01; - R(1, 1) = costheta + C11; - R(2, 1) = wx_sintheta + C12; - R(0, 2) = wy_sintheta + C02; - R(1, 2) = -wx_sintheta + C12; - R(2, 2) = costheta + C22; - + R(0, 0) = 1.; + R(1, 0) = omega.z(); + R(2, 0) = -omega.y(); + R(0, 1) = -omega.z(); + R(1, 1) = 1.; + R(2, 1) = omega.x(); + R(0, 2) = omega.y(); + R(1, 2) = -omega.x(); + R(2, 2) = 1.; return R; } +SO3 SO3::Rodrigues(const Vector3& axis, double theta) { + if (theta*theta > std::numeric_limits::epsilon()) { + using std::cos; + using std::sin; + + // get components of axis \omega, where is a unit vector + const double& wx = axis.x(), wy = axis.y(), wz = axis.z(); + + const double costheta = cos(theta), sintheta = sin(theta), c_1 = 1 - costheta; + const double wx_sintheta = wx * sintheta, wy_sintheta = wy * sintheta, + wz_sintheta = wz * sintheta; + + const double C00 = c_1 * wx * wx, C01 = c_1 * wx * wy, C02 = c_1 * wx * wz; + const double C11 = c_1 * wy * wy, C12 = c_1 * wy * wz; + const double C22 = c_1 * wz * wz; + + Matrix3 R; + R(0, 0) = costheta + C00; + R(1, 0) = wz_sintheta + C01; + R(2, 0) = -wy_sintheta + C02; + R(0, 1) = -wz_sintheta + C01; + R(1, 1) = costheta + C11; + R(2, 1) = wx_sintheta + C12; + R(0, 2) = wy_sintheta + C02; + R(1, 2) = -wx_sintheta + C12; + R(2, 2) = costheta + C22; + return R; + } else { + return FirstOrder(axis*theta); + } + +} + /// simply convert omega to axis/angle representation -SO3 SO3::Expmap(const Vector3& omega, - ChartJacobian H) { +SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { + if (H) *H = ExpmapDerivative(omega); - if (H) - *H = ExpmapDerivative(omega); - - if (omega.isZero()) - return Identity(); - else { - double angle = omega.norm(); - return Rodrigues(omega / angle, angle); + double theta2 = omega.dot(omega); + if (theta2 > std::numeric_limits::epsilon()) { + double theta = std::sqrt(theta2); + return Rodrigues(omega / theta, theta); + } else { + return FirstOrder(omega); } } diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index a08168ed8..9bcdd5f3d 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -93,7 +93,7 @@ public: /** * Exponential map at identity - create a rotation from canonical coordinates - * \f$ [R_x,R_y,R_z] \f$ using Rodriguez' formula + * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula */ static SO3 Expmap(const Vector3& omega, ChartJacobian H = boost::none); From 4342aa59013f24ad27a32511e7e6f9f1c85697af Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 15:38:29 -0700 Subject: [PATCH 365/964] Renamed rodriguez variants to preoper naming convention (uppercase for static) and spelling (Rodrigues). Also, now call Expmap in either SO3 or Quaternion. --- gtsam/geometry/Rot3.cpp | 19 +----------- gtsam/geometry/Rot3.h | 62 ++++++++++++++++++++++++++++------------ gtsam/geometry/Rot3M.cpp | 5 ---- gtsam/geometry/Rot3Q.cpp | 4 --- 4 files changed, 45 insertions(+), 45 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index fa09ddc21..926590ee1 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -33,30 +33,13 @@ void Rot3::print(const std::string& s) const { gtsam::print((Matrix)matrix(), s); } -/* ************************************************************************* */ -Rot3 Rot3::rodriguez(const Point3& w, double theta) { - return rodriguez((Vector)w.vector(),theta); -} - -/* ************************************************************************* */ -Rot3 Rot3::rodriguez(const Unit3& w, double theta) { - return rodriguez(w.point3(),theta); -} - /* ************************************************************************* */ Rot3 Rot3::Random(boost::mt19937 & rng) { // TODO allow any engine without including all of boost :-( Unit3 w = Unit3::Random(rng); boost::uniform_real randomAngle(-M_PI,M_PI); double angle = randomAngle(rng); - return rodriguez(w,angle); -} - -/* ************************************************************************* */ -Rot3 Rot3::rodriguez(const Vector3& w) { - double t = w.norm(); - if (t < 1e-10) return Rot3(); - return rodriguez(w/t, t); + return Rodrigues(w,angle); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 881c58579..d8a5cdb07 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -22,8 +22,9 @@ #pragma once -#include #include +#include +#include #include #include // Get GTSAM_USE_QUATERNIONS macro @@ -149,45 +150,58 @@ namespace gtsam { } /** - * Rodriguez' formula to compute an incremental rotation matrix + * Rodrigues' formula to compute an incremental rotation matrix * @param w is the rotation axis, unit length - * @param theta rotation angle + * @param angle rotation angle * @return incremental rotation matrix */ - static Rot3 rodriguez(const Vector3& w, double theta); + static Rot3 Rodrigues(const Vector3& axis, double angle) { +#ifdef GTSAM_USE_QUATERNIONS + return Quaternion(Eigen::AngleAxis(angle, axis)); +#else + return SO3::Rodrigues(axis,angle); +#endif + } /** - * Rodriguez' formula to compute an incremental rotation matrix + * Rodrigues' formula to compute an incremental rotation matrix * @param w is the rotation axis, unit length - * @param theta rotation angle + * @param angle rotation angle * @return incremental rotation matrix */ - static Rot3 rodriguez(const Point3& w, double theta); + static Rot3 Rodrigues(const Point3& axis, double angle) { + return Rodrigues(axis.vector(),angle); + } /** - * Rodriguez' formula to compute an incremental rotation matrix + * Rodrigues' formula to compute an incremental rotation matrix * @param w is the rotation axis - * @param theta rotation angle + * @param angle rotation angle * @return incremental rotation matrix */ - static Rot3 rodriguez(const Unit3& w, double theta); + static Rot3 Rodrigues(const Unit3& axis, double angle) { + return Rodrigues(axis.unitVector(),angle); + } /** - * Rodriguez' formula to compute an incremental rotation matrix - * @param v a vector of incremental roll,pitch,yaw + * Rodrigues' formula to compute an incremental rotation matrix + * @param w a vector of incremental roll,pitch,yaw * @return incremental rotation matrix */ - static Rot3 rodriguez(const Vector3& v); + static Rot3 Rodrigues(const Vector3& w) { + return Rot3::Expmap(w); + } /** - * Rodriguez' formula to compute an incremental rotation matrix + * Rodrigues' formula to compute an incremental rotation matrix * @param wx Incremental roll (about X) * @param wy Incremental pitch (about Y) * @param wz Incremental yaw (about Z) * @return incremental rotation matrix */ - static Rot3 rodriguez(double wx, double wy, double wz) - { return rodriguez(Vector3(wx, wy, wz));} + static Rot3 Rodrigues(double wx, double wy, double wz) { + return Rodrigues(Vector3(wx, wy, wz)); + } /// @} /// @name Testable @@ -272,11 +286,15 @@ namespace gtsam { /** * Exponential map at identity - create a rotation from canonical coordinates - * \f$ [R_x,R_y,R_z] \f$ using Rodriguez' formula + * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula */ static Rot3 Expmap(const Vector& v, OptionalJacobian<3,3> H = boost::none) { if(H) *H = Rot3::ExpmapDerivative(v); - if (zero(v)) return Rot3(); else return rodriguez(v); +#ifdef GTSAM_USE_QUATERNIONS + return traits::Expmap(v); +#else + return traits::Expmap(v); +#endif } /** @@ -422,6 +440,14 @@ namespace gtsam { GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Rot3& p); /// @} + /// @name Deprecated + /// @{ + static Rot3 rodriguez(const Vector3& axis, double angle) { return Rodrigues(axis, angle); } + static Rot3 rodriguez(const Point3& axis, double angle) { return Rodrigues(axis, angle); } + static Rot3 rodriguez(const Unit3& axis, double angle) { return Rodrigues(axis, angle); } + static Rot3 rodriguez(const Vector3& w) { return Rodrigues(w); } + static Rot3 rodriguez(double wx, double wy, double wz) { return Rodrigues(wx, wy, wz); } + /// @} private: diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index b4c79de3b..18628aec3 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -117,11 +117,6 @@ Rot3 Rot3::RzRyRx(double x, double y, double z) { ); } -/* ************************************************************************* */ -Rot3 Rot3::rodriguez(const Vector3& w, double theta) { - return SO3::Rodrigues(w,theta); -} - /* ************************************************************************* */ Rot3 Rot3::operator*(const Rot3& R2) const { return Rot3(Matrix3(rot_*R2.rot_)); diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 52fb4f262..c97e76718 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -83,10 +83,6 @@ namespace gtsam { Quaternion(Eigen::AngleAxisd(x, Eigen::Vector3d::UnitX()))); } - /* ************************************************************************* */ - Rot3 Rot3::rodriguez(const Vector3& w, double theta) { - return Quaternion(Eigen::AngleAxis(theta, w)); - } /* ************************************************************************* */ Rot3 Rot3::operator*(const Rot3& R2) const { return Rot3(quaternion_ * R2.quaternion_); From c978935e8e795979d238cc3a68d081c78760f483 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 15:39:15 -0700 Subject: [PATCH 366/964] Use consistent check on angle norm --- gtsam/geometry/Quaternion.h | 31 ++++++++++++++++++++----------- gtsam/geometry/SO3.cpp | 10 ++++++---- 2 files changed, 26 insertions(+), 15 deletions(-) diff --git a/gtsam/geometry/Quaternion.h b/gtsam/geometry/Quaternion.h index cd093ca61..5096f3513 100644 --- a/gtsam/geometry/Quaternion.h +++ b/gtsam/geometry/Quaternion.h @@ -20,6 +20,7 @@ #include #include #include // Logmap/Expmap derivatives +#include #define QUATERNION_TYPE Eigen::Quaternion<_Scalar,_Options> @@ -73,14 +74,22 @@ struct traits { return g.inverse(); } - /// Exponential map, simply be converting omega to axis/angle representation + /// Exponential map, using the inlined code from Eigen's converseion from axis/angle static Q Expmap(const Eigen::Ref& omega, - ChartJacobian H = boost::none) { - if(H) *H = SO3::ExpmapDerivative(omega); - if (omega.isZero()) return Q::Identity(); - else { - _Scalar angle = omega.norm(); - return Q(Eigen::AngleAxis<_Scalar>(angle, omega / angle)); + ChartJacobian H = boost::none) { + using std::cos; + using std::sin; + if (H) *H = SO3::ExpmapDerivative(omega.template cast()); + _Scalar theta2 = omega.dot(omega); + if (theta2 > std::numeric_limits<_Scalar>::epsilon()) { + _Scalar theta = std::sqrt(theta2); + _Scalar ha = _Scalar(0.5) * theta; + Vector3 vec = (sin(ha) / theta) * omega; + return Q(cos(ha), vec.x(), vec.y(), vec.z()); + } else { + // first order approximation sin(theta/2)/theta = 0.5 + Vector3 vec = _Scalar(0.5) * omega; + return Q(1.0, vec.x(), vec.y(), vec.z()); } } @@ -93,9 +102,9 @@ struct traits { static const double twoPi = 2.0 * M_PI, NearlyOne = 1.0 - 1e-10, NearlyNegativeOne = -1.0 + 1e-10; - Vector3 omega; + TangentVector omega; - const double qw = q.w(); + const _Scalar qw = q.w(); // See Quaternion-Logmap.nb in doc for Taylor expansions if (qw > NearlyOne) { // Taylor expansion of (angle / s) at 1 @@ -107,7 +116,7 @@ struct traits { omega = (-8. / 3. - 2. / 3. * qw) * q.vec(); } else { // Normal, away from zero case - double angle = 2 * acos(qw), s = sqrt(1 - qw * qw); + _Scalar angle = 2 * acos(qw), s = sqrt(1 - qw * qw); // Important: convert to [-pi,pi] to keep error continuous if (angle > M_PI) angle -= twoPi; @@ -116,7 +125,7 @@ struct traits { omega = (angle / s) * q.vec(); } - if(H) *H = SO3::LogmapDerivative(omega); + if(H) *H = SO3::LogmapDerivative(omega.template cast()); return omega; } diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index a01be867d..354ce8de8 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -133,8 +133,9 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { using std::cos; using std::sin; - if(zero(omega)) return I_3x3; - double theta = omega.norm(); // rotation angle + double theta2 = omega.dot(omega); + if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; + double theta = std::sqrt(theta2); // rotation angle #ifdef DUY_VERSION /// Follow Iserles05an, B10, pg 147, with a sign change in the second term (left version) Matrix3 X = skewSymmetric(omega); @@ -164,8 +165,9 @@ Matrix3 SO3::LogmapDerivative(const Vector3& omega) { using std::cos; using std::sin; - if(zero(omega)) return I_3x3; - double theta = omega.norm(); + double theta2 = omega.dot(omega); + if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; + double theta = std::sqrt(theta2); // rotation angle #ifdef DUY_VERSION /// Follow Iserles05an, B11, pg 147, with a sign change in the second term (left version) Matrix3 X = skewSymmetric(omega); From ecfa4595909d16b4215ab36eea73b99958d70bfe Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 15:40:42 -0700 Subject: [PATCH 367/964] Use consistent check and refactored to avoid sqrt --- gtsam/geometry/Pose3.cpp | 26 +++++++++++--------------- 1 file changed, 11 insertions(+), 15 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 32fd75eb8..e549cb009 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -32,7 +32,7 @@ GTSAM_CONCEPT_POSE_INST(Pose3); /* ************************************************************************* */ Pose3::Pose3(const Pose2& pose2) : - R_(Rot3::rodriguez(0, 0, pose2.theta())), t_( + R_(Rot3::Rodrigues(0, 0, pose2.theta())), t_( Point3(pose2.x(), pose2.y(), 0)) { } @@ -112,24 +112,20 @@ 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); - } + if (H) *H = ExpmapDerivative(xi); // get angular velocity omega and translational velocity v from twist xi - Point3 w(xi(0), xi(1), xi(2)), v(xi(3), xi(4), xi(5)); + Point3 omega(xi(0), xi(1), xi(2)), v(xi(3), xi(4), xi(5)); - double theta = w.norm(); - if (theta < 1e-10) { - static const Rot3 I; - return Pose3(I, v); - } else { - Point3 n(w / theta); // axis unit vector - Rot3 R = Rot3::rodriguez(n.vector(), theta); - double vn = n.dot(v); // translation parallel to n - Point3 n_cross_v = n.cross(v); // points towards axis - Point3 t = (n_cross_v - R * n_cross_v) / theta + vn * n; + Rot3 R = Rot3::Expmap(omega.vector()); + double theta2 = omega.dot(omega); + if (theta2 > std::numeric_limits::epsilon()) { + double omega_v = omega.dot(v); // translation parallel to axis + Point3 omega_cross_v = omega.cross(v); // points towards axis + Point3 t = (omega_cross_v - R * omega_cross_v + omega_v * omega) / theta2; return Pose3(R, t); + } else { + return Pose3(R, v); } } From 377b90941b7f5d1adfda059824e361780c555aa5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 16:11:04 -0700 Subject: [PATCH 368/964] switch to Rodrigues everywhere --- examples/SFMExample.cpp | 2 +- examples/SFMExampleExpressions.cpp | 2 +- examples/SFMExample_SmartFactor.cpp | 2 +- examples/SFMExample_SmartFactorPCG.cpp | 2 +- examples/SelfCalibrationExample.cpp | 2 +- examples/VisualISAM2Example.cpp | 2 +- examples/VisualISAMExample.cpp | 2 +- gtsam.h | 2 +- gtsam/geometry/tests/testPose3.cpp | 26 ++++++------- gtsam/geometry/tests/testRot3.cpp | 38 +++++++++---------- gtsam/geometry/tests/testRot3M.cpp | 6 +-- gtsam/slam/dataset.cpp | 4 +- gtsam/slam/tests/testBetweenFactor.cpp | 6 +-- gtsam/slam/tests/testRotateFactor.cpp | 12 +++--- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 2 +- .../geometry/tests/testSimilarity3.cpp | 8 ++-- gtsam_unstable/slam/Mechanization_bRn2.cpp | 4 +- .../slam/tests/testBiasedGPSFactor.cpp | 6 +-- timing/timeRot3.cpp | 6 +-- 19 files changed, 67 insertions(+), 67 deletions(-) diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp index 38dd1ca81..8da9847b8 100644 --- a/examples/SFMExample.cpp +++ b/examples/SFMExample.cpp @@ -97,7 +97,7 @@ int main(int argc, char* argv[]) { // Intentionally initialize the variables off from the ground truth Values initialEstimate; for (size_t i = 0; i < poses.size(); ++i) - initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); + initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); for (size_t j = 0; j < points.size(); ++j) initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15))); initialEstimate.print("Initial Estimates:\n"); diff --git a/examples/SFMExampleExpressions.cpp b/examples/SFMExampleExpressions.cpp index e9c9e920d..df5488ec3 100644 --- a/examples/SFMExampleExpressions.cpp +++ b/examples/SFMExampleExpressions.cpp @@ -84,7 +84,7 @@ int main(int argc, char* argv[]) { // Create perturbed initial Values initial; - Pose3 delta(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); + Pose3 delta(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); for (size_t i = 0; i < poses.size(); ++i) initial.insert(Symbol('x', i), poses[i].compose(delta)); for (size_t j = 0; j < points.size(); ++j) diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index 97d646552..bb8935439 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -95,7 +95,7 @@ int main(int argc, char* argv[]) { // Create the initial estimate to the solution // Intentionally initialize the variables off from the ground truth Values initialEstimate; - Pose3 delta(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); + Pose3 delta(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); for (size_t i = 0; i < poses.size(); ++i) initialEstimate.insert(i, Camera(poses[i].compose(delta), K)); initialEstimate.print("Initial Estimates:\n"); diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index c1b18a946..7ec5f8268 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -81,7 +81,7 @@ int main(int argc, char* argv[]) { // Create the initial estimate to the solution Values initialEstimate; - Pose3 delta(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); + Pose3 delta(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); for (size_t i = 0; i < poses.size(); ++i) initialEstimate.insert(i, Camera(poses[i].compose(delta),K)); diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp index 8ebf005ab..f5702e7fb 100644 --- a/examples/SelfCalibrationExample.cpp +++ b/examples/SelfCalibrationExample.cpp @@ -82,7 +82,7 @@ int main(int argc, char* argv[]) { Values initialEstimate; initialEstimate.insert(Symbol('K', 0), Cal3_S2(60.0, 60.0, 0.0, 45.0, 45.0)); for (size_t i = 0; i < poses.size(); ++i) - initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); + initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); for (size_t j = 0; j < points.size(); ++j) initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15))); diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp index a5b91ff38..75c0a2fa5 100644 --- a/examples/VisualISAM2Example.cpp +++ b/examples/VisualISAM2Example.cpp @@ -95,7 +95,7 @@ int main(int argc, char* argv[]) { // Add an initial guess for the current pose // Intentionally initialize the variables off from the ground truth - initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); + initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); // If this is the first iteration, add a prior on the first pose to set the coordinate frame // and a prior on the first landmark to set the scale diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 8abe84eb6..9380410ea 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -95,7 +95,7 @@ int main(int argc, char* argv[]) { } // Intentionally initialize the variables off from the ground truth - Pose3 noise(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); + Pose3 noise(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)); Pose3 initial_xi = poses[i].compose(noise); // Add an initial guess for the current pose diff --git a/gtsam.h b/gtsam.h index 46e0ffa28..ebd554549 100644 --- a/gtsam.h +++ b/gtsam.h @@ -438,7 +438,7 @@ class Rot3 { static gtsam::Rot3 roll(double t); // positive roll is to right (increasing yaw in aircraft) static gtsam::Rot3 ypr(double y, double p, double r); static gtsam::Rot3 quaternion(double w, double x, double y, double z); - static gtsam::Rot3 rodriguez(Vector v); + static gtsam::Rot3 Rodrigues(Vector v); // Testable void print(string s) const; diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 98c80e356..cf6ca9bfb 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -32,10 +32,10 @@ GTSAM_CONCEPT_TESTABLE_INST(Pose3) GTSAM_CONCEPT_LIE_INST(Pose3) static Point3 P(0.2,0.7,-2); -static Rot3 R = Rot3::rodriguez(0.3,0,0); +static Rot3 R = Rot3::Rodrigues(0.3,0,0); static Pose3 T(R,Point3(3.5,-8.2,4.2)); -static Pose3 T2(Rot3::rodriguez(0.3,0.2,0.1),Point3(3.5,-8.2,4.2)); -static Pose3 T3(Rot3::rodriguez(-90, 0, 0), Point3(1, 2, 3)); +static Pose3 T2(Rot3::Rodrigues(0.3,0.2,0.1),Point3(3.5,-8.2,4.2)); +static Pose3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3)); const double tol=1e-5; /* ************************************************************************* */ @@ -50,7 +50,7 @@ TEST( Pose3, equals) /* ************************************************************************* */ TEST( Pose3, constructors) { - Pose3 expected(Rot3::rodriguez(0,0,3),Point3(1,2,0)); + Pose3 expected(Rot3::Rodrigues(0,0,3),Point3(1,2,0)); Pose2 pose2(1,2,3); EXPECT(assert_equal(expected,Pose3(pose2))); } @@ -103,7 +103,7 @@ TEST(Pose3, expmap_b) { Pose3 p1(Rot3(), Point3(100, 0, 0)); Pose3 p2 = p1.retract((Vector(6) << 0.0, 0.0, 0.1, 0.0, 0.0, 0.0).finished()); - Pose3 expected(Rot3::rodriguez(0.0, 0.0, 0.1), Point3(100.0, 0.0, 0.0)); + Pose3 expected(Rot3::Rodrigues(0.0, 0.0, 0.1), Point3(100.0, 0.0, 0.0)); EXPECT(assert_equal(expected, p2,1e-2)); } @@ -266,7 +266,7 @@ TEST( Pose3, inverse) /* ************************************************************************* */ TEST( Pose3, inverseDerivatives2) { - Rot3 R = Rot3::rodriguez(0.3,0.4,-0.5); + Rot3 R = Rot3::Rodrigues(0.3,0.4,-0.5); Point3 t(3.5,-8.2,4.2); Pose3 T(R,t); @@ -388,7 +388,7 @@ TEST( Pose3, transform_to_translate) /* ************************************************************************* */ TEST( Pose3, transform_to_rotate) { - Pose3 transform(Rot3::rodriguez(0,0,-1.570796), Point3()); + Pose3 transform(Rot3::Rodrigues(0,0,-1.570796), Point3()); Point3 actual = transform.transform_to(Point3(2,1,10)); Point3 expected(-1,2,10); EXPECT(assert_equal(expected, actual, 0.001)); @@ -397,7 +397,7 @@ TEST( Pose3, transform_to_rotate) /* ************************************************************************* */ TEST( Pose3, transform_to) { - Pose3 transform(Rot3::rodriguez(0,0,-1.570796), Point3(2,4, 0)); + Pose3 transform(Rot3::Rodrigues(0,0,-1.570796), Point3(2,4, 0)); Point3 actual = transform.transform_to(Point3(3,2,10)); Point3 expected(2,1,10); EXPECT(assert_equal(expected, actual, 0.001)); @@ -439,7 +439,7 @@ TEST( Pose3, transformPose_to_itself) TEST( Pose3, transformPose_to_translation) { // transform translation only - Rot3 r = Rot3::rodriguez(-1.570796,0,0); + Rot3 r = Rot3::Rodrigues(-1.570796,0,0); Pose3 pose2(r, Point3(21.,32.,13.)); Pose3 actual = pose2.transform_to(Pose3(Rot3(), Point3(1,2,3))); Pose3 expected(r, Point3(20.,30.,10.)); @@ -450,7 +450,7 @@ TEST( Pose3, transformPose_to_translation) TEST( Pose3, transformPose_to_simple_rotate) { // transform translation only - Rot3 r = Rot3::rodriguez(0,0,-1.570796); + Rot3 r = Rot3::Rodrigues(0,0,-1.570796); Pose3 pose2(r, Point3(21.,32.,13.)); Pose3 transform(r, Point3(1,2,3)); Pose3 actual = pose2.transform_to(transform); @@ -462,12 +462,12 @@ TEST( Pose3, transformPose_to_simple_rotate) TEST( Pose3, transformPose_to) { // transform to - Rot3 r = Rot3::rodriguez(0,0,-1.570796); //-90 degree yaw - Rot3 r2 = Rot3::rodriguez(0,0,0.698131701); //40 degree yaw + Rot3 r = Rot3::Rodrigues(0,0,-1.570796); //-90 degree yaw + Rot3 r2 = Rot3::Rodrigues(0,0,0.698131701); //40 degree yaw Pose3 pose2(r2, Point3(21.,32.,13.)); Pose3 transform(r, Point3(1,2,3)); Pose3 actual = pose2.transform_to(transform); - Pose3 expected(Rot3::rodriguez(0,0,2.26892803), Point3(-30.,20.,10.)); + Pose3 expected(Rot3::Rodrigues(0,0,2.26892803), Point3(-30.,20.,10.)); EXPECT(assert_equal(expected, actual, 0.001)); } diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 349f87029..e1ac55148 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -33,7 +33,7 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Rot3) GTSAM_CONCEPT_LIE_INST(Rot3) -static Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); +static Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2); static Point3 P(0.2, 0.7, -2.0); static double error = 1e-9, epsilon = 0.001; @@ -104,9 +104,9 @@ Rot3 slow_but_correct_rodriguez(const Vector& w) { } /* ************************************************************************* */ -TEST( Rot3, rodriguez) +TEST( Rot3, Rodrigues) { - Rot3 R1 = Rot3::rodriguez(epsilon, 0, 0); + Rot3 R1 = Rot3::Rodrigues(epsilon, 0, 0); Vector w = (Vector(3) << epsilon, 0., 0.).finished(); Rot3 R2 = slow_but_correct_rodriguez(w); CHECK(assert_equal(R2,R1)); @@ -117,7 +117,7 @@ TEST( Rot3, rodriguez2) { Vector axis = Vector3(0., 1., 0.); // rotation around Y double angle = 3.14 / 4.0; - Rot3 actual = Rot3::rodriguez(axis, angle); + Rot3 actual = Rot3::Rodrigues(axis, angle); Rot3 expected(0.707388, 0, 0.706825, 0, 1, 0, -0.706825, 0, 0.707388); @@ -128,7 +128,7 @@ TEST( Rot3, rodriguez2) TEST( Rot3, rodriguez3) { Vector w = Vector3(0.1, 0.2, 0.3); - Rot3 R1 = Rot3::rodriguez(w / norm_2(w), norm_2(w)); + Rot3 R1 = Rot3::Rodrigues(w / norm_2(w), norm_2(w)); Rot3 R2 = slow_but_correct_rodriguez(w); CHECK(assert_equal(R2,R1)); } @@ -138,7 +138,7 @@ TEST( Rot3, rodriguez4) { Vector axis = Vector3(0., 0., 1.); // rotation around Z double angle = M_PI/2.0; - Rot3 actual = Rot3::rodriguez(axis, angle); + Rot3 actual = Rot3::Rodrigues(axis, angle); double c=cos(angle),s=sin(angle); Rot3 expected(c,-s, 0, s, c, 0, @@ -168,7 +168,7 @@ TEST(Rot3, log) #define CHECK_OMEGA(X,Y,Z) \ w = (Vector(3) << (double)X, (double)Y, double(Z)).finished(); \ - R = Rot3::rodriguez(w); \ + R = Rot3::Rodrigues(w); \ EXPECT(assert_equal(w, Rot3::Logmap(R),1e-12)); // Check zero @@ -201,7 +201,7 @@ TEST(Rot3, log) // Windows and Linux have flipped sign in quaternion mode #if !defined(__APPLE__) && defined (GTSAM_USE_QUATERNIONS) w = (Vector(3) << x*PI, y*PI, z*PI).finished(); - R = Rot3::rodriguez(w); + R = Rot3::Rodrigues(w); EXPECT(assert_equal(Vector(-w), Rot3::Logmap(R),1e-12)); #else CHECK_OMEGA(x*PI,y*PI,z*PI) @@ -210,7 +210,7 @@ TEST(Rot3, log) // Check 360 degree rotations #define CHECK_OMEGA_ZERO(X,Y,Z) \ w = (Vector(3) << (double)X, (double)Y, double(Z)).finished(); \ - R = Rot3::rodriguez(w); \ + R = Rot3::Rodrigues(w); \ EXPECT(assert_equal(zero(3), Rot3::Logmap(R))); CHECK_OMEGA_ZERO( 2.0*PI, 0, 0) @@ -312,8 +312,8 @@ TEST( Rot3, jacobianLogmap ) /* ************************************************************************* */ TEST(Rot3, manifold_expmap) { - Rot3 gR1 = Rot3::rodriguez(0.1, 0.4, 0.2); - Rot3 gR2 = Rot3::rodriguez(0.3, 0.1, 0.7); + Rot3 gR1 = Rot3::Rodrigues(0.1, 0.4, 0.2); + Rot3 gR2 = Rot3::Rodrigues(0.3, 0.1, 0.7); Rot3 origin; // log behaves correctly @@ -399,8 +399,8 @@ TEST( Rot3, unrotate) /* ************************************************************************* */ TEST( Rot3, compose ) { - Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3); - Rot3 R2 = Rot3::rodriguez(0.2, 0.3, 0.5); + Rot3 R1 = Rot3::Rodrigues(0.1, 0.2, 0.3); + Rot3 R2 = Rot3::Rodrigues(0.2, 0.3, 0.5); Rot3 expected = R1 * R2; Matrix actualH1, actualH2; @@ -419,7 +419,7 @@ TEST( Rot3, compose ) /* ************************************************************************* */ TEST( Rot3, inverse ) { - Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3); + Rot3 R = Rot3::Rodrigues(0.1, 0.2, 0.3); Rot3 I; Matrix3 actualH; @@ -444,13 +444,13 @@ TEST( Rot3, between ) 0.0, 0.0, 1.0).finished(); EXPECT(assert_equal(expectedr1, r1.matrix())); - Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); + Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2); Rot3 origin; EXPECT(assert_equal(R, origin.between(R))); EXPECT(assert_equal(R.inverse(), R.between(origin))); - Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3); - Rot3 R2 = Rot3::rodriguez(0.2, 0.3, 0.5); + Rot3 R1 = Rot3::Rodrigues(0.1, 0.2, 0.3); + Rot3 R2 = Rot3::Rodrigues(0.2, 0.3, 0.5); Rot3 expected = R1.inverse() * R2; Matrix actualH1, actualH2; @@ -652,8 +652,8 @@ TEST( Rot3, slerp) } //****************************************************************************** -Rot3 T1(Rot3::rodriguez(Vector3(0, 0, 1), 1)); -Rot3 T2(Rot3::rodriguez(Vector3(0, 1, 0), 2)); +Rot3 T1(Rot3::Rodrigues(Vector3(0, 0, 1), 1)); +Rot3 T2(Rot3::Rodrigues(Vector3(0, 1, 0), 2)); //****************************************************************************** TEST(Rot3 , Invariants) { diff --git a/gtsam/geometry/tests/testRot3M.cpp b/gtsam/geometry/tests/testRot3M.cpp index 12fb94bbc..d05356271 100644 --- a/gtsam/geometry/tests/testRot3M.cpp +++ b/gtsam/geometry/tests/testRot3M.cpp @@ -28,14 +28,14 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Rot3) GTSAM_CONCEPT_LIE_INST(Rot3) -static Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); +static Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2); static Point3 P(0.2, 0.7, -2.0); /* ************************************************************************* */ TEST(Rot3, manifold_cayley) { - Rot3 gR1 = Rot3::rodriguez(0.1, 0.4, 0.2); - Rot3 gR2 = Rot3::rodriguez(0.3, 0.1, 0.7); + Rot3 gR1 = Rot3::Rodrigues(0.1, 0.4, 0.2); + Rot3 gR2 = Rot3::Rodrigues(0.3, 0.1, 0.7); Rot3 origin; // log behaves correctly diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 5ad1ff2c0..70b6eb622 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -720,10 +720,10 @@ bool readBAL(const string& filename, SfM_data &data) { // Get the information for the camera poses for (size_t i = 0; i < nrPoses; i++) { - // Get the rodriguez vector + // Get the Rodrigues vector float wx, wy, wz; is >> wx >> wy >> wz; - Rot3 R = Rot3::rodriguez(wx, wy, wz); // BAL-OpenGL rotation matrix + Rot3 R = Rot3::Rodrigues(wx, wy, wz); // BAL-OpenGL rotation matrix // Get the translation vector float tx, ty, tz; diff --git a/gtsam/slam/tests/testBetweenFactor.cpp b/gtsam/slam/tests/testBetweenFactor.cpp index adb759dc0..1e8b330c3 100644 --- a/gtsam/slam/tests/testBetweenFactor.cpp +++ b/gtsam/slam/tests/testBetweenFactor.cpp @@ -19,9 +19,9 @@ using namespace gtsam::noiseModel; * This TEST should fail. If you want it to pass, change noise to 0. */ TEST(BetweenFactor, Rot3) { - Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3); - Rot3 R2 = Rot3::rodriguez(0.4, 0.5, 0.6); - Rot3 noise = Rot3(); // Rot3::rodriguez(0.01, 0.01, 0.01); // Uncomment to make unit test fail + Rot3 R1 = Rot3::Rodrigues(0.1, 0.2, 0.3); + Rot3 R2 = Rot3::Rodrigues(0.4, 0.5, 0.6); + Rot3 noise = Rot3(); // Rot3::Rodrigues(0.01, 0.01, 0.01); // Uncomment to make unit test fail Rot3 measured = R1.between(R2)*noise ; BetweenFactor factor(R(1), R(2), measured, Isotropic::Sigma(3, 0.05)); diff --git a/gtsam/slam/tests/testRotateFactor.cpp b/gtsam/slam/tests/testRotateFactor.cpp index 9c99628e6..afbae4f11 100644 --- a/gtsam/slam/tests/testRotateFactor.cpp +++ b/gtsam/slam/tests/testRotateFactor.cpp @@ -29,9 +29,9 @@ Rot3 iRc(cameraX, cameraY, cameraZ); // Now, let's create some rotations around IMU frame Unit3 p1(1, 0, 0), p2(0, 1, 0), p3(0, 0, 1); -Rot3 i1Ri2 = Rot3::rodriguez(p1, 1), // -i2Ri3 = Rot3::rodriguez(p2, 1), // -i3Ri4 = Rot3::rodriguez(p3, 1); +Rot3 i1Ri2 = Rot3::Rodrigues(p1, 1), // +i2Ri3 = Rot3::Rodrigues(p2, 1), // +i3Ri4 = Rot3::Rodrigues(p3, 1); // The corresponding rotations in the camera frame Rot3 c1Zc2 = iRc.inverse() * i1Ri2 * iRc, // @@ -47,9 +47,9 @@ typedef noiseModel::Isotropic::shared_ptr Model; //************************************************************************* TEST (RotateFactor, checkMath) { - EXPECT(assert_equal(c1Zc2, Rot3::rodriguez(z1, 1))); - EXPECT(assert_equal(c2Zc3, Rot3::rodriguez(z2, 1))); - EXPECT(assert_equal(c3Zc4, Rot3::rodriguez(z3, 1))); + EXPECT(assert_equal(c1Zc2, Rot3::Rodrigues(z1, 1))); + EXPECT(assert_equal(c2Zc3, Rot3::Rodrigues(z2, 1))); + EXPECT(assert_equal(c3Zc4, Rot3::Rodrigues(z3, 1))); } //************************************************************************* diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index 2ea582292..5b052eb02 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -179,7 +179,7 @@ PoseRTV transformed_from_proxy(const PoseRTV& a, const Pose3& trans) { return a.transformed_from(trans); } TEST( testPoseRTV, transformed_from_1 ) { - Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3); + Rot3 R = Rot3::Rodrigues(0.1, 0.2, 0.3); Point3 T(1.0, 2.0, 3.0); Velocity3 V(2.0, 3.0, 4.0); PoseRTV start(R, T, V); diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index b2b5d5702..14dfb8f1a 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -36,10 +36,10 @@ using symbol_shorthand::X; GTSAM_CONCEPT_TESTABLE_INST(Similarity3) static Point3 P(0.2,0.7,-2); -static Rot3 R = Rot3::rodriguez(0.3,0,0); +static Rot3 R = Rot3::Rodrigues(0.3,0,0); static Similarity3 T(R,Point3(3.5,-8.2,4.2),1); -static Similarity3 T2(Rot3::rodriguez(0.3,0.2,0.1),Point3(3.5,-8.2,4.2),1); -static Similarity3 T3(Rot3::rodriguez(-90, 0, 0), Point3(1, 2, 3), 1); +static Similarity3 T2(Rot3::Rodrigues(0.3,0.2,0.1),Point3(3.5,-8.2,4.2),1); +static Similarity3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1); //****************************************************************************** TEST(Similarity3, Constructors) { @@ -125,7 +125,7 @@ TEST(Similarity3, Manifold) { EXPECT(assert_equal(sim.retract(vlocal), other, 1e-2)); Similarity3 other2 = Similarity3(Rot3::ypr(0.3, 0, 0),Point3(4,5,6),1); - Rot3 R = Rot3::rodriguez(0.3,0,0); + Rot3 R = Rot3::Rodrigues(0.3,0,0); Vector vlocal2 = sim.localCoordinates(other2); diff --git a/gtsam_unstable/slam/Mechanization_bRn2.cpp b/gtsam_unstable/slam/Mechanization_bRn2.cpp index 4218a5561..d2dd02dd3 100644 --- a/gtsam_unstable/slam/Mechanization_bRn2.cpp +++ b/gtsam_unstable/slam/Mechanization_bRn2.cpp @@ -69,7 +69,7 @@ Mechanization_bRn2 Mechanization_bRn2::initialize(const Matrix& U, Mechanization_bRn2 Mechanization_bRn2::correct(const Vector3& dx) const { Vector3 rho = sub(dx, 0, 3); - Rot3 delta_nRn = Rot3::rodriguez(rho); + Rot3 delta_nRn = Rot3::Rodrigues(rho); Rot3 bRn = bRn_ * delta_nRn; Vector3 x_g = x_g_ + sub(dx, 3, 6); @@ -104,7 +104,7 @@ Mechanization_bRn2 Mechanization_bRn2::integrate(const Vector3& u, Vector3 n_omega_bn = (nRb*b_omega_bn).vector(); // integrate bRn using exponential map, assuming constant over dt - Rot3 delta_nRn = Rot3::rodriguez(n_omega_bn*dt); + Rot3 delta_nRn = Rot3::Rodrigues(n_omega_bn*dt); Rot3 bRn = bRn_.compose(delta_nRn); // implicit updating of biases (variables just do not change) diff --git a/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp b/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp index d8a3ba0c1..c85187d5f 100644 --- a/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp +++ b/gtsam_unstable/slam/tests/testBiasedGPSFactor.cpp @@ -21,7 +21,7 @@ using symbol_shorthand::B; TEST(BiasedGPSFactor, errorNoiseless) { - Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3); + Rot3 R = Rot3::Rodrigues(0.1, 0.2, 0.3); Point3 t(1.0, 0.5, 0.2); Pose3 pose(R,t); Point3 bias(0.0,0.0,0.0); @@ -36,7 +36,7 @@ TEST(BiasedGPSFactor, errorNoiseless) { TEST(BiasedGPSFactor, errorNoisy) { - Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3); + Rot3 R = Rot3::Rodrigues(0.1, 0.2, 0.3); Point3 t(1.0, 0.5, 0.2); Pose3 pose(R,t); Point3 bias(0.0,0.0,0.0); @@ -51,7 +51,7 @@ TEST(BiasedGPSFactor, errorNoisy) { TEST(BiasedGPSFactor, jacobian) { - Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3); + Rot3 R = Rot3::Rodrigues(0.1, 0.2, 0.3); Point3 t(1.0, 0.5, 0.2); Pose3 pose(R,t); Point3 bias(0.0,0.0,0.0); diff --git a/timing/timeRot3.cpp b/timing/timeRot3.cpp index 4977fba86..e320dc925 100644 --- a/timing/timeRot3.cpp +++ b/timing/timeRot3.cpp @@ -40,10 +40,10 @@ int main() double norm=sqrt(1.0+16.0+4.0); double x=1.0/norm, y=4.0/norm, z=2.0/norm; Vector v = (Vector(3) << x, y, z).finished(); - Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2), R2 = R.retract(v); + Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2), R2 = R.retract(v); - TEST("Rodriguez formula given axis angle", Rot3::rodriguez(v,0.001)) - TEST("Rodriguez formula given canonical coordinates", Rot3::rodriguez(v)) + TEST("Rodriguez formula given axis angle", Rot3::Rodrigues(v,0.001)) + TEST("Rodriguez formula given canonical coordinates", Rot3::Rodrigues(v)) TEST("Expmap", R*Rot3::Expmap(v)) TEST("Retract", R.retract(v)) TEST("Logmap", Rot3::Logmap(R.between(R2))) From bb9543f25118e5fd83b64577e4ce7166e1504c15 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Jul 2015 16:33:10 -0700 Subject: [PATCH 369/964] Renamed two-argument versions of Rodrigues to AxisAngle --- gtsam/geometry/Quaternion.h | 2 +- gtsam/geometry/Rot3.cpp | 8 ++--- gtsam/geometry/Rot3.h | 46 +++++++++++++-------------- gtsam/geometry/SO3.cpp | 4 +-- gtsam/geometry/SO3.h | 2 +- gtsam/geometry/tests/testRot3.cpp | 24 +++++++------- gtsam/slam/tests/testRotateFactor.cpp | 12 +++---- timing/timeRot3.cpp | 2 +- 8 files changed, 50 insertions(+), 50 deletions(-) diff --git a/gtsam/geometry/Quaternion.h b/gtsam/geometry/Quaternion.h index 5096f3513..0ab4a5ee6 100644 --- a/gtsam/geometry/Quaternion.h +++ b/gtsam/geometry/Quaternion.h @@ -74,7 +74,7 @@ struct traits { return g.inverse(); } - /// Exponential map, using the inlined code from Eigen's converseion from axis/angle + /// Exponential map, using the inlined code from Eigen's conversion from axis/angle static Q Expmap(const Eigen::Ref& omega, ChartJacobian H = boost::none) { using std::cos; diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 926590ee1..6b28f5125 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -34,12 +34,12 @@ void Rot3::print(const std::string& s) const { } /* ************************************************************************* */ -Rot3 Rot3::Random(boost::mt19937 & rng) { +Rot3 Rot3::Random(boost::mt19937& rng) { // TODO allow any engine without including all of boost :-( - Unit3 w = Unit3::Random(rng); - boost::uniform_real randomAngle(-M_PI,M_PI); + Unit3 axis = Unit3::Random(rng); + boost::uniform_real randomAngle(-M_PI, M_PI); double angle = randomAngle(rng); - return Rodrigues(w,angle); + return AxisAngle(axis, angle); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index d8a5cdb07..608f41954 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -141,7 +141,7 @@ namespace gtsam { * as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf. * Assumes vehicle coordinate frame X forward, Y right, Z down. */ - static Rot3 ypr (double y, double p, double r) { return RzRyRx(r,p,y);} + static Rot3 ypr(double y, double p, double r) { return RzRyRx(r,p,y);} /** Create from Quaternion coefficients */ static Rot3 quaternion(double w, double x, double y, double z) { @@ -150,54 +150,54 @@ namespace gtsam { } /** - * Rodrigues' formula to compute an incremental rotation matrix - * @param w is the rotation axis, unit length + * Convert from axis/angle representation + * @param axis is the rotation axis, unit length * @param angle rotation angle - * @return incremental rotation matrix + * @return incremental rotation */ - static Rot3 Rodrigues(const Vector3& axis, double angle) { + static Rot3 AxisAngle(const Vector3& axis, double angle) { #ifdef GTSAM_USE_QUATERNIONS return Quaternion(Eigen::AngleAxis(angle, axis)); #else - return SO3::Rodrigues(axis,angle); + return SO3::AxisAngle(axis,angle); #endif } /** - * Rodrigues' formula to compute an incremental rotation matrix - * @param w is the rotation axis, unit length + * Convert from axis/angle representation + * @param axisw is the rotation axis, unit length * @param angle rotation angle - * @return incremental rotation matrix + * @return incremental rotation */ - static Rot3 Rodrigues(const Point3& axis, double angle) { - return Rodrigues(axis.vector(),angle); + static Rot3 AxisAngle(const Point3& axis, double angle) { + return AxisAngle(axis.vector(),angle); } /** - * Rodrigues' formula to compute an incremental rotation matrix - * @param w is the rotation axis + * Convert from axis/angle representation + * @param axis is the rotation axis * @param angle rotation angle - * @return incremental rotation matrix + * @return incremental rotation */ - static Rot3 Rodrigues(const Unit3& axis, double angle) { - return Rodrigues(axis.unitVector(),angle); + static Rot3 AxisAngle(const Unit3& axis, double angle) { + return AxisAngle(axis.unitVector(),angle); } /** - * Rodrigues' formula to compute an incremental rotation matrix + * Rodrigues' formula to compute an incremental rotation * @param w a vector of incremental roll,pitch,yaw - * @return incremental rotation matrix + * @return incremental rotation */ static Rot3 Rodrigues(const Vector3& w) { return Rot3::Expmap(w); } /** - * Rodrigues' formula to compute an incremental rotation matrix + * Rodrigues' formula to compute an incremental rotation * @param wx Incremental roll (about X) * @param wy Incremental pitch (about Y) * @param wz Incremental yaw (about Z) - * @return incremental rotation matrix + * @return incremental rotation */ static Rot3 Rodrigues(double wx, double wy, double wz) { return Rodrigues(Vector3(wx, wy, wz)); @@ -442,9 +442,9 @@ namespace gtsam { /// @} /// @name Deprecated /// @{ - static Rot3 rodriguez(const Vector3& axis, double angle) { return Rodrigues(axis, angle); } - static Rot3 rodriguez(const Point3& axis, double angle) { return Rodrigues(axis, angle); } - static Rot3 rodriguez(const Unit3& axis, double angle) { return Rodrigues(axis, angle); } + static Rot3 rodriguez(const Vector3& axis, double angle) { return AxisAngle(axis, angle); } + static Rot3 rodriguez(const Point3& axis, double angle) { return AxisAngle(axis, angle); } + static Rot3 rodriguez(const Unit3& axis, double angle) { return AxisAngle(axis, angle); } static Rot3 rodriguez(const Vector3& w) { return Rodrigues(w); } static Rot3 rodriguez(double wx, double wy, double wz) { return Rodrigues(wx, wy, wz); } /// @} diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 354ce8de8..af5803cb7 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -39,7 +39,7 @@ static SO3 FirstOrder(const Vector3& omega) { return R; } -SO3 SO3::Rodrigues(const Vector3& axis, double theta) { +SO3 SO3::AxisAngle(const Vector3& axis, double theta) { if (theta*theta > std::numeric_limits::epsilon()) { using std::cos; using std::sin; @@ -79,7 +79,7 @@ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { double theta2 = omega.dot(omega); if (theta2 > std::numeric_limits::epsilon()) { double theta = std::sqrt(theta2); - return Rodrigues(omega / theta, theta); + return AxisAngle(omega / theta, theta); } else { return FirstOrder(omega); } diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 9bcdd5f3d..580287eac 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -59,7 +59,7 @@ public: } /// Static, named constructor TODO think about relation with above - static SO3 Rodrigues(const Vector3& axis, double theta); + static SO3 AxisAngle(const Vector3& axis, double theta); /// @} /// @name Testable diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index e1ac55148..a61467b82 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -95,7 +95,7 @@ TEST( Rot3, equals) /* ************************************************************************* */ // Notice this uses J^2 whereas fast uses w*w', and has cos(t)*I + .... -Rot3 slow_but_correct_rodriguez(const Vector& w) { +Rot3 slow_but_correct_Rodrigues(const Vector& w) { double t = norm_2(w); Matrix J = skewSymmetric(w / t); if (t < 1e-5) return Rot3(); @@ -108,16 +108,16 @@ TEST( Rot3, Rodrigues) { Rot3 R1 = Rot3::Rodrigues(epsilon, 0, 0); Vector w = (Vector(3) << epsilon, 0., 0.).finished(); - Rot3 R2 = slow_but_correct_rodriguez(w); + Rot3 R2 = slow_but_correct_Rodrigues(w); CHECK(assert_equal(R2,R1)); } /* ************************************************************************* */ -TEST( Rot3, rodriguez2) +TEST( Rot3, Rodrigues2) { Vector axis = Vector3(0., 1., 0.); // rotation around Y double angle = 3.14 / 4.0; - Rot3 actual = Rot3::Rodrigues(axis, angle); + Rot3 actual = Rot3::AxisAngle(axis, angle); Rot3 expected(0.707388, 0, 0.706825, 0, 1, 0, -0.706825, 0, 0.707388); @@ -125,26 +125,26 @@ TEST( Rot3, rodriguez2) } /* ************************************************************************* */ -TEST( Rot3, rodriguez3) +TEST( Rot3, Rodrigues3) { Vector w = Vector3(0.1, 0.2, 0.3); - Rot3 R1 = Rot3::Rodrigues(w / norm_2(w), norm_2(w)); - Rot3 R2 = slow_but_correct_rodriguez(w); + Rot3 R1 = Rot3::AxisAngle(w / norm_2(w), norm_2(w)); + Rot3 R2 = slow_but_correct_Rodrigues(w); CHECK(assert_equal(R2,R1)); } /* ************************************************************************* */ -TEST( Rot3, rodriguez4) +TEST( Rot3, Rodrigues4) { Vector axis = Vector3(0., 0., 1.); // rotation around Z double angle = M_PI/2.0; - Rot3 actual = Rot3::Rodrigues(axis, angle); + Rot3 actual = Rot3::AxisAngle(axis, angle); double c=cos(angle),s=sin(angle); Rot3 expected(c,-s, 0, s, c, 0, 0, 0, 1); CHECK(assert_equal(expected,actual)); - CHECK(assert_equal(slow_but_correct_rodriguez(axis*angle),actual)); + CHECK(assert_equal(slow_but_correct_Rodrigues(axis*angle),actual)); } /* ************************************************************************* */ @@ -652,8 +652,8 @@ TEST( Rot3, slerp) } //****************************************************************************** -Rot3 T1(Rot3::Rodrigues(Vector3(0, 0, 1), 1)); -Rot3 T2(Rot3::Rodrigues(Vector3(0, 1, 0), 2)); +Rot3 T1(Rot3::AxisAngle(Vector3(0, 0, 1), 1)); +Rot3 T2(Rot3::AxisAngle(Vector3(0, 1, 0), 2)); //****************************************************************************** TEST(Rot3 , Invariants) { diff --git a/gtsam/slam/tests/testRotateFactor.cpp b/gtsam/slam/tests/testRotateFactor.cpp index afbae4f11..1283987d4 100644 --- a/gtsam/slam/tests/testRotateFactor.cpp +++ b/gtsam/slam/tests/testRotateFactor.cpp @@ -29,9 +29,9 @@ Rot3 iRc(cameraX, cameraY, cameraZ); // Now, let's create some rotations around IMU frame Unit3 p1(1, 0, 0), p2(0, 1, 0), p3(0, 0, 1); -Rot3 i1Ri2 = Rot3::Rodrigues(p1, 1), // -i2Ri3 = Rot3::Rodrigues(p2, 1), // -i3Ri4 = Rot3::Rodrigues(p3, 1); +Rot3 i1Ri2 = Rot3::AxisAngle(p1, 1), // +i2Ri3 = Rot3::AxisAngle(p2, 1), // +i3Ri4 = Rot3::AxisAngle(p3, 1); // The corresponding rotations in the camera frame Rot3 c1Zc2 = iRc.inverse() * i1Ri2 * iRc, // @@ -47,9 +47,9 @@ typedef noiseModel::Isotropic::shared_ptr Model; //************************************************************************* TEST (RotateFactor, checkMath) { - EXPECT(assert_equal(c1Zc2, Rot3::Rodrigues(z1, 1))); - EXPECT(assert_equal(c2Zc3, Rot3::Rodrigues(z2, 1))); - EXPECT(assert_equal(c3Zc4, Rot3::Rodrigues(z3, 1))); + EXPECT(assert_equal(c1Zc2, Rot3::AxisAngle(z1, 1))); + EXPECT(assert_equal(c2Zc3, Rot3::AxisAngle(z2, 1))); + EXPECT(assert_equal(c3Zc4, Rot3::AxisAngle(z3, 1))); } //************************************************************************* diff --git a/timing/timeRot3.cpp b/timing/timeRot3.cpp index e320dc925..5806149f3 100644 --- a/timing/timeRot3.cpp +++ b/timing/timeRot3.cpp @@ -42,7 +42,7 @@ int main() Vector v = (Vector(3) << x, y, z).finished(); Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2), R2 = R.retract(v); - TEST("Rodriguez formula given axis angle", Rot3::Rodrigues(v,0.001)) + TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v,0.001)) TEST("Rodriguez formula given canonical coordinates", Rot3::Rodrigues(v)) TEST("Expmap", R*Rot3::Expmap(v)) TEST("Retract", R.retract(v)) From a282ef54ff949f066a3285183c04cf56ce873260 Mon Sep 17 00:00:00 2001 From: Renaud Dube Date: Wed, 8 Jul 2015 14:01:57 +0200 Subject: [PATCH 370/964] Implemented unit test which replicates the bug --- gtsam/nonlinear/tests/testExpression.cpp | 122 +++++++++++++++++++++++ 1 file changed, 122 insertions(+) diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp index 75af5f634..1be3dabed 100644 --- a/gtsam/nonlinear/tests/testExpression.cpp +++ b/gtsam/nonlinear/tests/testExpression.cpp @@ -24,6 +24,9 @@ #include +#include +#include + #include using boost::assign::list_of; using boost::assign::map_list_of; @@ -276,6 +279,125 @@ TEST(Expression, ternary) { EXPECT(expected == ABC.keys()); } +/* ************************************************************************* */ +// Test with multiple compositions on duplicate keys + +bool checkMatricesNear(const Eigen::MatrixXd& lhs, const Eigen::MatrixXd& rhs, + double tolerance) { + bool near = true; + for (int i = 0; i < lhs.rows(); ++i) { + for (int j = 0; j < lhs.cols(); ++j) { + const double& lij = lhs(i, j); + const double& rij = rhs(i, j); + const double& diff = std::abs(lij - rij); + if (!std::isfinite(lij) || + !std::isfinite(rij) || + diff > tolerance) { + near = false; + + std::cout << "\nposition " << i << "," << j << " evaluates to " + << lij << " and " << rij << std::endl; + } + } + } + return near; +} + + +// Compute finite difference Jacobians for an expression factor. +template +JacobianFactor computeFiniteDifferenceJacobians(ExpressionFactor expression_factor, + const Values& values, + double fd_step) { + Eigen::VectorXd e = expression_factor.unwhitenedError(values); + const size_t rows = e.size(); + + std::map jacobians; + typename ExpressionFactor::const_iterator key_it = expression_factor.begin(); + VectorValues dX = values.zeroVectors(); + for(; key_it != expression_factor.end(); ++key_it) { + size_t key = *key_it; + // Compute central differences using the values struct. + const size_t cols = dX.dim(key); + Eigen::MatrixXd J = Eigen::MatrixXd::Zero(rows, cols); + for(size_t col = 0; col < cols; ++col) { + Eigen::VectorXd dx = Eigen::VectorXd::Zero(cols); + dx[col] = fd_step; + dX[key] = dx; + Values eval_values = values.retract(dX); + Eigen::VectorXd left = expression_factor.unwhitenedError(eval_values); + dx[col] = -fd_step; + dX[key] = dx; + eval_values = values.retract(dX); + Eigen::VectorXd right = expression_factor.unwhitenedError(eval_values); + J.col(col) = (left - right) * (1.0/(2.0 * fd_step)); + } + jacobians[key] = J; + } + + // Next step...return JacobianFactor + return JacobianFactor(jacobians, -e); +} + +template +bool testExpressionJacobians(Expression expression, + const Values& values, + double fd_step, + double tolerance) { + // Create factor + size_t size = traits::dimension; + ExpressionFactor f(noiseModel::Unit::Create(size), expression.value(values), expression); + + // Check linearization + JacobianFactor expected = computeFiniteDifferenceJacobians(f, values, fd_step); + boost::shared_ptr gf = f.linearize(values); + boost::shared_ptr jf = // + boost::dynamic_pointer_cast(gf); + + typedef std::pair Jacobian; + Jacobian evalJ = jf->jacobianUnweighted(); + Jacobian estJ = expected.jacobianUnweighted(); + + return checkMatricesNear(evalJ.first, estJ.first, tolerance); +} + +double doubleSumImplementation(const double& v1, const double& v2, + OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) { + if (H1) { + H1->setIdentity(); + } + if (H2) { + H2->setIdentity(); + } + return v1+v2; +} + +TEST(Expression, testMultipleCompositions) { + const double tolerance = 1e-5; + const double fd_step = 1e-9; + + double v1 = 0; + double v2 = 1; + + Values values; + values.insert(1, v1); + values.insert(2, v2); + + Expression ev1(Key(1)); + Expression ev2(Key(2)); + + Expression sum(doubleSumImplementation, ev1, ev2); + Expression sum2(doubleSumImplementation, sum, ev1); + Expression sum3(doubleSumImplementation, sum2, sum); + + std::cout << "Testing sum " << std::endl; + EXPECT(testExpressionJacobians(sum, values, fd_step, tolerance)); + std::cout << "Testing sum2 " << std::endl; + EXPECT(testExpressionJacobians(sum2, values, fd_step, tolerance)); + std::cout << "Testing sum3 " << std::endl; + EXPECT(testExpressionJacobians(sum3, values, fd_step, tolerance)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 66d7c26a116f9519bf8551ee775540f8b0ddcb20 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 8 Jul 2015 15:01:30 -0700 Subject: [PATCH 371/964] Fixed a tbb include --- gtsam/base/ThreadsafeException.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h index d464e9f21..ca13047a8 100644 --- a/gtsam/base/ThreadsafeException.h +++ b/gtsam/base/ThreadsafeException.h @@ -22,13 +22,13 @@ #include // for GTSAM_USE_TBB #include -#include #include #include #ifdef GTSAM_USE_TBB #include #include +#include #include #endif From b9b761e06b94750678b079a32492120a611782a7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 8 Jul 2015 18:45:27 -0700 Subject: [PATCH 372/964] Made tests work better with CppUnitLite --- gtsam/nonlinear/expressionTesting.h | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/gtsam/nonlinear/expressionTesting.h b/gtsam/nonlinear/expressionTesting.h index 47f61b8b1..f2f1c9578 100644 --- a/gtsam/nonlinear/expressionTesting.h +++ b/gtsam/nonlinear/expressionTesting.h @@ -34,7 +34,7 @@ namespace gtsam { namespace internal { // CPPUnitLite-style test for linearization of a factor -void testFactorJacobians(TestResult& result_, const std::string& name_, +bool testFactorJacobians(TestResult& result_, const std::string& name_, const NoiseModelFactor& factor, const gtsam::Values& values, double delta, double tolerance) { @@ -46,8 +46,7 @@ void testFactorJacobians(TestResult& result_, const std::string& name_, boost::dynamic_pointer_cast(factor.linearize(values)); // Check cast result and then equality - CHECK(actual); - EXPECT(assert_equal(expected, *actual, tolerance)); + return actual && assert_equal(expected, *actual, tolerance); } } @@ -57,19 +56,19 @@ void testFactorJacobians(TestResult& result_, const std::string& name_, /// \param numerical_derivative_step The step to use when computing the numerical derivative Jacobians /// \param tolerance The numerical tolerance to use when comparing Jacobians. #define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \ - { gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance); } + { EXPECT(gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance)); } namespace internal { // CPPUnitLite-style test for linearization of an ExpressionFactor template -void testExpressionJacobians(TestResult& result_, const std::string& name_, +bool testExpressionJacobians(TestResult& result_, const std::string& name_, const gtsam::Expression& expression, const gtsam::Values& values, double nd_step, double tolerance) { // Create factor size_t size = traits::dimension; ExpressionFactor f(noiseModel::Unit::Create(size), expression.value(values), expression); - testFactorJacobians(result_, name_, f, values, nd_step, tolerance); + return testFactorJacobians(result_, name_, f, values, nd_step, tolerance); } } // namespace internal } // namespace gtsam @@ -80,4 +79,4 @@ void testExpressionJacobians(TestResult& result_, const std::string& name_, /// \param numerical_derivative_step The step to use when computing the finite difference Jacobians /// \param tolerance The numerical tolerance to use when comparing Jacobians. #define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance) \ - { gtsam::internal::testExpressionJacobians(result_, name_, expression, values, numerical_derivative_step, tolerance); } + { EXPECT(gtsam::internal::testExpressionJacobians(result_, name_, expression, values, numerical_derivative_step, tolerance)); } From 61d6ba8a575758585cbe3884130b5108005bfd64 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 8 Jul 2015 18:46:06 -0700 Subject: [PATCH 373/964] Refactored tests a bit to use existing test framework (also originated from ETH so almost identical) --- gtsam/nonlinear/tests/testExpression.cpp | 124 ++++++----------------- 1 file changed, 30 insertions(+), 94 deletions(-) diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp index 1be3dabed..ccb49942b 100644 --- a/gtsam/nonlinear/tests/testExpression.cpp +++ b/gtsam/nonlinear/tests/testExpression.cpp @@ -18,6 +18,7 @@ */ #include +#include #include #include #include @@ -281,95 +282,15 @@ TEST(Expression, ternary) { /* ************************************************************************* */ // Test with multiple compositions on duplicate keys - -bool checkMatricesNear(const Eigen::MatrixXd& lhs, const Eigen::MatrixXd& rhs, - double tolerance) { - bool near = true; - for (int i = 0; i < lhs.rows(); ++i) { - for (int j = 0; j < lhs.cols(); ++j) { - const double& lij = lhs(i, j); - const double& rij = rhs(i, j); - const double& diff = std::abs(lij - rij); - if (!std::isfinite(lij) || - !std::isfinite(rij) || - diff > tolerance) { - near = false; - - std::cout << "\nposition " << i << "," << j << " evaluates to " - << lij << " and " << rij << std::endl; - } - } - } - return near; -} - - -// Compute finite difference Jacobians for an expression factor. -template -JacobianFactor computeFiniteDifferenceJacobians(ExpressionFactor expression_factor, - const Values& values, - double fd_step) { - Eigen::VectorXd e = expression_factor.unwhitenedError(values); - const size_t rows = e.size(); - - std::map jacobians; - typename ExpressionFactor::const_iterator key_it = expression_factor.begin(); - VectorValues dX = values.zeroVectors(); - for(; key_it != expression_factor.end(); ++key_it) { - size_t key = *key_it; - // Compute central differences using the values struct. - const size_t cols = dX.dim(key); - Eigen::MatrixXd J = Eigen::MatrixXd::Zero(rows, cols); - for(size_t col = 0; col < cols; ++col) { - Eigen::VectorXd dx = Eigen::VectorXd::Zero(cols); - dx[col] = fd_step; - dX[key] = dx; - Values eval_values = values.retract(dX); - Eigen::VectorXd left = expression_factor.unwhitenedError(eval_values); - dx[col] = -fd_step; - dX[key] = dx; - eval_values = values.retract(dX); - Eigen::VectorXd right = expression_factor.unwhitenedError(eval_values); - J.col(col) = (left - right) * (1.0/(2.0 * fd_step)); - } - jacobians[key] = J; - } - - // Next step...return JacobianFactor - return JacobianFactor(jacobians, -e); -} - -template -bool testExpressionJacobians(Expression expression, - const Values& values, - double fd_step, - double tolerance) { - // Create factor - size_t size = traits::dimension; - ExpressionFactor f(noiseModel::Unit::Create(size), expression.value(values), expression); - - // Check linearization - JacobianFactor expected = computeFiniteDifferenceJacobians(f, values, fd_step); - boost::shared_ptr gf = f.linearize(values); - boost::shared_ptr jf = // - boost::dynamic_pointer_cast(gf); - - typedef std::pair Jacobian; - Jacobian evalJ = jf->jacobianUnweighted(); - Jacobian estJ = expected.jacobianUnweighted(); - - return checkMatricesNear(evalJ.first, estJ.first, tolerance); -} - -double doubleSumImplementation(const double& v1, const double& v2, - OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) { +static double doubleSum(const double& v1, const double& v2, + OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) { if (H1) { H1->setIdentity(); } if (H2) { H2->setIdentity(); } - return v1+v2; + return v1 + v2; } TEST(Expression, testMultipleCompositions) { @@ -383,19 +304,34 @@ TEST(Expression, testMultipleCompositions) { values.insert(1, v1); values.insert(2, v2); - Expression ev1(Key(1)); - Expression ev2(Key(2)); + Expression v1_(Key(1)); + Expression v2_(Key(2)); - Expression sum(doubleSumImplementation, ev1, ev2); - Expression sum2(doubleSumImplementation, sum, ev1); - Expression sum3(doubleSumImplementation, sum2, sum); + // binary(doubleSum) + // - leaf 1 + // - leaf 2 + Expression sum_(doubleSum, v1_, v2_); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance); - std::cout << "Testing sum " << std::endl; - EXPECT(testExpressionJacobians(sum, values, fd_step, tolerance)); - std::cout << "Testing sum2 " << std::endl; - EXPECT(testExpressionJacobians(sum2, values, fd_step, tolerance)); - std::cout << "Testing sum3 " << std::endl; - EXPECT(testExpressionJacobians(sum3, values, fd_step, tolerance)); + // binary(doubleSum) + // - sum_ + // - leaf 1 + // - leaf 2 + // - leaf 1 + Expression sum2_(doubleSum, sum_, v1_); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance); + + // binary(doubleSum) + // sum2_ + // - sum_ + // - leaf 1 + // - leaf 2 + // - leaf 1 + // - sum_ + // - leaf 1 + // - leaf 2 + Expression sum3_(doubleSum, sum2_, sum_); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); } /* ************************************************************************* */ From 0c292150180abe014b3051facce7187132d92b9b Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 8 Jul 2015 19:14:23 -0700 Subject: [PATCH 374/964] Slight refactor/reformatting --- gtsam/nonlinear/ExpressionFactor.h | 20 ++++++++++++-------- gtsam/nonlinear/internal/JacobianMap.h | 7 +++---- 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index b32b84df3..cac55563f 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -32,7 +32,7 @@ namespace gtsam { template class ExpressionFactor: public NoiseModelFactor { - protected: +protected: typedef ExpressionFactor This; @@ -42,7 +42,7 @@ class ExpressionFactor: public NoiseModelFactor { static const int Dim = traits::dimension; - public: +public: typedef boost::shared_ptr > shared_ptr; @@ -83,13 +83,16 @@ class ExpressionFactor: public NoiseModelFactor { if (!active(x)) return boost::shared_ptr(); - // Create a writeable JacobianFactor in advance // In case noise model is constrained, we need to provide a noise model - bool constrained = noiseModel_->isConstrained(); + SharedDiagonal noiseModel; + if (noiseModel_->isConstrained()) { + noiseModel = boost::static_pointer_cast( + noiseModel_)->unit(); + } + + // Create a writeable JacobianFactor in advance boost::shared_ptr factor( - constrained ? new JacobianFactor(keys_, dims_, Dim, - boost::static_pointer_cast(noiseModel_)->unit()) : - new JacobianFactor(keys_, dims_, Dim)); + new JacobianFactor(keys_, dims_, Dim, noiseModel)); // Wrap keys and VerticalBlockMatrix into structure passed to expression_ VerticalBlockMatrix& Ab = factor->matrixObject(); @@ -114,7 +117,8 @@ class ExpressionFactor: public NoiseModelFactor { /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } + gtsam::NonlinearFactor::shared_ptr(new This(*this))); + } }; // ExpressionFactor diff --git a/gtsam/nonlinear/internal/JacobianMap.h b/gtsam/nonlinear/internal/JacobianMap.h index f4d2e9565..c99f05b7d 100644 --- a/gtsam/nonlinear/internal/JacobianMap.h +++ b/gtsam/nonlinear/internal/JacobianMap.h @@ -31,19 +31,18 @@ namespace internal { // The JacobianMap provides a mapping from keys to the underlying blocks. class JacobianMap { private: - typedef FastVector Keys; - const FastVector& keys_; + const KeyVector& keys_; VerticalBlockMatrix& Ab_; public: /// Construct a JacobianMap for writing into a VerticalBlockMatrix Ab - JacobianMap(const Keys& keys, VerticalBlockMatrix& Ab) : + JacobianMap(const KeyVector& keys, VerticalBlockMatrix& Ab) : keys_(keys), Ab_(Ab) { } /// Access blocks of via key VerticalBlockMatrix::Block operator()(Key key) { - Keys::const_iterator it = std::find(keys_.begin(), keys_.end(), key); + KeyVector::const_iterator it = std::find(keys_.begin(), keys_.end(), key); DenseIndex block = it - keys_.begin(); return Ab_(block); } From f7c5f0cb79bd444c1be96701430f781adf1ab3c7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 8 Jul 2015 22:50:24 -0700 Subject: [PATCH 375/964] Moved test to tests/ExpressionFactor --- gtsam/nonlinear/tests/testExpression.cpp | 58 ------------------------ tests/testExpressionFactor.cpp | 55 ++++++++++++++++++++++ 2 files changed, 55 insertions(+), 58 deletions(-) diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp index ccb49942b..75af5f634 100644 --- a/gtsam/nonlinear/tests/testExpression.cpp +++ b/gtsam/nonlinear/tests/testExpression.cpp @@ -18,16 +18,12 @@ */ #include -#include #include #include #include #include -#include -#include - #include using boost::assign::list_of; using boost::assign::map_list_of; @@ -280,60 +276,6 @@ TEST(Expression, ternary) { EXPECT(expected == ABC.keys()); } -/* ************************************************************************* */ -// Test with multiple compositions on duplicate keys -static double doubleSum(const double& v1, const double& v2, - OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) { - if (H1) { - H1->setIdentity(); - } - if (H2) { - H2->setIdentity(); - } - return v1 + v2; -} - -TEST(Expression, testMultipleCompositions) { - const double tolerance = 1e-5; - const double fd_step = 1e-9; - - double v1 = 0; - double v2 = 1; - - Values values; - values.insert(1, v1); - values.insert(2, v2); - - Expression v1_(Key(1)); - Expression v2_(Key(2)); - - // binary(doubleSum) - // - leaf 1 - // - leaf 2 - Expression sum_(doubleSum, v1_, v2_); - EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance); - - // binary(doubleSum) - // - sum_ - // - leaf 1 - // - leaf 2 - // - leaf 1 - Expression sum2_(doubleSum, sum_, v1_); - EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance); - - // binary(doubleSum) - // sum2_ - // - sum_ - // - leaf 1 - // - leaf 2 - // - leaf 1 - // - sum_ - // - leaf 1 - // - leaf 2 - Expression sum3_(doubleSum, sum2_, sum_); - EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); -} - /* ************************************************************************* */ int main() { TestResult tr; diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index 312ad89eb..aa990805e 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include #include #include @@ -504,6 +505,60 @@ TEST(ExpressionFactor, push_back) { graph.addExpressionFactor(model, Point2(0, 0), leaf::p); } +/* ************************************************************************* */ +// Test with multiple compositions on duplicate keys +static double doubleSum(const double& v1, const double& v2, + OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) { + if (H1) { + H1->setIdentity(); + } + if (H2) { + H2->setIdentity(); + } + return v1 + v2; +} + +TEST(Expression, testMultipleCompositions) { + const double tolerance = 1e-5; + const double fd_step = 1e-9; + + double v1 = 0; + double v2 = 1; + + Values values; + values.insert(1, v1); + values.insert(2, v2); + + Expression v1_(Key(1)); + Expression v2_(Key(2)); + + // binary(doubleSum) + // - leaf 1 + // - leaf 2 + Expression sum_(doubleSum, v1_, v2_); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance); + + // binary(doubleSum) + // - sum_ + // - leaf 1 + // - leaf 2 + // - leaf 1 + Expression sum2_(doubleSum, sum_, v1_); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance); + + // binary(doubleSum) + // sum2_ + // - sum_ + // - leaf 1 + // - leaf 2 + // - leaf 1 + // - sum_ + // - leaf 1 + // - leaf 2 + Expression sum3_(doubleSum, sum2_, sum_); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); +} + /* ************************************************************************* */ int main() { TestResult tr; From 6df0d49769a584f8ef421dccd6c5b45cf1ba5605 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 8 Jul 2015 23:21:35 -0700 Subject: [PATCH 376/964] Recursive print --- gtsam/nonlinear/Expression-inl.h | 7 ++-- gtsam/nonlinear/Expression.h | 4 +- gtsam/nonlinear/internal/ExpressionNode.h | 48 +++++++++++++++++++---- 3 files changed, 46 insertions(+), 13 deletions(-) diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h index 6c6c155c7..815f9c3da 100644 --- a/gtsam/nonlinear/Expression-inl.h +++ b/gtsam/nonlinear/Expression-inl.h @@ -29,7 +29,7 @@ namespace gtsam { template void Expression::print(const std::string& s) const { - std::cout << s << *root_ << std::endl; + root_->print(s); } template @@ -155,7 +155,7 @@ size_t Expression::traceSize() const { template T Expression::valueAndDerivatives(const Values& values, - const FastVector& keys, const FastVector& dims, + const KeyVector& keys, const FastVector& dims, std::vector& H) const { // H should be pre-allocated @@ -205,6 +205,7 @@ T Expression::valueAndJacobianMap(const Values& values, internal::ExecutionTrace trace; T value(this->traceExecution(values, trace, traceStorage)); + GTSAM_PRINT(trace); trace.startReverseAD1(jacobians); #ifdef _MSC_VER @@ -219,7 +220,7 @@ typename Expression::KeysAndDims Expression::keysAndDims() const { std::map map; dims(map); size_t n = map.size(); - KeysAndDims pair = std::make_pair(FastVector(n), FastVector(n)); + KeysAndDims pair = std::make_pair(KeyVector(n), FastVector(n)); boost::copy(map | boost::adaptors::map_keys, pair.first.begin()); boost::copy(map | boost::adaptors::map_values, pair.second.begin()); return pair; diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h index d24a568f5..4fdbe8610 100644 --- a/gtsam/nonlinear/Expression.h +++ b/gtsam/nonlinear/Expression.h @@ -173,11 +173,11 @@ public: private: /// Keys and dimensions in same order - typedef std::pair, FastVector > KeysAndDims; + typedef std::pair > KeysAndDims; KeysAndDims keysAndDims() const; /// private version that takes keys and dimensions, returns derivatives - T valueAndDerivatives(const Values& values, const FastVector& keys, + T valueAndDerivatives(const Values& values, const KeyVector& keys, const FastVector& dims, std::vector& H) const; /// trace execution, very unsafe diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h index e7aa34db0..d8f9cf3ff 100644 --- a/gtsam/nonlinear/internal/ExpressionNode.h +++ b/gtsam/nonlinear/internal/ExpressionNode.h @@ -78,13 +78,14 @@ public: virtual ~ExpressionNode() { } + /// Print + virtual void print(const std::string& indent = "") const = 0; + /// Streaming GTSAM_EXPORT - friend std::ostream &operator<<(std::ostream &os, - const ExpressionNode& node) { + friend std::ostream& operator<<(std::ostream& os, const ExpressionNode& node) { os << "Expression of type " << typeid(T).name(); - if (node.traceSize_ > 0) - os << ", trace size = " << node.traceSize_; + if (node.traceSize_ > 0) os << ", trace size = " << node.traceSize_; os << "\n"; return os; } @@ -133,6 +134,11 @@ public: virtual ~ConstantExpression() { } + /// Print + virtual void print(const std::string& indent = "") const { + std::cout << indent << "Constant" << std::endl; + } + /// Return value virtual T value(const Values& values) const { return constant_; @@ -159,7 +165,7 @@ class LeafExpression: public ExpressionNode { key_(key) { } - friend class Expression ; + friend class Expression; public: @@ -167,6 +173,11 @@ public: virtual ~LeafExpression() { } + /// Print + virtual void print(const std::string& indent = "") const { + std::cout << indent << "Leaf, key = " << key_ << std::endl; + } + /// Return keys that play in this expression virtual std::set keys() const { std::set keys; @@ -218,7 +229,7 @@ class UnaryExpression: public ExpressionNode { ExpressionNode::traceSize_ = upAligned(sizeof(Record)) + e1.traceSize(); } - friend class Expression ; + friend class Expression; public: @@ -226,6 +237,12 @@ public: virtual ~UnaryExpression() { } + /// Print + virtual void print(const std::string& indent = "") const { + std::cout << indent << "UnaryExpression" << std::endl; + expression1_->print(indent + " "); + } + /// Return value virtual T value(const Values& values) const { return function_(expression1_->value(values), boost::none); @@ -320,7 +337,7 @@ class BinaryExpression: public ExpressionNode { upAligned(sizeof(Record)) + e1.traceSize() + e2.traceSize(); } - friend class Expression ; + friend class Expression; friend class ::ExpressionFactorBinaryTest; public: @@ -329,6 +346,13 @@ public: virtual ~BinaryExpression() { } + /// Print + virtual void print(const std::string& indent = "") const { + std::cout << indent << "BinaryExpression" << std::endl; + expression1_->print(indent + " "); + expression2_->print(indent + " "); + } + /// Return value virtual T value(const Values& values) const { using boost::none; @@ -420,7 +444,7 @@ class TernaryExpression: public ExpressionNode { e1.traceSize() + e2.traceSize() + e3.traceSize(); } - friend class Expression ; + friend class Expression; public: @@ -428,6 +452,14 @@ public: virtual ~TernaryExpression() { } + /// Print + virtual void print(const std::string& indent = "") const { + std::cout << indent << "TernaryExpression" << std::endl; + expression1_->print(indent + " "); + expression2_->print(indent + " "); + expression3_->print(indent + " "); + } + /// Return value virtual T value(const Values& values) const { using boost::none; From 2bc0d580e70d9d9d12100d1a4a1fa3654fa2cef0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 8 Jul 2015 23:29:21 -0700 Subject: [PATCH 377/964] Slightly changed example, debugging output --- tests/testExpressionFactor.cpp | 61 +++++++++++++++++----------------- 1 file changed, 30 insertions(+), 31 deletions(-) diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index aa990805e..5e348afd3 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -507,23 +507,19 @@ TEST(ExpressionFactor, push_back) { /* ************************************************************************* */ // Test with multiple compositions on duplicate keys -static double doubleSum(const double& v1, const double& v2, +static double specialSum(const double& v1, const double& v2, OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) { - if (H1) { - H1->setIdentity(); - } - if (H2) { - H2->setIdentity(); - } - return v1 + v2; + if (H1) (*H1) << 1.0; + if (H2) (*H2) << 2.0; + return v1 + 2.0 * v2; } TEST(Expression, testMultipleCompositions) { const double tolerance = 1e-5; const double fd_step = 1e-9; - double v1 = 0; - double v2 = 1; + double v1 = 2; + double v2 = 3; Values values; values.insert(1, v1); @@ -532,30 +528,33 @@ TEST(Expression, testMultipleCompositions) { Expression v1_(Key(1)); Expression v2_(Key(2)); - // binary(doubleSum) - // - leaf 1 - // - leaf 2 - Expression sum_(doubleSum, v1_, v2_); - EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance); + // BinaryExpression + // Leaf, key = 1 + // Leaf, key = 2 + Expression sum1_(specialSum, v1_, v2_); + GTSAM_PRINT(sum1_); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum1_, values, fd_step, tolerance); - // binary(doubleSum) - // - sum_ - // - leaf 1 - // - leaf 2 - // - leaf 1 - Expression sum2_(doubleSum, sum_, v1_); + // BinaryExpression + // BinaryExpression + // Leaf, key = 1 + // Leaf, key = 2 + // Leaf, key = 1 + Expression sum2_(specialSum, sum1_, v1_); + GTSAM_PRINT(sum2_); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance); - // binary(doubleSum) - // sum2_ - // - sum_ - // - leaf 1 - // - leaf 2 - // - leaf 1 - // - sum_ - // - leaf 1 - // - leaf 2 - Expression sum3_(doubleSum, sum2_, sum_); + // BinaryExpression + // BinaryExpression + // BinaryExpression + // Leaf, key = 1 + // Leaf, key = 2 + // Leaf, key = 1 + // BinaryExpression + // Leaf, key = 1 + // Leaf, key = 2 + Expression sum3_(specialSum, sum2_, sum1_); + GTSAM_PRINT(sum3_); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); } From 4516c6738919d8d2b1e5767341c1ebfc366bff98 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 8 Jul 2015 23:52:25 -0700 Subject: [PATCH 378/964] More compact and informative trace/record printing --- gtsam/nonlinear/internal/ExecutionTrace.h | 1 - gtsam/nonlinear/internal/ExpressionNode.h | 30 ++++++++++++----------- 2 files changed, 16 insertions(+), 15 deletions(-) diff --git a/gtsam/nonlinear/internal/ExecutionTrace.h b/gtsam/nonlinear/internal/ExecutionTrace.h index 45817a3f9..315261293 100644 --- a/gtsam/nonlinear/internal/ExecutionTrace.h +++ b/gtsam/nonlinear/internal/ExecutionTrace.h @@ -119,7 +119,6 @@ public: else if (kind == Leaf) std::cout << indent << "Leaf, key = " << content.key << std::endl; else if (kind == Function) { - std::cout << indent << "Function" << std::endl; content.ptr->print(indent + " "); } } diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h index d8f9cf3ff..73852cee8 100644 --- a/gtsam/nonlinear/internal/ExpressionNode.h +++ b/gtsam/nonlinear/internal/ExpressionNode.h @@ -211,8 +211,16 @@ struct Jacobian { typedef Eigen::Matrix::dimension, traits::dimension> type; }; -// Eigen format for printing Jacobians -static const Eigen::IOFormat kMatlabFormat(0, 1, " ", "; ", "", "", "[", "]"); +// Helper function for printing Jacobians with compact Eigen format, and trace +template +static void PrintJacobianAndTrace(const std::string& indent, + const typename Jacobian::type& dTdA, + const ExecutionTrace trace) { + static const Eigen::IOFormat kMatlabFormat(0, 1, " ", "; ", "", "", "[", "]"); + std::cout << indent << "d(" << typeid(T).name() << ")/d(" << typeid(A).name() + << ") = " << dTdA.format(kMatlabFormat) << std::endl; + trace.print(indent); +} //----------------------------------------------------------------------------- /// Unary Function Expression @@ -268,8 +276,7 @@ public: /// Print to std::cout void print(const std::string& indent) const { std::cout << indent << "UnaryExpression::Record {" << std::endl; - std::cout << indent << dTdA1.format(kMatlabFormat) << std::endl; - trace1.print(indent); + PrintJacobianAndTrace(indent, dTdA1, trace1); std::cout << indent << "}" << std::endl; } @@ -388,10 +395,8 @@ public: /// Print to std::cout void print(const std::string& indent) const { std::cout << indent << "BinaryExpression::Record {" << std::endl; - std::cout << indent << dTdA1.format(kMatlabFormat) << std::endl; - trace1.print(indent); - std::cout << indent << dTdA2.format(kMatlabFormat) << std::endl; - trace2.print(indent); + PrintJacobianAndTrace(indent, dTdA1, trace1); + PrintJacobianAndTrace(indent, dTdA2, trace2); std::cout << indent << "}" << std::endl; } @@ -502,12 +507,9 @@ public: /// Print to std::cout void print(const std::string& indent) const { std::cout << indent << "TernaryExpression::Record {" << std::endl; - std::cout << indent << dTdA1.format(kMatlabFormat) << std::endl; - trace1.print(indent); - std::cout << indent << dTdA2.format(kMatlabFormat) << std::endl; - trace2.print(indent); - std::cout << indent << dTdA3.format(kMatlabFormat) << std::endl; - trace3.print(indent); + PrintJacobianAndTrace(indent, dTdA1, trace1); + PrintJacobianAndTrace(indent, dTdA2, trace2); + PrintJacobianAndTrace(indent, dTdA3, trace3); std::cout << indent << "}" << std::endl; } From e9ddee4322463db425c40d950a35d8d80a71d93a Mon Sep 17 00:00:00 2001 From: Mike Bosse Date: Thu, 9 Jul 2015 09:39:13 +0200 Subject: [PATCH 379/964] fixed bug in expression traceExecution --- gtsam/nonlinear/internal/ExpressionNode.h | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h index d8f9cf3ff..f3c19e1aa 100644 --- a/gtsam/nonlinear/internal/ExpressionNode.h +++ b/gtsam/nonlinear/internal/ExpressionNode.h @@ -416,8 +416,9 @@ public: Record* record = new (ptr) Record(); ptr += upAligned(sizeof(Record)); record->value1 = expression1_->traceExecution(values, record->trace1, ptr); + ptr += expression1_->traceSize(); record->value2 = expression2_->traceExecution(values, record->trace2, ptr); - ptr += expression1_->traceSize() + expression2_->traceSize(); + ptr += expression2_->traceSize(); trace.setFunction(record); return function_(record->value1, record->value2, record->dTdA1, record->dTdA2); @@ -534,10 +535,11 @@ public: Record* record = new (ptr) Record(); ptr += upAligned(sizeof(Record)); record->value1 = expression1_->traceExecution(values, record->trace1, ptr); + ptr += expression1_->traceSize(); record->value2 = expression2_->traceExecution(values, record->trace2, ptr); + ptr += expression2_->traceSize(); record->value3 = expression3_->traceExecution(values, record->trace3, ptr); - ptr += expression1_->traceSize() + expression2_->traceSize() - + expression3_->traceSize(); + ptr += expression3_->traceSize(); trace.setFunction(record); return function_(record->value1, record->value2, record->value3, record->dTdA1, record->dTdA2, record->dTdA3); From 20b669bed62b7d13df698e4de09d8a07688145d1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 00:40:21 -0700 Subject: [PATCH 380/964] Refined testcase even more for debugging --- tests/testExpressionFactor.cpp | 39 ++++++++++++++++++++-------------- 1 file changed, 23 insertions(+), 16 deletions(-) diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index 5e348afd3..301da21e5 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -507,12 +507,16 @@ TEST(ExpressionFactor, push_back) { /* ************************************************************************* */ // Test with multiple compositions on duplicate keys -static double specialSum(const double& v1, const double& v2, - OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) { - if (H1) (*H1) << 1.0; - if (H2) (*H2) << 2.0; - return v1 + 2.0 * v2; -} +struct Combine { + double a, b; + Combine(double a, double b) : a(a), b(b) {} + double operator()(const double& x, const double& y, OptionalJacobian<1, 1> H1, + OptionalJacobian<1, 1> H2) { + if (H1) (*H1) << a; + if (H2) (*H2) << b; + return a * x + b * y; + } +}; TEST(Expression, testMultipleCompositions) { const double tolerance = 1e-5; @@ -528,33 +532,36 @@ TEST(Expression, testMultipleCompositions) { Expression v1_(Key(1)); Expression v2_(Key(2)); - // BinaryExpression + // BinaryExpression(1,2) // Leaf, key = 1 // Leaf, key = 2 - Expression sum1_(specialSum, v1_, v2_); + Expression sum1_(Combine(1, 2), v1_, v2_); GTSAM_PRINT(sum1_); + EXPECT(sum1_.keys() == list_of(1)(2)); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum1_, values, fd_step, tolerance); - // BinaryExpression - // BinaryExpression + // BinaryExpression(3,4) + // BinaryExpression(1,2) // Leaf, key = 1 // Leaf, key = 2 // Leaf, key = 1 - Expression sum2_(specialSum, sum1_, v1_); + Expression sum2_(Combine(3, 4), sum1_, v1_); GTSAM_PRINT(sum2_); + EXPECT(sum2_.keys() == list_of(1)(2)); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance); - // BinaryExpression - // BinaryExpression - // BinaryExpression + // BinaryExpression(5,6) + // BinaryExpression(3,4) + // BinaryExpression(1,2) // Leaf, key = 1 // Leaf, key = 2 // Leaf, key = 1 - // BinaryExpression + // BinaryExpression(1,2) // Leaf, key = 1 // Leaf, key = 2 - Expression sum3_(specialSum, sum2_, sum1_); + Expression sum3_(Combine(5, 6), sum1_, sum2_); GTSAM_PRINT(sum3_); + EXPECT(sum3_.keys() == list_of(1)(2)); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); } From 0922624b9e982772424c70603c1310d58983017e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 00:41:03 -0700 Subject: [PATCH 381/964] FIXED PRETTY TERRIBLE BUG --- gtsam/nonlinear/internal/ExpressionNode.h | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h index 73852cee8..928387eb9 100644 --- a/gtsam/nonlinear/internal/ExpressionNode.h +++ b/gtsam/nonlinear/internal/ExpressionNode.h @@ -217,7 +217,7 @@ static void PrintJacobianAndTrace(const std::string& indent, const typename Jacobian::type& dTdA, const ExecutionTrace trace) { static const Eigen::IOFormat kMatlabFormat(0, 1, " ", "; ", "", "", "[", "]"); - std::cout << indent << "d(" << typeid(T).name() << ")/d(" << typeid(A).name() + std::cout << indent << "D(" << typeid(T).name() << ")/D(" << typeid(A).name() << ") = " << dTdA.format(kMatlabFormat) << std::endl; trace.print(indent); } @@ -317,11 +317,11 @@ public: // Return value of type T is recorded in record->value record->value1 = expression1_->traceExecution(values, record->trace1, ptr); - // ptr is never modified by traceExecution, but if traceExecution has - // written in the buffer, the next caller expects we advance the pointer + // We have written in the buffer, the next caller expects we advance the pointer ptr += expression1_->traceSize(); trace.setFunction(record); + // Finally, the function call fills in the Jacobian dTdA1 return function_(record->value1, record->dTdA1); } }; @@ -421,11 +421,11 @@ public: Record* record = new (ptr) Record(); ptr += upAligned(sizeof(Record)); record->value1 = expression1_->traceExecution(values, record->trace1, ptr); + ptr += expression1_->traceSize(); record->value2 = expression2_->traceExecution(values, record->trace2, ptr); - ptr += expression1_->traceSize() + expression2_->traceSize(); + ptr += expression2_->traceSize(); trace.setFunction(record); - return function_(record->value1, record->value2, record->dTdA1, - record->dTdA2); + return function_(record->value1, record->value2, record->dTdA1, record->dTdA2); } }; @@ -536,10 +536,11 @@ public: Record* record = new (ptr) Record(); ptr += upAligned(sizeof(Record)); record->value1 = expression1_->traceExecution(values, record->trace1, ptr); + ptr += expression1_->traceSize(); record->value2 = expression2_->traceExecution(values, record->trace2, ptr); + ptr += expression2_->traceSize(); record->value3 = expression3_->traceExecution(values, record->trace3, ptr); - ptr += expression1_->traceSize() + expression2_->traceSize() - + expression3_->traceSize(); + ptr += expression3_->traceSize(); trace.setFunction(record); return function_(record->value1, record->value2, record->value3, record->dTdA1, record->dTdA2, record->dTdA3); From a923086a000f1cd41fe7c58bbd62fdc7efcf8381 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 00:42:48 -0700 Subject: [PATCH 382/964] Removed print statements --- gtsam/nonlinear/Expression-inl.h | 1 - tests/testExpressionFactor.cpp | 3 --- 2 files changed, 4 deletions(-) diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h index 815f9c3da..70a872d15 100644 --- a/gtsam/nonlinear/Expression-inl.h +++ b/gtsam/nonlinear/Expression-inl.h @@ -205,7 +205,6 @@ T Expression::valueAndJacobianMap(const Values& values, internal::ExecutionTrace trace; T value(this->traceExecution(values, trace, traceStorage)); - GTSAM_PRINT(trace); trace.startReverseAD1(jacobians); #ifdef _MSC_VER diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index 301da21e5..440e67017 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -536,7 +536,6 @@ TEST(Expression, testMultipleCompositions) { // Leaf, key = 1 // Leaf, key = 2 Expression sum1_(Combine(1, 2), v1_, v2_); - GTSAM_PRINT(sum1_); EXPECT(sum1_.keys() == list_of(1)(2)); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum1_, values, fd_step, tolerance); @@ -546,7 +545,6 @@ TEST(Expression, testMultipleCompositions) { // Leaf, key = 2 // Leaf, key = 1 Expression sum2_(Combine(3, 4), sum1_, v1_); - GTSAM_PRINT(sum2_); EXPECT(sum2_.keys() == list_of(1)(2)); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance); @@ -560,7 +558,6 @@ TEST(Expression, testMultipleCompositions) { // Leaf, key = 1 // Leaf, key = 2 Expression sum3_(Combine(5, 6), sum1_, sum2_); - GTSAM_PRINT(sum3_); EXPECT(sum3_.keys() == list_of(1)(2)); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); } From aa1fae41a9c36628223e7354dad90e91c4c7a0e7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 00:53:40 -0700 Subject: [PATCH 383/964] Added testcase mixing binary and ternary cases --- tests/testExpressionFactor.cpp | 50 ++++++++++++++++++++++++++++++---- 1 file changed, 44 insertions(+), 6 deletions(-) diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index 440e67017..48cf03f8c 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -520,14 +520,11 @@ struct Combine { TEST(Expression, testMultipleCompositions) { const double tolerance = 1e-5; - const double fd_step = 1e-9; - - double v1 = 2; - double v2 = 3; + const double fd_step = 1e-5; Values values; - values.insert(1, v1); - values.insert(2, v2); + values.insert(1, 10.0); + values.insert(2, 20.0); Expression v1_(Key(1)); Expression v2_(Key(2)); @@ -562,6 +559,47 @@ TEST(Expression, testMultipleCompositions) { EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); } +/* ************************************************************************* */ +// Another test, with Ternary Expressions +static double combine3(const double& x, const double& y, const double& z, + OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2, + OptionalJacobian<1, 1> H3) { + if (H1) (*H1) << 1.0; + if (H2) (*H2) << 2.0; + if (H3) (*H3) << 3.0; + return x + 2.0 * y + 3.0 * z; +} + +TEST(Expression, testMultipleCompositions2) { + const double tolerance = 1e-5; + const double fd_step = 1e-5; + + Values values; + values.insert(1, 10.0); + values.insert(2, 20.0); + values.insert(3, 30.0); + + Expression v1_(Key(1)); + Expression v2_(Key(2)); + Expression v3_(Key(3)); + + Expression sum1_(Combine(4,5), v1_, v2_); + EXPECT(sum1_.keys() == list_of(1)(2)); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum1_, values, fd_step, tolerance); + + Expression sum2_(combine3, v1_, v2_, v3_); + EXPECT(sum2_.keys() == list_of(1)(2)(3)); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance); + + Expression sum3_(combine3, v3_, v2_, v1_); + EXPECT(sum3_.keys() == list_of(1)(2)(3)); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); + + Expression sum4_(combine3, sum1_, sum2_, sum3_); + EXPECT(sum4_.keys() == list_of(1)(2)(3)); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum4_, values, fd_step, tolerance); +} + /* ************************************************************************* */ int main() { TestResult tr; From 3b16ad296792e13b991f4ac0a9428ae04448ba1f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 11:14:39 -0700 Subject: [PATCH 384/964] Moved deprecated headers into subdirectory --- gtsam/base/CMakeLists.txt | 3 +++ gtsam/base/LieMatrix.cpp | 2 +- gtsam/base/LieScalar.cpp | 2 +- gtsam/base/LieVector.cpp | 2 +- gtsam/base/LieVector.h | 2 +- gtsam/base/{ => deprecated}/LieMatrix_Deprecated.h | 0 gtsam/base/{ => deprecated}/LieScalar_Deprecated.h | 0 gtsam/base/{ => deprecated}/LieVector_Deprecated.h | 0 gtsam/base/tests/testLieMatrix.cpp | 3 +-- gtsam/base/tests/testLieScalar.cpp | 3 +-- gtsam/base/tests/testLieVector.cpp | 3 +-- gtsam/base/tests/testTestableAssertions.cpp | 3 +-- gtsam_unstable/slam/serialization.cpp | 4 ++-- gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp | 2 +- tests/testGaussianISAM2.cpp | 2 +- 15 files changed, 15 insertions(+), 16 deletions(-) rename gtsam/base/{ => deprecated}/LieMatrix_Deprecated.h (100%) rename gtsam/base/{ => deprecated}/LieScalar_Deprecated.h (100%) rename gtsam/base/{ => deprecated}/LieVector_Deprecated.h (100%) diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt index 66d3ec721..99984e7b3 100644 --- a/gtsam/base/CMakeLists.txt +++ b/gtsam/base/CMakeLists.txt @@ -5,5 +5,8 @@ install(FILES ${base_headers} DESTINATION include/gtsam/base) file(GLOB base_headers_tree "treeTraversal/*.h") install(FILES ${base_headers_tree} DESTINATION include/gtsam/base/treeTraversal) +file(GLOB deprecated_headers "deprecated/*.h") +install(FILES ${deprecated_headers} DESTINATION include/gtsam/base/deprecated) + # Build tests add_subdirectory(tests) diff --git a/gtsam/base/LieMatrix.cpp b/gtsam/base/LieMatrix.cpp index cf5b57536..ff4176df1 100644 --- a/gtsam/base/LieMatrix.cpp +++ b/gtsam/base/LieMatrix.cpp @@ -15,7 +15,7 @@ * @author Richard Roberts and Alex Cunningham */ -#include +#include namespace gtsam { diff --git a/gtsam/base/LieScalar.cpp b/gtsam/base/LieScalar.cpp index 4c5a6a257..71f4992c2 100644 --- a/gtsam/base/LieScalar.cpp +++ b/gtsam/base/LieScalar.cpp @@ -8,7 +8,7 @@ -#include +#include namespace gtsam { void LieScalar::print(const std::string& name) const { diff --git a/gtsam/base/LieVector.cpp b/gtsam/base/LieVector.cpp index 3e4eeecf2..788e8059c 100644 --- a/gtsam/base/LieVector.cpp +++ b/gtsam/base/LieVector.cpp @@ -15,7 +15,7 @@ * @author Alex Cunningham */ -#include +#include #include using namespace std; diff --git a/gtsam/base/LieVector.h b/gtsam/base/LieVector.h index 813431775..c4f2af1a9 100644 --- a/gtsam/base/LieVector.h +++ b/gtsam/base/LieVector.h @@ -23,4 +23,4 @@ #warning "LieVector.h is deprecated. Please use Eigen::Vector instead." #endif -#include +#include diff --git a/gtsam/base/LieMatrix_Deprecated.h b/gtsam/base/deprecated/LieMatrix_Deprecated.h similarity index 100% rename from gtsam/base/LieMatrix_Deprecated.h rename to gtsam/base/deprecated/LieMatrix_Deprecated.h diff --git a/gtsam/base/LieScalar_Deprecated.h b/gtsam/base/deprecated/LieScalar_Deprecated.h similarity index 100% rename from gtsam/base/LieScalar_Deprecated.h rename to gtsam/base/deprecated/LieScalar_Deprecated.h diff --git a/gtsam/base/LieVector_Deprecated.h b/gtsam/base/deprecated/LieVector_Deprecated.h similarity index 100% rename from gtsam/base/LieVector_Deprecated.h rename to gtsam/base/deprecated/LieVector_Deprecated.h diff --git a/gtsam/base/tests/testLieMatrix.cpp b/gtsam/base/tests/testLieMatrix.cpp index 09caadabd..9c39e5342 100644 --- a/gtsam/base/tests/testLieMatrix.cpp +++ b/gtsam/base/tests/testLieMatrix.cpp @@ -15,8 +15,7 @@ */ #include -#include - +#include #include #include diff --git a/gtsam/base/tests/testLieScalar.cpp b/gtsam/base/tests/testLieScalar.cpp index 07e666fbe..121a7949b 100644 --- a/gtsam/base/tests/testLieScalar.cpp +++ b/gtsam/base/tests/testLieScalar.cpp @@ -15,8 +15,7 @@ */ #include -#include - +#include #include #include diff --git a/gtsam/base/tests/testLieVector.cpp b/gtsam/base/tests/testLieVector.cpp index ed3afac8c..3980fef52 100644 --- a/gtsam/base/tests/testLieVector.cpp +++ b/gtsam/base/tests/testLieVector.cpp @@ -15,8 +15,7 @@ */ #include -#include - +#include #include #include diff --git a/gtsam/base/tests/testTestableAssertions.cpp b/gtsam/base/tests/testTestableAssertions.cpp index 364834e2a..4dbc7eb5c 100644 --- a/gtsam/base/tests/testTestableAssertions.cpp +++ b/gtsam/base/tests/testTestableAssertions.cpp @@ -15,8 +15,7 @@ */ #include -#include - +#include #include using namespace gtsam; diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp index a598fb689..3cbbcc3a3 100644 --- a/gtsam_unstable/slam/serialization.cpp +++ b/gtsam_unstable/slam/serialization.cpp @@ -5,8 +5,8 @@ * @author Alex Cunningham */ -#include -#include +#include +#include #include #include diff --git a/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp b/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp index a86306a8d..c83ce1c60 100644 --- a/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp +++ b/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp @@ -21,7 +21,7 @@ #include #include #include -#include +#include using namespace std; using namespace gtsam; diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 7922c14d1..613dd9d27 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -25,7 +25,7 @@ #include #include #include -#include +#include using namespace boost::assign; #include namespace br { using namespace boost::adaptors; using namespace boost::range; } From 83d4296255f28daee2bcd29779f9c1b905ab8ab8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 11:28:40 -0700 Subject: [PATCH 385/964] removed .cpp files of deprecated LieXXX.h --- gtsam/base/LieMatrix.cpp | 27 --------------------------- gtsam/base/LieMatrix.h | 4 ++-- gtsam/base/LieScalar.cpp | 17 ----------------- gtsam/base/LieScalar.h | 4 ++-- gtsam/base/LieVector.cpp | 40 ---------------------------------------- gtsam/base/LieVector.h | 4 ++-- 6 files changed, 6 insertions(+), 90 deletions(-) delete mode 100644 gtsam/base/LieMatrix.cpp delete mode 100644 gtsam/base/LieScalar.cpp delete mode 100644 gtsam/base/LieVector.cpp diff --git a/gtsam/base/LieMatrix.cpp b/gtsam/base/LieMatrix.cpp deleted file mode 100644 index ff4176df1..000000000 --- a/gtsam/base/LieMatrix.cpp +++ /dev/null @@ -1,27 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file LieMatrix.cpp - * @brief A wrapper around Matrix providing Lie compatibility - * @author Richard Roberts and Alex Cunningham - */ - -#include - -namespace gtsam { - -/* ************************************************************************* */ -void LieMatrix::print(const std::string& name) const { - gtsam::print(matrix(), name); -} - -} diff --git a/gtsam/base/LieMatrix.h b/gtsam/base/LieMatrix.h index e24f339e4..77edd5fd5 100644 --- a/gtsam/base/LieMatrix.h +++ b/gtsam/base/LieMatrix.h @@ -11,7 +11,7 @@ /** * @file LieMatrix.h - * @brief External deprecation warning, see LieMatrix_Deprecated.h for details + * @brief External deprecation warning, see deprecated/LieMatrix.h for details * @author Paul Drews */ @@ -23,4 +23,4 @@ #warning "LieMatrix.h is deprecated. Please use Eigen::Matrix instead." #endif -#include "gtsam/base/LieMatrix_Deprecated.h" +#include "gtsam/base/deprecated/LieMatrix.h" diff --git a/gtsam/base/LieScalar.cpp b/gtsam/base/LieScalar.cpp deleted file mode 100644 index 71f4992c2..000000000 --- a/gtsam/base/LieScalar.cpp +++ /dev/null @@ -1,17 +0,0 @@ -/* - * LieScalar.cpp - * - * Created on: Apr 12, 2013 - * Author: thduynguyen - */ - - - - -#include - -namespace gtsam { - void LieScalar::print(const std::string& name) const { - std::cout << name << ": " << d_ << std::endl; - } -} diff --git a/gtsam/base/LieScalar.h b/gtsam/base/LieScalar.h index 650e2bb21..417570604 100644 --- a/gtsam/base/LieScalar.h +++ b/gtsam/base/LieScalar.h @@ -11,7 +11,7 @@ /** * @file LieScalar.h - * @brief External deprecation warning, see LieScalar_Deprecated.h for details + * @brief External deprecation warning, see deprecated/LieScalar.h for details * @author Kai Ni */ @@ -23,4 +23,4 @@ #warning "LieScalar.h is deprecated. Please use double/float instead." #endif -#include +#include diff --git a/gtsam/base/LieVector.cpp b/gtsam/base/LieVector.cpp deleted file mode 100644 index 788e8059c..000000000 --- a/gtsam/base/LieVector.cpp +++ /dev/null @@ -1,40 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file LieVector.cpp - * @brief Implementations for LieVector functions - * @author Alex Cunningham - */ - -#include -#include - -using namespace std; - -namespace gtsam { - -/* ************************************************************************* */ -LieVector::LieVector(size_t m, const double* const data) -: Vector(m) -{ - for(size_t i = 0; i < m; i++) - (*this)(i) = data[i]; -} - -/* ************************************************************************* */ -void LieVector::print(const std::string& name) const { - gtsam::print(vector(), name); -} - -// Does not compile because LieVector is not fixed size. -// GTSAM_CONCEPT_LIE_INST(LieVector) -} // \namespace gtsam diff --git a/gtsam/base/LieVector.h b/gtsam/base/LieVector.h index c4f2af1a9..310abcf02 100644 --- a/gtsam/base/LieVector.h +++ b/gtsam/base/LieVector.h @@ -11,7 +11,7 @@ /** * @file LieVector.h - * @brief Deprecation warning for LieVector_Deprecated.h, see LieVector_Deprecated.h for details. + * @brief Deprecation warning for LieVector, see deprecated/LieVector.h for details. * @author Paul Drews */ @@ -23,4 +23,4 @@ #warning "LieVector.h is deprecated. Please use Eigen::Vector instead." #endif -#include +#include From 7ff3e11efd6b1cb20e791e754a050ea473f67d46 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 11:28:59 -0700 Subject: [PATCH 386/964] removed redundancy in naming --- gtsam.h | 6 +++--- .../deprecated/{LieMatrix_Deprecated.h => LieMatrix.h} | 5 +++-- .../deprecated/{LieScalar_Deprecated.h => LieScalar.h} | 6 ++++-- .../deprecated/{LieVector_Deprecated.h => LieVector.h} | 9 +++++++-- gtsam/base/tests/testLieMatrix.cpp | 2 +- gtsam/base/tests/testLieScalar.cpp | 2 +- gtsam/base/tests/testLieVector.cpp | 2 +- gtsam/base/tests/testTestableAssertions.cpp | 2 +- gtsam_unstable/gtsam_unstable.h | 2 +- .../slam/tests/testGaussMarkov1stOrderFactor.cpp | 2 +- tests/testGaussianISAM2.cpp | 2 +- 11 files changed, 24 insertions(+), 16 deletions(-) rename gtsam/base/deprecated/{LieMatrix_Deprecated.h => LieMatrix.h} (97%) rename gtsam/base/deprecated/{LieScalar_Deprecated.h => LieScalar.h} (92%) rename gtsam/base/deprecated/{LieVector_Deprecated.h => LieVector.h} (92%) diff --git a/gtsam.h b/gtsam.h index ebd554549..f11526a8f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -156,7 +156,7 @@ virtual class Value { size_t dim() const; }; -#include +#include class LieScalar { // Standard constructors LieScalar(); @@ -185,7 +185,7 @@ class LieScalar { static Vector Logmap(const gtsam::LieScalar& p); }; -#include +#include class LieVector { // Standard constructors LieVector(); @@ -217,7 +217,7 @@ class LieVector { void serialize() const; }; -#include +#include class LieMatrix { // Standard constructors LieMatrix(); diff --git a/gtsam/base/deprecated/LieMatrix_Deprecated.h b/gtsam/base/deprecated/LieMatrix.h similarity index 97% rename from gtsam/base/deprecated/LieMatrix_Deprecated.h rename to gtsam/base/deprecated/LieMatrix.h index 15b4401f2..e26f45511 100644 --- a/gtsam/base/deprecated/LieMatrix_Deprecated.h +++ b/gtsam/base/deprecated/LieMatrix.h @@ -60,8 +60,9 @@ struct LieMatrix : public Matrix { /// @{ /** print @param s optional string naming the object */ - GTSAM_EXPORT void print(const std::string& name="") const; - + GTSAM_EXPORT void print(const std::string& name = "") const { + gtsam::print(matrix(), name); + } /** equality up to tolerance */ inline bool equals(const LieMatrix& expected, double tol=1e-5) const { return gtsam::equal_with_abs_tol(matrix(), expected.matrix(), tol); diff --git a/gtsam/base/deprecated/LieScalar_Deprecated.h b/gtsam/base/deprecated/LieScalar.h similarity index 92% rename from gtsam/base/deprecated/LieScalar_Deprecated.h rename to gtsam/base/deprecated/LieScalar.h index 6ffc76d37..f9c424e95 100644 --- a/gtsam/base/deprecated/LieScalar_Deprecated.h +++ b/gtsam/base/deprecated/LieScalar.h @@ -48,8 +48,10 @@ namespace gtsam { /// @name Testable /// @{ - void print(const std::string& name="") const; - bool equals(const LieScalar& expected, double tol=1e-5) const { + void print(const std::string& name = "") const { + std::cout << name << ": " << d_ << std::endl; + } + bool equals(const LieScalar& expected, double tol = 1e-5) const { return fabs(expected.d_ - d_) <= tol; } /// @} diff --git a/gtsam/base/deprecated/LieVector_Deprecated.h b/gtsam/base/deprecated/LieVector.h similarity index 92% rename from gtsam/base/deprecated/LieVector_Deprecated.h rename to gtsam/base/deprecated/LieVector.h index 67c42c748..4a85036e0 100644 --- a/gtsam/base/deprecated/LieVector_Deprecated.h +++ b/gtsam/base/deprecated/LieVector.h @@ -18,6 +18,7 @@ #pragma once #include +#include namespace gtsam { @@ -50,11 +51,15 @@ struct LieVector : public Vector { LieVector(double d) : Vector((Vector(1) << d).finished()) {} /** constructor with size and initial data, row order ! */ - GTSAM_EXPORT LieVector(size_t m, const double* const data); + GTSAM_EXPORT LieVector(size_t m, const double* const data) : Vector(m) { + for (size_t i = 0; i < m; i++) (*this)(i) = data[i]; + } /// @name Testable /// @{ - GTSAM_EXPORT void print(const std::string& name="") const; + GTSAM_EXPORT void print(const std::string& name="") const { + gtsam::print(vector(), name); + } bool equals(const LieVector& expected, double tol=1e-5) const { return gtsam::equal(vector(), expected.vector(), tol); } diff --git a/gtsam/base/tests/testLieMatrix.cpp b/gtsam/base/tests/testLieMatrix.cpp index 9c39e5342..5e18e1495 100644 --- a/gtsam/base/tests/testLieMatrix.cpp +++ b/gtsam/base/tests/testLieMatrix.cpp @@ -15,7 +15,7 @@ */ #include -#include +#include #include #include diff --git a/gtsam/base/tests/testLieScalar.cpp b/gtsam/base/tests/testLieScalar.cpp index 121a7949b..bacb9dd1e 100644 --- a/gtsam/base/tests/testLieScalar.cpp +++ b/gtsam/base/tests/testLieScalar.cpp @@ -15,7 +15,7 @@ */ #include -#include +#include #include #include diff --git a/gtsam/base/tests/testLieVector.cpp b/gtsam/base/tests/testLieVector.cpp index 3980fef52..3c2885c18 100644 --- a/gtsam/base/tests/testLieVector.cpp +++ b/gtsam/base/tests/testLieVector.cpp @@ -15,7 +15,7 @@ */ #include -#include +#include #include #include diff --git a/gtsam/base/tests/testTestableAssertions.cpp b/gtsam/base/tests/testTestableAssertions.cpp index 4dbc7eb5c..305aa7ca9 100644 --- a/gtsam/base/tests/testTestableAssertions.cpp +++ b/gtsam/base/tests/testTestableAssertions.cpp @@ -15,7 +15,7 @@ */ #include -#include +#include #include using namespace gtsam; diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 6b57bfcd0..814f3c5a2 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -452,7 +452,7 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor { DGroundConstraint(size_t key, Vector constraint, const gtsam::noiseModel::Base* model); }; -#include +#include #include virtual class VelocityConstraint3 : gtsam::NonlinearFactor { diff --git a/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp b/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp index c83ce1c60..209326672 100644 --- a/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp +++ b/gtsam_unstable/slam/tests/testGaussMarkov1stOrderFactor.cpp @@ -21,7 +21,7 @@ #include #include #include -#include +#include using namespace std; using namespace gtsam; diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 613dd9d27..38b5057a6 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -25,7 +25,7 @@ #include #include #include -#include +#include using namespace boost::assign; #include namespace br { using namespace boost::adaptors; using namespace boost::range; } From 76d478c0e0a2b486dd4e2aaebd8cd887df457f89 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 12:07:59 -0700 Subject: [PATCH 387/964] Moved testing machinery to correct spot --- gtsam/nonlinear/expressionTesting.h | 33 ----------------------------- gtsam/nonlinear/factorTesting.h | 30 ++++++++++++++++++++++++++ 2 files changed, 30 insertions(+), 33 deletions(-) diff --git a/gtsam/nonlinear/expressionTesting.h b/gtsam/nonlinear/expressionTesting.h index f2f1c9578..b15592c00 100644 --- a/gtsam/nonlinear/expressionTesting.h +++ b/gtsam/nonlinear/expressionTesting.h @@ -20,44 +20,11 @@ #pragma once #include -#include #include -#include #include -#include - -#include -#include -#include namespace gtsam { -namespace internal { -// CPPUnitLite-style test for linearization of a factor -bool testFactorJacobians(TestResult& result_, const std::string& name_, - const NoiseModelFactor& factor, const gtsam::Values& values, double delta, - double tolerance) { - - // Create expected value by numerical differentiation - JacobianFactor expected = linearizeNumerically(factor, values, delta); - - // Create actual value by linearize - boost::shared_ptr actual = // - boost::dynamic_pointer_cast(factor.linearize(values)); - - // Check cast result and then equality - return actual && assert_equal(expected, *actual, tolerance); -} -} - -/// \brief Check the Jacobians produced by a factor against finite differences. -/// \param factor The factor to test. -/// \param values Values filled in for testing the Jacobians. -/// \param numerical_derivative_step The step to use when computing the numerical derivative Jacobians -/// \param tolerance The numerical tolerance to use when comparing Jacobians. -#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \ - { EXPECT(gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance)); } - namespace internal { // CPPUnitLite-style test for linearization of an ExpressionFactor template diff --git a/gtsam/nonlinear/factorTesting.h b/gtsam/nonlinear/factorTesting.h index 442b29382..7709e1f1c 100644 --- a/gtsam/nonlinear/factorTesting.h +++ b/gtsam/nonlinear/factorTesting.h @@ -22,6 +22,10 @@ #include #include +#include +#include +#include + namespace gtsam { /** @@ -65,4 +69,30 @@ JacobianFactor linearizeNumerically(const NoiseModelFactor& factor, return JacobianFactor(jacobians, -e); } +namespace internal { +// CPPUnitLite-style test for linearization of a factor +bool testFactorJacobians(TestResult& result_, const std::string& name_, + const NoiseModelFactor& factor, const gtsam::Values& values, double delta, + double tolerance) { + + // Create expected value by numerical differentiation + JacobianFactor expected = linearizeNumerically(factor, values, delta); + + // Create actual value by linearize + boost::shared_ptr actual = // + boost::dynamic_pointer_cast(factor.linearize(values)); + + // Check cast result and then equality + return actual && assert_equal(expected, *actual, tolerance); +} +} + +/// \brief Check the Jacobians produced by a factor against finite differences. +/// \param factor The factor to test. +/// \param values Values filled in for testing the Jacobians. +/// \param numerical_derivative_step The step to use when computing the numerical derivative Jacobians +/// \param tolerance The numerical tolerance to use when comparing Jacobians. +#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \ + { EXPECT(gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance)); } + } // namespace gtsam From 98ba94c748c1bc20e68e2efc258968723b2b5440 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 12:08:28 -0700 Subject: [PATCH 388/964] moved BearingFactor to sam --- gtsam.h | 2 +- gtsam/sam/BearingFactor.h | 102 +++++++++++++++++++++++++++++++++++++ gtsam/slam/BearingFactor.h | 88 +++----------------------------- 3 files changed, 109 insertions(+), 83 deletions(-) create mode 100644 gtsam/sam/BearingFactor.h diff --git a/gtsam.h b/gtsam.h index f11526a8f..0273205c3 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2282,7 +2282,7 @@ typedef gtsam::RangeFactor RangeFactorPose3; //typedef gtsam::RangeFactor RangeFactorSimpleCamera; -#include +#include template virtual class BearingFactor : gtsam::NoiseModelFactor { BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel); diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h new file mode 100644 index 000000000..c78b5a3bf --- /dev/null +++ b/gtsam/sam/BearingFactor.h @@ -0,0 +1,102 @@ +/* ---------------------------------------------------------------------------- + + * 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 BearingFactor.H + * @author Frank Dellaert + **/ + +#pragma once + +#include +#include +#include + +namespace gtsam { + + /** + * Binary factor for a bearing measurement + * @addtogroup SLAM + */ + template + class BearingFactor: public NoiseModelFactor2 { + private: + + typedef POSE Pose; + typedef ROTATION Rot; + typedef POINT Point; + + typedef BearingFactor This; + typedef NoiseModelFactor2 Base; + + Rot measured_; /** measurement */ + + /** concept check by type */ + GTSAM_CONCEPT_TESTABLE_TYPE(Rot) + GTSAM_CONCEPT_POSE_TYPE(Pose) + + public: + + /** default constructor for serialization/testing only */ + BearingFactor() {} + + /** primary constructor */ + BearingFactor(Key poseKey, Key pointKey, const Rot& measured, + const SharedNoiseModel& model) : + Base(model, poseKey, pointKey), measured_(measured) { + } + + virtual ~BearingFactor() {} + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } + + /** h(x)-z -> between(z,h(x)) for Rot2 manifold */ + Vector evaluateError(const Pose& pose, const Point& point, + boost::optional H1, boost::optional H2) const { + Rot hx = pose.bearing(point, H1, H2); + return Rot::Logmap(measured_.between(hx)); + } + + /** return the measured */ + const Rot& measured() const { + return measured_; + } + + /** equals */ + virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { + const This *e = dynamic_cast (&expected); + return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol); + } + + /** print contents */ + void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "BearingFactor, bearing = "; + measured_.print(); + Base::print("", keyFormatter); + } + + private: + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & boost::serialization::make_nvp("NoiseModelFactor2", + boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(measured_); + } + + }; // BearingFactor + +} // namespace gtsam diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index c78b5a3bf..2f5ffa40e 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -16,87 +16,11 @@ #pragma once -#include -#include -#include +#ifdef _MSC_VER +#pragma message("BearingFactor is now an ExpressionFactor in sam") +#else +#warning "BearingFactor is now an ExpressionFactor in sam" +#endif -namespace gtsam { - /** - * Binary factor for a bearing measurement - * @addtogroup SLAM - */ - template - class BearingFactor: public NoiseModelFactor2 { - private: - - typedef POSE Pose; - typedef ROTATION Rot; - typedef POINT Point; - - typedef BearingFactor This; - typedef NoiseModelFactor2 Base; - - Rot measured_; /** measurement */ - - /** concept check by type */ - GTSAM_CONCEPT_TESTABLE_TYPE(Rot) - GTSAM_CONCEPT_POSE_TYPE(Pose) - - public: - - /** default constructor for serialization/testing only */ - BearingFactor() {} - - /** primary constructor */ - BearingFactor(Key poseKey, Key pointKey, const Rot& measured, - const SharedNoiseModel& model) : - Base(model, poseKey, pointKey), measured_(measured) { - } - - virtual ~BearingFactor() {} - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** h(x)-z -> between(z,h(x)) for Rot2 manifold */ - Vector evaluateError(const Pose& pose, const Point& point, - boost::optional H1, boost::optional H2) const { - Rot hx = pose.bearing(point, H1, H2); - return Rot::Logmap(measured_.between(hx)); - } - - /** return the measured */ - const Rot& measured() const { - return measured_; - } - - /** equals */ - virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { - const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol); - } - - /** print contents */ - void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "BearingFactor, bearing = "; - measured_.print(); - Base::print("", keyFormatter); - } - - private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("NoiseModelFactor2", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(measured_); - } - - }; // BearingFactor - -} // namespace gtsam +#include From 8f118d488e99248c497c76c029316abedfc01deb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 12:08:44 -0700 Subject: [PATCH 389/964] Added unit test --- gtsam/sam/tests/testBearingFactor.cpp | 72 +++++++++++++++++++++++++++ 1 file changed, 72 insertions(+) create mode 100644 gtsam/sam/tests/testBearingFactor.cpp diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp new file mode 100644 index 000000000..4a9330153 --- /dev/null +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -0,0 +1,72 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testBearingFactor.cpp + * @brief Unit tests for BearingFactor Class + * @author Frank Dellaert + * @date July 2015 + */ + +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +// Create a noise model for the pixel error +static SharedNoiseModel model(noiseModel::Unit::Create(1)); + +typedef BearingFactor BearingFactor2D; +typedef BearingFactor BearingFactor3D; + +Key poseKey(1); +Key pointKey(2); + +/* ************************************************************************* */ +TEST(BearingFactor, 2D) { + // Create a factor + double measurement(10.0); + BearingFactor factor(poseKey, pointKey, measurement, model); + + // Set the linearization point + Values values; + values.insert(poseKey, Pose2(1.0, 2.0, 0.57)); + values.insert(pointKey, Point2(-4.0, 11.0)); + + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); +} + +/* ************************************************************************* */ +// TODO(frank): this is broken: (non-existing) Pose3::bearing should yield a Unit3 +//TEST(BearingFactor, 3D) { +// // Create a factor +// Rot3 measurement; +// BearingFactor factor(poseKey, pointKey, measurement, model); +// +// // Set the linearization point +// Values values; +// values.insert(poseKey, Pose3(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0, -3.0))); +// values.insert(pointKey, Point3(-2.0, 11.0, 1.0)); +// +// EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); +//} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From 8f511078c42267f0dc3ee1afc310cd913459b0f2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 9 Jul 2015 16:41:48 -0700 Subject: [PATCH 390/964] Refactor, print, removed serialization :-( --- gtsam/sam/BearingFactor.h | 106 +++++++++++--------------------------- 1 file changed, 31 insertions(+), 75 deletions(-) diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index c78b5a3bf..fa7559972 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -16,87 +16,43 @@ #pragma once -#include +#include #include #include namespace gtsam { - /** - * Binary factor for a bearing measurement - * @addtogroup SLAM - */ - template - class BearingFactor: public NoiseModelFactor2 { - private: +/** + * Binary factor for a bearing measurement + * @addtogroup SAM + */ +template +class BearingFactor : public ExpressionFactor { + private: + typedef BearingFactor This; + typedef ExpressionFactor Base; - typedef POSE Pose; - typedef ROTATION Rot; - typedef POINT Point; + /** concept check by type */ + GTSAM_CONCEPT_TESTABLE_TYPE(Measured) + GTSAM_CONCEPT_POSE_TYPE(Pose) - typedef BearingFactor This; - typedef NoiseModelFactor2 Base; + public: + /** primary constructor */ + BearingFactor(Key poseKey, Key pointKey, const Measured& measured, + const SharedNoiseModel& model) + : Base(model, measured, + Expression(Expression(poseKey), &Pose::bearing, + Expression(pointKey))) {} - Rot measured_; /** measurement */ + virtual ~BearingFactor() {} - /** concept check by type */ - GTSAM_CONCEPT_TESTABLE_TYPE(Rot) - GTSAM_CONCEPT_POSE_TYPE(Pose) + /** print contents */ + void print(const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "BearingFactor, bearing = "; + this->measurement_.print(); + Base::print("", keyFormatter); + } +}; // BearingFactor - public: - - /** default constructor for serialization/testing only */ - BearingFactor() {} - - /** primary constructor */ - BearingFactor(Key poseKey, Key pointKey, const Rot& measured, - const SharedNoiseModel& model) : - Base(model, poseKey, pointKey), measured_(measured) { - } - - virtual ~BearingFactor() {} - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** h(x)-z -> between(z,h(x)) for Rot2 manifold */ - Vector evaluateError(const Pose& pose, const Point& point, - boost::optional H1, boost::optional H2) const { - Rot hx = pose.bearing(point, H1, H2); - return Rot::Logmap(measured_.between(hx)); - } - - /** return the measured */ - const Rot& measured() const { - return measured_; - } - - /** equals */ - virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { - const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol); - } - - /** print contents */ - void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "BearingFactor, bearing = "; - measured_.print(); - Base::print("", keyFormatter); - } - - private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("NoiseModelFactor2", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(measured_); - } - - }; // BearingFactor - -} // namespace gtsam +} // namespace gtsam From 71231abf1bdde80f44779ff476eef33090418c5d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 12:04:07 -0700 Subject: [PATCH 391/964] Serialization of Factor base class works --- gtsam/sam/BearingFactor.h | 41 ++++++++++++++++++++++++++- gtsam/sam/tests/testBearingFactor.cpp | 3 ++ 2 files changed, 43 insertions(+), 1 deletion(-) diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index fa7559972..37414e097 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -20,6 +20,26 @@ #include #include +namespace boost { +namespace serialization { + +template +void serialize(Archive& ar, gtsam::NonlinearFactor& factor, + const unsigned int version) {} + +// template +// void serialize(Archive& ar, gtsam::ExpressionFactor& factor, +// const unsigned int version) { +// ar& BOOST_SERIALIZATION_NVP(factor.measurement_); +//} + +// template +// void serialize(Archive& ar, Factor& factor, const unsigned int version) { +//} + +} // namespace serialization +} // namespace boost + namespace gtsam { /** @@ -36,8 +56,11 @@ class BearingFactor : public ExpressionFactor { GTSAM_CONCEPT_TESTABLE_TYPE(Measured) GTSAM_CONCEPT_POSE_TYPE(Pose) + /// Default constructor + BearingFactor() {} + public: - /** primary constructor */ + /// primary constructor BearingFactor(Key poseKey, Key pointKey, const Measured& measured, const SharedNoiseModel& model) : Base(model, measured, @@ -53,6 +76,22 @@ class BearingFactor : public ExpressionFactor { this->measurement_.print(); Base::print("", keyFormatter); } + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Factor", boost::serialization::base_object(*this)); + // ar& BOOST_SERIALIZATION_NVP(this->noiseModel_); + // ar& BOOST_SERIALIZATION_NVP(measurement_); + } + + template + friend void boost::serialization::serialize(Archive& ar, Base& factor, + const unsigned int version); + }; // BearingFactor } // namespace gtsam diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index 4a9330153..b12a88c9a 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include @@ -40,6 +41,8 @@ TEST(BearingFactor, 2D) { // Create a factor double measurement(10.0); BearingFactor factor(poseKey, pointKey, measurement, model); + std::string serialized = serializeXML(factor); + cout << serialized << endl; // Set the linearization point Values values; From 7e50b2d070d78841f4eb17c85d35f576eb400922 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 13:22:52 -0700 Subject: [PATCH 392/964] Testable traits --- gtsam/base/GenericValue.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h index e83a64ba9..17783c5b9 100644 --- a/gtsam/base/GenericValue.h +++ b/gtsam/base/GenericValue.h @@ -194,6 +194,11 @@ public: }; +// traits +template +struct traits > + : public Testable > {}; + // define Value::cast here since now GenericValue has been declared template const ValueType& Value::cast() const { From 85e2e3bd2ab3ad2810543b8d749df398fec796a7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 13:23:05 -0700 Subject: [PATCH 393/964] Added link --- gtsam/linear/tests/testSerializationLinear.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/linear/tests/testSerializationLinear.cpp b/gtsam/linear/tests/testSerializationLinear.cpp index f93788af9..71fdbe6a6 100644 --- a/gtsam/linear/tests/testSerializationLinear.cpp +++ b/gtsam/linear/tests/testSerializationLinear.cpp @@ -38,6 +38,7 @@ using namespace gtsam::serializationTestHelpers; /* ************************************************************************* */ // Export Noisemodels +// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); From 022af8f9bcfed28c82f0c63f874161fe0462a7c6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 13:50:53 -0700 Subject: [PATCH 394/964] use traits --- gtsam/base/serializationTestHelpers.h | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/gtsam/base/serializationTestHelpers.h b/gtsam/base/serializationTestHelpers.h index b6593bd9f..3f9b4ce5e 100644 --- a/gtsam/base/serializationTestHelpers.h +++ b/gtsam/base/serializationTestHelpers.h @@ -49,15 +49,15 @@ bool equality(const T& input = T()) { return input==output; } -// This version requires equals +// This version requires Testable template bool equalsObj(const T& input = T()) { T output; roundtrip(input,output); - return input.equals(output); + return traits::Equals(input, output); } -// De-referenced version for pointers +// De-referenced version for pointers, requires equals method template bool equalsDereferenced(const T& input) { T output; @@ -84,15 +84,15 @@ bool equalityXML(const T& input = T()) { return input==output; } -// This version requires equals +// This version requires Testable template bool equalsXML(const T& input = T()) { T output; roundtripXML(input,output); - return input.equals(output); + return traits::Equals(input, output); } -// This version is for pointers +// This version is for pointers, requires equals method template bool equalsDereferencedXML(const T& input = T()) { T output; @@ -119,15 +119,15 @@ bool equalityBinary(const T& input = T()) { return input==output; } -// This version requires equals +// This version requires Testable template bool equalsBinary(const T& input = T()) { T output; roundtripBinary(input,output); - return input.equals(output); + return traits::Equals(input, output); } -// This version is for pointers +// This version is for pointers, requires equals method template bool equalsDereferencedBinary(const T& input = T()) { T output; From f44e39eb21a7d5018a739436649d43b47ea2a848 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 13:51:30 -0700 Subject: [PATCH 395/964] Testable and default constructor --- gtsam/nonlinear/ExpressionFactor.h | 33 ++++++++++++++++++++++++------ 1 file changed, 27 insertions(+), 6 deletions(-) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index cac55563f..f1ff36c1e 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -29,19 +29,18 @@ namespace gtsam { /** * Factor that supports arbitrary expressions via AD */ -template +template class ExpressionFactor: public NoiseModelFactor { protected: typedef ExpressionFactor This; - - T measurement_; ///< the measurement to be compared with the expression - Expression expression_; ///< the expression that is AD enabled - FastVector dims_; ///< dimensions of the Jacobian matrices - static const int Dim = traits::dimension; + T measurement_; ///< the measurement to be compared with the expression + Expression expression_; ///< the expression that is AD enabled + FastVector dims_; ///< dimensions of the Jacobian matrices + public: typedef boost::shared_ptr > shared_ptr; @@ -62,6 +61,19 @@ public: boost::tie(keys_, dims_) = expression_.keysAndDims(); } + /// print relies on Testable traits being defined for T + void print(const std::string& s, const KeyFormatter& keyFormatter) const { + NoiseModelFactor::print(s, keyFormatter); + traits::Print(measurement_, s + ".measurement_"); + } + + /// equals relies on Testable traits being defined for T + bool equals(const NonlinearFactor& f, double tol) const { + const ExpressionFactor* p = dynamic_cast(&f); + return p && NoiseModelFactor::equals(f, tol) && + traits::Equals(measurement_, p->measurement_, tol); + } + /** * Error function *without* the NoiseModel, \f$ h(x)-z \f$. * We override this method to provide @@ -119,8 +131,17 @@ public: return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } + + protected: + /// Default constructor, for serialization + ExpressionFactor() {} + }; // ExpressionFactor +/// traits +template +struct traits > : public Testable > {}; + }// \ namespace gtsam From b52f488d7572fe0f1982ddf7991902e2ec660bab Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 13:51:39 -0700 Subject: [PATCH 396/964] default constructor --- gtsam/nonlinear/Expression.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h index 4fdbe8610..0b348ece9 100644 --- a/gtsam/nonlinear/Expression.h +++ b/gtsam/nonlinear/Expression.h @@ -172,6 +172,9 @@ public: private: + /// Default constructor, for serialization + Expression() {} + /// Keys and dimensions in same order typedef std::pair > KeysAndDims; KeysAndDims keysAndDims() const; From 07bb930dbb0866a1c47d4e81b6bc3d3611f29797 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 13:52:27 -0700 Subject: [PATCH 397/964] Now serializes noise model --- gtsam/sam/BearingFactor.h | 13 +++++++++---- gtsam/sam/tests/testBearingFactor.cpp | 14 ++++++++++++-- 2 files changed, 21 insertions(+), 6 deletions(-) diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index 37414e097..9d5105604 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -56,10 +56,10 @@ class BearingFactor : public ExpressionFactor { GTSAM_CONCEPT_TESTABLE_TYPE(Measured) GTSAM_CONCEPT_POSE_TYPE(Pose) + public: /// Default constructor BearingFactor() {} - public: /// primary constructor BearingFactor(Key poseKey, Key pointKey, const Measured& measured, const SharedNoiseModel& model) @@ -83,9 +83,9 @@ class BearingFactor : public ExpressionFactor { template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { ar& boost::serialization::make_nvp( - "Factor", boost::serialization::base_object(*this)); - // ar& BOOST_SERIALIZATION_NVP(this->noiseModel_); - // ar& BOOST_SERIALIZATION_NVP(measurement_); + "NoiseModelFactor", + boost::serialization::base_object(*this)); + ar& boost::serialization::make_nvp("measurement_", this->measurement_); } template @@ -94,4 +94,9 @@ class BearingFactor : public ExpressionFactor { }; // BearingFactor +/// traits +template +struct traits > + : public Testable > {}; + } // namespace gtsam diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index b12a88c9a..c3cb55b0d 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include @@ -31,19 +32,28 @@ using namespace gtsam; static SharedNoiseModel model(noiseModel::Unit::Create(1)); typedef BearingFactor BearingFactor2D; -typedef BearingFactor BearingFactor3D; +typedef BearingFactor BearingFactor3D; Key poseKey(1); Key pointKey(2); +GTSAM_CONCEPT_TESTABLE_INST(BearingFactor2D) + +/* ************************************************************************* */ +// Export Noisemodels +// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); + /* ************************************************************************* */ TEST(BearingFactor, 2D) { // Create a factor double measurement(10.0); - BearingFactor factor(poseKey, pointKey, measurement, model); + BearingFactor2D factor(poseKey, pointKey, measurement, model); std::string serialized = serializeXML(factor); cout << serialized << endl; + EXPECT(serializationTestHelpers::equalsObj(factor)); + // Set the linearization point Values values; values.insert(poseKey, Pose2(1.0, 2.0, 0.57)); From d45f6336d8df76de5ecbeeb53fd1017726e58b56 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 14:13:42 -0700 Subject: [PATCH 398/964] missing export header --- gtsam/linear/NoiseModel.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index f2f8a01cf..e8b8d2d23 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -20,6 +20,7 @@ #include #include +#include #include #include From 5b4daf7527c28ad587b3d0a4a27654d097027e2e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 14:14:04 -0700 Subject: [PATCH 399/964] Added tests for R/covariance/information --- gtsam/linear/tests/testNoiseModel.cpp | 53 +++++++++++---------------- 1 file changed, 22 insertions(+), 31 deletions(-) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index b2afb1709..37b55fc03 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -33,19 +33,12 @@ using namespace gtsam; using namespace noiseModel; using namespace boost::assign; -static const double kSigma = 2, s_1=1.0/kSigma, kVariance = kSigma*kSigma, prc = 1.0/kVariance; -static const Matrix R = (Matrix(3, 3) << - s_1, 0.0, 0.0, - 0.0, s_1, 0.0, - 0.0, 0.0, s_1).finished(); -static const Matrix kCovariance = (Matrix(3, 3) << - kVariance, 0.0, 0.0, - 0.0, kVariance, 0.0, - 0.0, 0.0, kVariance).finished(); +static const double kSigma = 2, kInverseSigma = 1.0 / kSigma, + kVariance = kSigma * kSigma, prc = 1.0 / kVariance; +static const Matrix R = Matrix3::Identity() * kInverseSigma; +static const Matrix kCovariance = Matrix3::Identity() * kVariance; static const Vector3 kSigmas(kSigma, kSigma, kSigma); -//static double inf = numeric_limits::infinity(); - /* ************************************************************************* */ TEST(NoiseModel, constructors) { @@ -58,8 +51,8 @@ TEST(NoiseModel, constructors) m.push_back(Gaussian::Covariance(kCovariance,false)); m.push_back(Gaussian::Information(kCovariance.inverse(),false)); m.push_back(Diagonal::Sigmas(kSigmas,false)); - m.push_back(Diagonal::Variances((Vector(3) << kVariance, kVariance, kVariance).finished(),false)); - m.push_back(Diagonal::Precisions((Vector(3) << prc, prc, prc).finished(),false)); + m.push_back(Diagonal::Variances((Vector3(kVariance, kVariance, kVariance)),false)); + m.push_back(Diagonal::Precisions(Vector3(prc, prc, prc),false)); m.push_back(Isotropic::Sigma(3, kSigma,false)); m.push_back(Isotropic::Variance(3, kVariance,false)); m.push_back(Isotropic::Precision(3, prc,false)); @@ -82,25 +75,23 @@ TEST(NoiseModel, constructors) DOUBLES_EQUAL(distance,mi->Mahalanobis(unwhitened),1e-9); // test R matrix - Matrix expectedR((Matrix(3, 3) << - s_1, 0.0, 0.0, - 0.0, s_1, 0.0, - 0.0, 0.0, s_1).finished()); - BOOST_FOREACH(Gaussian::shared_ptr mi, m) - EXPECT(assert_equal(expectedR,mi->R())); + EXPECT(assert_equal(R,mi->R())); + + // test covariance + BOOST_FOREACH(Gaussian::shared_ptr mi, m) + EXPECT(assert_equal(kCovariance,mi->covariance())); + + // test covariance + BOOST_FOREACH(Gaussian::shared_ptr mi, m) + EXPECT(assert_equal(kCovariance.inverse(),mi->information())); // test Whiten operator Matrix H((Matrix(3, 4) << 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0).finished()); - - Matrix expected((Matrix(3, 4) << - 0.0, 0.0, s_1, s_1, - 0.0, s_1, 0.0, s_1, - s_1, 0.0, 0.0, s_1).finished()); - + Matrix expected = kInverseSigma * H; BOOST_FOREACH(Gaussian::shared_ptr mi, m) EXPECT(assert_equal(expected,mi->Whiten(H))); @@ -122,7 +113,7 @@ TEST(NoiseModel, equals) { Gaussian::shared_ptr g1 = Gaussian::SqrtInformation(R), g2 = Gaussian::SqrtInformation(eye(3,3)); - Diagonal::shared_ptr d1 = Diagonal::Sigmas((Vector(3) << kSigma, kSigma, kSigma).finished()), + Diagonal::shared_ptr d1 = Diagonal::Sigmas(Vector3(kSigma, kSigma, kSigma)), d2 = Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3)); Isotropic::shared_ptr i1 = Isotropic::Sigma(3, kSigma), i2 = Isotropic::Sigma(3, 0.7); @@ -141,7 +132,7 @@ TEST(NoiseModel, equals) ///* ************************************************************************* */ //TEST(NoiseModel, ConstrainedSmart ) //{ -// Gaussian::shared_ptr nonconstrained = Constrained::MixedSigmas((Vector(3) << sigma, 0.0, sigma), true); +// Gaussian::shared_ptr nonconstrained = Constrained::MixedSigmas((Vector3(sigma, 0.0, sigma), true); // Diagonal::shared_ptr n1 = boost::dynamic_pointer_cast(nonconstrained); // Constrained::shared_ptr n2 = boost::dynamic_pointer_cast(nonconstrained); // EXPECT(n1); @@ -160,8 +151,8 @@ TEST(NoiseModel, ConstrainedConstructors ) Constrained::shared_ptr actual; size_t d = 3; double m = 100.0; - Vector sigmas = (Vector(3) << kSigma, 0.0, 0.0).finished(); - Vector mu = Vector3(200.0, 300.0, 400.0); + Vector3 sigmas(kSigma, 0.0, 0.0); + Vector3 mu(200.0, 300.0, 400.0); actual = Constrained::All(d); // TODO: why should this be a thousand ??? Dummy variable? EXPECT(assert_equal(gtsam::repeat(d, 1000.0), actual->mu())); @@ -187,7 +178,7 @@ TEST(NoiseModel, ConstrainedMixed ) { Vector feasible = Vector3(1.0, 0.0, 1.0), infeasible = Vector3(1.0, 1.0, 1.0); - Diagonal::shared_ptr d = Constrained::MixedSigmas((Vector(3) << kSigma, 0.0, kSigma).finished()); + Diagonal::shared_ptr d = Constrained::MixedSigmas(Vector3(kSigma, 0.0, kSigma)); // NOTE: we catch constrained variables elsewhere, so whitening does nothing 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))); @@ -346,7 +337,7 @@ TEST(NoiseModel, robustNoise) { const double k = 10.0, error1 = 1.0, error2 = 100.0; Matrix A = (Matrix(2, 2) << 1.0, 10.0, 100.0, 1000.0).finished(); - Vector b = (Vector(2) << error1, error2).finished(); + Vector b = Vector2(error1, error2); const Robust::shared_ptr robust = Robust::Create( mEstimator::Huber::Create(k, mEstimator::Huber::Scalar), Unit::Create(2)); From 64b26288f53bae9b12cedb4808198be1956caa03 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 14:16:17 -0700 Subject: [PATCH 400/964] fixed broken covariance --- 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 e8b8d2d23..2a4d7c746 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -242,7 +242,7 @@ namespace gtsam { virtual Matrix R() const { return thisR();} /// Compute information matrix - virtual Matrix information() const { return thisR().transpose() * thisR(); } + virtual Matrix information() const { return R().transpose() * R(); } /// Compute covariance matrix virtual Matrix covariance() const { return information().inverse(); } From ed0d66cf62250f0c89003f23bceb18fb339ca9cc Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 15:55:01 -0700 Subject: [PATCH 401/964] Fully serializable expression factors --- gtsam/nonlinear/ExpressionFactor.h | 97 ++++++++++++++++++++++----- gtsam/sam/BearingFactor.h | 47 ++++--------- gtsam/sam/tests/testBearingFactor.cpp | 41 +++++++---- 3 files changed, 121 insertions(+), 64 deletions(-) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index f1ff36c1e..53c183c91 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -46,19 +46,10 @@ public: typedef boost::shared_ptr > shared_ptr; /// Constructor - ExpressionFactor(const SharedNoiseModel& noiseModel, // - const T& measurement, const Expression& expression) : - measurement_(measurement), expression_(expression) { - if (!noiseModel) - throw std::invalid_argument("ExpressionFactor: no NoiseModel."); - if (noiseModel->dim() != Dim) - throw std::invalid_argument( - "ExpressionFactor was created with a NoiseModel of incorrect dimension."); - noiseModel_ = noiseModel; - - // Get keys and dimensions for Jacobian matrices - // An Expression is assumed unmutable, so we do this now - boost::tie(keys_, dims_) = expression_.keysAndDims(); + ExpressionFactor(const SharedNoiseModel& noiseModel, // + const T& measurement, const Expression& expression) + : NoiseModelFactor(noiseModel), measurement_(measurement) { + initialize(expression); } /// print relies on Testable traits being defined for T @@ -71,7 +62,8 @@ public: bool equals(const NonlinearFactor& f, double tol) const { const ExpressionFactor* p = dynamic_cast(&f); return p && NoiseModelFactor::equals(f, tol) && - traits::Equals(measurement_, p->measurement_, tol); + traits::Equals(measurement_, p->measurement_, tol) && + dims_ == p->dims_; } /** @@ -132,13 +124,84 @@ public: gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - protected: - /// Default constructor, for serialization - ExpressionFactor() {} +protected: + /// Default constructor, for serialization + ExpressionFactor() {} + /// Constructor for use by SerializableExpressionFactor + ExpressionFactor(const SharedNoiseModel& noiseModel, const T& measurement) + : NoiseModelFactor(noiseModel), measurement_(measurement) { + // Not properly initialized yet, need to call initialize + } + + /// Initialize with constructor arguments + void initialize(const Expression& expression) { + if (!noiseModel_) + throw std::invalid_argument("ExpressionFactor: no NoiseModel."); + if (noiseModel_->dim() != Dim) + throw std::invalid_argument( + "ExpressionFactor was created with a NoiseModel of incorrect dimension."); + expression_ = expression; + + // Get keys and dimensions for Jacobian matrices + // An Expression is assumed unmutable, so we do this now + boost::tie(keys_, dims_) = expression_.keysAndDims(); + } + +private: + /// Serialization function + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor); + ar& boost::serialization::make_nvp("measurement_", this->measurement_); + } + + friend class boost::serialization::access; }; // ExpressionFactor + +/** + * ExpressionFactor variant that supports serialization + * Simply overload the pure virtual method [expression] to construct an expression from keys_ + */ +template +class SerializableExpressionFactor : public ExpressionFactor { + public: + /// Constructor takes only two arguments, still need to call initialize + SerializableExpressionFactor(const SharedNoiseModel& noiseModel, const T& measurement) + : ExpressionFactor(noiseModel, measurement) { + } + + protected: + + /// Return an expression that predicts the measurement given Values + virtual Expression expression() const = 0; + + /// Default constructor, for serialization + SerializableExpressionFactor() {} + + /// Save to an archive: just saves the base class + template + void save(Archive& ar, const unsigned int /*version*/) const { + ar << boost::serialization::make_nvp( + "ExpressionFactor", boost::serialization::base_object >(*this)); + } + + /// Load from an archive, creating a valid expression using the overloaded [expression] method + template + void load(Archive& ar, const unsigned int /*version*/) { + ar >> boost::serialization::make_nvp( + "ExpressionFactor", boost::serialization::base_object >(*this)); + this->initialize(expression()); + } + + // Indicate that we implement save/load separately, and be friendly to boost + BOOST_SERIALIZATION_SPLIT_MEMBER() + friend class boost::serialization::access; +}; +// SerializableExpressionFactor + /// traits template struct traits > : public Testable > {}; diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index 9d5105604..87effa981 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -27,16 +27,6 @@ template void serialize(Archive& ar, gtsam::NonlinearFactor& factor, const unsigned int version) {} -// template -// void serialize(Archive& ar, gtsam::ExpressionFactor& factor, -// const unsigned int version) { -// ar& BOOST_SERIALIZATION_NVP(factor.measurement_); -//} - -// template -// void serialize(Archive& ar, Factor& factor, const unsigned int version) { -//} - } // namespace serialization } // namespace boost @@ -47,10 +37,10 @@ namespace gtsam { * @addtogroup SAM */ template -class BearingFactor : public ExpressionFactor { +class BearingFactor : public SerializableExpressionFactor { private: typedef BearingFactor This; - typedef ExpressionFactor Base; + typedef SerializableExpressionFactor Base; /** concept check by type */ GTSAM_CONCEPT_TESTABLE_TYPE(Measured) @@ -61,37 +51,28 @@ class BearingFactor : public ExpressionFactor { BearingFactor() {} /// primary constructor - BearingFactor(Key poseKey, Key pointKey, const Measured& measured, - const SharedNoiseModel& model) - : Base(model, measured, - Expression(Expression(poseKey), &Pose::bearing, - Expression(pointKey))) {} + BearingFactor(Key poseKey, Key pointKey, const Measured& measured, const SharedNoiseModel& model) + : Base(model, measured) { + this->keys_.push_back(poseKey); + this->keys_.push_back(pointKey); + this->initialize(expression()); + } virtual ~BearingFactor() {} /** print contents */ void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "BearingFactor, bearing = "; - this->measurement_.print(); - Base::print("", keyFormatter); + std::cout << s << "BearingFactor" << std::endl; + Base::print(s, keyFormatter); } private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE& ar, const unsigned int /*version*/) { - ar& boost::serialization::make_nvp( - "NoiseModelFactor", - boost::serialization::base_object(*this)); - ar& boost::serialization::make_nvp("measurement_", this->measurement_); + // Return an expression + virtual Expression expression() const { + return Expression(Expression(this->keys_[0]), &Pose::bearing, + Expression(this->keys_[1])); } - - template - friend void boost::serialization::serialize(Archive& ar, Base& factor, - const unsigned int version); - }; // BearingFactor /// traits diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index c3cb55b0d..b1cbfca8f 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -29,30 +29,41 @@ using namespace std; using namespace gtsam; // Create a noise model for the pixel error -static SharedNoiseModel model(noiseModel::Unit::Create(1)); - -typedef BearingFactor BearingFactor2D; -typedef BearingFactor BearingFactor3D; +static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5)); Key poseKey(1); Key pointKey(2); +typedef BearingFactor BearingFactor2D; +double measurement2D(10.0); +BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model); GTSAM_CONCEPT_TESTABLE_INST(BearingFactor2D) +typedef BearingFactor BearingFactor3D; + /* ************************************************************************* */ // Export Noisemodels // See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); +BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic); +//BOOST_CLASS_EXPORT(BearingFactor2D); +//BOOST_CLASS_EXPORT(ExpressionFactor); +//BOOST_CLASS_EXPORT_GUID(gtsam::ExpressionFactor, "ExpressionFactorRot2") + +/* ************************************************************************* */ +TEST(BearingFactor, Serialization2D) { + EXPECT(serializationTestHelpers::equalsObj(factor2D)); + EXPECT(serializationTestHelpers::equalsXML(factor2D)); + EXPECT(serializationTestHelpers::equalsBinary(factor2D)); +} /* ************************************************************************* */ TEST(BearingFactor, 2D) { - // Create a factor - double measurement(10.0); - BearingFactor2D factor(poseKey, pointKey, measurement, model); - std::string serialized = serializeXML(factor); - cout << serialized << endl; + // Serialize the factor + std::string serialized = serializeXML(factor2D); - EXPECT(serializationTestHelpers::equalsObj(factor)); + // And de-serialize it + BearingFactor2D factor; + deserializeXML(serialized, factor); // Set the linearization point Values values; @@ -63,15 +74,17 @@ TEST(BearingFactor, 2D) { } /* ************************************************************************* */ -// TODO(frank): this is broken: (non-existing) Pose3::bearing should yield a Unit3 -//TEST(BearingFactor, 3D) { +// TODO(frank): this is broken: (non-existing) Pose3::bearing should yield a +// Unit3 +// TEST(BearingFactor, 3D) { // // Create a factor // Rot3 measurement; // BearingFactor factor(poseKey, pointKey, measurement, model); // // // Set the linearization point // Values values; -// values.insert(poseKey, Pose3(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0, -3.0))); +// values.insert(poseKey, Pose3(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0, +// -3.0))); // values.insert(pointKey, Point3(-2.0, 11.0, 1.0)); // // EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); From 3cb9e192209001d7567d4b107f4dae58737991a8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 16:11:13 -0700 Subject: [PATCH 402/964] Separate header for serializable variant --- gtsam/nonlinear/ExpressionFactor.h | 44 +---------- .../nonlinear/SerializableExpressionFactor.h | 75 +++++++++++++++++++ 2 files changed, 78 insertions(+), 41 deletions(-) create mode 100644 gtsam/nonlinear/SerializableExpressionFactor.h diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index 53c183c91..c8137a098 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -52,6 +52,9 @@ public: initialize(expression); } + /// Destructor + virtual ~ExpressionFactor() {} + /// print relies on Testable traits being defined for T void print(const std::string& s, const KeyFormatter& keyFormatter) const { NoiseModelFactor::print(s, keyFormatter); @@ -161,47 +164,6 @@ private: // ExpressionFactor -/** - * ExpressionFactor variant that supports serialization - * Simply overload the pure virtual method [expression] to construct an expression from keys_ - */ -template -class SerializableExpressionFactor : public ExpressionFactor { - public: - /// Constructor takes only two arguments, still need to call initialize - SerializableExpressionFactor(const SharedNoiseModel& noiseModel, const T& measurement) - : ExpressionFactor(noiseModel, measurement) { - } - - protected: - - /// Return an expression that predicts the measurement given Values - virtual Expression expression() const = 0; - - /// Default constructor, for serialization - SerializableExpressionFactor() {} - - /// Save to an archive: just saves the base class - template - void save(Archive& ar, const unsigned int /*version*/) const { - ar << boost::serialization::make_nvp( - "ExpressionFactor", boost::serialization::base_object >(*this)); - } - - /// Load from an archive, creating a valid expression using the overloaded [expression] method - template - void load(Archive& ar, const unsigned int /*version*/) { - ar >> boost::serialization::make_nvp( - "ExpressionFactor", boost::serialization::base_object >(*this)); - this->initialize(expression()); - } - - // Indicate that we implement save/load separately, and be friendly to boost - BOOST_SERIALIZATION_SPLIT_MEMBER() - friend class boost::serialization::access; -}; -// SerializableExpressionFactor - /// traits template struct traits > : public Testable > {}; diff --git a/gtsam/nonlinear/SerializableExpressionFactor.h b/gtsam/nonlinear/SerializableExpressionFactor.h new file mode 100644 index 000000000..09b4faa57 --- /dev/null +++ b/gtsam/nonlinear/SerializableExpressionFactor.h @@ -0,0 +1,75 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SerializableExpressionFactor.h + * @date July 2015 + * @author Frank Dellaert + * @brief ExpressionFactor variant that supports serialization + */ + +#pragma once + +#include + +namespace gtsam { + +/** + * ExpressionFactor variant that supports serialization + * Simply overload the pure virtual method [expression] to construct an expression from keys_ + */ +template +class SerializableExpressionFactor : public ExpressionFactor { + public: + /// Constructor takes only two arguments, still need to call initialize + SerializableExpressionFactor(const SharedNoiseModel& noiseModel, const T& measurement) + : ExpressionFactor(noiseModel, measurement) { + } + + /// Destructor + virtual ~SerializableExpressionFactor() {} + + protected: + + /// Return an expression that predicts the measurement given Values + virtual Expression expression() const = 0; + + /// Default constructor, for serialization + SerializableExpressionFactor() {} + + /// Save to an archive: just saves the base class + template + void save(Archive& ar, const unsigned int /*version*/) const { + ar << boost::serialization::make_nvp( + "ExpressionFactor", boost::serialization::base_object >(*this)); + } + + /// Load from an archive, creating a valid expression using the overloaded [expression] method + template + void load(Archive& ar, const unsigned int /*version*/) { + ar >> boost::serialization::make_nvp( + "ExpressionFactor", boost::serialization::base_object >(*this)); + this->initialize(expression()); + } + + // Indicate that we implement save/load separately, and be friendly to boost + BOOST_SERIALIZATION_SPLIT_MEMBER() + friend class boost::serialization::access; +}; +// SerializableExpressionFactor + +/// traits +template +struct traits > + : public Testable > {}; + +}// \ namespace gtsam + From d4b4e99172df216fdc3e7c9149a7a5dd9cc395a2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 16:11:23 -0700 Subject: [PATCH 403/964] Clean up loose ends --- gtsam/sam/BearingFactor.h | 44 +++++++++++++-------------------------- 1 file changed, 15 insertions(+), 29 deletions(-) diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index 87effa981..e34d956a4 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -16,20 +16,10 @@ #pragma once -#include +#include #include #include -namespace boost { -namespace serialization { - -template -void serialize(Archive& ar, gtsam::NonlinearFactor& factor, - const unsigned int version) {} - -} // namespace serialization -} // namespace boost - namespace gtsam { /** @@ -39,39 +29,35 @@ namespace gtsam { template class BearingFactor : public SerializableExpressionFactor { private: - typedef BearingFactor This; - typedef SerializableExpressionFactor Base; - - /** concept check by type */ GTSAM_CONCEPT_TESTABLE_TYPE(Measured) GTSAM_CONCEPT_POSE_TYPE(Pose) + // Return measurement expression + virtual Expression expression() const { + return Expression(Expression(this->keys_[0]), &Pose::bearing, + Expression(this->keys_[1])); + } + public: - /// Default constructor + /// default constructor BearingFactor() {} /// primary constructor - BearingFactor(Key poseKey, Key pointKey, const Measured& measured, const SharedNoiseModel& model) - : Base(model, measured) { + BearingFactor(Key poseKey, Key pointKey, const Measured& measured, + const SharedNoiseModel& model) + : SerializableExpressionFactor(model, measured) { this->keys_.push_back(poseKey); this->keys_.push_back(pointKey); this->initialize(expression()); } + /// desructor virtual ~BearingFactor() {} - /** print contents */ - void print(const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + /// print + void print(const std::string& s = "", const KeyFormatter& kf = DefaultKeyFormatter) const { std::cout << s << "BearingFactor" << std::endl; - Base::print(s, keyFormatter); - } - - private: - // Return an expression - virtual Expression expression() const { - return Expression(Expression(this->keys_[0]), &Pose::bearing, - Expression(this->keys_[1])); + SerializableExpressionFactor::print(s, kf); } }; // BearingFactor From b97d66b04a9f1eab1c73280ab7f7b7faca586a40 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 16:34:10 -0700 Subject: [PATCH 404/964] Assert type T is Testable --- gtsam/nonlinear/ExpressionFactor.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index c8137a098..8a6f28713 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -31,6 +31,7 @@ namespace gtsam { */ template class ExpressionFactor: public NoiseModelFactor { + BOOST_CONCEPT_ASSERT((IsTestable)); protected: From 495f70bf78dba98fb212107e1412d49cad3e8eba Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 16:34:38 -0700 Subject: [PATCH 405/964] Now use 3 template parameters, no more need for Pose::Rotation --- gtsam/sam/BearingFactor.h | 27 +++++++++++---------------- gtsam/sam/tests/testBearingFactor.cpp | 2 +- 2 files changed, 12 insertions(+), 17 deletions(-) diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index e34d956a4..f7a060744 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -10,7 +10,9 @@ * -------------------------------------------------------------------------- */ /** - * @file BearingFactor.H + * @file BearingFactor.h + * @brief Serializable factor induced by a bearing measurement on a point from a pose + * @date July 2015 * @author Frank Dellaert **/ @@ -26,33 +28,26 @@ namespace gtsam { * Binary factor for a bearing measurement * @addtogroup SAM */ -template -class BearingFactor : public SerializableExpressionFactor { - private: - GTSAM_CONCEPT_TESTABLE_TYPE(Measured) +template +struct BearingFactor : public SerializableExpressionFactor { GTSAM_CONCEPT_POSE_TYPE(Pose) - // Return measurement expression - virtual Expression expression() const { - return Expression(Expression(this->keys_[0]), &Pose::bearing, - Expression(this->keys_[1])); - } - - public: /// default constructor BearingFactor() {} /// primary constructor - BearingFactor(Key poseKey, Key pointKey, const Measured& measured, - const SharedNoiseModel& model) + BearingFactor(Key poseKey, Key pointKey, const Measured& measured, const SharedNoiseModel& model) : SerializableExpressionFactor(model, measured) { this->keys_.push_back(poseKey); this->keys_.push_back(pointKey); this->initialize(expression()); } - /// desructor - virtual ~BearingFactor() {} + // Return measurement expression + virtual Expression expression() const { + return Expression(Expression(this->keys_[0]), &Pose::bearing, + Expression(this->keys_[1])); + } /// print void print(const std::string& s = "", const KeyFormatter& kf = DefaultKeyFormatter) const { diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index b1cbfca8f..7271d6b51 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -34,7 +34,7 @@ static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5)); Key poseKey(1); Key pointKey(2); -typedef BearingFactor BearingFactor2D; +typedef BearingFactor BearingFactor2D; double measurement2D(10.0); BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model); GTSAM_CONCEPT_TESTABLE_INST(BearingFactor2D) From 58a280c6725c520e0e57bde92e78671116dac5f8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 16:56:31 -0700 Subject: [PATCH 406/964] Bearing --- gtsam/geometry/Pose3.cpp | 50 +++++++++++++++++++++++++--------------- gtsam/geometry/Pose3.h | 8 +++++++ 2 files changed, 39 insertions(+), 19 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index e549cb009..f79b71c32 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -314,35 +314,47 @@ Point3 Pose3::transform_to(const Point3& p, OptionalJacobian<3,6> Dpose, /* ************************************************************************* */ double Pose3::range(const Point3& point, OptionalJacobian<1, 6> H1, - OptionalJacobian<1, 3> H2) const { + OptionalJacobian<1, 3> H2) const { + Matrix36 D1; + Matrix3 D2; + Point3 local = transform_to(point, H1 ? &D1 : 0, H2 ? &D2 : 0); if (!H1 && !H2) { - return transform_to(point).norm(); + return local.norm(); } else { - Matrix36 D1; - Matrix3 D2; - Point3 d = transform_to(point, H1 ? &D1 : 0, H2 ? &D2 : 0); - const double x = d.x(), y = d.y(), z = d.z(), d2 = x * x + y * y + z * z, - n = sqrt(d2); - Matrix13 D_result_d; - D_result_d << x / n, y / n, z / n; - if (H1) *H1 = D_result_d * D1; - if (H2) *H2 = D_result_d * D2; - return n; + Matrix13 D_r_local; + const double r = local.norm(D_r_local); + if (H1) *H1 = D_r_local * D1; + if (H2) *H2 = D_r_local * D2; + 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> H1, + OptionalJacobian<1, 6> H2) const { Matrix13 D2; - double r = range(pose.translation(), H1, H2? &D2 : 0); - if (H2) { - Matrix13 H2_ = D2 * pose.rotation().matrix(); - *H2 << Matrix13::Zero(), H2_; - } + double r = range(pose.translation(), H1, H2 ? &D2 : 0); + if (H2) *H2 << Matrix13::Zero(), D2 * pose.rotation().matrix(); return r; } +/* ************************************************************************* */ +Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1, + OptionalJacobian<2, 3> H2) const { + Matrix36 D1; + Matrix3 D2; + Point3 local = transform_to(point, H1 ? &D1 : 0, H2 ? &D2 : 0); + if (!H1 && !H2) { + return Unit3(local); + } else { + Matrix23 D_b_local; + Unit3 b = Unit3::FromPoint3(local, D_b_local); + if (H1)* H1 = D_b_local * D1; + if (H2) *H2 = D_b_local * D2; + return b; + } +} + /* ************************************************************************* */ boost::optional align(const vector& pairs) { const size_t n = pairs.size(); diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 8a0f23404..6e36f7ad0 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -262,6 +262,14 @@ public: double range(const Pose3& pose, OptionalJacobian<1, 6> H1 = boost::none, OptionalJacobian<1, 6> H2 = 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; + /// @} /// @name Advanced Interface /// @{ From e40c546931dd955fef5b1a7e518f0d827bfb7b99 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 16:56:38 -0700 Subject: [PATCH 407/964] Test 3D version --- gtsam/sam/tests/testBearingFactor.cpp | 47 +++++++++++++++------------ 1 file changed, 27 insertions(+), 20 deletions(-) diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index 7271d6b51..7cdb405fa 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -28,18 +28,18 @@ using namespace std; using namespace gtsam; -// Create a noise model for the pixel error -static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5)); - Key poseKey(1); Key pointKey(2); typedef BearingFactor BearingFactor2D; double measurement2D(10.0); -BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model); -GTSAM_CONCEPT_TESTABLE_INST(BearingFactor2D) +static SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(1, 0.5)); +BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model2D); typedef BearingFactor BearingFactor3D; +Unit3 measurement3D(1,2,3); +static SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(2, 0.5)); +BearingFactor3D factor3D(poseKey, pointKey, measurement3D, model3D); /* ************************************************************************* */ // Export Noisemodels @@ -74,21 +74,28 @@ TEST(BearingFactor, 2D) { } /* ************************************************************************* */ -// TODO(frank): this is broken: (non-existing) Pose3::bearing should yield a -// Unit3 -// TEST(BearingFactor, 3D) { -// // Create a factor -// Rot3 measurement; -// BearingFactor factor(poseKey, pointKey, measurement, model); -// -// // Set the linearization point -// Values values; -// values.insert(poseKey, Pose3(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0, -// -3.0))); -// values.insert(pointKey, Point3(-2.0, 11.0, 1.0)); -// -// EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); -//} +TEST(BearingFactor, Serialization3D) { + EXPECT(serializationTestHelpers::equalsObj(factor3D)); + EXPECT(serializationTestHelpers::equalsXML(factor3D)); + EXPECT(serializationTestHelpers::equalsBinary(factor3D)); +} + +/* ************************************************************************* */ +TEST(BearingFactor, 3D) { + // Serialize the factor + std::string serialized = serializeXML(factor3D); + + // And de-serialize it + BearingFactor3D factor; + deserializeXML(serialized, factor); + + // Set the linearization point + Values values; + values.insert(poseKey, Pose3(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0,-3.0))); + values.insert(pointKey, Point3(-2.0, 11.0, 1.0)); + + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); +} /* ************************************************************************* */ int main() { From 12bbe2f911132b188968c66bf8f504d9666a3e42 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 18:29:15 -0700 Subject: [PATCH 408/964] Added comment about manifold measurements --- gtsam/nonlinear/factorTesting.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam/nonlinear/factorTesting.h b/gtsam/nonlinear/factorTesting.h index 7709e1f1c..52f103630 100644 --- a/gtsam/nonlinear/factorTesting.h +++ b/gtsam/nonlinear/factorTesting.h @@ -33,6 +33,10 @@ namespace gtsam { * The benefit of this method is that it does not need to know what types are * involved to evaluate the factor. If all the machinery of gtsam is working * correctly, we should get the correct numerical derivatives out the other side. + * NOTE(frank): factor that have non vector-space measurements use between or LocalCoordinates + * to evaluate the error, and their derivatives will only be correct for near-zero errors. + * This is fixable but expensive, and does not matter in practice as most factors will sit near + * zero errors anyway. However, it means that below will only be exact for the correct measurement. */ JacobianFactor linearizeNumerically(const NoiseModelFactor& factor, const Values& values, double delta = 1e-5) { From 5052eb2c6471ca7b29bc5ecf43111716f47168d5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 18:29:39 -0700 Subject: [PATCH 409/964] cleaning up --- gtsam.h | 10 +++++----- gtsam/sam/BearingFactor.h | 25 +++++++++++-------------- gtsam_unstable/slam/serialization.cpp | 6 ------ tests/testSerializationSLAM.cpp | 16 ---------------- 4 files changed, 16 insertions(+), 41 deletions(-) diff --git a/gtsam.h b/gtsam.h index 0273205c3..2c3106d97 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2283,9 +2283,9 @@ typedef gtsam::RangeFactor RangeFactorPose3; #include -template +template virtual class BearingFactor : gtsam::NoiseModelFactor { - BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel); + BearingFactor(size_t key1, size_t key2, const MEASURED& measured, const gtsam::noiseModel::Base* noiseModel); // enabling serialization functionality void serialize() const; @@ -2295,11 +2295,11 @@ typedef gtsam::BearingFactor BearingFa #include -template +template virtual class BearingRangeFactor : gtsam::NoiseModelFactor { - BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); + BearingRangeFactor(size_t poseKey, size_t pointKey, const MEASURED& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); - pair measured() const; + pair measured() const; // enabling serialization functionality void serialize() const; diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index f7a060744..15fce6239 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -11,7 +11,7 @@ /** * @file BearingFactor.h - * @brief Serializable factor induced by a bearing measurement on a point from a pose + * @brief Serializable factor induced by a bearing measurement of a point from a given pose * @date July 2015 * @author Frank Dellaert **/ @@ -20,7 +20,6 @@ #include #include -#include namespace gtsam { @@ -28,37 +27,35 @@ namespace gtsam { * Binary factor for a bearing measurement * @addtogroup SAM */ -template -struct BearingFactor : public SerializableExpressionFactor { - GTSAM_CONCEPT_POSE_TYPE(Pose) +template +struct BearingFactor : public SerializableExpressionFactor { /// default constructor BearingFactor() {} /// primary constructor - BearingFactor(Key poseKey, Key pointKey, const Measured& measured, const SharedNoiseModel& model) - : SerializableExpressionFactor(model, measured) { + BearingFactor(Key poseKey, Key pointKey, const T& measured, const SharedNoiseModel& model) + : SerializableExpressionFactor(model, measured) { this->keys_.push_back(poseKey); this->keys_.push_back(pointKey); this->initialize(expression()); } // Return measurement expression - virtual Expression expression() const { - return Expression(Expression(this->keys_[0]), &Pose::bearing, - Expression(this->keys_[1])); + virtual Expression expression() const { + return Expression(Expression(this->keys_[0]), &POSE::bearing, + Expression(this->keys_[1])); } /// print void print(const std::string& s = "", const KeyFormatter& kf = DefaultKeyFormatter) const { std::cout << s << "BearingFactor" << std::endl; - SerializableExpressionFactor::print(s, kf); + SerializableExpressionFactor::print(s, kf); } }; // BearingFactor /// traits -template -struct traits > - : public Testable > {}; +template +struct traits > : public Testable > {}; } // namespace gtsam diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp index 3cbbcc3a3..2e8bf8b4b 100644 --- a/gtsam_unstable/slam/serialization.cpp +++ b/gtsam_unstable/slam/serialization.cpp @@ -11,7 +11,6 @@ #include //#include -#include #include #include //#include @@ -80,9 +79,6 @@ typedef RangeFactor RangeFactorSimpleCameraP typedef RangeFactor RangeFactorCalibratedCamera; typedef RangeFactor RangeFactorSimpleCamera; -typedef BearingFactor BearingFactor2D; -typedef BearingFactor BearingFactor3D; - typedef BearingRangeFactor BearingRangeFactor2D; typedef BearingRangeFactor BearingRangeFactor3D; @@ -185,8 +181,6 @@ BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleC BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera"); BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera"); -BOOST_CLASS_EXPORT_GUID(BearingFactor2D, "gtsam::BearingFactor2D"); - BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D"); BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2"); diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 2514c80d9..d13b53dd5 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -22,7 +22,6 @@ #include //#include -#include #include #include //#include @@ -106,9 +105,6 @@ typedef RangeFactor RangeFactorSimpleCameraP typedef RangeFactor RangeFactorCalibratedCamera; typedef RangeFactor RangeFactorSimpleCamera; -typedef BearingFactor BearingFactor2D; -typedef BearingFactor BearingFactor3D; - typedef BearingRangeFactor BearingRangeFactor2D; typedef BearingRangeFactor BearingRangeFactor3D; @@ -217,8 +213,6 @@ BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleC BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera"); BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera"); -BOOST_CLASS_EXPORT_GUID(BearingFactor2D, "gtsam::BearingFactor2D"); - BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D"); BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2"); @@ -393,8 +387,6 @@ TEST (testSerializationSLAM, factors) { RangeFactorCalibratedCamera rangeFactorCalibratedCamera(a12, b12, 2.0, model1); RangeFactorSimpleCamera rangeFactorSimpleCamera(a13, b13, 2.0, model1); - BearingFactor2D bearingFactor2D(a08, a03, rot2, model1); - BearingRangeFactor2D bearingRangeFactor2D(a08, a03, rot2, 2.0, model2); GenericProjectionFactorCal3_S2 genericProjectionFactorCal3_S2(point2, model2, a09, a05, boost::make_shared(cal3_s2)); @@ -456,8 +448,6 @@ TEST (testSerializationSLAM, factors) { graph += rangeFactorCalibratedCamera; graph += rangeFactorSimpleCamera; - graph += bearingFactor2D; - graph += bearingRangeFactor2D; graph += genericProjectionFactorCal3_S2; @@ -524,8 +514,6 @@ TEST (testSerializationSLAM, factors) { EXPECT(equalsObj(rangeFactorCalibratedCamera)); EXPECT(equalsObj(rangeFactorSimpleCamera)); - EXPECT(equalsObj(bearingFactor2D)); - EXPECT(equalsObj(bearingRangeFactor2D)); EXPECT(equalsObj(genericProjectionFactorCal3_S2)); @@ -592,8 +580,6 @@ TEST (testSerializationSLAM, factors) { EXPECT(equalsXML(rangeFactorCalibratedCamera)); EXPECT(equalsXML(rangeFactorSimpleCamera)); - EXPECT(equalsXML(bearingFactor2D)); - EXPECT(equalsXML(bearingRangeFactor2D)); EXPECT(equalsXML(genericProjectionFactorCal3_S2)); @@ -660,8 +646,6 @@ TEST (testSerializationSLAM, factors) { EXPECT(equalsBinary(rangeFactorCalibratedCamera)); EXPECT(equalsBinary(rangeFactorSimpleCamera)); - EXPECT(equalsBinary(bearingFactor2D)); - EXPECT(equalsBinary(bearingRangeFactor2D)); EXPECT(equalsBinary(genericProjectionFactorCal3_S2)); From 6b037ea49262d2f8f1ddf97d0573f143584a3187 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 18:32:10 -0700 Subject: [PATCH 410/964] bearing test --- gtsam/geometry/Pose3.cpp | 26 +++++++++++++------------- gtsam/geometry/tests/testPose3.cpp | 16 ++++++++++++++++ 2 files changed, 29 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index f79b71c32..ac08f0797 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -315,16 +315,16 @@ Point3 Pose3::transform_to(const Point3& p, OptionalJacobian<3,6> Dpose, /* ************************************************************************* */ double Pose3::range(const Point3& point, OptionalJacobian<1, 6> H1, OptionalJacobian<1, 3> H2) const { - Matrix36 D1; - Matrix3 D2; - Point3 local = transform_to(point, H1 ? &D1 : 0, H2 ? &D2 : 0); + Matrix36 D_local_pose; + Matrix3 D_local_point; + Point3 local = transform_to(point, H1 ? &D_local_pose : 0, H2 ? &D_local_point : 0); if (!H1 && !H2) { return local.norm(); } else { Matrix13 D_r_local; const double r = local.norm(D_r_local); - if (H1) *H1 = D_r_local * D1; - if (H2) *H2 = D_r_local * D2; + if (H1) *H1 = D_r_local * D_local_pose; + if (H2) *H2 = D_r_local * D_local_point; return r; } } @@ -332,25 +332,25 @@ double Pose3::range(const Point3& point, OptionalJacobian<1, 6> H1, /* ************************************************************************* */ double Pose3::range(const Pose3& pose, OptionalJacobian<1, 6> H1, OptionalJacobian<1, 6> H2) const { - Matrix13 D2; - double r = range(pose.translation(), H1, H2 ? &D2 : 0); - if (H2) *H2 << Matrix13::Zero(), D2 * pose.rotation().matrix(); + 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(); return r; } /* ************************************************************************* */ Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1, OptionalJacobian<2, 3> H2) const { - Matrix36 D1; - Matrix3 D2; - Point3 local = transform_to(point, H1 ? &D1 : 0, H2 ? &D2 : 0); + Matrix36 D_local_pose; + Matrix3 D_local_point; + Point3 local = transform_to(point, H1 ? &D_local_pose : 0, H2 ? &D_local_point : 0); if (!H1 && !H2) { return Unit3(local); } else { Matrix23 D_b_local; Unit3 b = Unit3::FromPoint3(local, D_b_local); - if (H1)* H1 = D_b_local * D1; - if (H2) *H2 = D_b_local * D2; + if (H1) *H1 = D_b_local * D_local_pose; + if (H2) *H2 = D_b_local * D_local_point; return b; } } diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index cf6ca9bfb..f6f8b7b40 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -633,6 +633,22 @@ TEST( Pose3, range_pose ) EXPECT(assert_equal(expectedH2,actualH2)); } +/* ************************************************************************* */ +Unit3 bearing_proxy(const Pose3& pose, const Point3& point) { + return pose.bearing(point); +} +TEST( Pose3, bearing ) +{ + Matrix expectedH1, actualH1, expectedH2, actualH2; + EXPECT(assert_equal(Unit3(1,0,0),x1.bearing(l1, actualH1, actualH2),1e-9)); + + // Check numerical derivatives + expectedH1 = numericalDerivative21(bearing_proxy, x1, l1); + expectedH2 = numericalDerivative22(bearing_proxy, x1, l1); + EXPECT(assert_equal(expectedH1,actualH1)); + EXPECT(assert_equal(expectedH2,actualH2)); +} + /* ************************************************************************* */ TEST( Pose3, unicycle ) { From e52dca63f6807ddfdbbd4da34b6a3de19c9b8112 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 18:32:43 -0700 Subject: [PATCH 411/964] 3D version with Unit3 measurement now works --- gtsam/sam/tests/testBearingFactor.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index 7cdb405fa..93ad9db7f 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include @@ -37,7 +38,7 @@ static SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(1, 0.5)); BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model2D); typedef BearingFactor BearingFactor3D; -Unit3 measurement3D(1,2,3); +Unit3 measurement3D = Pose3().bearing(Point3(1,0,0)); // has to match values! static SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(2, 0.5)); BearingFactor3D factor3D(poseKey, pointKey, measurement3D, model3D); @@ -45,9 +46,6 @@ BearingFactor3D factor3D(poseKey, pointKey, measurement3D, model3D); // Export Noisemodels // See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic); -//BOOST_CLASS_EXPORT(BearingFactor2D); -//BOOST_CLASS_EXPORT(ExpressionFactor); -//BOOST_CLASS_EXPORT_GUID(gtsam::ExpressionFactor, "ExpressionFactorRot2") /* ************************************************************************* */ TEST(BearingFactor, Serialization2D) { @@ -70,7 +68,8 @@ TEST(BearingFactor, 2D) { values.insert(poseKey, Pose2(1.0, 2.0, 0.57)); values.insert(pointKey, Point2(-4.0, 11.0)); - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(), values, 1e-7,1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); } /* ************************************************************************* */ @@ -91,10 +90,11 @@ TEST(BearingFactor, 3D) { // Set the linearization point Values values; - values.insert(poseKey, Pose3(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0,-3.0))); - values.insert(pointKey, Point3(-2.0, 11.0, 1.0)); + values.insert(poseKey, Pose3()); + values.insert(pointKey, Point3(1,0,0)); - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(), values, 1e-7,1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); } /* ************************************************************************* */ From 5c406dc7c72d2ac4c77f90b8c2c254147fa0b565 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 20:00:41 -0700 Subject: [PATCH 412/964] fixed serialization (no need to save B!) --- gtsam/geometry/Unit3.h | 9 +-------- gtsam/geometry/tests/testUnit3.cpp | 12 +++++++++++- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index 9d0444844..b7e243419 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -147,7 +147,7 @@ public: enum CoordinatesMode { EXPMAP, ///< Use the exponential map to retract - RENORM ///< Retract with vector addtion and renormalize. + RENORM ///< Retract with vector addition and renormalize. }; /// The retract function @@ -167,13 +167,6 @@ private: template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_NVP(p_); - // homebrew serialize Eigen Matrix - ar & boost::serialization::make_nvp("B11", (*B_)(0, 0)); - ar & boost::serialization::make_nvp("B12", (*B_)(0, 1)); - ar & boost::serialization::make_nvp("B21", (*B_)(1, 0)); - ar & boost::serialization::make_nvp("B22", (*B_)(1, 1)); - ar & boost::serialization::make_nvp("B31", (*B_)(2, 0)); - ar & boost::serialization::make_nvp("B32", (*B_)(2, 1)); } /// @} diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 16c7cd0e7..b2f387d67 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -22,11 +22,13 @@ #include #include #include +#include + #include + #include #include #include -//#include #include #include @@ -365,6 +367,14 @@ TEST (Unit3, FromPoint3) { EXPECT(assert_equal(expectedH, actualH, 1e-8)); } +/* ************************************************************************* */ +TEST(actualH, Serialization) { + Unit3 p(0, 1, 0); + EXPECT(serializationTestHelpers::equalsObj(p)); + EXPECT(serializationTestHelpers::equalsXML(p)); + EXPECT(serializationTestHelpers::equalsBinary(p)); +} + /* ************************************************************************* */ int main() { srand(time(NULL)); From c8cf14d4b9a92b40f9c08df2e329f0f7bfd05b7c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 20:00:56 -0700 Subject: [PATCH 413/964] Moved mutex around smaller block --- gtsam/geometry/Unit3.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index a4153643e..aad128816 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -69,18 +69,13 @@ Unit3 Unit3::Random(boost::mt19937 & rng) { } #ifdef GTSAM_USE_TBB -tbb::mutex unit3BasisMutex; +static tbb::mutex unit3BasisMutex; #endif /* ************************************************************************* */ const Matrix32& Unit3::basis() const { -#ifdef GTSAM_USE_TBB - tbb::mutex::scoped_lock lock(unit3BasisMutex); -#endif - // Return cached version if exists - if (B_) - return *B_; + if (B_) return *B_; // Get the axis of rotation with the minimum projected length of the point Vector3 axis; @@ -99,8 +94,13 @@ const Matrix32& Unit3::basis() const { Vector3 b2 = p_.cross(b1).normalized(); // Create the basis matrix - B_.reset(Matrix32()); - (*B_) << b1, b2; + { +#ifdef GTSAM_USE_TBB + tbb::mutex::scoped_lock lock(unit3BasisMutex); +#endif + B_.reset(Matrix32()); + (*B_) << b1, b2; + } return *B_; } From 48169e7776cc54fbb2e6894da673a834b4cd711b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 11 Jul 2015 21:14:45 -0700 Subject: [PATCH 414/964] restored mutex to original scope --- gtsam/geometry/Unit3.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index aad128816..922b1e940 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -74,6 +74,10 @@ static tbb::mutex unit3BasisMutex; /* ************************************************************************* */ const Matrix32& Unit3::basis() const { +#ifdef GTSAM_USE_TBB + tbb::mutex::scoped_lock lock(unit3BasisMutex); +#endif + // Return cached version if exists if (B_) return *B_; @@ -94,13 +98,8 @@ const Matrix32& Unit3::basis() const { Vector3 b2 = p_.cross(b1).normalized(); // Create the basis matrix - { -#ifdef GTSAM_USE_TBB - tbb::mutex::scoped_lock lock(unit3BasisMutex); -#endif - B_.reset(Matrix32()); - (*B_) << b1, b2; - } + B_.reset(Matrix32()); + (*B_) << b1, b2; return *B_; } From 84950b3b4d2a11e1e83e84469839b9308a0fa4bf Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 05:17:23 +0000 Subject: [PATCH 415/964] Unit3.cpp edited online with Bitbucket --- gtsam/geometry/Unit3.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 922b1e940..d70c17f4b 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -69,13 +69,13 @@ Unit3 Unit3::Random(boost::mt19937 & rng) { } #ifdef GTSAM_USE_TBB -static tbb::mutex unit3BasisMutex; +tbb::mutex unit3BasisMutex; #endif /* ************************************************************************* */ const Matrix32& Unit3::basis() const { #ifdef GTSAM_USE_TBB - tbb::mutex::scoped_lock lock(unit3BasisMutex); + tbb::mutex::scoped_lock lock(unit3BasisMutex); #endif // Return cached version if exists From fcbceaf746ff2a5d70e3683f6894afb5a3903958 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 00:12:06 -0700 Subject: [PATCH 416/964] More tests --- gtsam/geometry/tests/testUnit3.cpp | 27 +++++++++++++++++++++++---- 1 file changed, 23 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index b2f387d67..3f5f32e1d 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -158,20 +158,39 @@ TEST(Unit3, distance) { TEST(Unit3, localCoordinates) { { - Unit3 p; - Vector2 actual = p.localCoordinates(p); + Unit3 p, q; + Vector2 expected = Vector2::Zero(); + Vector2 actual = p.localCoordinates(q); EXPECT(assert_equal(zero(2), actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); } { Unit3 p, q(1, 6.12385e-21, 0); + Vector2 expected = Vector2::Zero(); Vector2 actual = p.localCoordinates(q); - CHECK(assert_equal(zero(2), actual, 1e-8)); + EXPECT(assert_equal(zero(2), actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); } { Unit3 p, q(-1, 0, 0); Vector2 expected(M_PI, 0); Vector2 actual = p.localCoordinates(q); - CHECK(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + } + { + Unit3 p, q(0, 1, 0); + Vector2 expected(0,-M_PI_2); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + } + { + Unit3 p, q(0, -1, 0); + Vector2 expected(0, M_PI_2); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); } double twist = 1e-4; From 3245a2304eeecaa0de08a789658829bfd0cddf49 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 10:29:55 -0700 Subject: [PATCH 417/964] Improved small angle behavior of retract --- gtsam/geometry/Unit3.cpp | 43 +++++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 20 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 922b1e940..5142faeb5 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -38,6 +38,7 @@ #include #include +#include using namespace std; @@ -135,37 +136,39 @@ double Unit3::distance(const Unit3& q, OptionalJacobian<1,2> H) const { /* ************************************************************************* */ Unit3 Unit3::retract(const Vector2& v) const { - // Compute the 3D xi_hat vector Vector3 xi_hat = basis() * v; - double xi_hat_norm = xi_hat.norm(); + double theta = xi_hat.norm(); - // When v is the so small and approximate as a direction - if (xi_hat_norm < 1e-8) { - return Unit3(cos(xi_hat_norm) * p_ + xi_hat); + // Treat case of very small v differently + if (theta < std::numeric_limits::epsilon()) { + return Unit3(cos(theta) * p_ + xi_hat); } - Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p_ - + sin(xi_hat_norm) * (xi_hat / xi_hat_norm); + Vector3 exp_p_xi_hat = + cos(theta) * p_ + xi_hat * (sin(theta) / theta); return Unit3(exp_p_xi_hat); } /* ************************************************************************* */ -Vector2 Unit3::localCoordinates(const Unit3& y) const { - - double dot = p_.dot(y.p_); - - // Check for special cases - if (std::abs(dot - 1.0) < 1e-16) - return Vector2(0.0, 0.0); - else if (std::abs(dot + 1.0) < 1e-16) - return Vector2(M_PI, 0.0); - else { +Vector2 Unit3::localCoordinates(const Unit3& other) const { + const double x = p_.dot(other.p_); + // Crucial quantitity here is y = theta/sin(theta) with theta=acos(x) + // Now, y = acos(x) / sin(acos(x)) = acos(x)/sqrt(1-x^2) + // We treat the special caes 1 and -1 below + const double x2 = x * x; + const double z = 1 - x2; + double y; + if (z < std::numeric_limits::epsilon()) { + if (x > 0) // expand at x=1 + y = 1.0 - (x - 1.0) / 3.0; + else // cop out + return Vector2(M_PI, 0.0); + } else { // no special case - const double theta = acos(dot); - Vector3 result_hat = (theta / sin(theta)) * (y.p_ - p_ * dot); - return basis().transpose() * result_hat; + y = acos(x) / sqrt(z); } + return basis().transpose() * y * (other.p_ - x * p_); } /* ************************************************************************* */ From 297f8fcc9bff72226885c630e95450a8bf1fe2b0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 10:30:30 -0700 Subject: [PATCH 418/964] Replaced flaky random tests with more compact one that excludes degeneracies explicitly --- gtsam/geometry/tests/testUnit3.cpp | 138 +++++------------------------ 1 file changed, 20 insertions(+), 118 deletions(-) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 3f5f32e1d..a4227acdf 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -246,124 +246,6 @@ TEST(Unit3, retract_expmap) { EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); } -//******************************************************************************* -/// Returns a random vector -inline static Vector randomVector(const Vector& minLimits, - const Vector& maxLimits) { - - // Get the number of dimensions and create the return vector - size_t numDims = dim(minLimits); - Vector vector = zero(numDims); - - // Create the random vector - for (size_t i = 0; i < numDims; i++) { - double range = maxLimits(i) - minLimits(i); - vector(i) = (((double) rand()) / RAND_MAX) * range + minLimits(i); - } - return vector; -} - -//******************************************************************************* -// Let x and y be two Unit3's. -// The equality x.localCoordinates(x.retract(v)) == v should hold. -TEST(Unit3, localCoordinates_retract) { - - size_t numIterations = 10000; - Vector3 minSphereLimit(-1.0, -1.0, -1.0); - Vector3 maxSphereLimit(1.0, 1.0, 1.0); - Vector2 minXiLimit(-1.0, -1.0); - Vector2 maxXiLimit(1.0, 1.0); - - for (size_t i = 0; i < numIterations; i++) { - - // Sleep for the random number generator (TODO?: Better create all of them first). -// boost::this_thread::sleep(boost::posix_time::milliseconds(0)); - - // Create the two Unit3s. - // NOTE: You can not create two totally random Unit3's because you cannot always compute - // between two any Unit3's. (For instance, they might be at the different sides of the circle). - Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); -// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); - Vector v12 = randomVector(minXiLimit, maxXiLimit); - Unit3 s2 = s1.retract(v12); - - // Check if the local coordinates and retract return the same results. - Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-8)); - Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-8)); - } -} - -//******************************************************************************* -// Let x and y be two Unit3's. -// The equality x.localCoordinates(x.retract(v)) == v should hold. -TEST(Unit3, localCoordinates_retract_expmap) { - - size_t numIterations = 10000; - Vector3 minSphereLimit = Vector3(-1.0, -1.0, -1.0); - Vector3 maxSphereLimit = Vector3(1.0, 1.0, 1.0); - Vector2 minXiLimit = Vector2(-M_PI, -M_PI); - Vector2 maxXiLimit = Vector2(M_PI, M_PI); - - for (size_t i = 0; i < numIterations; i++) { - - // Sleep for the random number generator (TODO?: Better create all of them first). -// boost::this_thread::sleep(boost::posix_time::milliseconds(0)); - Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); -// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); - Vector v = randomVector(minXiLimit, maxXiLimit); - - // Magnitude of the rotation can be at most pi - if (v.norm() > M_PI) - v = v / M_PI; - Unit3 s2 = s1.retract(v); - - EXPECT(assert_equal(v, s1.localCoordinates(s1.retract(v)), 1e-6)); - EXPECT(assert_equal(s2, s1.retract(s1.localCoordinates(s2)), 1e-6)); - } -} - -//******************************************************************************* -//TEST( Pose2, between ) -//{ -// // < -// // -// // ^ -// // -// // *--0--*--* -// Pose2 gT1(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y -// Pose2 gT2(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x -// -// Matrix actualH1,actualH2; -// Pose2 expected(M_PI/2.0, Point2(2,2)); -// Pose2 actual1 = gT1.between(gT2); -// Pose2 actual2 = gT1.between(gT2,actualH1,actualH2); -// EXPECT(assert_equal(expected,actual1)); -// EXPECT(assert_equal(expected,actual2)); -// -// Matrix expectedH1 = (Matrix(3,3) << -// 0.0,-1.0,-2.0, -// 1.0, 0.0,-2.0, -// 0.0, 0.0,-1.0 -// ); -// Matrix numericalH1 = numericalDerivative21(testing::between, gT1, gT2); -// EXPECT(assert_equal(expectedH1,actualH1)); -// EXPECT(assert_equal(numericalH1,actualH1)); -// // Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx -// EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1)); -// -// Matrix expectedH2 = (Matrix(3,3) << -// 1.0, 0.0, 0.0, -// 0.0, 1.0, 0.0, -// 0.0, 0.0, 1.0 -// ); -// Matrix numericalH2 = numericalDerivative22(testing::between, gT1, gT2); -// EXPECT(assert_equal(expectedH2,actualH2)); -// EXPECT(assert_equal(numericalH2,actualH2)); -// -//} - //******************************************************************************* TEST(Unit3, Random) { boost::mt19937 rng(42); @@ -375,6 +257,26 @@ TEST(Unit3, Random) { EXPECT(assert_equal(expectedMean,actualMean,0.1)); } +//******************************************************************************* +// New test that uses Unit3::Random +TEST(Unit3, localCoordinates_retract) { + boost::mt19937 rng(42); + size_t numIterations = 10000; + + for (size_t i = 0; i < numIterations; i++) { + // Create two random Unit3s + const Unit3 s1 = Unit3::Random(rng); + const Unit3 s2 = Unit3::Random(rng); + // Check that they are not at opposite ends of the sphere, which is ill defined + if (s1.unitVector().dot(s2.unitVector())<-0.9) continue; + + // Check if the local coordinates and retract return consistent results. + Vector v12 = s1.localCoordinates(s2); + Unit3 actual_s2 = s1.retract(v12); + EXPECT(assert_equal(s2, actual_s2, 1e-9)); + } +} + //************************************************************************* TEST (Unit3, FromPoint3) { Matrix actualH; From 3a3088856edb0f2f3462439fca633d2a535f6dda Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 10:37:35 -0700 Subject: [PATCH 419/964] Merge remote-tracking branch 'origin/fix/Unit3Serialization' into fix/Unit3Serialization --- gtsam/geometry/Unit3.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 5142faeb5..c191e4fbe 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -76,7 +76,7 @@ static tbb::mutex unit3BasisMutex; /* ************************************************************************* */ const Matrix32& Unit3::basis() const { #ifdef GTSAM_USE_TBB - tbb::mutex::scoped_lock lock(unit3BasisMutex); + tbb::mutex::scoped_lock lock(unit3BasisMutex); #endif // Return cached version if exists From 05a55b262a8a4c483eee25347a319030e68ccdf1 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Sun, 12 Jul 2015 14:37:03 -0400 Subject: [PATCH 420/964] fix: type error in comments --- gtsam/geometry/Unit3.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index e86121537..7729bd354 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -153,14 +153,14 @@ Unit3 Unit3::retract(const Vector2& v) const { /* ************************************************************************* */ Vector2 Unit3::localCoordinates(const Unit3& other) const { const double x = p_.dot(other.p_); - // Crucial quantitity here is y = theta/sin(theta) with theta=acos(x) + // Crucial quantity here is y = theta/sin(theta) with theta=acos(x) // Now, y = acos(x) / sin(acos(x)) = acos(x)/sqrt(1-x^2) - // We treat the special caes 1 and -1 below + // We treat the special case 1 and -1 below const double x2 = x * x; const double z = 1 - x2; double y; if (z < std::numeric_limits::epsilon()) { - if (x > 0) // expand at x=1 + if (x > 0) // first order expansion at x=1 y = 1.0 - (x - 1.0) / 3.0; else // cop out return Vector2(M_PI, 0.0); From 6b1c411f9e485716e7abe0b0204c5e7852f8dce1 Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Sun, 12 Jul 2015 14:37:40 -0400 Subject: [PATCH 421/964] feature: add two small unit tests for local coordinate --- gtsam/geometry/tests/testUnit3.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index a4227acdf..e55caaa3c 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -192,6 +192,16 @@ TEST(Unit3, localCoordinates) { EXPECT(assert_equal(expected, actual, 1e-8)); EXPECT(assert_equal(q, p.retract(expected), 1e-8)); } + { + Unit3 p(0,1,0), q(0,-1,0); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(q, p.retract(actual), 1e-8)); + } + { + Unit3 p(0,0,1), q(0,0,-1); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(q, p.retract(actual), 1e-8)); + } double twist = 1e-4; { From 752a6b55379239e2f0b1219c6ba12b7aa1722f21 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 12:05:52 -0700 Subject: [PATCH 422/964] renamed to measured_ --- gtsam/nonlinear/ExpressionFactor.h | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index 8a6f28713..55ed4ea07 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -38,7 +38,7 @@ protected: typedef ExpressionFactor This; static const int Dim = traits::dimension; - T measurement_; ///< the measurement to be compared with the expression + T measured_; ///< the measurement to be compared with the expression Expression expression_; ///< the expression that is AD enabled FastVector dims_; ///< dimensions of the Jacobian matrices @@ -49,24 +49,27 @@ public: /// Constructor ExpressionFactor(const SharedNoiseModel& noiseModel, // const T& measurement, const Expression& expression) - : NoiseModelFactor(noiseModel), measurement_(measurement) { + : NoiseModelFactor(noiseModel), measured_(measurement) { initialize(expression); } /// Destructor virtual ~ExpressionFactor() {} + /** return the measured */ + double measured() const { return measured_; } + /// print relies on Testable traits being defined for T void print(const std::string& s, const KeyFormatter& keyFormatter) const { NoiseModelFactor::print(s, keyFormatter); - traits::Print(measurement_, s + ".measurement_"); + traits::Print(measured_, s + ".measured_"); } /// equals relies on Testable traits being defined for T bool equals(const NonlinearFactor& f, double tol) const { const ExpressionFactor* p = dynamic_cast(&f); return p && NoiseModelFactor::equals(f, tol) && - traits::Equals(measurement_, p->measurement_, tol) && + traits::Equals(measured_, p->measured_, tol) && dims_ == p->dims_; } @@ -79,10 +82,10 @@ public: boost::optional&> H = boost::none) const { if (H) { const T value = expression_.valueAndDerivatives(x, keys_, dims_, *H); - return traits::Local(measurement_, value); + return traits::Local(measured_, value); } else { const T value = expression_.value(x); - return traits::Local(measurement_, value); + return traits::Local(measured_, value); } } @@ -113,7 +116,7 @@ public: T value = expression_.valueAndJacobianMap(x, jacobianMap); // <<< Reverse AD happens here ! // Evaluate error and set RHS vector b - Ab(size()).col(0) = -traits::Local(measurement_, value); + Ab(size()).col(0) = -traits::Local(measured_, value); // Whiten the corresponding system, Ab already contains RHS Vector b = Ab(size()).col(0); // need b to be valid for Robust noise models @@ -134,7 +137,7 @@ protected: /// Constructor for use by SerializableExpressionFactor ExpressionFactor(const SharedNoiseModel& noiseModel, const T& measurement) - : NoiseModelFactor(noiseModel), measurement_(measurement) { + : NoiseModelFactor(noiseModel), measured_(measurement) { // Not properly initialized yet, need to call initialize } @@ -157,7 +160,7 @@ private: template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor); - ar& boost::serialization::make_nvp("measurement_", this->measurement_); + ar& boost::serialization::make_nvp("measured_", this->measured_); } friend class boost::serialization::access; From 3d4ea47ab9fd1018f384bc3a693042788467a3d5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 12:06:13 -0700 Subject: [PATCH 423/964] Added binary specialization --- .../nonlinear/SerializableExpressionFactor.h | 73 +++++++++++++++---- gtsam/sam/BearingFactor.h | 29 ++++---- gtsam/sam/tests/testBearingFactor.cpp | 10 ++- 3 files changed, 81 insertions(+), 31 deletions(-) diff --git a/gtsam/nonlinear/SerializableExpressionFactor.h b/gtsam/nonlinear/SerializableExpressionFactor.h index 09b4faa57..797bce4fd 100644 --- a/gtsam/nonlinear/SerializableExpressionFactor.h +++ b/gtsam/nonlinear/SerializableExpressionFactor.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -24,21 +24,21 @@ namespace gtsam { /** * ExpressionFactor variant that supports serialization - * Simply overload the pure virtual method [expression] to construct an expression from keys_ + * Simply overload the pure virtual method [expression] to construct an + * expression from keys_ */ template class SerializableExpressionFactor : public ExpressionFactor { public: /// Constructor takes only two arguments, still need to call initialize - SerializableExpressionFactor(const SharedNoiseModel& noiseModel, const T& measurement) - : ExpressionFactor(noiseModel, measurement) { - } + SerializableExpressionFactor(const SharedNoiseModel& noiseModel, + const T& measurement) + : ExpressionFactor(noiseModel, measurement) {} /// Destructor virtual ~SerializableExpressionFactor() {} protected: - /// Return an expression that predicts the measurement given Values virtual Expression expression() const = 0; @@ -49,14 +49,17 @@ class SerializableExpressionFactor : public ExpressionFactor { template void save(Archive& ar, const unsigned int /*version*/) const { ar << boost::serialization::make_nvp( - "ExpressionFactor", boost::serialization::base_object >(*this)); + "ExpressionFactor", + boost::serialization::base_object >(*this)); } - /// Load from an archive, creating a valid expression using the overloaded [expression] method + /// Load from an archive, creating a valid expression using the overloaded + /// [expression] method template void load(Archive& ar, const unsigned int /*version*/) { ar >> boost::serialization::make_nvp( - "ExpressionFactor", boost::serialization::base_object >(*this)); + "ExpressionFactor", + boost::serialization::base_object >(*this)); this->initialize(expression()); } @@ -66,10 +69,52 @@ class SerializableExpressionFactor : public ExpressionFactor { }; // SerializableExpressionFactor -/// traits -template -struct traits > - : public Testable > {}; +/** + * Binary specialization of SerializableExpressionFactor + * Enforces expression method with two keys, and provides evaluateError + */ +template +class SerializableExpressionFactor2 : public SerializableExpressionFactor { + public: + /// Constructor takes care of keys, but still need to call initialize + SerializableExpressionFactor2(Key key1, Key key2, + const SharedNoiseModel& noiseModel, + const T& measurement) + : SerializableExpressionFactor(noiseModel, measurement) { + this->keys_.push_back(key1); + this->keys_.push_back(key2); + } -}// \ namespace gtsam + /// Destructor + virtual ~SerializableExpressionFactor2() {} + /// Backwards compatible evaluateError, to make existing tests compile + Vector evaluateError(const A1& a1, const A2& a2, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const { + Values values; + values.insert(this->keys_[0], a1); + values.insert(this->keys_[1], a2); + std::vector H(2); + Vector error = this->unwhitenedError(values, H); + if (H1) (*H1) = H[0]; + if (H2) (*H2) = H[1]; + return error; + } + + /// Return an expression that predicts the measurement given Values + virtual Expression expression(Key key1, Key key2) const = 0; + + protected: + /// Default constructor, for serialization + SerializableExpressionFactor2() {} + + private: + /// Return an expression that predicts the measurement given Values + virtual Expression expression() const { + return expression(this->keys_[0], this->keys_[1]); + } +}; +// SerializableExpressionFactor2 + +} // \ namespace gtsam diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index 15fce6239..06543e13c 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -11,7 +11,8 @@ /** * @file BearingFactor.h - * @brief Serializable factor induced by a bearing measurement of a point from a given pose + * @brief Serializable factor induced by a bearing measurement of a point from + *a given pose * @date July 2015 * @author Frank Dellaert **/ @@ -28,34 +29,36 @@ namespace gtsam { * @addtogroup SAM */ template -struct BearingFactor : public SerializableExpressionFactor { +struct BearingFactor : public SerializableExpressionFactor2 { + typedef SerializableExpressionFactor2 Base; /// default constructor BearingFactor() {} /// primary constructor - BearingFactor(Key poseKey, Key pointKey, const T& measured, const SharedNoiseModel& model) - : SerializableExpressionFactor(model, measured) { - this->keys_.push_back(poseKey); - this->keys_.push_back(pointKey); - this->initialize(expression()); + BearingFactor(Key key1, Key key2, const T& measured, + const SharedNoiseModel& model) + : Base(key1, key2, model, measured) { + this->initialize(expression(key1, key2)); } // Return measurement expression - virtual Expression expression() const { - return Expression(Expression(this->keys_[0]), &POSE::bearing, - Expression(this->keys_[1])); + virtual Expression expression(Key key1, Key key2) const { + return Expression(Expression(key1), &POSE::bearing, + Expression(key2)); } /// print - void print(const std::string& s = "", const KeyFormatter& kf = DefaultKeyFormatter) const { + void print(const std::string& s = "", + const KeyFormatter& kf = DefaultKeyFormatter) const { std::cout << s << "BearingFactor" << std::endl; - SerializableExpressionFactor::print(s, kf); + Base::print(s, kf); } }; // BearingFactor /// traits template -struct traits > : public Testable > {}; +struct traits > + : public Testable > {}; } // namespace gtsam diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index 93ad9db7f..f351ecdbf 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -38,7 +38,7 @@ static SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(1, 0.5)); BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model2D); typedef BearingFactor BearingFactor3D; -Unit3 measurement3D = Pose3().bearing(Point3(1,0,0)); // has to match values! +Unit3 measurement3D = Pose3().bearing(Point3(1, 0, 0)); // has to match values! static SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(2, 0.5)); BearingFactor3D factor3D(poseKey, pointKey, measurement3D, model3D); @@ -68,7 +68,8 @@ TEST(BearingFactor, 2D) { values.insert(poseKey, Pose2(1.0, 2.0, 0.57)); values.insert(pointKey, Point2(-4.0, 11.0)); - EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(), values, 1e-7,1e-5); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), + values, 1e-7, 1e-5); EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); } @@ -91,9 +92,10 @@ TEST(BearingFactor, 3D) { // Set the linearization point Values values; values.insert(poseKey, Pose3()); - values.insert(pointKey, Point3(1,0,0)); + values.insert(pointKey, Point3(1, 0, 0)); - EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(), values, 1e-7,1e-5); + EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), + values, 1e-7, 1e-5); EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); } From fdcb4e823497e1df1fb29e544f73b53a19524d1c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 12:06:40 -0700 Subject: [PATCH 424/964] cleanup --- gtsam/slam/BearingFactor.h | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index 2f5ffa40e..1a1fac922 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -9,17 +9,12 @@ * -------------------------------------------------------------------------- */ -/** - * @file BearingFactor.H - * @author Frank Dellaert - **/ - #pragma once #ifdef _MSC_VER -#pragma message("BearingFactor is now an ExpressionFactor in sam") +#pragma message("BearingFactor is now an ExpressionFactor in SAM directory") #else -#warning "BearingFactor is now an ExpressionFactor in sam" +#warning "BearingFactor is now an ExpressionFactor in SAM directory" #endif From 3bad6fea674605e25bacd74334a71fe0aee93259 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 12:06:55 -0700 Subject: [PATCH 425/964] moved RangeFactor to SAM --- examples/RangeISAMExample_plaza2.cpp | 2 +- gtsam.h | 2 +- gtsam/sam/RangeFactor.h | 145 ++++++++++++++ gtsam/{slam => sam}/tests/testRangeFactor.cpp | 5 +- gtsam/slam/RangeFactor.h | 187 +----------------- gtsam/slam/tests/testGeneralSFMFactor.cpp | 2 +- .../testGeneralSFMFactor_Cal3Bundler.cpp | 2 +- .../dynamics/tests/testIMUSystem.cpp | 2 +- .../examples/SmartRangeExample_plaza1.cpp | 2 +- .../examples/SmartRangeExample_plaza2.cpp | 2 +- gtsam_unstable/gtsam_unstable.h | 2 +- gtsam_unstable/slam/serialization.cpp | 2 +- tests/testGaussianFactorGraphB.cpp | 2 +- tests/testSerializationSLAM.cpp | 2 +- 14 files changed, 165 insertions(+), 194 deletions(-) create mode 100644 gtsam/sam/RangeFactor.h rename gtsam/{slam => sam}/tests/testRangeFactor.cpp (99%) diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp index 04632e9e3..4d116c7ec 100644 --- a/examples/RangeISAMExample_plaza2.cpp +++ b/examples/RangeISAMExample_plaza2.cpp @@ -39,7 +39,7 @@ // have been provided with the library for solving robotics SLAM problems. #include #include -#include +#include #include // Standard headers, added last, so we know headers above work on their own diff --git a/gtsam.h b/gtsam.h index 2c3106d97..4bacd0273 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2262,7 +2262,7 @@ virtual class NonlinearEquality : gtsam::NoiseModelFactor { }; -#include +#include template virtual class RangeFactor : gtsam::NoiseModelFactor { RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h new file mode 100644 index 000000000..19569e563 --- /dev/null +++ b/gtsam/sam/RangeFactor.h @@ -0,0 +1,145 @@ +/* ---------------------------------------------------------------------------- + + * 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 RangeFactor.h + * @brief Serializable factor induced by a range measurement between two points + *and/or poses + * @date July 2015 + * @author Frank Dellaert + **/ + +#pragma once + +#include +#include +#include + +namespace gtsam { + +/** + * Binary factor for a range measurement + * @addtogroup SAM + */ +template +struct RangeFactor : public SerializableExpressionFactor2 { + private: + typedef RangeFactor This; + typedef SerializableExpressionFactor2 Base; + + // Concept requirements for this factor + GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(A1, A2) + + public: + /// default constructor + RangeFactor() {} + + RangeFactor(Key key1, Key key2, double measured, + const SharedNoiseModel& model) + : Base(key1, key2, model, measured) { + this->initialize(expression(key1, key2)); + } + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); + } + + // Return measurement expression + virtual Expression expression(Key key1, Key key2) const { + Expression t1_(key1); + Expression t2_(key2); + return Expression(t1_, &A1::range, t2_); + } + + /// print + void print(const std::string& s = "", + const KeyFormatter& kf = DefaultKeyFormatter) const { + std::cout << s << "RangeFactor" << std::endl; + Base::print(s, kf); + } +}; // \ RangeFactor + +/// traits +template +struct traits > : public Testable > {}; + +/** + * Binary factor for a range measurement, with a transform applied + * @addtogroup SAM + */ +template +class RangeFactorWithTransform + : public SerializableExpressionFactor2 { + private: + typedef RangeFactorWithTransform This; + typedef SerializableExpressionFactor2 Base; + + A1 body_T_sensor_; ///< The pose of the sensor in the body frame + + // Concept requirements for this factor + GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(A1, A2) + + public: + //// Default constructor + RangeFactorWithTransform() {} + + RangeFactorWithTransform(Key key1, Key key2, double measured, + const SharedNoiseModel& model, + const A1& body_T_sensor) + : Base(key1, key2, model, measured), body_T_sensor_(body_T_sensor) { + this->initialize(expression(key1, key2)); + } + + virtual ~RangeFactorWithTransform() {} + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); + } + + // Return measurement expression + virtual Expression expression(Key key1, Key key2) const { + Expression body_T_sensor__(body_T_sensor_); + Expression nav_T_body_(key1); + Expression nav_T_sensor_(traits::Compose, nav_T_body_, + body_T_sensor__); + Expression t2_(key2); + return Expression(nav_T_sensor_, &A1::range, t2_); + } + + /** print contents */ + void print(const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "RangeFactorWithTransform" << std::endl; + this->body_T_sensor_.print(" sensor pose in body frame: "); + Base::print(s, keyFormatter); + } + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "Base", boost::serialization::base_object(*this)); + ar& BOOST_SERIALIZATION_NVP(body_T_sensor_); + } +}; // \ RangeFactorWithTransform + +/// traits +template +struct traits > + : public Testable > {}; + +} // \ namespace gtsam diff --git a/gtsam/slam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp similarity index 99% rename from gtsam/slam/tests/testRangeFactor.cpp rename to gtsam/sam/tests/testRangeFactor.cpp index a8455d685..39cdaa2ab 100644 --- a/gtsam/slam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -16,14 +16,15 @@ * @date Oct 2012 */ -#include -#include +#include #include #include #include #include #include #include + +#include #include using namespace std; diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h index d45dd5ce0..d50674d75 100644 --- a/gtsam/slam/RangeFactor.h +++ b/gtsam/slam/RangeFactor.h @@ -9,189 +9,14 @@ * -------------------------------------------------------------------------- */ -/** - * @file RangeFactor.H - * @author Frank Dellaert - **/ - #pragma once -#include -#include -#include +#ifdef _MSC_VER +#pragma message("RangeFactor is now an ExpressionFactor in SAM directory") +#else +#warning "RangeFactor is now an ExpressionFactor in SAM directory" +#endif -namespace gtsam { -/** - * Binary factor for a range measurement - * @addtogroup SLAM - */ -template -class RangeFactor: public NoiseModelFactor2 { -private: +#include - double measured_; /** measurement */ - - typedef RangeFactor This; - typedef NoiseModelFactor2 Base; - - // Concept requirements for this factor - GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(T1, T2) - -public: - - RangeFactor() { - } /* Default constructor */ - - RangeFactor(Key key1, Key key2, double measured, - const SharedNoiseModel& model) : - Base(model, key1, key2), measured_(measured) { - } - - virtual ~RangeFactor() { - } - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); - } - - /** h(x)-z */ - Vector evaluateError(const T1& t1, const T2& t2, boost::optional H1 = - boost::none, boost::optional H2 = boost::none) const { - double hx; - hx = t1.range(t2, H1, H2); - return (Vector(1) << hx - measured_).finished(); - } - - /** return the measured */ - double measured() const { - return measured_; - } - - /** equals specialized to this factor */ - virtual bool equals(const NonlinearFactor& expected, - double tol = 1e-9) const { - const This *e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) - && fabs(this->measured_ - e->measured_) < tol; - } - - /** print contents */ - void print(const std::string& s = "", const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const { - std::cout << s << "RangeFactor, range = " << measured_ << std::endl; - Base::print("", keyFormatter); - } - -private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar - & boost::serialization::make_nvp("NoiseModelFactor2", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(measured_); - } -}; // \ RangeFactor - -/// traits -template -struct traits > : public Testable > {}; - -/** - * Binary factor for a range measurement, with a transform applied - * @addtogroup SLAM - */ -template -class RangeFactorWithTransform: public NoiseModelFactor2 { -private: - - double measured_; /** measurement */ - POSE body_P_sensor_; ///< The pose of the sensor in the body frame - - typedef RangeFactorWithTransform This; - typedef NoiseModelFactor2 Base; - - // Concept requirements for this factor - GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(POSE, T2) - -public: - - RangeFactorWithTransform() { - } /* Default constructor */ - - RangeFactorWithTransform(Key key1, Key key2, double measured, - const SharedNoiseModel& model, const POSE& body_P_sensor) : - Base(model, key1, key2), measured_(measured), body_P_sensor_( - body_P_sensor) { - } - - virtual ~RangeFactorWithTransform() { - } - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); - } - - /** h(x)-z */ - Vector evaluateError(const POSE& t1, const T2& t2, - boost::optional H1 = boost::none, boost::optional H2 = - boost::none) const { - double hx; - if (H1) { - Matrix H0; - hx = t1.compose(body_P_sensor_, H0).range(t2, H1, H2); - *H1 = *H1 * H0; - } else { - hx = t1.compose(body_P_sensor_).range(t2, H1, H2); - } - return (Vector(1) << hx - measured_).finished(); - } - - /** return the measured */ - double measured() const { - return measured_; - } - - /** equals specialized to this factor */ - virtual bool equals(const NonlinearFactor& expected, - double tol = 1e-9) const { - const This *e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) - && fabs(this->measured_ - e->measured_) < tol - && body_P_sensor_.equals(e->body_P_sensor_); - } - - /** print contents */ - void print(const std::string& s = "", const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const { - std::cout << s << "RangeFactor, range = " << measured_ << std::endl; - this->body_P_sensor_.print(" sensor pose in body frame: "); - Base::print("", keyFormatter); - } - -private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar - & boost::serialization::make_nvp("NoiseModelFactor2", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(measured_); - ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); - } -}; // \ RangeFactorWithTransform - -/// traits -template -struct traits > : public Testable > {}; - -} // \ namespace gtsam diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index a8f85301e..a634928dc 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index f812cd308..a349a4992 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index d97f185e7..51d027b3c 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -9,7 +9,7 @@ #include #include -#include +#include #include #include #include diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp index 6cc8a7b78..4062d0659 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp @@ -39,7 +39,7 @@ // have been provided with the library for solving robotics SLAM problems. #include #include -#include +#include #include // Standard headers, added last, so we know headers above work on their own diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp index b689179a2..90d92897e 100644 --- a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp +++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp @@ -39,7 +39,7 @@ // have been provided with the library for solving robotics SLAM problems. #include #include -#include +#include // Standard headers, added last, so we know headers above work on their own #include diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 814f3c5a2..bbfcaa418 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -367,7 +367,7 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor { }; -#include +#include template virtual class RangeFactor : gtsam::NonlinearFactor { RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp index 2e8bf8b4b..194fc6e87 100644 --- a/gtsam_unstable/slam/serialization.cpp +++ b/gtsam_unstable/slam/serialization.cpp @@ -17,7 +17,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 3a0081bdb..88dc91ce7 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -532,7 +532,7 @@ TEST(GaussianFactorGraph, hasConstraints) #include #include #include -#include +#include /* ************************************************************************* */ TEST( GaussianFactorGraph, conditional_sigma_failure) { diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index d13b53dd5..08017100f 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -29,7 +29,7 @@ //#include #include #include -#include +#include #include #include #include From 03db69117ad749911ebd47521d1c4b7267072202 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 15:51:49 -0700 Subject: [PATCH 426/964] Define and partially specify Range and Bearing functors --- gtsam.h | 20 ++++----- gtsam/geometry/CalibratedCamera.h | 35 ++++++++++++++- gtsam/geometry/PinholeCamera.h | 58 +++++++++++++++++++++--- gtsam/geometry/Point3.h | 18 +++++++- gtsam/geometry/Pose2.h | 47 ++++++++++++++++++++ gtsam/geometry/Pose3.h | 41 +++++++++++++++-- gtsam/geometry/concepts.h | 22 --------- gtsam/sam/BearingFactor.h | 28 +++++++----- gtsam/sam/RangeFactor.h | 64 +++++++++++++-------------- gtsam/sam/tests/testBearingFactor.cpp | 4 +- gtsam/sam/tests/testRangeFactor.cpp | 52 ++++++++++++++++++++++ gtsam/slam/BearingRangeFactor.h | 1 - gtsam_unstable/dynamics/PoseRTV.h | 13 ++++++ 13 files changed, 311 insertions(+), 92 deletions(-) diff --git a/gtsam.h b/gtsam.h index 4bacd0273..054f7a400 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2272,20 +2272,16 @@ typedef gtsam::RangeFactor RangeFactorPosePoint2; typedef gtsam::RangeFactor RangeFactorPosePoint3; typedef gtsam::RangeFactor RangeFactorPose2; typedef gtsam::RangeFactor RangeFactorPose3; - -// Commented out by Frank Dec 2014: not poses! -// If needed, we need a RangeFactor that takes a camera, extracts the pose -// Should be easy with Expressions -//typedef gtsam::RangeFactor RangeFactorCalibratedCameraPoint; -//typedef gtsam::RangeFactor RangeFactorSimpleCameraPoint; -//typedef gtsam::RangeFactor RangeFactorCalibratedCamera; -//typedef gtsam::RangeFactor RangeFactorSimpleCamera; +typedef gtsam::RangeFactor RangeFactorCalibratedCameraPoint; +typedef gtsam::RangeFactor RangeFactorSimpleCameraPoint; +typedef gtsam::RangeFactor RangeFactorCalibratedCamera; +typedef gtsam::RangeFactor RangeFactorSimpleCamera; #include -template +template virtual class BearingFactor : gtsam::NoiseModelFactor { - BearingFactor(size_t key1, size_t key2, const MEASURED& measured, const gtsam::noiseModel::Base* noiseModel); + BearingFactor(size_t key1, size_t key2, const BEARING& measured, const gtsam::noiseModel::Base* noiseModel); // enabling serialization functionality void serialize() const; @@ -2295,9 +2291,9 @@ typedef gtsam::BearingFactor BearingFa #include -template +template virtual class BearingRangeFactor : gtsam::NoiseModelFactor { - BearingRangeFactor(size_t poseKey, size_t pointKey, const MEASURED& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); + BearingRangeFactor(size_t poseKey, size_t pointKey, const BEARING& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); pair measured() const; diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 4d605ef4e..c289f8fb6 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -318,7 +318,7 @@ public: } /// @} - /// @name Transformations and mesaurement functions + /// @name Transformations and measurement functions /// @{ /** @@ -393,5 +393,38 @@ struct traits : public internal::Manifold< CalibratedCamera> { }; +// Define Range functor specializations that are used in RangeFactor +template struct Range; + +template <> +struct Range { + typedef double result_type; + double operator()(const CalibratedCamera& camera, const Point3& point, + OptionalJacobian<1, 6> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) { + return camera.range(point, H1, H2); + } +}; + +template <> +struct Range { + typedef double result_type; + double operator()(const CalibratedCamera& camera, const Pose3& pose, + OptionalJacobian<1, 6> H1 = boost::none, + OptionalJacobian<1, 6> H2 = boost::none) { + return camera.range(pose, H1, H2); + } +}; + +template <> +struct Range { + typedef double result_type; + double operator()(const CalibratedCamera& camera1, + const CalibratedCamera& camera2, + OptionalJacobian<1, 6> H1 = boost::none, + OptionalJacobian<1, 6> H2 = boost::none) { + return camera1.range(camera2, H1, H2); + } +}; } diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 12e9f023b..93c017290 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -263,24 +263,22 @@ public: template double range(const PinholeCamera& camera, OptionalJacobian<1, dimension> Dcamera = boost::none, - boost::optional Dother = boost::none) const { + OptionalJacobian<1, 6 + CalibrationB::dimension> Dother = boost::none) const { Matrix16 Dcamera_, Dother_; double result = this->pose().range(camera.pose(), Dcamera ? &Dcamera_ : 0, Dother ? &Dother_ : 0); if (Dcamera) { - Dcamera->resize(1, 6 + DimK); *Dcamera << Dcamera_, Eigen::Matrix::Zero(); } if (Dother) { - Dother->resize(1, 6 + CalibrationB::dimension); Dother->setZero(); - Dother->block<1, 6>(0, 0) = Dother_; + Dother->template block<1, 6>(0, 0) = Dother_; } return result; } /** - * Calculate range to another camera + * Calculate range to a calibrated camera * @param camera Other camera * @return range (double) */ @@ -314,4 +312,52 @@ struct traits > : public internal::Manifold< PinholeCamera > { }; -} // \ gtsam +// Define Range functor specializations that are used in RangeFactor +template struct Range; + +template +struct Range, Point3> { + typedef double result_type; + typedef PinholeCamera Camera; + double operator()(const Camera& camera, const Point3& point, + OptionalJacobian<1, Camera::dimension> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) { + return camera.range(point, H1, H2); + } +}; + +template +struct Range, Pose3> { + typedef double result_type; + typedef PinholeCamera Camera; + double operator()(const Camera& camera, const Pose3& pose, + OptionalJacobian<1, Camera::dimension> H1 = boost::none, + OptionalJacobian<1, 6> H2 = boost::none) { + return camera.range(pose, H1, H2); + } +}; + +template +struct Range, PinholeCamera > { + typedef double result_type; + typedef PinholeCamera CameraA; + typedef PinholeCamera CameraB; + double operator()(const CameraA& camera1, const CameraB& camera2, + OptionalJacobian<1, CameraA::dimension> H1 = boost::none, + OptionalJacobian<1, CameraB::dimension> H2 = boost::none) { + return camera1.range(camera2, H1, H2); + } +}; + +template +struct Range, CalibratedCamera> { + typedef double result_type; + typedef PinholeCamera Camera; + double operator()(const Camera& camera, const CalibratedCamera& cc, + OptionalJacobian<1, Camera::dimension> H1 = boost::none, + OptionalJacobian<1, 6> H2 = boost::none) { + return camera.range(cc, H1, H2); + } +}; + +} // \ gtsam diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index 883e5fb62..e8cf0be7b 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -22,6 +22,7 @@ #pragma once #include +#include #include #include @@ -199,4 +200,19 @@ struct traits : public internal::VectorSpace {}; template<> struct traits : public internal::VectorSpace {}; -} + +template +struct Range; + +template <> +struct Range { + typedef double result_type; + double operator()(const Point3& p, const Point3& q, + OptionalJacobian<1, 3> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) { + return p.distance(q, H1, H2); + } +}; + +} // namespace gtsam + diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index f3cb9e2a1..ab488c65f 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -23,6 +23,7 @@ #include #include #include +#include namespace gtsam { @@ -295,5 +296,51 @@ struct traits : public internal::LieGroup {}; template<> struct traits : public internal::LieGroup {}; +// Define Bearing functor specializations that are used in BearingFactor +template struct Bearing; + +template <> +struct Bearing { + typedef Rot2 result_type; + Rot2 operator()(const Pose2& pose, const Point2& point, + OptionalJacobian<1, 3> H1 = boost::none, + OptionalJacobian<1, 2> H2 = boost::none) { + return pose.bearing(point, H1, H2); + } +}; + +template <> +struct Bearing { + typedef Rot2 result_type; + Rot2 operator()(const Pose2& pose1, const Pose2& pose2, + OptionalJacobian<1, 3> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) { + return pose1.bearing(pose2, H1, H2); + } +}; + +// Define Range functor specializations that are used in RangeFactor +template struct Range; + +template <> +struct Range { + typedef double result_type; + double operator()(const Pose2& pose, const Point2& point, + OptionalJacobian<1, 3> H1 = boost::none, + OptionalJacobian<1, 2> H2 = boost::none) { + return pose.range(point, H1, H2); + } +}; + +template <> +struct Range { + typedef double result_type; + double operator()(const Pose2& pose1, const Pose2& pose2, + OptionalJacobian<1, 3> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) { + return pose1.range(pose2, H1, H2); + } +}; + } // namespace gtsam diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 6e36f7ad0..afe953d1d 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -331,11 +331,46 @@ GTSAM_EXPORT boost::optional align(const std::vector& pairs); // For MATLAB wrapper typedef std::vector Pose3Vector; -template<> +template <> struct traits : public internal::LieGroup {}; -template<> +template <> struct traits : public internal::LieGroup {}; +// Define Bearing functor specializations that are used in BearingFactor +template struct Bearing; -} // namespace gtsam +template <> +struct Bearing { + typedef Unit3 result_type; + Unit3 operator()(const Pose3& pose, const Point3& point, + OptionalJacobian<2, 6> H1 = boost::none, + OptionalJacobian<2, 3> H2 = boost::none) { + return pose.bearing(point, H1, H2); + } +}; + +// Define Range functor specializations that are used in RangeFactor +template struct Range; + +template <> +struct Range { + typedef double result_type; + double operator()(const Pose3& pose, const Point3& point, + OptionalJacobian<1, 6> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) { + return pose.range(point, H1, H2); + } +}; + +template <> +struct Range { + typedef double result_type; + double operator()(const Pose3& pose1, const Pose3& pose2, + OptionalJacobian<1, 6> H1 = boost::none, + OptionalJacobian<1, 6> H2 = boost::none) { + return pose1.range(pose2, H1, H2); + } +}; + +} // namespace gtsam diff --git a/gtsam/geometry/concepts.h b/gtsam/geometry/concepts.h index 621f04592..207b48f56 100644 --- a/gtsam/geometry/concepts.h +++ b/gtsam/geometry/concepts.h @@ -59,24 +59,6 @@ private: } }; -/** - * Range measurement concept - * Given a pair of Lie variables, there must exist a function to calculate - * range with derivatives. - */ -template -class RangeMeasurementConcept { -private: - static double checkRangeMeasurement(const V1& x, const V2& p) { - return x.range(p); - } - - static double checkRangeMeasurementDerivatives(const V1& x, const V2& p) { - boost::optional H1, H2; - return x.range(p, H1, H2); - } -}; - } // \namespace gtsam /** @@ -92,7 +74,3 @@ private: #define GTSAM_CONCEPT_POSE_INST(T) template class gtsam::PoseConcept; #define GTSAM_CONCEPT_POSE_TYPE(T) typedef gtsam::PoseConcept _gtsam_PoseConcept##T; -/** Range Measurement macros */ -#define GTSAM_CONCEPT_RANGE_MEASUREMENT_INST(V1,V2) template class gtsam::RangeMeasurementConcept; -#define GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(V1,V2) typedef gtsam::RangeMeasurementConcept _gtsam_RangeMeasurementConcept##V1##V2; - diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index 06543e13c..d0d06d30a 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -11,8 +11,7 @@ /** * @file BearingFactor.h - * @brief Serializable factor induced by a bearing measurement of a point from - *a given pose + * @brief Serializable factor induced by a bearing measurement * @date July 2015 * @author Frank Dellaert **/ @@ -20,17 +19,23 @@ #pragma once #include -#include namespace gtsam { +// forward declaration of Bearing functor, assumed partially specified +template +struct Bearing; + /** * Binary factor for a bearing measurement + * Works for any two types A1,A2 for which the functor Bearing() is + * defined * @addtogroup SAM */ -template -struct BearingFactor : public SerializableExpressionFactor2 { - typedef SerializableExpressionFactor2 Base; +template ::result_type> +struct BearingFactor : public SerializableExpressionFactor2 { + typedef SerializableExpressionFactor2 Base; /// default constructor BearingFactor() {} @@ -44,8 +49,9 @@ struct BearingFactor : public SerializableExpressionFactor2 { // Return measurement expression virtual Expression expression(Key key1, Key key2) const { - return Expression(Expression(key1), &POSE::bearing, - Expression(key2)); + Expression a1_(key1); + Expression a2_(key2); + return Expression(Bearing(), a1_, a2_); } /// print @@ -57,8 +63,8 @@ struct BearingFactor : public SerializableExpressionFactor2 { }; // BearingFactor /// traits -template -struct traits > - : public Testable > {}; +template +struct traits > + : public Testable > {}; } // namespace gtsam diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h index 19569e563..6e1a33481 100644 --- a/gtsam/sam/RangeFactor.h +++ b/gtsam/sam/RangeFactor.h @@ -11,8 +11,7 @@ /** * @file RangeFactor.h - * @brief Serializable factor induced by a range measurement between two points - *and/or poses + * @brief Serializable factor induced by a range measurement * @date July 2015 * @author Frank Dellaert **/ @@ -20,30 +19,30 @@ #pragma once #include -#include -#include namespace gtsam { +// forward declaration of Range functor, assumed partially specified +template +struct Range; + /** * Binary factor for a range measurement + * Works for any two types A1,A2 for which the functor Range() is defined * @addtogroup SAM */ -template -struct RangeFactor : public SerializableExpressionFactor2 { +template ::result_type> +class RangeFactor : public SerializableExpressionFactor2 { private: typedef RangeFactor This; - typedef SerializableExpressionFactor2 Base; - - // Concept requirements for this factor - GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(A1, A2) + typedef SerializableExpressionFactor2 Base; public: /// default constructor RangeFactor() {} - RangeFactor(Key key1, Key key2, double measured, - const SharedNoiseModel& model) + RangeFactor(Key key1, Key key2, T measured, const SharedNoiseModel& model) : Base(key1, key2, model, measured) { this->initialize(expression(key1, key2)); } @@ -55,10 +54,10 @@ struct RangeFactor : public SerializableExpressionFactor2 { } // Return measurement expression - virtual Expression expression(Key key1, Key key2) const { - Expression t1_(key1); - Expression t2_(key2); - return Expression(t1_, &A1::range, t2_); + virtual Expression expression(Key key1, Key key2) const { + Expression a1_(key1); + Expression a2_(key2); + return Expression(Range(), a1_, a2_); } /// print @@ -70,30 +69,29 @@ struct RangeFactor : public SerializableExpressionFactor2 { }; // \ RangeFactor /// traits -template -struct traits > : public Testable > {}; +template +struct traits > + : public Testable > {}; /** * Binary factor for a range measurement, with a transform applied * @addtogroup SAM */ -template +template ::result_type> class RangeFactorWithTransform - : public SerializableExpressionFactor2 { + : public SerializableExpressionFactor2 { private: typedef RangeFactorWithTransform This; - typedef SerializableExpressionFactor2 Base; + typedef SerializableExpressionFactor2 Base; A1 body_T_sensor_; ///< The pose of the sensor in the body frame - // Concept requirements for this factor - GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(A1, A2) - public: //// Default constructor RangeFactorWithTransform() {} - RangeFactorWithTransform(Key key1, Key key2, double measured, + RangeFactorWithTransform(Key key1, Key key2, T measured, const SharedNoiseModel& model, const A1& body_T_sensor) : Base(key1, key2, model, measured), body_T_sensor_(body_T_sensor) { @@ -109,13 +107,13 @@ class RangeFactorWithTransform } // Return measurement expression - virtual Expression expression(Key key1, Key key2) const { + virtual Expression expression(Key key1, Key key2) const { Expression body_T_sensor__(body_T_sensor_); Expression nav_T_body_(key1); Expression nav_T_sensor_(traits::Compose, nav_T_body_, body_T_sensor__); - Expression t2_(key2); - return Expression(nav_T_sensor_, &A1::range, t2_); + Expression a2_(key2); + return Expression(Range(), nav_T_sensor_, a2_); } /** print contents */ @@ -128,8 +126,8 @@ class RangeFactorWithTransform private: /** Serialization function */ - friend class boost::serialization::access; - template + friend typename boost::serialization::access; + template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { ar& boost::serialization::make_nvp( "Base", boost::serialization::base_object(*this)); @@ -138,8 +136,8 @@ class RangeFactorWithTransform }; // \ RangeFactorWithTransform /// traits -template -struct traits > - : public Testable > {}; +template +struct traits > + : public Testable > {}; } // \ namespace gtsam diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index f351ecdbf..d92bbdfe8 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -32,12 +32,12 @@ using namespace gtsam; Key poseKey(1); Key pointKey(2); -typedef BearingFactor BearingFactor2D; +typedef BearingFactor BearingFactor2D; double measurement2D(10.0); static SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(1, 0.5)); BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model2D); -typedef BearingFactor BearingFactor3D; +typedef BearingFactor BearingFactor3D; Unit3 measurement3D = Pose3().bearing(Point3(1, 0, 0)); // has to match values! static SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(2, 0.5)); BearingFactor3D factor3D(poseKey, pointKey, measurement3D, model3D); diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp index 39cdaa2ab..88595b32c 100644 --- a/gtsam/sam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -344,6 +344,58 @@ TEST( RangeFactor, Jacobian3DWithTransform ) { CHECK(assert_equal(H2Expected, H2Actual, 1e-9)); } +/* ************************************************************************* */ +// Do a test with Point3 +TEST(RangeFactor, Point3) { + // Create a factor + Key poseKey(1); + Key pointKey(2); + double measurement(10.0); + RangeFactor factor(poseKey, pointKey, measurement, model); + + // Set the linearization point + Point3 pose(1.0, 2.0, 00); + Point3 point(-4.0, 11.0, 0); + + // The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance + Vector expectedError = (Vector(1) << 0.295630141).finished(); + + // Verify we get the expected error + CHECK(assert_equal(expectedError, factor.evaluateError(pose, point), 1e-9)); +} + +/* ************************************************************************* */ +// Do a test with non GTSAM types + +namespace gtsam{ +template <> +struct Range { + typedef double result_type; + double operator()(const Vector3& v1, const Vector3& v2, + OptionalJacobian<1, 3> H1, OptionalJacobian<1, 3> H2) { + return (v2 - v1).norm(); + } +}; +} + +TEST(RangeFactor, NonGTSAM) { + // Create a factor + Key poseKey(1); + Key pointKey(2); + double measurement(10.0); + RangeFactor factor(poseKey, pointKey, measurement, model); + + // Set the linearization point + Vector3 pose(1.0, 2.0, 00); + Vector3 point(-4.0, 11.0, 0); + + // The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance + Vector expectedError = (Vector(1) << 0.295630141).finished(); + + // Verify we get the expected error + CHECK(assert_equal(expectedError, factor.evaluateError(pose, point), 1e-9)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 1b51224d2..7503a8bb1 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -47,7 +47,6 @@ namespace gtsam { /** concept check by type */ GTSAM_CONCEPT_TESTABLE_TYPE(Rot) - GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(Pose, Point) GTSAM_CONCEPT_POSE_TYPE(Pose) public: diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index 78bd1fe6f..a6bc6006a 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -170,4 +170,17 @@ private: template<> struct traits : public internal::LieGroup {}; +// Define Range functor specializations that are used in RangeFactor +template struct Range; + +template <> +struct Range { + typedef double result_type; + double operator()(const PoseRTV& pose1, const PoseRTV& pose2, + OptionalJacobian<1, 9> H1 = boost::none, + OptionalJacobian<1, 9> H2 = boost::none) { + return pose1.range(pose2, H1, H2); + } +}; + } // \namespace gtsam From 02b703c5c83c563802ccb43a43e491860765d4c8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 16:33:56 -0700 Subject: [PATCH 427/964] Added MakeJacobian meta-function --- gtsam/base/OptionalJacobian.h | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index d0e2297ef..c0ac8cd7f 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -171,6 +171,16 @@ public: // forward declare template struct traits; +/** + * @brief: meta-function to generate Jacobian + * @param T return type + * @param A argument type + */ +template +struct MakeJacobian { + typedef Eigen::Matrix::dimension, traits::dimension> type; +}; + /** * @brief: meta-function to generate JacobianTA optional reference * Used mainly by Expressions From 05ce9b1e0ee798f9e356fbf32bd8136e5dd76e78 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 16:34:23 -0700 Subject: [PATCH 428/964] Made use of Bearing/Range functors now --- gtsam/slam/BearingRangeFactor.h | 197 +++++++++++++++++--------------- 1 file changed, 106 insertions(+), 91 deletions(-) diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 7503a8bb1..131a08f4b 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -13,111 +13,126 @@ * @file BearingRangeFactor.h * @date Apr 1, 2010 * @author Kai Ni - * @brief a single factor contains both the bearing and the range to prevent handle to pair bearing and range factors + * @brief a single factor contains both the bearing and the range to prevent + * handle to pair bearing and range factors */ #pragma once -#include -#include #include +#include +#include + +#include namespace gtsam { - /** - * Binary factor for a bearing measurement - * @addtogroup SLAM - */ - template - class BearingRangeFactor: public NoiseModelFactor2 - { - public: - typedef BearingRangeFactor This; - typedef NoiseModelFactor2 Base; - typedef boost::shared_ptr shared_ptr; +// forward declaration of Bearing functor, assumed partially specified +template +struct Bearing; - private: - typedef POSE Pose; - typedef ROTATION Rot; - typedef POINT Point; +// forward declaration of Range functor, assumed partially specified +template +struct Range; - // the measurement - Rot measuredBearing_; - double measuredRange_; +/** + * Binary factor for a bearing/range measurement + * @addtogroup SLAM + */ +template ::result_type, + typename RANGE = typename Range::result_type> +class BearingRangeFactor : public NoiseModelFactor2 { + public: + typedef BearingRangeFactor This; + typedef NoiseModelFactor2 Base; + typedef boost::shared_ptr shared_ptr; - /** concept check by type */ - GTSAM_CONCEPT_TESTABLE_TYPE(Rot) - GTSAM_CONCEPT_POSE_TYPE(Pose) + private: + // the measurement + BEARING measuredBearing_; + RANGE measuredRange_; - public: + /** concept check by type */ + BOOST_CONCEPT_ASSERT((IsTestable)); + BOOST_CONCEPT_ASSERT((IsTestable)); - BearingRangeFactor() {} /* Default constructor */ - BearingRangeFactor(Key poseKey, Key pointKey, const Rot& measuredBearing, const double measuredRange, - const SharedNoiseModel& model) : - Base(model, poseKey, pointKey), measuredBearing_(measuredBearing), measuredRange_(measuredRange) { + public: + BearingRangeFactor() {} /* Default constructor */ + BearingRangeFactor(Key poseKey, Key pointKey, const BEARING& measuredBearing, + const RANGE measuredRange, const SharedNoiseModel& model) + : Base(model, poseKey, pointKey), + measuredBearing_(measuredBearing), + measuredRange_(measuredRange) {} + + virtual ~BearingRangeFactor() {} + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); + } + + /** Print */ + virtual void print( + const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "BearingRangeFactor(" << keyFormatter(this->key1()) << "," + << keyFormatter(this->key2()) << ")\n"; + measuredBearing_.print("measured bearing: "); + std::cout << "measured range: " << measuredRange_ << std::endl; + this->noiseModel_->print("noise model:\n"); + } + + /** equals */ + virtual bool equals(const NonlinearFactor& expected, RANGE tol = 1e-9) const { + const This* e = dynamic_cast(&expected); + return e != NULL && Base::equals(*e, tol) && + fabs(this->measuredRange_ - e->measuredRange_) < tol && + this->measuredBearing_.equals(e->measuredBearing_, tol); + } + + /** h(x)-z -> between(z,h(x)) for BEARING manifold */ + Vector evaluateError(const A1& pose, const A2& point, + boost::optional H1, + boost::optional H2) const { + typename MakeJacobian::type HB1; + typename MakeJacobian::type HB2; + typename MakeJacobian::type HR1; + typename MakeJacobian::type HR2; + + BEARING y1 = Bearing()(pose, point, H1 ? &HB1 : 0, H2 ? &HB2 : 0); + Vector e1 = traits::Logmap(traits::Between(measuredBearing_,y1)); + + RANGE y2 = Range()(pose, point, H1 ? &HR1 : 0, H2 ? &HR2 : 0); + Vector e2 = traits::Logmap(traits::Between(measuredRange_, y2)); + + if (H1) { + H1->resize(HB1.RowsAtCompileTime + HR1.RowsAtCompileTime, HB1.ColsAtCompileTime); + *H1 << HB1, HR1; } - - virtual ~BearingRangeFactor() {} - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** Print */ - virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "BearingRangeFactor(" - << keyFormatter(this->key1()) << "," - << keyFormatter(this->key2()) << ")\n"; - measuredBearing_.print("measured bearing: "); - std::cout << "measured range: " << measuredRange_ << std::endl; - this->noiseModel_->print("noise model:\n"); + if (H2) { + H2->resize(HB2.RowsAtCompileTime + HR2.RowsAtCompileTime, HB2.ColsAtCompileTime); + *H2 << HB2, HR2; } + return concatVectors(2, &e1, &e2); + } - /** equals */ - virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { - const This *e = dynamic_cast (&expected); - return e != NULL && Base::equals(*e, tol) && - fabs(this->measuredRange_ - e->measuredRange_) < tol && - this->measuredBearing_.equals(e->measuredBearing_, tol); - } + /** return the measured */ + const std::pair measured() const { + return std::make_pair(measuredBearing_, measuredRange_); + } - /** h(x)-z -> between(z,h(x)) for Rot manifold */ - Vector evaluateError(const Pose& pose, const Point& point, - boost::optional H1, boost::optional H2) const { - Matrix H11, H21, H12, H22; - boost::optional H11_ = H1 ? boost::optional(H11) : boost::optional(); - boost::optional H21_ = H1 ? boost::optional(H21) : boost::optional(); - boost::optional H12_ = H2 ? boost::optional(H12) : boost::optional(); - boost::optional H22_ = H2 ? boost::optional(H22) : boost::optional(); + private: + /** Serialization function */ + friend typename boost::serialization::access; + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "NoiseModelFactor2", boost::serialization::base_object(*this)); + ar& BOOST_SERIALIZATION_NVP(measuredBearing_); + ar& BOOST_SERIALIZATION_NVP(measuredRange_); + } +}; // BearingRangeFactor - Rot y1 = pose.bearing(point, H11_, H12_); - Vector e1 = Rot::Logmap(measuredBearing_.between(y1)); - - double y2 = pose.range(point, H21_, H22_); - Vector e2 = (Vector(1) << y2 - measuredRange_).finished(); - - if (H1) *H1 = gtsam::stack(2, &H11, &H21); - if (H2) *H2 = gtsam::stack(2, &H12, &H22); - return concatVectors(2, &e1, &e2); - } - - /** return the measured */ - const std::pair measured() const { - return std::make_pair(measuredBearing_, measuredRange_); - } - - private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("NoiseModelFactor2", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(measuredBearing_); - ar & BOOST_SERIALIZATION_NVP(measuredRange_); - } - }; // BearingRangeFactor - -} // namespace gtsam +} // namespace gtsam From 539401664bfec853e921b1afbc49865b29624809 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 18:36:50 -0700 Subject: [PATCH 429/964] use assert_equal --- gtsam/base/serializationTestHelpers.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/base/serializationTestHelpers.h b/gtsam/base/serializationTestHelpers.h index 3f9b4ce5e..f408427d8 100644 --- a/gtsam/base/serializationTestHelpers.h +++ b/gtsam/base/serializationTestHelpers.h @@ -54,7 +54,7 @@ template bool equalsObj(const T& input = T()) { T output; roundtrip(input,output); - return traits::Equals(input, output); + return assert_equal(input, output); } // De-referenced version for pointers, requires equals method @@ -89,7 +89,7 @@ template bool equalsXML(const T& input = T()) { T output; roundtripXML(input,output); - return traits::Equals(input, output); + return assert_equal(input, output); } // This version is for pointers, requires equals method @@ -124,7 +124,7 @@ template bool equalsBinary(const T& input = T()) { T output; roundtripBinary(input,output); - return traits::Equals(input, output); + return assert_equal(input, output); } // This version is for pointers, requires equals method From 9c525c2e7f3ac253f7b677b74f83fb3fcd83fdad Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 18:56:45 -0700 Subject: [PATCH 430/964] Default constructor now default --- gtsam/base/Manifold.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h index d7ea9ea4c..6746236be 100644 --- a/gtsam/base/Manifold.h +++ b/gtsam/base/Manifold.h @@ -187,8 +187,8 @@ public: typedef Eigen::Matrix TangentVector; typedef OptionalJacobian ChartJacobian; - /// Default constructor yields identity - ProductManifold():std::pair(traits::Identity(),traits::Identity()) {} + /// Default constructor needs default constructors to be defined + ProductManifold():std::pair(M1(),M2()) {} // Construct from two original manifold values ProductManifold(const M1& m1, const M2& m2):std::pair(m1,m2) {} From 30435da07011e2167791277826413dc0018d9cf4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 18:57:26 -0700 Subject: [PATCH 431/964] Moved BearingRangeFactor to SAM --- examples/PlanarSLAMExample.cpp | 2 +- examples/SolverComparer.cpp | 2 +- gtsam.h | 2 +- gtsam/sam/BearingRangeFactor.h | 148 ++++++++++++++++++ gtsam/sam/tests/testBearingRangeFactor.cpp | 109 +++++++++++++ gtsam/slam/BearingRangeFactor.h | 131 +--------------- gtsam/slam/dataset.cpp | 2 +- gtsam_unstable/slam/serialization.cpp | 2 +- .../slam/tests/testSerialization.cpp | 2 +- tests/testGaussianISAM2.cpp | 2 +- tests/testGaussianJunctionTreeB.cpp | 2 +- tests/testMarginals.cpp | 2 +- tests/testNonlinearISAM.cpp | 2 +- tests/testSerializationSLAM.cpp | 2 +- timing/timeIncremental.cpp | 2 +- 15 files changed, 276 insertions(+), 136 deletions(-) create mode 100644 gtsam/sam/BearingRangeFactor.h create mode 100644 gtsam/sam/tests/testBearingRangeFactor.cpp diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp index 84f9be3a1..a716f9cd8 100644 --- a/examples/PlanarSLAMExample.cpp +++ b/examples/PlanarSLAMExample.cpp @@ -42,7 +42,7 @@ // Also, we will initialize the robot at the origin using a Prior factor. #include #include -#include +#include // When the factors are created, we will add them to a Factor Graph. As the factors we are using // are nonlinear factors, we will need a Nonlinear Factor Graph. diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 068846884..2000b348b 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -32,7 +32,7 @@ */ #include -#include +#include #include #include #include diff --git a/gtsam.h b/gtsam.h index 054f7a400..d874467fc 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2290,7 +2290,7 @@ virtual class BearingFactor : gtsam::NoiseModelFactor { typedef gtsam::BearingFactor BearingFactor2D; -#include +#include template virtual class BearingRangeFactor : gtsam::NoiseModelFactor { BearingRangeFactor(size_t poseKey, size_t pointKey, const BEARING& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h new file mode 100644 index 000000000..6ef1d7e55 --- /dev/null +++ b/gtsam/sam/BearingRangeFactor.h @@ -0,0 +1,148 @@ +/* ---------------------------------------------------------------------------- + + * 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 BearingRangeFactor.h + * @date Apr 1, 2010 + * @author Kai Ni + * @brief a single factor contains both the bearing and the range to prevent + * handle to pair bearing and range factors + */ + +#pragma once + +#include +#include +#include + +namespace gtsam { + +// forward declaration of Bearing functor, assumed partially specified +template +struct Bearing; + +// forward declaration of Range functor, assumed partially specified +template +struct Range; + +template +struct BearingRange : public ProductManifold { + BearingRange() {} + BearingRange(const ProductManifold& br) : ProductManifold(br) {} + BearingRange(const B& b, const R& r) : ProductManifold(b, r) {} + + private: + /// Serialization function + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp("bearing", this->first); + ar& boost::serialization::make_nvp("range", this->second); + } + + friend class boost::serialization::access; +}; + +template +struct traits > + : internal::ManifoldTraits > { + static void Print(const BearingRange& m, const std::string& str = "") { + traits::Print(m.first, str); + traits::Print(m.second, str); + } + static bool Equals(const BearingRange& m1, const BearingRange& m2, + double tol = 1e-8) { + return traits::Equals(m1.first, m2.first, tol) && + traits::Equals(m1.second, m2.second, tol); + } +}; + +/** + * Binary factor for a bearing/range measurement + * @addtogroup SLAM + */ +template ::result_type, + typename R = typename Range::result_type> +class BearingRangeFactor + : public SerializableExpressionFactor2, A1, A2> { + public: + typedef BearingRange T; + typedef SerializableExpressionFactor2 Base; + typedef BearingRangeFactor This; + typedef boost::shared_ptr shared_ptr; + + private: + /** concept check by type */ + BOOST_CONCEPT_ASSERT((IsTestable)); + BOOST_CONCEPT_ASSERT((IsTestable)); + + public: + /// default constructor + BearingRangeFactor() {} + + /// primary constructor + BearingRangeFactor(Key key1, Key key2, const B& measuredBearing, + const R measuredRange, const SharedNoiseModel& model) + : Base(key1, key2, model, T(measuredBearing, measuredRange)) { + this->initialize(expression(key1, key2)); + } + + virtual ~BearingRangeFactor() {} + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); + } + + // Return measurement expression + virtual Expression expression(Key key1, Key key2) const { + Expression a1_(key1); + Expression a2_(key2); + return Expression(This::Predict, a1_, a2_); + } + + /** Print */ + virtual void print( + const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "BearingRangeFactor(" << keyFormatter(this->keys_[0]) + << "," << keyFormatter(this->keys_[1]) << ")\n"; + traits::Print(this->measured_.first, "measured bearing: "); + traits::Print(this->measured_.second, "measured range: "); + this->noiseModel_->print("noise model:\n"); + } + + /// Prediction function that stacks measurements + static T Predict(const A1& pose, const A2& point, + typename MakeOptionalJacobian::type H1, + typename MakeOptionalJacobian::type H2) { + typename MakeJacobian::type HB1; + typename MakeJacobian::type HB2; + typename MakeJacobian::type HR1; + typename MakeJacobian::type HR2; + + B b = Bearing()(pose, point, H1 ? &HB1 : 0, H2 ? &HB2 : 0); + R r = Range()(pose, point, H1 ? &HR1 : 0, H2 ? &HR2 : 0); + + if (H1) *H1 << HB1, HR1; + if (H2) *H2 << HB2, HR2; + return T(b, r); + } + +}; // BearingRangeFactor + +/// traits +template +struct traits > + : public Testable > {}; + +} // namespace gtsam diff --git a/gtsam/sam/tests/testBearingRangeFactor.cpp b/gtsam/sam/tests/testBearingRangeFactor.cpp new file mode 100644 index 000000000..8f12988b4 --- /dev/null +++ b/gtsam/sam/tests/testBearingRangeFactor.cpp @@ -0,0 +1,109 @@ +/* ---------------------------------------------------------------------------- + + * 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 testBearingRangeFactor.cpp + * @brief Unit tests for BearingRangeFactor Class + * @author Frank Dellaert + * @date July 2015 + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; +using namespace serializationTestHelpers; + +Key poseKey(1); +Key pointKey(2); + +typedef BearingRangeFactor BearingRangeFactor2D; +BearingRangeFactor2D::T measurement2D(1, 2); +static SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(2, 0.5)); +BearingRangeFactor2D factor2D(poseKey, pointKey, 1, 2, model2D); + +typedef BearingRangeFactor BearingRangeFactor3D; +BearingRangeFactor3D::T measurement3D(Pose3().bearing(Point3(1, 0, 0)), 0); +static SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(3, 0.5)); +BearingRangeFactor3D factor3D(poseKey, pointKey, + Pose3().bearing(Point3(1, 0, 0)), 1, model3D); + +/* ************************************************************************* */ +// Export Noisemodels +// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html +BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic); + +/* ************************************************************************* */ +TEST(BearingRangeFactor, Serialization2D) { + EXPECT(equalsObj(factor2D)); + EXPECT(equalsXML(factor2D)); + EXPECT(equalsBinary(factor2D)); +} + +/* ************************************************************************* */ +TEST(BearingRangeFactor, 2D) { + // Serialize the factor + std::string serialized = serializeXML(factor2D); + + // And de-serialize it + BearingRangeFactor2D factor; + deserializeXML(serialized, factor); + + // Set the linearization point + Values values; + values.insert(poseKey, Pose2(1.0, 2.0, 0.57)); + values.insert(pointKey, Point2(-4.0, 11.0)); + + EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), + values, 1e-7, 1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +} + +/* ************************************************************************* */ +TEST(BearingRangeFactor, Serialization3D) { + EXPECT(equalsObj(factor3D)); + EXPECT(equalsXML(factor3D)); + EXPECT(equalsBinary(factor3D)); +} + +/* ************************************************************************* */ +TEST(BearingRangeFactor, 3D) { + // Serialize the factor + std::string serialized = serializeXML(factor3D); + + // And de-serialize it + BearingRangeFactor3D factor; + deserializeXML(serialized, factor); + + // Set the linearization point + Values values; + values.insert(poseKey, Pose3()); + values.insert(pointKey, Point3(1, 0, 0)); + + EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), + values, 1e-7, 1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 131a08f4b..901860015 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -9,130 +9,13 @@ * -------------------------------------------------------------------------- */ -/** - * @file BearingRangeFactor.h - * @date Apr 1, 2010 - * @author Kai Ni - * @brief a single factor contains both the bearing and the range to prevent - * handle to pair bearing and range factors - */ - #pragma once -#include -#include -#include +#ifdef _MSC_VER +#pragma message( \ + "BearingRangeFactor is now an ExpressionFactor in SAM directory") +#else +#warning "BearingRangeFactor is now an ExpressionFactor in SAM directory" +#endif -#include - -namespace gtsam { - -// forward declaration of Bearing functor, assumed partially specified -template -struct Bearing; - -// forward declaration of Range functor, assumed partially specified -template -struct Range; - -/** - * Binary factor for a bearing/range measurement - * @addtogroup SLAM - */ -template ::result_type, - typename RANGE = typename Range::result_type> -class BearingRangeFactor : public NoiseModelFactor2 { - public: - typedef BearingRangeFactor This; - typedef NoiseModelFactor2 Base; - typedef boost::shared_ptr shared_ptr; - - private: - // the measurement - BEARING measuredBearing_; - RANGE measuredRange_; - - /** concept check by type */ - BOOST_CONCEPT_ASSERT((IsTestable)); - BOOST_CONCEPT_ASSERT((IsTestable)); - - public: - BearingRangeFactor() {} /* Default constructor */ - BearingRangeFactor(Key poseKey, Key pointKey, const BEARING& measuredBearing, - const RANGE measuredRange, const SharedNoiseModel& model) - : Base(model, poseKey, pointKey), - measuredBearing_(measuredBearing), - measuredRange_(measuredRange) {} - - virtual ~BearingRangeFactor() {} - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); - } - - /** Print */ - virtual void print( - const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "BearingRangeFactor(" << keyFormatter(this->key1()) << "," - << keyFormatter(this->key2()) << ")\n"; - measuredBearing_.print("measured bearing: "); - std::cout << "measured range: " << measuredRange_ << std::endl; - this->noiseModel_->print("noise model:\n"); - } - - /** equals */ - virtual bool equals(const NonlinearFactor& expected, RANGE tol = 1e-9) const { - const This* e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) && - fabs(this->measuredRange_ - e->measuredRange_) < tol && - this->measuredBearing_.equals(e->measuredBearing_, tol); - } - - /** h(x)-z -> between(z,h(x)) for BEARING manifold */ - Vector evaluateError(const A1& pose, const A2& point, - boost::optional H1, - boost::optional H2) const { - typename MakeJacobian::type HB1; - typename MakeJacobian::type HB2; - typename MakeJacobian::type HR1; - typename MakeJacobian::type HR2; - - BEARING y1 = Bearing()(pose, point, H1 ? &HB1 : 0, H2 ? &HB2 : 0); - Vector e1 = traits::Logmap(traits::Between(measuredBearing_,y1)); - - RANGE y2 = Range()(pose, point, H1 ? &HR1 : 0, H2 ? &HR2 : 0); - Vector e2 = traits::Logmap(traits::Between(measuredRange_, y2)); - - if (H1) { - H1->resize(HB1.RowsAtCompileTime + HR1.RowsAtCompileTime, HB1.ColsAtCompileTime); - *H1 << HB1, HR1; - } - if (H2) { - H2->resize(HB2.RowsAtCompileTime + HR2.RowsAtCompileTime, HB2.ColsAtCompileTime); - *H2 << HB2, HR2; - } - return concatVectors(2, &e1, &e2); - } - - /** return the measured */ - const std::pair measured() const { - return std::make_pair(measuredBearing_, measuredRange_); - } - - private: - /** Serialization function */ - friend typename boost::serialization::access; - template - void serialize(ARCHIVE& ar, const unsigned int /*version*/) { - ar& boost::serialization::make_nvp( - "NoiseModelFactor2", boost::serialization::base_object(*this)); - ar& BOOST_SERIALIZATION_NVP(measuredBearing_); - ar& BOOST_SERIALIZATION_NVP(measuredRange_); - } -}; // BearingRangeFactor - -} // namespace gtsam +#include diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 70b6eb622..04234bacc 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -15,7 +15,7 @@ * @brief utility functions for loading datasets */ -#include +#include #include #include #include diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp index 194fc6e87..7928a2aac 100644 --- a/gtsam_unstable/slam/serialization.cpp +++ b/gtsam_unstable/slam/serialization.cpp @@ -11,7 +11,7 @@ #include //#include -#include +#include #include //#include #include diff --git a/gtsam_unstable/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp index a5e09515c..1d8b30850 100644 --- a/gtsam_unstable/slam/tests/testSerialization.cpp +++ b/gtsam_unstable/slam/tests/testSerialization.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include #include diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 38b5057a6..58c718726 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -9,7 +9,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 98adfc1dc..e877e5a9d 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -16,7 +16,7 @@ */ #include -#include +#include #include #include #include diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index bd202e991..392b84deb 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -31,7 +31,7 @@ // add in headers for specific factors #include #include -#include +#include #include diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index e9e266bb3..3c49d54af 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 08017100f..33453d7d3 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -22,7 +22,7 @@ #include //#include -#include +#include #include //#include #include diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp index d82ef9442..b5dd37516 100644 --- a/timing/timeIncremental.cpp +++ b/timing/timeIncremental.cpp @@ -17,7 +17,7 @@ #include #include #include -#include +#include #include #include #include From b6a785e2d99e1e501fc32847893a375ec04cccd1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 20:16:06 -0700 Subject: [PATCH 432/964] BearingRange type --- gtsam/geometry/BearingRange.h | 97 +++++++++++++++++++++++ gtsam/geometry/tests/testBearingRange.cpp | 61 ++++++++++++++ 2 files changed, 158 insertions(+) create mode 100644 gtsam/geometry/BearingRange.h create mode 100644 gtsam/geometry/tests/testBearingRange.cpp diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h new file mode 100644 index 000000000..38fb47067 --- /dev/null +++ b/gtsam/geometry/BearingRange.h @@ -0,0 +1,97 @@ +/* ---------------------------------------------------------------------------- + + * 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 BearingRange.h + * @date July, 2015 + * @author Frank Dellaert + * @brief Bearing-Range product + */ + +#pragma once + +#include +#include +#include + +namespace gtsam { + +// forward declaration of Bearing functor, assumed partially specified +template +struct Bearing; + +// forward declaration of Range functor, assumed partially specified +template +struct Range; + +/** + * Bearing-Range product for a particular A1,A2 combination + */ +template +struct BearingRange + : public ProductManifold::result_type, + typename Range::result_type> { + typedef typename Bearing::result_type B; + typedef typename Range::result_type R; + + BearingRange() {} + BearingRange(const ProductManifold& br) : ProductManifold(br) {} + BearingRange(const B& b, const R& r) : ProductManifold(b, r) {} + + /// Prediction function that stacks measurements + // BearingRange operator()( + // const A1& a1, const A2& a2, + // typename MakeOptionalJacobian::type H1, + // typename MakeOptionalJacobian::type H2) { + // typename MakeJacobian::type HB1; + // typename MakeJacobian::type HB2; + // typename MakeJacobian::type HR1; + // typename MakeJacobian::type HR2; + // + // B b = Bearing()(a1, a2, H1 ? &HB1 : 0, H2 ? &HB2 : 0); + // R r = Range()(a1, a2, H1 ? &HR1 : 0, H2 ? &HR2 : 0); + // + // if (H1) *H1 << HB1, HR1; + // if (H2) *H2 << HB2, HR2; + // return BearingRange(b, r); + // } + // + private: + /// Serialization function + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp("bearing", this->first); + ar& boost::serialization::make_nvp("range", this->second); + } + + friend class boost::serialization::access; +}; + +template +struct traits > + // : internal::ManifoldTraits > + { + typedef typename Bearing::result_type B; + typedef typename Range::result_type R; + + static void Print(const BearingRange& m, + const std::string& str = "") { + traits::Print(m.first, str); + traits::Print(m.second, str); + } + static bool Equals(const BearingRange& m1, + const BearingRange& m2, double tol = 1e-8) { + return traits::Equals(m1.first, m2.first, tol) && + traits::Equals(m1.second, m2.second, tol); + } +}; + +} // namespace gtsam diff --git a/gtsam/geometry/tests/testBearingRange.cpp b/gtsam/geometry/tests/testBearingRange.cpp new file mode 100644 index 000000000..b12a5a288 --- /dev/null +++ b/gtsam/geometry/tests/testBearingRange.cpp @@ -0,0 +1,61 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testBearingRange.cpp + * @brief Unit tests for BearingRange Class + * @author Frank Dellaert + * @date July 2015 + */ + +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; +using namespace serializationTestHelpers; + +typedef BearingRange BearingRange2D; +BearingRange2D br2D(1, 2); + +typedef BearingRange BearingRange3D; +BearingRange3D br3D(Pose3().bearing(Point3(1, 0, 0)), 1); + +/* ************************************************************************* */ +TEST(BearingRange, Serialization2D) { + EXPECT(equalsObj(br2D)); + EXPECT(equalsXML(br2D)); + EXPECT(equalsBinary(br2D)); +} + +/* ************************************************************************* */ +TEST(BearingRange, 2D) {} + +/* ************************************************************************* */ +TEST(BearingRange, Serialization3D) { + EXPECT(equalsObj(br3D)); + EXPECT(equalsXML(br3D)); + EXPECT(equalsBinary(br3D)); +} + +/* ************************************************************************* */ +TEST(BearingRange, 3D) {} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From 57e28c173162a41d00d995904d8cc6c164cc80bc Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 20:18:59 -0700 Subject: [PATCH 433/964] moved Testable to class --- gtsam/geometry/BearingRange.h | 28 ++++++++++++---------------- 1 file changed, 12 insertions(+), 16 deletions(-) diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index 38fb47067..a147c60cd 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -64,6 +64,15 @@ struct BearingRange // return BearingRange(b, r); // } // + void print(const std::string& str = "") const { + traits::Print(this->first, str); + traits::Print(this->second, str); + } + bool equals(const BearingRange& m2, double tol = 1e-8) const { + return traits::Equals(this->first, m2.first, tol) && + traits::Equals(this->second, m2.second, tol); + } + private: /// Serialization function template @@ -77,21 +86,8 @@ struct BearingRange template struct traits > - // : internal::ManifoldTraits > - { - typedef typename Bearing::result_type B; - typedef typename Range::result_type R; - - static void Print(const BearingRange& m, - const std::string& str = "") { - traits::Print(m.first, str); - traits::Print(m.second, str); - } - static bool Equals(const BearingRange& m1, - const BearingRange& m2, double tol = 1e-8) { - return traits::Equals(m1.first, m2.first, tol) && - traits::Equals(m1.second, m2.second, tol); - } -}; + : Testable > + // : internal::ManifoldTraits > + {}; } // namespace gtsam From fe7b280879844294be10caef90efc2c91c532c63 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 20:23:49 -0700 Subject: [PATCH 434/964] Manifold traits --- gtsam/geometry/BearingRange.h | 8 ++++---- gtsam/geometry/tests/testBearingRange.cpp | 18 ++++++++++++++---- 2 files changed, 18 insertions(+), 8 deletions(-) diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index a147c60cd..b54a4e255 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -20,6 +20,7 @@ #include #include +#include #include namespace gtsam { @@ -63,7 +64,7 @@ struct BearingRange // if (H2) *H2 << HB2, HR2; // return BearingRange(b, r); // } - // + void print(const std::string& str = "") const { traits::Print(this->first, str); traits::Print(this->second, str); @@ -86,8 +87,7 @@ struct BearingRange template struct traits > - : Testable > - // : internal::ManifoldTraits > - {}; + : Testable >, + internal::ManifoldTraits > {}; } // namespace gtsam diff --git a/gtsam/geometry/tests/testBearingRange.cpp b/gtsam/geometry/tests/testBearingRange.cpp index b12a5a288..636f7458b 100644 --- a/gtsam/geometry/tests/testBearingRange.cpp +++ b/gtsam/geometry/tests/testBearingRange.cpp @@ -33,6 +33,14 @@ BearingRange2D br2D(1, 2); typedef BearingRange BearingRange3D; BearingRange3D br3D(Pose3().bearing(Point3(1, 0, 0)), 1); +//****************************************************************************** +TEST(BearingRange2D, Concept) { + BOOST_CONCEPT_ASSERT((IsManifold)); +} + +/* ************************************************************************* */ +TEST(BearingRange, 2D) {} + /* ************************************************************************* */ TEST(BearingRange, Serialization2D) { EXPECT(equalsObj(br2D)); @@ -40,8 +48,13 @@ TEST(BearingRange, Serialization2D) { EXPECT(equalsBinary(br2D)); } +//****************************************************************************** +TEST(BearingRange3D, Concept) { + BOOST_CONCEPT_ASSERT((IsManifold)); +} + /* ************************************************************************* */ -TEST(BearingRange, 2D) {} +TEST(BearingRange, 3D) {} /* ************************************************************************* */ TEST(BearingRange, Serialization3D) { @@ -50,9 +63,6 @@ TEST(BearingRange, Serialization3D) { EXPECT(equalsBinary(br3D)); } -/* ************************************************************************* */ -TEST(BearingRange, 3D) {} - /* ************************************************************************* */ int main() { TestResult tr; From d9fe27a1314bd792c129bad68662587ff70374ba Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 20:45:58 -0700 Subject: [PATCH 435/964] Measure static method --- gtsam/geometry/BearingRange.h | 43 ++++++++++++----------- gtsam/geometry/tests/testBearingRange.cpp | 12 +++++-- 2 files changed, 33 insertions(+), 22 deletions(-) diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index b54a4e255..4276fe9b1 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -42,32 +42,35 @@ struct BearingRange typename Range::result_type> { typedef typename Bearing::result_type B; typedef typename Range::result_type R; + typedef ProductManifold Base; BearingRange() {} - BearingRange(const ProductManifold& br) : ProductManifold(br) {} - BearingRange(const B& b, const R& r) : ProductManifold(b, r) {} + BearingRange(const ProductManifold& br) : Base(br) {} + BearingRange(const B& b, const R& r) : Base(b, r) {} /// Prediction function that stacks measurements - // BearingRange operator()( - // const A1& a1, const A2& a2, - // typename MakeOptionalJacobian::type H1, - // typename MakeOptionalJacobian::type H2) { - // typename MakeJacobian::type HB1; - // typename MakeJacobian::type HB2; - // typename MakeJacobian::type HR1; - // typename MakeJacobian::type HR2; - // - // B b = Bearing()(a1, a2, H1 ? &HB1 : 0, H2 ? &HB2 : 0); - // R r = Range()(a1, a2, H1 ? &HR1 : 0, H2 ? &HR2 : 0); - // - // if (H1) *H1 << HB1, HR1; - // if (H2) *H2 << HB2, HR2; - // return BearingRange(b, r); - // } + static BearingRange Measure( + const A1& a1, const A2& a2, + OptionalJacobian::dimension> H1 = boost::none, + OptionalJacobian::dimension> H2 = + boost::none) { + typename MakeJacobian::type HB1; + typename MakeJacobian::type HB2; + typename MakeJacobian::type HR1; + typename MakeJacobian::type HR2; + + B b = Bearing()(a1, a2, H1 ? &HB1 : 0, H2 ? &HB2 : 0); + R r = Range()(a1, a2, H1 ? &HR1 : 0, H2 ? &HR2 : 0); + + if (H1) *H1 << HB1, HR1; + if (H2) *H2 << HB2, HR2; + return BearingRange(b, r); + } void print(const std::string& str = "") const { - traits::Print(this->first, str); - traits::Print(this->second, str); + std::cout << str; + traits::Print(this->first, "bearing "); + traits::Print(this->second, "range "); } bool equals(const BearingRange& m2, double tol = 1e-8) const { return traits::Equals(this->first, m2.first, tol) && diff --git a/gtsam/geometry/tests/testBearingRange.cpp b/gtsam/geometry/tests/testBearingRange.cpp index 636f7458b..8c5d2208e 100644 --- a/gtsam/geometry/tests/testBearingRange.cpp +++ b/gtsam/geometry/tests/testBearingRange.cpp @@ -39,7 +39,11 @@ TEST(BearingRange2D, Concept) { } /* ************************************************************************* */ -TEST(BearingRange, 2D) {} +TEST(BearingRange, 2D) { + BearingRange2D expected(0, 1); + BearingRange2D actual = BearingRange2D::Measure(Pose2(), Point2(1, 0)); + EXPECT(assert_equal(expected, actual)); +} /* ************************************************************************* */ TEST(BearingRange, Serialization2D) { @@ -54,7 +58,11 @@ TEST(BearingRange3D, Concept) { } /* ************************************************************************* */ -TEST(BearingRange, 3D) {} +TEST(BearingRange, 3D) { + BearingRange3D expected(Unit3(), 1); + BearingRange3D actual = BearingRange3D::Measure(Pose3(), Point3(1, 0, 0)); + EXPECT(assert_equal(expected, actual)); +} /* ************************************************************************* */ TEST(BearingRange, Serialization3D) { From 850c8a792105fd2d6ceca59b3000de0ea7ba7b75 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 20:51:01 -0700 Subject: [PATCH 436/964] Fixed BearingRangeFactor --- gtsam/sam/BearingRangeFactor.h | 92 +++------------------- gtsam/sam/tests/testBearingRangeFactor.cpp | 2 - 2 files changed, 13 insertions(+), 81 deletions(-) diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h index 6ef1d7e55..1f4122255 100644 --- a/gtsam/sam/BearingRangeFactor.h +++ b/gtsam/sam/BearingRangeFactor.h @@ -20,50 +20,11 @@ #pragma once #include -#include +#include #include namespace gtsam { -// forward declaration of Bearing functor, assumed partially specified -template -struct Bearing; - -// forward declaration of Range functor, assumed partially specified -template -struct Range; - -template -struct BearingRange : public ProductManifold { - BearingRange() {} - BearingRange(const ProductManifold& br) : ProductManifold(br) {} - BearingRange(const B& b, const R& r) : ProductManifold(b, r) {} - - private: - /// Serialization function - template - void serialize(ARCHIVE& ar, const unsigned int /*version*/) { - ar& boost::serialization::make_nvp("bearing", this->first); - ar& boost::serialization::make_nvp("range", this->second); - } - - friend class boost::serialization::access; -}; - -template -struct traits > - : internal::ManifoldTraits > { - static void Print(const BearingRange& m, const std::string& str = "") { - traits::Print(m.first, str); - traits::Print(m.second, str); - } - static bool Equals(const BearingRange& m1, const BearingRange& m2, - double tol = 1e-8) { - return traits::Equals(m1.first, m2.first, tol) && - traits::Equals(m1.second, m2.second, tol); - } -}; - /** * Binary factor for a bearing/range measurement * @addtogroup SLAM @@ -72,25 +33,21 @@ template ::result_type, typename R = typename Range::result_type> class BearingRangeFactor - : public SerializableExpressionFactor2, A1, A2> { - public: - typedef BearingRange T; + : public SerializableExpressionFactor2, A1, A2> { + private: + typedef BearingRange T; typedef SerializableExpressionFactor2 Base; typedef BearingRangeFactor This; - typedef boost::shared_ptr shared_ptr; - - private: - /** concept check by type */ - BOOST_CONCEPT_ASSERT((IsTestable)); - BOOST_CONCEPT_ASSERT((IsTestable)); public: + typedef boost::shared_ptr shared_ptr; + /// default constructor BearingRangeFactor() {} /// primary constructor BearingRangeFactor(Key key1, Key key2, const B& measuredBearing, - const R measuredRange, const SharedNoiseModel& model) + const R& measuredRange, const SharedNoiseModel& model) : Base(key1, key2, model, T(measuredBearing, measuredRange)) { this->initialize(expression(key1, key2)); } @@ -105,37 +62,14 @@ class BearingRangeFactor // Return measurement expression virtual Expression expression(Key key1, Key key2) const { - Expression a1_(key1); - Expression a2_(key2); - return Expression(This::Predict, a1_, a2_); + return Expression(T::Measure, Expression(key1), Expression(key2)); } - /** Print */ - virtual void print( - const std::string& s = "", - const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "BearingRangeFactor(" << keyFormatter(this->keys_[0]) - << "," << keyFormatter(this->keys_[1]) << ")\n"; - traits::Print(this->measured_.first, "measured bearing: "); - traits::Print(this->measured_.second, "measured range: "); - this->noiseModel_->print("noise model:\n"); - } - - /// Prediction function that stacks measurements - static T Predict(const A1& pose, const A2& point, - typename MakeOptionalJacobian::type H1, - typename MakeOptionalJacobian::type H2) { - typename MakeJacobian::type HB1; - typename MakeJacobian::type HB2; - typename MakeJacobian::type HR1; - typename MakeJacobian::type HR2; - - B b = Bearing()(pose, point, H1 ? &HB1 : 0, H2 ? &HB2 : 0); - R r = Range()(pose, point, H1 ? &HR1 : 0, H2 ? &HR2 : 0); - - if (H1) *H1 << HB1, HR1; - if (H2) *H2 << HB2, HR2; - return T(b, r); + /// print + virtual void print(const std::string& s = "", + const KeyFormatter& kf = DefaultKeyFormatter) const { + std::cout << s << "BearingRangeFactor" << std::endl; + Base::print(s, kf); } }; // BearingRangeFactor diff --git a/gtsam/sam/tests/testBearingRangeFactor.cpp b/gtsam/sam/tests/testBearingRangeFactor.cpp index 8f12988b4..dfc782838 100644 --- a/gtsam/sam/tests/testBearingRangeFactor.cpp +++ b/gtsam/sam/tests/testBearingRangeFactor.cpp @@ -34,12 +34,10 @@ Key poseKey(1); Key pointKey(2); typedef BearingRangeFactor BearingRangeFactor2D; -BearingRangeFactor2D::T measurement2D(1, 2); static SharedNoiseModel model2D(noiseModel::Isotropic::Sigma(2, 0.5)); BearingRangeFactor2D factor2D(poseKey, pointKey, 1, 2, model2D); typedef BearingRangeFactor BearingRangeFactor3D; -BearingRangeFactor3D::T measurement3D(Pose3().bearing(Point3(1, 0, 0)), 0); static SharedNoiseModel model3D(noiseModel::Isotropic::Sigma(3, 0.5)); BearingRangeFactor3D factor3D(poseKey, pointKey, Pose3().bearing(Point3(1, 0, 0)), 1, model3D); From d567b36f1a7db5fa0532d88ed05e4d48805fa938 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 21:34:08 -0700 Subject: [PATCH 437/964] Fixed some issues --- timing/timeRot2.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/timing/timeRot2.cpp b/timing/timeRot2.cpp index 26eed0207..52dfdcc08 100644 --- a/timing/timeRot2.cpp +++ b/timing/timeRot2.cpp @@ -92,11 +92,8 @@ int main() int n = 50000000; cout << "NOTE: Times are reported for " << n << " calls" << endl; - // create a random direction: - double norm=sqrt(16.0+4.0); - double x=4.0/norm, y=2.0/norm; - Vector v = (Vector(2) << x, y).finished(); - Rot2 R = Rot2(0.4), R2 = R.retract(v), R3(0.6); + Vector1 v; v << 0.1; + Rot2 R = Rot2(0.4), R2(0.5), R3(0.6); TEST(Rot2_Expmap, Rot2::Expmap(v)); TEST(Rot2_Retract, R.retract(v)); From 1289e5c72985739172d313c685dbebcb8f3215bb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 21:43:46 -0700 Subject: [PATCH 438/964] Fixed typo --- gtsam/nonlinear/ExpressionFactor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index 55ed4ea07..4af803711 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -56,8 +56,8 @@ public: /// Destructor virtual ~ExpressionFactor() {} - /** return the measured */ - double measured() const { return measured_; } + /** return the measurement */ + const T& measured() const { return measured_; } /// print relies on Testable traits being defined for T void print(const std::string& s, const KeyFormatter& keyFormatter) const { From b97afe338fcb616487013e5ba3eaf706aab828fe Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 12 Jul 2015 21:46:45 -0700 Subject: [PATCH 439/964] New targets --- .cproject | 3566 +++++++++++++++++++++++++++-------------------------- 1 file changed, 1820 insertions(+), 1746 deletions(-) diff --git a/.cproject b/.cproject index 5d8469baa..c839ebc8f 100644 --- a/.cproject +++ b/.cproject @@ -5,13 +5,13 @@ - - + + @@ -60,13 +60,13 @@ - - + + @@ -116,13 +116,13 @@ - - + + @@ -484,341 +484,6 @@ - - make - -j5 - testCombinedImuFactor.run - true - true - true - - - make - -j5 - testImuFactor.run - true - true - true - - - make - -j5 - testAHRSFactor.run - true - true - true - - - make - -j8 - testAttitudeFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testNonlinearConstraint.run - true - true - true - - - make - -j2 - testLieConfig.run - true - true - true - - - make - -j2 - testConstraintOptimizer.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j4 - testImuFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testBTree.run - true - true - true - - - make - -j2 - testDSF.run - true - true - true - - - make - -j2 - testDSFVector.run - true - true - true - - - make - -j2 - testMatrix.run - true - true - true - - - make - -j2 - testSPQRUtil.run - true - true - true - - - make - -j2 - testVector.run - true - true - true - - - make - -j2 - timeMatrix.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - wrap - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - - - cmake - .. - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testLieConfig.run - true - true - true - - - make - -j4 - testSimilarity3.run - true - true - true - - - make - -j5 - testInvDepthCamera3.run - true - true - true - - - make - -j5 - testTriangulation.run - true - true - true - - - make - -j4 - testEvent.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - all - true - false - true - - - make - -j5 - check - true - false - true - make -j5 @@ -867,183 +532,39 @@ true true - - make - -j5 - testCal3Bundler.run - true - true - true - - - make - -j5 - testCal3DS2.run - true - true - true - - - make - -j5 - testCalibratedCamera.run - true - true - true - - - make - -j5 - testEssentialMatrix.run - true - true - true - - - make - -j1 VERBOSE=1 - testHomography2.run - true - false - true - - - make - -j5 - testPinholeCamera.run - true - true - true - - - make - -j5 - testPoint2.run - true - true - true - - - make - -j5 - testPoint3.run - true - true - true - - - make - -j5 - testPose2.run - true - true - true - - - make - -j5 - testPose3.run - true - true - true - - - make - -j5 - testRot3M.run - true - true - true - - - make - -j5 - testSphere2.run - true - true - true - - - make - -j5 - testStereoCamera.run - true - true - true - - - make - -j5 - testCal3Unified.run - true - true - true - - - make - -j5 - testRot2.run - true - true - true - - - make - -j5 - testRot3Q.run - true - true - true - - - make - -j5 - testRot3.run - true - true - true - - + make -j4 - testSO3.run + testSimilarity3.run true true true - + + make + -j5 + testInvDepthCamera3.run + true + true + true + + + make + -j5 + testTriangulation.run + true + true + true + + make -j4 - testQuaternion.run + testEvent.run true true true - - make - -j4 - testOrientedPlane3.run - true - true - true - - - make - -j4 - testPinholePose.run - true - true - true - - - make - -j4 - testCyclic.run - true - true - true - - + make -j2 all @@ -1051,7 +572,7 @@ true true - + make -j2 clean @@ -1059,23 +580,143 @@ true true - + + make + -k + check + true + false + true + + + make + + tests/testBayesTree.run + true + false + true + + + make + + testBinaryBayesNet.run + true + false + true + + make -j2 - clean all + testFactorGraph.run true true true - + make -j2 - install + testISAM.run true true true - + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + testKey.run + true + true + true + + + make + -j2 + testOrdering.run + true + true + true + + + make + + testSymbolicBayesNet.run + true + false + true + + + make + + tests/testSymbolicFactor.run + true + false + true + + + make + + testSymbolicFactorGraph.run + true + false + true + + + make + -j2 + timeSymbolMaps.run + true + true + true + + + make + + tests/testBayesTree + true + false + true + + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + make -j2 clean @@ -1227,146 +868,154 @@ true true - + make - -j2 - all + -j5 + testGaussianFactorGraphUnordered.run true true true - + make - -j2 - check + -j5 + testGaussianBayesNetUnordered.run true true true - + make - -j2 + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testJacobianFactor.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testNoiseModel.run + true + true + true + + + make + -j5 + testSampler.run + true + true + true + + + make + -j5 + testSerializationLinear.run + true + true + true + + + make + -j5 + testVectorValues.run + true + true + true + + + make + -j5 + testGaussianBayesTree.run + true + true + true + + + make + -j5 + testCombinedImuFactor.run + true + true + true + + + make + -j5 + testImuFactor.run + true + true + true + + + make + -j5 + testAHRSFactor.run + true + true + true + + + make + -j8 + testAttitudeFactor.run + true + true + true + + + make + -j5 clean true true true - + make - -j2 - testPlanarSLAM.run - true - true - true - - - make - -j2 - testPose2Config.run - true - true - true - - - make - -j2 - testPose2Factor.run - true - true - true - - - make - -j2 - testPose2Prior.run - true - true - true - - - make - -j2 - testPose2SLAM.run - true - true - true - - - make - -j2 - testPose3Config.run - true - true - true - - - make - -j2 - testPose3SLAM.run - true - true - true - - - make - - testSimulated2DOriented.run - true - false - true - - - make - -j2 - testVSLAMConfig.run - true - true - true - - - make - -j2 - testVSLAMFactor.run - true - true - true - - - make - -j2 - testVSLAMGraph.run - true - true - true - - - make - -j2 - testPose3Factor.run - true - true - true - - - make - - testSimulated2D.run - true - false - true - - - make - - testSimulated3D.run - true - false - true - - - make - -j2 - tests/testGaussianISAM2 + -j5 + all true true true @@ -1461,111 +1110,477 @@ make + testErrors.run true false true - + make - -j5 - testAntiFactor.run + -j2 + check true true true - + make - -j5 - testPriorFactor.run + -j2 + tests/testGaussianJunctionTree.run true true true - + make - -j5 - testDataset.run + -j2 + tests/testGaussianFactor.run true true true - + make - -j5 - testEssentialMatrixFactor.run + -j2 + tests/testGaussianConditional.run true true true - + make - -j5 - testGeneralSFMFactor_Cal3Bundler.run + -j2 + tests/timeSLAMlike.run true true true - + make - -j5 - testGeneralSFMFactor.run + -j2 + check true true true - + make - -j5 - testProjectionFactor.run + -j2 + clean true true true - + make - -j5 - testRotateFactor.run + -j2 + testBTree.run true true true - + make - -j5 - testPoseRotationPrior.run + -j2 + testDSF.run true true true - + make - -j5 - testImplicitSchurFactor.run + -j2 + testDSFVector.run true true true - + + make + -j2 + testMatrix.run + true + true + true + + + make + -j2 + testSPQRUtil.run + true + true + true + + + make + -j2 + testVector.run + true + true + true + + + make + -j2 + timeMatrix.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testClusterTree.run + true + true + true + + + make + -j2 + testJunctionTree.run + true + true + true + + + make + -j2 + tests/testEliminationTree.run + true + true + true + + + make + -j2 + tests/testSymbolicFactor.run + true + true + true + + + make + -j2 + tests/testVariableSlots.run + true + true + true + + + make + -j2 + tests/testConditional.run + true + true + true + + + make + -j2 + tests/testSymbolicFactorGraph.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + testNonlinearConstraint.run + true + true + true + + + make + -j2 + testLieConfig.run + true + true + true + + + make + -j2 + testConstraintOptimizer.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testPlanarSLAM.run + true + true + true + + + make + -j2 + testPose2Config.run + true + true + true + + + make + -j2 + testPose2Factor.run + true + true + true + + + make + -j2 + testPose2Prior.run + true + true + true + + + make + -j2 + testPose2SLAM.run + true + true + true + + + make + -j2 + testPose3Config.run + true + true + true + + + make + -j2 + testPose3SLAM.run + true + true + true + + + make + testSimulated2DOriented.run + true + false + true + + + make + -j2 + testVSLAMConfig.run + true + true + true + + + make + -j2 + testVSLAMFactor.run + true + true + true + + + make + -j2 + testVSLAMGraph.run + true + true + true + + + make + -j2 + testPose3Factor.run + true + true + true + + + make + testSimulated2D.run + true + false + true + + + make + testSimulated3D.run + true + false + true + + + make + -j2 + tests/testGaussianISAM2 + true + true + true + + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFMap.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + + + make + -j5 + testEliminationTree.run + true + true + true + + + make + -j5 + testInference.run + true + true + true + + + make + -j5 + testKey.run + true + true + true + + + make + -j1 + testSymbolicBayesTree.run + true + false + true + + + make + -j1 + testSymbolicSequentialSolver.run + true + false + true + + make -j4 - testRangeFactor.run + testLabeledSymbol.run true true true - + make - -j4 - testOrientedPlane3Factor.run + -j2 + check true true true - + make - -j4 - testSmartProjectionPoseFactor.run + -j2 + tests/testLieConfig.run true true true @@ -1771,6 +1786,7 @@ cpack + -G DEB true false @@ -1778,6 +1794,7 @@ cpack + -G RPM true false @@ -1785,6 +1802,7 @@ cpack + -G TGZ true false @@ -1792,6 +1810,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -1973,7 +1992,7 @@ false true - + make -j2 check @@ -1981,55 +2000,38 @@ true true - + make - - tests/testGaussianISAM2 + -j2 + clean + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + all + true + true + true + + + cmake + .. true false true - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testGaussianJunctionTree.run - true - true - true - - - make - -j2 - tests/testGaussianFactor.run - true - true - true - - - make - -j2 - tests/testGaussianConditional.run - true - true - true - - - make - -j2 - tests/timeSLAMlike.run - true - true - true - - + make -j2 testGaussianFactor.run @@ -2037,10 +2039,458 @@ true true - + make -j5 - testParticleFactor.run + testCal3Bundler.run + true + true + true + + + make + -j5 + testCal3DS2.run + true + true + true + + + make + -j5 + testCalibratedCamera.run + true + true + true + + + make + -j5 + testEssentialMatrix.run + true + true + true + + + make + -j1 VERBOSE=1 + testHomography2.run + true + false + true + + + make + -j5 + testPinholeCamera.run + true + true + true + + + make + -j5 + testPoint2.run + true + true + true + + + make + -j5 + testPoint3.run + true + true + true + + + make + -j5 + testPose2.run + true + true + true + + + make + -j5 + testPose3.run + true + true + true + + + make + -j5 + testRot3M.run + true + true + true + + + make + -j5 + testSphere2.run + true + true + true + + + make + -j5 + testStereoCamera.run + true + true + true + + + make + -j5 + testCal3Unified.run + true + true + true + + + make + -j5 + testRot2.run + true + true + true + + + make + -j5 + testRot3Q.run + true + true + true + + + make + -j5 + testRot3.run + true + true + true + + + make + -j4 + testSO3.run + true + true + true + + + make + -j4 + testQuaternion.run + true + true + true + + + make + -j4 + testOrientedPlane3.run + true + true + true + + + make + -j4 + testPinholePose.run + true + true + true + + + make + -j4 + testCyclic.run + true + true + true + + + make + -j4 + testUnit3.run + true + true + true + + + make + -j4 + testBearingRange.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + all + true + false + true + + + make + -j5 + check + true + false + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + clean all + true + true + true + + + make + -j1 + testDiscreteBayesTree.run + true + false + true + + + make + -j5 + testDiscreteConditional.run + true + true + true + + + make + -j5 + testDiscreteFactor.run + true + true + true + + + make + -j5 + testDiscreteFactorGraph.run + true + true + true + + + make + -j5 + testDiscreteMarginals.run + true + true + true + + + make + -j5 + testIMUSystem.run + true + true + true + + + make + -j5 + testPoseRTV.run + true + true + true + + + make + -j5 + testVelocityConstraint.run + true + true + true + + + make + -j5 + testVelocityConstraint3.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + timeCalibratedCamera.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + testMethod.run + true + true + true + + + make + -j5 + testClass.run + true + true + true + + + make + -j4 + testType.run + true + true + true + + + make + -j4 + testArgument.run + true + true + true + + + make + -j4 + testReturnValue.run + true + true + true + + + make + -j4 + testTemplate.run + true + true + true + + + make + -j4 + testGlobalFunction.run true true true @@ -2093,7 +2543,343 @@ true true - + + make + -j2 + vSFMexample.run + true + true + true + + + make + -j2 + testVSLAMGraph + true + true + true + + + make + -j5 + testMatrix.run + true + true + true + + + make + -j5 + testVector.run + true + true + true + + + make + -j5 + testNumericalDerivative.run + true + true + true + + + make + -j5 + testVerticalBlockMatrix.run + true + true + true + + + make + -j4 + testOptionalJacobian.run + true + true + true + + + make + -j4 + testGroup.run + true + true + true + + + make + -j5 + check.tests + true + true + true + + + make + -j2 + timeGaussianFactorGraph.run + true + true + true + + + make + -j5 + testMarginals.run + true + true + true + + + make + -j5 + testGaussianISAM2.run + true + true + true + + + make + -j5 + testSymbolicFactorGraphB.run + true + true + true + + + make + -j2 + timeSequentialOnDataset.run + true + true + true + + + make + -j5 + testGradientDescentOptimizer.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + testNonlinearOptimizer.run + true + true + true + + + make + -j2 + testGaussianBayesNet.run + true + true + true + + + make + -j2 + testNonlinearISAM.run + true + true + true + + + make + -j2 + testNonlinearEquality.run + true + true + true + + + make + -j2 + testExtendedKalmanFilter.run + true + true + true + + + make + -j5 + timing.tests + true + true + true + + + make + -j5 + testNonlinearFactor.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + testGaussianJunctionTreeB.run + true + true + true + + + make + + testGraph.run + true + false + true + + + make + + testJunctionTree.run + true + false + true + + + make + + testSymbolicBayesNetB.run + true + false + true + + + make + -j5 + testGaussianISAM.run + true + true + true + + + make + -j5 + testDoglegOptimizer.run + true + true + true + + + make + -j5 + testNonlinearFactorGraph.run + true + true + true + + + make + -j5 + testIterative.run + true + true + true + + + make + -j5 + testSubgraphSolver.run + true + true + true + + + make + -j5 + testGaussianFactorGraphB.run + true + true + true + + + make + -j5 + testSummarization.run + true + true + true + + + make + -j5 + testManifold.run + true + true + true + + + make + -j4 + testLie.run + true + true + true + + + make + -j4 + testSerializationSLAM.run + true + true + true + + + make + -j5 + testParticleFactor.run + true + true + true + + + make + -j2 + testGaussianFactor.run + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + clean + true + true + true + + make -j2 all @@ -2101,7 +2887,7 @@ true true - + make -j2 clean @@ -2109,129 +2895,15 @@ true true - - make - -k - check - true - false - true - - - make - tests/testBayesTree.run - true - false - true - - - make - testBinaryBayesNet.run - true - false - true - - + make -j2 - testFactorGraph.run + all true true true - - make - -j2 - testISAM.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - testKey.run - true - true - true - - - make - -j2 - testOrdering.run - true - true - true - - - make - testSymbolicBayesNet.run - true - false - true - - - make - tests/testSymbolicFactor.run - true - false - true - - - make - testSymbolicFactorGraph.run - true - false - true - - - make - -j2 - timeSymbolMaps.run - true - true - true - - - make - tests/testBayesTree - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - timeCalibratedCamera.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - + make -j2 clean @@ -2239,18 +2911,106 @@ true true - + make - -j2 - tests/testPose2.run + -j5 + testAntiFactor.run true true true - + make - -j2 - tests/testPose3.run + -j5 + testPriorFactor.run + true + true + true + + + make + -j5 + testDataset.run + true + true + true + + + make + -j5 + testEssentialMatrixFactor.run + true + true + true + + + make + -j5 + testGeneralSFMFactor_Cal3Bundler.run + true + true + true + + + make + -j5 + testGeneralSFMFactor.run + true + true + true + + + make + -j5 + testProjectionFactor.run + true + true + true + + + make + -j5 + testRotateFactor.run + true + true + true + + + make + -j5 + testPoseRotationPrior.run + true + true + true + + + make + -j5 + testImplicitSchurFactor.run + true + true + true + + + make + -j4 + testOrientedPlane3Factor.run + true + true + true + + + make + -j4 + testSmartProjectionPoseFactor.run + true + true + true + + + make + -j4 + testInitializePose3.run true true true @@ -2455,6 +3215,213 @@ true true + + make + -j5 + testLago.run + true + true + true + + + make + -j5 + testLinearContainerFactor.run + true + true + true + + + make + -j5 + testOrdering.run + true + true + true + + + make + -j5 + testValues.run + true + true + true + + + make + -j5 + testWhiteNoiseFactor.run + true + true + true + + + make + -j4 + testExpression.run + true + true + true + + + make + -j4 + testAdaptAutoDiff.run + true + true + true + + + make + -j4 + testCallRecord.run + true + true + true + + + make + -j4 + testExpressionFactor.run + true + true + true + + + make + -j4 + testExecutionTrace.run + true + true + true + + + make + -j4 + testSerializationNonlinear.run + true + true + true + + + make + -j4 + testImuFactor.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + tests/testGaussianISAM2 + true + false + true + + + make + -j5 + timeCalibratedCamera.run + true + true + true + + + make + -j5 + timePinholeCamera.run + true + true + true + + + make + -j5 + timeStereoCamera.run + true + true + true + + + make + -j5 + timeLago.run + true + true + true + + + make + -j5 + timePose3.run + true + true + true + + + make + -j4 + timeAdaptAutoDiff.run + true + true + true + + + make + -j4 + timeCameraExpression.run + true + true + true + + + make + -j4 + timeOneCameraExpression.run + true + true + true + + + make + -j4 + timeSFMExpressions.run + true + true + true + + + make + -j4 + timeIncremental.run + true + true + true + + + make + -j4 + timeSchurFactors.run + true + true + true + + + make + -j4 + timeRot2.run + true + true + true + make -j2 @@ -2551,927 +3518,34 @@ true true - - make - -j1 - testDiscreteBayesTree.run - true - false - true - - - make - -j5 - testDiscreteConditional.run - true - true - true - - - make - -j5 - testDiscreteFactor.run - true - true - true - - - make - -j5 - testDiscreteFactorGraph.run - true - true - true - - - make - -j5 - testDiscreteMarginals.run - true - true - true - - - make - -j5 - testEliminationTree.run - true - true - true - - - make - -j5 - testInference.run - true - true - true - - - make - -j5 - testKey.run - true - true - true - - - make - -j1 - testSymbolicBayesTree.run - true - false - true - - - make - -j1 - testSymbolicSequentialSolver.run - true - false - true - - + make -j4 - testLabeledSymbol.run + testBearingFactor.run true true true - - make - -j2 - check - true - true - true - - - make - -j2 - testClusterTree.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - tests/testEliminationTree.run - true - true - true - - - make - -j2 - tests/testSymbolicFactor.run - true - true - true - - - make - -j2 - tests/testVariableSlots.run - true - true - true - - - make - -j2 - tests/testConditional.run - true - true - true - - - make - -j2 - tests/testSymbolicFactorGraph.run - true - true - true - - - make - -j5 - testLago.run - true - true - true - - - make - -j5 - testLinearContainerFactor.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testWhiteNoiseFactor.run - true - true - true - - + make -j4 - testExpression.run + testRangeFactor.run true true true - + make -j4 - testAdaptAutoDiff.run + testBearingRangeFactor.run true true true - - make - -j4 - testCallRecord.run - true - true - true - - - make - -j4 - testExpressionFactor.run - true - true - true - - - make - -j4 - testExecutionTrace.run - true - true - true - - + make -j5 - testIMUSystem.run - true - true - true - - - make - -j5 - testPoseRTV.run - true - true - true - - - make - -j5 - testVelocityConstraint.run - true - true - true - - - make - -j5 - testVelocityConstraint3.run - true - true - true - - - make - -j5 - timeCalibratedCamera.run - true - true - true - - - make - -j5 - timePinholeCamera.run - true - true - true - - - make - -j5 - timeStereoCamera.run - true - true - true - - - make - -j5 - timeLago.run - true - true - true - - - make - -j5 - timePose3.run - true - true - true - - - make - -j4 - timeAdaptAutoDiff.run - true - true - true - - - make - -j4 - timeCameraExpression.run - true - true - true - - - make - -j4 - timeOneCameraExpression.run - true - true - true - - - make - -j4 - timeSFMExpressions.run - true - true - true - - - make - -j4 - timeIncremental.run - true - true - true - - - make - -j4 - timeSchurFactors.run - true - true - true - - - make - -j5 - testBTree.run - true - true - true - - - make - -j5 - testDSF.run - true - true - true - - - make - -j5 - testDSFMap.run - true - true - true - - - make - -j5 - testDSFVector.run - true - true - true - - - make - -j5 - testFixedVector.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testGaussianFactorGraphUnordered.run - true - true - true - - - make - -j5 - testGaussianBayesNetUnordered.run - true - true - true - - - make - -j5 - testGaussianConditional.run - true - true - true - - - make - -j5 - testGaussianDensity.run - true - true - true - - - make - -j5 - testGaussianJunctionTree.run - true - true - true - - - make - -j5 - testHessianFactor.run - true - true - true - - - make - -j5 - testJacobianFactor.run - true - true - true - - - make - -j5 - testKalmanFilter.run - true - true - true - - - make - -j5 - testNoiseModel.run - true - true - true - - - make - -j5 - testSampler.run - true - true - true - - - make - -j5 - testSerializationLinear.run - true - true - true - - - make - -j5 - testVectorValues.run - true - true - true - - - make - -j5 - testGaussianBayesTree.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - testMethod.run - true - true - true - - - make - -j5 - testClass.run - true - true - true - - - make - -j4 - testType.run - true - true - true - - - make - -j4 - testArgument.run - true - true - true - - - make - -j4 - testReturnValue.run - true - true - true - - - make - -j4 - testTemplate.run - true - true - true - - - make - -j4 - testGlobalFunction.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testMatrix.run - true - true - true - - - make - -j5 - testVector.run - true - true - true - - - make - -j5 - testNumericalDerivative.run - true - true - true - - - make - -j5 - testVerticalBlockMatrix.run - true - true - true - - - make - -j4 - testOptionalJacobian.run - true - true - true - - - make - -j4 - testGroup.run - true - true - true - - - make - -j5 - check.tests - true - true - true - - - make - -j2 - timeGaussianFactorGraph.run - true - true - true - - - make - -j5 - testMarginals.run - true - true - true - - - make - -j5 - testGaussianISAM2.run - true - true - true - - - make - -j5 - testSymbolicFactorGraphB.run - true - true - true - - - make - -j2 - timeSequentialOnDataset.run - true - true - true - - - make - -j5 - testGradientDescentOptimizer.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - testNonlinearOptimizer.run - true - true - true - - - make - -j2 - testGaussianBayesNet.run - true - true - true - - - make - -j2 - testNonlinearISAM.run - true - true - true - - - make - -j2 - testNonlinearEquality.run - true - true - true - - - make - -j2 - testExtendedKalmanFilter.run - true - true - true - - - make - -j5 - timing.tests - true - true - true - - - make - -j5 - testNonlinearFactor.run - true - true - true - - - make - -j5 - clean - true - true - true - - - make - -j5 - testGaussianJunctionTreeB.run - true - true - true - - - make - testGraph.run - true - false - true - - - make - testJunctionTree.run - true - false - true - - - make - testSymbolicBayesNetB.run - true - false - true - - - make - -j5 - testGaussianISAM.run - true - true - true - - - make - -j5 - testDoglegOptimizer.run - true - true - true - - - make - -j5 - testNonlinearFactorGraph.run - true - true - true - - - make - -j5 - testIterative.run - true - true - true - - - make - -j5 - testSubgraphSolver.run - true - true - true - - - make - -j5 - testGaussianFactorGraphB.run - true - true - true - - - make - -j5 - testSummarization.run - true - true - true - - - make - -j5 - testManifold.run - true - true - true - - - make - -j4 - testLie.run - true - true - true - - - make - -j2 - vSFMexample.run - true - true - true - - - make - -j5 - clean - true - true - true - - - make - -j5 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testVSLAMGraph + wrap true true true From 59c258623aa621333dcb39eba1c14ded1ae839e3 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 12 Jul 2015 22:30:37 -0700 Subject: [PATCH 440/964] Fixed friend declaration --- gtsam/sam/RangeFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h index 6e1a33481..a7e535646 100644 --- a/gtsam/sam/RangeFactor.h +++ b/gtsam/sam/RangeFactor.h @@ -126,7 +126,7 @@ class RangeFactorWithTransform private: /** Serialization function */ - friend typename boost::serialization::access; + friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { ar& boost::serialization::make_nvp( From 6bb5b03c7a74ce5e0b07c68846dd49240a4090cc Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 12 Jul 2015 22:48:54 -0700 Subject: [PATCH 441/964] Added two specializations for matlab wrapper --- gtsam/geometry/SimpleCamera.h | 24 ++++++++++++++++++++++-- 1 file changed, 22 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h index a119096d4..09b128d91 100644 --- a/gtsam/geometry/SimpleCamera.h +++ b/gtsam/geometry/SimpleCamera.h @@ -133,6 +133,26 @@ template<> struct traits : public internal::Manifold { }; - /// Recover camera from 3*4 camera matrix - GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P); +template <> +struct Range { + typedef double result_type; + double operator()(const SimpleCamera& camera, const Point3& point, + OptionalJacobian<1, 11> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) { + return camera.range(point, H1, H2); + } +}; + +template <> +struct Range { + typedef double result_type; + double operator()(const SimpleCamera& camera, const SimpleCamera& sc, + OptionalJacobian<1, 11> H1 = boost::none, + OptionalJacobian<1, 11> H2 = boost::none) { + return camera.range(sc, H1, H2); + } +}; + +/// Recover camera from 3*4 camera matrix +GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P); } From b711f5f96439500895d2a79969bb84e887602191 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 12 Jul 2015 22:49:04 -0700 Subject: [PATCH 442/964] Fixed wrapper --- gtsam.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam.h b/gtsam.h index d874467fc..1ddae3f48 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1,4 +1,5 @@ /** + * GTSAM Wrap Module Definition * * These are the current classes available through the matlab toolbox interface, @@ -2289,19 +2290,18 @@ virtual class BearingFactor : gtsam::NoiseModelFactor { typedef gtsam::BearingFactor BearingFactor2D; - #include -template +template virtual class BearingRangeFactor : gtsam::NoiseModelFactor { - BearingRangeFactor(size_t poseKey, size_t pointKey, const BEARING& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); - - pair measured() const; + BearingRangeFactor(size_t poseKey, size_t pointKey, + const BEARING& measuredBearing, const RANGE& measuredRange, + const gtsam::noiseModel::Base* noiseModel); // enabling serialization functionality void serialize() const; }; -typedef gtsam::BearingRangeFactor BearingRangeFactor2D; +typedef gtsam::BearingRangeFactor BearingRangeFactor2D; #include From 6b51ef994c96eb7b69681be67b2a0ff103832402 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 13 Jul 2015 23:43:57 -0700 Subject: [PATCH 443/964] Moved serialization support into ExpressionFactor --- gtsam/nonlinear/ExpressionFactor.h | 89 +++++++++++-- .../nonlinear/SerializableExpressionFactor.h | 120 ------------------ gtsam/sam/BearingFactor.h | 6 +- gtsam/sam/BearingRangeFactor.h | 9 +- gtsam/sam/RangeFactor.h | 11 +- 5 files changed, 92 insertions(+), 143 deletions(-) delete mode 100644 gtsam/nonlinear/SerializableExpressionFactor.h diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index 4af803711..5d6d28061 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -23,10 +23,10 @@ #include #include #include - namespace gtsam { /** + * Factor that supports arbitrary expressions via AD */ template @@ -132,10 +132,10 @@ public: } protected: - /// Default constructor, for serialization ExpressionFactor() {} + /// Default constructor, for serialization - /// Constructor for use by SerializableExpressionFactor + /// Constructor for serializable derived classes ExpressionFactor(const SharedNoiseModel& noiseModel, const T& measurement) : NoiseModelFactor(noiseModel), measured_(measurement) { // Not properly initialized yet, need to call initialize @@ -155,22 +155,91 @@ protected: boost::tie(keys_, dims_) = expression_.keysAndDims(); } -private: - /// Serialization function - template - void serialize(ARCHIVE& ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor); - ar& boost::serialization::make_nvp("measured_", this->measured_); + /// Recreate expression from keys_ and measured_, used in load below. + /// Needed to deserialize a derived factor + virtual Expression expression() const { + throw std::runtime_error("ExpressionFactor::expression not provided: cannot deserialize."); } +private: + /// Save to an archive: just saves the base class + template + void save(Archive& ar, const unsigned int /*version*/) const { + ar << BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor); + ar << boost::serialization::make_nvp("measured_", this->measured_); + } + + /// Load from an archive, creating a valid expression using the overloaded + /// [expression] method + template + void load(Archive& ar, const unsigned int /*version*/) { + ar >> BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor); + ar >> boost::serialization::make_nvp("measured_", this->measured_); + this->initialize(expression()); + } + + // Indicate that we implement save/load separately, and be friendly to boost + BOOST_SERIALIZATION_SPLIT_MEMBER() + friend class boost::serialization::access; }; // ExpressionFactor - /// traits template struct traits > : public Testable > {}; +/** + * Binary specialization of ExpressionFactor meant as a base class for binary factors + * Enforces expression method with two keys, and provides evaluateError + * Derived needs to call initialize. + */ +template +class ExpressionFactor2 : public ExpressionFactor { + public: + /// Destructor + virtual ~ExpressionFactor2() {} + + /// Backwards compatible evaluateError, to make existing tests compile + Vector evaluateError(const A1& a1, const A2& a2, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const { + Values values; + values.insert(this->keys_[0], a1); + values.insert(this->keys_[1], a2); + std::vector H(2); + Vector error = this->unwhitenedError(values, H); + if (H1) (*H1) = H[0]; + if (H2) (*H2) = H[1]; + return error; + } + + /// Recreate expression from given keys_ and measured_, used in load + /// Needed to deserialize a derived factor + virtual Expression expression(Key key1, Key key2) const { + throw std::runtime_error("ExpressionFactor2::expression not provided: cannot deserialize."); + } + + protected: + /// Default constructor, for serialization + ExpressionFactor2() {} + + /// Constructor takes care of keys, but still need to call initialize + ExpressionFactor2(Key key1, Key key2, + const SharedNoiseModel& noiseModel, + const T& measurement) + : ExpressionFactor(noiseModel, measurement) { + this->keys_.push_back(key1); + this->keys_.push_back(key2); + } + + private: + /// Return an expression that predicts the measurement given Values + virtual Expression expression() const { + return expression(this->keys_[0], this->keys_[1]); + } +}; +// ExpressionFactor2 + }// \ namespace gtsam diff --git a/gtsam/nonlinear/SerializableExpressionFactor.h b/gtsam/nonlinear/SerializableExpressionFactor.h deleted file mode 100644 index 797bce4fd..000000000 --- a/gtsam/nonlinear/SerializableExpressionFactor.h +++ /dev/null @@ -1,120 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file SerializableExpressionFactor.h - * @date July 2015 - * @author Frank Dellaert - * @brief ExpressionFactor variant that supports serialization - */ - -#pragma once - -#include - -namespace gtsam { - -/** - * ExpressionFactor variant that supports serialization - * Simply overload the pure virtual method [expression] to construct an - * expression from keys_ - */ -template -class SerializableExpressionFactor : public ExpressionFactor { - public: - /// Constructor takes only two arguments, still need to call initialize - SerializableExpressionFactor(const SharedNoiseModel& noiseModel, - const T& measurement) - : ExpressionFactor(noiseModel, measurement) {} - - /// Destructor - virtual ~SerializableExpressionFactor() {} - - protected: - /// Return an expression that predicts the measurement given Values - virtual Expression expression() const = 0; - - /// Default constructor, for serialization - SerializableExpressionFactor() {} - - /// Save to an archive: just saves the base class - template - void save(Archive& ar, const unsigned int /*version*/) const { - ar << boost::serialization::make_nvp( - "ExpressionFactor", - boost::serialization::base_object >(*this)); - } - - /// Load from an archive, creating a valid expression using the overloaded - /// [expression] method - template - void load(Archive& ar, const unsigned int /*version*/) { - ar >> boost::serialization::make_nvp( - "ExpressionFactor", - boost::serialization::base_object >(*this)); - this->initialize(expression()); - } - - // Indicate that we implement save/load separately, and be friendly to boost - BOOST_SERIALIZATION_SPLIT_MEMBER() - friend class boost::serialization::access; -}; -// SerializableExpressionFactor - -/** - * Binary specialization of SerializableExpressionFactor - * Enforces expression method with two keys, and provides evaluateError - */ -template -class SerializableExpressionFactor2 : public SerializableExpressionFactor { - public: - /// Constructor takes care of keys, but still need to call initialize - SerializableExpressionFactor2(Key key1, Key key2, - const SharedNoiseModel& noiseModel, - const T& measurement) - : SerializableExpressionFactor(noiseModel, measurement) { - this->keys_.push_back(key1); - this->keys_.push_back(key2); - } - - /// Destructor - virtual ~SerializableExpressionFactor2() {} - - /// Backwards compatible evaluateError, to make existing tests compile - Vector evaluateError(const A1& a1, const A2& a2, - boost::optional H1 = boost::none, - boost::optional H2 = boost::none) const { - Values values; - values.insert(this->keys_[0], a1); - values.insert(this->keys_[1], a2); - std::vector H(2); - Vector error = this->unwhitenedError(values, H); - if (H1) (*H1) = H[0]; - if (H2) (*H2) = H[1]; - return error; - } - - /// Return an expression that predicts the measurement given Values - virtual Expression expression(Key key1, Key key2) const = 0; - - protected: - /// Default constructor, for serialization - SerializableExpressionFactor2() {} - - private: - /// Return an expression that predicts the measurement given Values - virtual Expression expression() const { - return expression(this->keys_[0], this->keys_[1]); - } -}; -// SerializableExpressionFactor2 - -} // \ namespace gtsam diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h index d0d06d30a..f190e683c 100644 --- a/gtsam/sam/BearingFactor.h +++ b/gtsam/sam/BearingFactor.h @@ -18,7 +18,7 @@ #pragma once -#include +#include namespace gtsam { @@ -34,8 +34,8 @@ struct Bearing; */ template ::result_type> -struct BearingFactor : public SerializableExpressionFactor2 { - typedef SerializableExpressionFactor2 Base; +struct BearingFactor : public ExpressionFactor2 { + typedef ExpressionFactor2 Base; /// default constructor BearingFactor() {} diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h index 1f4122255..2dd1fecb8 100644 --- a/gtsam/sam/BearingRangeFactor.h +++ b/gtsam/sam/BearingRangeFactor.h @@ -19,7 +19,7 @@ #pragma once -#include +#include #include #include @@ -33,10 +33,10 @@ template ::result_type, typename R = typename Range::result_type> class BearingRangeFactor - : public SerializableExpressionFactor2, A1, A2> { + : public ExpressionFactor2, A1, A2> { private: typedef BearingRange T; - typedef SerializableExpressionFactor2 Base; + typedef ExpressionFactor2 Base; typedef BearingRangeFactor This; public: @@ -62,7 +62,8 @@ class BearingRangeFactor // Return measurement expression virtual Expression expression(Key key1, Key key2) const { - return Expression(T::Measure, Expression(key1), Expression(key2)); + return Expression(T::Measure, Expression(key1), + Expression(key2)); } /// print diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h index 6e1a33481..f78913448 100644 --- a/gtsam/sam/RangeFactor.h +++ b/gtsam/sam/RangeFactor.h @@ -18,7 +18,7 @@ #pragma once -#include +#include namespace gtsam { @@ -33,10 +33,10 @@ struct Range; */ template ::result_type> -class RangeFactor : public SerializableExpressionFactor2 { +class RangeFactor : public ExpressionFactor2 { private: typedef RangeFactor This; - typedef SerializableExpressionFactor2 Base; + typedef ExpressionFactor2 Base; public: /// default constructor @@ -79,11 +79,10 @@ struct traits > */ template ::result_type> -class RangeFactorWithTransform - : public SerializableExpressionFactor2 { +class RangeFactorWithTransform : public ExpressionFactor2 { private: typedef RangeFactorWithTransform This; - typedef SerializableExpressionFactor2 Base; + typedef ExpressionFactor2 Base; A1 body_T_sensor_; ///< The pose of the sensor in the body frame From bf88906c3f37afe8286ebd5d0d6e39ca86d6ed65 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 13 Jul 2015 23:44:08 -0700 Subject: [PATCH 444/964] check.sam target --- .cproject | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.cproject b/.cproject index c839ebc8f..10b16f91c 100644 --- a/.cproject +++ b/.cproject @@ -1992,6 +1992,14 @@ false true + + make + -j4 + check.sam + true + true + true + make -j2 From bc1c5d7bad1d8730aea3b6f675909e32c2617b0a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 13 Jul 2015 23:44:26 -0700 Subject: [PATCH 445/964] Better serialization tests --- gtsam/sam/tests/testBearingFactor.cpp | 12 ++-- gtsam/sam/tests/testBearingRangeFactor.cpp | 13 ++-- gtsam/sam/tests/testRangeFactor.cpp | 69 ++++++++-------------- 3 files changed, 38 insertions(+), 56 deletions(-) diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index d92bbdfe8..b7fcfc9aa 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -49,9 +49,9 @@ BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic); /* ************************************************************************* */ TEST(BearingFactor, Serialization2D) { - EXPECT(serializationTestHelpers::equalsObj(factor2D)); - EXPECT(serializationTestHelpers::equalsXML(factor2D)); - EXPECT(serializationTestHelpers::equalsBinary(factor2D)); + EXPECT(serializationTestHelpers::equalsObj(factor2D)); + EXPECT(serializationTestHelpers::equalsXML(factor2D)); + EXPECT(serializationTestHelpers::equalsBinary(factor2D)); } /* ************************************************************************* */ @@ -75,9 +75,9 @@ TEST(BearingFactor, 2D) { /* ************************************************************************* */ TEST(BearingFactor, Serialization3D) { - EXPECT(serializationTestHelpers::equalsObj(factor3D)); - EXPECT(serializationTestHelpers::equalsXML(factor3D)); - EXPECT(serializationTestHelpers::equalsBinary(factor3D)); + EXPECT(serializationTestHelpers::equalsObj(factor3D)); + EXPECT(serializationTestHelpers::equalsXML(factor3D)); + EXPECT(serializationTestHelpers::equalsBinary(factor3D)); } /* ************************************************************************* */ diff --git a/gtsam/sam/tests/testBearingRangeFactor.cpp b/gtsam/sam/tests/testBearingRangeFactor.cpp index dfc782838..e11e62628 100644 --- a/gtsam/sam/tests/testBearingRangeFactor.cpp +++ b/gtsam/sam/tests/testBearingRangeFactor.cpp @@ -28,7 +28,6 @@ using namespace std; using namespace gtsam; -using namespace serializationTestHelpers; Key poseKey(1); Key pointKey(2); @@ -49,9 +48,9 @@ BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic); /* ************************************************************************* */ TEST(BearingRangeFactor, Serialization2D) { - EXPECT(equalsObj(factor2D)); - EXPECT(equalsXML(factor2D)); - EXPECT(equalsBinary(factor2D)); + EXPECT(serializationTestHelpers::equalsObj(factor2D)); + EXPECT(serializationTestHelpers::equalsXML(factor2D)); + EXPECT(serializationTestHelpers::equalsBinary(factor2D)); } /* ************************************************************************* */ @@ -75,9 +74,9 @@ TEST(BearingRangeFactor, 2D) { /* ************************************************************************* */ TEST(BearingRangeFactor, Serialization3D) { - EXPECT(equalsObj(factor3D)); - EXPECT(equalsXML(factor3D)); - EXPECT(equalsBinary(factor3D)); + EXPECT(serializationTestHelpers::equalsObj(factor3D)); + EXPECT(serializationTestHelpers::equalsXML(factor3D)); + EXPECT(serializationTestHelpers::equalsBinary(factor3D)); } /* ************************************************************************* */ diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp index 88595b32c..5e56d518a 100644 --- a/gtsam/sam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -18,10 +18,9 @@ #include #include -#include #include -#include #include +#include #include #include @@ -38,6 +37,10 @@ typedef RangeFactor RangeFactor3D; typedef RangeFactorWithTransform RangeFactorWithTransform2D; typedef RangeFactorWithTransform RangeFactorWithTransform3D; +Key poseKey(1); +Key pointKey(2); +double measurement(10.0); + /* ************************************************************************* */ Vector factorError2D(const Pose2& pose, const Point2& point, const RangeFactor2D& factor) { @@ -64,19 +67,33 @@ Vector factorErrorWithTransform3D(const Pose3& pose, const Point3& point, /* ************************************************************************* */ TEST( RangeFactor, Constructor) { - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); - RangeFactor2D factor2D(poseKey, pointKey, measurement, model); RangeFactor3D factor3D(poseKey, pointKey, measurement, model); } +/* ************************************************************************* */ +// Export Noisemodels +// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html +BOOST_CLASS_EXPORT(gtsam::noiseModel::Unit); + +/* ************************************************************************* */ +TEST(RangeFactor, Serialization2D) { + RangeFactor2D factor2D(poseKey, pointKey, measurement, model); + EXPECT(serializationTestHelpers::equalsObj(factor2D)); + EXPECT(serializationTestHelpers::equalsXML(factor2D)); + EXPECT(serializationTestHelpers::equalsBinary(factor2D)); +} + +/* ************************************************************************* */ +TEST(RangeFactor, Serialization3D) { + RangeFactor3D factor3D(poseKey, pointKey, measurement, model); + EXPECT(serializationTestHelpers::equalsObj(factor3D)); + EXPECT(serializationTestHelpers::equalsXML(factor3D)); + EXPECT(serializationTestHelpers::equalsBinary(factor3D)); +} + /* ************************************************************************* */ TEST( RangeFactor, ConstructorWithTransform) { - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); Pose2 body_P_sensor_2D(0.25, -0.10, -M_PI_2); Pose3 body_P_sensor_3D(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); @@ -90,10 +107,6 @@ TEST( RangeFactor, ConstructorWithTransform) { /* ************************************************************************* */ TEST( RangeFactor, Equals ) { // Create two identical factors and make sure they're equal - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); - RangeFactor2D factor2D_1(poseKey, pointKey, measurement, model); RangeFactor2D factor2D_2(poseKey, pointKey, measurement, model); CHECK(assert_equal(factor2D_1, factor2D_2)); @@ -106,9 +119,6 @@ TEST( RangeFactor, Equals ) { /* ************************************************************************* */ TEST( RangeFactor, EqualsWithTransform ) { // Create two identical factors and make sure they're equal - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); Pose2 body_P_sensor_2D(0.25, -0.10, -M_PI_2); Pose3 body_P_sensor_3D(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); @@ -129,9 +139,6 @@ TEST( RangeFactor, EqualsWithTransform ) { /* ************************************************************************* */ TEST( RangeFactor, Error2D ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); RangeFactor2D factor(poseKey, pointKey, measurement, model); // Set the linearization point @@ -151,9 +158,6 @@ TEST( RangeFactor, Error2D ) { /* ************************************************************************* */ TEST( RangeFactor, Error2DWithTransform ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); Pose2 body_P_sensor(0.25, -0.10, -M_PI_2); RangeFactorWithTransform2D factor(poseKey, pointKey, measurement, model, body_P_sensor); @@ -177,9 +181,6 @@ TEST( RangeFactor, Error2DWithTransform ) { /* ************************************************************************* */ TEST( RangeFactor, Error3D ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); RangeFactor3D factor(poseKey, pointKey, measurement, model); // Set the linearization point @@ -199,9 +200,6 @@ TEST( RangeFactor, Error3D ) { /* ************************************************************************* */ TEST( RangeFactor, Error3DWithTransform ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); RangeFactorWithTransform3D factor(poseKey, pointKey, measurement, model, @@ -226,9 +224,6 @@ TEST( RangeFactor, Error3DWithTransform ) { /* ************************************************************************* */ TEST( RangeFactor, Jacobian2D ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); RangeFactor2D factor(poseKey, pointKey, measurement, model); // Set the linearization point @@ -254,9 +249,6 @@ TEST( RangeFactor, Jacobian2D ) { /* ************************************************************************* */ TEST( RangeFactor, Jacobian2DWithTransform ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); Pose2 body_P_sensor(0.25, -0.10, -M_PI_2); RangeFactorWithTransform2D factor(poseKey, pointKey, measurement, model, body_P_sensor); @@ -286,9 +278,6 @@ TEST( RangeFactor, Jacobian2DWithTransform ) { /* ************************************************************************* */ TEST( RangeFactor, Jacobian3D ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); RangeFactor3D factor(poseKey, pointKey, measurement, model); // Set the linearization point @@ -314,9 +303,6 @@ TEST( RangeFactor, Jacobian3D ) { /* ************************************************************************* */ TEST( RangeFactor, Jacobian3DWithTransform ) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); RangeFactorWithTransform3D factor(poseKey, pointKey, measurement, model, @@ -348,9 +334,6 @@ TEST( RangeFactor, Jacobian3DWithTransform ) { // Do a test with Point3 TEST(RangeFactor, Point3) { // Create a factor - Key poseKey(1); - Key pointKey(2); - double measurement(10.0); RangeFactor factor(poseKey, pointKey, measurement, model); // Set the linearization point From 64d315df192d72a36d321e154fb8ebc2f2ae5f73 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 14 Jul 2015 00:32:24 -0700 Subject: [PATCH 446/964] HasBearing and HasRange helper classes --- gtsam/geometry/BearingRange.h | 24 ++++++++++ gtsam/geometry/CalibratedCamera.h | 50 ++++++--------------- gtsam/geometry/PinholeCamera.h | 68 ++++++++--------------------- gtsam/geometry/Pose2.h | 50 ++++----------------- gtsam/geometry/Pose3.h | 37 +++------------- gtsam/geometry/SimpleCamera.h | 53 ++++++++++------------ gtsam/sam/tests/testRangeFactor.cpp | 1 + 7 files changed, 96 insertions(+), 187 deletions(-) diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index 4276fe9b1..97dac111d 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -93,4 +93,28 @@ struct traits > : Testable >, internal::ManifoldTraits > {}; +// Helper class for to implement Range traits for classes with a bearing method +template +struct HasBearing { + typedef T result_type; + T operator()( + const A1& a1, const A2& a2, + OptionalJacobian::dimension, traits::dimension> H1, + OptionalJacobian::dimension, traits::dimension> H2) { + return a1.bearing(a2, H1, H2); + } +}; + +// Helper class for to implement Range traits for classes with a range method +template +struct HasRange { + typedef T result_type; + T operator()( + const A1& a1, const A2& a2, + OptionalJacobian::dimension, traits::dimension> H1, + OptionalJacobian::dimension, traits::dimension> H2) { + return a1.range(a2, H1, H2); + } +}; + } // namespace gtsam diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index c289f8fb6..741f7a1e4 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -18,6 +18,7 @@ #pragma once +#include #include #include #include @@ -384,47 +385,22 @@ private: /// @} }; -template<> -struct traits : public internal::Manifold { -}; - -template<> -struct traits : public internal::Manifold< - CalibratedCamera> { -}; - -// Define Range functor specializations that are used in RangeFactor -template struct Range; +// manifold traits +template <> +struct traits : public internal::Manifold {}; template <> -struct Range { - typedef double result_type; - double operator()(const CalibratedCamera& camera, const Point3& point, - OptionalJacobian<1, 6> H1 = boost::none, - OptionalJacobian<1, 3> H2 = boost::none) { - return camera.range(point, H1, H2); - } -}; +struct traits : public internal::Manifold {}; + +// range traits, used in RangeFactor +template <> +struct Range : HasRange {}; template <> -struct Range { - typedef double result_type; - double operator()(const CalibratedCamera& camera, const Pose3& pose, - OptionalJacobian<1, 6> H1 = boost::none, - OptionalJacobian<1, 6> H2 = boost::none) { - return camera.range(pose, H1, H2); - } -}; +struct Range : HasRange {}; template <> -struct Range { - typedef double result_type; - double operator()(const CalibratedCamera& camera1, - const CalibratedCamera& camera2, - OptionalJacobian<1, 6> H1 = boost::none, - OptionalJacobian<1, 6> H2 = boost::none) { - return camera1.range(camera2, H1, H2); - } -}; -} +struct Range : HasRange {}; + +} // namespace gtsam diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 93c017290..31052bfa6 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -19,6 +19,7 @@ #pragma once #include +#include namespace gtsam { @@ -302,62 +303,31 @@ private: }; -template -struct traits > : public internal::Manifold< - PinholeCamera > { -}; - -template -struct traits > : public internal::Manifold< - PinholeCamera > { -}; - -// Define Range functor specializations that are used in RangeFactor -template struct Range; +// manifold traits template -struct Range, Point3> { - typedef double result_type; - typedef PinholeCamera Camera; - double operator()(const Camera& camera, const Point3& point, - OptionalJacobian<1, Camera::dimension> H1 = boost::none, - OptionalJacobian<1, 3> H2 = boost::none) { - return camera.range(point, H1, H2); - } -}; +struct traits > + : public internal::Manifold > {}; template -struct Range, Pose3> { - typedef double result_type; - typedef PinholeCamera Camera; - double operator()(const Camera& camera, const Pose3& pose, - OptionalJacobian<1, Camera::dimension> H1 = boost::none, - OptionalJacobian<1, 6> H2 = boost::none) { - return camera.range(pose, H1, H2); - } -}; +struct traits > + : public internal::Manifold > {}; + +// range traits, used in RangeFactor +template +struct Range, Point3> + : HasRange, Point3> {}; + +template +struct Range, Pose3> + : HasRange, Pose3> {}; template -struct Range, PinholeCamera > { - typedef double result_type; - typedef PinholeCamera CameraA; - typedef PinholeCamera CameraB; - double operator()(const CameraA& camera1, const CameraB& camera2, - OptionalJacobian<1, CameraA::dimension> H1 = boost::none, - OptionalJacobian<1, CameraB::dimension> H2 = boost::none) { - return camera1.range(camera2, H1, H2); - } -}; +struct Range, PinholeCamera > + : HasRange, PinholeCamera > {}; template -struct Range, CalibratedCamera> { - typedef double result_type; - typedef PinholeCamera Camera; - double operator()(const Camera& camera, const CalibratedCamera& cc, - OptionalJacobian<1, Camera::dimension> H1 = boost::none, - OptionalJacobian<1, 6> H2 = boost::none) { - return camera.range(cc, H1, H2); - } -}; +struct Range, CalibratedCamera> + : HasRange, CalibratedCamera> {}; } // \ gtsam diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index ab488c65f..0358bcf42 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -20,6 +20,7 @@ #pragma once +#include #include #include #include @@ -290,57 +291,24 @@ inline Matrix wedge(const Vector& xi) { typedef std::pair Point2Pair; GTSAM_EXPORT boost::optional align(const std::vector& pairs); -template<> +template <> struct traits : public internal::LieGroup {}; -template<> +template <> struct traits : public internal::LieGroup {}; -// Define Bearing functor specializations that are used in BearingFactor -template struct Bearing; +// bearing and range traits, used in RangeFactor +template <> +struct Bearing : HasBearing {}; template <> -struct Bearing { - typedef Rot2 result_type; - Rot2 operator()(const Pose2& pose, const Point2& point, - OptionalJacobian<1, 3> H1 = boost::none, - OptionalJacobian<1, 2> H2 = boost::none) { - return pose.bearing(point, H1, H2); - } -}; +struct Bearing : HasBearing {}; template <> -struct Bearing { - typedef Rot2 result_type; - Rot2 operator()(const Pose2& pose1, const Pose2& pose2, - OptionalJacobian<1, 3> H1 = boost::none, - OptionalJacobian<1, 3> H2 = boost::none) { - return pose1.bearing(pose2, H1, H2); - } -}; - -// Define Range functor specializations that are used in RangeFactor -template struct Range; +struct Range : HasRange {}; template <> -struct Range { - typedef double result_type; - double operator()(const Pose2& pose, const Point2& point, - OptionalJacobian<1, 3> H1 = boost::none, - OptionalJacobian<1, 2> H2 = boost::none) { - return pose.range(point, H1, H2); - } -}; - -template <> -struct Range { - typedef double result_type; - double operator()(const Pose2& pose1, const Pose2& pose2, - OptionalJacobian<1, 3> H1 = boost::none, - OptionalJacobian<1, 3> H2 = boost::none) { - return pose1.range(pose2, H1, H2); - } -}; +struct Range : HasRange {}; } // namespace gtsam diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index afe953d1d..732a511c2 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -19,6 +19,7 @@ #include +#include #include #include #include @@ -337,40 +338,14 @@ struct traits : public internal::LieGroup {}; template <> struct traits : public internal::LieGroup {}; -// Define Bearing functor specializations that are used in BearingFactor -template struct Bearing; +// bearing and range traits, used in RangeFactor +template <> +struct Bearing : HasBearing {}; template <> -struct Bearing { - typedef Unit3 result_type; - Unit3 operator()(const Pose3& pose, const Point3& point, - OptionalJacobian<2, 6> H1 = boost::none, - OptionalJacobian<2, 3> H2 = boost::none) { - return pose.bearing(point, H1, H2); - } -}; - -// Define Range functor specializations that are used in RangeFactor -template struct Range; +struct Range : HasRange {}; template <> -struct Range { - typedef double result_type; - double operator()(const Pose3& pose, const Point3& point, - OptionalJacobian<1, 6> H1 = boost::none, - OptionalJacobian<1, 3> H2 = boost::none) { - return pose.range(point, H1, H2); - } -}; - -template <> -struct Range { - typedef double result_type; - double operator()(const Pose3& pose1, const Pose3& pose2, - OptionalJacobian<1, 6> H1 = boost::none, - OptionalJacobian<1, 6> H2 = boost::none) { - return pose1.range(pose2, H1, H2); - } -}; +struct Range : HasRange {}; } // namespace gtsam diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h index 09b128d91..5d8d09ab8 100644 --- a/gtsam/geometry/SimpleCamera.h +++ b/gtsam/geometry/SimpleCamera.h @@ -18,6 +18,7 @@ #pragma once +#include #include #include @@ -125,34 +126,28 @@ public: }; -template<> -struct traits : public internal::Manifold { -}; - -template<> -struct traits : public internal::Manifold { -}; - -template <> -struct Range { - typedef double result_type; - double operator()(const SimpleCamera& camera, const Point3& point, - OptionalJacobian<1, 11> H1 = boost::none, - OptionalJacobian<1, 3> H2 = boost::none) { - return camera.range(point, H1, H2); - } -}; - -template <> -struct Range { - typedef double result_type; - double operator()(const SimpleCamera& camera, const SimpleCamera& sc, - OptionalJacobian<1, 11> H1 = boost::none, - OptionalJacobian<1, 11> H2 = boost::none) { - return camera.range(sc, H1, H2); - } -}; - /// Recover camera from 3*4 camera matrix GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P); -} + +// manifold traits +template <> +struct traits : public internal::Manifold {}; + +template <> +struct traits : public internal::Manifold {}; + +// range traits, used in RangeFactor +template <> +struct Range : HasRange {}; + +template <> +struct Range : HasRange {}; + +template <> +struct Range : HasRange {}; + +template +struct Range > + : HasRange > {}; + +} // namespace gtsam diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp index 5e56d518a..4575f4bd1 100644 --- a/gtsam/sam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -357,6 +357,7 @@ struct Range { double operator()(const Vector3& v1, const Vector3& v2, OptionalJacobian<1, 3> H1, OptionalJacobian<1, 3> H2) { return (v2 - v1).norm(); + // derivatives not implemented } }; } From df1886c56ce6546fc2a18a907d3d81c8f6786465 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 14 Jul 2015 01:13:33 -0700 Subject: [PATCH 447/964] Even more concise by templating on second argument. Made return type explicit in HasRange/HasBearing. --- gtsam/geometry/BearingRange.h | 4 ++-- gtsam/geometry/CalibratedCamera.h | 10 ++-------- gtsam/geometry/PinholeCamera.h | 17 ++--------------- gtsam/geometry/Pose2.h | 14 ++++---------- gtsam/geometry/Pose3.h | 7 ++----- gtsam/geometry/SimpleCamera.h | 14 ++------------ gtsam/sam/tests/testRangeFactor.cpp | 9 +++++++++ 7 files changed, 23 insertions(+), 52 deletions(-) diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index 97dac111d..b9e074d48 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -94,7 +94,7 @@ struct traits > internal::ManifoldTraits > {}; // Helper class for to implement Range traits for classes with a bearing method -template +template struct HasBearing { typedef T result_type; T operator()( @@ -106,7 +106,7 @@ struct HasBearing { }; // Helper class for to implement Range traits for classes with a range method -template +template struct HasRange { typedef T result_type; T operator()( diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 741f7a1e4..b1e5917b2 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -393,14 +393,8 @@ template <> struct traits : public internal::Manifold {}; // range traits, used in RangeFactor -template <> -struct Range : HasRange {}; - -template <> -struct Range : HasRange {}; - -template <> -struct Range : HasRange {}; +template +struct Range : HasRange {}; } // namespace gtsam diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 31052bfa6..6177dec95 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -314,20 +314,7 @@ struct traits > : public internal::Manifold > {}; // range traits, used in RangeFactor -template -struct Range, Point3> - : HasRange, Point3> {}; - -template -struct Range, Pose3> - : HasRange, Pose3> {}; - -template -struct Range, PinholeCamera > - : HasRange, PinholeCamera > {}; - -template -struct Range, CalibratedCamera> - : HasRange, CalibratedCamera> {}; +template +struct Range, T> : HasRange, T, double> {}; } // \ gtsam diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index 0358bcf42..31dfb479f 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -298,17 +298,11 @@ template <> struct traits : public internal::LieGroup {}; // bearing and range traits, used in RangeFactor -template <> -struct Bearing : HasBearing {}; +template +struct Bearing : HasBearing {}; -template <> -struct Bearing : HasBearing {}; - -template <> -struct Range : HasRange {}; - -template <> -struct Range : HasRange {}; +template +struct Range : HasRange {}; } // namespace gtsam diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 732a511c2..f82e25424 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -342,10 +342,7 @@ struct traits : public internal::LieGroup {}; template <> struct Bearing : HasBearing {}; -template <> -struct Range : HasRange {}; - -template <> -struct Range : HasRange {}; +template +struct Range : HasRange {}; } // namespace gtsam diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h index 5d8d09ab8..fe493c075 100644 --- a/gtsam/geometry/SimpleCamera.h +++ b/gtsam/geometry/SimpleCamera.h @@ -137,17 +137,7 @@ template <> struct traits : public internal::Manifold {}; // range traits, used in RangeFactor -template <> -struct Range : HasRange {}; - -template <> -struct Range : HasRange {}; - -template <> -struct Range : HasRange {}; - -template -struct Range > - : HasRange > {}; +template +struct Range : HasRange {}; } // namespace gtsam diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp index 4575f4bd1..706c20e78 100644 --- a/gtsam/sam/tests/testRangeFactor.cpp +++ b/gtsam/sam/tests/testRangeFactor.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include #include @@ -347,6 +348,14 @@ TEST(RangeFactor, Point3) { CHECK(assert_equal(expectedError, factor.evaluateError(pose, point), 1e-9)); } +/* ************************************************************************* */ +// Do tests with SimpleCamera +TEST( RangeFactor, Camera) { + RangeFactor factor1(poseKey, pointKey, measurement, model); + RangeFactor factor2(poseKey, pointKey, measurement, model); + RangeFactor factor3(poseKey, pointKey, measurement, model); +} + /* ************************************************************************* */ // Do a test with non GTSAM types From ecdd4d578762ce78a6032d20c9e05e5c62e46f0f Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 15 Jul 2015 12:51:21 -0400 Subject: [PATCH 448/964] Fix parameter bug and improve documentation --- gtsam/slam/SmartProjectionFactor.h | 12 +++++++++--- gtsam/slam/SmartProjectionPoseFactor.h | 10 +++++++--- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index d6b549acb..8fc8880e1 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -11,7 +11,7 @@ /** * @file SmartProjectionFactor.h - * @brief Base class to create smart factors on poses or cameras + * @brief Smart factor on cameras (pose + calibration) * @author Luca Carlone * @author Zsolt Kira * @author Frank Dellaert @@ -108,16 +108,22 @@ public: void setEnableEPI(bool enableEPI) { triangulation.enableEPI = enableEPI; } - void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) { + void setLandmarkDistanceThreshold(double landmarkDistanceThreshold) { triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold; } - void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) { + void setDynamicOutlierRejectionThreshold(double dynOutRejectionThreshold) { triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold; } }; /** * SmartProjectionFactor: triangulates point and keeps an estimate of it around. + * This factor operates with monocular cameras, where a camera is expected to + * behave like PinholeCamera or PinholePose. This factor is intended + * to be used directly with PinholeCamera, which optimizes the camera pose + * and calibration. This also requires that values contains the involved + * cameras (instead of poses and calibrations separately). + * If the calibration is fixed use SmartProjectionPoseFactor instead! */ template class SmartProjectionFactor: public SmartFactorBase { diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 93a4449f5..834c9c9b6 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -11,7 +11,7 @@ /** * @file SmartProjectionPoseFactor.h - * @brief Produces an Hessian factors on POSES from monocular measurements of a single landmark + * @brief Smart factor on poses, assuming camera calibration is fixed * @author Luca Carlone * @author Chris Beall * @author Zsolt Kira @@ -34,7 +34,11 @@ namespace gtsam { */ /** - * The calibration is known here. The factor only constraints poses (variable dimension is 6) + * This factor assumes that camera calibration is fixed, and that + * the calibration is the same for all cameras involved in this factor. + * The factor only constrains poses (variable dimension is 6). + * This factor requires that values contains the involved poses (Pose3). + * If the calibration should be optimized, as well, use SmartProjectionFactor instead! * @addtogroup SLAM */ template @@ -58,7 +62,7 @@ public: /** * Constructor * @param K (fixed) calibration, assumed to be the same for all cameras - * @param body_P_sensor pose of the camera in the body frame + * @param body_P_sensor pose of the camera in the body frame * @param params internal parameters of the smart factors */ SmartProjectionPoseFactor(const boost::shared_ptr K, From fb4dd81c4de30b9e44c87cc74df68439875fc54c Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 15 Jul 2015 12:58:03 -0400 Subject: [PATCH 449/964] refactoring: step 1 --- .../slam/SmartStereoProjectionFactor.h | 18 ++++++++--------- .../slam/SmartStereoProjectionPoseFactor.h | 7 ++----- .../testSmartStereoProjectionPoseFactor.cpp | 20 +++++++++---------- 3 files changed, 21 insertions(+), 24 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index f4e82d98d..8b655af46 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -33,6 +33,12 @@ namespace gtsam { +/// Linearization mode: what factor to linearize to + enum LinearizationMode { + HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD + }; + + /** * SmartStereoProjectionFactor: triangulates point */ @@ -82,11 +88,8 @@ public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; - /// shorthand for a StereoCamera // TODO: Get rid of this? - typedef StereoCamera Camera; - /// Vector of cameras - typedef CameraSet Cameras; + typedef CameraSet Cameras; /** * Constructor @@ -195,7 +198,7 @@ public: } std::vector > mono_cameras; - BOOST_FOREACH(const Camera& camera, cameras) { + BOOST_FOREACH(const StereoCamera& camera, cameras) { const Pose3& pose = camera.pose(); const Cal3_S2& K = camera.calibration()->calibration(); mono_cameras.push_back(PinholeCamera(pose, K)); @@ -215,7 +218,7 @@ public: // Check landmark distance and reprojection errors to avoid outliers double totalReprojError = 0.0; size_t i = 0; - BOOST_FOREACH(const Camera& camera, cameras) { + BOOST_FOREACH(const StereoCamera& camera, cameras) { Point3 cameraTranslation = camera.pose().translation(); // we discard smart factors corresponding to points that are far away if (cameraTranslation.distance(point_) > parameters_.landmarkDistanceThreshold) { @@ -578,9 +581,6 @@ public: } } - /// Cameras are computed in derived class - virtual Cameras cameras(const Values& values) const = 0; - /** return the landmark */ boost::optional point() const { return point_; diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index bc4d3ccfb..ac269335e 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -42,10 +42,7 @@ template class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { public: - /// Linearization mode: what factor to linearize to - enum LinearizationMode { - HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD - }; + protected: @@ -163,7 +160,7 @@ public: size_t i=0; BOOST_FOREACH(const Key& k, this->keys_) { Pose3 pose = values.at(k); - typename Base::Camera camera(pose, K_all_[i++]); + StereoCamera camera(pose, K_all_[i++]); cameras.push_back(camera); } return cameras; diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 258c8d0eb..90e88c666 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -326,15 +326,15 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { cam2, cam3, landmark3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD)); + new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); smartFactor3->add(measurements_cam3, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -394,17 +394,17 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { cam2, cam3, landmark3); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist)); smartFactor3->add(measurements_cam3, views, model, K); @@ -472,22 +472,22 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10, 10, 1); // add outlier SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor1->add(measurements_cam1, views, model, K); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor2->add(measurements_cam2, views, model, K); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor3->add(measurements_cam3, views, model, K); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(1, -1, false, false, SmartFactor::JACOBIAN_SVD, + new SmartFactor(1, -1, false, false, JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); smartFactor4->add(measurements_cam4, views, model, K); From 9c2ab0ce3b4b346587d696fa1751edd1b5cbac87 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 15 Jul 2015 16:52:06 -0400 Subject: [PATCH 450/964] change 2 to ZDim --- gtsam/geometry/CameraSet.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index a60528909..1e0150768 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -161,7 +161,7 @@ public: for (size_t i = 0; i < m; i++) { // for each camera const MatrixZD& Fi = Fs[i]; - const Eigen::Matrix Ei_P = // + const Eigen::Matrix Ei_P = // E.block(ZDim * i, 0, ZDim, N) * P; // D = (Dx2) * ZDim From bd4dd8493380edd5f4877faada369fcba11b3056 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 15 Jul 2015 16:53:04 -0400 Subject: [PATCH 451/964] huge refactor. Compiles again, but triangulation still broken, SmartStereo test fails --- .../slam/SmartStereoProjectionFactor.h | 742 +++++++++--------- .../slam/SmartStereoProjectionPoseFactor.h | 67 +- .../testSmartStereoProjectionPoseFactor.cpp | 90 +-- 3 files changed, 429 insertions(+), 470 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 8b655af46..de6ce8509 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -38,51 +38,114 @@ namespace gtsam { HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD }; +/// How to manage degeneracy +enum DegeneracyMode { + IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY + }; + + /* + * Parameters for the smart stereo projection factors + */ + class GTSAM_EXPORT SmartStereoProjectionParams { + + public: + + LinearizationMode linearizationMode; ///< How to linearize the factor + DegeneracyMode degeneracyMode; ///< How to linearize the factor + + /// @name Parameters governing the triangulation + /// @{ + mutable TriangulationParameters triangulation; + const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate + /// @} + + /// @name Parameters governing how triangulation result is treated + /// @{ + const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) + const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) + /// @} + + + /// Constructor + SmartStereoProjectionParams(LinearizationMode linMode = HESSIAN, + DegeneracyMode degMode = IGNORE_DEGENERACY, bool throwCheirality = false, + bool verboseCheirality = false) : + linearizationMode(linMode), degeneracyMode(degMode), retriangulationThreshold( + 1e-5), throwCheirality(throwCheirality), verboseCheirality( + verboseCheirality) { + } + + virtual ~SmartStereoProjectionParams() { + } + + void print(const std::string& str) const { + std::cout << "linearizationMode: " << linearizationMode << "\n"; + std::cout << " degeneracyMode: " << degeneracyMode << "\n"; + std::cout << triangulation << std::endl; + } + + LinearizationMode getLinearizationMode() const { + return linearizationMode; + } + DegeneracyMode getDegeneracyMode() const { + return degeneracyMode; + } + TriangulationParameters getTriangulationParameters() const { + return triangulation; + } + bool getVerboseCheirality() const { + return verboseCheirality; + } + bool getThrowCheirality() const { + return throwCheirality; + } + void setLinearizationMode(LinearizationMode linMode) { + linearizationMode = linMode; + } + void setDegeneracyMode(DegeneracyMode degMode) { + degeneracyMode = degMode; + } + void setRankTolerance(double rankTol) { + triangulation.rankTolerance = rankTol; + } + void setEnableEPI(bool enableEPI) { + triangulation.enableEPI = enableEPI; + } + void setLandmarkDistanceThreshold(double landmarkDistanceThreshold) { + triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold; + } + void setDynamicOutlierRejectionThreshold(double dynOutRejectionThreshold) { + triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold; + } + }; + + /** - * SmartStereoProjectionFactor: triangulates point - */ + * SmartStereoProjectionFactor: triangulates point and keeps an estimate of it around. + * This factor operates with StereoCamrea. This factor requires that values + * contains the involved camera poses. Calibration is assumed to be fixed. +*/ template class SmartStereoProjectionFactor: public SmartFactorBase { +private: + + typedef SmartFactorBase Base; + typedef SmartStereoProjectionFactor This; + protected: + /// @name Parameters + /// @{ + const SmartStereoProjectionParams params_; + /// @} + /// @name Caching triangulation /// @{ - const TriangulationParameters parameters_; - // TODO: -// mutable TriangulationResult result_; ///< result from triangulateSafe - - const double retriangulationThreshold_; ///< threshold to decide whether to re-triangulate + mutable TriangulationResult result_; ///< result from triangulateSafe mutable std::vector cameraPosesTriangulation_; ///< current triangulation poses /// @} - const bool manageDegeneracy_; ///< if set to true will use the rotation-only version for degenerate cases - - const double linearizationThreshold_; ///< threshold to decide whether to re-linearize - mutable std::vector cameraPosesLinearization_; ///< current linearization poses - - mutable Point3 point_; ///< Current estimate of the 3D point - - mutable bool degenerate_; - mutable bool cheiralityException_; - - - /// shorthand for base class type - typedef SmartFactorBase Base; - - /// shorthand for this class - typedef SmartStereoProjectionFactor This; - - enum { - ZDim = 3 - }; ///< Dimension trait of measurement type - - /// @name Parameters governing how triangulation result is treated - /// @{ - const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) - const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) - /// @} - public: /// shorthand for a smart pointer to a factor @@ -93,22 +156,12 @@ public: /** * Constructor - * @param rankTol tolerance used to check if point triangulation is degenerate - * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) - * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, - * otherwise the factor is simply neglected - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations - * @param body_P_sensor is the transform from body to sensor frame (default identity) + * @param params internal parameters of the smart factors */ - SmartStereoProjectionFactor(const double rankTolerance, - const double linThreshold, const bool manageDegeneracy, - const bool enableEPI, double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1) : - parameters_(rankTolerance, enableEPI, landmarkDistanceThreshold, - dynamicOutlierRejectionThreshold), // - retriangulationThreshold_(1e-5), manageDegeneracy_(manageDegeneracy), linearizationThreshold_( - linThreshold), degenerate_(false), cheiralityException_(false), throwCheirality_( - false), verboseCheirality_(false) { + SmartStereoProjectionFactor(const SmartStereoProjectionParams& params = + SmartStereoProjectionParams()) : + params_(params), // + result_(TriangulationResult::Degenerate()) { } /** Virtual destructor */ @@ -123,14 +176,19 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartStereoProjectionFactor\n"; - std::cout << "triangulationParameters:\n" << parameters_ << std::endl; - std::cout << "degenerate_ = " << degenerate_ << std::endl; - std::cout << "cheiralityException_ = " << cheiralityException_ << std::endl; - std::cout << "linearizationThreshold_ = " << linearizationThreshold_ - << std::endl; + std::cout << "linearizationMode:\n" << params_.linearizationMode << std::endl; + std::cout << "triangulationParameters:\n" << params_.triangulation << std::endl; + std::cout << "result:\n" << result_ << std::endl; Base::print("", keyFormatter); } + /// equals + virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { + const This *e = dynamic_cast(&p); + return e && params_.linearizationMode == e->params_.linearizationMode + && Base::equals(p, tol); + } + /// Check if the new linearization point_ is the same as the one used for previous triangulation bool decideIfTriangulate(const Cameras& cameras) const { // several calls to linearize will be done from the same linearization point_, hence it is not needed to re-triangulate @@ -149,7 +207,7 @@ public: if (!retriangulate) { for (size_t i = 0; i < cameras.size(); i++) { if (!cameras[i].pose().equals(cameraPosesTriangulation_[i], - retriangulationThreshold_)) { + params_.retriangulationThreshold)) { retriangulate = true; // at least two poses are different, hence we retriangulate break; } @@ -167,124 +225,105 @@ public: return retriangulate; // if we arrive to this point_ all poses are the same and we don't need re-triangulation } - /// triangulateSafe - size_t triangulateSafe(const Values& values) const { - return triangulateSafe(this->cameras(values)); - } +// /// triangulateSafe +// size_t triangulateSafe(const Values& values) const { +// return triangulateSafe(this->cameras(values)); +// } /// triangulateSafe - size_t triangulateSafe(const Cameras& cameras) const { + TriangulationResult triangulateSafe(const Cameras& cameras) const { size_t m = cameras.size(); if (m < 2) { // if we have a single pose the corresponding factor is uninformative - degenerate_ = true; - return m; + return TriangulationResult::Degenerate(); } - bool retriangulate = decideIfTriangulate(cameras); + bool retriangulate = decideIfTriangulate(cameras); if (retriangulate) { // We triangulate the 3D position of the landmark - try { - // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; - - //TODO: Chris will replace this with something else for stereo -// point_ = triangulatePoint3(cameras, this->measured_, -// rankTolerance_, enableEPI_); - - // // // Temporary hack to use monocular triangulation - std::vector mono_measurements; - BOOST_FOREACH(const StereoPoint2& sp, this->measured_) { - mono_measurements.push_back(sp.point2()); - } - - std::vector > mono_cameras; - BOOST_FOREACH(const StereoCamera& camera, cameras) { - const Pose3& pose = camera.pose(); - const Cal3_S2& K = camera.calibration()->calibration(); - mono_cameras.push_back(PinholeCamera(pose, K)); - } - point_ = triangulatePoint3 >(mono_cameras, mono_measurements, - parameters_.rankTolerance, parameters_.enableEPI); - - // // // End temporary hack - - // FIXME: temporary: triangulation using only first camera -// const StereoPoint2& z0 = this->measured_.at(0); -// point_ = cameras[0].backproject(z0); - - degenerate_ = false; - cheiralityException_ = false; - - // Check landmark distance and reprojection errors to avoid outliers - double totalReprojError = 0.0; - size_t i = 0; - BOOST_FOREACH(const StereoCamera& camera, cameras) { - Point3 cameraTranslation = camera.pose().translation(); - // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(point_) > parameters_.landmarkDistanceThreshold) { - degenerate_ = true; - break; - } - const StereoPoint2& zi = this->measured_.at(i); - try { - StereoPoint2 reprojectionError(camera.project(point_) - zi); - totalReprojError += reprojectionError.vector().norm(); - } catch (CheiralityException) { - cheiralityException_ = true; - } - i += 1; - } - //std::cout << "totalReprojError error: " << totalReprojError << std::endl; - // we discard smart factors that have large reprojection error - if (parameters_.dynamicOutlierRejectionThreshold > 0 - && totalReprojError / m > parameters_.dynamicOutlierRejectionThreshold) - degenerate_ = true; - - } catch (TriangulationUnderconstrainedException&) { - // if TriangulationUnderconstrainedException can be - // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before - // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) - // in the second case we want to use a rotation-only smart factor - degenerate_ = true; - cheiralityException_ = false; - } catch (TriangulationCheiralityException&) { - // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers - // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint - cheiralityException_ = true; - } +// try { +// // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; +// +// //TODO: Chris will replace this with something else for stereo +//// point_ = triangulatePoint3(cameras, this->measured_, +//// rankTolerance_, enableEPI_); +// +// // // // Temporary hack to use monocular triangulation +// std::vector mono_measurements; +// BOOST_FOREACH(const StereoPoint2& sp, this->measured_) { +// mono_measurements.push_back(sp.point2()); +// } +// +// std::vector > mono_cameras; +// BOOST_FOREACH(const StereoCamera& camera, cameras) { +// const Pose3& pose = camera.pose(); +// const Cal3_S2& K = camera.calibration()->calibration(); +// mono_cameras.push_back(PinholeCamera(pose, K)); +// } +// point_ = triangulatePoint3 >(mono_cameras, mono_measurements, +// parameters_.rankTolerance, parameters_.enableEPI); +// +// // // // End temporary hack +// +// // FIXME: temporary: triangulation using only first camera +//// const StereoPoint2& z0 = this->measured_.at(0); +//// point_ = cameras[0].backproject(z0); +// +// degenerate_ = false; +// cheiralityException_ = false; +// +// // Check landmark distance and reprojection errors to avoid outliers +// double totalReprojError = 0.0; +// size_t i = 0; +// BOOST_FOREACH(const StereoCamera& camera, cameras) { +// Point3 cameraTranslation = camera.pose().translation(); +// // we discard smart factors corresponding to points that are far away +// if (cameraTranslation.distance(point_) > parameters_.landmarkDistanceThreshold) { +// degenerate_ = true; +// break; +// } +// const StereoPoint2& zi = this->measured_.at(i); +// try { +// StereoPoint2 reprojectionError(camera.project(point_) - zi); +// totalReprojError += reprojectionError.vector().norm(); +// } catch (CheiralityException) { +// cheiralityException_ = true; +// } +// i += 1; +// } +// //std::cout << "totalReprojError error: " << totalReprojError << std::endl; +// // we discard smart factors that have large reprojection error +// if (parameters_.dynamicOutlierRejectionThreshold > 0 +// && totalReprojError / m > parameters_.dynamicOutlierRejectionThreshold) +// degenerate_ = true; +// +// } catch (TriangulationUnderconstrainedException&) { +// // if TriangulationUnderconstrainedException can be +// // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before +// // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) +// // in the second case we want to use a rotation-only smart factor +// degenerate_ = true; +// cheiralityException_ = false; +// } catch (TriangulationCheiralityException&) { +// // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers +// // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint +// cheiralityException_ = true; +// } } - return m; + return TriangulationResult(Point3()); } /// triangulate bool triangulateForLinearize(const Cameras& cameras) const { - - bool isDebug = false; - size_t nrCameras = this->triangulateSafe(cameras); - - if (nrCameras < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) { - if (isDebug) { - std::cout << "createImplicitSchurFactor: degenerate configuration" - << std::endl; - } - return false; - } else { - - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) { // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - } - return true; - } + triangulateSafe(cameras); // imperative, might reset result_ + return (result_); } /// linearize returns a Hessianfactor that is an approximation of error(p) boost::shared_ptr > createHessianFactor( - const Cameras& cameras, const double lambda = 0.0) const { + const Cameras& cameras, const double lambda = 0.0, bool diagonalDamping = + false) const { - bool isDebug = false; size_t numKeys = this->keys_.size(); // Create structures for Hessian Factors std::vector js; @@ -293,146 +332,142 @@ public: if (this->measured_.size() != cameras.size()) { std::cout - << "SmartProjectionHessianFactor: this->measured_.size() inconsistent with input" + << "SmartStereoProjectionHessianFactor: this->measured_.size() inconsistent with input" << std::endl; exit(1); } triangulateSafe(cameras); - if (isDebug) - std::cout << "point_ = " << point_ << std::endl; - if (numKeys < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) { - if (isDebug) - std::cout << "In linearize: exception" << std::endl; + if (params_.degeneracyMode == ZERO_ON_DEGENERACY && !result_) { + // failed: return"empty" Hessian BOOST_FOREACH(Matrix& m, Gs) m = zeros(Base::Dim, Base::Dim); BOOST_FOREACH(Vector& v, gs) v = zero(Base::Dim); - return boost::make_shared >(this->keys_, Gs, gs, - 0.0); + return boost::make_shared >(this->keys_, + Gs, gs, 0.0); } - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) { // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - if (isDebug) - std::cout << "degenerate_ = true" << std::endl; - } - - if (this->linearizationThreshold_ >= 0) // if we apply selective relinearization and we need to relinearize - for (size_t i = 0; i < cameras.size(); i++) - this->cameraPosesLinearization_[i] = cameras[i].pose(); - - // ================================================================== + // Jacobian could be 3D Point3 OR 2D Unit3, difference is E.cols(). std::vector Fblocks; Matrix F, E; Vector b; - computeJacobians(Fblocks, E, b, cameras); - Base::FillDiagonalF(Fblocks, F); // expensive !!! + computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); - // Schur complement trick - // Frank says: should be possible to do this more efficiently? - // And we care, as in grouped factors this is called repeatedly - Matrix H(Base::Dim * numKeys, Base::Dim * numKeys); - Vector gs_vector; + // Whiten using noise model + Base::whitenJacobians(Fblocks, E, b); - Matrix3 P = Cameras::PointCov(E, lambda); - H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); - gs_vector.noalias() = F.transpose() * (b - (E * (P * (E.transpose() * b)))); + // build augmented hessian + SymmetricBlockMatrix augmentedHessian = // + Cameras::SchurComplement(Fblocks, E, b, lambda, diagonalDamping); - if (isDebug) - std::cout << "gs_vector size " << gs_vector.size() << std::endl; - if (isDebug) - std::cout << "H:\n" << H << std::endl; - - // Populate Gs and gs - int GsCount2 = 0; - for (DenseIndex i1 = 0; i1 < (DenseIndex) numKeys; i1++) { // for each camera - DenseIndex i1D = i1 * Base::Dim; - gs.at(i1) = gs_vector.segment(i1D); - for (DenseIndex i2 = 0; i2 < (DenseIndex) numKeys; i2++) { - if (i2 >= i1) { - Gs.at(GsCount2) = H.block(i1D, i2 * Base::Dim); - GsCount2++; - } - } - } - // ================================================================== - double f = b.squaredNorm(); - return boost::make_shared >(this->keys_, Gs, gs, f); + return boost::make_shared >(this->keys_, + augmentedHessian); } -// // create factor -// boost::shared_ptr > createImplicitSchurFactor( + // create factor +// boost::shared_ptr > createRegularImplicitSchurFactor( // const Cameras& cameras, double lambda) const { // if (triangulateForLinearize(cameras)) -// return Base::createImplicitSchurFactor(cameras, point_, lambda); +// return Base::createRegularImplicitSchurFactor(cameras, *result_, lambda); // else -// return boost::shared_ptr >(); +// // failed: return empty +// return boost::shared_ptr >(); // } // // /// create factor -// boost::shared_ptr > createJacobianQFactor( +// boost::shared_ptr > createJacobianQFactor( // const Cameras& cameras, double lambda) const { // if (triangulateForLinearize(cameras)) -// return Base::createJacobianQFactor(cameras, point_, lambda); +// return Base::createJacobianQFactor(cameras, *result_, lambda); // else -// return boost::make_shared< JacobianFactorQ >(this->keys_); +// // failed: return empty +// return boost::make_shared >(this->keys_); // } // // /// Create a factor, takes values -// boost::shared_ptr > createJacobianQFactor( +// boost::shared_ptr > createJacobianQFactor( // const Values& values, double lambda) const { -// Cameras cameras; -// // TODO triangulate twice ?? -// bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); -// if (nonDegenerate) -// return createJacobianQFactor(cameras, lambda); -// else -// return boost::make_shared< JacobianFactorQ >(this->keys_); +// return createJacobianQFactor(this->cameras(values), lambda); // } -// + /// different (faster) way to compute Jacobian factor boost::shared_ptr createJacobianSVDFactor( const Cameras& cameras, double lambda) const { if (triangulateForLinearize(cameras)) - return Base::createJacobianSVDFactor(cameras, point_, lambda); + return Base::createJacobianSVDFactor(cameras, *result_, lambda); else return boost::make_shared >(this->keys_); } - /// Returns true if nonDegenerate - bool computeCamerasAndTriangulate(const Values& values, - Cameras& cameras) const { - Values valuesFactor; + /// linearize to a Hessianfactor + virtual boost::shared_ptr > linearizeToHessian( + const Values& values, double lambda = 0.0) const { + return createHessianFactor(this->cameras(values), lambda); + } - // Select only the cameras - BOOST_FOREACH(const Key key, this->keys_) - valuesFactor.insert(key, values.at(key)); +// /// linearize to an Implicit Schur factor +// virtual boost::shared_ptr > linearizeToImplicit( +// const Values& values, double lambda = 0.0) const { +// return createRegularImplicitSchurFactor(this->cameras(values), lambda); +// } +// +// /// linearize to a JacobianfactorQ +// virtual boost::shared_ptr > linearizeToJacobian( +// const Values& values, double lambda = 0.0) const { +// return createJacobianQFactor(this->cameras(values), lambda); +// } - cameras = this->cameras(valuesFactor); - size_t nrCameras = this->triangulateSafe(cameras); - - if (nrCameras < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) - return false; - - // instead, if we want to manage the exception.. - if (this->cheiralityException_ || this->degenerate_) // if we want to manage the exceptions with rotation-only factors - this->degenerate_ = true; - - if (this->degenerate_) { - std::cout << "SmartStereoProjectionFactor: this is not ready" - << std::endl; - std::cout << "this->cheiralityException_ " << this->cheiralityException_ - << std::endl; - std::cout << "this->degenerate_ " << this->degenerate_ << std::endl; + /** + * Linearize to Gaussian Factor + * @param values Values structure which must contain camera poses for this factor + * @return a Gaussian factor + */ + boost::shared_ptr linearizeDamped(const Cameras& cameras, + const double lambda = 0.0) const { + // depending on flag set on construction we may linearize to different linear factors + switch (params_.linearizationMode) { + case HESSIAN: + return createHessianFactor(cameras, lambda); +// case IMPLICIT_SCHUR: +// return createRegularImplicitSchurFactor(cameras, lambda); +// case JACOBIAN_SVD: +// return createJacobianSVDFactor(cameras, lambda); +// case JACOBIAN_Q: +// return createJacobianQFactor(cameras, lambda); + default: + throw std::runtime_error("SmartStereoFactorlinearize: unknown mode"); } - return true; + } + + /** + * Linearize to Gaussian Factor + * @param values Values structure which must contain camera poses for this factor + * @return a Gaussian factor + */ + boost::shared_ptr linearizeDamped(const Values& values, + const double lambda = 0.0) const { + // depending on flag set on construction we may linearize to different linear factors + Cameras cameras = this->cameras(values); + return linearizeDamped(cameras, lambda); + } + + /// linearize + virtual boost::shared_ptr linearize( + const Values& values) const { + return linearizeDamped(values); + } + + /** + * Triangulate and compute derivative of error with respect to point + * @return whether triangulation worked + */ + bool triangulateAndComputeE(Matrix& E, const Cameras& cameras) const { + bool nonDegenerate = triangulateForLinearize(cameras); + if (nonDegenerate) + cameras.project2(*result_, boost::none, E); + return nonDegenerate; } /** @@ -440,87 +475,62 @@ public: * @return whether triangulation worked */ bool triangulateAndComputeE(Matrix& E, const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); - if (nonDegenerate) - cameras.project2(point_, boost::none, E); - return nonDegenerate; + Cameras cameras = this->cameras(values); + return triangulateAndComputeE(E, cameras); } - /// Version that takes values, and creates the point - bool computeJacobians(std::vector& Fblocks, - Matrix& E, Vector& b, const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); - if (nonDegenerate) - computeJacobians(Fblocks, E, b, cameras, 0.0); - return nonDegenerate; - } /// Compute F, E only (called below in both vanilla and SVD versions) /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate - void computeJacobians(std::vector& Fblocks, - Matrix& E, Vector& b, const Cameras& cameras) const { - if (this->degenerate_) { - throw("FIXME: computeJacobians degenerate case commented out!"); -// std::cout << "manage degeneracy " << manageDegeneracy_ << std::endl; -// std::cout << "point " << point_ << std::endl; -// std::cout -// << "SmartStereoProjectionFactor: Management of degeneracy is disabled - not ready to be used" -// << std::endl; -// if (D > 6) { -// std::cout -// << "Management of degeneracy is not yet ready when one also optimizes for the calibration " -// << std::endl; -// } + void computeJacobiansWithTriangulatedPoint( + std::vector& Fblocks, Matrix& E, Vector& b, + const Cameras& cameras) const { + + if (!result_) { + throw ("computeJacobiansWithTriangulatedPoint"); +// // Handle degeneracy +// // TODO check flag whether we should do this +// Unit3 backProjected; /* = cameras[0].backprojectPointAtInfinity( +// this->measured_.at(0)); */ // -// int numKeys = this->keys_.size(); -// E = zeros(2 * numKeys, 2); -// b = zero(2 * numKeys); -// double f = 0; -// for (size_t i = 0; i < this->measured_.size(); i++) { -// if (i == 0) { // first pose -// this->point_ = cameras[i].backprojectPointAtInfinity( -// this->measured_.at(i)); -// // 3D parametrization of point at infinity: [px py 1] -// } -// Matrix Fi, Ei; -// Vector bi = -(cameras[i].projectPointAtInfinity(this->point_, Fi, Ei) -// - this->measured_.at(i)).vector(); -// -// this->noise_.at(i)->WhitenSystem(Fi, Ei, bi); -// f += bi.squaredNorm(); -// Fblocks.push_back(typename Base::MatrixZD(this->keys_[i], Fi)); -// E.block < 2, 2 > (2 * i, 0) = Ei; -// subInsert(b, bi, 2 * i); -// } -// return f; +// Base::computeJacobians(Fblocks, E, b, cameras, backProjected); } else { - // nondegenerate: just return Base version - Base::computeJacobians(Fblocks, E, b, cameras, point_); - } // end else + // valid result: just return Base version + Base::computeJacobians(Fblocks, E, b, cameras, *result_); + } + } + + /// Version that takes values, and creates the point + bool triangulateAndComputeJacobians( + std::vector& Fblocks, Matrix& E, Vector& b, + const Values& values) const { + Cameras cameras = this->cameras(values); + bool nonDegenerate = triangulateForLinearize(cameras); + if (nonDegenerate) + computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); + return nonDegenerate; } /// takes values bool triangulateAndComputeJacobiansSVD( std::vector& Fblocks, Matrix& Enull, Vector& b, const Values& values) const { - typename Base::Cameras cameras; - double good = computeCamerasAndTriangulate(values, cameras); - if (good) - return Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, point_); - return true; + Cameras cameras = this->cameras(values); + bool nonDegenerate = triangulateForLinearize(cameras); + if (nonDegenerate) + Base::computeJacobiansSVD(Fblocks, Enull, b, cameras, *result_); + return nonDegenerate; } /// Calculate vector of re-projection errors, before applying noise model Vector reprojectionErrorAfterTriangulation(const Values& values) const { - Cameras cameras; - bool nonDegenerate = computeCamerasAndTriangulate(values, cameras); + Cameras cameras = this->cameras(values); + bool nonDegenerate = triangulateForLinearize(cameras); if (nonDegenerate) - return Base::unwhitenedError(cameras, point_); + return Base::unwhitenedError(cameras, *result_); else - return zero(cameras.size() * 3); + return zero(cameras.size() * Base::ZDim); } /** @@ -532,84 +542,60 @@ public: double totalReprojectionError(const Cameras& cameras, boost::optional externalPoint = boost::none) const { - size_t nrCameras; - if (externalPoint) { - nrCameras = this->keys_.size(); - point_ = *externalPoint; - degenerate_ = false; - cheiralityException_ = false; - } else { - nrCameras = this->triangulateSafe(cameras); - } + if (externalPoint) + result_ = TriangulationResult(*externalPoint); + else + result_ = triangulateSafe(cameras); - if (nrCameras < 2 - || (!this->manageDegeneracy_ - && (this->cheiralityException_ || this->degenerate_))) { + if (result_) + // All good, just use version in base class + return Base::totalReprojectionError(cameras, *result_); + else if (params_.degeneracyMode == HANDLE_INFINITY) { + throw("Backproject at infinity"); +// // Otherwise, manage the exceptions with rotation-only factors +// const StereoPoint2& z0 = this->measured_.at(0); +// Unit3 backprojected; //= cameras.front().backprojectPointAtInfinity(z0); +// +// return Base::totalReprojectionError(cameras, backprojected); + } else // if we don't want to manage the exceptions we discard the factor - // std::cout << "In error evaluation: exception" << std::endl; return 0.0; - } + } - if (this->cheiralityException_) { // if we want to manage the exceptions with rotation-only factors - std::cout - << "SmartProjectionHessianFactor: cheirality exception (this should not happen if CheiralityException is disabled)!" - << std::endl; - this->degenerate_ = true; - } - - if (this->degenerate_) { - return 0.0; // TODO: this maybe should be zero? -// std::cout -// << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" -// << std::endl; -// size_t i = 0; -// double overallError = 0; -// BOOST_FOREACH(const Camera& camera, cameras) { -// const StereoPoint2& zi = this->measured_.at(i); -// if (i == 0) // first pose -// this->point_ = camera.backprojectPointAtInfinity(zi); // 3D parametrization of point at infinity -// StereoPoint2 reprojectionError( -// camera.projectPointAtInfinity(this->point_) - zi); -// overallError += 0.5 -// * this->noise_.at(i)->distance(reprojectionError.vector()); -// i += 1; -// } -// return overallError; - } else { - // Just use version in base class - return Base::totalReprojectionError(cameras, point_); + /// Calculate total reprojection error + virtual double error(const Values& values) const { + if (this->active(values)) { + return totalReprojectionError(Base::cameras(values)); + } else { // else of active flag + return 0.0; } } /** return the landmark */ - boost::optional point() const { - return point_; - } + TriangulationResult point() const { + return result_; + } - /** COMPUTE the landmark */ - boost::optional point(const Values& values) const { - triangulateSafe(values); - return point_; - } + /** COMPUTE the landmark */ + TriangulationResult point(const Values& values) const { + Cameras cameras = this->cameras(values); + return triangulateSafe(cameras); + } - /** return the degenerate state */ - inline bool isDegenerate() const { - return (cheiralityException_ || degenerate_); - } + /// Is result valid? + bool isValid() const { + return result_; + } - /** return the cheirality status flag */ - inline bool isPointBehindCamera() const { - return cheiralityException_; - } - /** return chirality verbosity */ - inline bool verboseCheirality() const { - return verboseCheirality_; - } + /** return the degenerate state */ + bool isDegenerate() const { + return result_.degenerate(); + } - /** return flag for throwing cheirality exceptions */ - inline bool throwCheirality() const { - return throwCheirality_; - } + /** return the cheirality status flag */ + bool isPointBehindCamera() const { + return result_.behindCamera(); + } private: @@ -618,8 +604,8 @@ private: template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(throwCheirality_); - ar & BOOST_SERIALIZATION_NVP(verboseCheirality_); + ar & BOOST_SERIALIZATION_NVP(params_.throwCheirality); + ar & BOOST_SERIALIZATION_NVP(params_.verboseCheirality); } }; diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index ac269335e..f9ed686c6 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -46,8 +46,6 @@ public: protected: - LinearizationMode linearizeTo_; ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q) - std::vector > K_all_; ///< shared pointer to calibration object (one for each camera) public: @@ -71,14 +69,9 @@ public: * otherwise the factor is simply neglected * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations */ - SmartStereoProjectionPoseFactor(const double rankTol = 1, - const double linThreshold = -1, const bool manageDegeneracy = false, - const bool enableEPI = false, LinearizationMode linearizeTo = HESSIAN, - double landmarkDistanceThreshold = 1e10, - double dynamicOutlierRejectionThreshold = -1) : - Base(rankTol, linThreshold, manageDegeneracy, enableEPI, - landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), linearizeTo_( - linearizeTo) { + SmartStereoProjectionPoseFactor(const SmartStereoProjectionParams& params = + SmartStereoProjectionParams()) : + Base(params) { } /** Virtual destructor */ @@ -149,6 +142,22 @@ public: return e && Base::equals(p, tol); } + /** + * error calculates the error of the factor. + */ + virtual double error(const Values& values) const { + if (this->active(values)) { + return this->totalReprojectionError(cameras(values)); + } else { // else of active flag + return 0.0; + } + } + + /** return the calibration object */ + inline const std::vector > calibration() const { + return K_all_; + } + /** * Collect all cameras involved in this factor * @param values Values structure which must contain camera poses corresponding @@ -166,44 +175,6 @@ public: return cameras; } - /** - * Linearize to Gaussian Factor - * @param values Values structure which must contain camera poses for this factor - * @return - */ - virtual boost::shared_ptr linearize( - const Values& values) const { - // depending on flag set on construction we may linearize to different linear factors - switch(linearizeTo_){ - case JACOBIAN_SVD : - return this->createJacobianSVDFactor(cameras(values), 0.0); - break; - case JACOBIAN_Q : - throw("JacobianQ not working yet!"); -// return this->createJacobianQFactor(cameras(values), 0.0); - break; - default: - return this->createHessianFactor(cameras(values)); - break; - } - } - - /** - * error calculates the error of the factor. - */ - virtual double error(const Values& values) const { - if (this->active(values)) { - return this->totalReprojectionError(cameras(values)); - } else { // else of active flag - return 0.0; - } - } - - /** return the calibration object */ - inline const std::vector > calibration() const { - return K_all_; - } - private: /// Serialization function diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 90e88c666..a4a8c9269 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -43,8 +43,11 @@ static Cal3_S2Stereo::shared_ptr K2( static boost::shared_ptr Kbundler( new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); -static double rankTol = 1.0; -static double linThreshold = -1.0; +//static double rankTol = 1.0; +//static double linThreshold = -1.0; + +static SmartStereoProjectionParams params; + // static bool manageDegeneracy = true; // Create a noise model for the pixel error static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.1)); @@ -80,7 +83,7 @@ vector stereo_projectToMultipleCameras(const StereoCamera& cam1, return measurements_cam; } -LevenbergMarquardtParams params; +LevenbergMarquardtParams lm_params; /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor) { @@ -89,7 +92,7 @@ TEST( SmartStereoProjectionPoseFactor, Constructor) { /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor2) { - SmartFactor factor1(rankTol, linThreshold); + SmartFactor factor1(params); } /* ************************************************************************* */ @@ -100,7 +103,7 @@ TEST( SmartStereoProjectionPoseFactor, Constructor3) { /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor4) { - SmartFactor factor1(rankTol, linThreshold); + SmartFactor factor1(params); factor1.add(measurement1, poseKey1, model, K); } @@ -278,7 +281,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { Values result; gttic_(SmartStereoProjectionPoseFactor); - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); result = optimizer.optimize(); gttoc_(SmartStereoProjectionPoseFactor); tictoc_finishedIteration_(); @@ -325,16 +328,16 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3); - SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + SmartStereoProjectionParams params; + params.setLinearizationMode(JACOBIAN_SVD); + + SmartFactor::shared_ptr smartFactor1( new SmartFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD)); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -355,7 +358,7 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { values.insert(x3, pose3 * noise_pose); Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); result = optimizer.optimize(); EXPECT(assert_equal(pose3, result.at(x3))); } @@ -363,7 +366,7 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { - double excludeLandmarksFutherThanDist = 2; +// double excludeLandmarksFutherThanDist = 2; vector views; views.push_back(x1); @@ -393,19 +396,17 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3); - SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, - excludeLandmarksFutherThanDist)); + SmartStereoProjectionParams params; + params.setLinearizationMode(JACOBIAN_SVD); + params.setLandmarkDistanceThreshold(2); + + SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, - excludeLandmarksFutherThanDist)); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, - excludeLandmarksFutherThanDist)); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -427,7 +428,7 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { // All factors are disabled and pose should remain where it is Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); result = optimizer.optimize(); EXPECT(assert_equal(values.at(x3), result.at(x3))); } @@ -471,24 +472,22 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10, 10, 1); // add outlier - SmartFactor::shared_ptr smartFactor1( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + SmartStereoProjectionParams params; + params.setLinearizationMode(JACOBIAN_SVD); + params.setLandmarkDistanceThreshold(excludeLandmarksFutherThanDist); + params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold); + + + SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); - SmartFactor::shared_ptr smartFactor4( - new SmartFactor(1, -1, false, false, JACOBIAN_SVD, - excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold)); + SmartFactor::shared_ptr smartFactor4(new SmartFactor(params)); smartFactor4->add(measurements_cam4, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -510,7 +509,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // All factors are disabled and pose should remain where it is Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, params); + LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); result = optimizer.optimize(); EXPECT(assert_equal(pose3, result.at(x3))); } @@ -571,7 +570,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // values.insert(x3, pose3*noise_pose); // //// Values result; -// LevenbergMarquardtOptimizer optimizer(graph, values, params); +// LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); // result = optimizer.optimize(); // EXPECT(assert_equal(pose3,result.at(x3))); //} @@ -630,7 +629,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // values.insert(L(2), landmark2); // values.insert(L(3), landmark3); // -// LevenbergMarquardtOptimizer optimizer(graph, values, params); +// LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); // Values result = optimizer.optimize(); // // EXPECT(assert_equal(pose3,result.at(x3))); @@ -672,13 +671,16 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // Create smartfactors double rankTol = 10; - SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol)); + SmartStereoProjectionParams params; + params.setRankTolerance(rankTol); + + SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol)); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol)); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); // Create graph to optimize @@ -781,7 +783,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // // Values result; // gttic_(SmartStereoProjectionPoseFactor); -// LevenbergMarquardtOptimizer optimizer(graph, values, params); +// LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); // result = optimizer.optimize(); // gttoc_(SmartStereoProjectionPoseFactor); // tictoc_finishedIteration_(); @@ -855,7 +857,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // // Values result; // gttic_(SmartStereoProjectionPoseFactor); -// LevenbergMarquardtOptimizer optimizer(graph, values, params); +// LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); // result = optimizer.optimize(); // gttoc_(SmartStereoProjectionPoseFactor); // tictoc_finishedIteration_(); From 93f7eafaa86a50aa5d0cceb0df820bb5df115ee1 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 15 Jul 2015 23:16:45 -0400 Subject: [PATCH 452/964] re-enable triangulation hack --- .../slam/SmartStereoProjectionFactor.h | 136 +++++++++--------- 1 file changed, 67 insertions(+), 69 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index de6ce8509..6c38b5f0b 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -241,76 +241,74 @@ public: bool retriangulate = decideIfTriangulate(cameras); if (retriangulate) { // We triangulate the 3D position of the landmark -// try { -// // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; -// -// //TODO: Chris will replace this with something else for stereo -//// point_ = triangulatePoint3(cameras, this->measured_, -//// rankTolerance_, enableEPI_); -// -// // // // Temporary hack to use monocular triangulation -// std::vector mono_measurements; -// BOOST_FOREACH(const StereoPoint2& sp, this->measured_) { -// mono_measurements.push_back(sp.point2()); -// } -// -// std::vector > mono_cameras; -// BOOST_FOREACH(const StereoCamera& camera, cameras) { -// const Pose3& pose = camera.pose(); -// const Cal3_S2& K = camera.calibration()->calibration(); -// mono_cameras.push_back(PinholeCamera(pose, K)); -// } -// point_ = triangulatePoint3 >(mono_cameras, mono_measurements, -// parameters_.rankTolerance, parameters_.enableEPI); -// -// // // // End temporary hack -// -// // FIXME: temporary: triangulation using only first camera -//// const StereoPoint2& z0 = this->measured_.at(0); -//// point_ = cameras[0].backproject(z0); -// -// degenerate_ = false; -// cheiralityException_ = false; -// -// // Check landmark distance and reprojection errors to avoid outliers -// double totalReprojError = 0.0; -// size_t i = 0; -// BOOST_FOREACH(const StereoCamera& camera, cameras) { -// Point3 cameraTranslation = camera.pose().translation(); -// // we discard smart factors corresponding to points that are far away -// if (cameraTranslation.distance(point_) > parameters_.landmarkDistanceThreshold) { -// degenerate_ = true; -// break; -// } -// const StereoPoint2& zi = this->measured_.at(i); -// try { -// StereoPoint2 reprojectionError(camera.project(point_) - zi); -// totalReprojError += reprojectionError.vector().norm(); -// } catch (CheiralityException) { -// cheiralityException_ = true; -// } -// i += 1; -// } -// //std::cout << "totalReprojError error: " << totalReprojError << std::endl; -// // we discard smart factors that have large reprojection error -// if (parameters_.dynamicOutlierRejectionThreshold > 0 -// && totalReprojError / m > parameters_.dynamicOutlierRejectionThreshold) -// degenerate_ = true; -// -// } catch (TriangulationUnderconstrainedException&) { -// // if TriangulationUnderconstrainedException can be -// // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before -// // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) -// // in the second case we want to use a rotation-only smart factor -// degenerate_ = true; -// cheiralityException_ = false; -// } catch (TriangulationCheiralityException&) { -// // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers -// // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint -// cheiralityException_ = true; -// } + try { + // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; + + //TODO: Chris will replace this with something else for stereo +// point_ = triangulatePoint3(cameras, this->measured_, +// rankTolerance_, enableEPI_); + + // // // Temporary hack to use monocular triangulation + std::vector mono_measurements; + BOOST_FOREACH(const StereoPoint2& sp, this->measured_) { + mono_measurements.push_back(sp.point2()); + } + + std::vector > mono_cameras; + BOOST_FOREACH(const StereoCamera& camera, cameras) { + const Pose3& pose = camera.pose(); + const Cal3_S2& K = camera.calibration()->calibration(); + mono_cameras.push_back(PinholeCamera(pose, K)); + } + Point3 point = triangulatePoint3 >(mono_cameras, mono_measurements, + params_.triangulation.rankTolerance, params_.triangulation.enableEPI); + + // // // End temporary hack + + // FIXME: temporary: triangulation using only first camera +// const StereoPoint2& z0 = this->measured_.at(0); +// point_ = cameras[0].backproject(z0); + + // Check landmark distance and reprojection errors to avoid outliers + double totalReprojError = 0.0; + size_t i = 0; + BOOST_FOREACH(const StereoCamera& camera, cameras) { + Point3 cameraTranslation = camera.pose().translation(); + // we discard smart factors corresponding to points that are far away + if (cameraTranslation.distance(point) > params_.triangulation.landmarkDistanceThreshold) { + return TriangulationResult::Degenerate(); + } + const StereoPoint2& zi = this->measured_.at(i); + try { + StereoPoint2 reprojectionError(camera.project(point) - zi); + totalReprojError += reprojectionError.vector().norm(); + } catch (CheiralityException) { + return TriangulationResult::BehindCamera(); + } + i += 1; + } + //std::cout << "totalReprojError error: " << totalReprojError << std::endl; + // we discard smart factors that have large reprojection error + if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 + && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) + return TriangulationResult::Degenerate(); + + result_ = TriangulationResult(point); + + } catch (TriangulationUnderconstrainedException&) { + // if TriangulationUnderconstrainedException can be + // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before + // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) + // in the second case we want to use a rotation-only smart factor + return TriangulationResult::Degenerate(); + } catch (TriangulationCheiralityException&) { + // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers + // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint + return TriangulationResult::BehindCamera(); + } } - return TriangulationResult(Point3()); + return result_; + } /// triangulate From 10a653ad7f908a0c5db4e1ed002034d7e86a4bc2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 15 Jul 2015 22:59:30 -0700 Subject: [PATCH 453/964] Better documentation --- gtsam/geometry/BearingRange.h | 41 +++++++++++++++++++++++------------ 1 file changed, 27 insertions(+), 14 deletions(-) diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h index b9e074d48..27fe2f197 100644 --- a/gtsam/geometry/BearingRange.h +++ b/gtsam/geometry/BearingRange.h @@ -25,16 +25,23 @@ namespace gtsam { -// forward declaration of Bearing functor, assumed partially specified +// Forward declaration of Bearing functor which should be of A1*A2 -> return_type +// For example Bearing(pose,point), defined in Pose3.h will return Unit3 +// At time of writing only Pose2 and Pose3 specialize this functor. template struct Bearing; -// forward declaration of Range functor, assumed partially specified +// Forward declaration of Range functor which should be of A1*A2 -> return_type +// For example Range(T1,T2), defined in Pose2.h will return double +// At time of writing Pose2, Pose3, and several Camera variants specialize this for several types template struct Range; /** - * Bearing-Range product for a particular A1,A2 combination + * Bearing-Range product for a particular A1,A2 combination will use the functors above to create + * a similar functor of type A1*A2 -> pair + * For example BearingRange(pose,point) will return pair + * and BearingRange(pose,point) will return pair */ template struct BearingRange @@ -88,31 +95,37 @@ struct BearingRange friend class boost::serialization::access; }; +// Declare this to be both Testable and a Manifold template struct traits > : Testable >, internal::ManifoldTraits > {}; // Helper class for to implement Range traits for classes with a bearing method -template +// For example, to specialize Bearing to Pose3 and Point3, using Pose3::bearing, it suffices to say +// template <> struct Bearing : HasBearing {}; +// where the third argument is used to indicate the return type +template struct HasBearing { - typedef T result_type; - T operator()( + typedef RT result_type; + RT operator()( const A1& a1, const A2& a2, - OptionalJacobian::dimension, traits::dimension> H1, - OptionalJacobian::dimension, traits::dimension> H2) { + OptionalJacobian::dimension, traits::dimension> H1, + OptionalJacobian::dimension, traits::dimension> H2) { return a1.bearing(a2, H1, H2); } }; -// Helper class for to implement Range traits for classes with a range method -template +// Similar helper class for to implement Range traits for classes with a range method +// For classes with overloaded range methods, such as SimpleCamera, this can even be templated: +// template struct Range : HasRange {}; +template struct HasRange { - typedef T result_type; - T operator()( + typedef RT result_type; + RT operator()( const A1& a1, const A2& a2, - OptionalJacobian::dimension, traits::dimension> H1, - OptionalJacobian::dimension, traits::dimension> H2) { + OptionalJacobian::dimension, traits::dimension> H1, + OptionalJacobian::dimension, traits::dimension> H2) { return a1.range(a2, H1, H2); } }; From 0c3bb85547cc3c04ecdabcf9ad1229b715c5679f Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 23 May 2015 19:36:42 -0700 Subject: [PATCH 454/964] Added test of localCoordinates --- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index 5b052eb02..10ec8464a 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -94,6 +94,21 @@ TEST( testPoseRTV, Lie ) { EXPECT(assert_equal(delta, -state2.localCoordinates(state1), 1e-1)); } +/* ************************************************************************* */ +TEST(testPoseRTV, localCoordinates) { + Point3 i1(0, 1, 0), j1(-1, 0, 0), k1(0, 0, 1); + Pose3 x1(Rot3(i1, j1, k1), Point3(5.0, 1.0, 0.0)); + Vector3 v1(Vector3(0.5, 0.0, 0.0)); + + Pose3 x2(Rot3(i1, j1, k1).expmap(Vector3(0.1, 0.2, 0.3)), Point3(5.5, 1.0, 6.0)); + Vector3 v2(Vector3(0.5, 4.0, 3.0)); + + PoseRTV rtv1(x1,v1), rtv2(x2,v2); + Vector9 expected, actual = rtv1.localCoordinates(rtv2); + expected << 0.1, 0.2, 0.3, 0.0, -0.5, 6.0, 4.0, 0.0, 3.0; + EXPECT(assert_equal(expected, actual, 1e-9)); +} + /* ************************************************************************* */ TEST( testPoseRTV, dynamics_identities ) { // general dynamics should produce the same measurements as the imuPrediction function From e7c2e8183166b7740e4a5fb61460183958254e44 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 15 Jul 2015 23:24:24 -0700 Subject: [PATCH 455/964] Re-formatted to BORG-style --- gtsam/navigation/tests/testImuFactor.cpp | 387 +++++++++++++---------- 1 file changed, 218 insertions(+), 169 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 9a93948d9..6b66be342 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -43,19 +43,20 @@ static const Vector3 kZeroOmegaCoriolis(0, 0, 0); namespace { // Auxiliary functions to test evaluate error in ImuFactor /* ************************************************************************* */ -Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, const Vector3& vel_i, - const Pose3& pose_j, const Vector3& vel_j, - const imuBias::ConstantBias& bias) { - return Rot3::Expmap(factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3)); +Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, + const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, + const imuBias::ConstantBias& bias) { + return Rot3::Expmap( + factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3)); } // Auxiliary functions to test Jacobians F and G used for // covariance propagation during preintegration /* ************************************************************************* */ -Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, const Vector3& deltaVij_old, - const Rot3& deltaRij_old, const Vector3& correctedAcc, - const Vector3& correctedOmega, const double deltaT, - const bool use2ndOrderIntegration_) { +Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, + const Vector3& deltaVij_old, const Rot3& deltaRij_old, + const Vector3& correctedAcc, const Vector3& correctedOmega, + const double deltaT, const bool use2ndOrderIntegration_) { Matrix3 dRij = deltaRij_old.matrix(); Vector3 temp = dRij * correctedAcc * deltaT; Vector3 deltaPij_new; @@ -71,8 +72,8 @@ Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, const Vector3& delt return result; } -Rot3 updatePreintegratedRot(const Rot3& deltaRij_old, const Vector3& correctedOmega, - const double deltaT) { +Rot3 updatePreintegratedRot(const Rot3& deltaRij_old, + const Vector3& correctedOmega, const double deltaT) { Rot3 deltaRij_new = deltaRij_old * Rot3::Expmap(correctedOmega * deltaT); return deltaRij_new; } @@ -94,8 +95,8 @@ ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements( const list& measuredOmegas, const list& deltaTs, const bool use2ndOrderIntegration = false) { ImuFactor::PreintegratedMeasurements result(bias, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance, - use2ndOrderIntegration); + kMeasuredOmegaCovariance, kIntegrationErrorCovariance, + use2ndOrderIntegration); list::const_iterator itAcc = measuredAccs.begin(); list::const_iterator itOmega = measuredOmegas.begin(); @@ -106,29 +107,30 @@ ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements( return result; } -Vector3 evaluatePreintegratedMeasurementsPosition(const imuBias::ConstantBias& bias, - const list& measuredAccs, - const list& measuredOmegas, - const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaPij(); +Vector3 evaluatePreintegratedMeasurementsPosition( + const imuBias::ConstantBias& bias, const list& measuredAccs, + const list& measuredOmegas, const list& deltaTs) { + return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + deltaTs).deltaPij(); } -Vector3 evaluatePreintegratedMeasurementsVelocity(const imuBias::ConstantBias& bias, - const list& measuredAccs, - const list& measuredOmegas, - const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaVij(); +Vector3 evaluatePreintegratedMeasurementsVelocity( + const imuBias::ConstantBias& bias, const list& measuredAccs, + const list& measuredOmegas, const list& deltaTs) { + return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + deltaTs).deltaVij(); } -Rot3 evaluatePreintegratedMeasurementsRotation(const imuBias::ConstantBias& bias, - const list& measuredAccs, - const list& measuredOmegas, - const list& deltaTs) { +Rot3 evaluatePreintegratedMeasurementsRotation( + const imuBias::ConstantBias& bias, const list& measuredAccs, + const list& measuredOmegas, const list& deltaTs) { return Rot3( - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaRij()); + evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + deltaTs).deltaRij()); } -Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, const double deltaT) { +Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, + const double deltaT) { return Rot3::Expmap((measuredOmega - biasOmega) * deltaT); } @@ -136,7 +138,7 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { return Rot3::Logmap(Rot3::Expmap(thetahat).compose(Rot3::Expmap(deltatheta))); } -} // namespace +} // namespace /* ************************************************************************* */ TEST(ImuFactor, PreintegratedMeasurements) { @@ -158,19 +160,22 @@ TEST(ImuFactor, PreintegratedMeasurements) { bool use2ndOrderIntegration = true; // Actual preintegrated values ImuFactor::PreintegratedMeasurements actual1(bias, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, use2ndOrderIntegration); + kMeasuredOmegaCovariance, kIntegrationErrorCovariance, + use2ndOrderIntegration); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT(assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()), 1e-6)); - EXPECT(assert_equal(Vector(expectedDeltaV1), Vector(actual1.deltaVij()), 1e-6)); + EXPECT( + assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()), 1e-6)); + EXPECT( + assert_equal(Vector(expectedDeltaV1), Vector(actual1.deltaVij()), 1e-6)); EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()), 1e-6)); DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-6); // Integrate again Vector3 expectedDeltaP2; expectedDeltaP2 << 0.025 + expectedDeltaP1(0) + 0.5 * 0.1 * 0.5 * 0.5, 0, 0; - Vector3 expectedDeltaV2 = Vector3(0.05, 0.0, 0.0) + expectedDeltaR1.matrix() * measuredAcc * 0.5; + Vector3 expectedDeltaV2 = Vector3(0.05, 0.0, 0.0) + + expectedDeltaR1.matrix() * measuredAcc * 0.5; Rot3 expectedDeltaR2 = Rot3::RzRyRx(2.0 * 0.5 * M_PI / 100.0, 0.0, 0.0); double expectedDeltaT2(1); @@ -178,42 +183,49 @@ TEST(ImuFactor, PreintegratedMeasurements) { ImuFactor::PreintegratedMeasurements actual2 = actual1; actual2.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT(assert_equal(Vector(expectedDeltaP2), Vector(actual2.deltaPij()), 1e-6)); - EXPECT(assert_equal(Vector(expectedDeltaV2), Vector(actual2.deltaVij()), 1e-6)); + EXPECT( + assert_equal(Vector(expectedDeltaP2), Vector(actual2.deltaPij()), 1e-6)); + EXPECT( + assert_equal(Vector(expectedDeltaV2), Vector(actual2.deltaVij()), 1e-6)); EXPECT(assert_equal(expectedDeltaR2, Rot3(actual2.deltaRij()), 1e-6)); DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-6); } // Common linearization point and measurements for tests namespace common { -imuBias::ConstantBias bias; // Bias -Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), Point3(5.0, 1.0, -50.0)); +imuBias::ConstantBias bias; // Bias +Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), + Point3(5.0, 1.0, -50.0)); Vector3 v1(Vector3(0.5, 0.0, 0.0)); -Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0), Point3(5.5, 1.0, -50.0)); +Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0), + Point3(5.5, 1.0, -50.0)); Vector3 v2(Vector3(0.5, 0.0, 0.0)); // Measurements Vector3 measuredOmega(M_PI / 100, 0, 0); Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector(); double deltaT = 1.0; -} // namespace common +} // namespace common /* ************************************************************************* */ TEST(ImuFactor, ErrorAndJacobians) { using namespace common; bool use2ndOrderIntegration = true; - ImuFactor::PreintegratedMeasurements pre_int_data( - bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, - use2ndOrderIntegration); + ImuFactor::PreintegratedMeasurements pre_int_data(bias, + kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance, use2ndOrderIntegration); pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + kZeroOmegaCoriolis); // Expected error Vector errorExpected(9); errorExpected << 0, 0, 0, 0, 0, 0, 0, 0, 0; - EXPECT(assert_equal(errorExpected, factor.evaluateError(x1, v1, x2, v2, bias), 1e-6)); + EXPECT( + assert_equal(errorExpected, factor.evaluateError(x1, v1, x2, v2, bias), + 1e-6)); Values values; values.insert(X(1), x1); @@ -229,7 +241,7 @@ TEST(ImuFactor, ErrorAndJacobians) { // Actual Jacobians Matrix H1a, H2a, H3a, H4a, H5a; - (void)factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); + (void) factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); // Make sure rotation part is correct when error is interpreted as axis-angle // Jacobians are around zero, so the rotation part is the same as: @@ -245,7 +257,9 @@ TEST(ImuFactor, ErrorAndJacobians) { Vector3 v2_wrong = v2 + Vector3(0.1, 0.1, 0.1); values.update(V(2), v2_wrong); errorExpected << 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901, 0, 0, 0; - EXPECT(assert_equal(errorExpected, factor.evaluateError(x1, v1, x2, v2_wrong, bias), 1e-6)); + EXPECT( + assert_equal(errorExpected, + factor.evaluateError(x1, v1, x2, v2_wrong, bias), 1e-6)); EXPECT(assert_equal(errorExpected, factor.unwhitenedError(values), 1e-6)); // Make sure the whitening is done correctly @@ -263,24 +277,28 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { using common::x1; using common::v1; using common::v2; - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) - Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); + imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), + Point3(5.5, 1.0, -50.0)); // Measurements Vector3 nonZeroOmegaCoriolis; nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3(0.2, 0.0, 0.0); + Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; ImuFactor::PreintegratedMeasurements pre_int_data( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), + kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance); pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, nonZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + nonZeroOmegaCoriolis); Values values; values.insert(X(1), x1); @@ -299,27 +317,30 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { using common::x1; using common::v1; using common::v2; - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) - Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); + imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), + Point3(5.5, 1.0, -50.0)); // Measurements Vector3 nonZeroOmegaCoriolis; nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3(0.2, 0.0, 0.0); + Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; ImuFactor::PreintegratedMeasurements pre_int_data( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), + kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance); pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor Pose3 bodyPsensor = Pose3(); bool use2ndOrderCoriolis = true; - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, nonZeroOmegaCoriolis, - bodyPsensor, use2ndOrderCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + nonZeroOmegaCoriolis, bodyPsensor, use2ndOrderCoriolis); Values values; values.insert(X(1), x1); @@ -336,7 +357,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { /* ************************************************************************* */ TEST(ImuFactor, PartialDerivative_wrt_Bias) { // Linearization point - Vector3 biasOmega(0, 0, 0); // Current estimate of rotation rate bias + Vector3 biasOmega(0, 0, 0); // Current estimate of rotation rate bias // Measurements Vector3 measuredOmega(0.1, 0, 0); @@ -344,11 +365,13 @@ TEST(ImuFactor, PartialDerivative_wrt_Bias) { // Compute numerical derivatives Matrix expectedDelRdelBiasOmega = numericalDerivative11( - boost::bind(&evaluateRotation, measuredOmega, _1, deltaT), Vector3(biasOmega)); + boost::bind(&evaluateRotation, measuredOmega, _1, deltaT), + Vector3(biasOmega)); - const Matrix3 Jr = Rot3::ExpmapDerivative((measuredOmega - biasOmega) * deltaT); + const Matrix3 Jr = Rot3::ExpmapDerivative( + (measuredOmega - biasOmega) * deltaT); - Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign + Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign // Compare Jacobians // 1e-3 needs to be added only when using quaternions for rotations @@ -358,7 +381,7 @@ TEST(ImuFactor, PartialDerivative_wrt_Bias) { /* ************************************************************************* */ TEST(ImuFactor, PartialDerivativeLogmap) { // Linearization point - Vector3 thetahat(0.1, 0.1, 0); // Current estimate of rotation rate bias + Vector3 thetahat(0.1, 0.1, 0); // Current estimate of rotation rate bias // Measurements Vector3 deltatheta(0, 0, 0); @@ -376,7 +399,7 @@ TEST(ImuFactor, PartialDerivativeLogmap) { /* ************************************************************************* */ TEST(ImuFactor, fistOrderExponential) { // Linearization point - Vector3 biasOmega(0, 0, 0); // Current estimate of rotation rate bias + Vector3 biasOmega(0, 0, 0); // Current estimate of rotation rate bias // Measurements Vector3 measuredOmega(0.1, 0, 0); @@ -387,15 +410,18 @@ TEST(ImuFactor, fistOrderExponential) { Vector3 deltabiasOmega; deltabiasOmega << alpha, alpha, alpha; - const Matrix3 Jr = Rot3::ExpmapDerivative((measuredOmega - biasOmega) * deltaT); + const Matrix3 Jr = Rot3::ExpmapDerivative( + (measuredOmega - biasOmega) * deltaT); - Matrix3 delRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign + Matrix3 delRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign - const Matrix expectedRot = - Rot3::Expmap((measuredOmega - biasOmega - deltabiasOmega) * deltaT).matrix(); + const Matrix expectedRot = Rot3::Expmap( + (measuredOmega - biasOmega - deltabiasOmega) * deltaT).matrix(); - const Matrix3 hatRot = Rot3::Expmap((measuredOmega - biasOmega) * deltaT).matrix(); - const Matrix3 actualRot = hatRot * Rot3::Expmap(delRdelBiasOmega * deltabiasOmega).matrix(); + const Matrix3 hatRot = + Rot3::Expmap((measuredOmega - biasOmega) * deltaT).matrix(); + const Matrix3 actualRot = hatRot + * Rot3::Expmap(delRdelBiasOmega * deltabiasOmega).matrix(); // hatRot * (Matrix3::Identity() + skewSymmetric(delRdelBiasOmega * deltabiasOmega)); // This is a first order expansion so the equality is only an approximation @@ -405,7 +431,7 @@ TEST(ImuFactor, fistOrderExponential) { /* ************************************************************************* */ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { // Linearization point - imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases + imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1)); @@ -420,51 +446,56 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { deltaTs.push_back(0.01); for (int i = 1; i < 100; i++) { measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); + measuredOmegas.push_back( + Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } // Actual preintegrated values ImuFactor::PreintegratedMeasurements preintegrated = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs); + evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + deltaTs); // Compute numerical derivatives - Matrix expectedDelPdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, measuredOmegas, - deltaTs), - bias); + Matrix expectedDelPdelBias = numericalDerivative11( + boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, + measuredOmegas, deltaTs), bias); Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); - Matrix expectedDelVdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, measuredOmegas, - deltaTs), - bias); + Matrix expectedDelVdelBias = numericalDerivative11( + boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, + measuredOmegas, deltaTs), bias); Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); - Matrix expectedDelRdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, measuredAccs, measuredOmegas, - deltaTs), - bias); + Matrix expectedDelRdelBias = + numericalDerivative11( + boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, + measuredAccs, measuredOmegas, deltaTs), bias); Matrix expectedDelRdelBiasAcc = expectedDelRdelBias.leftCols(3); Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3); // Compare Jacobians EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); - EXPECT(assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega())); + EXPECT( + assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega())); EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc())); - EXPECT(assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega())); + EXPECT( + assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega())); EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); - EXPECT(assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(), - 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations + EXPECT( + assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(), + 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations } /* ************************************************************************* */ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // Linearization point - imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); + imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases + Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); // Measurements list measuredAccs, measuredOmegas; @@ -477,48 +508,50 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { deltaTs.push_back(0.01); for (int i = 1; i < 100; i++) { measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); + measuredOmegas.push_back( + Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } bool use2ndOrderIntegration = false; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements preintegrated = evaluatePreintegratedMeasurements( - bias, measuredAccs, measuredOmegas, deltaTs, use2ndOrderIntegration); + ImuFactor::PreintegratedMeasurements preintegrated = + evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + deltaTs, use2ndOrderIntegration); // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); const double newDeltaT = 0.01; - const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement + const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement + const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement + const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement Matrix oldPreintCovariance = preintegrated.preintMeasCov(); Matrix Factual, Gactual; - preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, newDeltaT, body_P_sensor, - Factual, Gactual); + preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, + newDeltaT, body_P_sensor, Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F ////////////////////////////////////////////////////////////////////////////////////////////// // Compute expected f_pos_vel wrt positions Matrix dfpv_dpos = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, newMeasuredAcc, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, + newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaPij_old); // Compute expected f_pos_vel wrt velocities Matrix dfpv_dvel = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, newMeasuredAcc, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, + newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaVij_old); // Compute expected f_pos_vel wrt angles Matrix dfpv_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, newMeasuredAcc, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, + newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaRij_old); Matrix FexpectedTop6(6, 9); @@ -526,7 +559,8 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // Compute expected f_rot wrt angles Matrix dfr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), deltaRij_old); + boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), + deltaRij_old); Matrix FexpectedBottom3(3, 9); FexpectedBottom3 << Z_3x3, Z_3x3, dfr_dangle; @@ -540,25 +574,26 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { ////////////////////////////////////////////////////////////////////////////////////////////// // Compute jacobian wrt integration noise Matrix dgpv_dintNoise(6, 3); - dgpv_dintNoise << I_3x3* newDeltaT, Z_3x3; + dgpv_dintNoise << I_3x3 * newDeltaT, Z_3x3; // Compute jacobian wrt acc noise Matrix dgpv_daccNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, _1, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - newMeasuredAcc); + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, + deltaRij_old, _1, newMeasuredOmega, newDeltaT, + use2ndOrderIntegration), newMeasuredAcc); // Compute expected F wrt gyro noise Matrix dgpv_domegaNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, - newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, + deltaRij_old, newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), newMeasuredOmega); Matrix GexpectedTop6(6, 9); GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; // Compute expected f_rot wrt gyro noise Matrix dgr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), newMeasuredOmega); + boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), + newMeasuredOmega); Matrix GexpectedBottom3(3, 9); GexpectedBottom3 << Z_3x3, Z_3x3, dgr_dangle; @@ -569,12 +604,12 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // Check covariance propagation Matrix9 measurementCovariance; - measurementCovariance << intNoiseVar* I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar* I_3x3, Z_3x3, - Z_3x3, Z_3x3, omegaNoiseVar* I_3x3; + measurementCovariance << intNoiseVar * I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar + * I_3x3, Z_3x3, Z_3x3, Z_3x3, omegaNoiseVar * I_3x3; - Matrix newPreintCovarianceExpected = - Factual * oldPreintCovariance * Factual.transpose() + - (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); + Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance + * Factual.transpose() + + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); @@ -583,8 +618,8 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { /* ************************************************************************* */ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { // Linearization point - imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); + imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases + Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); // Measurements list measuredAccs, measuredOmegas; @@ -597,48 +632,50 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { deltaTs.push_back(0.01); for (int i = 1; i < 100; i++) { measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); + measuredOmegas.push_back( + Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } bool use2ndOrderIntegration = true; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements preintegrated = evaluatePreintegratedMeasurements( - bias, measuredAccs, measuredOmegas, deltaTs, use2ndOrderIntegration); + ImuFactor::PreintegratedMeasurements preintegrated = + evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + deltaTs, use2ndOrderIntegration); // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); const double newDeltaT = 0.01; - const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement + const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement + const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement + const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement Matrix oldPreintCovariance = preintegrated.preintMeasCov(); Matrix Factual, Gactual; - preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, newDeltaT, body_P_sensor, - Factual, Gactual); + preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, + newDeltaT, body_P_sensor, Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F ////////////////////////////////////////////////////////////////////////////////////////////// // Compute expected f_pos_vel wrt positions Matrix dfpv_dpos = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, newMeasuredAcc, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, + newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaPij_old); // Compute expected f_pos_vel wrt velocities Matrix dfpv_dvel = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, newMeasuredAcc, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, + newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaVij_old); // Compute expected f_pos_vel wrt angles Matrix dfpv_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, newMeasuredAcc, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, + newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), deltaRij_old); Matrix FexpectedTop6(6, 9); @@ -646,7 +683,8 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { // Compute expected f_rot wrt angles Matrix dfr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), deltaRij_old); + boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), + deltaRij_old); Matrix FexpectedBottom3(3, 9); FexpectedBottom3 << Z_3x3, Z_3x3, dfr_dangle; @@ -660,25 +698,26 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { ////////////////////////////////////////////////////////////////////////////////////////////// // Compute jacobian wrt integration noise Matrix dgpv_dintNoise(6, 3); - dgpv_dintNoise << I_3x3* newDeltaT, Z_3x3; + dgpv_dintNoise << I_3x3 * newDeltaT, Z_3x3; // Compute jacobian wrt acc noise Matrix dgpv_daccNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, _1, - newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - newMeasuredAcc); + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, + deltaRij_old, _1, newMeasuredOmega, newDeltaT, + use2ndOrderIntegration), newMeasuredAcc); // Compute expected F wrt gyro noise Matrix dgpv_domegaNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, - newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), + boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, + deltaRij_old, newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), newMeasuredOmega); Matrix GexpectedTop6(6, 9); GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; // Compute expected f_rot wrt gyro noise Matrix dgr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), newMeasuredOmega); + boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), + newMeasuredOmega); Matrix GexpectedBottom3(3, 9); GexpectedBottom3 << Z_3x3, Z_3x3, dgr_dangle; @@ -689,12 +728,12 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { // Check covariance propagation Matrix9 measurementCovariance; - measurementCovariance << intNoiseVar* I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar* I_3x3, Z_3x3, - Z_3x3, Z_3x3, omegaNoiseVar* I_3x3; + measurementCovariance << intNoiseVar * I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar + * I_3x3, Z_3x3, Z_3x3, Z_3x3, omegaNoiseVar * I_3x3; - Matrix newPreintCovarianceExpected = - Factual * oldPreintCovariance * Factual.transpose() + - (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); + Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance + * Factual.transpose() + + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); @@ -702,10 +741,11 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { /* ************************************************************************* */ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) + imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0)); Vector3 v1(Vector3(0.5, 0.0, 0.0)); - Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); + Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), + Point3(5.5, 1.0, -50.0)); Vector3 v2(Vector3(0.5, 0.0, 0.0)); // Measurements @@ -713,19 +753,23 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3(0.2, 0.0, 0.0); + Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), Point3(1, 0, 0)); + const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), + Point3(1, 0, 0)); ImuFactor::PreintegratedMeasurements pre_int_data( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), + kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance); pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, nonZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + nonZeroOmegaCoriolis); Values values; values.insert(X(1), x1); @@ -741,11 +785,11 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { /* ************************************************************************* */ TEST(ImuFactor, PredictPositionAndVelocity) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) // Measurements Vector3 measuredOmega; - measuredOmega << 0, 0, 0; // M_PI/10.0+0.3; + measuredOmega << 0, 0, 0; // M_PI/10.0+0.3; Vector3 measuredAcc; measuredAcc << 0, 1, -9.81; double deltaT = 0.001; @@ -754,19 +798,22 @@ TEST(ImuFactor, PredictPositionAndVelocity) { I6x6 = Matrix::Identity(6, 6); ImuFactor::PreintegratedMeasurements pre_int_data( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), + kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance, true); for (int i = 0; i < 1000; ++i) pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + kZeroOmegaCoriolis); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, kGravity, kZeroOmegaCoriolis); + PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, kGravity, + kZeroOmegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 1, 0; @@ -776,11 +823,11 @@ TEST(ImuFactor, PredictPositionAndVelocity) { /* ************************************************************************* */ TEST(ImuFactor, PredictRotation) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) // Measurements Vector3 measuredOmega; - measuredOmega << 0, 0, M_PI / 10; // M_PI/10.0+0.3; + measuredOmega << 0, 0, M_PI / 10; // M_PI/10.0+0.3; Vector3 measuredAcc; measuredAcc << 0, 0, -9.81; double deltaT = 0.001; @@ -789,21 +836,23 @@ TEST(ImuFactor, PredictRotation) { I6x6 = Matrix::Identity(6, 6); ImuFactor::PreintegratedMeasurements pre_int_data( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), + kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance, true); for (int i = 0; i < 1000; ++i) pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + kZeroOmegaCoriolis); // Predict Pose3 x1, x2; Vector3 v1 = Vector3(0, 0.0, 0.0); Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, factor.preintegratedMeasurements(), kGravity, - kZeroOmegaCoriolis); + ImuFactor::Predict(x1, v1, x2, v2, bias, factor.preintegratedMeasurements(), + kGravity, kZeroOmegaCoriolis); Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 0, 0; From 3f0e695cc93ba87253590b63f3d3c0566d96ff59 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Thu, 16 Jul 2015 11:26:07 -0400 Subject: [PATCH 456/964] some tests pass again --- .../slam/SmartStereoProjectionFactor.h | 92 +++++++++---------- 1 file changed, 43 insertions(+), 49 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 6c38b5f0b..8c546b9b0 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -241,27 +241,28 @@ public: bool retriangulate = decideIfTriangulate(cameras); if (retriangulate) { // We triangulate the 3D position of the landmark - try { - // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; + std::cout << "triangulateSafe i \n" << std::endl; - //TODO: Chris will replace this with something else for stereo + //TODO: Chris will replace this with something else for stereo // point_ = triangulatePoint3(cameras, this->measured_, // rankTolerance_, enableEPI_); - // // // Temporary hack to use monocular triangulation - std::vector mono_measurements; - BOOST_FOREACH(const StereoPoint2& sp, this->measured_) { - mono_measurements.push_back(sp.point2()); - } + // // // Temporary hack to use monocular triangulation + std::vector mono_measurements; + BOOST_FOREACH(const StereoPoint2& sp, this->measured_) { + mono_measurements.push_back(sp.point2()); + } - std::vector > mono_cameras; - BOOST_FOREACH(const StereoCamera& camera, cameras) { - const Pose3& pose = camera.pose(); - const Cal3_S2& K = camera.calibration()->calibration(); - mono_cameras.push_back(PinholeCamera(pose, K)); - } - Point3 point = triangulatePoint3 >(mono_cameras, mono_measurements, - params_.triangulation.rankTolerance, params_.triangulation.enableEPI); + std::vector > mono_cameras; + BOOST_FOREACH(const StereoCamera& camera, cameras) { + const Pose3& pose = camera.pose(); + const Cal3_S2& K = camera.calibration()->calibration(); + mono_cameras.push_back(PinholeCamera(pose, K)); + } +// Point3 point = triangulatePoint3 >(mono_cameras, mono_measurements, +// params_.triangulation.rankTolerance, params_.triangulation.enableEPI); + result_ = gtsam::triangulateSafe(mono_cameras, mono_measurements, + params_.triangulation); // // // End temporary hack @@ -270,42 +271,31 @@ public: // point_ = cameras[0].backproject(z0); // Check landmark distance and reprojection errors to avoid outliers - double totalReprojError = 0.0; - size_t i = 0; - BOOST_FOREACH(const StereoCamera& camera, cameras) { - Point3 cameraTranslation = camera.pose().translation(); - // we discard smart factors corresponding to points that are far away - if (cameraTranslation.distance(point) > params_.triangulation.landmarkDistanceThreshold) { - return TriangulationResult::Degenerate(); - } - const StereoPoint2& zi = this->measured_.at(i); - try { - StereoPoint2 reprojectionError(camera.project(point) - zi); - totalReprojError += reprojectionError.vector().norm(); - } catch (CheiralityException) { - return TriangulationResult::BehindCamera(); - } - i += 1; - } +// double totalReprojError = 0.0; +// size_t i = 0; +// BOOST_FOREACH(const StereoCamera& camera, cameras) { +// Point3 cameraTranslation = camera.pose().translation(); +// // we discard smart factors corresponding to points that are far away +// if (cameraTranslation.distance(*result_) > params_.triangulation.landmarkDistanceThreshold) { +// return TriangulationResult::Degenerate(); +// } +// const StereoPoint2& zi = this->measured_.at(i); +// try { +// StereoPoint2 reprojectionError(camera.project(*result_) - zi); +// totalReprojError += reprojectionError.vector().norm(); +// } catch (CheiralityException) { +// return TriangulationResult::BehindCamera(); +// } +// i += 1; +// } //std::cout << "totalReprojError error: " << totalReprojError << std::endl; // we discard smart factors that have large reprojection error - if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 - && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) - return TriangulationResult::Degenerate(); +// if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 +// && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) +// return TriangulationResult::Degenerate(); - result_ = TriangulationResult(point); +// result_ = TriangulationResult(point); - } catch (TriangulationUnderconstrainedException&) { - // if TriangulationUnderconstrainedException can be - // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before - // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) - // in the second case we want to use a rotation-only smart factor - return TriangulationResult::Degenerate(); - } catch (TriangulationCheiralityException&) { - // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers - // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint - return TriangulationResult::BehindCamera(); - } } return result_; @@ -545,6 +535,9 @@ public: else result_ = triangulateSafe(cameras); + std::cout << "Triangulation result in totalReprojectionError" << std::endl; + std::cout << result_ << std::endl; + if (result_) // All good, just use version in base class return Base::totalReprojectionError(cameras, *result_); @@ -555,9 +548,10 @@ public: // Unit3 backprojected; //= cameras.front().backprojectPointAtInfinity(z0); // // return Base::totalReprojectionError(cameras, backprojected); - } else + } else { // if we don't want to manage the exceptions we discard the factor return 0.0; + } } /// Calculate total reprojection error From b8f514174357faa032643a77dd602e9085c24643 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 16 Jul 2015 22:38:17 -0700 Subject: [PATCH 457/964] HasRange --- gtsam_unstable/dynamics/PoseRTV.h | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index a6bc6006a..bef397cb6 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -173,14 +173,7 @@ struct traits : public internal::LieGroup {}; // Define Range functor specializations that are used in RangeFactor template struct Range; -template <> -struct Range { - typedef double result_type; - double operator()(const PoseRTV& pose1, const PoseRTV& pose2, - OptionalJacobian<1, 9> H1 = boost::none, - OptionalJacobian<1, 9> H2 = boost::none) { - return pose1.range(pose2, H1, H2); - } -}; +template<> +struct Range : HasRange {}; } // \namespace gtsam From 459226800d84bc10bd60a9e7896428dfa442c55e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 16 Jul 2015 22:38:30 -0700 Subject: [PATCH 458/964] Replaced failing test with two new, working tests --- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 22 +++++++------------ 1 file changed, 8 insertions(+), 14 deletions(-) diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index 10ec8464a..2cc613d65 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -84,7 +84,8 @@ TEST( testPoseRTV, Lie ) { EXPECT(assert_equal(state1, (PoseRTV)state1.retract(zero(9)), tol)); EXPECT(assert_equal(zero(9), state1.localCoordinates(state1), tol)); - Vector delta = (Vector(9) << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3).finished(); + Vector delta(9); + delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3; Rot3 rot2 = rot.retract(repeat(3, 0.1)); Point3 pt2 = pt + rot * Point3(0.2, 0.3, 0.4); Velocity3 vel2 = vel + rot * Velocity3(-0.1,-0.2,-0.3); @@ -92,21 +93,14 @@ TEST( testPoseRTV, Lie ) { EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta), 1e-1)); EXPECT(assert_equal(delta, state1.localCoordinates(state2), 1e-1)); EXPECT(assert_equal(delta, -state2.localCoordinates(state1), 1e-1)); -} -/* ************************************************************************* */ -TEST(testPoseRTV, localCoordinates) { - Point3 i1(0, 1, 0), j1(-1, 0, 0), k1(0, 0, 1); - Pose3 x1(Rot3(i1, j1, k1), Point3(5.0, 1.0, 0.0)); - Vector3 v1(Vector3(0.5, 0.0, 0.0)); + // roundtrip from state2 to state3 and back + PoseRTV state3 = state2.retract(delta); + EXPECT(assert_equal(delta, state2.localCoordinates(state3), 1e-1)); - Pose3 x2(Rot3(i1, j1, k1).expmap(Vector3(0.1, 0.2, 0.3)), Point3(5.5, 1.0, 6.0)); - Vector3 v2(Vector3(0.5, 4.0, 3.0)); - - PoseRTV rtv1(x1,v1), rtv2(x2,v2); - Vector9 expected, actual = rtv1.localCoordinates(rtv2); - expected << 0.1, 0.2, 0.3, 0.0, -0.5, 6.0, 4.0, 0.0, 3.0; - EXPECT(assert_equal(expected, actual, 1e-9)); + // roundtrip from state3 to state4 and back, with expmap + PoseRTV state4 = state3.expmap(delta); + EXPECT(assert_equal(delta, state3.logmap(state4), 1e-1)); } /* ************************************************************************* */ From 03be9280658d5c8a49c06c5413b820b4e152ee14 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 16 Jul 2015 23:45:57 -0700 Subject: [PATCH 459/964] static Retract and Local are superfluous (do not belong to any concept) --- gtsam/base/Lie.h | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index 05c7bc20f..36370b4f5 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -83,22 +83,6 @@ struct LieGroup { return Class::Logmap(between(g)); } - static Class Retract(const TangentVector& v) { - return Class::ChartAtOrigin::Retract(v); - } - - static TangentVector LocalCoordinates(const Class& g) { - return Class::ChartAtOrigin::Local(g); - } - - static Class Retract(const TangentVector& v, ChartJacobian H) { - return Class::ChartAtOrigin::Retract(v,H); - } - - static TangentVector LocalCoordinates(const Class& g, ChartJacobian H) { - return Class::ChartAtOrigin::Local(g,H); - } - Class retract(const TangentVector& v) const { return compose(Class::ChartAtOrigin::Retract(v)); } From f5c8b07f6697b8d8722e8add2e32d7c5e82189e3 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 16 Jul 2015 23:46:39 -0700 Subject: [PATCH 460/964] ChartOrigin is only meant to generate a Lie group class --- gtsam/geometry/Pose3.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index ac08f0797..4fbc2a2cb 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -157,7 +157,7 @@ Pose3 Pose3::ChartAtOrigin::Retract(const Vector6& xi, ChartJacobian H) { return Expmap(xi, H); #else Matrix3 DR; - Rot3 R = Rot3::Retract(xi.head<3>(), H ? &DR : 0); + Rot3 R = Rot3::ChartAtOrigin::Retract(xi.head<3>(), H ? &DR : 0); if (H) { *H = I_6x6; H->topLeftCorner<3,3>() = DR; @@ -172,7 +172,7 @@ Vector6 Pose3::ChartAtOrigin::Local(const Pose3& T, ChartJacobian H) { return Logmap(T, H); #else Matrix3 DR; - Vector3 omega = Rot3::LocalCoordinates(T.rotation(), H ? &DR : 0); + Vector3 omega = Rot3::ChartAtOrigin::Local(T.rotation(), H ? &DR : 0); if (H) { *H = I_6x6; H->topLeftCorner<3,3>() = DR; From 233fe13e60456b5a29df248cc042d78c09989e14 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 16 Jul 2015 23:47:57 -0700 Subject: [PATCH 461/964] No more static Local/Retract --- gtsam/geometry/tests/testPose3.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index f6f8b7b40..50c143bb9 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -471,15 +471,6 @@ TEST( Pose3, transformPose_to) EXPECT(assert_equal(expected, actual, 0.001)); } -/* ************************************************************************* */ -TEST(Pose3, Retract_LocalCoordinates) -{ - Vector6 d; - d << 1,2,3,4,5,6; d/=10; - R = Rot3::Retract(d.head<3>()); - Pose3 t = Pose3::Retract(d); - EXPECT(assert_equal(d, Pose3::LocalCoordinates(t))); -} /* ************************************************************************* */ TEST(Pose3, retract_localCoordinates) { From d1271fd9d5caad802f9b2d1ec9363c82cf2f0561 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 16 Jul 2015 23:48:56 -0700 Subject: [PATCH 462/964] Fixed product retract/localCoordinates and corresponding tests --- gtsam/base/ProductLieGroup.h | 60 +++++-------------- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 22 +++---- tests/testLie.cpp | 4 +- 3 files changed, 30 insertions(+), 56 deletions(-) diff --git a/gtsam/base/ProductLieGroup.h b/gtsam/base/ProductLieGroup.h index 90aeb54d1..ceb7fa48c 100644 --- a/gtsam/base/ProductLieGroup.h +++ b/gtsam/base/ProductLieGroup.h @@ -74,17 +74,21 @@ public: typedef Eigen::Matrix TangentVector; typedef OptionalJacobian ChartJacobian; - static ProductLieGroup Retract(const TangentVector& v) { - return ProductLieGroup::ChartAtOrigin::Retract(v); + ProductLieGroup retract(const TangentVector& v, // + ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { + if (H1||H2) throw std::runtime_error("ProductLieGroup::retract derivatives not implemented yet"); + G g = traits::Retract(this->first, v.template head()); + H h = traits::Retract(this->second, v.template tail()); + return ProductLieGroup(g,h); } - static TangentVector LocalCoordinates(const ProductLieGroup& g) { - return ProductLieGroup::ChartAtOrigin::Local(g); - } - ProductLieGroup retract(const TangentVector& v) const { - return compose(ProductLieGroup::ChartAtOrigin::Retract(v)); - } - TangentVector localCoordinates(const ProductLieGroup& g) const { - return ProductLieGroup::ChartAtOrigin::Local(between(g)); + TangentVector localCoordinates(const ProductLieGroup& g, // + ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { + if (H1||H2) throw std::runtime_error("ProductLieGroup::localCoordinates derivatives not implemented yet"); + typename traits::TangentVector v1 = traits::Local(this->first, g.first); + typename traits::TangentVector v2 = traits::Local(this->second, g.second); + TangentVector v; + v << v1, v2; + return v; } /// @} @@ -147,51 +151,19 @@ public: v << v1, v2; return v; } - struct ChartAtOrigin { - static TangentVector Local(const ProductLieGroup& m, ChartJacobian Hm = boost::none) { - return Logmap(m, Hm); - } - static ProductLieGroup Retract(const TangentVector& v, ChartJacobian Hv = boost::none) { - return Expmap(v, Hv); - } - }; ProductLieGroup expmap(const TangentVector& v) const { return compose(ProductLieGroup::Expmap(v)); } TangentVector logmap(const ProductLieGroup& g) const { return ProductLieGroup::Logmap(between(g)); } - static ProductLieGroup Retract(const TangentVector& v, ChartJacobian H1) { - return ProductLieGroup::ChartAtOrigin::Retract(v,H1); - } - static TangentVector LocalCoordinates(const ProductLieGroup& g, ChartJacobian H1) { - return ProductLieGroup::ChartAtOrigin::Local(g,H1); - } - ProductLieGroup retract(const TangentVector& v, // - ChartJacobian H1, ChartJacobian H2 = boost::none) const { - Jacobian D_g_v; - ProductLieGroup g = ProductLieGroup::ChartAtOrigin::Retract(v,H2 ? &D_g_v : 0); - ProductLieGroup h = compose(g,H1,H2); - if (H2) *H2 = (*H2) * D_g_v; - return h; - } - TangentVector localCoordinates(const ProductLieGroup& g, // - ChartJacobian H1, ChartJacobian H2 = boost::none) const { - ProductLieGroup h = between(g,H1,H2); - Jacobian D_v_h; - TangentVector v = ProductLieGroup::ChartAtOrigin::Local(h, (H1 || H2) ? &D_v_h : 0); - if (H1) *H1 = D_v_h * (*H1); - if (H2) *H2 = D_v_h * (*H2); - return v; - } /// @} }; // Define any direct product group to be a model of the multiplicative Group concept template -struct traits > : internal::LieGroupTraits< - ProductLieGroup > { -}; +struct traits > : internal::LieGroupTraits > {}; + } // namespace gtsam diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index 2cc613d65..a8721a60d 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -86,21 +86,23 @@ TEST( testPoseRTV, Lie ) { Vector delta(9); delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3; - Rot3 rot2 = rot.retract(repeat(3, 0.1)); - Point3 pt2 = pt + rot * Point3(0.2, 0.3, 0.4); - Velocity3 vel2 = vel + rot * Velocity3(-0.1,-0.2,-0.3); - PoseRTV state2(pt2, rot2, vel2); - EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta), 1e-1)); - EXPECT(assert_equal(delta, state1.localCoordinates(state2), 1e-1)); - EXPECT(assert_equal(delta, -state2.localCoordinates(state1), 1e-1)); + Pose3 pose2 = Pose3(rot, pt).retract(delta.head<6>()); + Velocity3 vel2 = vel + Velocity3(-0.1, -0.2, -0.3); + PoseRTV state2(pose2.translation(), pose2.rotation(), vel2); + EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta), tol)); + EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); // roundtrip from state2 to state3 and back PoseRTV state3 = state2.retract(delta); - EXPECT(assert_equal(delta, state2.localCoordinates(state3), 1e-1)); + EXPECT(assert_equal(delta, state2.localCoordinates(state3), tol)); - // roundtrip from state3 to state4 and back, with expmap + // roundtrip from state3 to state4 and back, with expmap. PoseRTV state4 = state3.expmap(delta); - EXPECT(assert_equal(delta, state3.logmap(state4), 1e-1)); + EXPECT(assert_equal(delta, state3.logmap(state4), tol)); + + // For the expmap/logmap (not necessarily retract/local) -delta goes other way + EXPECT(assert_equal(state3, (PoseRTV)state4.expmap(-delta), tol)); + EXPECT(assert_equal(delta, -state4.logmap(state3), tol)); } /* ************************************************************************* */ diff --git a/tests/testLie.cpp b/tests/testLie.cpp index 7be629053..c153adf5f 100644 --- a/tests/testLie.cpp +++ b/tests/testLie.cpp @@ -54,9 +54,9 @@ TEST(Lie, ProductLieGroup) { Vector5 d; d << 1, 2, 0.1, 0.2, 0.3; Product expected(Point2(1, 2), Pose2::Expmap(Vector3(0.1, 0.2, 0.3))); - Product pair2 = pair1.retract(d); + Product pair2 = pair1.expmap(d); EXPECT(assert_equal(expected, pair2, 1e-9)); - EXPECT(assert_equal(d, pair1.localCoordinates(pair2), 1e-9)); + EXPECT(assert_equal(d, pair1.logmap(pair2), 1e-9)); } /* ************************************************************************* */ From 8ff4c983372836ab26f509180ef13a575bf07e2f Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 00:52:47 -0700 Subject: [PATCH 463/964] Rationalize predict --- gtsam/navigation/CombinedImuFactor.h | 12 ++-- gtsam/navigation/ImuFactor.h | 12 ++-- gtsam/navigation/PreintegrationBase.cpp | 94 ++++++++++++------------- gtsam/navigation/PreintegrationBase.h | 25 +++++-- 4 files changed, 72 insertions(+), 71 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index a65a4d3f7..7fdafd8ce 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -226,17 +226,13 @@ public: boost::optional H4 = boost::none, boost::optional H5 = boost::none, boost::optional H6 = boost::none) const; - /** @deprecated The following function has been deprecated, use PreintegrationBase::predict with the same signature instead */ + // @deprecated The following function has been deprecated, use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, const CombinedPreintegratedMeasurements& PIM, const Vector3& gravity, - const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false, - boost::optional deltaPij_biascorrected_out = boost::none, - boost::optional deltaVij_biascorrected_out = boost::none) { - PoseVelocityBias PVB( - PIM.predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, - use2ndOrderCoriolis, deltaPij_biascorrected_out, - deltaVij_biascorrected_out)); + const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) { + PoseVelocityBias PVB = PIM.predict(pose_i, vel_i, bias_i, gravity, + omegaCoriolis, use2ndOrderCoriolis); pose_j = PVB.pose; vel_j = PVB.velocity; } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 50e6c835f..57f4d0e89 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -206,17 +206,13 @@ public: boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const; - /** @deprecated The following function has been deprecated, use PreintegrationBase::predict with the same signature instead */ + /// @deprecated The following function has been deprecated, use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, const PreintegratedMeasurements& PIM, const Vector3& gravity, - const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false, - boost::optional deltaPij_biascorrected_out = boost::none, - boost::optional deltaVij_biascorrected_out = boost::none) { - PoseVelocityBias PVB( - PIM.predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, - use2ndOrderCoriolis, deltaPij_biascorrected_out, - deltaVij_biascorrected_out)); + const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) { + PoseVelocityBias PVB = PIM.predict(pose_i, vel_i, bias_i, gravity, + omegaCoriolis, use2ndOrderCoriolis); pose_j = PVB.pose; vel_j = PVB.velocity; } diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index be604e784..c02aa01c6 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -146,57 +146,50 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( /// Predict state at time j //------------------------------------------------------------------------------ -PoseVelocityBias PreintegrationBase::predict( - const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, - const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis, - boost::optional deltaPij_biascorrected_out, - boost::optional deltaVij_biascorrected_out) const { - - const imuBias::ConstantBias biasIncr = bias_i - biasHat(); - const Vector3& biasAccIncr = biasIncr.accelerometer(); - const Vector3& biasOmegaIncr = biasIncr.gyroscope(); - - const Rot3& Rot_i = pose_i.rotation(); - const Matrix3 Rot_i_matrix = Rot_i.matrix(); - const Vector3 pos_i = pose_i.translation().vector(); - - // Predict state at time j - /* ---------------------------------------------------------------------------------------------*/ - const Vector3 deltaPij_biascorrected = deltaPij() + delPdelBiasAcc() * biasAccIncr - + delPdelBiasOmega() * biasOmegaIncr; - if (deltaPij_biascorrected_out) // if desired, store this - *deltaPij_biascorrected_out = deltaPij_biascorrected; +PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, + const Vector3& vel_i, const imuBias::ConstantBias& bias_i, + const Vector3& gravity, const Vector3& omegaCoriolis, + const Rot3& deltaRij_biascorrected, const Vector3& deltaPij_biascorrected, + const Vector3& deltaVij_biascorrected, + const bool use2ndOrderCoriolis) const { const double dt = deltaTij(), dt2 = dt * dt; - Vector3 pos_j = pos_i + Rot_i_matrix * deltaPij_biascorrected + vel_i * dt - - omegaCoriolis.cross(vel_i) * dt2 // Coriolis term - we got rid of the 2 wrt ins paper - + 0.5 * gravity * dt2; - const Vector3 deltaVij_biascorrected = deltaVij() + delVdelBiasAcc() * biasAccIncr - + delVdelBiasOmega() * biasOmegaIncr; - if (deltaVij_biascorrected_out) // if desired, store this - *deltaVij_biascorrected_out = deltaVij_biascorrected; + // Rotation + const Matrix3 Ri = pose_i.rotation().matrix(); + const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected); + const Vector3 dR = biascorrectedOmega + - Ri.transpose() * omegaCoriolis * dt; // Coriolis term - Vector3 vel_j = Vector3(vel_i + Rot_i_matrix * deltaVij_biascorrected - - 2 * omegaCoriolis.cross(vel_i) * dt // Coriolis term - + gravity * dt); + // Translation + Vector3 dP = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * gravity * dt2 + - omegaCoriolis.cross(vel_i) * dt2; // Coriolis term - we got rid of the 2 wrt INS paper + + // Velocity + Vector3 dV = Ri * deltaVij_biascorrected + gravity * dt + - 2 * omegaCoriolis.cross(vel_i) * dt; // Coriolis term if (use2ndOrderCoriolis) { - pos_j += -0.5 * omegaCoriolis.cross(omegaCoriolis.cross(pos_i)) * dt2; // for position - vel_j += -omegaCoriolis.cross(omegaCoriolis.cross(pos_i)) * dt; // for velocity + Vector3 v = omegaCoriolis.cross(omegaCoriolis.cross(pose_i.translation().vector())); + dP -= 0.5 * v * dt2; + dV -= v * dt; } - const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij(biasOmegaIncr); - // deltaRij_biascorrected = deltaRij * expmap(delRdelBiasOmega * biasOmegaIncr) + // TODO(frank): pose update below is separate expmap for R,t. Is that kosher? + const Pose3 pose_j = Pose3(pose_i.rotation().expmap(dR), pose_i.translation() + Point3(dP)); + return PoseVelocityBias(pose_j, vel_i + dV, bias_i); // bias is predicted as a constant +} - const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected); - const Vector3 correctedOmega = biascorrectedOmega - - Rot_i_matrix.transpose() * omegaCoriolis * dt; // Coriolis term - const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega); - const Rot3 Rot_j = Rot_i.compose(correctedDeltaRij); - - const Pose3 pose_j = Pose3(Rot_j, Point3(pos_j)); - return PoseVelocityBias(pose_j, vel_j, bias_i); // bias is predicted as a constant +/// Predict state at time j +//------------------------------------------------------------------------------ +PoseVelocityBias PreintegrationBase::predict( + const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, + const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) const { + const imuBias::ConstantBias biasIncr = bias_i - biasHat_; + return predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, + biascorrectedDeltaRij(biasIncr.gyroscope()), + biascorrectedDeltaPij(biasIncr), biascorrectedDeltaVij(biasIncr), + use2ndOrderCoriolis); } /// Compute errors w.r.t. preintegrated measurements and Jacobians wrpt pose_i, vel_i, bias_i, pose_j, bias_j @@ -213,9 +206,6 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const OptionalJacobian<9, 3> H4, OptionalJacobian<9, 6> H5) const { - // We need the mismatch w.r.t. the biases used for preintegration - const Vector3 biasOmegaIncr = bias_i.gyroscope() - biasHat().gyroscope(); - // we give some shorter name to rotations and translations const Rot3& Ri = pose_i.rotation(); const Matrix3 Ri_transpose_matrix = Ri.transpose(); @@ -225,10 +215,13 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // Evaluate residual error, according to [3] /* ---------------------------------------------------------------------------------------------------- */ - Vector3 deltaPij_biascorrected, deltaVij_biascorrected; - PoseVelocityBias predictedState_j = predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, - use2ndOrderCoriolis, deltaPij_biascorrected, - deltaVij_biascorrected); + const imuBias::ConstantBias biasIncr = bias_i - biasHat_; + const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij(biasIncr.gyroscope()); + const Vector3 deltaPij_biascorrected = biascorrectedDeltaPij(biasIncr); + const Vector3 deltaVij_biascorrected = biascorrectedDeltaVij(biasIncr); + PoseVelocityBias predictedState_j = predict(pose_i, vel_i, bias_i, gravity, + omegaCoriolis, deltaRij_biascorrected, deltaPij_biascorrected, + deltaVij_biascorrected, use2ndOrderCoriolis); // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance const Vector3 fp = Ri_transpose_matrix * (pos_j - predictedState_j.pose.translation().vector()); @@ -242,8 +235,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // Get Get so<3> version of bias corrected rotation // If H5 is asked for, we will need the Jacobian, which we store in H5 // H5 will then be corrected below to take into account the Coriolis effect + // TODO(frank): biascorrectedThetaRij calculates deltaRij_biascorrected, which we already have Matrix3 D_cThetaRij_biasOmegaIncr; - const Vector3 biascorrectedOmega = biascorrectedThetaRij(biasOmegaIncr, + const Vector3 biascorrectedOmega = biascorrectedThetaRij(biasIncr.gyroscope(), H5 ? &D_cThetaRij_biasOmegaIncr : 0); // Coriolis term, note inconsistent with AHRS, where coriolisHat is *after* integration diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 85ffae8a2..722091b40 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -138,12 +138,27 @@ class PreintegrationBase : public PreintegratedRotation { Vector3& correctedOmega, boost::optional body_P_sensor); + Vector3 biascorrectedDeltaPij(const imuBias::ConstantBias& biasIncr) const { + return deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() + + delPdelBiasOmega_ * biasIncr.gyroscope(); + } + + Vector3 biascorrectedDeltaVij(const imuBias::ConstantBias& biasIncr) const { + return deltaVij_ + delVdelBiasAcc_ * biasIncr.accelerometer() + + delVdelBiasOmega_ * biasIncr.gyroscope(); + } + + /// Predict state at time j, with bias-corrected quantities given + PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, + const imuBias::ConstantBias& bias_i, const Vector3& gravity, const Vector3& omegaCoriolis, + const Rot3& deltaRij_biascorrected, + const Vector3& deltaPij_biascorrected, const Vector3& deltaVij_biascorrected, + const bool use2ndOrderCoriolis = false) const; + /// Predict state at time j - PoseVelocityBias predict( - const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, - const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false, - boost::optional deltaPij_biascorrected_out = boost::none, - boost::optional deltaVij_biascorrected_out = boost::none) const; + PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, + const imuBias::ConstantBias& bias_i, const Vector3& gravity, + const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const; /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, From d45d2e17edcb8e2808a00dfb9124ceca5f13b76b Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 01:07:15 -0700 Subject: [PATCH 464/964] inline transpose --- gtsam/navigation/PreintegrationBase.cpp | 39 +++++++++++++------------ 1 file changed, 20 insertions(+), 19 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index c02aa01c6..2c48331d9 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -170,9 +170,9 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, - 2 * omegaCoriolis.cross(vel_i) * dt; // Coriolis term if (use2ndOrderCoriolis) { - Vector3 v = omegaCoriolis.cross(omegaCoriolis.cross(pose_i.translation().vector())); - dP -= 0.5 * v * dt2; - dV -= v * dt; + Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(pose_i.translation().vector())); + dP -= 0.5 * temp * dt2; + dV -= temp * dt; } // TODO(frank): pose update below is separate expmap for R,t. Is that kosher? @@ -207,10 +207,10 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const OptionalJacobian<9, 6> H5) const { // we give some shorter name to rotations and translations - const Rot3& Ri = pose_i.rotation(); - const Matrix3 Ri_transpose_matrix = Ri.transpose(); + const Rot3& rot_i = pose_i.rotation(); + const Matrix Ri = rot_i.matrix(); - const Rot3& Rj = pose_j.rotation(); + const Rot3& rot_j = pose_j.rotation(); const Vector3 pos_j = pose_j.translation().vector(); // Evaluate residual error, according to [3] @@ -224,10 +224,10 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const deltaVij_biascorrected, use2ndOrderCoriolis); // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fp = Ri_transpose_matrix * (pos_j - predictedState_j.pose.translation().vector()); + const Vector3 fp = Ri.transpose() * (pos_j - predictedState_j.pose.translation().vector()); // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fv = Ri_transpose_matrix * (vel_j - predictedState_j.velocity); + const Vector3 fv = Ri.transpose() * (vel_j - predictedState_j.velocity); // fR will be computed later. Note: it is the same as: fR = (predictedState_j.pose.translation()).between(Rot_j) @@ -241,20 +241,17 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const H5 ? &D_cThetaRij_biasOmegaIncr : 0); // Coriolis term, note inconsistent with AHRS, where coriolisHat is *after* integration - const Vector3 coriolis = integrateCoriolis(Ri, omegaCoriolis); + const Vector3 coriolis = integrateCoriolis(rot_i, omegaCoriolis); const Vector3 correctedOmega = biascorrectedOmega - coriolis; // Calculate Jacobians, matrices below needed only for some Jacobians... Vector3 fR; Matrix3 D_cDeltaRij_cOmega, D_coriolis, D_fR_fRrot, Ritranspose_omegaCoriolisHat; - if (H1 || H2) - Ritranspose_omegaCoriolisHat = Ri_transpose_matrix * skewSymmetric(omegaCoriolis); - // This is done to save computation: we ask for the jacobians only when they are needed const double dt = deltaTij(), dt2 = dt*dt; Rot3 fRrot; - const Rot3 RiBetweenRj = Rot3(Ri_transpose_matrix) * Rj; + const Rot3 RiBetweenRj = rot_i.between(rot_j); if (H1 || H2 || H3 || H4 || H5) { const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega, D_cDeltaRij_cOmega); // Residual rotation error @@ -267,10 +264,14 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const fRrot = correctedDeltaRij.between(RiBetweenRj); fR = Rot3::Logmap(fRrot); } + + if (H1 || H2) + Ritranspose_omegaCoriolisHat = Ri.transpose() * skewSymmetric(omegaCoriolis); + if (H1) { Matrix3 dfPdPi = -I_3x3, dfVdPi = Z_3x3; if (use2ndOrderCoriolis) { - // this is the same as: Ri.transpose() * omegaCoriolisHat * omegaCoriolisHat * Ri.matrix() + // this is the same as: Ri.transpose() * omegaCoriolisHat * omegaCoriolisHat * Ri const Matrix3 temp = Ritranspose_omegaCoriolisHat * (-Ritranspose_omegaCoriolisHat.transpose()); dfPdPi += 0.5 * temp * dt2; @@ -286,23 +287,23 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // dfV/dPi dfVdPi, // dfR/dRi - D_fR_fRrot * (-Rj.between(Ri).matrix() - fRrot.inverse().matrix() * D_coriolis), + D_fR_fRrot * (-rot_j.between(rot_i).matrix() - fRrot.inverse().matrix() * D_coriolis), // dfR/dPi Z_3x3; } if (H2) { (*H2) << // dfP/dVi - -Ri_transpose_matrix * dt + Ritranspose_omegaCoriolisHat * dt2, // Coriolis term - we got rid of the 2 wrt ins paper + -Ri.transpose() * dt + Ritranspose_omegaCoriolisHat * dt2, // Coriolis term - we got rid of the 2 wrt ins paper // dfV/dVi - -Ri_transpose_matrix + 2 * Ritranspose_omegaCoriolisHat * dt, // Coriolis term + -Ri.transpose() + 2 * Ritranspose_omegaCoriolisHat * dt, // Coriolis term // dfR/dVi Z_3x3; } if (H3) { (*H3) << // dfP/dPosej - Z_3x3, Ri_transpose_matrix * Rj.matrix(), + Z_3x3, Ri.transpose() * rot_j.matrix(), // dfV/dPosej Matrix::Zero(3, 6), // dfR/dPosej @@ -313,7 +314,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // dfP/dVj Z_3x3, // dfV/dVj - Ri_transpose_matrix, + Ri.transpose(), // dfR/dVj Z_3x3; } From 66a9c348404a74647c5457bb6883f3c8fefc4c8c Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 01:14:44 -0700 Subject: [PATCH 465/964] Clean up jacobians a bit --- gtsam/navigation/PreintegrationBase.cpp | 59 +++++++++---------------- 1 file changed, 21 insertions(+), 38 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 2c48331d9..7302d0330 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -246,10 +246,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // Calculate Jacobians, matrices below needed only for some Jacobians... Vector3 fR; - Matrix3 D_cDeltaRij_cOmega, D_coriolis, D_fR_fRrot, Ritranspose_omegaCoriolisHat; + Matrix3 D_cDeltaRij_cOmega, D_coriolis, D_fR_fRrot; // This is done to save computation: we ask for the jacobians only when they are needed - const double dt = deltaTij(), dt2 = dt*dt; Rot3 fRrot; const Rot3 RiBetweenRj = rot_i.between(rot_j); if (H1 || H2 || H3 || H4 || H5) { @@ -265,6 +264,8 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const fR = Rot3::Logmap(fRrot); } + const double dt = deltaTij(), dt2 = dt*dt; + Matrix3 Ritranspose_omegaCoriolisHat; if (H1 || H2) Ritranspose_omegaCoriolisHat = Ri.transpose() * skewSymmetric(omegaCoriolis); @@ -278,56 +279,38 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const dfVdPi += temp * dt; } (*H1) << - // dfP/dRi - skewSymmetric(fp + deltaPij_biascorrected), - // dfP/dPi - dfPdPi, - // dfV/dRi - skewSymmetric(fv + deltaVij_biascorrected), - // dfV/dPi - dfVdPi, - // dfR/dRi - D_fR_fRrot * (-rot_j.between(rot_i).matrix() - fRrot.inverse().matrix() * D_coriolis), - // dfR/dPi - Z_3x3; + skewSymmetric(fp + deltaPij_biascorrected), // dfP/dRi + dfPdPi, // dfP/dPi + skewSymmetric(fv + deltaVij_biascorrected), // dfV/dRi + dfVdPi, // dfV/dPi + D_fR_fRrot * (-rot_j.between(rot_i).matrix() - fRrot.inverse().matrix() * D_coriolis), // dfR/dRi + Z_3x3; // dfR/dPi } if (H2) { (*H2) << - // dfP/dVi - -Ri.transpose() * dt + Ritranspose_omegaCoriolisHat * dt2, // Coriolis term - we got rid of the 2 wrt ins paper - // dfV/dVi - -Ri.transpose() + 2 * Ritranspose_omegaCoriolisHat * dt, // Coriolis term - // dfR/dVi - Z_3x3; + -Ri.transpose() * dt + Ritranspose_omegaCoriolisHat * dt2, // dfP/dVi + -Ri.transpose() + 2 * Ritranspose_omegaCoriolisHat * dt, // dfV/dVi + Z_3x3; // dfR/dVi } if (H3) { (*H3) << - // dfP/dPosej - Z_3x3, Ri.transpose() * rot_j.matrix(), - // dfV/dPosej - Matrix::Zero(3, 6), - // dfR/dPosej - D_fR_fRrot, Z_3x3; + Z_3x3, Ri.transpose() * rot_j.matrix(), // dfP/dPosej + Matrix::Zero(3, 6), // dfV/dPosej + D_fR_fRrot, Z_3x3; // dfR/dPosej } if (H4) { (*H4) << - // dfP/dVj - Z_3x3, - // dfV/dVj - Ri.transpose(), - // dfR/dVj - Z_3x3; + Z_3x3, // dfP/dVj + Ri.transpose(), // dfV/dVj + Z_3x3; // dfR/dVj } if (H5) { // H5 by this point already contains 3*3 biascorrectedThetaRij derivative const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_cThetaRij_biasOmegaIncr; (*H5) << - // dfP/dBias - -delPdelBiasAcc(), -delPdelBiasOmega(), - // dfV/dBias - -delVdelBiasAcc(), -delVdelBiasOmega(), - // dfR/dBias - Z_3x3, D_fR_fRrot * (-fRrot.inverse().matrix() * JbiasOmega); + -delPdelBiasAcc(), -delPdelBiasOmega(), // dfP/dBias + -delVdelBiasAcc(), -delVdelBiasOmega(), // dfV/dBias + Z_3x3, D_fR_fRrot * (-fRrot.inverse().matrix() * JbiasOmega); // dfR/dBias } Vector9 r; r << fp, fv, fR; From 2d425ad7be613c8378113cf0be5eef1807dc2a4e Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 01:27:07 -0700 Subject: [PATCH 466/964] More substantial jacobian refactor --- gtsam/navigation/PreintegrationBase.cpp | 27 ++++++++----------------- 1 file changed, 8 insertions(+), 19 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 7302d0330..92d4b9520 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -240,29 +240,17 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const const Vector3 biascorrectedOmega = biascorrectedThetaRij(biasIncr.gyroscope(), H5 ? &D_cThetaRij_biasOmegaIncr : 0); - // Coriolis term, note inconsistent with AHRS, where coriolisHat is *after* integration + // Coriolis term, NOTE inconsistent with AHRS, where coriolisHat is *after* integration const Vector3 coriolis = integrateCoriolis(rot_i, omegaCoriolis); const Vector3 correctedOmega = biascorrectedOmega - coriolis; - // Calculate Jacobians, matrices below needed only for some Jacobians... - Vector3 fR; - Matrix3 D_cDeltaRij_cOmega, D_coriolis, D_fR_fRrot; - - // This is done to save computation: we ask for the jacobians only when they are needed - Rot3 fRrot; + // Residual rotation error + Matrix3 D_cDeltaRij_cOmega; + const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega, H1 || H5 ? &D_cDeltaRij_cOmega : 0); const Rot3 RiBetweenRj = rot_i.between(rot_j); - if (H1 || H2 || H3 || H4 || H5) { - const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega, D_cDeltaRij_cOmega); - // Residual rotation error - fRrot = correctedDeltaRij.between(RiBetweenRj); - fR = Rot3::Logmap(fRrot, D_fR_fRrot); - D_coriolis = -D_cDeltaRij_cOmega * skewSymmetric(coriolis); - } else { - const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega); - // Residual rotation error - fRrot = correctedDeltaRij.between(RiBetweenRj); - fR = Rot3::Logmap(fRrot); - } + const Rot3 fRrot = correctedDeltaRij.between(RiBetweenRj); + Matrix3 D_fR_fRrot; + const Vector3 fR = Rot3::Logmap(fRrot, H1 || H3 || H5 ? &D_fR_fRrot : 0); const double dt = deltaTij(), dt2 = dt*dt; Matrix3 Ritranspose_omegaCoriolisHat; @@ -270,6 +258,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Ritranspose_omegaCoriolisHat = Ri.transpose() * skewSymmetric(omegaCoriolis); if (H1) { + const Matrix3 D_coriolis = -D_cDeltaRij_cOmega * skewSymmetric(coriolis); Matrix3 dfPdPi = -I_3x3, dfVdPi = Z_3x3; if (use2ndOrderCoriolis) { // this is the same as: Ri.transpose() * omegaCoriolisHat * omegaCoriolisHat * Ri From 52baa97ecac095be881e4cb47cc616567d42b0df Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 12:00:03 -0700 Subject: [PATCH 467/964] Some fixed-size matrix optimizations --- gtsam/navigation/CombinedImuFactor.cpp | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 3547719ac..1db2f1861 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -108,7 +108,7 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( Matrix3 H_angles_biasomega = -D_Rincr_integratedOmega * deltaT; // overall Jacobian wrt preintegrated measurements (df/dx) - Matrix F(15, 15); + Eigen::Matrix F; // for documentation: // F << I_3x3, I_3x3 * deltaT, Z_3x3, Z_3x3, Z_3x3, // Z_3x3, I_3x3, H_vel_angles, H_vel_biasacc, Z_3x3, @@ -123,9 +123,10 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( // first order uncertainty propagation // Optimized matrix multiplication (1/deltaT) * G * measurementCovariance * G.transpose() - Matrix G_measCov_Gt = Matrix::Zero(15, 15); + Eigen::Matrix G_measCov_Gt; + G_measCov_Gt.setZero(15, 15); -// BLOCK DIAGONAL TERMS + // BLOCK DIAGONAL TERMS G_measCov_Gt.block<3, 3>(0, 0) = deltaT * integrationCovariance(); G_measCov_Gt.block<3, 3>(3, 3) = (1 / deltaT) * (H_vel_biasacc) * (accelerometerCovariance() + biasAccOmegaInit_.block<3, 3>(0, 0)) @@ -135,6 +136,7 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( * (H_angles_biasomega.transpose()); G_measCov_Gt.block<3, 3>(9, 9) = (1 / deltaT) * biasAccCovariance_; G_measCov_Gt.block<3, 3>(12, 12) = (1 / deltaT) * biasOmegaCovariance_; + // OFF BLOCK DIAGONAL TERMS Matrix3 block23 = H_vel_biasacc * biasAccOmegaInit_.block<3, 3>(3, 0) * H_angles_biasomega.transpose(); @@ -234,25 +236,25 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, H1->resize(15, 6); H1->block<9, 6>(0, 0) = D_r_pose_i; // adding: [dBiasAcc/dPi ; dBiasOmega/dPi] - H1->block<6, 6>(9, 0) = Z_6x6; + H1->block<6, 6>(9, 0).setZero(); } if (H2) { H2->resize(15, 3); H2->block<9, 3>(0, 0) = D_r_vel_i; // adding: [dBiasAcc/dVi ; dBiasOmega/dVi] - H2->block<6, 3>(9, 0) = Matrix::Zero(6, 3); + H2->block<6, 3>(9, 0).setZero(); } if (H3) { H3->resize(15, 6); H3->block<9, 6>(0, 0) = D_r_pose_j; // adding: [dBiasAcc/dPj ; dBiasOmega/dPj] - H3->block<6, 6>(9, 0) = Z_6x6; + H3->block<6, 6>(9, 0).setZero(); } if (H4) { H4->resize(15, 3); H4->block<9, 3>(0, 0) = D_r_vel_j; // adding: [dBiasAcc/dVi ; dBiasOmega/dVi] - H4->block<6, 3>(9, 0) = Matrix::Zero(6, 3); + H4->block<6, 3>(9, 0).setZero(); } if (H5) { H5->resize(15, 6); @@ -262,7 +264,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, } if (H6) { H6->resize(15, 6); - H6->block<9, 6>(0, 0) = Matrix::Zero(9, 6); + H6->block<9, 6>(0, 0).setZero(); // adding: [dBiasAcc/dBias_j ; dBiasOmega/dBias_j] H6->block<6, 6>(9, 0) = Hbias_j; } From fd0ad8ae78a6574259c5b52847c490fbf70b6edb Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 15:32:58 -0700 Subject: [PATCH 468/964] Removed some useles computation --- gtsam/navigation/AHRSFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index 2f03d72a4..917b80c9a 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -199,7 +199,7 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj, if (H2) { // dfR/dPosej H2->resize(3, 3); - (*H2) << D_fR_fRrot * Matrix3::Identity(); + (*H2) << D_fR_fRrot; } if (H3) { From 61c58c6fa6e1203a210ec4dad442076ab46a3f2b Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 15:33:20 -0700 Subject: [PATCH 469/964] Fixed naming convention --- .../tests/testCombinedImuFactor.cpp | 38 +++++++++---------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 9fb0f939b..c5e9886d9 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -189,37 +189,37 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor::CombinedPreintegratedMeasurements Combined_pre_int_data( + CombinedImuFactor::CombinedPreintegratedMeasurements combined_pre_int_data( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), 2 * Matrix3::Identity(), I6x6); - Combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, + combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, + ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis); noiseModel::Gaussian::shared_ptr Combinedmodel = - noiseModel::Gaussian::Covariance(Combined_pre_int_data.preintMeasCov()); - CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - Combined_pre_int_data, gravity, omegaCoriolis); + noiseModel::Gaussian::Covariance(combined_pre_int_data.preintMeasCov()); + CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), + combined_pre_int_data, gravity, omegaCoriolis); - Vector errorExpected = factor.evaluateError(x1, v1, x2, v2, bias); + Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias); - Vector errorActual = Combinedfactor.evaluateError(x1, v1, x2, v2, bias, + Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2); EXPECT(assert_equal(errorExpected, errorActual.head(9), tol)); // Expected Jacobians Matrix H1e, H2e, H3e, H4e, H5e; - (void) factor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e); + (void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e); // Actual Jacobians Matrix H1a, H2a, H3a, H4a, H5a, H6a; - (void) Combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a, + (void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a, H3a, H4a, H5a, H6a); EXPECT(assert_equal(H1e, H1a.topRows(9))); @@ -310,24 +310,24 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { Matrix I6x6(6, 6); I6x6 = Matrix::Identity(6, 6); - CombinedImuFactor::CombinedPreintegratedMeasurements Combined_pre_int_data( + CombinedImuFactor::CombinedPreintegratedMeasurements combined_pre_int_data( bias, Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), 2 * Matrix3::Identity(), I6x6, true); for (int i = 0; i < 1000; ++i) - Combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, + combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - noiseModel::Gaussian::shared_ptr Combinedmodel = - noiseModel::Gaussian::Covariance(Combined_pre_int_data.preintMeasCov()); + noiseModel::Gaussian::shared_ptr combinedmodel = + noiseModel::Gaussian::Covariance(combined_pre_int_data.preintMeasCov()); CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - Combined_pre_int_data, gravity, omegaCoriolis); + combined_pre_int_data, gravity, omegaCoriolis); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocityBias = Combined_pre_int_data.predict(x1, v1, + PoseVelocityBias poseVelocityBias = combined_pre_int_data.predict(x1, v1, bias, gravity, omegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; @@ -341,7 +341,7 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { TEST(CombinedImuFactor, PredictRotation) { imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) Matrix I6x6(6, 6); - CombinedImuFactor::CombinedPreintegratedMeasurements Combined_pre_int_data( + CombinedImuFactor::CombinedPreintegratedMeasurements combined_pre_int_data( bias, Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), 2 * Matrix3::Identity(), I6x6, true); Vector3 measuredAcc; @@ -355,10 +355,10 @@ TEST(CombinedImuFactor, PredictRotation) { double deltaT = 0.001; double tol = 1e-4; for (int i = 0; i < 1000; ++i) - Combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, + combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - Combined_pre_int_data, gravity, omegaCoriolis); + combined_pre_int_data, gravity, omegaCoriolis); // Predict Pose3 x(Rot3().ypr(0, 0, 0), Point3(0, 0, 0)), x2; From 55269d642cd881d9d1d0a339e217fbfd266e2ed3 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 15:34:58 -0700 Subject: [PATCH 470/964] Fixed order of components in error to match RTV order --- gtsam/navigation/PreintegrationBase.cpp | 24 ++++++++++++------------ gtsam/navigation/tests/testImuFactor.cpp | 8 ++++---- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 92d4b9520..cc4fcee16 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -268,41 +268,41 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const dfVdPi += temp * dt; } (*H1) << + D_fR_fRrot * (-rot_j.between(rot_i).matrix() - fRrot.inverse().matrix() * D_coriolis), // dfR/dRi + Z_3x3, // dfR/dPi skewSymmetric(fp + deltaPij_biascorrected), // dfP/dRi dfPdPi, // dfP/dPi skewSymmetric(fv + deltaVij_biascorrected), // dfV/dRi - dfVdPi, // dfV/dPi - D_fR_fRrot * (-rot_j.between(rot_i).matrix() - fRrot.inverse().matrix() * D_coriolis), // dfR/dRi - Z_3x3; // dfR/dPi + dfVdPi; // dfV/dPi } if (H2) { (*H2) << + Z_3x3, // dfR/dVi -Ri.transpose() * dt + Ritranspose_omegaCoriolisHat * dt2, // dfP/dVi - -Ri.transpose() + 2 * Ritranspose_omegaCoriolisHat * dt, // dfV/dVi - Z_3x3; // dfR/dVi + -Ri.transpose() + 2 * Ritranspose_omegaCoriolisHat * dt; // dfV/dVi } if (H3) { (*H3) << + D_fR_fRrot, Z_3x3, // dfR/dPosej Z_3x3, Ri.transpose() * rot_j.matrix(), // dfP/dPosej - Matrix::Zero(3, 6), // dfV/dPosej - D_fR_fRrot, Z_3x3; // dfR/dPosej + Matrix::Zero(3, 6); // dfV/dPosej } if (H4) { (*H4) << + Z_3x3, // dfR/dVj Z_3x3, // dfP/dVj - Ri.transpose(), // dfV/dVj - Z_3x3; // dfR/dVj + Ri.transpose(); // dfV/dVj } if (H5) { // H5 by this point already contains 3*3 biascorrectedThetaRij derivative const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_cThetaRij_biasOmegaIncr; (*H5) << + Z_3x3, D_fR_fRrot * (-fRrot.inverse().matrix() * JbiasOmega), // dfR/dBias -delPdelBiasAcc(), -delPdelBiasOmega(), // dfP/dBias - -delVdelBiasAcc(), -delVdelBiasOmega(), // dfV/dBias - Z_3x3, D_fR_fRrot * (-fRrot.inverse().matrix() * JbiasOmega); // dfR/dBias + -delVdelBiasAcc(), -delVdelBiasOmega(); // dfV/dBias } Vector9 r; - r << fp, fv, fR; + r << fR, fp, fv; return r; } diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 6b66be342..c6aa48b30 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -47,7 +47,7 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, const imuBias::ConstantBias& bias) { return Rot3::Expmap( - factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3)); + factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).head(3)); } // Auxiliary functions to test Jacobians F and G used for @@ -247,16 +247,16 @@ TEST(ImuFactor, ErrorAndJacobians) { // Jacobians are around zero, so the rotation part is the same as: Matrix H1Rot3 = numericalDerivative11( boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, bias), x1); - EXPECT(assert_equal(H1Rot3, H1a.bottomRows(3))); + EXPECT(assert_equal(H1Rot3, H1a.topRows(3))); Matrix H3Rot3 = numericalDerivative11( boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, bias), x2); - EXPECT(assert_equal(H3Rot3, H3a.bottomRows(3))); + EXPECT(assert_equal(H3Rot3, H3a.topRows(3))); // Evaluate error with wrong values Vector3 v2_wrong = v2 + Vector3(0.1, 0.1, 0.1); values.update(V(2), v2_wrong); - errorExpected << 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901, 0, 0, 0; + errorExpected << 0, 0, 0, 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901; EXPECT( assert_equal(errorExpected, factor.evaluateError(x1, v1, x2, v2_wrong, bias), 1e-6)); From d5bf2493fe0be9aef43c4a2cb43ca55d97983d7e Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 16:57:16 -0700 Subject: [PATCH 471/964] Fixed remaining method call --- gtsam/base/ProductLieGroup.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/ProductLieGroup.h b/gtsam/base/ProductLieGroup.h index ceb7fa48c..463b5f5d9 100644 --- a/gtsam/base/ProductLieGroup.h +++ b/gtsam/base/ProductLieGroup.h @@ -55,7 +55,7 @@ public: traits::Compose(this->second,other.second)); } ProductLieGroup inverse() const { - return ProductLieGroup(this->first.inverse(), this->second.inverse()); + return ProductLieGroup(traits::Inverse(this->first), traits::Inverse(this->second)); } ProductLieGroup compose(const ProductLieGroup& g) const { return (*this) * g; From 233cabb3fbd33a83419217156c111ac8b7717f26 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 17 Jul 2015 17:36:29 -0700 Subject: [PATCH 472/964] Made Velocity a Vector3 --- gtsam_unstable/dynamics/PoseRTV.cpp | 13 +++++++------ gtsam_unstable/dynamics/PoseRTV.h | 4 ++-- gtsam_unstable/dynamics/VelocityConstraint.h | 11 ++++++----- gtsam_unstable/dynamics/tests/testIMUSystem.cpp | 12 ++++++------ gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 4 ++-- .../dynamics/tests/testVelocityConstraint.cpp | 4 ++-- gtsam_unstable/gtsam_unstable.h | 8 ++++---- 7 files changed, 29 insertions(+), 27 deletions(-) diff --git a/gtsam_unstable/dynamics/PoseRTV.cpp b/gtsam_unstable/dynamics/PoseRTV.cpp index 942e1ab55..92f3b9b0b 100644 --- a/gtsam_unstable/dynamics/PoseRTV.cpp +++ b/gtsam_unstable/dynamics/PoseRTV.cpp @@ -38,13 +38,14 @@ Vector PoseRTV::vector() const { Vector rtv(9); rtv.head(3) = rotation().xyz(); rtv.segment(3,3) = translation().vector(); - rtv.tail(3) = velocity().vector(); + rtv.tail(3) = velocity(); return rtv; } /* ************************************************************************* */ bool PoseRTV::equals(const PoseRTV& other, double tol) const { - return pose().equals(other.pose(), tol) && velocity().equals(other.velocity(), tol); + return pose().equals(other.pose(), tol) + && equal_with_abs_tol(velocity(), other.velocity(), tol); } /* ************************************************************************* */ @@ -52,7 +53,7 @@ void PoseRTV::print(const string& s) const { cout << s << ":" << endl; gtsam::print((Vector)R().xyz(), " R:rpy"); t().print(" T"); - velocity().print(" V"); + gtsam::print((Vector)velocity(), " V"); } /* ************************************************************************* */ @@ -137,7 +138,7 @@ Vector6 PoseRTV::imuPrediction(const PoseRTV& x2, double dt) const { Vector6 imu; // acceleration - Vector3 accel = (v2-v1).vector() / dt; + Vector3 accel = (v2-v1) / dt; imu.head<3>() = r2.transpose() * (accel - kGravity); // rotation rates @@ -160,7 +161,7 @@ Vector6 PoseRTV::imuPrediction(const PoseRTV& x2, double dt) const { Point3 PoseRTV::translationIntegration(const Rot3& r2, const Velocity3& v2, double dt) const { // predict point for constraint // NOTE: uses simple Euler approach for prediction - Point3 pred_t2 = t() + v2 * dt; + Point3 pred_t2 = t().retract(v2 * dt); return pred_t2; } @@ -187,7 +188,7 @@ PoseRTV PoseRTV::transformed_from(const Pose3& trans, ChartJacobian Dglobal, // Note that we rotate the velocity Matrix3 D_newvel_R, D_newvel_v; - Velocity3 newvel = trans.rotation().rotate(velocity(), D_newvel_R, D_newvel_v); + Velocity3 newvel = trans.rotation().rotate(Point3(velocity()), D_newvel_R, D_newvel_v).vector(); if (Dglobal) { Dglobal->setZero(); diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index bef397cb6..e89d570b7 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -13,7 +13,7 @@ namespace gtsam { /// Syntactic sugar to clarify components -typedef Point3 Velocity3; +typedef Vector3 Velocity3; /** * Robot state for use with IMU measurements @@ -66,7 +66,7 @@ public: // and avoidance of Point3 Vector vector() const; Vector translationVec() const { return pose().translation().vector(); } - Vector velocityVec() const { return velocity().vector(); } + const Velocity3& velocityVec() const { return velocity(); } // testable bool equals(const PoseRTV& other, double tol=1e-6) const; diff --git a/gtsam_unstable/dynamics/VelocityConstraint.h b/gtsam_unstable/dynamics/VelocityConstraint.h index c9db449f9..c41ea220c 100644 --- a/gtsam_unstable/dynamics/VelocityConstraint.h +++ b/gtsam_unstable/dynamics/VelocityConstraint.h @@ -106,12 +106,13 @@ private: static gtsam::Vector evaluateError_(const PoseRTV& x1, const PoseRTV& x2, double dt, const dynamics::IntegrationMode& mode) { - const Velocity3& v1 = x1.v(), v2 = x2.v(), p1 = x1.t(), p2 = x2.t(); - Velocity3 hx; + const Velocity3& v1 = x1.v(), v2 = x2.v(); + const Point3& p1 = x1.t(), p2 = x2.t(); + Point3 hx; switch(mode) { - case dynamics::TRAPEZOIDAL: hx = p1 + (v1 + v2) * dt *0.5; break; - case dynamics::EULER_START: hx = p1 + v1 * dt; break; - case dynamics::EULER_END : hx = p1 + v2 * dt; break; + case dynamics::TRAPEZOIDAL: hx = p1.retract((v1 + v2) * dt *0.5); break; + case dynamics::EULER_START: hx = p1.retract(v1 * dt); break; + case dynamics::EULER_END : hx = p1.retract(v2 * dt); break; default: assert(false); break; } return (p2 - hx).vector(); diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 51d027b3c..3fff06de1 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -56,9 +56,9 @@ TEST( testIMUSystem, optimize_chain ) { // create a simple chain of poses to generate IMU measurements const double dt = 1.0; PoseRTV pose1, - pose2(Point3(1.0, 1.0, 0.0), Rot3::ypr(0.1, 0.0, 0.0), Point3(2.0, 2.0, 0.0)), - pose3(Point3(2.0, 2.0, 0.0), Rot3::ypr(0.2, 0.0, 0.0), Point3(0.0, 0.0, 0.0)), - pose4(Point3(3.0, 3.0, 0.0), Rot3::ypr(0.3, 0.0, 0.0), Point3(2.0, 2.0, 0.0)); + pose2(Point3(1.0, 1.0, 0.0), Rot3::ypr(0.1, 0.0, 0.0), Velocity3(2.0, 2.0, 0.0)), + pose3(Point3(2.0, 2.0, 0.0), Rot3::ypr(0.2, 0.0, 0.0), Velocity3(0.0, 0.0, 0.0)), + pose4(Point3(3.0, 3.0, 0.0), Rot3::ypr(0.3, 0.0, 0.0), Velocity3(2.0, 2.0, 0.0)); // create measurements SharedDiagonal model = noiseModel::Unit::Create(6); @@ -102,9 +102,9 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { // create a simple chain of poses to generate IMU measurements const double dt = 1.0; PoseRTV pose1, - pose2(Point3(1.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Point3(1.0, 0.0, 0.0)), - pose3(Point3(2.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Point3(1.0, 0.0, 0.0)), - pose4(Point3(3.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Point3(1.0, 0.0, 0.0)); + pose2(Point3(1.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)), + pose3(Point3(2.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)), + pose4(Point3(3.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)); // create measurements SharedDiagonal model = noiseModel::Isotropic::Sigma(9, 1.0); diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index a8721a60d..ff3508f45 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -198,7 +198,7 @@ TEST( testPoseRTV, transformed_from_1 ) { Matrix actDTrans, actDGlobal; PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); - PoseRTV expected(transform.compose(start.pose()), transform.rotation().rotate(V)); + PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V); EXPECT(assert_equal(expected, actual, tol)); Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails @@ -217,7 +217,7 @@ TEST( testPoseRTV, transformed_from_2 ) { Matrix actDTrans, actDGlobal; PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); - PoseRTV expected(transform.compose(start.pose()), transform.rotation().rotate(V)); + PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V); EXPECT(assert_equal(expected, actual, tol)); Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails diff --git a/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp b/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp index 56d38714a..f253be371 100644 --- a/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp +++ b/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp @@ -15,9 +15,9 @@ const Key x1 = 1, x2 = 2; const double dt = 1.0; PoseRTV origin, - pose1(Point3(0.5, 0.0, 0.0), Rot3::identity(), Point3(1.0, 0.0, 0.0)), + pose1(Point3(0.5, 0.0, 0.0), Rot3::identity(), Velocity3(1.0, 0.0, 0.0)), pose1a(Point3(0.5, 0.0, 0.0)), - pose2(Point3(1.5, 0.0, 0.0), Rot3::identity(), Point3(1.0, 0.0, 0.0)); + pose2(Point3(1.5, 0.0, 0.0), Rot3::identity(), Velocity3(1.0, 0.0, 0.0)); /* ************************************************************************* */ TEST( testVelocityConstraint, trapezoidal ) { diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index bbfcaa418..99b33182f 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -53,9 +53,9 @@ class Dummy { class PoseRTV { PoseRTV(); PoseRTV(Vector rtv); - PoseRTV(const gtsam::Point3& pt, const gtsam::Rot3& rot, const gtsam::Point3& vel); - PoseRTV(const gtsam::Rot3& rot, const gtsam::Point3& pt, const gtsam::Point3& vel); - PoseRTV(const gtsam::Pose3& pose, const gtsam::Point3& vel); + PoseRTV(const gtsam::Point3& pt, const gtsam::Rot3& rot, const Vector& vel); + PoseRTV(const gtsam::Rot3& rot, const gtsam::Point3& pt, const Vector& vel); + PoseRTV(const gtsam::Pose3& pose, const Vector& vel); PoseRTV(const gtsam::Pose3& pose); PoseRTV(double roll, double pitch, double yaw, double x, double y, double z, double vx, double vy, double vz); @@ -66,7 +66,7 @@ class PoseRTV { // access gtsam::Point3 translation() const; gtsam::Rot3 rotation() const; - gtsam::Point3 velocity() const; + Vector velocity() const; gtsam::Pose3 pose() const; // Vector interfaces From 2c765c735abb76038c5b6b383bf5df0e254276a7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 17 Jul 2015 22:09:49 -0700 Subject: [PATCH 473/964] Velocity3 default constructor does not zero --- gtsam_unstable/dynamics/PoseRTV.h | 4 ++-- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index e89d570b7..b1603efe2 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -34,11 +34,11 @@ public: PoseRTV(const Rot3& rot, const Point3& t, const Velocity3& vel) : Base(Pose3(rot, t), vel) {} explicit PoseRTV(const Point3& t) - : Base(Pose3(Rot3(), t),Velocity3()) {} + : Base(Pose3(Rot3(), t),Vector3::Zero()) {} PoseRTV(const Pose3& pose, const Velocity3& vel) : Base(pose, vel) {} explicit PoseRTV(const Pose3& pose) - : Base(pose,Velocity3()) {} + : Base(pose,Vector3::Zero()) {} // Construct from Base PoseRTV(const Base& base) diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index ff3508f45..36f097a37 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -32,7 +32,7 @@ TEST( testPoseRTV, constructors ) { PoseRTV state2; EXPECT(assert_equal(Point3(), state2.t(), tol)); EXPECT(assert_equal(Rot3(), state2.R(), tol)); - EXPECT(assert_equal(Velocity3(), state2.v(), tol)); + EXPECT(assert_equal(zero(3), state2.v(), tol)); EXPECT(assert_equal(Pose3(), state2.pose(), tol)); PoseRTV state3(Pose3(rot, pt), vel); @@ -44,7 +44,7 @@ TEST( testPoseRTV, constructors ) { PoseRTV state4(Pose3(rot, pt)); EXPECT(assert_equal(pt, state4.t(), tol)); EXPECT(assert_equal(rot, state4.R(), tol)); - EXPECT(assert_equal(Velocity3(), state4.v(), tol)); + EXPECT(assert_equal(zero(3), state4.v(), tol)); EXPECT(assert_equal(Pose3(rot, pt), state4.pose(), tol)); Vector vec_init = (Vector(9) << 0.1, 0.2, 0.3, 1.0, 2.0, 3.0, 0.4, 0.5, 0.6).finished(); From 45e99f05b670e0e3e00073f1f85ad4f3698ddc8c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 18 Jul 2015 18:28:39 -0700 Subject: [PATCH 474/964] Fixed test --- gtsam/base/Testable.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h index 4790530ab..92ccb9156 100644 --- a/gtsam/base/Testable.h +++ b/gtsam/base/Testable.h @@ -123,8 +123,8 @@ namespace gtsam { double tol_; equals_star(double tol = 1e-9) : tol_(tol) {} bool operator()(const boost::shared_ptr& expected, const boost::shared_ptr& actual) { - if (!actual || !expected) return false; - return (traits::Equals(*actual,*expected, tol_)); + if (!actual || !expected) return true; + return actual && expected && traits::Equals(*actual,*expected, tol_); } }; From 0df1e345a3b27cd29f94ced33f6f4c6d80c64811 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 18 Jul 2015 18:30:42 -0700 Subject: [PATCH 475/964] Complete refactor with a shared parameter to fixed parameters. Tests still use old-style and all pass, because of hacky backwards compatible functions. --- gtsam/navigation/AHRSFactor.cpp | 117 ++++---- gtsam/navigation/AHRSFactor.h | 175 ++++++------ gtsam/navigation/CombinedImuFactor.cpp | 153 ++++++----- gtsam/navigation/CombinedImuFactor.h | 257 +++++++++--------- gtsam/navigation/ImuFactor.cpp | 134 +++++---- gtsam/navigation/ImuFactor.h | 195 +++++++------ gtsam/navigation/ImuFactorBase.h | 94 ------- gtsam/navigation/PreintegratedRotation.h | 85 +++--- gtsam/navigation/PreintegrationBase.cpp | 176 +++++------- gtsam/navigation/PreintegrationBase.h | 171 ++++++------ gtsam/navigation/tests/testAHRSFactor.cpp | 2 +- .../tests/testCombinedImuFactor.cpp | 15 +- gtsam/navigation/tests/testImuFactor.cpp | 32 +-- 13 files changed, 762 insertions(+), 844 deletions(-) delete mode 100644 gtsam/navigation/ImuFactorBase.h diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index 917b80c9a..92ec0dd9b 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -27,52 +27,36 @@ namespace gtsam { //------------------------------------------------------------------------------ // Inner class PreintegratedMeasurements //------------------------------------------------------------------------------ -AHRSFactor::PreintegratedMeasurements::PreintegratedMeasurements( - const Vector3& bias, const Matrix3& measuredOmegaCovariance) : - PreintegratedRotation(measuredOmegaCovariance), biasHat_(bias) -{ - preintMeasCov_.setZero(); -} - -//------------------------------------------------------------------------------ -AHRSFactor::PreintegratedMeasurements::PreintegratedMeasurements() : - PreintegratedRotation(I_3x3), biasHat_(Vector3()) -{ - preintMeasCov_.setZero(); -} - -//------------------------------------------------------------------------------ -void AHRSFactor::PreintegratedMeasurements::print(const string& s) const { +void PreintegratedAhrsMeasurements::print(const string& s) const { PreintegratedRotation::print(s); cout << "biasHat [" << biasHat_.transpose() << "]" << endl; cout << " PreintMeasCov [ " << preintMeasCov_ << " ]" << endl; } //------------------------------------------------------------------------------ -bool AHRSFactor::PreintegratedMeasurements::equals( - const PreintegratedMeasurements& other, double tol) const { - return PreintegratedRotation::equals(other, tol) - && equal_with_abs_tol(biasHat_, other.biasHat_, tol); +bool PreintegratedAhrsMeasurements::equals( + const PreintegratedAhrsMeasurements& other, double tol) const { + return PreintegratedRotation::equals(other, tol) && + equal_with_abs_tol(biasHat_, other.biasHat_, tol); } //------------------------------------------------------------------------------ -void AHRSFactor::PreintegratedMeasurements::resetIntegration() { +void PreintegratedAhrsMeasurements::resetIntegration() { PreintegratedRotation::resetIntegration(); preintMeasCov_.setZero(); } //------------------------------------------------------------------------------ -void AHRSFactor::PreintegratedMeasurements::integrateMeasurement( - const Vector3& measuredOmega, double deltaT, - boost::optional body_P_sensor) { +void PreintegratedAhrsMeasurements::integrateMeasurement( + const Vector3& measuredOmega, double deltaT) { // First we compensate the measurements for the bias Vector3 correctedOmega = measuredOmega - biasHat_; // Then compensate for sensor-body displacement: we express the quantities // (originally in the IMU frame) into the body frame - if (body_P_sensor) { - Matrix3 body_R_sensor = body_P_sensor->rotation().matrix(); + if (p().body_P_sensor) { + Matrix3 body_R_sensor = p().body_P_sensor->rotation().matrix(); // rotation rate vector in the body frame correctedOmega = body_R_sensor * correctedOmega; } @@ -92,18 +76,17 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement( // first order uncertainty propagation // the deltaT allows to pass from continuous time noise to discrete time noise - preintMeasCov_ = Fr * preintMeasCov_ * Fr.transpose() - + gyroscopeCovariance() * deltaT; + preintMeasCov_ = Fr * preintMeasCov_ * Fr.transpose() + p().gyroscopeCovariance * deltaT; } //------------------------------------------------------------------------------ -Vector3 AHRSFactor::PreintegratedMeasurements::predict(const Vector3& bias, - boost::optional H) const { +Vector3 PreintegratedAhrsMeasurements::predict(const Vector3& bias, + OptionalJacobian<3,3> H) const { const Vector3 biasOmegaIncr = bias - biasHat_; return biascorrectedThetaRij(biasOmegaIncr, H); } //------------------------------------------------------------------------------ -Vector AHRSFactor::PreintegratedMeasurements::DeltaAngles( +Vector PreintegratedAhrsMeasurements::DeltaAngles( const Vector& msr_gyro_t, const double msr_dt, const Vector3& delta_angles) { @@ -121,22 +104,16 @@ Vector AHRSFactor::PreintegratedMeasurements::DeltaAngles( //------------------------------------------------------------------------------ // AHRSFactor methods //------------------------------------------------------------------------------ -AHRSFactor::AHRSFactor() : - _PIM_(Vector3(), Z_3x3) { -} +AHRSFactor::AHRSFactor( + Key rot_i, Key rot_j, Key bias, + const PreintegratedAhrsMeasurements& preintegratedMeasurements) + : Base(noiseModel::Gaussian::Covariance( + preintegratedMeasurements.preintMeasCov_), + rot_i, rot_j, bias), + _PIM_(preintegratedMeasurements) {} -AHRSFactor::AHRSFactor(Key rot_i, Key rot_j, Key bias, - const PreintegratedMeasurements& preintegratedMeasurements, - const Vector3& omegaCoriolis, boost::optional body_P_sensor) : - Base( - noiseModel::Gaussian::Covariance( - preintegratedMeasurements.preintMeasCov_), rot_i, rot_j, bias), _PIM_( - preintegratedMeasurements), omegaCoriolis_(omegaCoriolis), body_P_sensor_( - body_P_sensor) { -} - -//------------------------------------------------------------------------------ gtsam::NonlinearFactor::shared_ptr AHRSFactor::clone() const { +//------------------------------------------------------------------------------ return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new This(*this))); } @@ -147,20 +124,13 @@ void AHRSFactor::print(const string& s, cout << s << "AHRSFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << ","; _PIM_.print(" preintegrated measurements:"); - cout << " omegaCoriolis: [ " << omegaCoriolis_.transpose() << " ]" << endl; noiseModel_->print(" noise model: "); - if (body_P_sensor_) - body_P_sensor_->print(" sensor pose in body frame: "); } //------------------------------------------------------------------------------ bool AHRSFactor::equals(const NonlinearFactor& other, double tol) const { const This *e = dynamic_cast(&other); - return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol) - && equal_with_abs_tol(omegaCoriolis_, e->omegaCoriolis_, tol) - && ((!body_P_sensor_ && !e->body_P_sensor_) - || (body_P_sensor_ && e->body_P_sensor_ - && body_P_sensor_->equals(*e->body_P_sensor_))); + return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol); } //------------------------------------------------------------------------------ @@ -172,7 +142,7 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj, const Vector3 biascorrectedOmega = _PIM_.predict(bias, H3); // Coriolis term - const Vector3 coriolis = _PIM_.integrateCoriolis(Ri, omegaCoriolis_); + const Vector3 coriolis = _PIM_.integrateCoriolis(Ri); const Matrix3 coriolisHat = skewSymmetric(coriolis); const Vector3 correctedOmega = biascorrectedOmega - coriolis; @@ -215,15 +185,13 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj, } //------------------------------------------------------------------------------ -Rot3 AHRSFactor::predict(const Rot3& rot_i, const Vector3& bias, - const PreintegratedMeasurements preintegratedMeasurements, - const Vector3& omegaCoriolis, boost::optional body_P_sensor) { - +Rot3 AHRSFactor::Predict( + const Rot3& rot_i, const Vector3& bias, + const PreintegratedAhrsMeasurements preintegratedMeasurements) { const Vector3 biascorrectedOmega = preintegratedMeasurements.predict(bias); // Coriolis term - const Vector3 coriolis = // - preintegratedMeasurements.integrateCoriolis(rot_i, omegaCoriolis); + const Vector3 coriolis = preintegratedMeasurements.integrateCoriolis(rot_i); const Vector3 correctedOmega = biascorrectedOmega - coriolis; const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega); @@ -231,4 +199,31 @@ Rot3 AHRSFactor::predict(const Rot3& rot_i, const Vector3& bias, return rot_i.compose(correctedDeltaRij); } -} //namespace gtsam +//------------------------------------------------------------------------------ +AHRSFactor::AHRSFactor(Key rot_i, Key rot_j, Key bias, + const PreintegratedMeasurements& pim, + const Vector3& omegaCoriolis, + const boost::optional& body_P_sensor) + : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), rot_i, rot_j, bias), + _PIM_(pim) { + boost::shared_ptr p = + boost::make_shared(pim.p()); + p->body_P_sensor = body_P_sensor; + _PIM_.p_ = p; +} + +//------------------------------------------------------------------------------ +Rot3 AHRSFactor::predict(const Rot3& rot_i, const Vector3& bias, + const PreintegratedMeasurements pim, + const Vector3& omegaCoriolis, + const boost::optional& body_P_sensor) { + boost::shared_ptr p = + boost::make_shared(pim.p()); + p->omegaCoriolis = omegaCoriolis; + p->body_P_sensor = body_P_sensor; + PreintegratedMeasurements newPim = pim; + newPim.p_ = p; + return Predict(rot_i, bias, newPim); +} + +} // namespace gtsam diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index fbf7d51a1..f9f846790 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -26,91 +26,92 @@ namespace gtsam { -class GTSAM_EXPORT AHRSFactor: public NoiseModelFactor3 { -public: +/** + * PreintegratedAHRSMeasurements accumulates (integrates) the Gyroscope + * measurements (rotation rates) and the corresponding covariance matrix. + * Can be built incrementally so as to avoid costly integration at time of factor construction. + */ +class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation { + + protected: + + Vector3 biasHat_; ///< Angular rate bias values used during preintegration. + Matrix3 preintMeasCov_; ///< Covariance matrix of the preintegrated measurements (first-order propagation from *measurementCovariance*) + + /// Default constructor, only for serialization + PreintegratedAhrsMeasurements() {} + + friend class AHRSFactor; + + public: /** - * CombinedPreintegratedMeasurements accumulates (integrates) the Gyroscope - * measurements (rotation rates) and the corresponding covariance matrix. - * The measurements are then used to build the Preintegrated AHRS factor. - * Can be built incrementally so as to avoid costly integration at time of - * factor construction. + * Default constructor, initialize with no measurements + * @param bias Current estimate of acceleration and rotation rate biases */ - class GTSAM_EXPORT PreintegratedMeasurements : public PreintegratedRotation { + PreintegratedAhrsMeasurements(const boost::shared_ptr& p, const Vector3& biasHat) + : PreintegratedRotation(p), biasHat_(biasHat) { + resetIntegration(); + } - friend class AHRSFactor; + const Params& p() const { return *boost::static_pointer_cast(p_);} + const Vector3& biasHat() const { return biasHat_; } + const Matrix3& preintMeasCov() const { return preintMeasCov_; } - protected: - Vector3 biasHat_; ///< Acceleration and angular rate bias values used during preintegration. Note that we won't be using the accelerometer - Matrix3 preintMeasCov_; ///< Covariance matrix of the preintegrated measurements (first-order propagation from *measurementCovariance*) + /// print + void print(const std::string& s = "Preintegrated Measurements: ") const; - public: + /// equals + bool equals(const PreintegratedAhrsMeasurements&, double tol = 1e-9) const; - /// Default constructor - PreintegratedMeasurements(); + /// Reset inetgrated quantities to zero + void resetIntegration(); - /** - * Default constructor, initialize with no measurements - * @param bias Current estimate of acceleration and rotation rate biases - * @param measuredOmegaCovariance Covariance matrix of measured angular rate - */ - PreintegratedMeasurements(const Vector3& bias, - const Matrix3& measuredOmegaCovariance); + /** + * Add a single Gyroscope measurement to the preintegration. + * @param measureOmedga Measured angular velocity (in body frame) + * @param deltaT Time step + */ + void integrateMeasurement(const Vector3& measuredOmega, double deltaT); - Vector3 biasHat() const { - return biasHat_; - } - const Matrix3& preintMeasCov() const { - return preintMeasCov_; - } + /// Predict bias-corrected incremental rotation + /// TODO: The matrix Hbias is the derivative of predict? Unit-test? + Vector3 predict(const Vector3& bias, OptionalJacobian<3,3> H = boost::none) const; - /// print - void print(const std::string& s = "Preintegrated Measurements: ") const; + // This function is only used for test purposes + // (compare numerical derivatives wrt analytic ones) + static Vector DeltaAngles(const Vector& msr_gyro_t, const double msr_dt, + const Vector3& delta_angles); - /// equals - bool equals(const PreintegratedMeasurements&, double tol = 1e-9) const; - - /// TODO: Document - void resetIntegration(); - - /** - * Add a single Gyroscope measurement to the preintegration. - * @param measureOmedga Measured angular velocity (in body frame) - * @param deltaT Time step - * @param body_P_sensor Optional sensor frame - */ - void integrateMeasurement(const Vector3& measuredOmega, double deltaT, - boost::optional body_P_sensor = boost::none); - - /// Predict bias-corrected incremental rotation - /// TODO: The matrix Hbias is the derivative of predict? Unit-test? - Vector3 predict(const Vector3& bias, boost::optional H = - boost::none) const; - - // This function is only used for test purposes - // (compare numerical derivatives wrt analytic ones) - static Vector DeltaAngles(const Vector& msr_gyro_t, const double msr_dt, - const Vector3& delta_angles); - - private: - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation); - ar & BOOST_SERIALIZATION_NVP(biasHat_); - } - }; + /// @deprecated constructor + PreintegratedAhrsMeasurements(const Vector3& biasHat, + const Matrix3& measuredOmegaCovariance) + : PreintegratedRotation(boost::make_shared()), + biasHat_(biasHat) { + resetIntegration(); + } private: + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation); + ar & BOOST_SERIALIZATION_NVP(p_); + ar & BOOST_SERIALIZATION_NVP(biasHat_); + } +}; + +class GTSAM_EXPORT AHRSFactor: public NoiseModelFactor3 { + typedef AHRSFactor This; typedef NoiseModelFactor3 Base; - PreintegratedMeasurements _PIM_; - Vector3 gravity_; - Vector3 omegaCoriolis_; ///< Controls whether higher order terms are included when calculating the Coriolis Effect - boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame + PreintegratedAhrsMeasurements _PIM_; + + /** Default constructor - only use for serialization */ + AHRSFactor() {} public: @@ -121,22 +122,15 @@ public: typedef boost::shared_ptr shared_ptr; #endif - /** Default constructor - only use for serialization */ - AHRSFactor(); - /** * Constructor * @param rot_i previous rot key * @param rot_j current rot key * @param bias previous bias key * @param preintegratedMeasurements preintegrated measurements - * @param omegaCoriolis rotation rate of the inertial frame - * @param body_P_sensor Optional pose of the sensor frame in the body frame */ AHRSFactor(Key rot_i, Key rot_j, Key bias, - const PreintegratedMeasurements& preintegratedMeasurements, - const Vector3& omegaCoriolis, - boost::optional body_P_sensor = boost::none); + const PreintegratedAhrsMeasurements& preintegratedMeasurements); virtual ~AHRSFactor() { } @@ -152,14 +146,10 @@ public: virtual bool equals(const NonlinearFactor&, double tol = 1e-9) const; /// Access the preintegrated measurements. - const PreintegratedMeasurements& preintegratedMeasurements() const { + const PreintegratedAhrsMeasurements& preintegratedMeasurements() const { return _PIM_; } - const Vector3& omegaCoriolis() const { - return omegaCoriolis_; - } - /** implement functions needed to derive from Factor */ /// vector of errors @@ -169,10 +159,25 @@ public: boost::none) const; /// predicted states from IMU + /// TODO(frank): relationship with PIM predict ?? + static Rot3 Predict( + const Rot3& rot_i, const Vector3& bias, + const PreintegratedAhrsMeasurements preintegratedMeasurements); + + /// @deprecated name + typedef PreintegratedAhrsMeasurements PreintegratedMeasurements; + + /// @deprecated constructor + AHRSFactor(Key rot_i, Key rot_j, Key bias, + const PreintegratedMeasurements& preintegratedMeasurements, + const Vector3& omegaCoriolis, + const boost::optional& body_P_sensor = boost::none); + + /// @deprecated static function static Rot3 predict(const Rot3& rot_i, const Vector3& bias, const PreintegratedMeasurements preintegratedMeasurements, const Vector3& omegaCoriolis, - boost::optional body_P_sensor = boost::none); + const boost::optional& body_P_sensor = boost::none); private: @@ -184,13 +189,9 @@ private: & boost::serialization::make_nvp("NoiseModelFactor3", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(_PIM_); - ar & BOOST_SERIALIZATION_NVP(omegaCoriolis_); - ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // AHRSFactor -typedef AHRSFactor::PreintegratedMeasurements AHRSFactorPreintegratedMeasurements; - } //namespace gtsam diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 1db2f1861..c1ec7f361 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -29,53 +29,30 @@ namespace gtsam { using namespace std; //------------------------------------------------------------------------------ -// Inner class CombinedPreintegratedMeasurements +// Inner class PreintegratedCombinedMeasurements //------------------------------------------------------------------------------ -CombinedImuFactor::CombinedPreintegratedMeasurements::CombinedPreintegratedMeasurements( - const imuBias::ConstantBias& bias, const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3& integrationErrorCovariance, const Matrix3& biasAccCovariance, - const Matrix3& biasOmegaCovariance, const Matrix& biasAccOmegaInit, - const bool use2ndOrderIntegration) : - PreintegrationBase(bias, measuredAccCovariance, measuredOmegaCovariance, - integrationErrorCovariance, use2ndOrderIntegration), biasAccCovariance_( - biasAccCovariance), biasOmegaCovariance_(biasOmegaCovariance), biasAccOmegaInit_( - biasAccOmegaInit) { - preintMeasCov_.setZero(); -} - -//------------------------------------------------------------------------------ -void CombinedImuFactor::CombinedPreintegratedMeasurements::print( +void PreintegratedCombinedMeasurements::print( const string& s) const { PreintegrationBase::print(s); - cout << " biasAccCovariance [ " << biasAccCovariance_ << " ]" << endl; - cout << " biasOmegaCovariance [ " << biasOmegaCovariance_ << " ]" << endl; - cout << " biasAccOmegaInit [ " << biasAccOmegaInit_ << " ]" << endl; cout << " preintMeasCov [ " << preintMeasCov_ << " ]" << endl; } //------------------------------------------------------------------------------ -bool CombinedImuFactor::CombinedPreintegratedMeasurements::equals( - const CombinedPreintegratedMeasurements& expected, double tol) const { - return equal_with_abs_tol(biasAccCovariance_, expected.biasAccCovariance_, - tol) - && equal_with_abs_tol(biasOmegaCovariance_, expected.biasOmegaCovariance_, - tol) - && equal_with_abs_tol(biasAccOmegaInit_, expected.biasAccOmegaInit_, tol) - && equal_with_abs_tol(preintMeasCov_, expected.preintMeasCov_, tol) - && PreintegrationBase::equals(expected, tol); +bool PreintegratedCombinedMeasurements::equals( + const PreintegratedCombinedMeasurements& other, double tol) const { + return PreintegrationBase::equals(other, tol) && + equal_with_abs_tol(preintMeasCov_, other.preintMeasCov_, tol); } //------------------------------------------------------------------------------ -void CombinedImuFactor::CombinedPreintegratedMeasurements::resetIntegration() { +void PreintegratedCombinedMeasurements::resetIntegration() { PreintegrationBase::resetIntegration(); preintMeasCov_.setZero(); } //------------------------------------------------------------------------------ -void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( +void PreintegratedCombinedMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - boost::optional body_P_sensor, boost::optional F_test, boost::optional G_test) { // NOTE: order is important here because each update uses old values, e.g., velocity and position updates are based on previous rotation estimate. @@ -83,7 +60,7 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( Vector3 correctedAcc, correctedOmega; correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, - correctedAcc, correctedOmega, body_P_sensor); + &correctedAcc, &correctedOmega); const Vector3 integratedOmega = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr @@ -91,20 +68,19 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( // Update Jacobians /* ----------------------------------------------------------------------------------------------------------------------- */ - updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, - deltaT); + updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); // Update preintegrated measurements covariance: as in [2] we consider a first order propagation that // can be seen as a prediction phase in an EKF framework. In this implementation, contrarily to [2] we // consider the uncertainty of the bias selection and we keep correlation between biases and preintegrated measurements /* ----------------------------------------------------------------------------------------------------------------------- */ - const Matrix3 R_i = deltaRij(); // store this + const Matrix3 dRij = deltaRij().matrix(); // expensive when quaternion // Update preintegrated measurements. TODO Frank moved from end of this function !!! Matrix9 F_9x9; updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F_9x9); // Single Jacobians to propagate covariance - Matrix3 H_vel_biasacc = -R_i * deltaT; + Matrix3 H_vel_biasacc = -dRij * deltaT; Matrix3 H_angles_biasomega = -D_Rincr_integratedOmega * deltaT; // overall Jacobian wrt preintegrated measurements (df/dx) @@ -127,18 +103,18 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( G_measCov_Gt.setZero(15, 15); // BLOCK DIAGONAL TERMS - G_measCov_Gt.block<3, 3>(0, 0) = deltaT * integrationCovariance(); + G_measCov_Gt.block<3, 3>(0, 0) = deltaT * p().integrationCovariance; G_measCov_Gt.block<3, 3>(3, 3) = (1 / deltaT) * (H_vel_biasacc) - * (accelerometerCovariance() + biasAccOmegaInit_.block<3, 3>(0, 0)) + * (p().accelerometerCovariance + p().biasAccOmegaInit.block<3, 3>(0, 0)) * (H_vel_biasacc.transpose()); G_measCov_Gt.block<3, 3>(6, 6) = (1 / deltaT) * (H_angles_biasomega) - * (gyroscopeCovariance() + biasAccOmegaInit_.block<3, 3>(3, 3)) + * (p().gyroscopeCovariance + p().biasAccOmegaInit.block<3, 3>(3, 3)) * (H_angles_biasomega.transpose()); - G_measCov_Gt.block<3, 3>(9, 9) = (1 / deltaT) * biasAccCovariance_; - G_measCov_Gt.block<3, 3>(12, 12) = (1 / deltaT) * biasOmegaCovariance_; + G_measCov_Gt.block<3, 3>(9, 9) = (1 / deltaT) * p().biasAccCovariance; + G_measCov_Gt.block<3, 3>(12, 12) = (1 / deltaT) * p().biasOmegaCovariance; // OFF BLOCK DIAGONAL TERMS - Matrix3 block23 = H_vel_biasacc * biasAccOmegaInit_.block<3, 3>(3, 0) + Matrix3 block23 = H_vel_biasacc * p().biasAccOmegaInit.block<3, 3>(3, 0) * H_angles_biasomega.transpose(); G_measCov_Gt.block<3, 3>(3, 6) = block23; G_measCov_Gt.block<3, 3>(6, 3) = block23.transpose(); @@ -162,26 +138,35 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( } } +//------------------------------------------------------------------------------ +PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements( + const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, + const Matrix3& measuredOmegaCovariance, + const Matrix3& integrationErrorCovariance, const Matrix3& biasAccCovariance, + const Matrix3& biasOmegaCovariance, const Matrix6& biasAccOmegaInit, + const bool use2ndOrderIntegration) { + biasHat_ = biasHat; + boost::shared_ptr p = boost::make_shared(); + p->gyroscopeCovariance = measuredOmegaCovariance; + p->accelerometerCovariance = measuredAccCovariance; + p->integrationCovariance = integrationErrorCovariance; + p->biasAccCovariance = biasAccCovariance; + p->biasOmegaCovariance = biasOmegaCovariance; + p->biasAccOmegaInit = biasAccOmegaInit; + p->use2ndOrderIntegration = use2ndOrderIntegration; + p_ = p; + resetIntegration(); + preintMeasCov_.setZero(); +} //------------------------------------------------------------------------------ // CombinedImuFactor methods //------------------------------------------------------------------------------ -CombinedImuFactor::CombinedImuFactor() : - ImuFactorBase(), _PIM_(imuBias::ConstantBias(), Z_3x3, Z_3x3, Z_3x3, Z_3x3, - Z_3x3, Z_6x6) { -} - -//------------------------------------------------------------------------------ -CombinedImuFactor::CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, - Key vel_j, Key bias_i, Key bias_j, - const CombinedPreintegratedMeasurements& preintegratedMeasurements, - const Vector3& gravity, const Vector3& omegaCoriolis, - boost::optional body_P_sensor, const bool use2ndOrderCoriolis) : - Base( - noiseModel::Gaussian::Covariance( - preintegratedMeasurements.preintMeasCov_), pose_i, vel_i, pose_j, - vel_j, bias_i, bias_j), ImuFactorBase(gravity, omegaCoriolis, - body_P_sensor, use2ndOrderCoriolis), _PIM_(preintegratedMeasurements) { -} +CombinedImuFactor::CombinedImuFactor( + Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, + const PreintegratedCombinedMeasurements& pim) + : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, + pose_j, vel_j, bias_i, bias_j), + _PIM_(pim) {} //------------------------------------------------------------------------------ gtsam::NonlinearFactor::shared_ptr CombinedImuFactor::clone() const { @@ -196,17 +181,14 @@ void CombinedImuFactor::print(const string& s, << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << "," << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) << "," << keyFormatter(this->key6()) << ")\n"; - ImuFactorBase::print(""); _PIM_.print(" preintegrated measurements:"); this->noiseModel_->print(" noise model: "); } //------------------------------------------------------------------------------ -bool CombinedImuFactor::equals(const NonlinearFactor& expected, - double tol) const { - const This *e = dynamic_cast(&expected); - return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol) - && ImuFactorBase::equals(*e, tol); +bool CombinedImuFactor::equals(const NonlinearFactor& other, double tol) const { + const This* e = dynamic_cast(&other); + return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol); } //------------------------------------------------------------------------------ @@ -226,8 +208,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, Matrix93 D_r_vel_i, D_r_vel_j; // error wrt preintegrated measurements - Vector9 r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, - bias_i, gravity_, omegaCoriolis_, use2ndOrderCoriolis_, + Vector9 r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i, H1 ? &D_r_pose_i : 0, H2 ? &D_r_vel_i : 0, H3 ? &D_r_pose_j : 0, H4 ? &D_r_vel_j : 0, H5 ? &D_r_bias_i : 0); @@ -275,4 +256,42 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, return r; } +//------------------------------------------------------------------------------ +CombinedImuFactor::CombinedImuFactor( + Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, + const CombinedPreintegratedMeasurements& pim, const Vector3& gravity, + const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, + const bool use2ndOrderCoriolis) + : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, + pose_j, vel_j, bias_i, bias_j), + _PIM_(pim) { + boost::shared_ptr p = + boost::make_shared(pim.p()); + p->gravity = gravity; + p->omegaCoriolis = omegaCoriolis; + p->body_P_sensor = body_P_sensor; + p->use2ndOrderCoriolis = use2ndOrderCoriolis; + _PIM_.p_ = p; +} +//------------------------------------------------------------------------------ +void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, + Pose3& pose_j, Vector3& vel_j, + const imuBias::ConstantBias& bias_i, + const CombinedPreintegratedMeasurements& pim, + const Vector3& gravity, + const Vector3& omegaCoriolis, + const bool use2ndOrderCoriolis) { + // NOTE(frank): hack below only for backward compatibility + boost::shared_ptr p = + boost::make_shared(pim.p()); + p->gravity = gravity; + p->omegaCoriolis = omegaCoriolis; + p->use2ndOrderCoriolis = use2ndOrderCoriolis; + CombinedPreintegratedMeasurements newPim = pim; + newPim.p_ = p; + PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i); + pose_j = pvb.pose; + vel_j = pvb.velocity; +} + } /// namespace gtsam diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 7fdafd8ce..a70d1d24f 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -24,13 +24,113 @@ /* GTSAM includes */ #include #include -#include -#include +#include namespace gtsam { /** - * + * PreintegratedCombinedMeasurements integrates the IMU measurements + * (rotation rates and accelerations) and the corresponding covariance matrix. + * The measurements are then used to build the CombinedImuFactor. Integration + * is done incrementally (ideally, one integrates the measurement as soon as + * it is received from the IMU) so as to avoid costly integration at time of + * factor construction. + */ +class PreintegratedCombinedMeasurements : public PreintegrationBase { + + /// Parameters for pre-integration: + /// Usage: Create just a single Params and pass a shared pointer to the constructor + struct Params : PreintegrationBase::Params { + Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk + Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk + Matrix6 biasAccOmegaInit; ///< covariance of bias used for pre-integration + + Params():biasAccCovariance(I_3x3), biasOmegaCovariance(I_3x3), biasAccOmegaInit(I_6x6) {} + + private: + /** 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(biasAccOmegaInit); + } + }; + + protected: + /* Covariance matrix of the preintegrated measurements + * COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION BiasAcc BiasOmega] + * (first-order propagation from *measurementCovariance*). + * PreintegratedCombinedMeasurements also include the biases and keep the correlation + * between the preintegrated measurements and the biases + */ + Eigen::Matrix preintMeasCov_; + + PreintegratedCombinedMeasurements() {} + + friend class CombinedImuFactor; + + public: + /** + * Default constructor, initializes the class with no measurements + * @param bias Current estimate of acceleration and rotation rate biases + */ + PreintegratedCombinedMeasurements(const boost::shared_ptr& p, + const imuBias::ConstantBias& biasHat) + : PreintegrationBase(p, biasHat) { + preintMeasCov_.setZero(); + } + + const Params& p() const { return *boost::static_pointer_cast(p_);} + + /// print + void print(const std::string& s = "Preintegrated Measurements:") const; + + /// equals + bool equals(const PreintegratedCombinedMeasurements& expected, + double tol = 1e-9) const; + + /// Re-initialize PreintegratedCombinedMeasurements + void resetIntegration(); + + /** + * Add a single IMU measurement to the preintegration. + * @param measuredAcc Measured acceleration (in body frame, as given by the + * sensor) + * @param measuredOmega Measured angular velocity (as given by the sensor) + * @param deltaT Time interval between two consecutive IMU measurements + * @param body_P_sensor Optional sensor frame (pose of the IMU in the body + * frame) + */ + void integrateMeasurement( + const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, + boost::optional F_test = boost::none, + boost::optional G_test = boost::none); + + /// methods to access class variables + Matrix preintMeasCov() const { return preintMeasCov_; } + + /// deprecated constructor + PreintegratedCombinedMeasurements(const imuBias::ConstantBias& biasHat, + const Matrix3& measuredAccCovariance, + const Matrix3& measuredOmegaCovariance, + const Matrix3& integrationErrorCovariance, + const Matrix3& biasAccCovariance, const Matrix3& biasOmegaCovariance, + const Matrix6& biasAccOmegaInit, const bool use2ndOrderIntegration = false); + + private: + /// Serialization function + friend class boost::serialization::access; + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); + ar& BOOST_SERIALIZATION_NVP(preintMeasCov_); + } +}; + +/** * @addtogroup SLAM * * If you are using the factor, please cite: @@ -46,14 +146,12 @@ namespace gtsam { * TRO, 28(1):61-76, 2012. * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: * Computation of the Jacobian Matrices", Tech. Report, 2013. - */ - -/** + * * CombinedImuFactor is a 6-ways factor involving previous state (pose and * velocity of the vehicle, as well as bias at previous time step), and current * state (pose, velocity, bias at current time step). Following the pre- * integration scheme proposed in [2], the CombinedImuFactor includes many IMU - * measurements, which are "summarized" using the CombinedPreintegratedMeasurements + * measurements, which are "summarized" using the PreintegratedCombinedMeasurements * class. There are 3 main differences wrpt the ImuFactor class: * 1) The factor is 6-ways, meaning that it also involves both biases (previous * and current time step).Therefore, the factor internally imposes the biases @@ -61,105 +159,24 @@ namespace gtsam { * "biasOmegaCovariance" described the random walk that models bias evolution. * 2) The preintegration covariance takes into account the noise in the bias * estimate used for integration. - * 3) The covariance matrix of the CombinedPreintegratedMeasurements preserves + * 3) The covariance matrix of the PreintegratedCombinedMeasurements preserves * the correlation between the bias uncertainty and the preintegrated * measurements uncertainty. */ class CombinedImuFactor: public NoiseModelFactor6, public ImuFactorBase { + Vector3, imuBias::ConstantBias, imuBias::ConstantBias> { public: - /** - * CombinedPreintegratedMeasurements integrates the IMU measurements - * (rotation rates and accelerations) and the corresponding covariance matrix. - * The measurements are then used to build the CombinedImuFactor. Integration - * is done incrementally (ideally, one integrates the measurement as soon as - * it is received from the IMU) so as to avoid costly integration at time of - * factor construction. - */ - class CombinedPreintegratedMeasurements: public PreintegrationBase { - - friend class CombinedImuFactor; - - protected: - - Matrix3 biasAccCovariance_; ///< continuous-time "Covariance" describing accelerometer bias random walk - Matrix3 biasOmegaCovariance_; ///< continuous-time "Covariance" describing gyroscope bias random walk - Matrix6 biasAccOmegaInit_; ///< covariance of bias used for pre-integration - - Eigen::Matrix preintMeasCov_; ///< Covariance matrix of the preintegrated measurements - ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION BiasAcc BiasOmega] - ///< (first-order propagation from *measurementCovariance*). CombinedPreintegratedMeasurements also include the biases and keep the correlation - ///< between the preintegrated measurements and the biases - - public: - - /** - * Default constructor, initializes the class with no measurements - * @param bias Current estimate of acceleration and rotation rate biases - * @param measuredAccCovariance Covariance matrix of measuredAcc - * @param measuredOmegaCovariance Covariance matrix of measured Angular Rate - * @param integrationErrorCovariance Covariance matrix of integration errors (velocity -> position) - * @param biasAccCovariance Covariance matrix of biasAcc (random walk describing BIAS evolution) - * @param biasOmegaCovariance Covariance matrix of biasOmega (random walk describing BIAS evolution) - * @param biasAccOmegaInit Covariance of biasAcc & biasOmega when preintegrating measurements - * @param use2ndOrderIntegration Controls the order of integration - * (if false: p(t+1) = p(t) + v(t) deltaT ; if true: p(t+1) = p(t) + v(t) deltaT + 0.5 * acc(t) deltaT^2) - */ - CombinedPreintegratedMeasurements(const imuBias::ConstantBias& bias, - const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3& integrationErrorCovariance, - const Matrix3& biasAccCovariance, const Matrix3& biasOmegaCovariance, - const Matrix& biasAccOmegaInit, const bool use2ndOrderIntegration = - false); - - /// print - void print(const std::string& s = "Preintegrated Measurements:") const; - - /// equals - bool equals(const CombinedPreintegratedMeasurements& expected, double tol = - 1e-9) const; - - /// Re-initialize CombinedPreintegratedMeasurements - void resetIntegration(); - - /** - * Add a single IMU measurement to the preintegration. - * @param measuredAcc Measured acceleration (in body frame, as given by the sensor) - * @param measuredOmega Measured angular velocity (as given by the sensor) - * @param deltaT Time interval between two consecutive IMU measurements - * @param body_P_sensor Optional sensor frame (pose of the IMU in the body frame) - */ - void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double deltaT, - boost::optional body_P_sensor = boost::none, - boost::optional F_test = boost::none, - boost::optional G_test = boost::none); - - /// methods to access class variables - Matrix preintMeasCov() const { - return preintMeasCov_; - } - - private: - - /// Serialization function - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); - ar & BOOST_SERIALIZATION_NVP(preintMeasCov_); - } - }; - private: typedef CombinedImuFactor This; typedef NoiseModelFactor6 Base; - CombinedPreintegratedMeasurements _PIM_; + PreintegratedCombinedMeasurements _PIM_; + + /** Default constructor - only use for serialization */ + CombinedImuFactor() {} public: @@ -170,9 +187,6 @@ public: typedef boost::shared_ptr shared_ptr; #endif - /** Default constructor - only use for serialization */ - CombinedImuFactor(); - /** * Constructor * @param pose_i Previous pose key @@ -181,21 +195,13 @@ public: * @param vel_j Current velocity key * @param bias_i Previous bias key * @param bias_j Current bias key - * @param CombinedPreintegratedMeasurements CombinedPreintegratedMeasurements IMU measurements - * @param gravity Gravity vector expressed in the global frame - * @param omegaCoriolis Rotation rate of the global frame w.r.t. an inertial frame - * @param body_P_sensor Optional pose of the sensor frame in the body frame - * @param use2ndOrderCoriolis When true, the second-order term is used in the calculation of the Coriolis Effect + * @param PreintegratedCombinedMeasurements Combined IMU measurements */ - CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, - Key bias_j, - const CombinedPreintegratedMeasurements& preintegratedMeasurements, - const Vector3& gravity, const Vector3& omegaCoriolis, - boost::optional body_P_sensor = boost::none, - const bool use2ndOrderCoriolis = false); + CombinedImuFactor( + Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, + const PreintegratedCombinedMeasurements& preintegratedMeasurements); - virtual ~CombinedImuFactor() { - } + virtual ~CombinedImuFactor() {} /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const; @@ -211,7 +217,7 @@ public: /** Access the preintegrated measurements. */ - const CombinedPreintegratedMeasurements& preintegratedMeasurements() const { + const PreintegratedCombinedMeasurements& preintegratedMeasurements() const { return _PIM_; } @@ -226,16 +232,22 @@ public: boost::optional H4 = boost::none, boost::optional H5 = boost::none, boost::optional H6 = boost::none) const; - // @deprecated The following function has been deprecated, use PreintegrationBase::predict + /// @deprecated typename + typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements; + + /// @deprecated constructor + CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, + Key bias_j, const CombinedPreintegratedMeasurements& pim, + const Vector3& gravity, const Vector3& omegaCoriolis, + const boost::optional& body_P_sensor = boost::none, + const bool use2ndOrderCoriolis = false); + + // @deprecated use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, - Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const CombinedPreintegratedMeasurements& PIM, const Vector3& gravity, - const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) { - PoseVelocityBias PVB = PIM.predict(pose_i, vel_i, bias_i, gravity, - omegaCoriolis, use2ndOrderCoriolis); - pose_j = PVB.pose; - vel_j = PVB.velocity; - } + Vector3& vel_j, const imuBias::ConstantBias& bias_i, + const CombinedPreintegratedMeasurements& pim, + const Vector3& gravity, const Vector3& omegaCoriolis, + const bool use2ndOrderCoriolis = false); private: @@ -246,13 +258,8 @@ private: ar & boost::serialization::make_nvp("NoiseModelFactor6", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(_PIM_); - ar & BOOST_SERIALIZATION_NVP(gravity_); - ar & BOOST_SERIALIZATION_NVP(omegaCoriolis_); - ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // class CombinedImuFactor -typedef CombinedImuFactor::CombinedPreintegratedMeasurements CombinedImuFactorPreintegratedMeasurements; - } /// namespace gtsam diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 17c68139c..024bdd65e 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -31,43 +31,32 @@ using namespace std; //------------------------------------------------------------------------------ // Inner class PreintegratedMeasurements //------------------------------------------------------------------------------ -ImuFactor::PreintegratedMeasurements::PreintegratedMeasurements( - const imuBias::ConstantBias& bias, const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3& integrationErrorCovariance, - const bool use2ndOrderIntegration) : - PreintegrationBase(bias, measuredAccCovariance, measuredOmegaCovariance, - integrationErrorCovariance, use2ndOrderIntegration) { - preintMeasCov_.setZero(); -} - -//------------------------------------------------------------------------------ -void ImuFactor::PreintegratedMeasurements::print(const string& s) const { +void PreintegratedImuMeasurements::print(const string& s) const { PreintegrationBase::print(s); } //------------------------------------------------------------------------------ -bool ImuFactor::PreintegratedMeasurements::equals( - const PreintegratedMeasurements& expected, double tol) const { - return equal_with_abs_tol(preintMeasCov_, expected.preintMeasCov_, tol) - && PreintegrationBase::equals(expected, tol); +bool PreintegratedImuMeasurements::equals( + const PreintegratedImuMeasurements& other, double tol) const { + return PreintegrationBase::equals(other, tol) && + equal_with_abs_tol(preintMeasCov_, other.preintMeasCov_, tol); } //------------------------------------------------------------------------------ -void ImuFactor::PreintegratedMeasurements::resetIntegration() { +void PreintegratedImuMeasurements::resetIntegration() { PreintegrationBase::resetIntegration(); preintMeasCov_.setZero(); } //------------------------------------------------------------------------------ -void ImuFactor::PreintegratedMeasurements::integrateMeasurement( +void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - boost::optional body_P_sensor, OptionalJacobian<9, 9> F_test, + OptionalJacobian<9, 9> F_test, OptionalJacobian<9, 9> G_test) { Vector3 correctedAcc, correctedOmega; correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, - correctedAcc, correctedOmega, body_P_sensor); + &correctedAcc, &correctedOmega); // rotation increment computed from the current rotation rate measurement const Vector3 integratedOmega = correctedOmega * deltaT; @@ -79,7 +68,7 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement( updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); // Update preintegrated measurements (also get Jacobian) - const Matrix3 R_i = deltaRij(); // store this, which is useful to compute G_test + const Matrix3 dRij = deltaRij().matrix(); // store this, which is useful to compute G_test Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F); @@ -92,18 +81,18 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement( // NOTE 2: computation of G * (1/deltaT) * measurementCovariance * G.transpose() done block-wise, // as G and measurementCovariance are block-diagonal matrices preintMeasCov_ = F * preintMeasCov_ * F.transpose(); - preintMeasCov_.block<3, 3>(0, 0) += integrationCovariance() * deltaT; - preintMeasCov_.block<3, 3>(3, 3) += R_i * accelerometerCovariance() - * R_i.transpose() * deltaT; + preintMeasCov_.block<3, 3>(0, 0) += p().integrationCovariance * deltaT; + preintMeasCov_.block<3, 3>(3, 3) += dRij * p().accelerometerCovariance + * dRij.transpose() * deltaT; preintMeasCov_.block<3, 3>(6, 6) += D_Rincr_integratedOmega - * gyroscopeCovariance() * D_Rincr_integratedOmega.transpose() * deltaT; + * p().gyroscopeCovariance * D_Rincr_integratedOmega.transpose() * deltaT; Matrix3 F_pos_noiseacc; - if (use2ndOrderIntegration()) { - F_pos_noiseacc = 0.5 * R_i * deltaT * deltaT; + if (p().use2ndOrderIntegration) { + F_pos_noiseacc = 0.5 * dRij * deltaT * deltaT; preintMeasCov_.block<3, 3>(0, 0) += (1 / deltaT) * F_pos_noiseacc - * accelerometerCovariance() * F_pos_noiseacc.transpose(); - Matrix3 temp = F_pos_noiseacc * accelerometerCovariance() * R_i.transpose(); // has 1/deltaT + * p().accelerometerCovariance * F_pos_noiseacc.transpose(); + Matrix3 temp = F_pos_noiseacc * p().accelerometerCovariance * dRij.transpose(); // has 1/deltaT preintMeasCov_.block<3, 3>(0, 3) += temp; preintMeasCov_.block<3, 3>(3, 0) += temp.transpose(); } @@ -114,34 +103,40 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement( } if (G_test) { // This in only for testing & documentation, while the actual computation is done block-wise - if (!use2ndOrderIntegration()) + if (!p().use2ndOrderIntegration) F_pos_noiseacc = Z_3x3; // intNoise accNoise omegaNoise (*G_test) << I_3x3 * deltaT, F_pos_noiseacc, Z_3x3, // pos - Z_3x3, R_i * deltaT, Z_3x3, // vel + Z_3x3, dRij * deltaT, Z_3x3, // vel Z_3x3, Z_3x3, D_Rincr_integratedOmega * deltaT; // angle } } +//------------------------------------------------------------------------------ +PreintegratedImuMeasurements::PreintegratedImuMeasurements( + const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, + const Matrix3& measuredOmegaCovariance, + const Matrix3& integrationErrorCovariance, + const bool use2ndOrderIntegration) + { + biasHat_ = biasHat; + boost::shared_ptr p = boost::make_shared(); + p->gyroscopeCovariance = measuredOmegaCovariance; + p->accelerometerCovariance = measuredAccCovariance; + p->integrationCovariance = integrationErrorCovariance; + p->use2ndOrderIntegration = use2ndOrderIntegration; + p_ = p; + resetIntegration(); +} //------------------------------------------------------------------------------ // ImuFactor methods -//------------------------------------------------------------------------------ -ImuFactor::ImuFactor() : - ImuFactorBase(), _PIM_(imuBias::ConstantBias(), Z_3x3, Z_3x3, Z_3x3) { -} - //------------------------------------------------------------------------------ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, - const PreintegratedMeasurements& preintegratedMeasurements, - const Vector3& gravity, const Vector3& omegaCoriolis, - boost::optional body_P_sensor, const bool use2ndOrderCoriolis) : - Base( - noiseModel::Gaussian::Covariance( - preintegratedMeasurements.preintMeasCov_), pose_i, vel_i, pose_j, - vel_j, bias), ImuFactorBase(gravity, omegaCoriolis, body_P_sensor, - use2ndOrderCoriolis), _PIM_(preintegratedMeasurements) { -} + const PreintegratedImuMeasurements& pim) + : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, + pose_j, vel_j, bias), + _PIM_(pim) {} //------------------------------------------------------------------------------ gtsam::NonlinearFactor::shared_ptr ImuFactor::clone() const { @@ -155,17 +150,17 @@ void ImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const { << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << "," << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) << ")\n"; - ImuFactorBase::print(""); + Base::print(""); _PIM_.print(" preintegrated measurements:"); // Print standard deviations on covariance only cout << " noise model sigmas: " << this->noiseModel_->sigmas().transpose() << endl; } //------------------------------------------------------------------------------ -bool ImuFactor::equals(const NonlinearFactor& expected, double tol) const { - const This *e = dynamic_cast(&expected); +bool ImuFactor::equals(const NonlinearFactor& other, double tol) const { + const This *e = dynamic_cast(&other); return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol) - && ImuFactorBase::equals(*e, tol); + && Base::equals(*e, tol); } //------------------------------------------------------------------------------ @@ -174,9 +169,46 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, boost::optional H1, boost::optional H2, boost::optional H3, boost::optional H4, boost::optional H5) const { - return _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i, - gravity_, omegaCoriolis_, use2ndOrderCoriolis_, H1, H2, H3, H4, H5); + H1, H2, H3, H4, H5); +} + +//------------------------------------------------------------------------------ +ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, + const PreintegratedMeasurements& pim, + const Vector3& gravity, const Vector3& omegaCoriolis, + const boost::optional& body_P_sensor, + const bool use2ndOrderCoriolis) + : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, + pose_j, vel_j, bias), + _PIM_(pim) { + boost::shared_ptr p = + boost::make_shared(pim.p()); + p->gravity = gravity; + p->omegaCoriolis = omegaCoriolis; + p->body_P_sensor = body_P_sensor; + p->use2ndOrderCoriolis = use2ndOrderCoriolis; + _PIM_.p_ = p; +} + +//------------------------------------------------------------------------------ +void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, + Pose3& pose_j, Vector3& vel_j, + const imuBias::ConstantBias& bias_i, + const PreintegratedMeasurements& pim, + const Vector3& gravity, const Vector3& omegaCoriolis, + const bool use2ndOrderCoriolis) { + // NOTE(frank): hack below only for backward compatibility + boost::shared_ptr p = + boost::make_shared(pim.p()); + p->gravity = gravity; + p->omegaCoriolis = omegaCoriolis; + p->use2ndOrderCoriolis = use2ndOrderCoriolis; + PreintegratedMeasurements newPim = pim; + newPim.p_ = p; + PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i); + pose_j = pvb.pose; + vel_j = pvb.velocity; } } // namespace gtsam diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 57f4d0e89..eb94675fa 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -24,11 +24,86 @@ /* GTSAM includes */ #include #include -#include #include namespace gtsam { +/** + * 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 + * as soon as it is received from the IMU) so as to avoid costly integration + * at time of factor construction. + */ +class PreintegratedImuMeasurements: public PreintegrationBase { + + friend class ImuFactor; + +protected: + + Eigen::Matrix preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION] + ///< (first-order propagation from *measurementCovariance*). + + /// Default constructor for serialization + PreintegratedImuMeasurements() {} + +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 + */ + PreintegratedImuMeasurements(const boost::shared_ptr& p, + const imuBias::ConstantBias& biasHat) : + PreintegrationBase(p,biasHat) { + preintMeasCov_.setZero(); + } + + /// print + void print(const std::string& s = "Preintegrated Measurements:") const; + + /// equals + bool equals(const PreintegratedImuMeasurements& expected, + double tol = 1e-9) const; + + /// Re-initialize PreintegratedIMUMeasurements + void resetIntegration(); + + /** + * Add a single IMU measurement to the preintegration. + * @param measuredAcc Measured acceleration (in body frame, as given by the sensor) + * @param measuredOmega Measured angular velocity (as given by the sensor) + * @param deltaT Time interval between this and the last IMU measurement + * @param body_P_sensor Optional sensor frame (pose of the IMU in the body frame) + * @param Fout, Gout Jacobians used internally (only needed for testing) + */ + void integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, double deltaT, + OptionalJacobian<9, 9> Fout = boost::none, OptionalJacobian<9, 9> Gout = boost::none); + + /// Return pre-integrated measurement covariance + Matrix preintMeasCov() const { return preintMeasCov_; } + + /// @deprecated constructor + PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, + const Matrix3& measuredAccCovariance, + const Matrix3& measuredOmegaCovariance, + const Matrix3& integrationErrorCovariance, + const bool use2ndOrderIntegration = false); + +private: + + /// Serialization function + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); + ar & BOOST_SERIALIZATION_NVP(preintMeasCov_); + } +}; + /** * * @addtogroup SLAM @@ -53,96 +128,22 @@ namespace gtsam { * the vehicle at previous time step), current state (pose and velocity at * current time step), and the bias estimate. Following the preintegration * scheme proposed in [2], the ImuFactor includes many IMU measurements, which - * are "summarized" using the PreintegratedMeasurements class. + * are "summarized" using the PreintegratedIMUMeasurements class. * Note that this factor does not model "temporal consistency" of the biases * (which are usually slowly varying quantities), which is up to the caller. * See also CombinedImuFactor for a class that does this for you. */ class ImuFactor: public NoiseModelFactor5, public ImuFactorBase { + imuBias::ConstantBias> { public: - /** - * PreintegratedMeasurements 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 - * as soon as it is received from the IMU) so as to avoid costly integration - * at time of factor construction. - */ - class PreintegratedMeasurements: public PreintegrationBase { - - friend class ImuFactor; - - protected: - - Eigen::Matrix preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION] - ///< (first-order propagation from *measurementCovariance*). - - public: - - /** - * Default constructor, initializes the class with no measurements - * @param bias Current estimate of acceleration and rotation rate biases - * @param measuredAccCovariance Covariance matrix of measuredAcc - * @param measuredOmegaCovariance Covariance matrix of measured Angular Rate - * @param integrationErrorCovariance Covariance matrix of integration errors (velocity -> position) - * @param use2ndOrderIntegration Controls the order of integration - * (if false: p(t+1) = p(t) + v(t) deltaT ; if true: p(t+1) = p(t) + v(t) deltaT + 0.5 * acc(t) deltaT^2) - */ - PreintegratedMeasurements(const imuBias::ConstantBias& bias, - const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3& integrationErrorCovariance, - const bool use2ndOrderIntegration = false); - - /// print - void print(const std::string& s = "Preintegrated Measurements:") const; - - /// equals - bool equals(const PreintegratedMeasurements& expected, - double tol = 1e-9) const; - - /// Re-initialize PreintegratedMeasurements - void resetIntegration(); - - /** - * Add a single IMU measurement to the preintegration. - * @param measuredAcc Measured acceleration (in body frame, as given by the sensor) - * @param measuredOmega Measured angular velocity (as given by the sensor) - * @param deltaT Time interval between this and the last IMU measurement - * @param body_P_sensor Optional sensor frame (pose of the IMU in the body frame) - * @param Fout, Gout Jacobians used internally (only needed for testing) - */ - void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double deltaT, - boost::optional body_P_sensor = boost::none, - OptionalJacobian<9, 9> Fout = boost::none, OptionalJacobian<9, 9> Gout = - boost::none); - - /// methods to access class variables - Matrix preintMeasCov() const { - return preintMeasCov_; - } - - private: - - /// Serialization function - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); - ar & BOOST_SERIALIZATION_NVP(preintMeasCov_); - } - }; - private: typedef ImuFactor This; typedef NoiseModelFactor5 Base; - PreintegratedMeasurements _PIM_; + PreintegratedImuMeasurements _PIM_; public: @@ -163,17 +164,9 @@ public: * @param pose_j Current pose key * @param vel_j Current velocity key * @param bias Previous bias key - * @param preintegratedMeasurements Preintegrated IMU measurements - * @param gravity Gravity vector expressed in the global frame - * @param omegaCoriolis Rotation rate of the global frame w.r.t. an inertial frame - * @param body_P_sensor Optional pose of the sensor frame in the body frame - * @param use2ndOrderCoriolis When true, the second-order term is used in the calculation of the Coriolis Effect */ ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, - const PreintegratedMeasurements& preintegratedMeasurements, - const Vector3& gravity, const Vector3& omegaCoriolis, - boost::optional body_P_sensor = boost::none, - const bool use2ndOrderCoriolis = false); + const PreintegratedImuMeasurements& preintegratedMeasurements); virtual ~ImuFactor() { } @@ -192,7 +185,7 @@ public: /** Access the preintegrated measurements. */ - const PreintegratedMeasurements& preintegratedMeasurements() const { + const PreintegratedImuMeasurements& preintegratedMeasurements() const { return _PIM_; } @@ -206,16 +199,21 @@ public: boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const; - /// @deprecated The following function has been deprecated, use PreintegrationBase::predict + /// @deprecated typename + typedef PreintegratedImuMeasurements PreintegratedMeasurements; + + /// @deprecated constructor + ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, + const PreintegratedMeasurements& preintegratedMeasurements, + const Vector3& gravity, const Vector3& omegaCoriolis, + const boost::optional& body_P_sensor = boost::none, + const bool use2ndOrderCoriolis = false); + + /// @deprecated use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const PreintegratedMeasurements& PIM, const Vector3& gravity, - const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) { - PoseVelocityBias PVB = PIM.predict(pose_i, vel_i, bias_i, gravity, - omegaCoriolis, use2ndOrderCoriolis); - pose_j = PVB.pose; - vel_j = PVB.velocity; - } + const PreintegratedMeasurements& pim, const Vector3& gravity, + const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); private: @@ -226,13 +224,8 @@ private: ar & boost::serialization::make_nvp("NoiseModelFactor5", boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(_PIM_); - ar & BOOST_SERIALIZATION_NVP(gravity_); - ar & BOOST_SERIALIZATION_NVP(omegaCoriolis_); - ar & BOOST_SERIALIZATION_NVP(body_P_sensor_); } }; // class ImuFactor -typedef ImuFactor::PreintegratedMeasurements ImuFactorPreintegratedMeasurements; - } /// namespace gtsam diff --git a/gtsam/navigation/ImuFactorBase.h b/gtsam/navigation/ImuFactorBase.h deleted file mode 100644 index 1e4e51220..000000000 --- a/gtsam/navigation/ImuFactorBase.h +++ /dev/null @@ -1,94 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file PreintegrationBase.h - * @author Luca Carlone - * @author Stephen Williams - * @author Richard Roberts - * @author Vadim Indelman - * @author David Jensen - * @author Frank Dellaert - **/ - -#pragma once - -/* GTSAM includes */ -#include -#include - -namespace gtsam { - -class ImuFactorBase { - -protected: - - Vector3 gravity_; - Vector3 omegaCoriolis_; - boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame - bool use2ndOrderCoriolis_; ///< Controls whether higher order terms are included when calculating the Coriolis Effect - -public: - - /** Default constructor - only use for serialization */ - ImuFactorBase() : - gravity_(Vector3(0.0, 0.0, 9.81)), omegaCoriolis_(Vector3(0.0, 0.0, 0.0)), body_P_sensor_( - boost::none), use2ndOrderCoriolis_(false) { - } - - /** - * Default constructor, stores basic quantities required by the Imu factors - * @param gravity Gravity vector expressed in the global frame - * @param omegaCoriolis Rotation rate of the global frame w.r.t. an inertial frame - * @param body_P_sensor Optional pose of the sensor frame in the body frame - * @param use2ndOrderCoriolis When true, the second-order term is used in the calculation of the Coriolis Effect - */ - ImuFactorBase(const Vector3& gravity, const Vector3& omegaCoriolis, - boost::optional body_P_sensor = boost::none, - const bool use2ndOrderCoriolis = false) : - gravity_(gravity), omegaCoriolis_(omegaCoriolis), body_P_sensor_( - body_P_sensor), use2ndOrderCoriolis_(use2ndOrderCoriolis) { - } - - /// Methods to access class variables - const Vector3& gravity() const { - return gravity_; - } - const Vector3& omegaCoriolis() const { - return omegaCoriolis_; - } - - /// Needed for testable - //------------------------------------------------------------------------------ - void print(const std::string& /*s*/) const { - std::cout << " gravity: [ " << gravity_.transpose() << " ]" << std::endl; - std::cout << " omegaCoriolis: [ " << omegaCoriolis_.transpose() << " ]" - << std::endl; - std::cout << " use2ndOrderCoriolis: [ " << use2ndOrderCoriolis_ << " ]" - << std::endl; - if (this->body_P_sensor_) - this->body_P_sensor_->print(" sensor pose in body frame: "); - } - - /// Needed for testable - //------------------------------------------------------------------------------ - bool equals(const ImuFactorBase& expected, double tol) const { - return equal_with_abs_tol(gravity_, expected.gravity_, tol) - && equal_with_abs_tol(omegaCoriolis_, expected.omegaCoriolis_, tol) - && (use2ndOrderCoriolis_ == expected.use2ndOrderCoriolis_) - && ((!body_P_sensor_ && !expected.body_P_sensor_) - || (body_P_sensor_ && expected.body_P_sensor_ - && body_P_sensor_->equals(*expected.body_P_sensor_))); - } - -}; - -} /// namespace gtsam diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index ba10fd090..a1276b91c 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -21,7 +21,8 @@ #pragma once -#include +#include +#include namespace gtsam { @@ -31,49 +32,64 @@ namespace gtsam { * It includes the definitions of the preintegrated rotation. */ class PreintegratedRotation { - Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) + public: + + /// Parameters for pre-integration: + /// Usage: Create just a single Params and pass a shared pointer to the constructor + struct Params { + Matrix3 gyroscopeCovariance; ///< continuous-time "Covariance" of gyroscope measurements + boost::optional omegaCoriolis; ///< Coriolis constant + boost::optional body_P_sensor; ///< The pose of the sensor in the body frame + + Params():gyroscopeCovariance(I_3x3) {} + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance); + ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); + ar & BOOST_SERIALIZATION_NVP(body_P_sensor); + } + }; + + private: double deltaTij_; ///< Time interval from i to j + Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) + Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias - /// Jacobian of preintegrated rotation w.r.t. angular rate bias - Matrix3 delRdelBiasOmega_; + protected: + /// Parameters + boost::shared_ptr p_; - ///< continuous-time "Covariance" of gyroscope measurements - const Matrix3 gyroscopeCovariance_; + /// Default constructor for serialization + PreintegratedRotation() {} public: - /// Default constructor, initializes the variables in the base class - explicit PreintegratedRotation(const Matrix3& measuredOmegaCovariance) : - deltaRij_(Rot3()), deltaTij_(0.0), delRdelBiasOmega_(Z_3x3), gyroscopeCovariance_( - measuredOmegaCovariance) { + /// Default constructor, resets integration to zero + explicit PreintegratedRotation(const boost::shared_ptr& p) : p_(p) { + resetIntegration(); } /// Re-initialize PreintegratedMeasurements void resetIntegration() { - deltaRij_ = Rot3(); deltaTij_ = 0.0; + deltaRij_ = Rot3(); delRdelBiasOmega_ = Z_3x3; } /// @name Access instance variables /// @{ - - // Return 3*3 matrix of rotation from time i to time j. Expensive in quaternion case - Matrix3 deltaRij() const { - return deltaRij_.matrix(); - } - // Return log(rotation) from time i to time j. Expensive in both Rot3M and quaternion case. - Vector3 thetaRij(OptionalJacobian<3, 3> H = boost::none) const { - return Rot3::Logmap(deltaRij_, H); - } const double& deltaTij() const { return deltaTij_; } + const Rot3& deltaRij() const { + return deltaRij_; + } const Matrix3& delRdelBiasOmega() const { return delRdelBiasOmega_; } - const Matrix3& gyroscopeCovariance() const { - return gyroscopeCovariance_; - } /// @} /// @name Testable @@ -85,13 +101,10 @@ class PreintegratedRotation { std::cout << " deltaRij.ypr = (" << deltaRij_.ypr().transpose() << ")" << std::endl; } - bool equals(const PreintegratedRotation& expected, double tol) const { - return deltaRij_.equals(expected.deltaRij_, tol) - && fabs(deltaTij_ - expected.deltaTij_) < tol - && equal_with_abs_tol(delRdelBiasOmega_, expected.delRdelBiasOmega_, - tol) - && equal_with_abs_tol(gyroscopeCovariance_, - expected.gyroscopeCovariance_, tol); + bool equals(const PreintegratedRotation& other, double tol) const { + return deltaRij_.equals(other.deltaRij_, tol) && + fabs(deltaTij_ - other.deltaTij_) < tol && + equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol); } /// @} @@ -128,8 +141,7 @@ class PreintegratedRotation { if (H) { Matrix3 Jrinv_theta_bc; // This was done via an expmap, now we go *back* to so<3> - const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected, - Jrinv_theta_bc); + const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected, Jrinv_theta_bc); const Matrix3 Jr_JbiasOmegaIncr = Rot3::ExpmapDerivative(delRdelBiasOmega_ * biasOmegaIncr); (*H) = Jrinv_theta_bc * Jr_JbiasOmegaIncr * delRdelBiasOmega_; return biascorrectedOmega; @@ -139,9 +151,9 @@ class PreintegratedRotation { } /// Integrate coriolis correction in body frame rot_i - Vector3 integrateCoriolis(const Rot3& rot_i, - const Vector3& omegaCoriolis) const { - return rot_i.transpose() * omegaCoriolis * deltaTij(); + Vector3 integrateCoriolis(const Rot3& rot_i) const { + if (!p_->omegaCoriolis) return Vector3::Zero(); + return rot_i.transpose() * (*p_->omegaCoriolis) * deltaTij(); } private: @@ -149,8 +161,9 @@ class PreintegratedRotation { friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { // NOLINT - ar & BOOST_SERIALIZATION_NVP(deltaRij_); + ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_NVP(deltaTij_); + ar & BOOST_SERIALIZATION_NVP(deltaRij_); ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); } }; diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index cc4fcee16..bef45e044 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -20,27 +20,12 @@ **/ #include "PreintegrationBase.h" +#include + +using namespace std; namespace gtsam { -PreintegrationBase::PreintegrationBase(const imuBias::ConstantBias& bias, - const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3&integrationErrorCovariance, - const bool use2ndOrderIntegration) - : PreintegratedRotation(measuredOmegaCovariance), - biasHat_(bias), - use2ndOrderIntegration_(use2ndOrderIntegration), - deltaPij_(Vector3::Zero()), - deltaVij_(Vector3::Zero()), - delPdelBiasAcc_(Z_3x3), - delPdelBiasOmega_(Z_3x3), - delVdelBiasAcc_(Z_3x3), - delVdelBiasOmega_(Z_3x3), - accelerometerCovariance_(measuredAccCovariance), - integrationCovariance_(integrationErrorCovariance) { -} - /// Re-initialize PreintegratedMeasurements void PreintegrationBase::resetIntegration() { PreintegratedRotation::resetIntegration(); @@ -53,24 +38,23 @@ void PreintegrationBase::resetIntegration() { } /// Needed for testable -void PreintegrationBase::print(const std::string& s) const { +void PreintegrationBase::print(const string& s) const { PreintegratedRotation::print(s); - std::cout << " deltaPij [ " << deltaPij_.transpose() << " ]" << std::endl; - std::cout << " deltaVij [ " << deltaVij_.transpose() << " ]" << std::endl; + cout << " deltaPij [ " << deltaPij_.transpose() << " ]" << endl; + cout << " deltaVij [ " << deltaVij_.transpose() << " ]" << endl; biasHat_.print(" biasHat"); } /// Needed for testable bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { - return PreintegratedRotation::equals(other, tol) && biasHat_.equals(other.biasHat_, tol) - && equal_with_abs_tol(deltaPij_, other.deltaPij_, tol) - && equal_with_abs_tol(deltaVij_, other.deltaVij_, tol) - && equal_with_abs_tol(delPdelBiasAcc_, other.delPdelBiasAcc_, tol) - && equal_with_abs_tol(delPdelBiasOmega_, other.delPdelBiasOmega_, tol) - && equal_with_abs_tol(delVdelBiasAcc_, other.delVdelBiasAcc_, tol) - && equal_with_abs_tol(delVdelBiasOmega_, other.delVdelBiasOmega_, tol) - && equal_with_abs_tol(accelerometerCovariance_, other.accelerometerCovariance_, tol) - && equal_with_abs_tol(integrationCovariance_, other.integrationCovariance_, tol); + return PreintegratedRotation::equals(other, tol) && + biasHat_.equals(other.biasHat_, tol) && + equal_with_abs_tol(deltaPij_, other.deltaPij_, tol) && + equal_with_abs_tol(deltaVij_, other.deltaVij_, tol) && + equal_with_abs_tol(delPdelBiasAcc_, other.delPdelBiasAcc_, tol) && + equal_with_abs_tol(delPdelBiasOmega_, other.delPdelBiasOmega_, tol) && + equal_with_abs_tol(delVdelBiasAcc_, other.delVdelBiasAcc_, tol) && + equal_with_abs_tol(delVdelBiasOmega_, other.delVdelBiasOmega_, tol); } /// Update preintegrated measurements @@ -78,9 +62,10 @@ void PreintegrationBase::updatePreintegratedMeasurements(const Vector3& correcte const Rot3& incrR, const double deltaT, OptionalJacobian<9, 9> F) { - const Matrix3 dRij = deltaRij(); // expensive + const Matrix3 dRij = deltaRij().matrix(); // expensive const Vector3 temp = dRij * correctedAcc * deltaT; - if (!use2ndOrderIntegration_) { + + if (!p().use2ndOrderIntegration) { deltaPij_ += deltaVij_ * deltaT; } else { deltaPij_ += deltaVij_ * deltaT + 0.5 * temp * deltaT; @@ -89,13 +74,13 @@ void PreintegrationBase::updatePreintegratedMeasurements(const Vector3& correcte Matrix3 R_i, F_angles_angles; if (F) - R_i = deltaRij(); // has to be executed before updateIntegratedRotationAndDeltaT as that updates deltaRij + R_i = dRij; // has to be executed before updateIntegratedRotationAndDeltaT as that updates deltaRij updateIntegratedRotationAndDeltaT(incrR, deltaT, F ? &F_angles_angles : 0); if (F) { const Matrix3 F_vel_angles = -R_i * skewSymmetric(correctedAcc) * deltaT; Matrix3 F_pos_angles; - if (use2ndOrderIntegration_) + if (p().use2ndOrderIntegration) F_pos_angles = 0.5 * F_vel_angles * deltaT; else F_pos_angles = Z_3x3; @@ -112,9 +97,9 @@ void PreintegrationBase::updatePreintegratedMeasurements(const Vector3& correcte void PreintegrationBase::updatePreintegratedJacobians(const Vector3& correctedAcc, const Matrix3& D_Rincr_integratedOmega, const Rot3& incrR, double deltaT) { - const Matrix3 dRij = deltaRij(); // expensive + const Matrix3 dRij = deltaRij().matrix(); // expensive const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * deltaT * delRdelBiasOmega(); - if (!use2ndOrderIntegration_) { + if (!p().use2ndOrderIntegration) { delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT; delPdelBiasOmega_ += delVdelBiasOmega_ * deltaT; } else { @@ -127,19 +112,19 @@ void PreintegrationBase::updatePreintegratedJacobians(const Vector3& correctedAc } void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& measuredAcc, const Vector3& measuredOmega, Vector3& correctedAcc, - Vector3& correctedOmega, boost::optional body_P_sensor) { - correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - correctedOmega = biasHat_.correctGyroscope(measuredOmega); + const Vector3& measuredAcc, const Vector3& measuredOmega, Vector3* correctedAcc, + Vector3* correctedOmega) { + *correctedAcc = biasHat_.correctAccelerometer(measuredAcc); + *correctedOmega = biasHat_.correctGyroscope(measuredOmega); // Then compensate for sensor-body displacement: we express the quantities // (originally in the IMU frame) into the body frame - if (body_P_sensor) { - Matrix3 body_R_sensor = body_P_sensor->rotation().matrix(); - correctedOmega = body_R_sensor * correctedOmega; // rotation rate vector in the body frame - Matrix3 body_omega_body__cross = skewSymmetric(correctedOmega); - correctedAcc = body_R_sensor * correctedAcc - - body_omega_body__cross * body_omega_body__cross * body_P_sensor->translation().vector(); + if (p().body_P_sensor) { + Matrix3 body_R_sensor = p().body_P_sensor->rotation().matrix(); + *correctedOmega = body_R_sensor * (*correctedOmega); // rotation rate vector in the body frame + Matrix3 body_omega_body__cross = skewSymmetric(*correctedOmega); + *correctedAcc = body_R_sensor * (*correctedAcc) + - body_omega_body__cross * body_omega_body__cross * p().body_P_sensor->translation().vector(); // linear acceleration vector in the body frame } } @@ -148,31 +133,27 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( //------------------------------------------------------------------------------ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, - const Vector3& gravity, const Vector3& omegaCoriolis, const Rot3& deltaRij_biascorrected, const Vector3& deltaPij_biascorrected, - const Vector3& deltaVij_biascorrected, - const bool use2ndOrderCoriolis) const { + const Vector3& deltaVij_biascorrected) const { const double dt = deltaTij(), dt2 = dt * dt; - - // Rotation const Matrix3 Ri = pose_i.rotation().matrix(); - const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected); - const Vector3 dR = biascorrectedOmega - - Ri.transpose() * omegaCoriolis * dt; // Coriolis term - // Translation - Vector3 dP = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * gravity * dt2 - - omegaCoriolis.cross(vel_i) * dt2; // Coriolis term - we got rid of the 2 wrt INS paper + // Rotation, translation, and velocity: + Vector3 dR = Rot3::Logmap(deltaRij_biascorrected); + Vector3 dP = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * p().gravity * dt2; + Vector3 dV = Ri * deltaVij_biascorrected + p().gravity * dt; - // Velocity - Vector3 dV = Ri * deltaVij_biascorrected + gravity * dt - - 2 * omegaCoriolis.cross(vel_i) * dt; // Coriolis term - - if (use2ndOrderCoriolis) { - Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(pose_i.translation().vector())); - dP -= 0.5 * temp * dt2; - dV -= temp * dt; + if (p().omegaCoriolis) { + const Vector3& omegaCoriolis = *p().omegaCoriolis; + dR -= Ri.transpose() * omegaCoriolis * dt; // Coriolis term + dP -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper + dV -= 2 * omegaCoriolis.cross(vel_i) * dt; + if (p().use2ndOrderCoriolis) { + Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(pose_i.translation().vector())); + dP -= 0.5 * temp * dt2; + dV -= temp * dt; + } } // TODO(frank): pose update below is separate expmap for R,t. Is that kosher? @@ -183,13 +164,12 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, /// Predict state at time j //------------------------------------------------------------------------------ PoseVelocityBias PreintegrationBase::predict( - const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, - const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) const { + const Pose3& pose_i, const Vector3& vel_i, + const imuBias::ConstantBias& bias_i) const { const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - return predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, - biascorrectedDeltaRij(biasIncr.gyroscope()), - biascorrectedDeltaPij(biasIncr), biascorrectedDeltaVij(biasIncr), - use2ndOrderCoriolis); + return predict( + pose_i, vel_i, bias_i, biascorrectedDeltaRij(biasIncr.gyroscope()), + biascorrectedDeltaPij(biasIncr), biascorrectedDeltaVij(biasIncr)); } /// Compute errors w.r.t. preintegrated measurements and Jacobians wrpt pose_i, vel_i, bias_i, pose_j, bias_j @@ -197,9 +177,6 @@ PoseVelocityBias PreintegrationBase::predict( Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const Vector3& gravity, - const Vector3& omegaCoriolis, - const bool use2ndOrderCoriolis, OptionalJacobian<9, 6> H1, OptionalJacobian<9, 3> H2, OptionalJacobian<9, 6> H3, @@ -219,9 +196,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij(biasIncr.gyroscope()); const Vector3 deltaPij_biascorrected = biascorrectedDeltaPij(biasIncr); const Vector3 deltaVij_biascorrected = biascorrectedDeltaVij(biasIncr); - PoseVelocityBias predictedState_j = predict(pose_i, vel_i, bias_i, gravity, - omegaCoriolis, deltaRij_biascorrected, deltaPij_biascorrected, - deltaVij_biascorrected, use2ndOrderCoriolis); + PoseVelocityBias predictedState_j = + predict(pose_i, vel_i, bias_i, deltaRij_biascorrected, + deltaPij_biascorrected, deltaVij_biascorrected); // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance const Vector3 fp = Ri.transpose() * (pos_j - predictedState_j.pose.translation().vector()); @@ -241,7 +218,8 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const H5 ? &D_cThetaRij_biasOmegaIncr : 0); // Coriolis term, NOTE inconsistent with AHRS, where coriolisHat is *after* integration - const Vector3 coriolis = integrateCoriolis(rot_i, omegaCoriolis); + // TODO(frank): move derivatives to predict and do coriolis branching there + const Vector3 coriolis = integrateCoriolis(rot_i); const Vector3 correctedOmega = biascorrectedOmega - coriolis; // Residual rotation error @@ -253,17 +231,16 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const const Vector3 fR = Rot3::Logmap(fRrot, H1 || H3 || H5 ? &D_fR_fRrot : 0); const double dt = deltaTij(), dt2 = dt*dt; - Matrix3 Ritranspose_omegaCoriolisHat; - if (H1 || H2) - Ritranspose_omegaCoriolisHat = Ri.transpose() * skewSymmetric(omegaCoriolis); + Matrix3 RitOmegaCoriolisHat = Z_3x3; + if ((H1 || H2) && p().omegaCoriolis) + RitOmegaCoriolisHat = Ri.transpose() * skewSymmetric(*p().omegaCoriolis); if (H1) { const Matrix3 D_coriolis = -D_cDeltaRij_cOmega * skewSymmetric(coriolis); Matrix3 dfPdPi = -I_3x3, dfVdPi = Z_3x3; - if (use2ndOrderCoriolis) { - // this is the same as: Ri.transpose() * omegaCoriolisHat * omegaCoriolisHat * Ri - const Matrix3 temp = Ritranspose_omegaCoriolisHat - * (-Ritranspose_omegaCoriolisHat.transpose()); + if (p().use2ndOrderCoriolis) { + // this is the same as: Ri.transpose() * p().omegaCoriolisHat * p().omegaCoriolisHat * Ri + const Matrix3 temp = RitOmegaCoriolisHat * (-RitOmegaCoriolisHat.transpose()); dfPdPi += 0.5 * temp * dt2; dfVdPi += temp * dt; } @@ -278,8 +255,8 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const if (H2) { (*H2) << Z_3x3, // dfR/dVi - -Ri.transpose() * dt + Ritranspose_omegaCoriolisHat * dt2, // dfP/dVi - -Ri.transpose() + 2 * Ritranspose_omegaCoriolisHat * dt; // dfV/dVi + -Ri.transpose() * dt + RitOmegaCoriolisHat * dt2, // dfP/dVi + -Ri.transpose() + 2 * RitOmegaCoriolisHat * dt; // dfV/dVi } if (H3) { (*H3) << @@ -306,19 +283,16 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const return r; } -ImuBase::ImuBase() - : gravity_(Vector3(0.0, 0.0, 9.81)), - omegaCoriolis_(Vector3(0.0, 0.0, 0.0)), - body_P_sensor_(boost::none), - use2ndOrderCoriolis_(false) { +//------------------------------------------------------------------------------ +PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, + const imuBias::ConstantBias& bias_i, const Vector3& gravity, const Vector3& omegaCoriolis, + const bool use2ndOrderCoriolis) { + // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility + boost::shared_ptr q = boost::make_shared(p()); + q->gravity = gravity; + q->omegaCoriolis = omegaCoriolis; + q->use2ndOrderCoriolis = use2ndOrderCoriolis; + p_ = q; + return predict(pose_i, vel_i, bias_i); } - -ImuBase::ImuBase(const Vector3& gravity, const Vector3& omegaCoriolis, - boost::optional body_P_sensor, const bool use2ndOrderCoriolis) - : gravity_(gravity), - omegaCoriolis_(omegaCoriolis), - body_P_sensor_(body_P_sensor), - use2ndOrderCoriolis_(use2ndOrderCoriolis) { -} - } /// namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 722091b40..c810eb538 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -37,11 +37,9 @@ struct PoseVelocityBias { Vector3 velocity; imuBias::ConstantBias bias; - PoseVelocityBias(const Pose3& _pose, const Vector3& _velocity, const imuBias::ConstantBias _bias) - : pose(_pose), - velocity(_velocity), - bias(_bias) { - } + PoseVelocityBias(const Pose3& _pose, const Vector3& _velocity, + const imuBias::ConstantBias _bias) + : pose(_pose), velocity(_velocity), bias(_bias) {} }; /** @@ -52,71 +50,85 @@ struct PoseVelocityBias { */ class PreintegrationBase : public PreintegratedRotation { - const imuBias::ConstantBias biasHat_; ///< Acceleration and gyro bias used for preintegration - const bool use2ndOrderIntegration_; ///< Controls the order of integration + public: + + /// Parameters for pre-integration: + /// Usage: Create just a single Params and pass a shared pointer to the constructor + struct Params : PreintegratedRotation::Params { + Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer + Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty + /// (to compensate errors in Euler integration) + bool use2ndOrderIntegration; ///< Controls the order of integration + /// (if false: p(t+1) = p(t) + v(t) deltaT ; if true: p(t+1) = p(t) + v(t) deltaT + 0.5 * acc(t) deltaT^2) + bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration + Vector3 gravity; ///< Gravity constant + + Params() + : accelerometerCovariance(I_3x3), + integrationCovariance(I_3x3), + use2ndOrderIntegration(false), + use2ndOrderCoriolis(false), + gravity(0, 0, 9.8) {} + + private: + /** 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(accelerometerCovariance); + ar & BOOST_SERIALIZATION_NVP(integrationCovariance); + ar & BOOST_SERIALIZATION_NVP(use2ndOrderIntegration); + ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis); + ar & BOOST_SERIALIZATION_NVP(gravity); + } + }; + + protected: + + /// Acceleration and gyro bias used for preintegration + imuBias::ConstantBias biasHat_; Vector3 deltaPij_; ///< Preintegrated relative position (does not take into account velocity at time i, see deltap+, in [2]) (in frame i) Vector3 deltaVij_; ///< Preintegrated relative velocity (in global frame) - Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias + Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias Matrix3 delPdelBiasOmega_; ///< Jacobian of preintegrated position w.r.t. angular rate bias - Matrix3 delVdelBiasAcc_; ///< Jacobian of preintegrated velocity w.r.t. acceleration bias + Matrix3 delVdelBiasAcc_; ///< Jacobian of preintegrated velocity w.r.t. acceleration bias Matrix3 delVdelBiasOmega_; ///< Jacobian of preintegrated velocity w.r.t. angular rate bias - const Matrix3 accelerometerCovariance_; ///< continuous-time "Covariance" of accelerometer measurements - const Matrix3 integrationCovariance_; ///< continuous-time "Covariance" describing integration uncertainty - /// (to compensate errors in Euler integration) + /// Default constructor for serialization + PreintegrationBase() {} public: /** - * Default constructor, initializes the variables in the base class + * Constructor, initializes the variables in the base class * @param bias Current estimate of acceleration and rotation rate biases - * @param use2ndOrderIntegration Controls the order of integration - * (if false: p(t+1) = p(t) + v(t) deltaT ; if true: p(t+1) = p(t) + v(t) deltaT + 0.5 * acc(t) deltaT^2) + * @param p Parameters, typically fixed in a single application */ - PreintegrationBase(const imuBias::ConstantBias& bias, const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3&integrationErrorCovariance, const bool use2ndOrderIntegration); + PreintegrationBase(const boost::shared_ptr& p, + const imuBias::ConstantBias& biasHat) + : PreintegratedRotation(p), biasHat_(biasHat) { + resetIntegration(); + } /// Re-initialize PreintegratedMeasurements void resetIntegration(); - /// methods to access class variables - bool use2ndOrderIntegration() const { - return use2ndOrderIntegration_; - } - const Vector3& deltaPij() const { - return deltaPij_; - } - const Vector3& deltaVij() const { - return deltaVij_; - } - const imuBias::ConstantBias& biasHat() const { - return biasHat_; - } - Vector6 biasHatVector() const { - return biasHat_.vector(); - } // expensive - const Matrix3& delPdelBiasAcc() const { - return delPdelBiasAcc_; - } - const Matrix3& delPdelBiasOmega() const { - return delPdelBiasOmega_; - } - const Matrix3& delVdelBiasAcc() const { - return delVdelBiasAcc_; - } - const Matrix3& delVdelBiasOmega() const { - return delVdelBiasOmega_; - } + const Params& p() const { return *boost::static_pointer_cast(p_);} - const Matrix3& accelerometerCovariance() const { - return accelerometerCovariance_; - } - const Matrix3& integrationCovariance() const { - return integrationCovariance_; - } + /// getters + const imuBias::ConstantBias& biasHat() const { return biasHat_; } + const Vector3& deltaPij() const { return deltaPij_; } + const Vector3& deltaVij() const { return deltaVij_; } + const Matrix3& delPdelBiasAcc() const { return delPdelBiasAcc_; } + const Matrix3& delPdelBiasOmega() const { return delPdelBiasOmega_; } + const Matrix3& delVdelBiasAcc() const { return delVdelBiasAcc_; } + const Matrix3& delVdelBiasOmega() const { return delVdelBiasOmega_; } + + // Exposed for MATLAB + Vector6 biasHatVector() const { return biasHat_.vector(); } /// print void print(const std::string& s) const; @@ -134,9 +146,9 @@ class PreintegrationBase : public PreintegratedRotation { double deltaT); void correctMeasurementsByBiasAndSensorPose(const Vector3& measuredAcc, - const Vector3& measuredOmega, Vector3& correctedAcc, - Vector3& correctedOmega, - boost::optional body_P_sensor); + const Vector3& measuredOmega, + Vector3* correctedAcc, + Vector3* correctedOmega); Vector3 biascorrectedDeltaPij(const imuBias::ConstantBias& biasIncr) const { return deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() @@ -150,33 +162,36 @@ class PreintegrationBase : public PreintegratedRotation { /// Predict state at time j, with bias-corrected quantities given PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, - const imuBias::ConstantBias& bias_i, const Vector3& gravity, const Vector3& omegaCoriolis, - const Rot3& deltaRij_biascorrected, - const Vector3& deltaPij_biascorrected, const Vector3& deltaVij_biascorrected, - const bool use2ndOrderCoriolis = false) const; + const imuBias::ConstantBias& bias_i, + const Rot3& deltaRij_biascorrected, + const Vector3& deltaPij_biascorrected, + const Vector3& deltaVij_biascorrected) const; /// Predict state at time j PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, - const imuBias::ConstantBias& bias_i, const Vector3& gravity, - const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const; + const imuBias::ConstantBias& bias_i) const; /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const Vector3& gravity, const Vector3& omegaCoriolis, - const bool use2ndOrderCoriolis, OptionalJacobian<9, 6> H1 = - boost::none, + OptionalJacobian<9, 6> H1 = boost::none, OptionalJacobian<9, 3> H2 = boost::none, OptionalJacobian<9, 6> H3 = boost::none, OptionalJacobian<9, 3> H4 = boost::none, OptionalJacobian<9, 6> H5 = boost::none) const; + /// @deprecated predict + PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, + const imuBias::ConstantBias& bias_i, const Vector3& gravity, const Vector3& omegaCoriolis, + const bool use2ndOrderCoriolis = false); + private: /** Serialization function */ friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation); + ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_NVP(biasHat_); ar & BOOST_SERIALIZATION_NVP(deltaPij_); ar & BOOST_SERIALIZATION_NVP(deltaVij_); @@ -187,32 +202,4 @@ class PreintegrationBase : public PreintegratedRotation { } }; -class ImuBase { - - protected: - - Vector3 gravity_; - Vector3 omegaCoriolis_; - boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame - bool use2ndOrderCoriolis_; ///< Controls whether higher order terms are included when calculating the Coriolis Effect - - public: - - /// Default constructor, with decent gravity and zero coriolis - ImuBase(); - - /// Fully fledge constructor - ImuBase(const Vector3& gravity, const Vector3& omegaCoriolis, - boost::optional body_P_sensor = boost::none, - const bool use2ndOrderCoriolis = false); - - const Vector3& gravity() const { - return gravity_; - } - const Vector3& omegaCoriolis() const { - return omegaCoriolis_; - } - -}; - } /// namespace gtsam diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp index 928c0f74f..73e30ac32 100644 --- a/gtsam/navigation/tests/testAHRSFactor.cpp +++ b/gtsam/navigation/tests/testAHRSFactor.cpp @@ -50,7 +50,7 @@ Rot3 evaluateRotationError(const AHRSFactor& factor, const Rot3 rot_i, AHRSFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements( const Vector3& bias, const list& measuredOmegas, const list& deltaTs, - const Vector3& initialRotationRate = Vector3()) { + const Vector3& initialRotationRate = Vector3::Zero()) { AHRSFactor::PreintegratedMeasurements result(bias, Matrix3::Identity()); list::const_iterator itOmega = measuredOmegas.begin(); diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index c5e9886d9..a6703272c 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -146,15 +146,9 @@ TEST( CombinedImuFactor, PreintegratedMeasurements ) { actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT( - assert_equal(Vector(expected1.deltaPij()), Vector(actual1.deltaPij()), - tol)); - EXPECT( - assert_equal(Vector(expected1.deltaVij()), Vector(actual1.deltaVij()), - tol)); - EXPECT( - assert_equal(Matrix(expected1.deltaRij()), Matrix(actual1.deltaRij()), - tol)); + EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol)); + EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol)); + EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol)); DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol); } @@ -373,7 +367,6 @@ TEST(CombinedImuFactor, PredictRotation) { TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { // Linearization point imuBias::ConstantBias bias_old = imuBias::ConstantBias(); ///< Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor = Pose3(); // Measurements list measuredAccs, measuredOmegas; @@ -408,7 +401,7 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { Matrix Factual, Gactual; preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, body_P_sensor, Factual, Gactual); + newDeltaT, Factual, Gactual); bool use2ndOrderIntegration = false; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index c6aa48b30..bffc62d90 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -90,11 +90,11 @@ const Matrix3 kIntegrationErrorCovariance = intNoiseVar * Matrix3::Identity(); // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ -ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements( +PreintegratedImuMeasurements evaluatePreintegratedMeasurements( const imuBias::ConstantBias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs, const bool use2ndOrderIntegration = false) { - ImuFactor::PreintegratedMeasurements result(bias, kMeasuredAccCovariance, + PreintegratedImuMeasurements result(bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderIntegration); @@ -159,7 +159,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { bool use2ndOrderIntegration = true; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements actual1(bias, kMeasuredAccCovariance, + PreintegratedImuMeasurements actual1(bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderIntegration); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -180,7 +180,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { double expectedDeltaT2(1); // Actual preintegrated values - ImuFactor::PreintegratedMeasurements actual2 = actual1; + PreintegratedImuMeasurements actual2 = actual1; actual2.integrateMeasurement(measuredAcc, measuredOmega, deltaT); EXPECT( @@ -211,7 +211,7 @@ double deltaT = 1.0; TEST(ImuFactor, ErrorAndJacobians) { using namespace common; bool use2ndOrderIntegration = true; - ImuFactor::PreintegratedMeasurements pre_int_data(bias, + PreintegratedImuMeasurements pre_int_data(bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderIntegration); pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -290,7 +290,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - ImuFactor::PreintegratedMeasurements pre_int_data( + PreintegratedImuMeasurements pre_int_data( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); @@ -330,7 +330,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - ImuFactor::PreintegratedMeasurements pre_int_data( + PreintegratedImuMeasurements pre_int_data( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); @@ -452,7 +452,7 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { } // Actual preintegrated values - ImuFactor::PreintegratedMeasurements preintegrated = + PreintegratedImuMeasurements preintegrated = evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs); @@ -495,7 +495,6 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // Linearization point imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); // Measurements list measuredAccs, measuredOmegas; @@ -514,7 +513,7 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { } bool use2ndOrderIntegration = false; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements preintegrated = + PreintegratedImuMeasurements preintegrated = evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs, use2ndOrderIntegration); @@ -531,7 +530,7 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { Matrix Factual, Gactual; preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, body_P_sensor, Factual, Gactual); + newDeltaT, Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F @@ -619,7 +618,6 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { // Linearization point imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor = Pose3(); // (Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1)); // Measurements list measuredAccs, measuredOmegas; @@ -638,7 +636,7 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { } bool use2ndOrderIntegration = true; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements preintegrated = + PreintegratedImuMeasurements preintegrated = evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs, use2ndOrderIntegration); @@ -655,7 +653,7 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { Matrix Factual, Gactual; preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, body_P_sensor, Factual, Gactual); + newDeltaT, Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F @@ -760,7 +758,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), Point3(1, 0, 0)); - ImuFactor::PreintegratedMeasurements pre_int_data( + PreintegratedImuMeasurements pre_int_data( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); @@ -797,7 +795,7 @@ TEST(ImuFactor, PredictPositionAndVelocity) { Matrix I6x6(6, 6); I6x6 = Matrix::Identity(6, 6); - ImuFactor::PreintegratedMeasurements pre_int_data( + PreintegratedImuMeasurements pre_int_data( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); @@ -835,7 +833,7 @@ TEST(ImuFactor, PredictRotation) { Matrix I6x6(6, 6); I6x6 = Matrix::Identity(6, 6); - ImuFactor::PreintegratedMeasurements pre_int_data( + PreintegratedImuMeasurements pre_int_data( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); From a5d49a261e699069c355df3453665560b035f69e Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 18 Jul 2015 23:11:27 -0700 Subject: [PATCH 476/964] Fixed MATLAB wrapper (old-style interface still) --- gtsam.h | 57 +++++++++++++++++++++++++++------------------------------ 1 file changed, 27 insertions(+), 30 deletions(-) diff --git a/gtsam.h b/gtsam.h index 1ddae3f48..b382e9272 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2481,18 +2481,18 @@ class ConstantBias { class PoseVelocityBias{ PoseVelocityBias(const gtsam::Pose3& pose, Vector velocity, const gtsam::imuBias::ConstantBias& bias); }; -class ImuFactorPreintegratedMeasurements { +class PreintegratedImuMeasurements { // Standard Constructor - ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration); - ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance); - // ImuFactorPreintegratedMeasurements(const gtsam::ImuFactorPreintegratedMeasurements& rhs); + PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration); + PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance); + // PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements& rhs); // Testable void print(string s) const; - bool equals(const gtsam::ImuFactorPreintegratedMeasurements& expected, double tol); + bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); double deltaTij() const; - Matrix deltaRij() const; + gtsam::Rot3 deltaRij() const; Vector deltaPij() const; Vector deltaVij() const; Vector biasHatVector() const; @@ -2505,25 +2505,24 @@ class ImuFactorPreintegratedMeasurements { // Standard Interface void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); - void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor); gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, Vector gravity, Vector omegaCoriolis) const; }; virtual class ImuFactor : gtsam::NonlinearFactor { ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, - const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis); + const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis); ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, - const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis, + const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis, const gtsam::Pose3& body_P_sensor); // Standard Interface - gtsam::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const; + gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; }; #include -class CombinedImuFactorPreintegratedMeasurements { +class PreintegratedCombinedMeasurements { // Standard Constructor - CombinedImuFactorPreintegratedMeasurements( + PreintegratedCombinedMeasurements( const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance, Matrix measuredOmegaCovariance, @@ -2531,7 +2530,7 @@ class CombinedImuFactorPreintegratedMeasurements { Matrix biasAccCovariance, Matrix biasOmegaCovariance, Matrix biasAccOmegaInit); - CombinedImuFactorPreintegratedMeasurements( + PreintegratedCombinedMeasurements( const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance, Matrix measuredOmegaCovariance, @@ -2540,14 +2539,14 @@ class CombinedImuFactorPreintegratedMeasurements { Matrix biasOmegaCovariance, Matrix biasAccOmegaInit, bool use2ndOrderIntegration); - // CombinedImuFactorPreintegratedMeasurements(const gtsam::CombinedImuFactorPreintegratedMeasurements& rhs); + // PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& rhs); // Testable void print(string s) const; - bool equals(const gtsam::CombinedImuFactorPreintegratedMeasurements& expected, double tol); + bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol); double deltaTij() const; - Matrix deltaRij() const; + gtsam::Rot3 deltaRij() const; Vector deltaPij() const; Vector deltaVij() const; Vector biasHatVector() const; @@ -2560,53 +2559,51 @@ class CombinedImuFactorPreintegratedMeasurements { // Standard Interface void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); - void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor); gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, Vector gravity, Vector omegaCoriolis) const; }; virtual class CombinedImuFactor : gtsam::NonlinearFactor { CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j, - const gtsam::CombinedImuFactorPreintegratedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); + const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); // Standard Interface - gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const; + gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; }; #include -class AHRSFactorPreintegratedMeasurements { +class PreintegratedAhrsMeasurements { // Standard Constructor - AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance); - AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance); - AHRSFactorPreintegratedMeasurements(const gtsam::AHRSFactorPreintegratedMeasurements& rhs); + PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance); + PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance); + PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs); // Testable void print(string s) const; - bool equals(const gtsam::AHRSFactorPreintegratedMeasurements& expected, double tol); + bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol); // get Data - Matrix deltaRij() const; + gtsam::Rot3 deltaRij() const; double deltaTij() const; Vector biasHat() const; // Standard Interface void integrateMeasurement(Vector measuredOmega, double deltaT); - void integrateMeasurement(Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor); void resetIntegration() ; }; virtual class AHRSFactor : gtsam::NonlinearFactor { AHRSFactor(size_t rot_i, size_t rot_j,size_t bias, - const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis); + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis); AHRSFactor(size_t rot_i, size_t rot_j, size_t bias, - const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis, const gtsam::Pose3& body_P_sensor); // Standard Interface - gtsam::AHRSFactorPreintegratedMeasurements preintegratedMeasurements() const; + gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const; Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j, Vector bias) const; gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias, - const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis) const; }; From 272a56302260c530476db7f4c16b957a361b2f31 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 00:39:47 -0700 Subject: [PATCH 477/964] expmap/logmap derivatives --- gtsam/base/Lie.h | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index 36370b4f5..036b961e8 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -83,6 +83,25 @@ struct LieGroup { return Class::Logmap(between(g)); } + Class expmap(const TangentVector& v, // + ChartJacobian H1, ChartJacobian H2 = boost::none) const { + Jacobian D_g_v; + Class g = Class::Expmap(v,H2 ? &D_g_v : 0); + Class h = compose(g,H1,H2); + if (H2) *H2 = (*H2) * D_g_v; + return h; + } + + TangentVector logmap(const Class& g, // + ChartJacobian H1, ChartJacobian H2 = boost::none) const { + Class h = between(g,H1,H2); + Jacobian D_v_h; + TangentVector v = Class::Logmap(h, (H1 || H2) ? &D_v_h : 0); + if (H1) *H1 = D_v_h * (*H1); + if (H2) *H2 = D_v_h * (*H2); + return v; + } + Class retract(const TangentVector& v) const { return compose(Class::ChartAtOrigin::Retract(v)); } From c72a8344ec1dbeccb78f06c61078753dbfbfd376 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 00:40:07 -0700 Subject: [PATCH 478/964] Added derivatives where they should be... --- gtsam/navigation/PreintegratedRotation.h | 30 +++++++++++++----------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index a1276b91c..724d6661f 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -126,9 +126,13 @@ class PreintegratedRotation { delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_Rincr_integratedOmega * deltaT; } - /// Return a bias corrected version of the integrated rotation - expensive - Rot3 biascorrectedDeltaRij(const Vector3& biasOmegaIncr) const { - return deltaRij_ * Rot3::Expmap(delRdelBiasOmega_ * biasOmegaIncr); + /// Return a bias corrected version of the integrated rotation, with optional Jacobian + Rot3 biascorrectedDeltaRij(const Vector3& biasOmegaIncr, + OptionalJacobian<3, 3> H = boost::none) const { + const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasOmegaIncr; + const Rot3 deltaRij_biascorrected = deltaRij_.expmap(biasInducedOmega, boost::none, H); + if (H) (*H) *= delRdelBiasOmega_; + return deltaRij_biascorrected; } /// Get so<3> version of bias corrected rotation, with optional Jacobian @@ -136,18 +140,16 @@ class PreintegratedRotation { Vector3 biascorrectedThetaRij(const Vector3& biasOmegaIncr, OptionalJacobian<3, 3> H = boost::none) const { // First, we correct deltaRij using the biasOmegaIncr, rotated - const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij(biasOmegaIncr); + Matrix3 D_biascorrected_biasOmegaIncr; + const Rot3 biascorrected = biascorrectedDeltaRij(biasOmegaIncr, + H ? &D_biascorrected_biasOmegaIncr : 0); - if (H) { - Matrix3 Jrinv_theta_bc; - // This was done via an expmap, now we go *back* to so<3> - const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected, Jrinv_theta_bc); - const Matrix3 Jr_JbiasOmegaIncr = Rot3::ExpmapDerivative(delRdelBiasOmega_ * biasOmegaIncr); - (*H) = Jrinv_theta_bc * Jr_JbiasOmegaIncr * delRdelBiasOmega_; - return biascorrectedOmega; - } - // else - return Rot3::Logmap(deltaRij_biascorrected); + // This was done via an expmap, now we go *back* to so<3> + Matrix3 D_omega_biascorrected; + const Vector3 omega = Rot3::Logmap(biascorrected, H ? &D_omega_biascorrected : 0); + + if (H) (*H) = D_omega_biascorrected * D_biascorrected_biasOmegaIncr; + return omega; } /// Integrate coriolis correction in body frame rot_i From 814b8c22bfa04604d9e91f9ba486a40acddae77b Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 00:40:42 -0700 Subject: [PATCH 479/964] Moved a derivative down --- gtsam/navigation/AHRSFactor.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index 92ec0dd9b..3e5654427 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -143,7 +143,6 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj, // Coriolis term const Vector3 coriolis = _PIM_.integrateCoriolis(Ri); - const Matrix3 coriolisHat = skewSymmetric(coriolis); const Vector3 correctedOmega = biascorrectedOmega - coriolis; // Prediction @@ -161,7 +160,7 @@ Vector AHRSFactor::evaluateError(const Rot3& Ri, const Rot3& Rj, if (H1) { // dfR/dRi H1->resize(3, 3); - Matrix3 D_coriolis = -D_cDeltaRij_cOmega * coriolisHat; + Matrix3 D_coriolis = -D_cDeltaRij_cOmega * skewSymmetric(coriolis); (*H1) << D_fR_fRrot * (-actualRij.transpose() - fRrot.transpose() * D_coriolis); } From 3c59168406177e6675627c5006a1b061bbf7115e Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 00:54:25 -0700 Subject: [PATCH 480/964] Inlined Logmap and derivatives, removed from PreintegratedRotation --- gtsam/navigation/AHRSFactor.cpp | 6 +++++- gtsam/navigation/PreintegratedRotation.h | 17 ----------------- gtsam/navigation/PreintegrationBase.cpp | 12 ++++++------ 3 files changed, 11 insertions(+), 24 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index 3e5654427..814b020b1 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -83,7 +83,11 @@ void PreintegratedAhrsMeasurements::integrateMeasurement( Vector3 PreintegratedAhrsMeasurements::predict(const Vector3& bias, OptionalJacobian<3,3> H) const { const Vector3 biasOmegaIncr = bias - biasHat_; - return biascorrectedThetaRij(biasOmegaIncr, H); + const Rot3 biascorrected = biascorrectedDeltaRij(biasOmegaIncr, H); + Matrix3 D_omega_biascorrected; + const Vector3 omega = Rot3::Logmap(biascorrected, H ? &D_omega_biascorrected : 0); + if (H) (*H) = D_omega_biascorrected * (*H); + return omega; } //------------------------------------------------------------------------------ Vector PreintegratedAhrsMeasurements::DeltaAngles( diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 724d6661f..0475e52e2 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -135,23 +135,6 @@ class PreintegratedRotation { return deltaRij_biascorrected; } - /// Get so<3> version of bias corrected rotation, with optional Jacobian - // Implements: log( deltaRij_ * expmap(delRdelBiasOmega_ * biasOmegaIncr) ) - Vector3 biascorrectedThetaRij(const Vector3& biasOmegaIncr, - OptionalJacobian<3, 3> H = boost::none) const { - // First, we correct deltaRij using the biasOmegaIncr, rotated - Matrix3 D_biascorrected_biasOmegaIncr; - const Rot3 biascorrected = biascorrectedDeltaRij(biasOmegaIncr, - H ? &D_biascorrected_biasOmegaIncr : 0); - - // This was done via an expmap, now we go *back* to so<3> - Matrix3 D_omega_biascorrected; - const Vector3 omega = Rot3::Logmap(biascorrected, H ? &D_omega_biascorrected : 0); - - if (H) (*H) = D_omega_biascorrected * D_biascorrected_biasOmegaIncr; - return omega; - } - /// Integrate coriolis correction in body frame rot_i Vector3 integrateCoriolis(const Rot3& rot_i) const { if (!p_->omegaCoriolis) return Vector3::Zero(); diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index bef45e044..0f2d96bac 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -193,7 +193,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // Evaluate residual error, according to [3] /* ---------------------------------------------------------------------------------------------------- */ const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij(biasIncr.gyroscope()); + Matrix3 D_biascorrected_biasIncr; + const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij( + biasIncr.gyroscope(), H5 ? &D_biascorrected_biasIncr : 0); const Vector3 deltaPij_biascorrected = biascorrectedDeltaPij(biasIncr); const Vector3 deltaVij_biascorrected = biascorrectedDeltaVij(biasIncr); PoseVelocityBias predictedState_j = @@ -212,10 +214,8 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // Get Get so<3> version of bias corrected rotation // If H5 is asked for, we will need the Jacobian, which we store in H5 // H5 will then be corrected below to take into account the Coriolis effect - // TODO(frank): biascorrectedThetaRij calculates deltaRij_biascorrected, which we already have - Matrix3 D_cThetaRij_biasOmegaIncr; - const Vector3 biascorrectedOmega = biascorrectedThetaRij(biasIncr.gyroscope(), - H5 ? &D_cThetaRij_biasOmegaIncr : 0); + Matrix3 D_omega_biascorrected; + const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected, H5 ? &D_omega_biascorrected : 0); // Coriolis term, NOTE inconsistent with AHRS, where coriolisHat is *after* integration // TODO(frank): move derivatives to predict and do coriolis branching there @@ -272,7 +272,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const } if (H5) { // H5 by this point already contains 3*3 biascorrectedThetaRij derivative - const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_cThetaRij_biasOmegaIncr; + const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_omega_biascorrected * D_biascorrected_biasIncr; (*H5) << Z_3x3, D_fR_fRrot * (-fRrot.inverse().matrix() * JbiasOmega), // dfR/dBias -delPdelBiasAcc(), -delPdelBiasOmega(), // dfP/dBias From 042d874f082ba024f13cf35a5677d360279b812d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 01:52:08 -0700 Subject: [PATCH 481/964] Introduce and use NavState for predict --- gtsam/navigation/PreintegrationBase.cpp | 39 +++++++++++----------- gtsam/navigation/PreintegrationBase.h | 43 ++++++++++++++++++------- 2 files changed, 52 insertions(+), 30 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 0f2d96bac..fcf932bf9 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -129,13 +129,15 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( } } -/// Predict state at time j //------------------------------------------------------------------------------ -PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, - const Vector3& vel_i, const imuBias::ConstantBias& bias_i, - const Rot3& deltaRij_biascorrected, const Vector3& deltaPij_biascorrected, +NavState PreintegrationBase::predict(const NavState& state_i, + const Rot3& deltaRij_biascorrected, + const Vector3& deltaPij_biascorrected, const Vector3& deltaVij_biascorrected) const { + const Pose3& pose_i = state_i.pose(); + const Vector3& vel_i = state_i.velocity(); + const double dt = deltaTij(), dt2 = dt * dt; const Matrix3 Ri = pose_i.rotation().matrix(); @@ -158,21 +160,17 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, // TODO(frank): pose update below is separate expmap for R,t. Is that kosher? const Pose3 pose_j = Pose3(pose_i.rotation().expmap(dR), pose_i.translation() + Point3(dP)); - return PoseVelocityBias(pose_j, vel_i + dV, bias_i); // bias is predicted as a constant + return NavState(pose_j, vel_i + dV); } -/// Predict state at time j //------------------------------------------------------------------------------ -PoseVelocityBias PreintegrationBase::predict( - const Pose3& pose_i, const Vector3& vel_i, +NavState PreintegrationBase::predict(const NavState& state_i, const imuBias::ConstantBias& bias_i) const { const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - return predict( - pose_i, vel_i, bias_i, biascorrectedDeltaRij(biasIncr.gyroscope()), + return predict(state_i, biascorrectedDeltaRij(biasIncr.gyroscope()), biascorrectedDeltaPij(biasIncr), biascorrectedDeltaVij(biasIncr)); } -/// Compute errors w.r.t. preintegrated measurements and Jacobians wrpt pose_i, vel_i, bias_i, pose_j, bias_j //------------------------------------------------------------------------------ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, @@ -190,25 +188,28 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const const Rot3& rot_j = pose_j.rotation(); const Vector3 pos_j = pose_j.translation().vector(); - // Evaluate residual error, according to [3] - /* ---------------------------------------------------------------------------------------------------- */ + /// Compute bias-corrected quantities const imuBias::ConstantBias biasIncr = bias_i - biasHat_; Matrix3 D_biascorrected_biasIncr; const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij( biasIncr.gyroscope(), H5 ? &D_biascorrected_biasIncr : 0); const Vector3 deltaPij_biascorrected = biascorrectedDeltaPij(biasIncr); const Vector3 deltaVij_biascorrected = biascorrectedDeltaVij(biasIncr); - PoseVelocityBias predictedState_j = - predict(pose_i, vel_i, bias_i, deltaRij_biascorrected, + + /// Predict state at time j + NavState predictedState_j = + predict(NavState(pose_i, vel_i), deltaRij_biascorrected, deltaPij_biascorrected, deltaVij_biascorrected); + // Evaluate residual error, according to [3] // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fp = Ri.transpose() * (pos_j - predictedState_j.pose.translation().vector()); + const Vector3 fp = Ri.transpose() * (pos_j - predictedState_j.pose().translation().vector()); // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fv = Ri.transpose() * (vel_j - predictedState_j.velocity); + const Vector3 fv = Ri.transpose() * (vel_j - predictedState_j.velocity()); - // fR will be computed later. Note: it is the same as: fR = (predictedState_j.pose.translation()).between(Rot_j) + // fR will be computed later. + // Note: it is the same as: fR = predictedState_j.pose.rotation().between(Rot_j) /* ---------------------------------------------------------------------------------------------------- */ // Get Get so<3> version of bias corrected rotation @@ -293,6 +294,6 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& q->omegaCoriolis = omegaCoriolis; q->use2ndOrderCoriolis = use2ndOrderCoriolis; p_ = q; - return predict(pose_i, vel_i, bias_i); + return PoseVelocityBias(predict(NavState(pose_i, vel_i), bias_i), bias_i); } } /// namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index c810eb538..5ef076420 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -25,21 +25,44 @@ #include #include #include +#include #include namespace gtsam { +/// Velocity in 3D is just a Vector3 +typedef Vector3 Velocity3; + /** - * Struct to hold all state variables of returned by Predict function + * Navigation state: Pose (rotation, translation) + velocity */ +class NavState: private ProductLieGroup { +protected: + typedef ProductLieGroup Base; + typedef OptionalJacobian<9, 9> ChartJacobian; + +public: + // constructors + NavState() {} + NavState(const Pose3& pose, const Velocity3& vel) : Base(pose, vel) {} + + // access + const Pose3& pose() const { return first; } + const Point3& translation() const { return pose().translation(); } + const Rot3& rotation() const { return pose().rotation(); } + const Velocity3& velocity() const { return second; } +}; + +/// @deprecated struct PoseVelocityBias { Pose3 pose; Vector3 velocity; imuBias::ConstantBias bias; - - PoseVelocityBias(const Pose3& _pose, const Vector3& _velocity, - const imuBias::ConstantBias _bias) + PoseVelocityBias(const Pose3& _pose, const Vector3& _velocity, const imuBias::ConstantBias _bias) : pose(_pose), velocity(_velocity), bias(_bias) {} + PoseVelocityBias(const NavState& navState, const imuBias::ConstantBias _bias) + : pose(navState.pose()), velocity(navState.velocity()), bias(_bias) {} + NavState navState() const { return NavState(pose,velocity);} }; /** @@ -161,15 +184,13 @@ class PreintegrationBase : public PreintegratedRotation { } /// Predict state at time j, with bias-corrected quantities given - PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, - const imuBias::ConstantBias& bias_i, - const Rot3& deltaRij_biascorrected, - const Vector3& deltaPij_biascorrected, - const Vector3& deltaVij_biascorrected) const; + NavState predict(const NavState& navState, const Rot3& deltaRij_biascorrected, + const Vector3& deltaPij_biascorrected, + const Vector3& deltaVij_biascorrected) const; /// Predict state at time j - PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, - const imuBias::ConstantBias& bias_i) const; + NavState predict(const NavState& state_i, + const imuBias::ConstantBias& bias_i) const; /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, From 7b02a01a443a522bd36861668ebbc55bf232a228 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 01:52:23 -0700 Subject: [PATCH 482/964] Simplified deprecated methods --- gtsam/navigation/CombinedImuFactor.cpp | 14 ++++---------- gtsam/navigation/CombinedImuFactor.h | 2 +- gtsam/navigation/ImuFactor.cpp | 14 ++++---------- gtsam/navigation/ImuFactor.h | 2 +- 4 files changed, 10 insertions(+), 22 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index c1ec7f361..620305d77 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -277,19 +277,13 @@ CombinedImuFactor::CombinedImuFactor( void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const CombinedPreintegratedMeasurements& pim, + CombinedPreintegratedMeasurements& pim, const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { - // NOTE(frank): hack below only for backward compatibility - boost::shared_ptr p = - boost::make_shared(pim.p()); - p->gravity = gravity; - p->omegaCoriolis = omegaCoriolis; - p->use2ndOrderCoriolis = use2ndOrderCoriolis; - CombinedPreintegratedMeasurements newPim = pim; - newPim.p_ = p; - PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i); + // use deprecated predict + PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity, + omegaCoriolis, use2ndOrderCoriolis); pose_j = pvb.pose; vel_j = pvb.velocity; } diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index a70d1d24f..5641b4c3e 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -245,7 +245,7 @@ public: // @deprecated use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const CombinedPreintegratedMeasurements& pim, + CombinedPreintegratedMeasurements& pim, const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 024bdd65e..8f7e28385 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -195,18 +195,12 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const PreintegratedMeasurements& pim, + PreintegratedMeasurements& pim, const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { - // NOTE(frank): hack below only for backward compatibility - boost::shared_ptr p = - boost::make_shared(pim.p()); - p->gravity = gravity; - p->omegaCoriolis = omegaCoriolis; - p->use2ndOrderCoriolis = use2ndOrderCoriolis; - PreintegratedMeasurements newPim = pim; - newPim.p_ = p; - PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i); + // use deprecated predict + PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity, + omegaCoriolis, use2ndOrderCoriolis); pose_j = pvb.pose; vel_j = pvb.velocity; } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index eb94675fa..9cd1fcada 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -212,7 +212,7 @@ public: /// @deprecated use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - const PreintegratedMeasurements& pim, const Vector3& gravity, + PreintegratedMeasurements& pim, const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); private: From 93826414459c87713d3062909b08237857bb2df8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 01:52:53 -0700 Subject: [PATCH 483/964] Use constants, slight renaming --- .../tests/testCombinedImuFactor.cpp | 75 +++++++------------ gtsam/navigation/tests/testImuFactor.cpp | 58 +++++++------- 2 files changed, 54 insertions(+), 79 deletions(-) diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index a6703272c..87d3f4385 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -88,8 +88,8 @@ CombinedImuFactor::CombinedPreintegratedMeasurements evaluatePreintegratedMeasur const imuBias::ConstantBias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { CombinedImuFactor::CombinedPreintegratedMeasurements result(bias, - Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), - Matrix3::Identity(), Matrix3::Identity(), Matrix::Identity(6, 6), false); + I_3x3, I_3x3, I_3x3, + I_3x3, I_3x3, I_6x6, false); list::const_iterator itAcc = measuredAccs.begin(); list::const_iterator itOmega = measuredOmegas.begin(); @@ -136,13 +136,13 @@ TEST( CombinedImuFactor, PreintegratedMeasurements ) { double tol = 1e-6; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements expected1(bias, Matrix3::Zero(), - Matrix3::Zero(), Matrix3::Zero()); + ImuFactor::PreintegratedMeasurements expected1(bias, Z_3x3, + Z_3x3, Z_3x3); expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); CombinedImuFactor::CombinedPreintegratedMeasurements actual1(bias, - Matrix3::Zero(), Matrix3::Zero(), Matrix3::Zero(), Matrix3::Zero(), - Matrix3::Zero(), Matrix::Zero(6, 6)); + Z_3x3, Z_3x3, Z_3x3, Z_3x3, + Z_3x3, Z_6x6); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -174,37 +174,28 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { double deltaT = 1.0; double tol = 1e-6; - Matrix I6x6(6, 6); - I6x6 = Matrix::Identity(6, 6); - - ImuFactor::PreintegratedMeasurements pre_int_data( + ImuFactor::PreintegratedMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), - Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity()); + I_3x3, I_3x3, I_3x3); - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor::CombinedPreintegratedMeasurements combined_pre_int_data( + CombinedImuFactor::CombinedPreintegratedMeasurements combined_pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), - Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), - Matrix3::Identity(), 2 * Matrix3::Identity(), I6x6); + I_3x3, I_3x3, I_3x3, I_3x3, 2 * I_3x3, I_6x6); - combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, - deltaT); + combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, - omegaCoriolis); + ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim, gravity, omegaCoriolis); noiseModel::Gaussian::shared_ptr Combinedmodel = - noiseModel::Gaussian::Covariance(combined_pre_int_data.preintMeasCov()); + noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov()); CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - combined_pre_int_data, gravity, omegaCoriolis); + combined_pim, gravity, omegaCoriolis); Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias); - - Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias, - bias2); - + Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2); EXPECT(assert_equal(errorExpected, errorActual.head(9), tol)); // Expected Jacobians @@ -301,27 +292,23 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { measuredAcc << 0, 1.1, -9.81; double deltaT = 0.001; - Matrix I6x6(6, 6); - I6x6 = Matrix::Identity(6, 6); - - CombinedImuFactor::CombinedPreintegratedMeasurements combined_pre_int_data( - bias, Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), - Matrix3::Identity(), 2 * Matrix3::Identity(), I6x6, true); + CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3, + I_3x3, I_3x3, 2 * I_3x3, I_6x6, true); for (int i = 0; i < 1000; ++i) - combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor noiseModel::Gaussian::shared_ptr combinedmodel = - noiseModel::Gaussian::Covariance(combined_pre_int_data.preintMeasCov()); + noiseModel::Gaussian::Covariance(pim.preintMeasCov()); CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - combined_pre_int_data, gravity, omegaCoriolis); + pim, gravity, omegaCoriolis); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocityBias = combined_pre_int_data.predict(x1, v1, + PoseVelocityBias poseVelocityBias = pim.predict(x1, v1, bias, gravity, omegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; @@ -334,10 +321,8 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { /* ************************************************************************* */ TEST(CombinedImuFactor, PredictRotation) { imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) - Matrix I6x6(6, 6); - CombinedImuFactor::CombinedPreintegratedMeasurements combined_pre_int_data( - bias, Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), - Matrix3::Identity(), 2 * Matrix3::Identity(), I6x6, true); + CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3, + I_3x3, I_3x3, 2 * I_3x3, I_6x6, true); Vector3 measuredAcc; measuredAcc << 0, 0, -9.81; Vector3 gravity; @@ -349,16 +334,14 @@ TEST(CombinedImuFactor, PredictRotation) { double deltaT = 0.001; double tol = 1e-4; for (int i = 0; i < 1000; ++i) - combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, - deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - combined_pre_int_data, gravity, omegaCoriolis); + pim, gravity, omegaCoriolis); // Predict Pose3 x(Rot3().ypr(0, 0, 0), Point3(0, 0, 0)), x2; Vector3 v(0, 0, 0), v2; - CombinedImuFactor::Predict(x, v, x2, v2, bias, - Combinedfactor.preintegratedMeasurements(), gravity, omegaCoriolis); + CombinedImuFactor::Predict(x, v, x2, v2, bias, pim, gravity, omegaCoriolis); Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); EXPECT(assert_equal(expectedPose, x2, tol)); } @@ -489,7 +472,7 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { // Compute expected G wrt bias random walk noise (15,6) Matrix df_rwBias(15, 6); // random walk on the bias does not appear in the first 9 entries df_rwBias.setZero(); - df_rwBias.block<6, 6>(9, 0) = eye(6); + df_rwBias.block<6, 6>(9, 0) = I_6x6; // Compute expected G wrt gyro noise (15,6) Matrix df_dinitBias = numericalDerivative11( @@ -502,7 +485,7 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), bias_old); - df_dinitBias.block<6, 6>(9, 0) = Matrix::Zero(6, 6); // only has to influence first 9 rows + df_dinitBias.block<6, 6>(9, 0) = Z_6x6; // only has to influence first 9 rows Matrix Gexpected(15, 21); Gexpected << df_dintNoise, df_daccNoise, df_domegaNoise, df_rwBias, df_dinitBias; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index bffc62d90..df0739c27 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -83,9 +83,9 @@ Rot3 updatePreintegratedRot(const Rot3& deltaRij_old, double accNoiseVar = 0.01; double omegaNoiseVar = 0.03; double intNoiseVar = 0.0001; -const Matrix3 kMeasuredAccCovariance = accNoiseVar * Matrix3::Identity(); -const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * Matrix3::Identity(); -const Matrix3 kIntegrationErrorCovariance = intNoiseVar * Matrix3::Identity(); +const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; +const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; +const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ @@ -211,13 +211,13 @@ double deltaT = 1.0; TEST(ImuFactor, ErrorAndJacobians) { using namespace common; bool use2ndOrderIntegration = true; - PreintegratedImuMeasurements pre_int_data(bias, + PreintegratedImuMeasurements pim(bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderIntegration); - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, kZeroOmegaCoriolis); // Expected error @@ -263,7 +263,7 @@ TEST(ImuFactor, ErrorAndJacobians) { EXPECT(assert_equal(errorExpected, factor.unwhitenedError(values), 1e-6)); // Make sure the whitening is done correctly - Matrix cov = pre_int_data.preintMeasCov(); + Matrix cov = pim.preintMeasCov(); Matrix R = RtR(cov.inverse()); Vector whitened = R * errorExpected; EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values), 1e-6)); @@ -290,14 +290,14 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - PreintegratedImuMeasurements pre_int_data( + PreintegratedImuMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, nonZeroOmegaCoriolis); Values values; @@ -330,16 +330,16 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - PreintegratedImuMeasurements pre_int_data( + PreintegratedImuMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor Pose3 bodyPsensor = Pose3(); bool use2ndOrderCoriolis = true; - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, nonZeroOmegaCoriolis, bodyPsensor, use2ndOrderCoriolis); Values values; @@ -422,7 +422,7 @@ TEST(ImuFactor, fistOrderExponential) { Rot3::Expmap((measuredOmega - biasOmega) * deltaT).matrix(); const Matrix3 actualRot = hatRot * Rot3::Expmap(delRdelBiasOmega * deltabiasOmega).matrix(); - // hatRot * (Matrix3::Identity() + skewSymmetric(delRdelBiasOmega * deltabiasOmega)); + // hatRot * (I_3x3 + skewSymmetric(delRdelBiasOmega * deltabiasOmega)); // This is a first order expansion so the equality is only an approximation EXPECT(assert_equal(expectedRot, actualRot)); @@ -758,15 +758,15 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), Point3(1, 0, 0)); - PreintegratedImuMeasurements pre_int_data( + PreintegratedImuMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, nonZeroOmegaCoriolis); Values values; @@ -792,25 +792,22 @@ TEST(ImuFactor, PredictPositionAndVelocity) { measuredAcc << 0, 1, -9.81; double deltaT = 0.001; - Matrix I6x6(6, 6); - I6x6 = Matrix::Identity(6, 6); - - PreintegratedImuMeasurements pre_int_data( + PreintegratedImuMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); for (int i = 0; i < 1000; ++i) - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, kZeroOmegaCoriolis); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, kGravity, + PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, kGravity, kZeroOmegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; @@ -830,27 +827,22 @@ TEST(ImuFactor, PredictRotation) { measuredAcc << 0, 0, -9.81; double deltaT = 0.001; - Matrix I6x6(6, 6); - I6x6 = Matrix::Identity(6, 6); - - PreintegratedImuMeasurements pre_int_data( + PreintegratedImuMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); for (int i = 0; i < 1000; ++i) - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, - kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, kZeroOmegaCoriolis); // Predict Pose3 x1, x2; Vector3 v1 = Vector3(0, 0.0, 0.0); Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, factor.preintegratedMeasurements(), - kGravity, kZeroOmegaCoriolis); + ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravity, kZeroOmegaCoriolis); Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 0, 0; From f32a7cbd008063f9f1edf856a26caa6651fa2004 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 02:54:28 -0700 Subject: [PATCH 484/964] Parsed out tangent space operations --- gtsam/navigation/PreintegrationBase.cpp | 76 +++++++++++++++++-------- gtsam/navigation/PreintegrationBase.h | 8 +++ 2 files changed, 61 insertions(+), 23 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index fcf932bf9..e39200cea 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -129,38 +129,68 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( } } +static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } +static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } +static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } + //------------------------------------------------------------------------------ -NavState PreintegrationBase::predict(const NavState& state_i, +Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i) const { + Vector9 result = Vector9::Zero(); + if (p().omegaCoriolis) { + const Pose3& pose_i = state_i.pose(); + const Vector3& vel_i = state_i.velocity(); + const Matrix3 Ri = pose_i.rotation().matrix(); + const double dt = deltaTij(), dt2 = dt * dt; + + const Vector3& omegaCoriolis = *p().omegaCoriolis; + dR(result) -= Ri.transpose() * omegaCoriolis * dt; + dP(result) -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper + dV(result) -= 2 * omegaCoriolis.cross(vel_i) * dt; + if (p().use2ndOrderCoriolis) { + Vector3 temp = omegaCoriolis.cross( + omegaCoriolis.cross(pose_i.translation().vector())); + dP(result) -= 0.5 * temp * dt2; + dV(result) -= temp * dt; + } + } + return result; +} + +//------------------------------------------------------------------------------ +Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, const Rot3& deltaRij_biascorrected, const Vector3& deltaPij_biascorrected, const Vector3& deltaVij_biascorrected) const { const Pose3& pose_i = state_i.pose(); const Vector3& vel_i = state_i.velocity(); - - const double dt = deltaTij(), dt2 = dt * dt; const Matrix3 Ri = pose_i.rotation().matrix(); + const double dt = deltaTij(), dt2 = dt * dt; // Rotation, translation, and velocity: - Vector3 dR = Rot3::Logmap(deltaRij_biascorrected); - Vector3 dP = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * p().gravity * dt2; - Vector3 dV = Ri * deltaVij_biascorrected + p().gravity * dt; + Vector9 delta; + dR(delta) = Rot3::Logmap(deltaRij_biascorrected); + dP(delta) = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * p().gravity * dt2; + dV(delta) = Ri * deltaVij_biascorrected + p().gravity * dt; - if (p().omegaCoriolis) { - const Vector3& omegaCoriolis = *p().omegaCoriolis; - dR -= Ri.transpose() * omegaCoriolis * dt; // Coriolis term - dP -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper - dV -= 2 * omegaCoriolis.cross(vel_i) * dt; - if (p().use2ndOrderCoriolis) { - Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(pose_i.translation().vector())); - dP -= 0.5 * temp * dt2; - dV -= temp * dt; - } - } + if (p().omegaCoriolis) delta += integrateCoriolis(state_i); + return delta; +} + +//------------------------------------------------------------------------------ +NavState PreintegrationBase::predict(const NavState& state_i, + const Rot3& deltaRij_biascorrected, + const Vector3& deltaPij_biascorrected, + const Vector3& deltaVij_biascorrected) const { + + Vector9 delta = recombinedPrediction(state_i, deltaRij_biascorrected, + deltaPij_biascorrected, deltaVij_biascorrected); // TODO(frank): pose update below is separate expmap for R,t. Is that kosher? - const Pose3 pose_j = Pose3(pose_i.rotation().expmap(dR), pose_i.translation() + Point3(dP)); - return NavState(pose_j, vel_i + dV); + const Pose3& pose_i = state_i.pose(); + const Vector3& vel_i = state_i.velocity(); + const Pose3 pose_j = Pose3(pose_i.rotation().expmap(dR(delta)), pose_i.translation() + Point3(dP(delta))); + return NavState(pose_j, vel_i + dV(delta)); } //------------------------------------------------------------------------------ @@ -197,9 +227,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const const Vector3 deltaVij_biascorrected = biascorrectedDeltaVij(biasIncr); /// Predict state at time j - NavState predictedState_j = - predict(NavState(pose_i, vel_i), deltaRij_biascorrected, - deltaPij_biascorrected, deltaVij_biascorrected); + NavState state_i(pose_i, vel_i); + NavState predictedState_j = predict(state_i, deltaRij_biascorrected, + deltaPij_biascorrected, deltaVij_biascorrected); // Evaluate residual error, according to [3] // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance @@ -220,7 +250,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // Coriolis term, NOTE inconsistent with AHRS, where coriolisHat is *after* integration // TODO(frank): move derivatives to predict and do coriolis branching there - const Vector3 coriolis = integrateCoriolis(rot_i); + const Vector3 coriolis = PreintegratedRotation::integrateCoriolis(rot_i); const Vector3 correctedOmega = biascorrectedOmega - coriolis; // Residual rotation error diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 5ef076420..01df67c69 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -183,6 +183,14 @@ class PreintegrationBase : public PreintegratedRotation { + delVdelBiasOmega_ * biasIncr.gyroscope(); } + /// Integrate coriolis correction in body frame state_i + Vector9 integrateCoriolis(const NavState& state_i) const; + + /// Recombine the preintegration, gravity, and coriolis in a single NavState tangent vector + Vector9 recombinedPrediction(const NavState& state_i, + const Rot3& deltaRij_biascorrected, const Vector3& deltaPij_biascorrected, + const Vector3& deltaVij_biascorrected) const; + /// Predict state at time j, with bias-corrected quantities given NavState predict(const NavState& navState, const Rot3& deltaRij_biascorrected, const Vector3& deltaPij_biascorrected, From d4d99c390d38538ffc1581c262b50391bbdddf5e Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 03:31:11 -0700 Subject: [PATCH 485/964] A custom retract does the trick --- gtsam/navigation/PreintegrationBase.cpp | 27 +++++++------------ gtsam/navigation/PreintegrationBase.h | 36 ++++++++++++++++++++++++- 2 files changed, 45 insertions(+), 18 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index e39200cea..281e1e176 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -129,10 +129,6 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( } } -static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } -static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } -static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } - //------------------------------------------------------------------------------ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i) const { Vector9 result = Vector9::Zero(); @@ -143,14 +139,14 @@ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i) const { const double dt = deltaTij(), dt2 = dt * dt; const Vector3& omegaCoriolis = *p().omegaCoriolis; - dR(result) -= Ri.transpose() * omegaCoriolis * dt; - dP(result) -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper - dV(result) -= 2 * omegaCoriolis.cross(vel_i) * dt; + NavState::dR(result) -= Ri.transpose() * omegaCoriolis * dt; + NavState::dP(result) -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper + NavState::dV(result) -= 2 * omegaCoriolis.cross(vel_i) * dt; if (p().use2ndOrderCoriolis) { Vector3 temp = omegaCoriolis.cross( omegaCoriolis.cross(pose_i.translation().vector())); - dP(result) -= 0.5 * temp * dt2; - dV(result) -= temp * dt; + NavState::dP(result) -= 0.5 * temp * dt2; + NavState::dV(result) -= temp * dt; } } return result; @@ -169,9 +165,9 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, // Rotation, translation, and velocity: Vector9 delta; - dR(delta) = Rot3::Logmap(deltaRij_biascorrected); - dP(delta) = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * p().gravity * dt2; - dV(delta) = Ri * deltaVij_biascorrected + p().gravity * dt; + NavState::dR(delta) = Rot3::Logmap(deltaRij_biascorrected); + NavState::dP(delta) = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * p().gravity * dt2; + NavState::dV(delta) = Ri * deltaVij_biascorrected + p().gravity * dt; if (p().omegaCoriolis) delta += integrateCoriolis(state_i); return delta; @@ -186,11 +182,7 @@ NavState PreintegrationBase::predict(const NavState& state_i, Vector9 delta = recombinedPrediction(state_i, deltaRij_biascorrected, deltaPij_biascorrected, deltaVij_biascorrected); - // TODO(frank): pose update below is separate expmap for R,t. Is that kosher? - const Pose3& pose_i = state_i.pose(); - const Vector3& vel_i = state_i.velocity(); - const Pose3 pose_j = Pose3(pose_i.rotation().expmap(dR(delta)), pose_i.translation() + Point3(dP(delta))); - return NavState(pose_j, vel_i + dV(delta)); + return state_i.retract(delta); } //------------------------------------------------------------------------------ @@ -309,6 +301,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const -delPdelBiasAcc(), -delPdelBiasOmega(), // dfP/dBias -delVdelBiasAcc(), -delVdelBiasOmega(); // dfV/dBias } + // TODO(frank): Vector9 r = state_i.localCoordinates(predictedState_j); does not work ??? Vector9 r; r << fR, fp, fv; return r; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 01df67c69..1226eaa6c 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -36,23 +36,57 @@ typedef Vector3 Velocity3; /** * Navigation state: Pose (rotation, translation) + velocity */ -class NavState: private ProductLieGroup { +class NavState: public ProductLieGroup { protected: typedef ProductLieGroup Base; typedef OptionalJacobian<9, 9> ChartJacobian; + using Base::first; + using Base::second; public: // constructors NavState() {} NavState(const Pose3& pose, const Velocity3& vel) : Base(pose, vel) {} + NavState(const Rot3& rot, const Point3& t, const Velocity3& vel): Base(Pose3(rot, t), vel) {} + NavState(const Base& product) : Base(product) {} // access const Pose3& pose() const { return first; } const Point3& translation() const { return pose().translation(); } const Rot3& rotation() const { return pose().rotation(); } const Velocity3& velocity() const { return second; } + + /// @name Manifold + /// @{ + + // NavState tangent space sugar. + static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } + static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } + static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } + + // Specialize Retract/Local that agrees with IMUFactors + // TODO(frank): This is a very specific retract. Talk to Luca about implications. + NavState retract(Vector9& v, // + ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { + if (H1||H2) throw std::runtime_error("NavState::retract derivatives not implemented yet"); + return NavState(rotation().expmap(dR(v)), translation() + Point3(dP(v)), velocity() + dV(v)); + } + Vector9 localCoordinates(const NavState& g, // + ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { + if (H1||H2) throw std::runtime_error("NavState::localCoordinates derivatives not implemented yet"); + Vector9 v; + dR(v) = rotation().logmap(g.rotation()); + dP(v) = (g.translation() - translation()).vector(); + dV(v) = g.velocity() - velocity(); + return v; + } + /// @} }; +// Specialize NavState traits to use a Retract/Local that agrees with IMUFactors +template<> +struct traits : internal::LieGroupTraits {}; + /// @deprecated struct PoseVelocityBias { Pose3 pose; From f2df547d867191804f7b570a83538bd76a9301f6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 19 Jul 2015 16:55:53 -0700 Subject: [PATCH 486/964] Functioning "cols" method. Unfortunately, "rows" and "block" are not easy. --- gtsam/base/OptionalJacobian.h | 48 ++++++++++++++++-- gtsam/base/tests/testOptionalJacobian.cpp | 59 +++++++++++++++-------- 2 files changed, 83 insertions(+), 24 deletions(-) diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index c0ac8cd7f..eb1c1bbcc 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -40,7 +40,8 @@ class OptionalJacobian { public: - /// ::Jacobian size type + /// Jacobian size type + /// TODO(frank): how to enforce RowMajor? Or better, make it work with any storage order? typedef Eigen::Matrix Jacobian; private: @@ -53,6 +54,14 @@ private: new (&map_) Eigen::Map(data); } + // Private and very dangerous constructor straight from memory + OptionalJacobian(double* data) : map_(NULL) { + if (data) usurp(data); + } + + template + friend class OptionalJacobian; + public: /// Default constructor acts like boost::none @@ -98,6 +107,11 @@ public: #endif + /// Constructor that will usurp data of a block expression + /// TODO(frank): unfortunately using a Map makes usurping non-contiguous memory impossible + // template + // OptionalJacobian(Eigen::Block block) : map_(NULL) { ?? } + /// Return true is allocated, false if default constructor was used operator bool() const { return map_.data() != NULL; @@ -108,8 +122,36 @@ public: return map_; } - /// TODO: operator->() - Eigen::Map* operator->(){ return &map_; } + /// operator->() + Eigen::Map* operator->() { + return &map_; + } + + /// Access M*N sub-block if we are allocated, otherwise none + /// TODO(frank): this could work as is below if only constructor above worked + // template + // OptionalJacobian block(int startRow, int startCol) { + // if (*this) + // OptionalJacobian(map_.block(startRow, startCol)); + // else + // return OptionalJacobian(); + // } + + /// Access Rows*N sub-block if we are allocated, otherwise return an empty OptionalJacobian + /// The use case is functions with arguments that are dissected, e.g. Pose3 into Rot3, Point3 + /// TODO(frank): ideally, we'd like full block functionality, but see note above. + template + OptionalJacobian cols(int startCol) { + if (*this) + return OptionalJacobian(&map_(0,startCol)); + else + return OptionalJacobian(); + } + + /// Access M*Cols sub-block if we are allocated, otherwise return empty OptionalJacobian + /// The use case is functions that create their return value piecemeal by calling other functions + /// TODO(frank): Unfortunately we assume column-major storage order and hence this can't work + /// template OptionalJacobian rows(int startRow) { ?? } }; // The pure dynamic specialization of this is needed to support diff --git a/gtsam/base/tests/testOptionalJacobian.cpp b/gtsam/base/tests/testOptionalJacobian.cpp index 331fb49eb..de1c07dcf 100644 --- a/gtsam/base/tests/testOptionalJacobian.cpp +++ b/gtsam/base/tests/testOptionalJacobian.cpp @@ -61,20 +61,15 @@ TEST( OptionalJacobian, Constructors ) { } //****************************************************************************** +Matrix kTestMatrix = (Matrix23() << 11,12,13,21,22,23).finished(); + void test(OptionalJacobian<2, 3> H = boost::none) { if (H) - *H = Matrix23::Zero(); -} - -void testPtr(Matrix23* H = NULL) { - if (H) - *H = Matrix23::Zero(); + *H = kTestMatrix; } TEST( OptionalJacobian, Fixed) { - Matrix expected = Matrix23::Zero(); - // Default argument does nothing test(); @@ -82,61 +77,83 @@ TEST( OptionalJacobian, Fixed) { Matrix23 fixed1; fixed1.setOnes(); test(fixed1); - EXPECT(assert_equal(expected,fixed1)); + EXPECT(assert_equal(kTestMatrix,fixed1)); // Fixed size, no copy, pointer style Matrix23 fixed2; fixed2.setOnes(); test(&fixed2); - EXPECT(assert_equal(expected,fixed2)); + EXPECT(assert_equal(kTestMatrix,fixed2)); - // Empty is no longer a sign we don't want a matrix, we want it resized + // Passing in an empty matrix means we want it resized Matrix dynamic0; test(dynamic0); - EXPECT(assert_equal(expected,dynamic0)); + EXPECT(assert_equal(kTestMatrix,dynamic0)); // Dynamic wrong size Matrix dynamic1(3, 5); dynamic1.setOnes(); test(dynamic1); - EXPECT(assert_equal(expected,dynamic1)); + EXPECT(assert_equal(kTestMatrix,dynamic1)); // Dynamic right size Matrix dynamic2(2, 5); dynamic2.setOnes(); test(dynamic2); - EXPECT(assert_equal(expected, dynamic2)); + EXPECT(assert_equal(kTestMatrix, dynamic2)); } //****************************************************************************** void test2(OptionalJacobian<-1,-1> H = boost::none) { if (H) - *H = Matrix23::Zero(); // resizes + *H = kTestMatrix; // resizes } TEST( OptionalJacobian, Dynamic) { - Matrix expected = Matrix23::Zero(); - // Default argument does nothing test2(); - // Empty is no longer a sign we don't want a matrix, we want it resized + // Passing in an empty matrix means we want it resized Matrix dynamic0; test2(dynamic0); - EXPECT(assert_equal(expected,dynamic0)); + EXPECT(assert_equal(kTestMatrix,dynamic0)); // Dynamic wrong size Matrix dynamic1(3, 5); dynamic1.setOnes(); test2(dynamic1); - EXPECT(assert_equal(expected,dynamic1)); + EXPECT(assert_equal(kTestMatrix,dynamic1)); // Dynamic right size Matrix dynamic2(2, 5); dynamic2.setOnes(); test2(dynamic2); - EXPECT(assert_equal(expected, dynamic2)); + EXPECT(assert_equal(kTestMatrix, dynamic2)); +} + +//****************************************************************************** +void test3(double add, OptionalJacobian<2,1> H = boost::none) { + if (H) *H << add + 10, add + 20; +} + +// This function calls the above function three times, one for each column +void test4(OptionalJacobian<2, 3> H = boost::none) { + if (H) { + test3(1, H.cols<1>(0)); + test3(2, H.cols<1>(1)); + test3(3, H.cols<1>(2)); + } +} + +TEST(OptionalJacobian, Block) { + // Default argument does nothing + test4(); + + Matrix23 fixed; + fixed.setOnes(); + test4(fixed); + EXPECT(assert_equal(kTestMatrix, fixed)); } //****************************************************************************** From 36c652ac402c99c1c06648ae80e5aff49a2f7bfe Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 19 Jul 2015 20:37:16 -0400 Subject: [PATCH 487/964] remove monocular triangulation hack and make tests pass again --- .../slam/SmartStereoProjectionFactor.h | 110 ++++++++---------- .../testSmartStereoProjectionPoseFactor.cpp | 18 ++- 2 files changed, 56 insertions(+), 72 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 8c546b9b0..d57d1ca25 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -234,67 +234,58 @@ public: TriangulationResult triangulateSafe(const Cameras& cameras) const { size_t m = cameras.size(); - if (m < 2) { // if we have a single pose the corresponding factor is uninformative - return TriangulationResult::Degenerate(); - } +// if (m < 2) { // if we have a single pose the corresponding factor is uninformative +// return TriangulationResult::Degenerate(); +// } bool retriangulate = decideIfTriangulate(cameras); if (retriangulate) { - // We triangulate the 3D position of the landmark - std::cout << "triangulateSafe i \n" << std::endl; - //TODO: Chris will replace this with something else for stereo -// point_ = triangulatePoint3(cameras, this->measured_, -// rankTolerance_, enableEPI_); - - // // // Temporary hack to use monocular triangulation - std::vector mono_measurements; - BOOST_FOREACH(const StereoPoint2& sp, this->measured_) { - mono_measurements.push_back(sp.point2()); + std::vector reprojections; + reprojections.reserve(m); + for(size_t i = 0; i < m; i++) { + reprojections.push_back(cameras[i].backproject(measured_[i])); } - std::vector > mono_cameras; - BOOST_FOREACH(const StereoCamera& camera, cameras) { - const Pose3& pose = camera.pose(); - const Cal3_S2& K = camera.calibration()->calibration(); - mono_cameras.push_back(PinholeCamera(pose, K)); + Point3 pw_sum; + BOOST_FOREACH(const Point3& pw, reprojections) { + pw_sum = pw_sum + pw; } -// Point3 point = triangulatePoint3 >(mono_cameras, mono_measurements, -// params_.triangulation.rankTolerance, params_.triangulation.enableEPI); - result_ = gtsam::triangulateSafe(mono_cameras, mono_measurements, - params_.triangulation); + // average reprojected landmark + Point3 pw_avg = pw_sum / double(m); - // // // End temporary hack + // check if it lies in front of all cameras + bool cheirality_ok = true; + double totalReprojError = 0; + for(size_t i = 0; i < m; i++) { + const Pose3& pose = cameras[i].pose(); + const Point3& pl = pose.transform_to(pw_avg); + if (pl.z() <= 0) { + cheirality_ok = false; + break; + } - // FIXME: temporary: triangulation using only first camera -// const StereoPoint2& z0 = this->measured_.at(0); -// point_ = cameras[0].backproject(z0); + // check landmark distance + if (params_.triangulation.landmarkDistanceThreshold > 0 && + pl.norm() > params_.triangulation.landmarkDistanceThreshold) { + return TriangulationResult::Degenerate(); + } - // Check landmark distance and reprojection errors to avoid outliers -// double totalReprojError = 0.0; -// size_t i = 0; -// BOOST_FOREACH(const StereoCamera& camera, cameras) { -// Point3 cameraTranslation = camera.pose().translation(); -// // we discard smart factors corresponding to points that are far away -// if (cameraTranslation.distance(*result_) > params_.triangulation.landmarkDistanceThreshold) { -// return TriangulationResult::Degenerate(); -// } -// const StereoPoint2& zi = this->measured_.at(i); -// try { -// StereoPoint2 reprojectionError(camera.project(*result_) - zi); -// totalReprojError += reprojectionError.vector().norm(); -// } catch (CheiralityException) { -// return TriangulationResult::BehindCamera(); -// } -// i += 1; -// } - //std::cout << "totalReprojError error: " << totalReprojError << std::endl; - // we discard smart factors that have large reprojection error -// if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 -// && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) -// return TriangulationResult::Degenerate(); + if (params_.triangulation.dynamicOutlierRejectionThreshold > 0) { + const StereoPoint2& zi = measured_[i]; + StereoPoint2 reprojectionError(cameras[i].project(pw_avg) - zi); + totalReprojError += reprojectionError.vector().norm(); + } + } // for -// result_ = TriangulationResult(point); + if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 + && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) + return TriangulationResult::Degenerate(); + + if(cheirality_ok == false) { + result_ = TriangulationResult::BehindCamera(); + } + result_ = TriangulationResult(pw_avg); } return result_; @@ -389,11 +380,11 @@ public: return boost::make_shared >(this->keys_); } - /// linearize to a Hessianfactor - virtual boost::shared_ptr > linearizeToHessian( - const Values& values, double lambda = 0.0) const { - return createHessianFactor(this->cameras(values), lambda); - } +// /// linearize to a Hessianfactor +// virtual boost::shared_ptr > linearizeToHessian( +// const Values& values, double lambda = 0.0) const { +// return createHessianFactor(this->cameras(values), lambda); +// } // /// linearize to an Implicit Schur factor // virtual boost::shared_ptr > linearizeToImplicit( @@ -420,8 +411,8 @@ public: return createHessianFactor(cameras, lambda); // case IMPLICIT_SCHUR: // return createRegularImplicitSchurFactor(cameras, lambda); -// case JACOBIAN_SVD: -// return createJacobianSVDFactor(cameras, lambda); + case JACOBIAN_SVD: + return createJacobianSVDFactor(cameras, lambda); // case JACOBIAN_Q: // return createJacobianQFactor(cameras, lambda); default: @@ -535,14 +526,11 @@ public: else result_ = triangulateSafe(cameras); - std::cout << "Triangulation result in totalReprojectionError" << std::endl; - std::cout << result_ << std::endl; - if (result_) // All good, just use version in base class return Base::totalReprojectionError(cameras, *result_); else if (params_.degeneracyMode == HANDLE_INFINITY) { - throw("Backproject at infinity"); + throw(std::runtime_error("Backproject at infinity not implemented for SmartStereo.")); // // Otherwise, manage the exceptions with rotation-only factors // const StereoPoint2& z0 = this->measured_.at(0); // Unit3 backprojected; //= cameras.front().backprojectPointAtInfinity(z0); diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index a4a8c9269..f35c82539 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -124,7 +124,7 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera level_camera(level_pose, K2); - + cout << "Test 122 STARTS HERE ----------------------------------------- 122 " << endl; // create second camera 1 meter to the right of first camera Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); StereoCamera level_camera_right(level_pose_right, K2); @@ -277,7 +277,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at(x3))); - EXPECT_DOUBLES_EQUAL(1888864, graph.error(values), 1); + EXPECT_DOUBLES_EQUAL(991819.94, graph.error(values), 1); Values result; gttic_(SmartStereoProjectionPoseFactor); @@ -286,7 +286,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { gttoc_(SmartStereoProjectionPoseFactor); tictoc_finishedIteration_(); - EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-6); + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4); GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); VectorValues delta = GFG->optimize(); @@ -436,7 +436,6 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { - double excludeLandmarksFutherThanDist = 1e10; double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error vector views; @@ -474,7 +473,6 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { SmartStereoProjectionParams params; params.setLinearizationMode(JACOBIAN_SVD); - params.setLandmarkDistanceThreshold(excludeLandmarksFutherThanDist); params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold); @@ -668,11 +666,8 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3); - // Create smartfactors - double rankTol = 10; - SmartStereoProjectionParams params; - params.setRankTolerance(rankTol); + params.setRankTolerance(10); SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); @@ -979,6 +974,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { + vector views; views.push_back(x1); views.push_back(x2); @@ -1023,7 +1019,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { // Hessian is invariant to rotations in the nondegenerate case EXPECT( assert_equal(hessianFactor->information(), - hessianFactorRot->information(), 1e-8)); + hessianFactorRot->information(), 1e-7)); Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); @@ -1039,7 +1035,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { // Hessian is invariant to rotations and translations in the nondegenerate case EXPECT( assert_equal(hessianFactor->information(), - hessianFactorRotTran->information(), 1e-8)); + hessianFactorRotTran->information(), 1e-6)); } /* ************************************************************************* */ From fcc9ac26691ed3c66ef6021e4803469aeb25f0f1 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 19 Jul 2015 20:39:34 -0400 Subject: [PATCH 488/964] remove extra cout --- .../slam/tests/testSmartStereoProjectionPoseFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index f35c82539..d0139d850 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -124,7 +124,7 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera level_camera(level_pose, K2); - cout << "Test 122 STARTS HERE ----------------------------------------- 122 " << endl; + // create second camera 1 meter to the right of first camera Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); StereoCamera level_camera_right(level_pose_right, K2); From b5a978c534319f6030ef30f8545eae4dd88d125f Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 19 Jul 2015 21:01:14 -0400 Subject: [PATCH 489/964] improve dynamic outlier rejection test --- .../testSmartStereoProjectionPoseFactor.cpp | 26 ++++++++++++++++--- 1 file changed, 22 insertions(+), 4 deletions(-) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index d0139d850..4a3985842 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -436,8 +436,6 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { - double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error - vector views; views.push_back(x1); views.push_back(x2); @@ -473,7 +471,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { SmartStereoProjectionParams params; params.setLinearizationMode(JACOBIAN_SVD); - params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold); + params.setDynamicOutlierRejectionThreshold(1); SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); @@ -488,6 +486,10 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { SmartFactor::shared_ptr smartFactor4(new SmartFactor(params)); smartFactor4->add(measurements_cam4, views, model, K); + // same as factor 4, but dynamic outlier rejection is off + SmartFactor::shared_ptr smartFactor4b(new SmartFactor()); + smartFactor4b->add(measurements_cam4, views, model, K); + const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); NonlinearFactorGraph graph; @@ -505,7 +507,23 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { values.insert(x2, pose2); values.insert(x3, pose3); - // All factors are disabled and pose should remain where it is + EXPECT_DOUBLES_EQUAL(0, smartFactor1->error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(0, smartFactor2->error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(0, smartFactor3->error(values), 1e-9); + // zero error due to dynamic outlier rejection + EXPECT_DOUBLES_EQUAL(0, smartFactor4->error(values), 1e-9); + + // dynamic outlier rejection is off + EXPECT_DOUBLES_EQUAL(6700, smartFactor4b->error(values), 1e-9); + + // Factors 1-3 should have valid point, factor 4 should not + EXPECT(smartFactor1->point()); + EXPECT(smartFactor2->point()); + EXPECT(smartFactor3->point()); + EXPECT(smartFactor4->point().degenerate()); + EXPECT(smartFactor4b->point()); + + // Factor 4 is disabled, pose 3 stays put Values result; LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); result = optimizer.optimize(); From c3dfa3ab10e21ed608a2fc272cc847fa43acad2c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 19 Jul 2015 18:28:18 -0700 Subject: [PATCH 490/964] Cleaned up Pose2 derivatives and used OptionalJacobian::cols in some places --- gtsam/geometry/Pose2.cpp | 97 +++++++++++++++++++--------------------- 1 file changed, 45 insertions(+), 52 deletions(-) diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp index 9e87407f4..89f6b3754 100644 --- a/gtsam/geometry/Pose2.cpp +++ b/gtsam/geometry/Pose2.cpp @@ -201,95 +201,88 @@ Pose2 Pose2::inverse() const { /* ************************************************************************* */ // see doc/math.lyx, SE(2) section Point2 Pose2::transform_to(const Point2& point, - OptionalJacobian<2, 3> H1, OptionalJacobian<2, 2> H2) const { - Point2 d = point - t_; - Point2 q = r_.unrotate(d); - if (!H1 && !H2) return q; - if (H1) *H1 << - -1.0, 0.0, q.y(), - 0.0, -1.0, -q.x(); - if (H2) *H2 << r_.transpose(); + OptionalJacobian<2, 3> Hpose, OptionalJacobian<2, 2> Hpoint) const { + OptionalJacobian<2, 2> Htranslation = Hpose.cols<2>(0); + OptionalJacobian<2, 1> Hrotation = Hpose.cols<1>(2); + const Point2 q = r_.unrotate(point - t_, Hrotation, Hpoint); + if (Htranslation) *Htranslation << -1.0, 0.0, 0.0, -1.0; return q; } /* ************************************************************************* */ // see doc/math.lyx, SE(2) section -Point2 Pose2::transform_from(const Point2& p, - OptionalJacobian<2, 3> H1, OptionalJacobian<2, 2> H2) const { - const Point2 q = r_ * p; - if (H1 || H2) { - const Matrix2 R = r_.matrix(); - Matrix21 Drotate1; - Drotate1 << -q.y(), q.x(); - if (H1) *H1 << R, Drotate1; - if (H2) *H2 = R; // R - } +Point2 Pose2::transform_from(const Point2& point, + OptionalJacobian<2, 3> Hpose, OptionalJacobian<2, 2> Hpoint) const { + OptionalJacobian<2, 2> Htranslation = Hpose.cols<2>(0); + OptionalJacobian<2, 1> Hrotation = Hpose.cols<1>(2); + const Point2 q = r_.rotate(point, Hrotation, Hpoint); + if (Htranslation) *Htranslation = Hpoint ? *Hpoint : r_.matrix(); return q + t_; } /* ************************************************************************* */ Rot2 Pose2::bearing(const Point2& point, - OptionalJacobian<1, 3> H1, OptionalJacobian<1, 2> H2) const { + OptionalJacobian<1, 3> Hpose, OptionalJacobian<1, 2> Hpoint) const { // make temporary matrices - Matrix23 D1; Matrix2 D2; - Point2 d = transform_to(point, H1 ? &D1 : 0, H2 ? &D2 : 0); // uses pointer version - if (!H1 && !H2) return Rot2::relativeBearing(d); + Matrix23 D_d_pose; Matrix2 D_d_point; + Point2 d = transform_to(point, Hpose ? &D_d_pose : 0, Hpoint ? &D_d_point : 0); + if (!Hpose && !Hpoint) return Rot2::relativeBearing(d); Matrix12 D_result_d; - Rot2 result = Rot2::relativeBearing(d, D_result_d); - if (H1) *H1 = D_result_d * (D1); - if (H2) *H2 = D_result_d * (D2); + Rot2 result = Rot2::relativeBearing(d, Hpose || Hpoint ? &D_result_d : 0); + if (Hpose) *Hpose = D_result_d * D_d_pose; + if (Hpoint) *Hpoint = D_result_d * D_d_point; return result; } /* ************************************************************************* */ Rot2 Pose2::bearing(const Pose2& pose, - OptionalJacobian<1, 3> H1, OptionalJacobian<1, 3> H2) const { + OptionalJacobian<1, 3> Hpose, OptionalJacobian<1, 3> Hother) const { Matrix12 D2; - Rot2 result = bearing(pose.t(), H1, H2 ? &D2 : 0); - if (H2) { + Rot2 result = bearing(pose.t(), Hpose, Hother ? &D2 : 0); + if (Hother) { Matrix12 H2_ = D2 * pose.r().matrix(); - *H2 << H2_, Z_1x1; + *Hother << H2_, Z_1x1; } return result; } /* ************************************************************************* */ double Pose2::range(const Point2& point, - OptionalJacobian<1,3> H1, OptionalJacobian<1,2> H2) const { + OptionalJacobian<1,3> Hpose, OptionalJacobian<1,2> Hpoint) const { Point2 d = point - t_; - if (!H1 && !H2) return d.norm(); - Matrix12 H; - double r = d.norm(H); - if (H1) { - Matrix23 H1_; - H1_ << -r_.c(), r_.s(), 0.0, - -r_.s(), -r_.c(), 0.0; - *H1 = H * H1_; + if (!Hpose && !Hpoint) return d.norm(); + Matrix12 D_r_d; + double r = d.norm(D_r_d); + if (Hpose) { + Matrix23 D_d_pose; + D_d_pose << -r_.c(), r_.s(), 0.0, + -r_.s(), -r_.c(), 0.0; + *Hpose = D_r_d * D_d_pose; } - if (H2) *H2 = H; + if (Hpoint) *Hpoint = D_r_d; return r; } /* ************************************************************************* */ double Pose2::range(const Pose2& pose, - OptionalJacobian<1,3> H1, - OptionalJacobian<1,3> H2) const { + OptionalJacobian<1,3> Hpose, + OptionalJacobian<1,3> Hother) const { Point2 d = pose.t() - t_; - if (!H1 && !H2) return d.norm(); - Matrix12 H; - double r = d.norm(H); - if (H1) { - Matrix23 H1_; - H1_ << + if (!Hpose && !Hother) return d.norm(); + Matrix12 D_r_d; + double r = d.norm(D_r_d); + if (Hpose) { + Matrix23 D_d_pose; + D_d_pose << -r_.c(), r_.s(), 0.0, -r_.s(), -r_.c(), 0.0; - *H1 = H * H1_; + *Hpose = D_r_d * D_d_pose; } - if (H2) { - Matrix23 H2_; - H2_ << + if (Hother) { + Matrix23 D_d_other; + D_d_other << pose.r_.c(), -pose.r_.s(), 0.0, pose.r_.s(), pose.r_.c(), 0.0; - *H2 = H * H2_; + *Hother = D_r_d * D_d_other; } return r; } From 2deac4b88f6b70ce0e83838f9938b8b13aa3e198 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 19 Jul 2015 18:54:59 -0700 Subject: [PATCH 491/964] Some fixed-size optimizations, some const. Save a quaternion->matrix conversion in transform_from. --- gtsam/geometry/Pose3.cpp | 57 ++++++++++++++++++++-------------------- 1 file changed, 28 insertions(+), 29 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index ac08f0797..3f46df40d 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -193,10 +193,10 @@ Vector6 Pose3::ChartAtOrigin::Local(const Pose3& T, ChartJacobian H) { * The closed-form formula is similar to formula 102 in Barfoot14tro) */ static Matrix3 computeQforExpmapDerivative(const Vector6& xi) { - Vector3 w(sub(xi, 0, 3)); - Vector3 v(sub(xi, 3, 6)); - Matrix3 V = skewSymmetric(v); - Matrix3 W = skewSymmetric(w); + const Vector3 w = xi.head<3>(); + const Vector3 v = xi.tail<3>(); + const Matrix3 V = skewSymmetric(v); + const Matrix3 W = skewSymmetric(w); Matrix3 Q; @@ -215,8 +215,8 @@ static Matrix3 computeQforExpmapDerivative(const Vector6& xi) { // The closed-form formula in Barfoot14tro eq. (102) double phi = w.norm(); if (fabs(phi)>1e-5) { - double sinPhi = sin(phi), cosPhi = cos(phi); - double phi2 = phi * phi, phi3 = phi2 * phi, phi4 = phi3 * phi, phi5 = phi4 * phi; + const double sinPhi = sin(phi), cosPhi = cos(phi); + const double phi2 = phi * phi, phi3 = phi2 * phi, phi4 = phi3 * phi, phi5 = phi4 * phi; // Invert the sign of odd-order terms to have the right Jacobian Q = -0.5*V + (phi-sinPhi)/phi3*(W*V + V*W - W*V*W) + (1-phi2/2-cosPhi)/phi4*(W*W*V + V*W*W - 3*W*V*W) @@ -234,40 +234,37 @@ static Matrix3 computeQforExpmapDerivative(const Vector6& xi) { /* ************************************************************************* */ Matrix6 Pose3::ExpmapDerivative(const Vector6& xi) { - Vector3 w(sub(xi, 0, 3)); - Matrix3 Jw = Rot3::ExpmapDerivative(w); - Matrix3 Q = computeQforExpmapDerivative(xi); - Matrix6 J = (Matrix(6,6) << Jw, Z_3x3, Q, Jw).finished(); + const Vector3 w = xi.head<3>(); + const Matrix3 Jw = Rot3::ExpmapDerivative(w); + const Matrix3 Q = computeQforExpmapDerivative(xi); + Matrix6 J; + J << Jw, Z_3x3, Q, Jw; return J; } /* ************************************************************************* */ Matrix6 Pose3::LogmapDerivative(const Pose3& pose) { - Vector6 xi = Logmap(pose); - Vector3 w(sub(xi, 0, 3)); - Matrix3 Jw = Rot3::LogmapDerivative(w); - Matrix3 Q = computeQforExpmapDerivative(xi); - Matrix3 Q2 = -Jw*Q*Jw; - Matrix6 J = (Matrix(6,6) << Jw, Z_3x3, Q2, Jw).finished(); + const Vector6 xi = Logmap(pose); + const Vector3 w = xi.head<3>(); + const Matrix3 Jw = Rot3::LogmapDerivative(w); + const Matrix3 Q = computeQforExpmapDerivative(xi); + const Matrix3 Q2 = -Jw*Q*Jw; + Matrix6 J; + J << Jw, Z_3x3, Q2, Jw; return J; } /* ************************************************************************* */ const Point3& Pose3::translation(OptionalJacobian<3, 6> H) const { - if (H) { - *H << Z_3x3, rotation().matrix(); - } + if (H) *H << Z_3x3, rotation().matrix(); return t_; } /* ************************************************************************* */ Matrix4 Pose3::matrix() const { - const Matrix3 R = R_.matrix(); - const Vector3 T = t_.vector(); - Matrix14 A14; - A14 << 0.0, 0.0, 0.0, 1.0; + static const Matrix14 A14 = (Matrix14() << 0.0, 0.0, 0.0, 1.0).finished(); Matrix4 mat; - mat << R, T, A14; + mat << R_.matrix(), t_.vector(), A14; return mat; } @@ -281,15 +278,17 @@ Pose3 Pose3::transform_to(const Pose3& pose) const { /* ************************************************************************* */ Point3 Pose3::transform_from(const Point3& p, OptionalJacobian<3,6> Dpose, OptionalJacobian<3,3> Dpoint) 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) { - const Matrix3 R = R_.matrix(); - Matrix3 DR = R * skewSymmetric(-p.x(), -p.y(), -p.z()); - (*Dpose) << DR, R; + Dpose->leftCols<3>() = R * skewSymmetric(-p.x(), -p.y(), -p.z()); + Dpose->rightCols<3>() = R; } if (Dpoint) { - *Dpoint = R_.matrix(); + *Dpoint = R; } - return R_ * p + t_; + return Point3(R * p.vector()) + t_; } /* ************************************************************************* */ From 13cca7be005b26c3c74dcafb92ff47d33a1189e6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 21:23:16 -0700 Subject: [PATCH 492/964] MakeParams --- gtsam/navigation/ImuFactor.cpp | 18 +++++++++++++++--- gtsam/navigation/ImuFactor.h | 9 ++++++++- 2 files changed, 23 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 8f7e28385..b34cf1f19 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -31,6 +31,20 @@ using namespace std; //------------------------------------------------------------------------------ // Inner class PreintegratedMeasurements //------------------------------------------------------------------------------ +boost::shared_ptr PreintegratedImuMeasurements::MakeParams( + const Matrix3& measuredAccCovariance, + const Matrix3& measuredOmegaCovariance, + const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration, + bool use2ndOrderCoriolis) { + boost::shared_ptr p = boost::make_shared(); + p->accelerometerCovariance = measuredAccCovariance; + p->gyroscopeCovariance = measuredOmegaCovariance; + p->integrationCovariance = integrationErrorCovariance; + p->use2ndOrderIntegration = use2ndOrderIntegration; + p->use2ndOrderCoriolis = use2ndOrderCoriolis; + return p; +} +//------------------------------------------------------------------------------ void PreintegratedImuMeasurements::print(const string& s) const { PreintegrationBase::print(s); } @@ -116,9 +130,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( PreintegratedImuMeasurements::PreintegratedImuMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, - const Matrix3& integrationErrorCovariance, - const bool use2ndOrderIntegration) - { + const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration) { biasHat_ = biasHat; boost::shared_ptr p = boost::make_shared(); p->gyroscopeCovariance = measuredOmegaCovariance; diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 9cd1fcada..1ef7e5679 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -50,6 +50,13 @@ protected: public: + /// Construct parameters + static boost::shared_ptr MakeParams( + const Matrix3& measuredAccCovariance, + const Matrix3& measuredOmegaCovariance, + const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration = + false, bool use2ndOrderCoriolis = false); + /** * Constructor, initializes the class with no measurements * @param bias Current estimate of acceleration and rotation rate biases @@ -91,7 +98,7 @@ public: const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, - const bool use2ndOrderIntegration = false); + bool use2ndOrderIntegration = false); private: From 1229ca6feea00ec026f7501da8c32bf19b064d55 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 21:24:17 -0700 Subject: [PATCH 493/964] OptionalJacobians --- gtsam/navigation/ImuBias.h | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index 571fb7249..047f24e8f 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -78,20 +78,18 @@ public: /** Correct an accelerometer measurement using this bias model, and optionally compute Jacobians */ Vector3 correctAccelerometer(const Vector3& measurement, - boost::optional H = boost::none) const { + OptionalJacobian<3, 6> H = boost::none) const { if (H) { - H->resize(3, 6); - (*H) << -Matrix3::Identity(), Matrix3::Zero(); + (*H) << -I_3x3, Z_3x3; } return measurement - biasAcc_; } /** Correct a gyroscope measurement using this bias model, and optionally compute Jacobians */ Vector3 correctGyroscope(const Vector3& measurement, - boost::optional H = boost::none) const { + OptionalJacobian<3, 6> H = boost::none) const { if (H) { - H->resize(3, 6); - (*H) << Matrix3::Zero(), -Matrix3::Identity(); + (*H) << Z_3x3, -I_3x3; } return measurement - biasGyro_; } From 76abf553b0fb786eec5fce303b1a3ae02c12a772 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 21:24:38 -0700 Subject: [PATCH 494/964] biasCorrectedDelta and test of its derivatives --- gtsam/navigation/PreintegrationBase.cpp | 88 +++++++++++++----------- gtsam/navigation/PreintegrationBase.h | 26 +++---- gtsam/navigation/tests/testImuFactor.cpp | 19 +++++ 3 files changed, 73 insertions(+), 60 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 281e1e176..6c3cf1607 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -129,6 +129,31 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( } } +//------------------------------------------------------------------------------ +Vector9 PreintegrationBase::biasCorrectedDelta( + const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H) const { + const imuBias::ConstantBias biasIncr = bias_i - biasHat_; + Matrix3 D_deltaRij_bias; + Rot3 deltaRij = PreintegratedRotation::biascorrectedDeltaRij( + biasIncr.gyroscope(), H ? &D_deltaRij_bias : 0); + + Vector9 delta; + Matrix3 D_dR_deltaRij; + NavState::dR(delta) = Rot3::Logmap(deltaRij, H ? &D_dR_deltaRij : 0); + NavState::dP(delta) = deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() + + delPdelBiasOmega_ * biasIncr.gyroscope(); + NavState::dV(delta) = deltaVij_ + delVdelBiasAcc_ * biasIncr.accelerometer() + + delVdelBiasOmega_ * biasIncr.gyroscope(); + if (H) { + Matrix36 D_dR_bias, D_dP_bias, D_dV_bias; + D_dR_bias << Z_3x3, D_dR_deltaRij * D_deltaRij_bias; + D_dP_bias << delPdelBiasAcc_, delPdelBiasOmega_; + D_dV_bias << delVdelBiasAcc_, delVdelBiasOmega_; + (*H) << D_dR_bias, D_dP_bias, D_dV_bias; + } + return delta; +} + //------------------------------------------------------------------------------ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i) const { Vector9 result = Vector9::Zero(); @@ -154,9 +179,8 @@ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i) const { //------------------------------------------------------------------------------ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, - const Rot3& deltaRij_biascorrected, - const Vector3& deltaPij_biascorrected, - const Vector3& deltaVij_biascorrected) const { + Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 9> H2) const { const Pose3& pose_i = state_i.pose(); const Vector3& vel_i = state_i.velocity(); @@ -165,9 +189,9 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, // Rotation, translation, and velocity: Vector9 delta; - NavState::dR(delta) = Rot3::Logmap(deltaRij_biascorrected); - NavState::dP(delta) = Ri * deltaPij_biascorrected + vel_i * dt + 0.5 * p().gravity * dt2; - NavState::dV(delta) = Ri * deltaVij_biascorrected + p().gravity * dt; + NavState::dR(delta) = NavState::dR(biasCorrectedDelta); + NavState::dP(delta) = Ri * NavState::dP(biasCorrectedDelta) + vel_i * dt + 0.5 * p().gravity * dt2; + NavState::dV(delta) = Ri * NavState::dV(biasCorrectedDelta) + p().gravity * dt; if (p().omegaCoriolis) delta += integrateCoriolis(state_i); return delta; @@ -175,24 +199,15 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, //------------------------------------------------------------------------------ NavState PreintegrationBase::predict(const NavState& state_i, - const Rot3& deltaRij_biascorrected, - const Vector3& deltaPij_biascorrected, - const Vector3& deltaVij_biascorrected) const { - - Vector9 delta = recombinedPrediction(state_i, deltaRij_biascorrected, - deltaPij_biascorrected, deltaVij_biascorrected); - + const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 6> H2) const { + Vector9 biasCorrected = biasCorrectedDelta(bias_i, H2); + Matrix9 D_delta_biasCorrected; + Vector9 delta = recombinedPrediction(state_i, biasCorrected, H1, H2 ? &D_delta_biasCorrected : 0); + if (H2) *H2 = D_delta_biasCorrected * (*H2); return state_i.retract(delta); } -//------------------------------------------------------------------------------ -NavState PreintegrationBase::predict(const NavState& state_i, - const imuBias::ConstantBias& bias_i) const { - const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - return predict(state_i, biascorrectedDeltaRij(biasIncr.gyroscope()), - biascorrectedDeltaPij(biasIncr), biascorrectedDeltaVij(biasIncr)); -} - //------------------------------------------------------------------------------ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, @@ -210,18 +225,15 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const const Rot3& rot_j = pose_j.rotation(); const Vector3 pos_j = pose_j.translation().vector(); - /// Compute bias-corrected quantities - const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - Matrix3 D_biascorrected_biasIncr; - const Rot3 deltaRij_biascorrected = biascorrectedDeltaRij( - biasIncr.gyroscope(), H5 ? &D_biascorrected_biasIncr : 0); - const Vector3 deltaPij_biascorrected = biascorrectedDeltaPij(biasIncr); - const Vector3 deltaVij_biascorrected = biascorrectedDeltaVij(biasIncr); + // Compute bias-corrected quantities + // TODO(frank): now redundant with biasCorrected below + Matrix96 D_biasCorrected_bias; + Vector9 biasCorrected = biasCorrectedDelta(bias_i, D_biasCorrected_bias); /// Predict state at time j NavState state_i(pose_i, vel_i); - NavState predictedState_j = predict(state_i, deltaRij_biascorrected, - deltaPij_biascorrected, deltaVij_biascorrected); + Vector9 delta = recombinedPrediction(state_i, biasCorrected); + NavState predictedState_j = state_i.retract(delta); // Evaluate residual error, according to [3] // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance @@ -233,17 +245,10 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // fR will be computed later. // Note: it is the same as: fR = predictedState_j.pose.rotation().between(Rot_j) - /* ---------------------------------------------------------------------------------------------------- */ - // Get Get so<3> version of bias corrected rotation - // If H5 is asked for, we will need the Jacobian, which we store in H5 - // H5 will then be corrected below to take into account the Coriolis effect - Matrix3 D_omega_biascorrected; - const Vector3 biascorrectedOmega = Rot3::Logmap(deltaRij_biascorrected, H5 ? &D_omega_biascorrected : 0); - // Coriolis term, NOTE inconsistent with AHRS, where coriolisHat is *after* integration // TODO(frank): move derivatives to predict and do coriolis branching there const Vector3 coriolis = PreintegratedRotation::integrateCoriolis(rot_i); - const Vector3 correctedOmega = biascorrectedOmega - coriolis; + const Vector3 correctedOmega = NavState::dR(biasCorrected) - coriolis; // Residual rotation error Matrix3 D_cDeltaRij_cOmega; @@ -270,9 +275,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const (*H1) << D_fR_fRrot * (-rot_j.between(rot_i).matrix() - fRrot.inverse().matrix() * D_coriolis), // dfR/dRi Z_3x3, // dfR/dPi - skewSymmetric(fp + deltaPij_biascorrected), // dfP/dRi + skewSymmetric(fp + NavState::dP(biasCorrected)), // dfP/dRi dfPdPi, // dfP/dPi - skewSymmetric(fv + deltaVij_biascorrected), // dfV/dRi + skewSymmetric(fv + NavState::dV(biasCorrected)), // dfV/dRi dfVdPi; // dfV/dPi } if (H2) { @@ -294,8 +299,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Ri.transpose(); // dfV/dVj } if (H5) { - // H5 by this point already contains 3*3 biascorrectedThetaRij derivative - const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_omega_biascorrected * D_biascorrected_biasIncr; + const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_biasCorrected_bias.block<3,3>(0,3); (*H5) << Z_3x3, D_fR_fRrot * (-fRrot.inverse().matrix() * JbiasOmega), // dfR/dBias -delPdelBiasAcc(), -delPdelBiasOmega(), // dfP/dBias diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 1226eaa6c..b2fa130be 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -207,32 +207,22 @@ class PreintegrationBase : public PreintegratedRotation { Vector3* correctedAcc, Vector3* correctedOmega); - Vector3 biascorrectedDeltaPij(const imuBias::ConstantBias& biasIncr) const { - return deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() - + delPdelBiasOmega_ * biasIncr.gyroscope(); - } - - Vector3 biascorrectedDeltaVij(const imuBias::ConstantBias& biasIncr) const { - return deltaVij_ + delVdelBiasAcc_ * biasIncr.accelerometer() - + delVdelBiasOmega_ * biasIncr.gyroscope(); - } + /// Given the estimate of the bias, return a NavState tangent vector + /// summarizing the preintegrated IMU measurements so far + Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i, + OptionalJacobian<9, 6> H = boost::none) const; /// Integrate coriolis correction in body frame state_i Vector9 integrateCoriolis(const NavState& state_i) const; /// Recombine the preintegration, gravity, and coriolis in a single NavState tangent vector Vector9 recombinedPrediction(const NavState& state_i, - const Rot3& deltaRij_biascorrected, const Vector3& deltaPij_biascorrected, - const Vector3& deltaVij_biascorrected) const; - - /// Predict state at time j, with bias-corrected quantities given - NavState predict(const NavState& navState, const Rot3& deltaRij_biascorrected, - const Vector3& deltaPij_biascorrected, - const Vector3& deltaVij_biascorrected) const; + Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1 = boost::none, + OptionalJacobian<9, 9> H2 = boost::none) const; /// Predict state at time j - NavState predict(const NavState& state_i, - const imuBias::ConstantBias& bias_i) const; + NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, + OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index df0739c27..e1df186cb 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -207,6 +207,25 @@ Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector(); double deltaT = 1.0; } // namespace common +/* ************************************************************************* */ +TEST(ImuFactor, BiasCorrectedDelta) { + using namespace common; + boost::shared_ptr p = + PreintegratedImuMeasurements::MakeParams(kMeasuredAccCovariance, + kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + PreintegratedImuMeasurements pim(p, bias); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + + Vector9 expected; // TODO(frank): taken from output. Should really verify. + expected << 0.0628318531, 0.0, 0.0, 4.905, -2.19885135, -8.20622494, 9.81, -4.13885394, -16.4774682; + Matrix96 actualH; + EXPECT(assert_equal(expected, pim.biasCorrectedDelta(bias,actualH), 1e-5)); + Matrix expectedH = numericalDerivative11( + boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, boost::none), bias); + EXPECT(assert_equal(expectedH, actualH)); +} + /* ************************************************************************* */ TEST(ImuFactor, ErrorAndJacobians) { using namespace common; From ee747604e794ba5c08856d86f238421061d80e2a Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 23:39:19 -0700 Subject: [PATCH 495/964] No more MakeParams --- gtsam/navigation/ImuFactor.cpp | 14 -------------- gtsam/navigation/ImuFactor.h | 7 ------- 2 files changed, 21 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index b34cf1f19..7d6b77d07 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -31,20 +31,6 @@ using namespace std; //------------------------------------------------------------------------------ // Inner class PreintegratedMeasurements //------------------------------------------------------------------------------ -boost::shared_ptr PreintegratedImuMeasurements::MakeParams( - const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration, - bool use2ndOrderCoriolis) { - boost::shared_ptr p = boost::make_shared(); - p->accelerometerCovariance = measuredAccCovariance; - p->gyroscopeCovariance = measuredOmegaCovariance; - p->integrationCovariance = integrationErrorCovariance; - p->use2ndOrderIntegration = use2ndOrderIntegration; - p->use2ndOrderCoriolis = use2ndOrderCoriolis; - return p; -} -//------------------------------------------------------------------------------ void PreintegratedImuMeasurements::print(const string& s) const { PreintegrationBase::print(s); } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 1ef7e5679..c85b56872 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -50,13 +50,6 @@ protected: public: - /// Construct parameters - static boost::shared_ptr MakeParams( - const Matrix3& measuredAccCovariance, - const Matrix3& measuredOmegaCovariance, - const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration = - false, bool use2ndOrderCoriolis = false); - /** * Constructor, initializes the class with no measurements * @param bias Current estimate of acceleration and rotation rate biases From a56c6e728bccf63aad983f351686398cd93f7711 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 23:39:44 -0700 Subject: [PATCH 496/964] Small refactor --- gtsam/geometry/Rot3M.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 18628aec3..324c05ae4 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -131,10 +131,8 @@ Matrix3 Rot3::transpose() const { /* ************************************************************************* */ Point3 Rot3::rotate(const Point3& p, OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const { - if (H1 || H2) { - if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z()); - if (H2) *H2 = rot_; - } + if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z()); + if (H2) *H2 = rot_; return Point3(rot_ * p.vector()); } From 5f6d3a600f59723057fa111093708dbd828d68cc Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 23:40:20 -0700 Subject: [PATCH 497/964] First order coriolis derivatives --- gtsam/navigation/PreintegrationBase.cpp | 68 ++++++++++++++++++++---- gtsam/navigation/PreintegrationBase.h | 10 ++-- gtsam/navigation/tests/testImuFactor.cpp | 58 ++++++++++++++++---- 3 files changed, 112 insertions(+), 24 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 6c3cf1607..e731249bd 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -155,8 +155,29 @@ Vector9 PreintegrationBase::biasCorrectedDelta( } //------------------------------------------------------------------------------ -Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i) const { +static Vector3 rotate(const Matrix3& R, const Vector3& p, + OptionalJacobian<3, 3> H1 = boost::none, OptionalJacobian<3, 3> H2 = boost::none) { + if (H1) *H1 = R * skewSymmetric(-p.x(), -p.y(), -p.z()); + if (H2) *H2 = R; + return R * p; +} + +//------------------------------------------------------------------------------ +static Vector3 unrotate(const Matrix3& R, const Vector3& p, + OptionalJacobian<3, 3> H1 = boost::none, OptionalJacobian<3, 3> H2 = boost::none) { + const Matrix3 Rt = R.transpose(); + Vector3 q = Rt * p; + const double wx = q.x(), wy = q.y(), wz = q.z(); + if (H1) *H1 << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; + if (H2) *H2 = Rt; + return q; +} + +//------------------------------------------------------------------------------ +Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i, + OptionalJacobian<9, 9> H) const { Vector9 result = Vector9::Zero(); + if (H) H->setZero(); if (p().omegaCoriolis) { const Pose3& pose_i = state_i.pose(); const Vector3& vel_i = state_i.velocity(); @@ -164,22 +185,29 @@ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i) const { const double dt = deltaTij(), dt2 = dt * dt; const Vector3& omegaCoriolis = *p().omegaCoriolis; - NavState::dR(result) -= Ri.transpose() * omegaCoriolis * dt; + Matrix3 D_dP_Ri; + NavState::dR(result) -= unrotate(Ri, omegaCoriolis * dt, H ? &D_dP_Ri : 0); NavState::dP(result) -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper - NavState::dV(result) -= 2 * omegaCoriolis.cross(vel_i) * dt; + NavState::dV(result) -= 2.0 * omegaCoriolis.cross(vel_i) * dt; if (p().use2ndOrderCoriolis) { Vector3 temp = omegaCoriolis.cross( omegaCoriolis.cross(pose_i.translation().vector())); NavState::dP(result) -= 0.5 * temp * dt2; NavState::dV(result) -= temp * dt; } + if (H) { + const Matrix3 omegaCoriolisHat = skewSymmetric(omegaCoriolis); + H->block<3,3>(0,0) = -D_dP_Ri; + H->block<3,3>(3,6) = - omegaCoriolisHat * dt2; + H->block<3,3>(6,6) = - 2.0 * omegaCoriolisHat * dt; + } } return result; } //------------------------------------------------------------------------------ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, - Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1, + const Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { const Pose3& pose_i = state_i.pose(); @@ -189,11 +217,29 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, // Rotation, translation, and velocity: Vector9 delta; + Matrix3 D_dP_Ri, D_dP_bc, D_dV_Ri, D_dV_bc; NavState::dR(delta) = NavState::dR(biasCorrectedDelta); - NavState::dP(delta) = Ri * NavState::dP(biasCorrectedDelta) + vel_i * dt + 0.5 * p().gravity * dt2; - NavState::dV(delta) = Ri * NavState::dV(biasCorrectedDelta) + p().gravity * dt; + NavState::dP(delta) = rotate(Ri, NavState::dP(biasCorrectedDelta), D_dP_Ri, D_dP_bc) + vel_i * dt + 0.5 * p().gravity * dt2; + NavState::dV(delta) = rotate(Ri, NavState::dV(biasCorrectedDelta), D_dV_Ri, D_dV_bc) + p().gravity * dt; + + Matrix9 Hcoriolis; + if (p().omegaCoriolis) { + delta += integrateCoriolis(state_i, H1 ? &Hcoriolis : 0); + } + if (H1) { + H1->setZero(); + H1->block<3,3>(3,0) = D_dP_Ri; + H1->block<3,3>(3,6) = I_3x3 * dt; + H1->block<3,3>(6,0) = D_dV_Ri; + if (p().omegaCoriolis) *H1 += Hcoriolis; + } + if (H2) { + H2->setZero(); + H2->block<3,3>(0,0) = I_3x3; + H2->block<3,3>(3,3) = Ri; + H2->block<3,3>(6,6) = Ri; + } - if (p().omegaCoriolis) delta += integrateCoriolis(state_i); return delta; } @@ -299,11 +345,11 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Ri.transpose(); // dfV/dVj } if (H5) { - const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_biasCorrected_bias.block<3,3>(0,3); + const Matrix36 JbiasOmega = D_cDeltaRij_cOmega * D_biasCorrected_bias.middleRows<3>(0); (*H5) << - Z_3x3, D_fR_fRrot * (-fRrot.inverse().matrix() * JbiasOmega), // dfR/dBias - -delPdelBiasAcc(), -delPdelBiasOmega(), // dfP/dBias - -delVdelBiasAcc(), -delVdelBiasOmega(); // dfV/dBias + -D_fR_fRrot * fRrot.inverse().matrix() * JbiasOmega, // dfR/dBias + -D_biasCorrected_bias.middleRows<3>(3), // dfP/dBias + -D_biasCorrected_bias.middleRows<3>(6); // dfV/dBias } // TODO(frank): Vector9 r = state_i.localCoordinates(predictedState_j); does not work ??? Vector9 r; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index b2fa130be..2b61b95bb 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -63,10 +63,13 @@ public: static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } + static Eigen::Block dR(const Vector9& v) { return v.segment<3>(0); } + static Eigen::Block dP(const Vector9& v) { return v.segment<3>(3); } + static Eigen::Block dV(const Vector9& v) { return v.segment<3>(6); } // Specialize Retract/Local that agrees with IMUFactors // TODO(frank): This is a very specific retract. Talk to Luca about implications. - NavState retract(Vector9& v, // + NavState retract(const Vector9& v, // ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { if (H1||H2) throw std::runtime_error("NavState::retract derivatives not implemented yet"); return NavState(rotation().expmap(dR(v)), translation() + Point3(dP(v)), velocity() + dV(v)); @@ -213,11 +216,12 @@ class PreintegrationBase : public PreintegratedRotation { OptionalJacobian<9, 6> H = boost::none) const; /// Integrate coriolis correction in body frame state_i - Vector9 integrateCoriolis(const NavState& state_i) const; + Vector9 integrateCoriolis(const NavState& state_i, + OptionalJacobian<9, 9> H = boost::none) const; /// Recombine the preintegration, gravity, and coriolis in a single NavState tangent vector Vector9 recombinedPrediction(const NavState& state_i, - Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1 = boost::none, + const Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; /// Predict state at time j diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index e1df186cb..cd64c2212 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -200,6 +200,7 @@ Vector3 v1(Vector3(0.5, 0.0, 0.0)); Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0), Point3(5.5, 1.0, -50.0)); Vector3 v2(Vector3(0.5, 0.0, 0.0)); +NavState state1(x1, v1); // Measurements Vector3 measuredOmega(M_PI / 100, 0, 0); @@ -208,22 +209,59 @@ double deltaT = 1.0; } // namespace common /* ************************************************************************* */ -TEST(ImuFactor, BiasCorrectedDelta) { +TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; boost::shared_ptr p = - PreintegratedImuMeasurements::MakeParams(kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + boost::make_shared(); + p->gyroscopeCovariance = kMeasuredOmegaCovariance; + p->omegaCoriolis = Vector3(0.02, 0.03, 0.04); + p->accelerometerCovariance = kMeasuredAccCovariance; + p->integrationCovariance = kIntegrationErrorCovariance; + p->use2ndOrderIntegration = false; + p->use2ndOrderCoriolis = false; + PreintegratedImuMeasurements pim(p, bias); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - Vector9 expected; // TODO(frank): taken from output. Should really verify. - expected << 0.0628318531, 0.0, 0.0, 4.905, -2.19885135, -8.20622494, 9.81, -4.13885394, -16.4774682; - Matrix96 actualH; - EXPECT(assert_equal(expected, pim.biasCorrectedDelta(bias,actualH), 1e-5)); - Matrix expectedH = numericalDerivative11( - boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, boost::none), bias); - EXPECT(assert_equal(expectedH, actualH)); + { // biasCorrectedDelta + Vector9 expected; // TODO(frank): taken from output. Should really verify. + expected << 0.0628318531, 0.0, 0.0, 4.905, -2.19885135, -8.20622494, 9.81, -4.13885394, -16.4774682; + Matrix96 actualH; + EXPECT(assert_equal(expected, pim.biasCorrectedDelta(bias, actualH), 1e-5)); + Matrix expectedH = numericalDerivative11( + boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, + boost::none), bias); + EXPECT(assert_equal(expectedH, actualH)); + } + { + Vector9 expected; // TODO(frank): taken from output. Should really verify. + expected << -0.0212372436, -0.0407423986, -0.0974116854, 0.0, -0.08, 0.06, 0.0, -0.08, 0.06; + Matrix99 actualH; + EXPECT(assert_equal(expected, pim.integrateCoriolis(state1, actualH), 1e-5)); + Matrix expectedH = numericalDerivative11( + boost::bind(&PreintegrationBase::integrateCoriolis, pim, _1, + boost::none), state1); + EXPECT(assert_equal(expectedH, actualH)); + } + { + Vector9 expected; // TODO(frank): taken from output. Should really verify. + expected << 0.0415946095, -0.0407423986, -0.0974116854, 1, -0.08, 9.85, -0.187214027, 0.110178303, 0.0436304821; + Matrix99 actualH1, actualH2; + Vector9 biasCorrectedDelta = pim.biasCorrectedDelta(bias); + EXPECT( + assert_equal(expected, + pim.recombinedPrediction(state1, biasCorrectedDelta, actualH1, + actualH2), 1e-5)); + Matrix expectedH1 = numericalDerivative11( + boost::bind(&PreintegrationBase::recombinedPrediction, pim, _1, + biasCorrectedDelta, boost::none, boost::none), state1); + EXPECT(assert_equal(expectedH1, actualH1)); + Matrix expectedH2 = numericalDerivative11( + boost::bind(&PreintegrationBase::recombinedPrediction, pim, state1, _1, + boost::none, boost::none), biasCorrectedDelta); + EXPECT(assert_equal(expectedH2, actualH2)); + } } /* ************************************************************************* */ From 2df20b4f375afab5cb51ee5637b0bcfb2e4cd6c6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 19 Jul 2015 23:57:00 -0700 Subject: [PATCH 498/964] Second order coriolis done --- gtsam/navigation/PreintegrationBase.cpp | 15 ++++++++++----- gtsam/navigation/tests/testImuFactor.cpp | 6 +++--- 2 files changed, 13 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index e731249bd..2c9b8b6ae 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -182,6 +182,7 @@ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i, const Pose3& pose_i = state_i.pose(); const Vector3& vel_i = state_i.velocity(); const Matrix3 Ri = pose_i.rotation().matrix(); + const Vector3& t_i = state_i.translation().vector(); const double dt = deltaTij(), dt2 = dt * dt; const Vector3& omegaCoriolis = *p().omegaCoriolis; @@ -190,16 +191,20 @@ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i, NavState::dP(result) -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper NavState::dV(result) -= 2.0 * omegaCoriolis.cross(vel_i) * dt; if (p().use2ndOrderCoriolis) { - Vector3 temp = omegaCoriolis.cross( - omegaCoriolis.cross(pose_i.translation().vector())); + Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(t_i)); NavState::dP(result) -= 0.5 * temp * dt2; NavState::dV(result) -= temp * dt; } if (H) { const Matrix3 omegaCoriolisHat = skewSymmetric(omegaCoriolis); - H->block<3,3>(0,0) = -D_dP_Ri; - H->block<3,3>(3,6) = - omegaCoriolisHat * dt2; - H->block<3,3>(6,6) = - 2.0 * omegaCoriolisHat * dt; + H->block<3,3>(0,0) -= D_dP_Ri; + H->block<3,3>(3,6) -= omegaCoriolisHat * dt2; + H->block<3,3>(6,6) -= 2.0 * omegaCoriolisHat * dt; + if (p().use2ndOrderCoriolis) { + const Matrix3 omegaCoriolisHat2 = omegaCoriolisHat * omegaCoriolisHat; + H->block<3,3>(3,3) -= 0.5 * omegaCoriolisHat2 * dt2; + H->block<3,3>(6,3) -= omegaCoriolisHat2 * dt; + } } } return result; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index cd64c2212..70b20ef00 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -218,7 +218,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { p->accelerometerCovariance = kMeasuredAccCovariance; p->integrationCovariance = kIntegrationErrorCovariance; p->use2ndOrderIntegration = false; - p->use2ndOrderCoriolis = false; + p->use2ndOrderCoriolis = true; PreintegratedImuMeasurements pim(p, bias); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -236,7 +236,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { } { Vector9 expected; // TODO(frank): taken from output. Should really verify. - expected << -0.0212372436, -0.0407423986, -0.0974116854, 0.0, -0.08, 0.06, 0.0, -0.08, 0.06; + expected << -0.0212372436, -0.0407423986, -0.0974116854, 0.1038, 0.038, -0.0804, 0.1038, 0.038, -0.0804; Matrix99 actualH; EXPECT(assert_equal(expected, pim.integrateCoriolis(state1, actualH), 1e-5)); Matrix expectedH = numericalDerivative11( @@ -246,7 +246,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { } { Vector9 expected; // TODO(frank): taken from output. Should really verify. - expected << 0.0415946095, -0.0407423986, -0.0974116854, 1, -0.08, 9.85, -0.187214027, 0.110178303, 0.0436304821; + expected << 0.0415946095, -0.0407423986, -0.0974116854, 1.1038, 0.038, 9.7096, -0.0834140265, 0.228178303, -0.0967695179; Matrix99 actualH1, actualH2; Vector9 biasCorrectedDelta = pim.biasCorrectedDelta(bias); EXPECT( From 3a941a0ef40699c32360042f6cf755e1d3e03d79 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 20 Jul 2015 00:55:34 -0700 Subject: [PATCH 499/964] NavState retract derivatives --- gtsam/navigation/PreintegrationBase.h | 31 +++++++-- gtsam/navigation/tests/testImuFactor.cpp | 87 +++++++++++++++++++----- 2 files changed, 96 insertions(+), 22 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 2b61b95bb..65fafe79a 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -67,12 +67,23 @@ public: static Eigen::Block dP(const Vector9& v) { return v.segment<3>(3); } static Eigen::Block dV(const Vector9& v) { return v.segment<3>(6); } - // Specialize Retract/Local that agrees with IMUFactors + // Specialized Retract/Local that agrees with IMUFactors // TODO(frank): This is a very specific retract. Talk to Luca about implications. - NavState retract(const Vector9& v, // + NavState retract(const Vector9& xi, // ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { - if (H1||H2) throw std::runtime_error("NavState::retract derivatives not implemented yet"); - return NavState(rotation().expmap(dR(v)), translation() + Point3(dP(v)), velocity() + dV(v)); + Matrix3 H1R, H2R; + const Rot3 R = rotation().expmap(dR(xi), H1 ? &H1R : 0, H2 ? &H2R : 0); + const Point3 p = translation() + Point3(dP(xi)); + const Vector v = velocity() + dV(xi); + if (H1) { + H1->setIdentity(); + H1->topLeftCorner<3,3>() = H1R; + } + if (H2) { + H2->setIdentity(); + H2->topLeftCorner<3,3>() = H2R; + } + return NavState(R, p, v); } Vector9 localCoordinates(const NavState& g, // ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { @@ -88,7 +99,17 @@ public: // Specialize NavState traits to use a Retract/Local that agrees with IMUFactors template<> -struct traits : internal::LieGroupTraits {}; +struct traits : internal::LieGroupTraits { + static void Print(const NavState& m, const std::string& s = "") { + m.rotation().print(s+".R"); + m.translation().print(s+".P"); + print((Vector)m.velocity(),s+".V"); + } + static bool Equals(const NavState& m1, const NavState& m2, double tol = 1e-8) { + return m1.pose().equals(m2.pose(), tol) + && equal_with_abs_tol(m1.velocity(), m2.velocity(), tol); + } +}; /// @deprecated struct PoseVelocityBias { diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 70b20ef00..ad41b81a5 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -208,6 +208,55 @@ Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector(); double deltaT = 1.0; } // namespace common +/* ************************************************************************* */ +TEST( NavState, Lie ) { + // origin and zero deltas + NavState identity; + const double tol=1e-5; + Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3); + Point3 pt(1.0, 2.0, 3.0); + Velocity3 vel(0.4, 0.5, 0.6); + + EXPECT(assert_equal(identity, (NavState)identity.retract(zero(9)), tol)); + EXPECT(assert_equal(zero(9), identity.localCoordinates(identity), tol)); + + NavState state1(rot, pt, vel); + EXPECT(assert_equal(state1, (NavState)state1.retract(zero(9)), tol)); + EXPECT(assert_equal(zero(9), state1.localCoordinates(state1), tol)); + + // Special retract + Vector delta(9); + delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3; + Rot3 rot2 = rot.expmap(delta.head<3>()); + Point3 t2 = pt + Point3(delta.segment<3>(3)); + Velocity3 vel2 = vel + Velocity3(-0.1, -0.2, -0.3); + NavState state2(rot2, t2, vel2); + EXPECT(assert_equal(state2, (NavState)state1.retract(delta), tol)); + EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); + + // roundtrip from state2 to state3 and back + NavState state3 = state2.retract(delta); + EXPECT(assert_equal(delta, state2.localCoordinates(state3), tol)); + + // roundtrip from state3 to state4 and back, with expmap. + NavState state4 = state3.expmap(delta); + EXPECT(assert_equal(delta, state3.logmap(state4), tol)); + + // For the expmap/logmap (not necessarily retract/local) -delta goes other way + EXPECT(assert_equal(state3, (NavState)state4.expmap(-delta), tol)); + EXPECT(assert_equal(delta, -state4.logmap(state3), tol)); + + // retract derivatives + Matrix9 aH1, aH2; + state1.retract(delta, aH1, aH2); + Matrix eH1 = numericalDerivative11( + boost::bind(&NavState::retract, _1, delta, boost::none, boost::none),state1); + EXPECT(assert_equal(eH1, aH1)); + Matrix eH2 = numericalDerivative11( + boost::bind(&NavState::retract, state1, _1, boost::none, boost::none), delta); + EXPECT(assert_equal(eH2, aH2)); +} + /* ************************************************************************* */ TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; @@ -225,42 +274,46 @@ TEST(ImuFactor, PreintegrationBaseMethods) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); { // biasCorrectedDelta - Vector9 expected; // TODO(frank): taken from output. Should really verify. - expected << 0.0628318531, 0.0, 0.0, 4.905, -2.19885135, -8.20622494, 9.81, -4.13885394, -16.4774682; Matrix96 actualH; - EXPECT(assert_equal(expected, pim.biasCorrectedDelta(bias, actualH), 1e-5)); + pim.biasCorrectedDelta(bias, actualH); Matrix expectedH = numericalDerivative11( boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, boost::none), bias); EXPECT(assert_equal(expectedH, actualH)); } { - Vector9 expected; // TODO(frank): taken from output. Should really verify. - expected << -0.0212372436, -0.0407423986, -0.0974116854, 0.1038, 0.038, -0.0804, 0.1038, 0.038, -0.0804; Matrix99 actualH; - EXPECT(assert_equal(expected, pim.integrateCoriolis(state1, actualH), 1e-5)); + pim.integrateCoriolis(state1, actualH); Matrix expectedH = numericalDerivative11( boost::bind(&PreintegrationBase::integrateCoriolis, pim, _1, boost::none), state1); EXPECT(assert_equal(expectedH, actualH)); } { - Vector9 expected; // TODO(frank): taken from output. Should really verify. - expected << 0.0415946095, -0.0407423986, -0.0974116854, 1.1038, 0.038, 9.7096, -0.0834140265, 0.228178303, -0.0967695179; - Matrix99 actualH1, actualH2; + Matrix99 aH1, aH2; Vector9 biasCorrectedDelta = pim.biasCorrectedDelta(bias); - EXPECT( - assert_equal(expected, - pim.recombinedPrediction(state1, biasCorrectedDelta, actualH1, - actualH2), 1e-5)); - Matrix expectedH1 = numericalDerivative11( + pim.recombinedPrediction(state1, biasCorrectedDelta, aH1, aH2); + Matrix eH1 = numericalDerivative11( boost::bind(&PreintegrationBase::recombinedPrediction, pim, _1, biasCorrectedDelta, boost::none, boost::none), state1); - EXPECT(assert_equal(expectedH1, actualH1)); - Matrix expectedH2 = numericalDerivative11( + EXPECT(assert_equal(eH1, aH1)); + Matrix eH2 = numericalDerivative11( boost::bind(&PreintegrationBase::recombinedPrediction, pim, state1, _1, boost::none, boost::none), biasCorrectedDelta); - EXPECT(assert_equal(expectedH2, actualH2)); + EXPECT(assert_equal(eH2, aH2)); + } + { + Matrix99 aH1; + Matrix96 aH2; + pim.predict(state1, bias, aH1, aH2); + Matrix eH1 = numericalDerivative11( + boost::bind(&PreintegrationBase::predict, pim, _1, bias, boost::none, + boost::none), state1); + EXPECT(assert_equal(eH1, aH1)); + Matrix eH2 = numericalDerivative11( + boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, + boost::none), bias); + EXPECT(assert_equal(eH2, aH2)); } } From 1ce6ab893d7aea655a21ae3add45dfbb2d997973 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 20 Jul 2015 00:58:41 -0700 Subject: [PATCH 500/964] predict derivative works ! --- gtsam/navigation/PreintegrationBase.cpp | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 2c9b8b6ae..e60b14b05 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -252,11 +252,19 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, NavState PreintegrationBase::predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { - Vector9 biasCorrected = biasCorrectedDelta(bias_i, H2); - Matrix9 D_delta_biasCorrected; - Vector9 delta = recombinedPrediction(state_i, biasCorrected, H1, H2 ? &D_delta_biasCorrected : 0); - if (H2) *H2 = D_delta_biasCorrected * (*H2); - return state_i.retract(delta); + Matrix96 D_biasCorrected_bias; + Vector9 biasCorrected = biasCorrectedDelta(bias_i, + H2 ? &D_biasCorrected_bias : 0); + Matrix9 D_delta_state, D_delta_biasCorrected; + Vector9 delta = recombinedPrediction(state_i, biasCorrected, + H1 ? &D_delta_state : 0, H2 ? &D_delta_biasCorrected : 0); + Matrix9 D_predict_state, D_predict_delta; + NavState state_j = state_i.retract(delta, D_predict_state, D_predict_delta); + if (H1) + *H1 = D_predict_state + D_predict_delta * D_delta_state; + if (H2) + *H2 = D_predict_delta * D_delta_biasCorrected * D_biasCorrected_bias; + return state_j; } //------------------------------------------------------------------------------ From 7ae31bd8e755ccdbd49c6d46413515fb310a2230 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 20 Jul 2015 11:43:57 -0400 Subject: [PATCH 501/964] delete some unused stuff --- .../slam/tests/testSmartStereoProjectionPoseFactor.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 4a3985842..d9207dc21 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -40,11 +40,7 @@ static double b = 1; static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov, w, h, b)); static Cal3_S2Stereo::shared_ptr K2( new Cal3_S2Stereo(1500, 1200, 0, 640, 480, b)); -static boost::shared_ptr Kbundler( - new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); -//static double rankTol = 1.0; -//static double linThreshold = -1.0; static SmartStereoProjectionParams params; From 5e660198b6775da8189d566347cc7821ca17249c Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 20 Jul 2015 11:45:54 -0400 Subject: [PATCH 502/964] make more generic so it can be used with StereoCamera, too --- gtsam/slam/TriangulationFactor.h | 27 +++++++++++++++++---------- 1 file changed, 17 insertions(+), 10 deletions(-) diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index b94eafba7..967cc78cd 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -18,6 +18,7 @@ #include #include #include +#include namespace gtsam { @@ -42,9 +43,12 @@ protected: /// shorthand for this class typedef TriangulationFactor This; + /// shorthand for measurement type, e.g. Point2 or StereoPoint2 + typedef typename CAMERA::Measurement Measurement; + // Keep a copy of measurement and calibration for I/O const CAMERA camera_; ///< CAMERA in which this landmark was seen - const Point2 measured_; ///< 2D measurement + const Measurement measured_; ///< 2D measurement // verbosity handling for Cheirality Exceptions const bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false) @@ -69,14 +73,17 @@ public: * @param throwCheirality determines whether Cheirality exceptions are rethrown * @param verboseCheirality determines whether exceptions are printed for Cheirality */ - TriangulationFactor(const CAMERA& camera, const Point2& measured, + TriangulationFactor(const CAMERA& camera, const Measurement& measured, const SharedNoiseModel& model, Key pointKey, bool throwCheirality = false, bool verboseCheirality = false) : Base(model, pointKey), camera_(camera), measured_(measured), throwCheirality_( throwCheirality), verboseCheirality_(verboseCheirality) { - if (model && model->dim() != 2) + if (model && model->dim() != Measurement::dimension) throw std::invalid_argument( - "TriangulationFactor must be created with 2-dimensional noise model."); + "TriangulationFactor must be created with " + + boost::lexical_cast((int) Measurement::dimension) + + "-dimensional noise model."); + } /** Virtual destructor */ @@ -113,18 +120,18 @@ public: Vector evaluateError(const Point3& point, boost::optional H2 = boost::none) const { try { - Point2 error(camera_.project2(point, boost::none, H2) - measured_); + Measurement error(camera_.project2(point, boost::none, H2) - measured_); return error.vector(); } catch (CheiralityException& e) { if (H2) - *H2 = zeros(2, 3); + *H2 = zeros(Measurement::dimension, 3); if (verboseCheirality_) std::cout << e.what() << ": Landmark " << DefaultKeyFormatter(this->key()) << " moved behind camera" << std::endl; if (throwCheirality_) throw e; - return ones(2) * 2.0 * camera_.calibration().fx(); + return ones(Measurement::dimension) * 2.0 * camera_.calibration().fx(); } } @@ -147,8 +154,8 @@ public: if (Ab.rows() == 0) { std::vector dimensions(1, 3); Ab = VerticalBlockMatrix(dimensions, 2, true); - A.resize(2,3); - b.resize(2); + A.resize(Measurement::dimension,3); + b.resize(Measurement::dimension); } // Would be even better if we could pass blocks to project @@ -164,7 +171,7 @@ public: } /** return the measurement */ - const Point2& measured() const { + const Measurement& measured() const { return measured_; } From 02c7b2b81de29286333dcffa7ed517744fc0860e Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 20 Jul 2015 11:46:18 -0400 Subject: [PATCH 503/964] made more generic, and comments --- gtsam/geometry/triangulation.h | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 4ac634f03..c3ab56200 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -68,7 +68,7 @@ GTSAM_EXPORT Point3 triangulateDLT( /** * Create a factor graph with projection factors from poses and one calibration * @param poses Camera poses - * @param sharedCal shared pointer to single calibration object + * @param sharedCal shared pointer to single calibration object (monocular only!) * @param measurements 2D measurements * @param landmarkKey to refer to landmark * @param initialEstimate @@ -97,7 +97,7 @@ std::pair triangulationGraph( /** * Create a factor graph with projection factors from pinhole cameras * (each camera has a pose and calibration) - * @param cameras pinhole cameras + * @param cameras pinhole cameras (monocular or stereo) * @param measurements 2D measurements * @param landmarkKey to refer to landmark * @param initialEstimate @@ -106,22 +106,21 @@ std::pair triangulationGraph( template std::pair triangulationGraph( const std::vector& cameras, - const std::vector& measurements, Key landmarkKey, + const std::vector& measurements, Key landmarkKey, const Point3& initialEstimate) { Values values; values.insert(landmarkKey, initialEstimate); // Initial landmark value NonlinearFactorGraph graph; - static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); - static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); + static SharedNoiseModel unit(noiseModel::Unit::Create(CAMERA::Measurement::dimension)); for (size_t i = 0; i < measurements.size(); i++) { const CAMERA& camera_i = cameras[i]; graph.push_back(TriangulationFactor // - (camera_i, measurements[i], unit2, landmarkKey)); + (camera_i, measurements[i], unit, landmarkKey)); } return std::make_pair(graph, values); } -/// PinholeCamera specific version +/// PinholeCamera specific version // TODO: (chris) why does this exist? template std::pair triangulationGraph( const std::vector >& cameras, @@ -165,7 +164,7 @@ Point3 triangulateNonlinear(const std::vector& poses, /** * Given an initial estimate , refine a point using measurements in several cameras - * @param cameras pinhole cameras + * @param cameras pinhole cameras (monocular or stereo) * @param measurements 2D measurements * @param initialEstimate * @return refined Point3 @@ -173,7 +172,7 @@ Point3 triangulateNonlinear(const std::vector& poses, template Point3 triangulateNonlinear( const std::vector& cameras, - const std::vector& measurements, const Point3& initialEstimate) { + const std::vector& measurements, const Point3& initialEstimate) { // Create a factor graph and initial values Values values; @@ -184,7 +183,7 @@ Point3 triangulateNonlinear( return optimize(graph, values, Symbol('p', 0)); } -/// PinholeCamera specific version +/// PinholeCamera specific version // TODO: (chris) why does this exist? template Point3 triangulateNonlinear( const std::vector >& cameras, From 6496bd49ed26cb503e9bb20158939968aace6a40 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 20 Jul 2015 09:09:28 -0700 Subject: [PATCH 504/964] Separate and much simplified computeError works --- gtsam/navigation/PreintegrationBase.cpp | 46 ++++++++++++++++++++----- gtsam/navigation/PreintegrationBase.h | 2 +- 2 files changed, 39 insertions(+), 9 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index e60b14b05..28d2c7842 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -267,6 +267,36 @@ NavState PreintegrationBase::predict(const NavState& state_i, return state_j; } +//------------------------------------------------------------------------------ +// TODO(frank): this is *almost* state_j.localCoordinates(predict), +// except for the damn Ri.transpose. Ri is also the only way this depends on state_i. +// That is not an accident! Put R in computed covariances instead ? +static Vector9 computeError(const NavState& state_i, const NavState& state_j, + const NavState& predictedState_j) { + + const Rot3& rot_i = state_i.rotation(); + const Matrix Ri = rot_i.matrix(); + + // Residual rotation error + // TODO: this also seems to be flipped from localCoordinates + const Rot3 fRrot = predictedState_j.rotation().between(state_j.rotation()); + const Vector3 fR = Rot3::Logmap(fRrot); + + // Evaluate residual error, according to [3] + // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance + const Vector3 fp = Ri.transpose() + * (state_j.translation() - predictedState_j.translation()).vector(); + + // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance + const Vector3 fv = Ri.transpose() + * (state_j.velocity() - predictedState_j.velocity()); + + Vector9 r; + r << fR, fp, fv; + return r; + // return state_j.localCoordinates(predictedState_j); +} + //------------------------------------------------------------------------------ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, @@ -280,9 +310,11 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // we give some shorter name to rotations and translations const Rot3& rot_i = pose_i.rotation(); const Matrix Ri = rot_i.matrix(); + NavState state_i(pose_i, vel_i); const Rot3& rot_j = pose_j.rotation(); const Vector3 pos_j = pose_j.translation().vector(); + NavState state_j(pose_j, vel_j); // Compute bias-corrected quantities // TODO(frank): now redundant with biasCorrected below @@ -290,9 +322,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector9 biasCorrected = biasCorrectedDelta(bias_i, D_biasCorrected_bias); /// Predict state at time j - NavState state_i(pose_i, vel_i); - Vector9 delta = recombinedPrediction(state_i, biasCorrected); - NavState predictedState_j = state_i.retract(delta); + Matrix99 D_predict_state; + Matrix96 D_predict_bias; + NavState predictedState_j = predict(state_i, bias_i, D_predict_state, D_predict_bias); // Evaluate residual error, according to [3] // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance @@ -315,7 +347,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const const Rot3 RiBetweenRj = rot_i.between(rot_j); const Rot3 fRrot = correctedDeltaRij.between(RiBetweenRj); Matrix3 D_fR_fRrot; - const Vector3 fR = Rot3::Logmap(fRrot, H1 || H3 || H5 ? &D_fR_fRrot : 0); + Rot3::Logmap(fRrot, H1 || H3 || H5 ? &D_fR_fRrot : 0); const double dt = deltaTij(), dt2 = dt*dt; Matrix3 RitOmegaCoriolisHat = Z_3x3; @@ -364,10 +396,8 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const -D_biasCorrected_bias.middleRows<3>(3), // dfP/dBias -D_biasCorrected_bias.middleRows<3>(6); // dfV/dBias } - // TODO(frank): Vector9 r = state_i.localCoordinates(predictedState_j); does not work ??? - Vector9 r; - r << fR, fp, fv; - return r; + // TODO(frank): Do everything via derivatives of function below + return computeError(state_i, state_j, predictedState_j); } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 65fafe79a..e9a0b908e 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -68,7 +68,7 @@ public: static Eigen::Block dV(const Vector9& v) { return v.segment<3>(6); } // Specialized Retract/Local that agrees with IMUFactors - // TODO(frank): This is a very specific retract. Talk to Luca about implications. + // NOTE(frank): This also agrees with Pose3.retract NavState retract(const Vector9& xi, // ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { Matrix3 H1R, H2R; From 814c170caaa8de0473ffb689e965a537aa1043c9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 20 Jul 2015 20:57:47 -0700 Subject: [PATCH 505/964] Added reference, made documentation consistent --- gtsam/navigation/CombinedImuFactor.h | 39 +++++++++++++++----------- gtsam/navigation/ImuFactor.h | 42 +++++++++++++++------------- 2 files changed, 46 insertions(+), 35 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 5641b4c3e..6bd2f7867 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -28,6 +28,25 @@ namespace gtsam { +/* + * If you are using the factor, please cite: + * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating + * conditionally independent sets in factor graphs: a unifying perspective based + * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. + * + * REFERENCES: + * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", + * Volume 2, 2008. + * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for + * High-Dynamic Motion in Built Environments Without Initial Conditions", + * TRO, 28(1):61-76, 2012. + * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: + * Computation of the Jacobian Matrices", Tech. Report, 2013. + * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on + * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, + * Robotics: Science and Systems (RSS), 2015. + */ + /** * PreintegratedCombinedMeasurements integrates the IMU measurements * (rotation rates and accelerations) and the corresponding covariance matrix. @@ -35,6 +54,8 @@ namespace gtsam { * is done incrementally (ideally, one integrates the measurement as soon as * it is received from the IMU) so as to avoid costly integration at time of * factor construction. + * + * @addtogroup SLAM */ class PreintegratedCombinedMeasurements : public PreintegrationBase { @@ -131,22 +152,6 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { }; /** - * @addtogroup SLAM - * - * If you are using the factor, please cite: - * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating - * conditionally independent sets in factor graphs: a unifying perspective based - * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. - * - ** REFERENCES: - * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", - * Volume 2, 2008. - * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for - * High-Dynamic Motion in Built Environments Without Initial Conditions", - * TRO, 28(1):61-76, 2012. - * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: - * Computation of the Jacobian Matrices", Tech. Report, 2013. - * * CombinedImuFactor is a 6-ways factor involving previous state (pose and * velocity of the vehicle, as well as bias at previous time step), and current * state (pose, velocity, bias at current time step). Following the pre- @@ -162,6 +167,8 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { * 3) The covariance matrix of the PreintegratedCombinedMeasurements preserves * the correlation between the bias uncertainty and the preintegrated * measurements uncertainty. + * + * @addtogroup SLAM */ class CombinedImuFactor: public NoiseModelFactor6 { diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index c85b56872..0b86472f5 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -28,6 +28,25 @@ namespace gtsam { +/* + * If you are using the factor, please cite: + * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating + * conditionally independent sets in factor graphs: a unifying perspective based + * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. + * + * REFERENCES: + * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", + * Volume 2, 2008. + * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for + * High-Dynamic Motion in Built Environments Without Initial Conditions", + * TRO, 28(1):61-76, 2012. + * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: + * Computation of the Jacobian Matrices", Tech. Report, 2013. + * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on + * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, + * Robotics: Science and Systems (RSS), 2015. + */ + /** * PreintegratedIMUMeasurements accumulates (integrates) the IMU measurements * (rotation rates and accelerations) and the corresponding covariance matrix. @@ -35,6 +54,8 @@ namespace gtsam { * Integration is done incrementally (ideally, one integrates the measurement * as soon as it is received from the IMU) so as to avoid costly integration * at time of factor construction. + * + * @addtogroup SLAM */ class PreintegratedImuMeasurements: public PreintegrationBase { @@ -104,25 +125,6 @@ private: } }; -/** - * - * @addtogroup SLAM - * - * If you are using the factor, please cite: - * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally - * independent sets in factor graphs: a unifying perspective based on smart factors, - * Int. Conf. on Robotics and Automation (ICRA), 2014. - * - ** REFERENCES: - * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", - * Volume 2, 2008. - * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for - * High-Dynamic Motion in Built Environments Without Initial Conditions", - * TRO, 28(1):61-76, 2012. - * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: - * Computation of the Jacobian Matrices", Tech. Report, 2013. - */ - /** * ImuFactor is a 5-ways factor involving previous state (pose and velocity of * the vehicle at previous time step), current state (pose and velocity at @@ -132,6 +134,8 @@ private: * Note that this factor does not model "temporal consistency" of the biases * (which are usually slowly varying quantities), which is up to the caller. * See also CombinedImuFactor for a class that does this for you. + * + * @addtogroup SLAM */ class ImuFactor: public NoiseModelFactor5 { From 8a8503ee33ec202b0127cf82f05cb841bc747d50 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 20 Jul 2015 21:40:58 -0700 Subject: [PATCH 506/964] New retract. Still some bug in derivative --- gtsam/navigation/PreintegrationBase.h | 36 +++++++++++++----------- gtsam/navigation/tests/testImuFactor.cpp | 8 +++--- 2 files changed, 23 insertions(+), 21 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index e9a0b908e..b601015bf 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -67,31 +67,33 @@ public: static Eigen::Block dP(const Vector9& v) { return v.segment<3>(3); } static Eigen::Block dV(const Vector9& v) { return v.segment<3>(6); } - // Specialized Retract/Local that agrees with IMUFactors - // NOTE(frank): This also agrees with Pose3.retract + // Retract/Local that creates a de-novo Nav-state from xi, on all components + // separately, but then composes with this, i.e., xi is in rotated frame! + // NOTE(frank): This agrees with Pose3.retract, in non-EXPMAP mode, treating V like P NavState retract(const Vector9& xi, // ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { - Matrix3 H1R, H2R; - const Rot3 R = rotation().expmap(dR(xi), H1 ? &H1R : 0, H2 ? &H2R : 0); - const Point3 p = translation() + Point3(dP(xi)); - const Vector v = velocity() + dV(xi); - if (H1) { - H1->setIdentity(); - H1->topLeftCorner<3,3>() = H1R; - } + Matrix3 D_R_xi; + const Rot3 R = Rot3::Expmap(dR(xi), H2 ? &D_R_xi : 0); + const Point3 p = Point3(dP(xi)); + const Vector v = dV(xi); + const NavState delta(R, p, v); + // retract only depends on this via compose, and second derivative in delta is I_9x9 + const NavState result = this->compose(delta, H1); if (H2) { - H2->setIdentity(); - H2->topLeftCorner<3,3>() = H2R; + *H2 << D_R_xi, Z_3x3, Z_3x3, // + Z_3x3, I_3x3, Z_3x3, // + Z_3x3, Z_3x3, I_3x3; } - return NavState(R, p, v); - } + return result; +} Vector9 localCoordinates(const NavState& g, // ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { if (H1||H2) throw std::runtime_error("NavState::localCoordinates derivatives not implemented yet"); + const NavState delta = this->between(g); Vector9 v; - dR(v) = rotation().logmap(g.rotation()); - dP(v) = (g.translation() - translation()).vector(); - dV(v) = g.velocity() - velocity(); + dR(v) = Rot3::Logmap(delta.rotation()); + dP(v) = delta.translation().vector(); + dV(v) = delta.velocity(); return v; } /// @} diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index ad41b81a5..944a38156 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -227,10 +227,10 @@ TEST( NavState, Lie ) { // Special retract Vector delta(9); delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3; - Rot3 rot2 = rot.expmap(delta.head<3>()); - Point3 t2 = pt + Point3(delta.segment<3>(3)); - Velocity3 vel2 = vel + Velocity3(-0.1, -0.2, -0.3); - NavState state2(rot2, t2, vel2); + Rot3 drot = Rot3::Expmap(delta.head<3>()); + Point3 dt = Point3(delta.segment<3>(3)); + Velocity3 dvel = Velocity3(-0.1, -0.2, -0.3); + NavState state2 = state1 * NavState(drot, dt, dvel); EXPECT(assert_equal(state2, (NavState)state1.retract(delta), tol)); EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); From 205d20d4dc1061ae83a9179bcb7d9e0ff8649de5 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 11:22:49 -0700 Subject: [PATCH 507/964] Rot3 action on Vector3, and templated constructor --- gtsam/geometry/Rot3.h | 23 +++++++++++++++++++---- gtsam/geometry/Rot3M.cpp | 12 ------------ gtsam/geometry/Rot3Q.cpp | 8 -------- 3 files changed, 19 insertions(+), 24 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 608f41954..1dec6eafe 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -86,10 +86,14 @@ namespace gtsam { double R31, double R32, double R33); /** constructor from a rotation matrix */ - Rot3(const Matrix3& R); - - /** constructor from a rotation matrix */ - Rot3(const Matrix& R); + template + inline Rot3(const Eigen::MatrixBase& R) { + #ifdef GTSAM_USE_QUATERNIONS + quaternion_=R + #else + rot_ = R; + #endif + } /** Constructor from a quaternion. This can also be called using a plain * Vector, due to implicit conversion from Vector to Quaternion @@ -330,6 +334,17 @@ namespace gtsam { Point3 rotate(const Point3& p, OptionalJacobian<3,3> H1 = boost::none, OptionalJacobian<3,3> H2 = boost::none) const; + /// operator* for Vector3 + inline Vector3 operator*(const Vector3& v) const { + return rotate(Point3(v)).vector(); + } + + /// rotate for Vector3 + Vector3 rotate(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + return rotate(Point3(v), H1, H2).vector(); + } + /// rotate point from rotated coordinate frame to world = R*p Point3 operator*(const Point3& p) const; diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 324c05ae4..a7b654070 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -50,18 +50,6 @@ Rot3::Rot3(double R11, double R12, double R13, R31, R32, R33; } -/* ************************************************************************* */ -Rot3::Rot3(const Matrix3& R) { - rot_ = R; -} - -/* ************************************************************************* */ -Rot3::Rot3(const Matrix& R) { - if (R.rows()!=3 || R.cols()!=3) - throw invalid_argument("Rot3 constructor expects 3*3 matrix"); - rot_ = R; -} - /* ************************************************************************* */ Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) { } diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index c97e76718..b255b082d 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -48,14 +48,6 @@ namespace gtsam { R21, R22, R23, R31, R32, R33).finished()) {} - /* ************************************************************************* */ - Rot3::Rot3(const Matrix3& R) : - quaternion_(R) {} - - /* ************************************************************************* */ - Rot3::Rot3(const Matrix& R) : - quaternion_(Matrix3(R)) {} - /* ************************************************************************* */ Rot3::Rot3(const Quaternion& q) : quaternion_(q) { From 4c8c669d71bdb080c067ae87f948b5ab7ef13c08 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 11:23:24 -0700 Subject: [PATCH 508/964] Moved NavState to its own header and totally revamped as a semi-direct product --- gtsam/navigation/NavState.cpp | 120 +++++++++++++ gtsam/navigation/NavState.h | 225 ++++++++++++++++++++++++ gtsam/navigation/PreintegrationBase.cpp | 10 +- gtsam/navigation/PreintegrationBase.h | 88 +-------- gtsam/navigation/tests/testNavState.cpp | 124 +++++++++++++ 5 files changed, 475 insertions(+), 92 deletions(-) create mode 100644 gtsam/navigation/NavState.cpp create mode 100644 gtsam/navigation/NavState.h create mode 100644 gtsam/navigation/tests/testNavState.cpp diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp new file mode 100644 index 000000000..6a8977fd5 --- /dev/null +++ b/gtsam/navigation/NavState.cpp @@ -0,0 +1,120 @@ +/* ---------------------------------------------------------------------------- + + * 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 NavState.h + * @brief Navigation state composing of attitude, position, and velocity + * @author Frank Dellaert + * @date July 2015 + **/ + +#include + +namespace gtsam { + +#define TIE(R,t,v,x) const Rot3& R = (x).R_;const Point3& t = (x).t_;const Velocity3& v = (x).v_; + +Matrix7 NavState::matrix() const { + Matrix3 R = this->R(); + Matrix7 T; + T << R, Z_3x3, t(), Z_3x3, R, v(), Vector6::Zero().transpose(), 1.0; + return T; +} + +void NavState::print(const std::string& s) const { + attitude().print(s + ".R"); + position().print(s + ".p"); + gtsam::print((Vector) v_, s + ".v"); +} + +bool NavState::equals(const NavState& other, double tol) const { + return R_.equals(other.R_, tol) && t_.equals(other.t_, tol) + && equal_with_abs_tol(v_, other.v_, tol); +} + +NavState NavState::inverse() const { + TIE(nRb, n_t, n_v, *this); + const Rot3 bRn = nRb.inverse(); + return NavState(bRn, -(bRn * n_t), -(bRn * n_v)); +} + +NavState NavState::operator*(const NavState& bTc) const { + TIE(nRb, n_t, n_v, *this); + TIE(bRc, b_t, b_v, bTc); + return NavState(nRb * bRc, nRb * b_t + n_t, nRb * b_v + n_v); +} + +NavState::PositionAndVelocity // +NavState::operator*(const PositionAndVelocity& b_tv) const { + TIE(nRb, n_t, n_v, *this); + const Point3& b_t = b_tv.first; + const Velocity3& b_v = b_tv.second; + return PositionAndVelocity(nRb * b_t + n_t, nRb * b_v + n_v); +} + +Point3 NavState::operator*(const Point3& b_t) const { + return Point3(R_ * b_t + t_); +} + +Velocity3 NavState::operator*(const Velocity3& b_v) const { + return Velocity3(R_ * b_v + v_); +} + +NavState NavState::ChartAtOrigin::Retract(const Vector9& xi, + OptionalJacobian<9, 9> H) { + Matrix3 D_R_xi; + const Rot3 R = Rot3::Expmap(dR(xi), H ? &D_R_xi : 0); + const Point3 p = Point3(dP(xi)); + const Vector v = dV(xi); + const NavState result(R, p, v); + if (H) { + *H << D_R_xi, Z_3x3, Z_3x3, // + Z_3x3, R.transpose(), Z_3x3, // + Z_3x3, Z_3x3, R.transpose(); + } + return result; +} + +Vector9 NavState::ChartAtOrigin::Local(const NavState& x, + OptionalJacobian<9, 9> H) { + if (H) + throw std::runtime_error( + "NavState::ChartOrigin::Local derivative not implemented yet"); + Vector9 xi; + xi << Rot3::Logmap(x.R_), x.t(), x.v(); + return xi; +} + +NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { + if (H) + throw std::runtime_error("NavState::Expmap derivative not implemented yet"); + // use brute force matrix exponential + return expm(xi); +} + +Vector9 NavState::Logmap(const NavState& p, OptionalJacobian<9, 9> H) { + if (H) + throw std::runtime_error("NavState::Logmap derivative not implemented yet"); + return Vector9::Zero(); +} + +Matrix9 NavState::AdjointMap() const { + throw std::runtime_error("NavState::AdjointMap not implemented yet"); +} + +Matrix7 NavState::wedge(const Vector9& xi) { + const Matrix3 Omega = skewSymmetric(dR(xi)); + Matrix7 T; + T << Omega, Z_3x3, dP(xi), Z_3x3, Omega, dV(xi), Vector6::Zero().transpose(), 1.0; + return T; +} + +} /// namespace gtsam diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h new file mode 100644 index 000000000..e7aab4b7c --- /dev/null +++ b/gtsam/navigation/NavState.h @@ -0,0 +1,225 @@ +/* ---------------------------------------------------------------------------- + + * 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 NavState.h + * @brief Navigation state composing of attitude, position, and velocity + * @author Frank Dellaert + * @date July 2015 + **/ + +#pragma once + +#include +#include +#include + +namespace gtsam { + +/// Velocity is currently typedef'd to Vector3 +typedef Vector3 Velocity3; + +/** + * Navigation state: Pose (rotation, translation) + velocity + * Implements semi-direct Lie group product of SO(3) and R^6, where R^6 is position/velocity + */ +class NavState: public LieGroup { +private: + Rot3 R_; ///< Rotation nRb, rotates points/velocities in body to points/velocities in nav + Point3 t_; ///< position n_t, in nav frame + Velocity3 v_; ///< velocity n_v in nav frame + +public: + + typedef std::pair PositionAndVelocity; + + /// @name Constructors + /// @{ + + /// Default constructor + NavState() : + v_(Vector3::Zero()) { + } + /// Construct from attitude, position, velocity + NavState(const Rot3& R, const Point3& t, const Velocity3& v) : + R_(R), t_(t), v_(v) { + } + /// Construct from pose and velocity + NavState(const Pose3& pose, const Velocity3& v) : + R_(pose.rotation()), t_(pose.translation()), v_(v) { + } + /// Construct from Matrix group representation (no checking) + NavState(const Matrix7& T) : + R_(T.block<3, 3>(0, 0)), t_(T.block<3, 1>(0, 6)), v_(T.block<3, 1>(3, 6)) { + } + /// Construct from SO(3) and R^6 + NavState(const Matrix3& R, const Vector9 tv) : + R_(R), t_(tv.head<3>()), v_(tv.tail<3>()) { + } + + /// @} + /// @name Component Access + /// @{ + + const Rot3& attitude() const { + return R_; + } + const Point3& position() const { + return t_; + } + const Velocity3& velocity() const { + return v_; + } + const Pose3 pose() const { + return Pose3(attitude(), position()); + } + + /// @} + /// @name Derived quantities + /// @{ + + /// Return rotation matrix. Induces computation in quaternion mode + Matrix3 R() const { + return R_.matrix(); + } + /// Return position as Vector3 + Vector3 t() const { + return t_.vector(); + } + /// Return velocity as Vector3. Computation-free. + const Vector3& v() const { + return v_; + } + /// Return quaternion. Induces computation in matrix mode + Quaternion quaternion() const { + return R_.toQuaternion(); + } + /// Return matrix group representation, in MATLAB notation: + /// nTb = [nRb 0 n_t; 0 nRb n_v; 0 0 1] + /// With this embedding in GL(3), matrix product agrees with compose + Matrix7 matrix() const; + + /// @} + /// @name Testable + /// @{ + + /// print + void print(const std::string& s = "") const; + + /// equals + bool equals(const NavState& other, double tol = 1e-8) const; + + /// @} + /// @name Group + /// @{ + + /// identity for group operation + static NavState identity() { + return NavState(); + } + + /// inverse transformation with derivatives + NavState inverse() const; + + /// Group compose is the semi-direct product as specified below: + /// nTc = nTb * bTc = (nRb * bRc, nRb * b_t + n_t, nRb * b_v + n_v) + NavState operator*(const NavState& bTc) const; + + /// Native group action is on position/velocity pairs *in the body frame* as follows: + /// nTb * (b_t,b_v) = (nRb * b_t + n_t, nRb * b_v + n_v) + PositionAndVelocity operator*(const PositionAndVelocity& b_tv) const; + + /// Act on position alone, n_t = nRb * b_t + n_t + Point3 operator*(const Point3& b_t) const; + + /// Act on velocity alone, n_v = nRb * b_v + n_v + Velocity3 operator*(const Velocity3& b_v) const; + + /// @} + /// @name Manifold + /// @{ + + // Tangent space sugar. + // TODO(frank): move to private navstate namespace in cpp + static Eigen::Block dR(Vector9& v) { + return v.segment<3>(0); + } + static Eigen::Block dP(Vector9& v) { + return v.segment<3>(3); + } + static Eigen::Block dV(Vector9& v) { + return v.segment<3>(6); + } + static Eigen::Block dR(const Vector9& v) { + return v.segment<3>(0); + } + static Eigen::Block dP(const Vector9& v) { + return v.segment<3>(3); + } + static Eigen::Block dV(const Vector9& v) { + return v.segment<3>(6); + } + + // Chart at origin, constructs components separately (as opposed to Expmap) + struct ChartAtOrigin { + static NavState Retract(const Vector9& xi, // + OptionalJacobian<9, 9> H = boost::none); + static Vector9 Local(const NavState& x, // + OptionalJacobian<9, 9> H = boost::none); + }; + + /// @} + /// @name Lie Group + /// @{ + + /// Exponential map at identity - create a NavState from canonical coordinates + static NavState Expmap(const Vector9& xi, // + OptionalJacobian<9, 9> H = boost::none); + + /// Log map at identity - return the canonical coordinates for this NavState + static Vector9 Logmap(const NavState& p, // + OptionalJacobian<9, 9> H = boost::none); + + /// Calculate Adjoint map, a 9x9 matrix that takes a tangent vector in the body frame, and transforms + /// it to a tangent vector at idenity, such that Exmap(AdjointMap()*xi) = (*this) * Exmpap(xi); + Matrix9 AdjointMap() const; + + /// wedge creates Lie algebra element from tangent vector + static Matrix7 wedge(const Vector9& xi); + + /// @} + +private: + /// @{ + /// serialization + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_NVP(R_); + ar & BOOST_SERIALIZATION_NVP(t_); + ar & BOOST_SERIALIZATION_NVP(v_); + } + /// @} +}; + +// Specialize NavState traits to use a Retract/Local that agrees with IMUFactors +template<> +struct traits : Testable, internal::LieGroupTraits { +}; + +// Partial specialization of wedge +// TODO: deprecate, make part of traits +template<> +inline Matrix wedge(const Vector& xi) { + return NavState::wedge(xi); +} + +} // namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 28d2c7842..d2775bfb2 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -182,7 +182,7 @@ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i, const Pose3& pose_i = state_i.pose(); const Vector3& vel_i = state_i.velocity(); const Matrix3 Ri = pose_i.rotation().matrix(); - const Vector3& t_i = state_i.translation().vector(); + const Vector3& t_i = state_i.position().vector(); const double dt = deltaTij(), dt2 = dt * dt; const Vector3& omegaCoriolis = *p().omegaCoriolis; @@ -220,7 +220,7 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, const Matrix3 Ri = pose_i.rotation().matrix(); const double dt = deltaTij(), dt2 = dt * dt; - // Rotation, translation, and velocity: + // Rotation, position, and velocity: Vector9 delta; Matrix3 D_dP_Ri, D_dP_bc, D_dV_Ri, D_dV_bc; NavState::dR(delta) = NavState::dR(biasCorrectedDelta); @@ -274,18 +274,18 @@ NavState PreintegrationBase::predict(const NavState& state_i, static Vector9 computeError(const NavState& state_i, const NavState& state_j, const NavState& predictedState_j) { - const Rot3& rot_i = state_i.rotation(); + const Rot3& rot_i = state_i.attitude(); const Matrix Ri = rot_i.matrix(); // Residual rotation error // TODO: this also seems to be flipped from localCoordinates - const Rot3 fRrot = predictedState_j.rotation().between(state_j.rotation()); + const Rot3 fRrot = predictedState_j.attitude().between(state_j.attitude()); const Vector3 fR = Rot3::Logmap(fRrot); // Evaluate residual error, according to [3] // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance const Vector3 fp = Ri.transpose() - * (state_j.translation() - predictedState_j.translation()).vector(); + * (state_j.position() - predictedState_j.position()).vector(); // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance const Vector3 fv = Ri.transpose() diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index b601015bf..359db8c83 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -22,97 +22,11 @@ #pragma once #include +#include #include -#include -#include -#include -#include namespace gtsam { -/// Velocity in 3D is just a Vector3 -typedef Vector3 Velocity3; - -/** - * Navigation state: Pose (rotation, translation) + velocity - */ -class NavState: public ProductLieGroup { -protected: - typedef ProductLieGroup Base; - typedef OptionalJacobian<9, 9> ChartJacobian; - using Base::first; - using Base::second; - -public: - // constructors - NavState() {} - NavState(const Pose3& pose, const Velocity3& vel) : Base(pose, vel) {} - NavState(const Rot3& rot, const Point3& t, const Velocity3& vel): Base(Pose3(rot, t), vel) {} - NavState(const Base& product) : Base(product) {} - - // access - const Pose3& pose() const { return first; } - const Point3& translation() const { return pose().translation(); } - const Rot3& rotation() const { return pose().rotation(); } - const Velocity3& velocity() const { return second; } - - /// @name Manifold - /// @{ - - // NavState tangent space sugar. - static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } - static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } - static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } - static Eigen::Block dR(const Vector9& v) { return v.segment<3>(0); } - static Eigen::Block dP(const Vector9& v) { return v.segment<3>(3); } - static Eigen::Block dV(const Vector9& v) { return v.segment<3>(6); } - - // Retract/Local that creates a de-novo Nav-state from xi, on all components - // separately, but then composes with this, i.e., xi is in rotated frame! - // NOTE(frank): This agrees with Pose3.retract, in non-EXPMAP mode, treating V like P - NavState retract(const Vector9& xi, // - ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { - Matrix3 D_R_xi; - const Rot3 R = Rot3::Expmap(dR(xi), H2 ? &D_R_xi : 0); - const Point3 p = Point3(dP(xi)); - const Vector v = dV(xi); - const NavState delta(R, p, v); - // retract only depends on this via compose, and second derivative in delta is I_9x9 - const NavState result = this->compose(delta, H1); - if (H2) { - *H2 << D_R_xi, Z_3x3, Z_3x3, // - Z_3x3, I_3x3, Z_3x3, // - Z_3x3, Z_3x3, I_3x3; - } - return result; -} - Vector9 localCoordinates(const NavState& g, // - ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) const { - if (H1||H2) throw std::runtime_error("NavState::localCoordinates derivatives not implemented yet"); - const NavState delta = this->between(g); - Vector9 v; - dR(v) = Rot3::Logmap(delta.rotation()); - dP(v) = delta.translation().vector(); - dV(v) = delta.velocity(); - return v; - } - /// @} -}; - -// Specialize NavState traits to use a Retract/Local that agrees with IMUFactors -template<> -struct traits : internal::LieGroupTraits { - static void Print(const NavState& m, const std::string& s = "") { - m.rotation().print(s+".R"); - m.translation().print(s+".P"); - print((Vector)m.velocity(),s+".V"); - } - static bool Equals(const NavState& m1, const NavState& m2, double tol = 1e-8) { - return m1.pose().equals(m2.pose(), tol) - && equal_with_abs_tol(m1.velocity(), m2.velocity(), tol); - } -}; - /// @deprecated struct PoseVelocityBias { Pose3 pose; diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp new file mode 100644 index 000000000..675fe95c0 --- /dev/null +++ b/gtsam/navigation/tests/testNavState.cpp @@ -0,0 +1,124 @@ +/* ---------------------------------------------------------------------------- + + * 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 testNavState.cpp + * @brief Unit tests for NavState + * @author Frank Dellaert + * @date July 2015 + */ + +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +static const Rot3 kRotation = Rot3::RzRyRx(0.1, 0.2, 0.3); +static const Point3 kPosition(1.0, 2.0, 3.0); +static const Velocity3 kVelocity(0.4, 0.5, 0.6); +static const NavState kIdentity; +static const NavState kState1(kRotation, kPosition, kVelocity); + +const double tol = 1e-5; + +/* ************************************************************************* */ +TEST( NavState, MatrixGroup ) { + // check roundtrip conversion to 7*7 matrix representation + Matrix7 T = kState1.matrix(); + EXPECT(assert_equal(kState1, NavState(T), tol)); + + // check group product agrees with matrix product + NavState state2 = kState1 * kState1; + Matrix T2 = T * T; + EXPECT(assert_equal(state2, NavState(T2), tol)); + EXPECT(assert_equal(T2, state2.matrix(), tol)); +} + +/* ************************************************************************* */ +TEST( NavState, Manifold ) { + // Check zero xi + EXPECT(assert_equal(kIdentity, kIdentity.retract(zero(9)), tol)); + EXPECT(assert_equal(zero(9), kIdentity.localCoordinates(kIdentity), tol)); + EXPECT(assert_equal(kState1, kState1.retract(zero(9)), tol)); + EXPECT(assert_equal(zero(9), kState1.localCoordinates(kState1), tol)); + + // Check definition of retract as operating on components separately + Vector xi(9); + xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; + Rot3 drot = Rot3::Expmap(xi.head<3>()); + Point3 dt = Point3(xi.segment < 3 > (3)); + Velocity3 dvel = Velocity3(-0.1, -0.2, -0.3); + NavState state2 = kState1 * NavState(drot, dt, dvel); + EXPECT(assert_equal(state2, kState1.retract(xi), tol)); + EXPECT(assert_equal(xi, kState1.localCoordinates(state2), tol)); + + // roundtrip from state2 to state3 and back + NavState state3 = state2.retract(xi); + EXPECT(assert_equal(xi, state2.localCoordinates(state3), tol)); + + // Check derivatives for ChartAtOrigin::Retract + Matrix9 aH, eH; + // For zero xi + boost::function f = boost::bind( + NavState::ChartAtOrigin::Retract, _1, boost::none); + NavState::ChartAtOrigin::Retract(zero(9), aH); + eH = numericalDerivative11(f, zero(9)); + EXPECT(assert_equal((Matrix )eH, aH)); + // For non-zero xi + NavState::ChartAtOrigin::Retract(xi, aH); + eH = numericalDerivative11(f, xi); + EXPECT(assert_equal((Matrix )eH, aH)); + + // Check retract derivatives +// Matrix9 aH1, aH2; +// kState1.retract(xi, aH1, aH2); +// Matrix eH1 = numericalDerivative11( +// boost::bind(&NavState::retract, _1, xi, boost::none, boost::none), +// kState1); +// EXPECT(assert_equal(eH1, aH1)); +// Matrix eH2 = numericalDerivative11( +// boost::bind(&NavState::retract, kState1, _1, boost::none, boost::none), +// xi); +// EXPECT(assert_equal(eH2, aH2)); +} + +/* ************************************************************************* */ +TEST( NavState, Lie ) { + // Check zero xi + EXPECT(assert_equal(kIdentity, kIdentity.expmap(zero(9)), tol)); + EXPECT(assert_equal(zero(9), kIdentity.logmap(kIdentity), tol)); + EXPECT(assert_equal(kState1, kState1.expmap(zero(9)), tol)); + EXPECT(assert_equal(zero(9), kState1.logmap(kState1), tol)); + + // Expmap/Logmap roundtrip + Vector xi(9); + xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; + NavState state2 = NavState::Expmap(xi); + EXPECT(assert_equal(xi, NavState::Logmap(state2), tol)); + + // roundtrip from state2 to state3 and back + NavState state3 = state2.expmap(xi); + EXPECT(assert_equal(xi, state2.logmap(state3), tol)); + + // For the expmap/logmap (not necessarily expmap/local) -xi goes other way + EXPECT(assert_equal(state2, state3.expmap(-xi), tol)); + EXPECT(assert_equal(xi, -state3.logmap(state2), tol)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From 1a47a334de20429ec6f21cb19e0aafac960cc6ac Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 11:23:42 -0700 Subject: [PATCH 509/964] Deal with changes in Rot3 --- gtsam_unstable/dynamics/PoseRTV.cpp | 13 ++++++------- gtsam_unstable/dynamics/PoseRTV.h | 7 +++++-- gtsam_unstable/slam/Mechanization_bRn2.cpp | 2 +- gtsam_unstable/slam/Mechanization_bRn2.h | 2 +- 4 files changed, 13 insertions(+), 11 deletions(-) diff --git a/gtsam_unstable/dynamics/PoseRTV.cpp b/gtsam_unstable/dynamics/PoseRTV.cpp index 92f3b9b0b..51737285a 100644 --- a/gtsam_unstable/dynamics/PoseRTV.cpp +++ b/gtsam_unstable/dynamics/PoseRTV.cpp @@ -205,10 +205,10 @@ PoseRTV PoseRTV::transformed_from(const Pose3& trans, ChartJacobian Dglobal, } /* ************************************************************************* */ -Matrix PoseRTV::RRTMbn(const Vector& euler) { +Matrix PoseRTV::RRTMbn(const Vector3& euler) { assert(euler.size() == 3); - const double s1 = sin(euler(1-1)), c1 = cos(euler(1-1)); - const double t2 = tan(euler(2-1)), c2 = cos(euler(2-1)); + const double s1 = sin(euler.x()), c1 = cos(euler.x()); + const double t2 = tan(euler.y()), c2 = cos(euler.y()); Matrix Ebn(3,3); Ebn << 1.0, s1 * t2, c1 * t2, 0.0, c1, -s1, @@ -222,11 +222,10 @@ Matrix PoseRTV::RRTMbn(const Rot3& att) { } /* ************************************************************************* */ -Matrix PoseRTV::RRTMnb(const Vector& euler) { - assert(euler.size() == 3); +Matrix PoseRTV::RRTMnb(const Vector3& euler) { Matrix Enb(3,3); - const double s1 = sin(euler(1-1)), c1 = cos(euler(1-1)); - const double s2 = sin(euler(2-1)), c2 = cos(euler(2-1)); + const double s1 = sin(euler.x()), c1 = cos(euler.x()); + const double s2 = sin(euler.y()), c2 = cos(euler.y()); Enb << 1.0, 0.0, -s2, 0.0, c1, s1*c2, 0.0, -s1, c1*c2; diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index b1603efe2..ed5fa9be0 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -18,6 +18,7 @@ typedef Vector3 Velocity3; /** * Robot state for use with IMU measurements * - contains translation, translational velocity and rotation + * TODO(frank): Alex should deprecate/move to project */ class GTSAM_UNSTABLE_EXPORT PoseRTV : public ProductLieGroup { protected: @@ -145,13 +146,15 @@ public: /// RRTMbn - Function computes the rotation rate transformation matrix from /// body axis rates to euler angle (global) rates - static Matrix RRTMbn(const Vector& euler); + /// TODO(frank): seems to ignore euler.z() + static Matrix RRTMbn(const Vector3& euler); static Matrix RRTMbn(const Rot3& att); /// RRTMnb - Function computes the rotation rate transformation matrix from /// euler angle rates to body axis rates - static Matrix RRTMnb(const Vector& euler); + /// TODO(frank): seems to ignore euler.z() + static Matrix RRTMnb(const Vector3& euler); static Matrix RRTMnb(const Rot3& att); /// @} diff --git a/gtsam_unstable/slam/Mechanization_bRn2.cpp b/gtsam_unstable/slam/Mechanization_bRn2.cpp index d2dd02dd3..f6f1c4a5c 100644 --- a/gtsam_unstable/slam/Mechanization_bRn2.cpp +++ b/gtsam_unstable/slam/Mechanization_bRn2.cpp @@ -101,7 +101,7 @@ Mechanization_bRn2 Mechanization_bRn2::integrate(const Vector3& u, // convert to navigation frame Rot3 nRb = bRn_.inverse(); - Vector3 n_omega_bn = (nRb*b_omega_bn).vector(); + Vector3 n_omega_bn = nRb * b_omega_bn; // integrate bRn using exponential map, assuming constant over dt Rot3 delta_nRn = Rot3::Rodrigues(n_omega_bn*dt); diff --git a/gtsam_unstable/slam/Mechanization_bRn2.h b/gtsam_unstable/slam/Mechanization_bRn2.h index fa33ce5b9..4c85614d4 100644 --- a/gtsam_unstable/slam/Mechanization_bRn2.h +++ b/gtsam_unstable/slam/Mechanization_bRn2.h @@ -42,7 +42,7 @@ public: /// gravity in the body frame Vector3 b_g(double g_e) const { Vector3 n_g(0, 0, g_e); - return (bRn_ * n_g).vector(); + return bRn_ * n_g; } const Rot3& bRn() const {return bRn_; } From c7bc497014b6b4323bb92f503bb8db2396289bbd Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 11:36:28 -0700 Subject: [PATCH 510/964] Working Expmap --- gtsam/navigation/NavState.cpp | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 6a8977fd5..c1b901b22 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -96,8 +96,26 @@ Vector9 NavState::ChartAtOrigin::Local(const NavState& x, NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { if (H) throw std::runtime_error("NavState::Expmap derivative not implemented yet"); - // use brute force matrix exponential - return expm(xi); + + Eigen::Block n_omega_nb = dR(xi); + Eigen::Block v = dP(xi); + Eigen::Block a = dV(xi); + + Rot3 nRb = Rot3::Expmap(n_omega_nb); + double theta2 = n_omega_nb.dot(n_omega_nb); + if (theta2 > std::numeric_limits::epsilon()) { + double omega_v = n_omega_nb.dot(v); // translation parallel to axis + Vector3 omega_cross_v = n_omega_nb.cross(v); // points towards axis + Point3 n_t = Point3(omega_cross_v - nRb * omega_cross_v + omega_v * n_omega_nb) + / theta2; + double omega_a = n_omega_nb.dot(a); // translation parallel to axis + Vector3 omega_cross_a = n_omega_nb.cross(a); // points towards axis + Vector3 n_v = (omega_cross_a - nRb * omega_cross_a + omega_a * n_omega_nb) + / theta2; + return NavState(nRb, n_t, n_v); + } else { + return NavState(nRb, Point3(v), a); + } } Vector9 NavState::Logmap(const NavState& p, OptionalJacobian<9, 9> H) { From 2dbad989d1aab1f8b279b490eb0398b9b0af2a1e Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 16:09:56 -0400 Subject: [PATCH 511/964] Working Logmap ! --- gtsam/navigation/NavState.cpp | 36 ++++++++++++++++++++++++++++------- 1 file changed, 29 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index c1b901b22..bd2656b50 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -101,27 +101,49 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { Eigen::Block v = dP(xi); Eigen::Block a = dV(xi); + // NOTE(frank): mostly copy/paste from Pose3 Rot3 nRb = Rot3::Expmap(n_omega_nb); double theta2 = n_omega_nb.dot(n_omega_nb); if (theta2 > std::numeric_limits::epsilon()) { - double omega_v = n_omega_nb.dot(v); // translation parallel to axis + // Expmap implements a "screw" motion in the direction of n_omega_nb + Vector3 n_t_parallel = n_omega_nb * n_omega_nb.dot(v); // component along rotation axis Vector3 omega_cross_v = n_omega_nb.cross(v); // points towards axis - Point3 n_t = Point3(omega_cross_v - nRb * omega_cross_v + omega_v * n_omega_nb) + Point3 n_t = Point3(omega_cross_v - nRb * omega_cross_v + n_t_parallel) / theta2; - double omega_a = n_omega_nb.dot(a); // translation parallel to axis + Vector3 n_v_parallel = n_omega_nb * n_omega_nb.dot(a); // component along rotation axis Vector3 omega_cross_a = n_omega_nb.cross(a); // points towards axis - Vector3 n_v = (omega_cross_a - nRb * omega_cross_a + omega_a * n_omega_nb) - / theta2; + Vector3 n_v = (omega_cross_a - nRb * omega_cross_a + n_v_parallel) / theta2; return NavState(nRb, n_t, n_v); } else { return NavState(nRb, Point3(v), a); } } -Vector9 NavState::Logmap(const NavState& p, OptionalJacobian<9, 9> H) { +Vector9 NavState::Logmap(const NavState& nTb, OptionalJacobian<9, 9> H) { if (H) throw std::runtime_error("NavState::Logmap derivative not implemented yet"); - return Vector9::Zero(); + + TIE(nRb, n_p, n_v, nTb); + Vector3 n_t = n_p.vector(); + + // NOTE(frank): mostly copy/paste from Pose3 + Vector9 xi; + Vector3 n_omega_nb = Rot3::Logmap(nRb); + double theta = n_omega_nb.norm(); + if (theta * theta <= std::numeric_limits::epsilon()) { + xi << n_omega_nb, n_t, n_v; + } else { + Matrix3 W = skewSymmetric(n_omega_nb / theta); + // Formula from Agrawal06iros, equation (14) + // simplified with Mathematica, and multiplying in n_t to avoid matrix math + double factor = (1 - theta / (2. * tan(0.5 * theta))); + Vector3 n_x = W * n_t; + Vector3 v = n_t - (0.5 * theta) * n_x + factor * (W * n_x); + Vector3 n_y = W * n_v; + Vector3 a = n_v - (0.5 * theta) * n_y + factor * (W * n_y); + xi << n_omega_nb, v, a; + } + return xi; } Matrix9 NavState::AdjointMap() const { From 2dd7987478d41185519821829427661ef7072dd8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 16:25:58 -0400 Subject: [PATCH 512/964] Working AdjointMap and hence also derived derivatives of retract/localCoordinates --- gtsam/navigation/NavState.cpp | 13 ++++++++++--- gtsam/navigation/NavState.h | 2 +- gtsam/navigation/tests/testNavState.cpp | 20 ++++++++++---------- 3 files changed, 21 insertions(+), 14 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index bd2656b50..e7c2e0b55 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -101,7 +101,7 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { Eigen::Block v = dP(xi); Eigen::Block a = dV(xi); - // NOTE(frank): mostly copy/paste from Pose3 + // NOTE(frank): See Pose3::Expmap Rot3 nRb = Rot3::Expmap(n_omega_nb); double theta2 = n_omega_nb.dot(n_omega_nb); if (theta2 > std::numeric_limits::epsilon()) { @@ -126,7 +126,7 @@ Vector9 NavState::Logmap(const NavState& nTb, OptionalJacobian<9, 9> H) { TIE(nRb, n_p, n_v, nTb); Vector3 n_t = n_p.vector(); - // NOTE(frank): mostly copy/paste from Pose3 + // NOTE(frank): See Pose3::Logmap Vector9 xi; Vector3 n_omega_nb = Rot3::Logmap(nRb); double theta = n_omega_nb.norm(); @@ -147,7 +147,14 @@ Vector9 NavState::Logmap(const NavState& nTb, OptionalJacobian<9, 9> H) { } Matrix9 NavState::AdjointMap() const { - throw std::runtime_error("NavState::AdjointMap not implemented yet"); + // NOTE(frank): See Pose3::AdjointMap + const Matrix3 nRb = R(); + Matrix3 pAr = skewSymmetric(t()) * nRb; + Matrix3 vAr = skewSymmetric(v()) * nRb; + Matrix9 adj; + // nR/bR nR/bP nR/bV nP/bR nP/bP nP/bV nV/bR nV/bP nV/bV + adj << nRb, Z_3x3, Z_3x3, pAr, nRb, Z_3x3, vAr, Z_3x3, nRb; + return adj; } Matrix7 NavState::wedge(const Vector9& xi) { diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index e7aab4b7c..0edac0f65 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -189,7 +189,7 @@ public: OptionalJacobian<9, 9> H = boost::none); /// Calculate Adjoint map, a 9x9 matrix that takes a tangent vector in the body frame, and transforms - /// it to a tangent vector at idenity, such that Exmap(AdjointMap()*xi) = (*this) * Exmpap(xi); + /// it to a tangent vector at identity, such that Exmap(AdjointMap()*xi) = (*this) * Exmpap(xi); Matrix9 AdjointMap() const; /// wedge creates Lie algebra element from tangent vector diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index 675fe95c0..8cf14fec4 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -81,16 +81,16 @@ TEST( NavState, Manifold ) { EXPECT(assert_equal((Matrix )eH, aH)); // Check retract derivatives -// Matrix9 aH1, aH2; -// kState1.retract(xi, aH1, aH2); -// Matrix eH1 = numericalDerivative11( -// boost::bind(&NavState::retract, _1, xi, boost::none, boost::none), -// kState1); -// EXPECT(assert_equal(eH1, aH1)); -// Matrix eH2 = numericalDerivative11( -// boost::bind(&NavState::retract, kState1, _1, boost::none, boost::none), -// xi); -// EXPECT(assert_equal(eH2, aH2)); + Matrix9 aH1, aH2; + kState1.retract(xi, aH1, aH2); + Matrix eH1 = numericalDerivative11( + boost::bind(&NavState::retract, _1, xi, boost::none, boost::none), + kState1); + EXPECT(assert_equal(eH1, aH1)); + Matrix eH2 = numericalDerivative11( + boost::bind(&NavState::retract, kState1, _1, boost::none, boost::none), + xi); + EXPECT(assert_equal(eH2, aH2)); } /* ************************************************************************* */ From 4dbe5e68d213faa1891c646f14d549c23a933919 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 18:28:02 -0400 Subject: [PATCH 513/964] Component access derivatives --- gtsam/navigation/NavState.cpp | 15 ++++++ gtsam/navigation/NavState.h | 10 ++-- gtsam/navigation/tests/testNavState.cpp | 65 +++++++++++++++++-------- 3 files changed, 67 insertions(+), 23 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index e7c2e0b55..ec35e543a 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -22,6 +22,21 @@ namespace gtsam { #define TIE(R,t,v,x) const Rot3& R = (x).R_;const Point3& t = (x).t_;const Velocity3& v = (x).v_; +const Rot3& NavState::attitude(OptionalJacobian<3, 9> H) const { + if (H) *H << I_3x3, Z_3x3, Z_3x3; + return R_; +} + +const Point3& NavState::position(OptionalJacobian<3, 9> H) const { + if (H) *H << Z_3x3, R(), Z_3x3; + return t_; +} + +const Vector3& NavState::velocity(OptionalJacobian<3, 9> H) const { + if (H) *H << Z_3x3, Z_3x3, R(); + return v_; +} + Matrix7 NavState::matrix() const { Matrix3 R = this->R(); Matrix7 T; diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 0edac0f65..3011f6ac6 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -69,15 +69,19 @@ public: /// @name Component Access /// @{ - const Rot3& attitude() const { + inline const Rot3& attitude() const { return R_; } - const Point3& position() const { + inline const Point3& position() const { return t_; } - const Velocity3& velocity() const { + inline const Velocity3& velocity() const { return v_; } + const Rot3& attitude(OptionalJacobian<3, 9> H) const; + const Point3& position(OptionalJacobian<3, 9> H) const; + const Velocity3& velocity(OptionalJacobian<3, 9> H) const; + const Pose3 pose() const { return Pose3(attitude(), position()); } diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index 8cf14fec4..de8ba3a8d 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -30,28 +30,53 @@ static const Velocity3 kVelocity(0.4, 0.5, 0.6); static const NavState kIdentity; static const NavState kState1(kRotation, kPosition, kVelocity); -const double tol = 1e-5; - +/* ************************************************************************* */ +TEST( NavState, Attitude) { + Matrix39 aH, eH; + Rot3 actual = kState1.attitude(aH); + EXPECT(assert_equal(actual, kRotation)); + eH = numericalDerivative11( + boost::bind(&NavState::attitude, _1, boost::none), kState1); + EXPECT(assert_equal((Matrix )eH, aH)); +} +/* ************************************************************************* */ +TEST( NavState, Position) { + Matrix39 aH, eH; + Point3 actual = kState1.position(aH); + EXPECT(assert_equal(actual, kPosition)); + eH = numericalDerivative11( + boost::bind(&NavState::position, _1, boost::none), kState1); + EXPECT(assert_equal((Matrix )eH, aH)); +} +/* ************************************************************************* */ +TEST( NavState, Velocity) { + Matrix39 aH, eH; + Velocity3 actual = kState1.velocity(aH); + EXPECT(assert_equal(actual, kVelocity)); + eH = numericalDerivative11( + boost::bind(&NavState::velocity, _1, boost::none), kState1); + EXPECT(assert_equal((Matrix )eH, aH)); +} /* ************************************************************************* */ TEST( NavState, MatrixGroup ) { // check roundtrip conversion to 7*7 matrix representation Matrix7 T = kState1.matrix(); - EXPECT(assert_equal(kState1, NavState(T), tol)); + EXPECT(assert_equal(kState1, NavState(T))); // check group product agrees with matrix product NavState state2 = kState1 * kState1; Matrix T2 = T * T; - EXPECT(assert_equal(state2, NavState(T2), tol)); - EXPECT(assert_equal(T2, state2.matrix(), tol)); + EXPECT(assert_equal(state2, NavState(T2))); + EXPECT(assert_equal(T2, state2.matrix())); } /* ************************************************************************* */ TEST( NavState, Manifold ) { // Check zero xi - EXPECT(assert_equal(kIdentity, kIdentity.retract(zero(9)), tol)); - EXPECT(assert_equal(zero(9), kIdentity.localCoordinates(kIdentity), tol)); - EXPECT(assert_equal(kState1, kState1.retract(zero(9)), tol)); - EXPECT(assert_equal(zero(9), kState1.localCoordinates(kState1), tol)); + EXPECT(assert_equal(kIdentity, kIdentity.retract(zero(9)))); + EXPECT(assert_equal(zero(9), kIdentity.localCoordinates(kIdentity))); + EXPECT(assert_equal(kState1, kState1.retract(zero(9)))); + EXPECT(assert_equal(zero(9), kState1.localCoordinates(kState1))); // Check definition of retract as operating on components separately Vector xi(9); @@ -60,12 +85,12 @@ TEST( NavState, Manifold ) { Point3 dt = Point3(xi.segment < 3 > (3)); Velocity3 dvel = Velocity3(-0.1, -0.2, -0.3); NavState state2 = kState1 * NavState(drot, dt, dvel); - EXPECT(assert_equal(state2, kState1.retract(xi), tol)); - EXPECT(assert_equal(xi, kState1.localCoordinates(state2), tol)); + EXPECT(assert_equal(state2, kState1.retract(xi))); + EXPECT(assert_equal(xi, kState1.localCoordinates(state2))); // roundtrip from state2 to state3 and back NavState state3 = state2.retract(xi); - EXPECT(assert_equal(xi, state2.localCoordinates(state3), tol)); + EXPECT(assert_equal(xi, state2.localCoordinates(state3))); // Check derivatives for ChartAtOrigin::Retract Matrix9 aH, eH; @@ -96,24 +121,24 @@ TEST( NavState, Manifold ) { /* ************************************************************************* */ TEST( NavState, Lie ) { // Check zero xi - EXPECT(assert_equal(kIdentity, kIdentity.expmap(zero(9)), tol)); - EXPECT(assert_equal(zero(9), kIdentity.logmap(kIdentity), tol)); - EXPECT(assert_equal(kState1, kState1.expmap(zero(9)), tol)); - EXPECT(assert_equal(zero(9), kState1.logmap(kState1), tol)); + EXPECT(assert_equal(kIdentity, kIdentity.expmap(zero(9)))); + EXPECT(assert_equal(zero(9), kIdentity.logmap(kIdentity))); + EXPECT(assert_equal(kState1, kState1.expmap(zero(9)))); + EXPECT(assert_equal(zero(9), kState1.logmap(kState1))); // Expmap/Logmap roundtrip Vector xi(9); xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; NavState state2 = NavState::Expmap(xi); - EXPECT(assert_equal(xi, NavState::Logmap(state2), tol)); + EXPECT(assert_equal(xi, NavState::Logmap(state2))); // roundtrip from state2 to state3 and back NavState state3 = state2.expmap(xi); - EXPECT(assert_equal(xi, state2.logmap(state3), tol)); + EXPECT(assert_equal(xi, state2.logmap(state3))); // For the expmap/logmap (not necessarily expmap/local) -xi goes other way - EXPECT(assert_equal(state2, state3.expmap(-xi), tol)); - EXPECT(assert_equal(xi, -state3.logmap(state2), tol)); + EXPECT(assert_equal(state2, state3.expmap(-xi))); + EXPECT(assert_equal(xi, -state3.logmap(state2))); } /* ************************************************************************* */ From 4c177c0ce2397737e8ab3c41f95ecc2881eab1b4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 18:28:31 -0400 Subject: [PATCH 514/964] unrotate now defined for vector --- gtsam/geometry/Rot3.h | 6 ++++ gtsam/navigation/PreintegrationBase.cpp | 43 +++++++------------------ 2 files changed, 18 insertions(+), 31 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 1dec6eafe..3e95bf04d 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -352,6 +352,12 @@ namespace gtsam { Point3 unrotate(const Point3& p, OptionalJacobian<3,3> H1 = boost::none, OptionalJacobian<3,3> H2=boost::none) const; + /// unrotate for Vector3 + Vector3 unrotate(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + return unrotate(Point3(v), H1, H2).vector(); + } + /// @} /// @name Group Action on Unit3 /// @{ diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index d2775bfb2..30c1ad0e3 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -154,52 +154,33 @@ Vector9 PreintegrationBase::biasCorrectedDelta( return delta; } -//------------------------------------------------------------------------------ -static Vector3 rotate(const Matrix3& R, const Vector3& p, - OptionalJacobian<3, 3> H1 = boost::none, OptionalJacobian<3, 3> H2 = boost::none) { - if (H1) *H1 = R * skewSymmetric(-p.x(), -p.y(), -p.z()); - if (H2) *H2 = R; - return R * p; -} - -//------------------------------------------------------------------------------ -static Vector3 unrotate(const Matrix3& R, const Vector3& p, - OptionalJacobian<3, 3> H1 = boost::none, OptionalJacobian<3, 3> H2 = boost::none) { - const Matrix3 Rt = R.transpose(); - Vector3 q = Rt * p; - const double wx = q.x(), wy = q.y(), wz = q.z(); - if (H1) *H1 << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; - if (H2) *H2 = Rt; - return q; -} - //------------------------------------------------------------------------------ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i, OptionalJacobian<9, 9> H) const { Vector9 result = Vector9::Zero(); if (H) H->setZero(); if (p().omegaCoriolis) { - const Pose3& pose_i = state_i.pose(); + const Rot3& rot_i = state_i.attitude(); + const Point3& t_i = state_i.position(); const Vector3& vel_i = state_i.velocity(); - const Matrix3 Ri = pose_i.rotation().matrix(); - const Vector3& t_i = state_i.position().vector(); const double dt = deltaTij(), dt2 = dt * dt; const Vector3& omegaCoriolis = *p().omegaCoriolis; Matrix3 D_dP_Ri; - NavState::dR(result) -= unrotate(Ri, omegaCoriolis * dt, H ? &D_dP_Ri : 0); - NavState::dP(result) -= omegaCoriolis.cross(vel_i) * dt2; // NOTE(luca): we got rid of the 2 wrt INS paper - NavState::dV(result) -= 2.0 * omegaCoriolis.cross(vel_i) * dt; + NavState::dR(result) -= rot_i.unrotate(omegaCoriolis * dt, H ? &D_dP_Ri : 0); + NavState::dP(result) -= (dt2 * omegaCoriolis.cross(vel_i)); // NOTE(luca): we got rid of the 2 wrt INS paper + NavState::dV(result) -= ((2.0 * dt) * omegaCoriolis.cross(vel_i)); if (p().use2ndOrderCoriolis) { - Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(t_i)); + Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(t_i.vector())); NavState::dP(result) -= 0.5 * temp * dt2; NavState::dV(result) -= temp * dt; } if (H) { + // Matrix3 Ri = rot_i.matrix(); const Matrix3 omegaCoriolisHat = skewSymmetric(omegaCoriolis); H->block<3,3>(0,0) -= D_dP_Ri; H->block<3,3>(3,6) -= omegaCoriolisHat * dt2; - H->block<3,3>(6,6) -= 2.0 * omegaCoriolisHat * dt; + H->block<3,3>(6,6) -= (2.0 * dt) * omegaCoriolisHat; if (p().use2ndOrderCoriolis) { const Matrix3 omegaCoriolisHat2 = omegaCoriolisHat * omegaCoriolisHat; H->block<3,3>(3,3) -= 0.5 * omegaCoriolisHat2 * dt2; @@ -215,17 +196,16 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, const Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { - const Pose3& pose_i = state_i.pose(); + const Rot3& rot_i = state_i.attitude(); const Vector3& vel_i = state_i.velocity(); - const Matrix3 Ri = pose_i.rotation().matrix(); const double dt = deltaTij(), dt2 = dt * dt; // Rotation, position, and velocity: Vector9 delta; Matrix3 D_dP_Ri, D_dP_bc, D_dV_Ri, D_dV_bc; NavState::dR(delta) = NavState::dR(biasCorrectedDelta); - NavState::dP(delta) = rotate(Ri, NavState::dP(biasCorrectedDelta), D_dP_Ri, D_dP_bc) + vel_i * dt + 0.5 * p().gravity * dt2; - NavState::dV(delta) = rotate(Ri, NavState::dV(biasCorrectedDelta), D_dV_Ri, D_dV_bc) + p().gravity * dt; + NavState::dP(delta) = rot_i.rotate(NavState::dP(biasCorrectedDelta), D_dP_Ri, D_dP_bc) + vel_i * dt + 0.5 * p().gravity * dt2; + NavState::dV(delta) = rot_i.rotate(NavState::dV(biasCorrectedDelta), D_dV_Ri, D_dV_bc) + p().gravity * dt; Matrix9 Hcoriolis; if (p().omegaCoriolis) { @@ -240,6 +220,7 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, } if (H2) { H2->setZero(); + Matrix3 Ri = rot_i.matrix(); H2->block<3,3>(0,0) = I_3x3; H2->block<3,3>(3,3) = Ri; H2->block<3,3>(6,6) = Ri; From a9b4cdbe471aeff2c5ebc856337b5964795e221a Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 21 Jul 2015 20:35:33 -0400 Subject: [PATCH 515/964] coriolis now lives in NavState --- gtsam/navigation/NavState.cpp | 64 ++++++-- gtsam/navigation/NavState.h | 8 + gtsam/navigation/PreintegrationBase.cpp | 193 +++++++++++------------ gtsam/navigation/tests/testImuFactor.cpp | 6 +- gtsam/navigation/tests/testNavState.cpp | 45 ++++++ 5 files changed, 199 insertions(+), 117 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index ec35e543a..37bd7adcc 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -18,22 +18,27 @@ #include +using namespace std; + namespace gtsam { #define TIE(R,t,v,x) const Rot3& R = (x).R_;const Point3& t = (x).t_;const Velocity3& v = (x).v_; const Rot3& NavState::attitude(OptionalJacobian<3, 9> H) const { - if (H) *H << I_3x3, Z_3x3, Z_3x3; + if (H) + *H << I_3x3, Z_3x3, Z_3x3; return R_; } const Point3& NavState::position(OptionalJacobian<3, 9> H) const { - if (H) *H << Z_3x3, R(), Z_3x3; + if (H) + *H << Z_3x3, R(), Z_3x3; return t_; } const Vector3& NavState::velocity(OptionalJacobian<3, 9> H) const { - if (H) *H << Z_3x3, Z_3x3, R(); + if (H) + *H << Z_3x3, Z_3x3, R(); return v_; } @@ -44,7 +49,7 @@ Matrix7 NavState::matrix() const { return T; } -void NavState::print(const std::string& s) const { +void NavState::print(const string& s) const { attitude().print(s + ".R"); position().print(s + ".p"); gtsam::print((Vector) v_, s + ".v"); @@ -101,7 +106,7 @@ NavState NavState::ChartAtOrigin::Retract(const Vector9& xi, Vector9 NavState::ChartAtOrigin::Local(const NavState& x, OptionalJacobian<9, 9> H) { if (H) - throw std::runtime_error( + throw runtime_error( "NavState::ChartOrigin::Local derivative not implemented yet"); Vector9 xi; xi << Rot3::Logmap(x.R_), x.t(), x.v(); @@ -110,7 +115,7 @@ Vector9 NavState::ChartAtOrigin::Local(const NavState& x, NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { if (H) - throw std::runtime_error("NavState::Expmap derivative not implemented yet"); + throw runtime_error("NavState::Expmap derivative not implemented yet"); Eigen::Block n_omega_nb = dR(xi); Eigen::Block v = dP(xi); @@ -119,7 +124,7 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { // NOTE(frank): See Pose3::Expmap Rot3 nRb = Rot3::Expmap(n_omega_nb); double theta2 = n_omega_nb.dot(n_omega_nb); - if (theta2 > std::numeric_limits::epsilon()) { + if (theta2 > numeric_limits::epsilon()) { // Expmap implements a "screw" motion in the direction of n_omega_nb Vector3 n_t_parallel = n_omega_nb * n_omega_nb.dot(v); // component along rotation axis Vector3 omega_cross_v = n_omega_nb.cross(v); // points towards axis @@ -136,7 +141,7 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { Vector9 NavState::Logmap(const NavState& nTb, OptionalJacobian<9, 9> H) { if (H) - throw std::runtime_error("NavState::Logmap derivative not implemented yet"); + throw runtime_error("NavState::Logmap derivative not implemented yet"); TIE(nRb, n_p, n_v, nTb); Vector3 n_t = n_p.vector(); @@ -145,7 +150,7 @@ Vector9 NavState::Logmap(const NavState& nTb, OptionalJacobian<9, 9> H) { Vector9 xi; Vector3 n_omega_nb = Rot3::Logmap(nRb); double theta = n_omega_nb.norm(); - if (theta * theta <= std::numeric_limits::epsilon()) { + if (theta * theta <= numeric_limits::epsilon()) { xi << n_omega_nb, n_t, n_v; } else { Matrix3 W = skewSymmetric(n_omega_nb / theta); @@ -179,4 +184,45 @@ Matrix7 NavState::wedge(const Vector9& xi) { return T; } +// sugar for derivative blocks +#define D_R_R(H) H->block<3,3>(0,0) +#define D_t_t(H) H->block<3,3>(3,3) +#define D_t_v(H) H->block<3,3>(3,6) +#define D_v_t(H) H->block<3,3>(6,3) +#define D_v_v(H) H->block<3,3>(6,6) + +Vector9 NavState::coriolis(const Vector3& omega, double dt, bool secondOrder, + OptionalJacobian<9, 9> H) const { + Vector9 result; + const Rot3& nRb = attitude(); + const Point3& n_t = position(); // derivative is R() ! + const Vector3& n_v = velocity(); // ditto + const double dt2 = dt * dt; + + const Vector3 omega_cross_vel = omega.cross(n_v); + Matrix3 D_dP_R; + dR(result) << -nRb.unrotate(omega * dt, H ? &D_dP_R : 0); + dP(result) << ((-dt2) * omega_cross_vel); // NOTE(luca): we got rid of the 2 wrt INS paper + dV(result) << ((-2.0 * dt) * omega_cross_vel); + if (secondOrder) { + const Vector3 omega_cross2_t = omega.cross(omega.cross(n_t.vector())); + dP(result) -= (0.5 * dt2) * omega_cross2_t; + dV(result) -= dt * omega_cross2_t; + } + if (H) { + const Matrix3 Omega = skewSymmetric(omega); + const Matrix3 D_cross_state = Omega * R(); + H->setZero(); + D_R_R(H) << -D_dP_R; + D_t_v(H) << (-dt2) * D_cross_state; + D_v_v(H) << (-2.0 * dt) * D_cross_state; + if (secondOrder) { + const Matrix3 D_cross2_state = Omega * D_cross_state; + D_t_t(H) -= (0.5 * dt2) * D_cross2_state; + D_v_t(H) -= dt * D_cross2_state; + } + } + return result; +} + } /// namespace gtsam diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 3011f6ac6..12b56fd87 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -200,6 +200,14 @@ public: static Matrix7 wedge(const Vector9& xi); /// @} + /// @name Dynamics + /// @{ + + // Compute tangent space contribution due to coriolis forces + Vector9 coriolis(const Vector3& omega, double dt, bool secondOrder, + OptionalJacobian<9, 9> H) const; + + /// @} private: /// @{ diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 30c1ad0e3..c575e5bf8 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -46,23 +46,24 @@ void PreintegrationBase::print(const string& s) const { } /// Needed for testable -bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { - return PreintegratedRotation::equals(other, tol) && - biasHat_.equals(other.biasHat_, tol) && - equal_with_abs_tol(deltaPij_, other.deltaPij_, tol) && - equal_with_abs_tol(deltaVij_, other.deltaVij_, tol) && - equal_with_abs_tol(delPdelBiasAcc_, other.delPdelBiasAcc_, tol) && - equal_with_abs_tol(delPdelBiasOmega_, other.delPdelBiasOmega_, tol) && - equal_with_abs_tol(delVdelBiasAcc_, other.delVdelBiasAcc_, tol) && - equal_with_abs_tol(delVdelBiasOmega_, other.delVdelBiasOmega_, tol); +bool PreintegrationBase::equals(const PreintegrationBase& other, + double tol) const { + return PreintegratedRotation::equals(other, tol) + && biasHat_.equals(other.biasHat_, tol) + && equal_with_abs_tol(deltaPij_, other.deltaPij_, tol) + && equal_with_abs_tol(deltaVij_, other.deltaVij_, tol) + && equal_with_abs_tol(delPdelBiasAcc_, other.delPdelBiasAcc_, tol) + && equal_with_abs_tol(delPdelBiasOmega_, other.delPdelBiasOmega_, tol) + && equal_with_abs_tol(delVdelBiasAcc_, other.delVdelBiasAcc_, tol) + && equal_with_abs_tol(delVdelBiasOmega_, other.delVdelBiasOmega_, tol); } /// Update preintegrated measurements -void PreintegrationBase::updatePreintegratedMeasurements(const Vector3& correctedAcc, - const Rot3& incrR, const double deltaT, - OptionalJacobian<9, 9> F) { +void PreintegrationBase::updatePreintegratedMeasurements( + const Vector3& correctedAcc, const Rot3& incrR, const double deltaT, + OptionalJacobian<9, 9> F) { - const Matrix3 dRij = deltaRij().matrix(); // expensive + const Matrix3 dRij = deltaRij().matrix(); // expensive const Vector3 temp = dRij * correctedAcc * deltaT; if (!p().use2ndOrderIntegration) { @@ -74,7 +75,7 @@ void PreintegrationBase::updatePreintegratedMeasurements(const Vector3& correcte Matrix3 R_i, F_angles_angles; if (F) - R_i = dRij; // has to be executed before updateIntegratedRotationAndDeltaT as that updates deltaRij + R_i = dRij; // has to be executed before updateIntegratedRotationAndDeltaT as that updates deltaRij updateIntegratedRotationAndDeltaT(incrR, deltaT, F ? &F_angles_angles : 0); if (F) { @@ -86,19 +87,20 @@ void PreintegrationBase::updatePreintegratedMeasurements(const Vector3& correcte F_pos_angles = Z_3x3; // pos vel angle - *F << // - I_3x3, I_3x3 * deltaT, F_pos_angles, // pos - Z_3x3, I_3x3, F_vel_angles, // vel - Z_3x3, Z_3x3, F_angles_angles; // angle + *F << // + I_3x3, I_3x3 * deltaT, F_pos_angles, // pos + Z_3x3, I_3x3, F_vel_angles, // vel + Z_3x3, Z_3x3, F_angles_angles; // angle } } /// Update Jacobians to be used during preintegration -void PreintegrationBase::updatePreintegratedJacobians(const Vector3& correctedAcc, - const Matrix3& D_Rincr_integratedOmega, - const Rot3& incrR, double deltaT) { - const Matrix3 dRij = deltaRij().matrix(); // expensive - const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * deltaT * delRdelBiasOmega(); +void PreintegrationBase::updatePreintegratedJacobians( + const Vector3& correctedAcc, const Matrix3& D_Rincr_integratedOmega, + const Rot3& incrR, double deltaT) { + const Matrix3 dRij = deltaRij().matrix(); // expensive + const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * deltaT + * delRdelBiasOmega(); if (!p().use2ndOrderIntegration) { delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT; delPdelBiasOmega_ += delVdelBiasOmega_ * deltaT; @@ -112,8 +114,8 @@ void PreintegrationBase::updatePreintegratedJacobians(const Vector3& correctedAc } void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& measuredAcc, const Vector3& measuredOmega, Vector3* correctedAcc, - Vector3* correctedOmega) { + const Vector3& measuredAcc, const Vector3& measuredOmega, + Vector3* correctedAcc, Vector3* correctedOmega) { *correctedAcc = biasHat_.correctAccelerometer(measuredAcc); *correctedOmega = biasHat_.correctGyroscope(measuredOmega); @@ -121,10 +123,11 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( // (originally in the IMU frame) into the body frame if (p().body_P_sensor) { Matrix3 body_R_sensor = p().body_P_sensor->rotation().matrix(); - *correctedOmega = body_R_sensor * (*correctedOmega); // rotation rate vector in the body frame + *correctedOmega = body_R_sensor * (*correctedOmega); // rotation rate vector in the body frame Matrix3 body_omega_body__cross = skewSymmetric(*correctedOmega); *correctedAcc = body_R_sensor * (*correctedAcc) - - body_omega_body__cross * body_omega_body__cross * p().body_P_sensor->translation().vector(); + - body_omega_body__cross * body_omega_body__cross + * p().body_P_sensor->translation().vector(); // linear acceleration vector in the body frame } } @@ -157,38 +160,14 @@ Vector9 PreintegrationBase::biasCorrectedDelta( //------------------------------------------------------------------------------ Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i, OptionalJacobian<9, 9> H) const { - Vector9 result = Vector9::Zero(); - if (H) H->setZero(); if (p().omegaCoriolis) { - const Rot3& rot_i = state_i.attitude(); - const Point3& t_i = state_i.position(); - const Vector3& vel_i = state_i.velocity(); - const double dt = deltaTij(), dt2 = dt * dt; - - const Vector3& omegaCoriolis = *p().omegaCoriolis; - Matrix3 D_dP_Ri; - NavState::dR(result) -= rot_i.unrotate(omegaCoriolis * dt, H ? &D_dP_Ri : 0); - NavState::dP(result) -= (dt2 * omegaCoriolis.cross(vel_i)); // NOTE(luca): we got rid of the 2 wrt INS paper - NavState::dV(result) -= ((2.0 * dt) * omegaCoriolis.cross(vel_i)); - if (p().use2ndOrderCoriolis) { - Vector3 temp = omegaCoriolis.cross(omegaCoriolis.cross(t_i.vector())); - NavState::dP(result) -= 0.5 * temp * dt2; - NavState::dV(result) -= temp * dt; - } - if (H) { - // Matrix3 Ri = rot_i.matrix(); - const Matrix3 omegaCoriolisHat = skewSymmetric(omegaCoriolis); - H->block<3,3>(0,0) -= D_dP_Ri; - H->block<3,3>(3,6) -= omegaCoriolisHat * dt2; - H->block<3,3>(6,6) -= (2.0 * dt) * omegaCoriolisHat; - if (p().use2ndOrderCoriolis) { - const Matrix3 omegaCoriolisHat2 = omegaCoriolisHat * omegaCoriolisHat; - H->block<3,3>(3,3) -= 0.5 * omegaCoriolisHat2 * dt2; - H->block<3,3>(6,3) -= omegaCoriolisHat2 * dt; - } - } + return state_i.coriolis(*(p().omegaCoriolis), deltaTij(), + p().use2ndOrderCoriolis, H); + } else { + if (H) + H->setZero(); + return Vector9::Zero(); } - return result; } //------------------------------------------------------------------------------ @@ -204,8 +183,10 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, Vector9 delta; Matrix3 D_dP_Ri, D_dP_bc, D_dV_Ri, D_dV_bc; NavState::dR(delta) = NavState::dR(biasCorrectedDelta); - NavState::dP(delta) = rot_i.rotate(NavState::dP(biasCorrectedDelta), D_dP_Ri, D_dP_bc) + vel_i * dt + 0.5 * p().gravity * dt2; - NavState::dV(delta) = rot_i.rotate(NavState::dV(biasCorrectedDelta), D_dV_Ri, D_dV_bc) + p().gravity * dt; + NavState::dP(delta) = rot_i.rotate(NavState::dP(biasCorrectedDelta), D_dP_Ri, + D_dP_bc) + vel_i * dt + 0.5 * p().gravity * dt2; + NavState::dV(delta) = rot_i.rotate(NavState::dV(biasCorrectedDelta), D_dV_Ri, + D_dV_bc) + p().gravity * dt; Matrix9 Hcoriolis; if (p().omegaCoriolis) { @@ -213,17 +194,18 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, } if (H1) { H1->setZero(); - H1->block<3,3>(3,0) = D_dP_Ri; - H1->block<3,3>(3,6) = I_3x3 * dt; - H1->block<3,3>(6,0) = D_dV_Ri; - if (p().omegaCoriolis) *H1 += Hcoriolis; + H1->block<3, 3>(3, 0) = D_dP_Ri; + H1->block<3, 3>(3, 6) = I_3x3 * dt; + H1->block<3, 3>(6, 0) = D_dV_Ri; + if (p().omegaCoriolis) + *H1 += Hcoriolis; } if (H2) { H2->setZero(); Matrix3 Ri = rot_i.matrix(); - H2->block<3,3>(0,0) = I_3x3; - H2->block<3,3>(3,3) = Ri; - H2->block<3,3>(6,6) = Ri; + H2->block<3, 3>(0, 0) = I_3x3; + H2->block<3, 3>(3, 3) = Ri; + H2->block<3, 3>(6, 6) = Ri; } return delta; @@ -279,14 +261,11 @@ static Vector9 computeError(const NavState& state_i, const NavState& state_j, } //------------------------------------------------------------------------------ -Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, - const Pose3& pose_j, const Vector3& vel_j, - const imuBias::ConstantBias& bias_i, - OptionalJacobian<9, 6> H1, - OptionalJacobian<9, 3> H2, - OptionalJacobian<9, 6> H3, - OptionalJacobian<9, 3> H4, - OptionalJacobian<9, 6> H5) const { +Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, + const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, + const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H1, + OptionalJacobian<9, 3> H2, OptionalJacobian<9, 6> H3, + OptionalJacobian<9, 3> H4, OptionalJacobian<9, 6> H5) const { // we give some shorter name to rotations and translations const Rot3& rot_i = pose_i.rotation(); @@ -305,11 +284,13 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const /// Predict state at time j Matrix99 D_predict_state; Matrix96 D_predict_bias; - NavState predictedState_j = predict(state_i, bias_i, D_predict_state, D_predict_bias); + NavState predictedState_j = predict(state_i, bias_i, D_predict_state, + D_predict_bias); // Evaluate residual error, according to [3] // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fp = Ri.transpose() * (pos_j - predictedState_j.pose().translation().vector()); + const Vector3 fp = Ri.transpose() + * (pos_j - predictedState_j.pose().translation().vector()); // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance const Vector3 fv = Ri.transpose() * (vel_j - predictedState_j.velocity()); @@ -324,66 +305,68 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const // Residual rotation error Matrix3 D_cDeltaRij_cOmega; - const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega, H1 || H5 ? &D_cDeltaRij_cOmega : 0); + const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega, + H1 || H5 ? &D_cDeltaRij_cOmega : 0); const Rot3 RiBetweenRj = rot_i.between(rot_j); const Rot3 fRrot = correctedDeltaRij.between(RiBetweenRj); Matrix3 D_fR_fRrot; Rot3::Logmap(fRrot, H1 || H3 || H5 ? &D_fR_fRrot : 0); - const double dt = deltaTij(), dt2 = dt*dt; + const double dt = deltaTij(), dt2 = dt * dt; Matrix3 RitOmegaCoriolisHat = Z_3x3; if ((H1 || H2) && p().omegaCoriolis) - RitOmegaCoriolisHat = Ri.transpose() * skewSymmetric(*p().omegaCoriolis); + RitOmegaCoriolisHat = Ri.transpose() * skewSymmetric(*p().omegaCoriolis); if (H1) { const Matrix3 D_coriolis = -D_cDeltaRij_cOmega * skewSymmetric(coriolis); Matrix3 dfPdPi = -I_3x3, dfVdPi = Z_3x3; if (p().use2ndOrderCoriolis) { // this is the same as: Ri.transpose() * p().omegaCoriolisHat * p().omegaCoriolisHat * Ri - const Matrix3 temp = RitOmegaCoriolisHat * (-RitOmegaCoriolisHat.transpose()); + const Matrix3 temp = RitOmegaCoriolisHat + * (-RitOmegaCoriolisHat.transpose()); dfPdPi += 0.5 * temp * dt2; dfVdPi += temp * dt; } - (*H1) << - D_fR_fRrot * (-rot_j.between(rot_i).matrix() - fRrot.inverse().matrix() * D_coriolis), // dfR/dRi - Z_3x3, // dfR/dPi - skewSymmetric(fp + NavState::dP(biasCorrected)), // dfP/dRi - dfPdPi, // dfP/dPi - skewSymmetric(fv + NavState::dV(biasCorrected)), // dfV/dRi - dfVdPi; // dfV/dPi + (*H1) + << D_fR_fRrot + * (-rot_j.between(rot_i).matrix() + - fRrot.inverse().matrix() * D_coriolis), // dfR/dRi + Z_3x3, // dfR/dPi + skewSymmetric(fp + NavState::dP(biasCorrected)), // dfP/dRi + dfPdPi, // dfP/dPi + skewSymmetric(fv + NavState::dV(biasCorrected)), // dfV/dRi + dfVdPi; // dfV/dPi } if (H2) { - (*H2) << - Z_3x3, // dfR/dVi - -Ri.transpose() * dt + RitOmegaCoriolisHat * dt2, // dfP/dVi - -Ri.transpose() + 2 * RitOmegaCoriolisHat * dt; // dfV/dVi + (*H2) << Z_3x3, // dfR/dVi + -Ri.transpose() * dt + RitOmegaCoriolisHat * dt2, // dfP/dVi + -Ri.transpose() + 2 * RitOmegaCoriolisHat * dt; // dfV/dVi } if (H3) { - (*H3) << - D_fR_fRrot, Z_3x3, // dfR/dPosej + (*H3) << D_fR_fRrot, Z_3x3, // dfR/dPosej Z_3x3, Ri.transpose() * rot_j.matrix(), // dfP/dPosej - Matrix::Zero(3, 6); // dfV/dPosej + Matrix::Zero(3, 6); // dfV/dPosej } if (H4) { - (*H4) << - Z_3x3, // dfR/dVj - Z_3x3, // dfP/dVj + (*H4) << Z_3x3, // dfR/dVj + Z_3x3, // dfP/dVj Ri.transpose(); // dfV/dVj } if (H5) { - const Matrix36 JbiasOmega = D_cDeltaRij_cOmega * D_biasCorrected_bias.middleRows<3>(0); - (*H5) << - -D_fR_fRrot * fRrot.inverse().matrix() * JbiasOmega, // dfR/dBias - -D_biasCorrected_bias.middleRows<3>(3), // dfP/dBias - -D_biasCorrected_bias.middleRows<3>(6); // dfV/dBias + const Matrix36 JbiasOmega = D_cDeltaRij_cOmega + * D_biasCorrected_bias.middleRows<3>(0); + (*H5) << -D_fR_fRrot * fRrot.inverse().matrix() * JbiasOmega, // dfR/dBias + -D_biasCorrected_bias.middleRows<3>(3), // dfP/dBias + -D_biasCorrected_bias.middleRows<3>(6); // dfV/dBias } // TODO(frank): Do everything via derivatives of function below return computeError(state_i, state_j, predictedState_j); } //------------------------------------------------------------------------------ -PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, - const imuBias::ConstantBias& bias_i, const Vector3& gravity, const Vector3& omegaCoriolis, +PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, + const Vector3& vel_i, const imuBias::ConstantBias& bias_i, + const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility boost::shared_ptr q = boost::make_shared(p()); @@ -393,4 +376,4 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& p_ = q; return PoseVelocityBias(predict(NavState(pose_i, vel_i), bias_i), bias_i); } -} /// namespace gtsam +} /// namespace gtsam diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 944a38156..fa97f5664 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -282,7 +282,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { EXPECT(assert_equal(expectedH, actualH)); } { - Matrix99 actualH; + Matrix9 actualH; pim.integrateCoriolis(state1, actualH); Matrix expectedH = numericalDerivative11( boost::bind(&PreintegrationBase::integrateCoriolis, pim, _1, @@ -290,7 +290,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { EXPECT(assert_equal(expectedH, actualH)); } { - Matrix99 aH1, aH2; + Matrix9 aH1, aH2; Vector9 biasCorrectedDelta = pim.biasCorrectedDelta(bias); pim.recombinedPrediction(state1, biasCorrectedDelta, aH1, aH2); Matrix eH1 = numericalDerivative11( @@ -303,7 +303,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { EXPECT(assert_equal(eH2, aH2)); } { - Matrix99 aH1; + Matrix9 aH1; Matrix96 aH2; pim.predict(state1, bias, aH1, aH2); Matrix eH1 = numericalDerivative11( diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index de8ba3a8d..c5b46831e 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -141,6 +141,51 @@ TEST( NavState, Lie ) { EXPECT(assert_equal(xi, -state3.logmap(state2))); } +/* ************************************************************************* */ +TEST(NavState, Coriolis) { + Matrix9 actualH; + Vector3 omegaCoriolis(0.02, 0.03, 0.04); + double dt = 0.5; + // first-order + bool secondOrder = false; + kState1.coriolis(omegaCoriolis, dt, secondOrder, actualH); + Matrix expectedH = numericalDerivative11( + boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, + boost::none), kState1); + EXPECT(assert_equal(expectedH, actualH)); + // second-order + secondOrder = true; + kState1.coriolis(omegaCoriolis, dt, secondOrder, actualH); + expectedH = numericalDerivative11( + boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, + boost::none), kState1); + EXPECT(assert_equal(expectedH, actualH)); +} + +/* ************************************************************************* */ +TEST(NavState, Coriolis2) { + NavState state2(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), + Point3(5.0, 1.0, -50.0), Vector3(0.5, 0.0, 0.0)); + + Matrix9 actualH; + Vector3 omegaCoriolis(0.02, 0.03, 0.04); + double dt = 2.0; + // first-order + bool secondOrder = false; + state2.coriolis(omegaCoriolis, dt, secondOrder, actualH); + Matrix expectedH = numericalDerivative11( + boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, + boost::none), state2); + EXPECT(assert_equal(expectedH, actualH)); + // second-order + secondOrder = true; + state2.coriolis(omegaCoriolis, dt, secondOrder, actualH); + expectedH = numericalDerivative11( + boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, + boost::none), state2); + EXPECT(assert_equal(expectedH, actualH)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 0ced22841390b44cc3ce093ea0fcc217f222cfcb Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 00:36:32 -0400 Subject: [PATCH 516/964] Regression test for predict with arbitrary measurements --- gtsam/navigation/tests/testImuFactor.cpp | 53 ++++++++++++++++++++---- 1 file changed, 44 insertions(+), 9 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 6b66be342..1f1815fba 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -38,6 +38,7 @@ using symbol_shorthand::B; static const Vector3 kGravity(0, 0, 9.81); static const Vector3 kZeroOmegaCoriolis(0, 0, 0); +static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); /* ************************************************************************* */ namespace { @@ -282,8 +283,6 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { Point3(5.5, 1.0, -50.0)); // Measurements - Vector3 nonZeroOmegaCoriolis; - nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() @@ -298,7 +297,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, - nonZeroOmegaCoriolis); + kNonZeroOmegaCoriolis); Values values; values.insert(X(1), x1); @@ -322,8 +321,6 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { Point3(5.5, 1.0, -50.0)); // Measurements - Vector3 nonZeroOmegaCoriolis; - nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() @@ -340,7 +337,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { Pose3 bodyPsensor = Pose3(); bool use2ndOrderCoriolis = true; ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, - nonZeroOmegaCoriolis, bodyPsensor, use2ndOrderCoriolis); + kNonZeroOmegaCoriolis, bodyPsensor, use2ndOrderCoriolis); Values values; values.insert(X(1), x1); @@ -749,8 +746,6 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { Vector3 v2(Vector3(0.5, 0.0, 0.0)); // Measurements - Vector3 nonZeroOmegaCoriolis; - nonZeroOmegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() @@ -769,7 +764,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, - nonZeroOmegaCoriolis); + kNonZeroOmegaCoriolis); Values values; values.insert(X(1), x1); @@ -860,6 +855,46 @@ TEST(ImuFactor, PredictRotation) { EXPECT(assert_equal(Vector(expectedVelocity), Vector(v2))); } +/* ************************************************************************* */ +TEST(ImuFactor, PredictArbitrary) { + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + + // Measurements + Vector3 measuredOmega(M_PI / 10, M_PI / 10, M_PI / 10); + Vector3 measuredAcc(0.1, 0.2, -9.81); + double deltaT = 0.001; + + ImuFactor::PreintegratedMeasurements pre_int_data( + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), + kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance, true); + + for (int i = 0; i < 1000; ++i) + pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + + // Create factor + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + kZeroOmegaCoriolis); + + // Predict + Pose3 x1, x2; + Vector3 v1 = Vector3(0, 0.0, 0.0); + Vector3 v2; + ImuFactor::Predict(x1, v1, x2, v2, bias, factor.preintegratedMeasurements(), + kGravity, kZeroOmegaCoriolis); + + // Regression test for Imu Refactor + Rot3 expectedR( // + +0.903715275, -0.250741668, 0.347026393, // + +0.347026393, 0.903715275, -0.250741668, // + -0.250741668, 0.347026393, 0.903715275); + Point3 expectedT(-0.505517319, 0.569413747, 0.0861035711); + Vector3 expectedV(-1.59121524, 1.55353139, 0.3376838540); + Pose3 expectedPose(expectedR, expectedT); + EXPECT(assert_equal(expectedPose, x2, 1e-7)); + EXPECT(assert_equal(Vector(expectedV), v2, 1e-7)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 2a38ed9603e7527bc892d95e1956d15dd37b6517 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 01:01:19 -0400 Subject: [PATCH 517/964] Additive version for coriolis forces --- gtsam/navigation/NavState.cpp | 52 ++++++++++++++++++------ gtsam/navigation/NavState.h | 9 +++- gtsam/navigation/PreintegrationBase.cpp | 40 +++++++----------- gtsam/navigation/PreintegrationBase.h | 4 -- gtsam/navigation/tests/testImuFactor.cpp | 8 ---- 5 files changed, 61 insertions(+), 52 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 37bd7adcc..d41b28bf0 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -24,24 +24,28 @@ namespace gtsam { #define TIE(R,t,v,x) const Rot3& R = (x).R_;const Point3& t = (x).t_;const Velocity3& v = (x).v_; +//------------------------------------------------------------------------------ const Rot3& NavState::attitude(OptionalJacobian<3, 9> H) const { if (H) *H << I_3x3, Z_3x3, Z_3x3; return R_; } +//------------------------------------------------------------------------------ const Point3& NavState::position(OptionalJacobian<3, 9> H) const { if (H) *H << Z_3x3, R(), Z_3x3; return t_; } +//------------------------------------------------------------------------------ const Vector3& NavState::velocity(OptionalJacobian<3, 9> H) const { if (H) *H << Z_3x3, Z_3x3, R(); return v_; } +//------------------------------------------------------------------------------ Matrix7 NavState::matrix() const { Matrix3 R = this->R(); Matrix7 T; @@ -49,29 +53,34 @@ Matrix7 NavState::matrix() const { return T; } +//------------------------------------------------------------------------------ void NavState::print(const string& s) const { attitude().print(s + ".R"); position().print(s + ".p"); gtsam::print((Vector) v_, s + ".v"); } +//------------------------------------------------------------------------------ bool NavState::equals(const NavState& other, double tol) const { return R_.equals(other.R_, tol) && t_.equals(other.t_, tol) && equal_with_abs_tol(v_, other.v_, tol); } +//------------------------------------------------------------------------------ NavState NavState::inverse() const { TIE(nRb, n_t, n_v, *this); const Rot3 bRn = nRb.inverse(); return NavState(bRn, -(bRn * n_t), -(bRn * n_v)); } +//------------------------------------------------------------------------------ NavState NavState::operator*(const NavState& bTc) const { TIE(nRb, n_t, n_v, *this); TIE(bRc, b_t, b_v, bTc); return NavState(nRb * bRc, nRb * b_t + n_t, nRb * b_v + n_v); } +//------------------------------------------------------------------------------ NavState::PositionAndVelocity // NavState::operator*(const PositionAndVelocity& b_tv) const { TIE(nRb, n_t, n_v, *this); @@ -80,14 +89,17 @@ NavState::operator*(const PositionAndVelocity& b_tv) const { return PositionAndVelocity(nRb * b_t + n_t, nRb * b_v + n_v); } +//------------------------------------------------------------------------------ Point3 NavState::operator*(const Point3& b_t) const { return Point3(R_ * b_t + t_); } +//------------------------------------------------------------------------------ Velocity3 NavState::operator*(const Velocity3& b_v) const { return Velocity3(R_ * b_v + v_); } +//------------------------------------------------------------------------------ NavState NavState::ChartAtOrigin::Retract(const Vector9& xi, OptionalJacobian<9, 9> H) { Matrix3 D_R_xi; @@ -103,6 +115,7 @@ NavState NavState::ChartAtOrigin::Retract(const Vector9& xi, return result; } +//------------------------------------------------------------------------------ Vector9 NavState::ChartAtOrigin::Local(const NavState& x, OptionalJacobian<9, 9> H) { if (H) @@ -113,6 +126,7 @@ Vector9 NavState::ChartAtOrigin::Local(const NavState& x, return xi; } +//------------------------------------------------------------------------------ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { if (H) throw runtime_error("NavState::Expmap derivative not implemented yet"); @@ -139,6 +153,7 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> H) { } } +//------------------------------------------------------------------------------ Vector9 NavState::Logmap(const NavState& nTb, OptionalJacobian<9, 9> H) { if (H) throw runtime_error("NavState::Logmap derivative not implemented yet"); @@ -166,6 +181,7 @@ Vector9 NavState::Logmap(const NavState& nTb, OptionalJacobian<9, 9> H) { return xi; } +//------------------------------------------------------------------------------ Matrix9 NavState::AdjointMap() const { // NOTE(frank): See Pose3::AdjointMap const Matrix3 nRb = R(); @@ -177,6 +193,7 @@ Matrix9 NavState::AdjointMap() const { return adj; } +//------------------------------------------------------------------------------ Matrix7 NavState::wedge(const Vector9& xi) { const Matrix3 Omega = skewSymmetric(dR(xi)); Matrix7 T; @@ -184,6 +201,7 @@ Matrix7 NavState::wedge(const Vector9& xi) { return T; } +//------------------------------------------------------------------------------ // sugar for derivative blocks #define D_R_R(H) H->block<3,3>(0,0) #define D_t_t(H) H->block<3,3>(3,3) @@ -191,9 +209,9 @@ Matrix7 NavState::wedge(const Vector9& xi) { #define D_v_t(H) H->block<3,3>(6,3) #define D_v_v(H) H->block<3,3>(6,6) -Vector9 NavState::coriolis(const Vector3& omega, double dt, bool secondOrder, - OptionalJacobian<9, 9> H) const { - Vector9 result; +//------------------------------------------------------------------------------ +void NavState::addCoriolis(Vector9* xi, const Vector3& omega, double dt, + bool secondOrder, OptionalJacobian<9, 9> H) const { const Rot3& nRb = attitude(); const Point3& n_t = position(); // derivative is R() ! const Vector3& n_v = velocity(); // ditto @@ -201,28 +219,38 @@ Vector9 NavState::coriolis(const Vector3& omega, double dt, bool secondOrder, const Vector3 omega_cross_vel = omega.cross(n_v); Matrix3 D_dP_R; - dR(result) << -nRb.unrotate(omega * dt, H ? &D_dP_R : 0); - dP(result) << ((-dt2) * omega_cross_vel); // NOTE(luca): we got rid of the 2 wrt INS paper - dV(result) << ((-2.0 * dt) * omega_cross_vel); + dR(*xi) -= nRb.unrotate(omega * dt, H ? &D_dP_R : 0); + dP(*xi) -= (dt2 * omega_cross_vel); // NOTE(luca): we got rid of the 2 wrt INS paper + dV(*xi) -= ((2.0 * dt) * omega_cross_vel); if (secondOrder) { const Vector3 omega_cross2_t = omega.cross(omega.cross(n_t.vector())); - dP(result) -= (0.5 * dt2) * omega_cross2_t; - dV(result) -= dt * omega_cross2_t; + dP(*xi) -= (0.5 * dt2) * omega_cross2_t; + dV(*xi) -= dt * omega_cross2_t; } if (H) { const Matrix3 Omega = skewSymmetric(omega); const Matrix3 D_cross_state = Omega * R(); H->setZero(); - D_R_R(H) << -D_dP_R; - D_t_v(H) << (-dt2) * D_cross_state; - D_v_v(H) << (-2.0 * dt) * D_cross_state; + D_R_R(H) -= D_dP_R; + D_t_v(H) -= dt2 * D_cross_state; + D_v_v(H) -= (2.0 * dt) * D_cross_state; if (secondOrder) { const Matrix3 D_cross2_state = Omega * D_cross_state; D_t_t(H) -= (0.5 * dt2) * D_cross2_state; D_v_t(H) -= dt * D_cross2_state; } } - return result; +} + +//------------------------------------------------------------------------------ +Vector9 NavState::coriolis(const Vector3& omega, double dt, bool secondOrder, + OptionalJacobian<9, 9> H) const { + Vector9 xi; + xi.setZero(); + if (H) + H->setZero(); + addCoriolis(&xi, omega, dt, secondOrder, H); + return xi; } } /// namespace gtsam diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 12b56fd87..290cc0bd5 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -204,8 +204,13 @@ public: /// @{ // Compute tangent space contribution due to coriolis forces - Vector9 coriolis(const Vector3& omega, double dt, bool secondOrder, - OptionalJacobian<9, 9> H) const; + Vector9 coriolis(const Vector3& omega, double dt, bool secondOrder = false, + OptionalJacobian<9, 9> H = boost::none) const; + + // Add tangent space contribution due to coriolis forces + // Additively modifies xi and H in place (if given) + void addCoriolis(Vector9* xi, const Vector3& omega, double dt, + bool secondOrder = false, OptionalJacobian<9, 9> H = boost::none) const; /// @} diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index c575e5bf8..1e3f3520e 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -140,12 +140,12 @@ Vector9 PreintegrationBase::biasCorrectedDelta( Rot3 deltaRij = PreintegratedRotation::biascorrectedDeltaRij( biasIncr.gyroscope(), H ? &D_deltaRij_bias : 0); - Vector9 delta; + Vector9 xi; Matrix3 D_dR_deltaRij; - NavState::dR(delta) = Rot3::Logmap(deltaRij, H ? &D_dR_deltaRij : 0); - NavState::dP(delta) = deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() + NavState::dR(xi) = Rot3::Logmap(deltaRij, H ? &D_dR_deltaRij : 0); + NavState::dP(xi) = deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() + delPdelBiasOmega_ * biasIncr.gyroscope(); - NavState::dV(delta) = deltaVij_ + delVdelBiasAcc_ * biasIncr.accelerometer() + NavState::dV(xi) = deltaVij_ + delVdelBiasAcc_ * biasIncr.accelerometer() + delVdelBiasOmega_ * biasIncr.gyroscope(); if (H) { Matrix36 D_dR_bias, D_dP_bias, D_dV_bias; @@ -154,20 +154,7 @@ Vector9 PreintegrationBase::biasCorrectedDelta( D_dV_bias << delVdelBiasAcc_, delVdelBiasOmega_; (*H) << D_dR_bias, D_dP_bias, D_dV_bias; } - return delta; -} - -//------------------------------------------------------------------------------ -Vector9 PreintegrationBase::integrateCoriolis(const NavState& state_i, - OptionalJacobian<9, 9> H) const { - if (p().omegaCoriolis) { - return state_i.coriolis(*(p().omegaCoriolis), deltaTij(), - p().use2ndOrderCoriolis, H); - } else { - if (H) - H->setZero(); - return Vector9::Zero(); - } + return xi; } //------------------------------------------------------------------------------ @@ -180,17 +167,18 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, const double dt = deltaTij(), dt2 = dt * dt; // Rotation, position, and velocity: - Vector9 delta; + Vector9 xi; Matrix3 D_dP_Ri, D_dP_bc, D_dV_Ri, D_dV_bc; - NavState::dR(delta) = NavState::dR(biasCorrectedDelta); - NavState::dP(delta) = rot_i.rotate(NavState::dP(biasCorrectedDelta), D_dP_Ri, + NavState::dR(xi) = NavState::dR(biasCorrectedDelta); + NavState::dP(xi) = rot_i.rotate(NavState::dP(biasCorrectedDelta), D_dP_Ri, D_dP_bc) + vel_i * dt + 0.5 * p().gravity * dt2; - NavState::dV(delta) = rot_i.rotate(NavState::dV(biasCorrectedDelta), D_dV_Ri, + NavState::dV(xi) = rot_i.rotate(NavState::dV(biasCorrectedDelta), D_dV_Ri, D_dV_bc) + p().gravity * dt; Matrix9 Hcoriolis; if (p().omegaCoriolis) { - delta += integrateCoriolis(state_i, H1 ? &Hcoriolis : 0); + state_i.addCoriolis(&xi, *(p().omegaCoriolis), deltaTij(), + p().use2ndOrderCoriolis, H1 ? &Hcoriolis : 0); } if (H1) { H1->setZero(); @@ -208,7 +196,7 @@ Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, H2->block<3, 3>(6, 6) = Ri; } - return delta; + return xi; } //------------------------------------------------------------------------------ @@ -219,10 +207,10 @@ NavState PreintegrationBase::predict(const NavState& state_i, Vector9 biasCorrected = biasCorrectedDelta(bias_i, H2 ? &D_biasCorrected_bias : 0); Matrix9 D_delta_state, D_delta_biasCorrected; - Vector9 delta = recombinedPrediction(state_i, biasCorrected, + Vector9 xi = recombinedPrediction(state_i, biasCorrected, H1 ? &D_delta_state : 0, H2 ? &D_delta_biasCorrected : 0); Matrix9 D_predict_state, D_predict_delta; - NavState state_j = state_i.retract(delta, D_predict_state, D_predict_delta); + NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta); if (H1) *H1 = D_predict_state + D_predict_delta * D_delta_state; if (H2) diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 359db8c83..8e7841f7c 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -152,10 +152,6 @@ class PreintegrationBase : public PreintegratedRotation { Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H = boost::none) const; - /// Integrate coriolis correction in body frame state_i - Vector9 integrateCoriolis(const NavState& state_i, - OptionalJacobian<9, 9> H = boost::none) const; - /// Recombine the preintegration, gravity, and coriolis in a single NavState tangent vector Vector9 recombinedPrediction(const NavState& state_i, const Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1 = boost::none, diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 070b6bd76..8ed2fb135 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -282,14 +282,6 @@ TEST(ImuFactor, PreintegrationBaseMethods) { boost::none), bias); EXPECT(assert_equal(expectedH, actualH)); } - { - Matrix9 actualH; - pim.integrateCoriolis(state1, actualH); - Matrix expectedH = numericalDerivative11( - boost::bind(&PreintegrationBase::integrateCoriolis, pim, _1, - boost::none), state1); - EXPECT(assert_equal(expectedH, actualH)); - } { Matrix9 aH1, aH2; Vector9 biasCorrectedDelta = pim.biasCorrectedDelta(bias); From 8ae4e2afd9d3752d70668fb86e5bd620fd97678e Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 01:56:13 -0400 Subject: [PATCH 518/964] A fully functioning predict from preintegrated tangent vector --- gtsam/navigation/NavState.cpp | 121 ++++++++++++++++++------ gtsam/navigation/NavState.h | 20 ++-- gtsam/navigation/tests/testNavState.cpp | 74 +++++++++------ 3 files changed, 149 insertions(+), 66 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index d41b28bf0..aa33fe858 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -203,54 +203,115 @@ Matrix7 NavState::wedge(const Vector9& xi) { //------------------------------------------------------------------------------ // sugar for derivative blocks -#define D_R_R(H) H->block<3,3>(0,0) -#define D_t_t(H) H->block<3,3>(3,3) -#define D_t_v(H) H->block<3,3>(3,6) -#define D_v_t(H) H->block<3,3>(6,3) -#define D_v_v(H) H->block<3,3>(6,6) +#define D_R_R(H) (H)->block<3,3>(0,0) +#define D_R_t(H) (H)->block<3,3>(0,3) +#define D_R_v(H) (H)->block<3,3>(0,6) +#define D_t_R(H) (H)->block<3,3>(3,0) +#define D_t_t(H) (H)->block<3,3>(3,3) +#define D_t_v(H) (H)->block<3,3>(3,6) +#define D_v_R(H) (H)->block<3,3>(6,0) +#define D_v_t(H) (H)->block<3,3>(6,3) +#define D_v_v(H) (H)->block<3,3>(6,6) //------------------------------------------------------------------------------ -void NavState::addCoriolis(Vector9* xi, const Vector3& omega, double dt, - bool secondOrder, OptionalJacobian<9, 9> H) const { - const Rot3& nRb = attitude(); - const Point3& n_t = position(); // derivative is R() ! - const Vector3& n_v = velocity(); // ditto +Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder, + OptionalJacobian<9, 9> H) const { + TIE(nRb, n_t, n_v, *this); const double dt2 = dt * dt; - const Vector3 omega_cross_vel = omega.cross(n_v); + + Vector9 xi; Matrix3 D_dP_R; - dR(*xi) -= nRb.unrotate(omega * dt, H ? &D_dP_R : 0); - dP(*xi) -= (dt2 * omega_cross_vel); // NOTE(luca): we got rid of the 2 wrt INS paper - dV(*xi) -= ((2.0 * dt) * omega_cross_vel); + dR(xi) << nRb.unrotate((-dt) * omega, H ? &D_dP_R : 0); + dP(xi) << ((-dt2) * omega_cross_vel); // NOTE(luca): we got rid of the 2 wrt INS paper + dV(xi) << ((-2.0 * dt) * omega_cross_vel); if (secondOrder) { const Vector3 omega_cross2_t = omega.cross(omega.cross(n_t.vector())); - dP(*xi) -= (0.5 * dt2) * omega_cross2_t; - dV(*xi) -= dt * omega_cross2_t; + dP(xi) -= (0.5 * dt2) * omega_cross2_t; + dV(xi) -= dt * omega_cross2_t; } if (H) { + H->setZero(); const Matrix3 Omega = skewSymmetric(omega); const Matrix3 D_cross_state = Omega * R(); H->setZero(); - D_R_R(H) -= D_dP_R; - D_t_v(H) -= dt2 * D_cross_state; - D_v_v(H) -= (2.0 * dt) * D_cross_state; + D_R_R(H) << D_dP_R; + D_t_v(H) << (-dt2) * D_cross_state; + D_v_v(H) << (-2.0 * dt) * D_cross_state; if (secondOrder) { const Matrix3 D_cross2_state = Omega * D_cross_state; D_t_t(H) -= (0.5 * dt2) * D_cross2_state; D_v_t(H) -= dt * D_cross2_state; } } -} - -//------------------------------------------------------------------------------ -Vector9 NavState::coriolis(const Vector3& omega, double dt, bool secondOrder, - OptionalJacobian<9, 9> H) const { - Vector9 xi; - xi.setZero(); - if (H) - H->setZero(); - addCoriolis(&xi, omega, dt, secondOrder, H); return xi; } -} /// namespace gtsam +//------------------------------------------------------------------------------ +Vector9 NavState::predictXi(const Vector9& pim, double dt, + const Vector3& gravity, boost::optional omegaCoriolis, + bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 9> H2) const { + const Rot3& nRb = R_; + const Velocity3& n_v = v_; // derivative is Ri ! + const double dt2 = dt * dt; + + Vector9 delta; + Matrix3 D_dP_Ri, D_dP_dP, D_dV_Ri, D_dV_dV; + dR(delta) = dR(pim); + // TODO(frank): + // - why do we integrate n_v here ? + // - the dP and dV should be in body ! How come semi-retract works out ?? + // - should we rename t_ to p_? if not, we should rename dP do dT + dP(delta) = nRb.rotate(dP(pim), H1 ? &D_dP_Ri : 0, H2 ? &D_dP_dP : 0) + + n_v * dt + 0.5 * gravity * dt2; + dV(delta) = nRb.rotate(dV(pim), H1 ? &D_dV_Ri : 0, H2 ? &D_dV_dV : 0) + + gravity * dt; + + if (omegaCoriolis) { + delta += coriolis(dt, *omegaCoriolis, use2ndOrderCoriolis, H1); + } + + if (H1 || H2) { + Matrix3 Ri = nRb.matrix(); + + if (H1) { + if (!omegaCoriolis) + H1->setZero(); // if coriolis H1 is already initialized + D_t_R(H1) += D_dP_Ri; + D_t_v(H1) += I_3x3 * dt * Ri; + D_v_R(H1) += D_dV_Ri; + } + if (H2) { + H2->setZero(); + D_R_R(H2) << I_3x3; + D_t_t(H2) << D_dP_dP; + D_v_v(H2) << D_dV_dV; + } + } + + return delta; +} +//------------------------------------------------------------------------------ +NavState NavState::predict(const Vector9& pim, double dt, + const Vector3& gravity, boost::optional omegaCoriolis, + bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 9> H2) const { + + Matrix9 D_delta_state, D_delta_pim; + Vector9 delta = predictXi(pim, dt, gravity, omegaCoriolis, + use2ndOrderCoriolis, H1 ? &D_delta_state : 0, H2 ? &D_delta_pim : 0); + + Matrix9 D_predicted_state, D_predicted_delta; + NavState predicted = retract(delta, H1 ? &D_predicted_state : 0, + H1 || H2 ? &D_predicted_delta : 0); + // TODO(frank): the derivatives of retract are very sparse: inline below: + if (H1) + *H1 = D_predicted_state + D_predicted_delta * D_delta_state; + if (H2) + *H2 = D_predicted_delta * D_delta_pim; + return predicted; +} +//------------------------------------------------------------------------------ + +}/// namespace gtsam diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 290cc0bd5..f9b046fe3 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -203,15 +203,23 @@ public: /// @name Dynamics /// @{ - // Compute tangent space contribution due to coriolis forces - Vector9 coriolis(const Vector3& omega, double dt, bool secondOrder = false, + /// Compute tangent space contribution due to Coriolis forces + Vector9 coriolis(double dt, const Vector3& omega, bool secondOrder = false, OptionalJacobian<9, 9> H = boost::none) const; - // Add tangent space contribution due to coriolis forces - // Additively modifies xi and H in place (if given) - void addCoriolis(Vector9* xi, const Vector3& omega, double dt, - bool secondOrder = false, OptionalJacobian<9, 9> H = boost::none) const; + /// Combine preintegrated measurements, in the form of a tangent space vector, + /// with gravity, velocity, and Coriolis forces into a tangent space update. + Vector9 predictXi(const Vector9& pim, double dt, const Vector3& gravity, + boost::optional omegaCoriolis, bool use2ndOrderCoriolis = + false, OptionalJacobian<9, 9> H1 = boost::none, + OptionalJacobian<9, 9> H2 = boost::none) const; + /// Combine preintegrated measurements, in the form of a tangent space vector, + /// with gravity, velocity, and Coriolis forces into a new state. + NavState predict(const Vector9& pim, double dt, const Vector3& gravity, + boost::optional omegaCoriolis, bool use2ndOrderCoriolis = + false, OptionalJacobian<9, 9> H1 = boost::none, + OptionalJacobian<9, 9> H2 = boost::none) const; /// @} private: diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index c5b46831e..683a97d50 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -29,6 +29,8 @@ static const Point3 kPosition(1.0, 2.0, 3.0); static const Velocity3 kVelocity(0.4, 0.5, 0.6); static const NavState kIdentity; static const NavState kState1(kRotation, kPosition, kVelocity); +static const Vector3 kOmegaCoriolis(0.02, 0.03, 0.04); +static const Vector3 kGravity(0, 0, 9.81); /* ************************************************************************* */ TEST( NavState, Attitude) { @@ -142,48 +144,60 @@ TEST( NavState, Lie ) { } /* ************************************************************************* */ +static const double dt = 2.0; +boost::function coriolis = boost::bind( + &NavState::coriolis, _1, dt, kOmegaCoriolis, _2, boost::none); + TEST(NavState, Coriolis) { Matrix9 actualH; - Vector3 omegaCoriolis(0.02, 0.03, 0.04); - double dt = 0.5; + // first-order - bool secondOrder = false; - kState1.coriolis(omegaCoriolis, dt, secondOrder, actualH); - Matrix expectedH = numericalDerivative11( - boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, - boost::none), kState1); - EXPECT(assert_equal(expectedH, actualH)); + kState1.coriolis(dt, kOmegaCoriolis, false, actualH); + EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, false), actualH)); // second-order - secondOrder = true; - kState1.coriolis(omegaCoriolis, dt, secondOrder, actualH); - expectedH = numericalDerivative11( - boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, - boost::none), kState1); - EXPECT(assert_equal(expectedH, actualH)); + kState1.coriolis(dt, kOmegaCoriolis, true, actualH); + EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, true), actualH)); } -/* ************************************************************************* */ TEST(NavState, Coriolis2) { + Matrix9 actualH; NavState state2(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), Point3(5.0, 1.0, -50.0), Vector3(0.5, 0.0, 0.0)); - Matrix9 actualH; - Vector3 omegaCoriolis(0.02, 0.03, 0.04); - double dt = 2.0; // first-order - bool secondOrder = false; - state2.coriolis(omegaCoriolis, dt, secondOrder, actualH); - Matrix expectedH = numericalDerivative11( - boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, - boost::none), state2); - EXPECT(assert_equal(expectedH, actualH)); + state2.coriolis(dt, kOmegaCoriolis, false, actualH); + EXPECT(assert_equal(numericalDerivative21(coriolis, state2, false), actualH)); // second-order - secondOrder = true; - state2.coriolis(omegaCoriolis, dt, secondOrder, actualH); - expectedH = numericalDerivative11( - boost::bind(&NavState::coriolis, _1, omegaCoriolis, dt, secondOrder, - boost::none), state2); - EXPECT(assert_equal(expectedH, actualH)); + state2.coriolis(dt, kOmegaCoriolis, true, actualH); + EXPECT(assert_equal(numericalDerivative21(coriolis, state2, true), actualH)); +} + +/* ************************************************************************* */ +TEST(NavState, PredictXi) { + Vector9 xi; + xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; + double dt = 0.5; + Matrix9 actualH1, actualH2; + boost::function predictXi = + boost::bind(&NavState::predictXi, _1, _2, dt, kGravity, kOmegaCoriolis, + false, boost::none, boost::none); + kState1.predictXi(xi, dt, kGravity, kOmegaCoriolis, false, actualH1, actualH2); + EXPECT(assert_equal(numericalDerivative21(predictXi, kState1, xi), actualH1)); + EXPECT(assert_equal(numericalDerivative22(predictXi, kState1, xi), actualH2)); +} + +/* ************************************************************************* */ +TEST(NavState, Predict) { + Vector9 xi; + xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; + double dt = 0.5; + Matrix9 actualH1, actualH2; + boost::function predict = + boost::bind(&NavState::predict, _1, _2, dt, kGravity, kOmegaCoriolis, + false, boost::none, boost::none); + kState1.predict(xi, dt, kGravity, kOmegaCoriolis, false, actualH1, actualH2); + EXPECT(assert_equal(numericalDerivative21(predict, kState1, xi), actualH1)); + EXPECT(assert_equal(numericalDerivative22(predict, kState1, xi), actualH2)); } /* ************************************************************************* */ From a098289861f4931b4a767bc8b25f176b9358f28b Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 22:22:05 +0200 Subject: [PATCH 519/964] Moved fields to protected --- gtsam/navigation/PreintegratedRotation.h | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 0475e52e2..a93c54127 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -54,12 +54,11 @@ class PreintegratedRotation { } }; - private: + protected: double deltaTij_; ///< Time interval from i to j Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias - protected: /// Parameters boost::shared_ptr p_; @@ -138,7 +137,7 @@ class PreintegratedRotation { /// Integrate coriolis correction in body frame rot_i Vector3 integrateCoriolis(const Rot3& rot_i) const { if (!p_->omegaCoriolis) return Vector3::Zero(); - return rot_i.transpose() * (*p_->omegaCoriolis) * deltaTij(); + return rot_i.transpose() * (*p_->omegaCoriolis) * deltaTij_; } private: From 9b3c051ca1168d057f4b9b3df3f16b7903006b1b Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 22:22:31 +0200 Subject: [PATCH 520/964] Fied argument types --- gtsam/navigation/NavState.cpp | 4 ++-- gtsam/navigation/NavState.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index aa33fe858..b63f25b4d 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -249,7 +249,7 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder, //------------------------------------------------------------------------------ Vector9 NavState::predictXi(const Vector9& pim, double dt, - const Vector3& gravity, boost::optional omegaCoriolis, + const Vector3& gravity, const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { const Rot3& nRb = R_; @@ -294,7 +294,7 @@ Vector9 NavState::predictXi(const Vector9& pim, double dt, } //------------------------------------------------------------------------------ NavState NavState::predict(const Vector9& pim, double dt, - const Vector3& gravity, boost::optional omegaCoriolis, + const Vector3& gravity, const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index f9b046fe3..ed0345ada 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -210,14 +210,14 @@ public: /// Combine preintegrated measurements, in the form of a tangent space vector, /// with gravity, velocity, and Coriolis forces into a tangent space update. Vector9 predictXi(const Vector9& pim, double dt, const Vector3& gravity, - boost::optional omegaCoriolis, bool use2ndOrderCoriolis = + const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis = false, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; /// Combine preintegrated measurements, in the form of a tangent space vector, /// with gravity, velocity, and Coriolis forces into a new state. NavState predict(const Vector9& pim, double dt, const Vector3& gravity, - boost::optional omegaCoriolis, bool use2ndOrderCoriolis = + const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis = false, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; /// @} From 7ccfb95339421203edc1e605e96b41bfe9ac3b06 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 22:23:14 +0200 Subject: [PATCH 521/964] Favor fields not methods --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/ImuFactor.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 620305d77..2d58534aa 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -74,7 +74,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // can be seen as a prediction phase in an EKF framework. In this implementation, contrarily to [2] we // consider the uncertainty of the bias selection and we keep correlation between biases and preintegrated measurements /* ----------------------------------------------------------------------------------------------------------------------- */ - const Matrix3 dRij = deltaRij().matrix(); // expensive when quaternion + const Matrix3 dRij = deltaRij_.matrix(); // expensive when quaternion // Update preintegrated measurements. TODO Frank moved from end of this function !!! Matrix9 F_9x9; updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F_9x9); diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 7d6b77d07..058ea1538 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -68,7 +68,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); // Update preintegrated measurements (also get Jacobian) - const Matrix3 dRij = deltaRij().matrix(); // store this, which is useful to compute G_test + const Matrix3 dRij = deltaRij_.matrix(); // store this, which is useful to compute G_test Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F); From a99911b997d6563c5fd96c89e91b31d162071c65 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 22:24:19 +0200 Subject: [PATCH 522/964] Now uses NavState::predict ! --- gtsam/navigation/PreintegrationBase.cpp | 55 +++--------------------- gtsam/navigation/PreintegrationBase.h | 5 --- gtsam/navigation/tests/testImuFactor.cpp | 46 ++++++++------------ 3 files changed, 25 insertions(+), 81 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 1e3f3520e..e2f1466a6 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -63,7 +63,7 @@ void PreintegrationBase::updatePreintegratedMeasurements( const Vector3& correctedAcc, const Rot3& incrR, const double deltaT, OptionalJacobian<9, 9> F) { - const Matrix3 dRij = deltaRij().matrix(); // expensive + const Matrix3 dRij = deltaRij_.matrix(); // expensive const Vector3 temp = dRij * correctedAcc * deltaT; if (!p().use2ndOrderIntegration) { @@ -98,9 +98,9 @@ void PreintegrationBase::updatePreintegratedMeasurements( void PreintegrationBase::updatePreintegratedJacobians( const Vector3& correctedAcc, const Matrix3& D_Rincr_integratedOmega, const Rot3& incrR, double deltaT) { - const Matrix3 dRij = deltaRij().matrix(); // expensive + const Matrix3 dRij = deltaRij_.matrix(); // expensive const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * deltaT - * delRdelBiasOmega(); + * delRdelBiasOmega_; if (!p().use2ndOrderIntegration) { delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT; delPdelBiasOmega_ += delVdelBiasOmega_ * deltaT; @@ -157,48 +157,6 @@ Vector9 PreintegrationBase::biasCorrectedDelta( return xi; } -//------------------------------------------------------------------------------ -Vector9 PreintegrationBase::recombinedPrediction(const NavState& state_i, - const Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1, - OptionalJacobian<9, 9> H2) const { - - const Rot3& rot_i = state_i.attitude(); - const Vector3& vel_i = state_i.velocity(); - const double dt = deltaTij(), dt2 = dt * dt; - - // Rotation, position, and velocity: - Vector9 xi; - Matrix3 D_dP_Ri, D_dP_bc, D_dV_Ri, D_dV_bc; - NavState::dR(xi) = NavState::dR(biasCorrectedDelta); - NavState::dP(xi) = rot_i.rotate(NavState::dP(biasCorrectedDelta), D_dP_Ri, - D_dP_bc) + vel_i * dt + 0.5 * p().gravity * dt2; - NavState::dV(xi) = rot_i.rotate(NavState::dV(biasCorrectedDelta), D_dV_Ri, - D_dV_bc) + p().gravity * dt; - - Matrix9 Hcoriolis; - if (p().omegaCoriolis) { - state_i.addCoriolis(&xi, *(p().omegaCoriolis), deltaTij(), - p().use2ndOrderCoriolis, H1 ? &Hcoriolis : 0); - } - if (H1) { - H1->setZero(); - H1->block<3, 3>(3, 0) = D_dP_Ri; - H1->block<3, 3>(3, 6) = I_3x3 * dt; - H1->block<3, 3>(6, 0) = D_dV_Ri; - if (p().omegaCoriolis) - *H1 += Hcoriolis; - } - if (H2) { - H2->setZero(); - Matrix3 Ri = rot_i.matrix(); - H2->block<3, 3>(0, 0) = I_3x3; - H2->block<3, 3>(3, 3) = Ri; - H2->block<3, 3>(6, 6) = Ri; - } - - return xi; -} - //------------------------------------------------------------------------------ NavState PreintegrationBase::predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, @@ -207,8 +165,9 @@ NavState PreintegrationBase::predict(const NavState& state_i, Vector9 biasCorrected = biasCorrectedDelta(bias_i, H2 ? &D_biasCorrected_bias : 0); Matrix9 D_delta_state, D_delta_biasCorrected; - Vector9 xi = recombinedPrediction(state_i, biasCorrected, - H1 ? &D_delta_state : 0, H2 ? &D_delta_biasCorrected : 0); + Vector9 xi = state_i.predictXi(biasCorrected, deltaTij_, p().gravity, + p().omegaCoriolis, p().use2ndOrderCoriolis, H1 ? &D_delta_state : 0, + H2 ? &D_delta_biasCorrected : 0); Matrix9 D_predict_state, D_predict_delta; NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta); if (H1) @@ -300,7 +259,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, Matrix3 D_fR_fRrot; Rot3::Logmap(fRrot, H1 || H3 || H5 ? &D_fR_fRrot : 0); - const double dt = deltaTij(), dt2 = dt * dt; + const double dt = deltaTij_, dt2 = dt * dt; Matrix3 RitOmegaCoriolisHat = Z_3x3; if ((H1 || H2) && p().omegaCoriolis) RitOmegaCoriolisHat = Ri.transpose() * skewSymmetric(*p().omegaCoriolis); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 8e7841f7c..2ee6b79e6 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -152,11 +152,6 @@ class PreintegrationBase : public PreintegratedRotation { Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H = boost::none) const; - /// Recombine the preintegration, gravity, and coriolis in a single NavState tangent vector - Vector9 recombinedPrediction(const NavState& state_i, - const Vector9& biasCorrectedDelta, OptionalJacobian<9, 9> H1 = boost::none, - OptionalJacobian<9, 9> H2 = boost::none) const; - /// Predict state at time j NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 8ed2fb135..7bc037da9 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -213,26 +213,26 @@ double deltaT = 1.0; TEST( NavState, Lie ) { // origin and zero deltas NavState identity; - const double tol=1e-5; + const double tol = 1e-5; Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3); Point3 pt(1.0, 2.0, 3.0); Velocity3 vel(0.4, 0.5, 0.6); - EXPECT(assert_equal(identity, (NavState)identity.retract(zero(9)), tol)); + EXPECT(assert_equal(identity, (NavState )identity.retract(zero(9)), tol)); EXPECT(assert_equal(zero(9), identity.localCoordinates(identity), tol)); NavState state1(rot, pt, vel); - EXPECT(assert_equal(state1, (NavState)state1.retract(zero(9)), tol)); + EXPECT(assert_equal(state1, (NavState )state1.retract(zero(9)), tol)); EXPECT(assert_equal(zero(9), state1.localCoordinates(state1), tol)); // Special retract Vector delta(9); - delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3; + delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; Rot3 drot = Rot3::Expmap(delta.head<3>()); - Point3 dt = Point3(delta.segment<3>(3)); + Point3 dt = Point3(delta.segment < 3 > (3)); Velocity3 dvel = Velocity3(-0.1, -0.2, -0.3); NavState state2 = state1 * NavState(drot, dt, dvel); - EXPECT(assert_equal(state2, (NavState)state1.retract(delta), tol)); + EXPECT(assert_equal(state2, (NavState )state1.retract(delta), tol)); EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); // roundtrip from state2 to state3 and back @@ -244,17 +244,19 @@ TEST( NavState, Lie ) { EXPECT(assert_equal(delta, state3.logmap(state4), tol)); // For the expmap/logmap (not necessarily retract/local) -delta goes other way - EXPECT(assert_equal(state3, (NavState)state4.expmap(-delta), tol)); + EXPECT(assert_equal(state3, (NavState )state4.expmap(-delta), tol)); EXPECT(assert_equal(delta, -state4.logmap(state3), tol)); // retract derivatives Matrix9 aH1, aH2; state1.retract(delta, aH1, aH2); Matrix eH1 = numericalDerivative11( - boost::bind(&NavState::retract, _1, delta, boost::none, boost::none),state1); + boost::bind(&NavState::retract, _1, delta, boost::none, boost::none), + state1); EXPECT(assert_equal(eH1, aH1)); Matrix eH2 = numericalDerivative11( - boost::bind(&NavState::retract, state1, _1, boost::none, boost::none), delta); + boost::bind(&NavState::retract, state1, _1, boost::none, boost::none), + delta); EXPECT(assert_equal(eH2, aH2)); } @@ -282,19 +284,6 @@ TEST(ImuFactor, PreintegrationBaseMethods) { boost::none), bias); EXPECT(assert_equal(expectedH, actualH)); } - { - Matrix9 aH1, aH2; - Vector9 biasCorrectedDelta = pim.biasCorrectedDelta(bias); - pim.recombinedPrediction(state1, biasCorrectedDelta, aH1, aH2); - Matrix eH1 = numericalDerivative11( - boost::bind(&PreintegrationBase::recombinedPrediction, pim, _1, - biasCorrectedDelta, boost::none, boost::none), state1); - EXPECT(assert_equal(eH1, aH1)); - Matrix eH2 = numericalDerivative11( - boost::bind(&PreintegrationBase::recombinedPrediction, pim, state1, _1, - boost::none, boost::none), biasCorrectedDelta); - EXPECT(assert_equal(eH2, aH2)); - } { Matrix9 aH1; Matrix96 aH2; @@ -302,11 +291,11 @@ TEST(ImuFactor, PreintegrationBaseMethods) { Matrix eH1 = numericalDerivative11( boost::bind(&PreintegrationBase::predict, pim, _1, bias, boost::none, boost::none), state1); - EXPECT(assert_equal(eH1, aH1)); + EXPECT(assert_equal(eH1, aH1, 1e-8)); Matrix eH2 = numericalDerivative11( boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, boost::none), bias); - EXPECT(assert_equal(eH2, aH2)); + EXPECT(assert_equal(eH2, aH2, 1e-8)); } } @@ -314,9 +303,9 @@ TEST(ImuFactor, PreintegrationBaseMethods) { TEST(ImuFactor, ErrorAndJacobians) { using namespace common; bool use2ndOrderIntegration = true; - PreintegratedImuMeasurements pim(bias, - kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, use2ndOrderIntegration); + PreintegratedImuMeasurements pim(bias, kMeasuredAccCovariance, + kMeasuredOmegaCovariance, kIntegrationErrorCovariance, + use2ndOrderIntegration); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor @@ -933,7 +922,8 @@ TEST(ImuFactor, PredictRotation) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + kZeroOmegaCoriolis); // Predict Pose3 x1, x2; From 85085e882db34a9e63dc6e7531df98d174efbe2f Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 22:24:53 +0200 Subject: [PATCH 523/964] Removed Lie tests (now in testNavState) --- gtsam/navigation/tests/testImuFactor.cpp | 51 ------------------------ 1 file changed, 51 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 7bc037da9..c9ba2c5d7 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -209,57 +209,6 @@ Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector(); double deltaT = 1.0; } // namespace common -/* ************************************************************************* */ -TEST( NavState, Lie ) { - // origin and zero deltas - NavState identity; - const double tol = 1e-5; - Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3); - Point3 pt(1.0, 2.0, 3.0); - Velocity3 vel(0.4, 0.5, 0.6); - - EXPECT(assert_equal(identity, (NavState )identity.retract(zero(9)), tol)); - EXPECT(assert_equal(zero(9), identity.localCoordinates(identity), tol)); - - NavState state1(rot, pt, vel); - EXPECT(assert_equal(state1, (NavState )state1.retract(zero(9)), tol)); - EXPECT(assert_equal(zero(9), state1.localCoordinates(state1), tol)); - - // Special retract - Vector delta(9); - delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; - Rot3 drot = Rot3::Expmap(delta.head<3>()); - Point3 dt = Point3(delta.segment < 3 > (3)); - Velocity3 dvel = Velocity3(-0.1, -0.2, -0.3); - NavState state2 = state1 * NavState(drot, dt, dvel); - EXPECT(assert_equal(state2, (NavState )state1.retract(delta), tol)); - EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); - - // roundtrip from state2 to state3 and back - NavState state3 = state2.retract(delta); - EXPECT(assert_equal(delta, state2.localCoordinates(state3), tol)); - - // roundtrip from state3 to state4 and back, with expmap. - NavState state4 = state3.expmap(delta); - EXPECT(assert_equal(delta, state3.logmap(state4), tol)); - - // For the expmap/logmap (not necessarily retract/local) -delta goes other way - EXPECT(assert_equal(state3, (NavState )state4.expmap(-delta), tol)); - EXPECT(assert_equal(delta, -state4.logmap(state3), tol)); - - // retract derivatives - Matrix9 aH1, aH2; - state1.retract(delta, aH1, aH2); - Matrix eH1 = numericalDerivative11( - boost::bind(&NavState::retract, _1, delta, boost::none, boost::none), - state1); - EXPECT(assert_equal(eH1, aH1)); - Matrix eH2 = numericalDerivative11( - boost::bind(&NavState::retract, state1, _1, boost::none, boost::none), - delta); - EXPECT(assert_equal(eH2, aH2)); -} - /* ************************************************************************* */ TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; From de763144884a4ac12f8cf4f4f22976bc278d0610 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 23 Jul 2015 14:21:29 +0200 Subject: [PATCH 524/964] Straight line example, including finding defect in using first-order approximation --- gtsam/navigation/tests/testImuFactor.cpp | 87 +++++++++++++++++++++++- 1 file changed, 85 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index c9ba2c5d7..33409a7f8 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -141,6 +141,84 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { } // namespace +/* ************************************************************************* */ +namespace straight { +// Set up IMU measurements +static const double g = 10; // make this easy to check +static const double a = 0.2, dt = 3.0; +const double exact = dt * dt / 2; +Vector3 measuredAcc(a, 0, -g), measuredOmega(0, 0, 0); + +// Set up body pointing towards y axis, and start at 10,20,0 with zero velocity +// TODO(frank): clean up Rot3 mess +static const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +static const Point3 initial_position(10, 20, 0); +static const NavState state1(nRb, initial_position, Velocity3(0, 0, 0)); +} + +TEST(ImuFactor, StraightLineSecondOrder) { + using namespace straight; + + imuBias::ConstantBias biasHat, bias; + boost::shared_ptr p = + PreintegratedImuMeasurements::Params::MakeSharedFRD(); + p->use2ndOrderIntegration = true; + p->b_gravity = Vector3(0, 0, g); // FRD convention + + PreintegratedImuMeasurements pim(p, biasHat); + for (size_t i = 0; i < 10; i++) + pim.integrateMeasurement(measuredAcc, measuredOmega, dt / 10); + + // Check integrated quantities in body frame: gravity measured by IMU is integrated! + EXPECT(assert_equal(Rot3(), pim.deltaRij())); + EXPECT(assert_equal(Vector3(a * exact, 0, -g * exact), pim.deltaPij())); + EXPECT(assert_equal(Vector3(a * dt, 0, -g * dt), pim.deltaVij())); + + // Check bias-corrected delta: also in body frame + Vector9 expectedBC; + expectedBC << 0, 0, 0, a * exact, 0, -g * exact, a * dt, 0, -g * dt; + EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(bias))); + + // Check prediction, note we move along x in body, along y in nav + NavState expected(nRb, Point3(10, 20 + a * exact, 0), + Velocity3(0, a * dt, 0)); + GTSAM_PRINT(pim); + EXPECT(assert_equal(expected, pim.predict(state1, bias))); +} + +TEST(ImuFactor, StraightLineFirstOrder) { + using namespace straight; + + imuBias::ConstantBias biasHat, bias; + boost::shared_ptr p = + PreintegratedImuMeasurements::Params::MakeSharedFRD(); + p->use2ndOrderIntegration = false; + p->b_gravity = Vector3(0, 0, g); // FRD convention + + // We do a rough approximation: + PreintegratedImuMeasurements pim(p, biasHat); + for (size_t i = 0; i < 10; i++) + pim.integrateMeasurement(measuredAcc, measuredOmega, dt / 10); + + // Check integrated quantities in body frame: gravity measured by IMU is integrated! + const double approx = exact * 0.9; // approximation for dt split into 10 intervals + EXPECT(assert_equal(Rot3(), pim.deltaRij())); + EXPECT(assert_equal(Vector3(a * approx, 0, -g * approx), pim.deltaPij())); + EXPECT(assert_equal(Vector3(a * dt, 0, -g * dt), pim.deltaVij())); // still correct + + // Check bias-corrected delta: also in body frame + Vector9 expectedBC; + expectedBC << 0, 0, 0, a * approx, 0, -g * approx, a * dt, 0, -g * dt; + EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(bias))); + + // Check prediction, note we move along x in body, along y in nav + // In this instance the position is just an approximation, + // but gravity should be subtracted out exactly + NavState expected(nRb, Point3(10, 20 + a * approx, 0), Velocity3(0, a * dt, 0)); + GTSAM_PRINT(pim); + EXPECT(assert_equal(expected, pim.predict(state1, bias))); +} + /* ************************************************************************* */ TEST(ImuFactor, PreintegratedMeasurements) { // Linearization point @@ -192,16 +270,19 @@ TEST(ImuFactor, PreintegratedMeasurements) { DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-6); } +/* ************************************************************************* */ // Common linearization point and measurements for tests namespace common { imuBias::ConstantBias bias; // Bias Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), Point3(5.0, 1.0, -50.0)); Vector3 v1(Vector3(0.5, 0.0, 0.0)); + +NavState state1(x1, v1); Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0), Point3(5.5, 1.0, -50.0)); Vector3 v2(Vector3(0.5, 0.0, 0.0)); -NavState state1(x1, v1); +NavState state2(x2, v2); // Measurements Vector3 measuredOmega(M_PI / 100, 0, 0); @@ -213,7 +294,7 @@ double deltaT = 1.0; TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; boost::shared_ptr p = - boost::make_shared(); + PreintegratedImuMeasurements::Params::MakeSharedFRD(); p->gyroscopeCovariance = kMeasuredOmegaCovariance; p->omegaCoriolis = Vector3(0.02, 0.03, 0.04); p->accelerometerCovariance = kMeasuredAccCovariance; @@ -255,7 +336,9 @@ TEST(ImuFactor, ErrorAndJacobians) { PreintegratedImuMeasurements pim(bias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderIntegration); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + EXPECT(assert_equal(state2, pim.predict(state1, bias), 1e-6)); // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, From 0bb73bae9e3d628a0ba6cabdd401990be32d2cda Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 23 Jul 2015 16:59:26 +0200 Subject: [PATCH 525/964] Comments --- gtsam_unstable/dynamics/PoseRTV.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index ed5fa9be0..b59ea4614 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -146,16 +146,12 @@ public: /// RRTMbn - Function computes the rotation rate transformation matrix from /// body axis rates to euler angle (global) rates - /// TODO(frank): seems to ignore euler.z() static Matrix RRTMbn(const Vector3& euler); - static Matrix RRTMbn(const Rot3& att); /// RRTMnb - Function computes the rotation rate transformation matrix from /// euler angle rates to body axis rates - /// TODO(frank): seems to ignore euler.z() static Matrix RRTMnb(const Vector3& euler); - static Matrix RRTMnb(const Rot3& att); /// @} From c6b68e6795388019fa06f595446338926f3dbe83 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 23 Jul 2015 17:00:07 +0200 Subject: [PATCH 526/964] No more second-order integration flag --- gtsam/navigation/CombinedImuFactor.cpp | 13 +- gtsam/navigation/CombinedImuFactor.h | 26 +++- gtsam/navigation/ImuFactor.cpp | 88 ++++++------- gtsam/navigation/ImuFactor.h | 7 +- gtsam/navigation/NavState.cpp | 39 +++--- gtsam/navigation/NavState.h | 15 ++- gtsam/navigation/PreintegrationBase.cpp | 49 ++++---- gtsam/navigation/PreintegrationBase.h | 154 ++++++++++++++--------- gtsam/navigation/tests/testImuFactor.cpp | 121 +++++------------- gtsam/navigation/tests/testNavState.cpp | 10 +- 10 files changed, 250 insertions(+), 272 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 2d58534aa..f3647fcc0 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -145,15 +145,16 @@ PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements( const Matrix3& integrationErrorCovariance, const Matrix3& biasAccCovariance, const Matrix3& biasOmegaCovariance, const Matrix6& biasAccOmegaInit, const bool use2ndOrderIntegration) { + if (!use2ndOrderIntegration) + throw("PreintegratedImuMeasurements no longer supports first-order integration: it incorrectly compensated for gravity"); biasHat_ = biasHat; - boost::shared_ptr p = boost::make_shared(); + boost::shared_ptr p = Params::MakeSharedFRD(); p->gyroscopeCovariance = measuredOmegaCovariance; p->accelerometerCovariance = measuredAccCovariance; p->integrationCovariance = integrationErrorCovariance; p->biasAccCovariance = biasAccCovariance; p->biasOmegaCovariance = biasOmegaCovariance; p->biasAccOmegaInit = biasAccOmegaInit; - p->use2ndOrderIntegration = use2ndOrderIntegration; p_ = p; resetIntegration(); preintMeasCov_.setZero(); @@ -259,7 +260,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, //------------------------------------------------------------------------------ CombinedImuFactor::CombinedImuFactor( Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, - const CombinedPreintegratedMeasurements& pim, const Vector3& gravity, + const CombinedPreintegratedMeasurements& pim, const Vector3& b_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, const bool use2ndOrderCoriolis) : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, @@ -267,7 +268,7 @@ CombinedImuFactor::CombinedImuFactor( _PIM_(pim) { boost::shared_ptr p = boost::make_shared(pim.p()); - p->gravity = gravity; + p->b_gravity = b_gravity; p->omegaCoriolis = omegaCoriolis; p->body_P_sensor = body_P_sensor; p->use2ndOrderCoriolis = use2ndOrderCoriolis; @@ -278,11 +279,11 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, CombinedPreintegratedMeasurements& pim, - const Vector3& gravity, + const Vector3& b_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // use deprecated predict - PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity, + PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, b_gravity, omegaCoriolis, use2ndOrderCoriolis); pose_j = pvb.pose; vel_j = pvb.velocity; diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 6bd2f7867..142e8706f 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -66,9 +66,26 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk Matrix6 biasAccOmegaInit; ///< covariance of bias used for pre-integration - Params():biasAccCovariance(I_3x3), biasOmegaCovariance(I_3x3), biasAccOmegaInit(I_6x6) {} + /// See two named constructors below for good values of b_gravity in body frame + Params(const Vector3& b_gravity) : + PreintegrationBase::Params(b_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( + I_3x3), biasAccOmegaInit(I_6x6) { + } + + // Default Params for Front-Right-Down convention: b_gravity points along positive Z-axis + static boost::shared_ptr MakeSharedFRD(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, g)); + } + + // Default Params for Front-Left-Up convention: b_gravity points along negative Z-axis + static boost::shared_ptr MakeSharedFLU(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, -g)); + } private: + /// Default constructor makes unitialized params struct + Params() {} + /** Serialization function */ friend class boost::serialization::access; template @@ -134,12 +151,13 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { Matrix preintMeasCov() const { return preintMeasCov_; } /// deprecated constructor + /// NOTE(frank): assumes FRD convention, only second order integration supported PreintegratedCombinedMeasurements(const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, const Matrix3& biasAccCovariance, const Matrix3& biasOmegaCovariance, - const Matrix6& biasAccOmegaInit, const bool use2ndOrderIntegration = false); + const Matrix6& biasAccOmegaInit, const bool use2ndOrderIntegration = true); private: /// Serialization function @@ -245,7 +263,7 @@ public: /// @deprecated constructor CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, - const Vector3& gravity, const Vector3& omegaCoriolis, + const Vector3& b_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false); @@ -253,7 +271,7 @@ public: static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, CombinedPreintegratedMeasurements& pim, - const Vector3& gravity, const Vector3& omegaCoriolis, + const Vector3& b_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); private: diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 058ea1538..1b3736bec 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -38,8 +38,8 @@ void PreintegratedImuMeasurements::print(const string& s) const { //------------------------------------------------------------------------------ bool PreintegratedImuMeasurements::equals( const PreintegratedImuMeasurements& other, double tol) const { - return PreintegrationBase::equals(other, tol) && - equal_with_abs_tol(preintMeasCov_, other.preintMeasCov_, tol); + return PreintegrationBase::equals(other, tol) + && equal_with_abs_tol(preintMeasCov_, other.preintMeasCov_, tol); } //------------------------------------------------------------------------------ @@ -51,8 +51,7 @@ void PreintegratedImuMeasurements::resetIntegration() { //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - OptionalJacobian<9, 9> F_test, - OptionalJacobian<9, 9> G_test) { + OptionalJacobian<9, 9> F_test, OptionalJacobian<9, 9> G_test) { Vector3 correctedAcc, correctedOmega; correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, @@ -60,16 +59,17 @@ void PreintegratedImuMeasurements::integrateMeasurement( // rotation increment computed from the current rotation rate measurement const Vector3 integratedOmega = correctedOmega * deltaT; - Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr + Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr // rotation increment computed from the current rotation rate measurement const Rot3 Rincr = Rot3::Expmap(integratedOmega, D_Rincr_integratedOmega); // Update Jacobians - updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); + updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, + deltaT); // Update preintegrated measurements (also get Jacobian) - const Matrix3 dRij = deltaRij_.matrix(); // store this, which is useful to compute G_test - Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) + const Matrix3 dRij = deltaRij_.matrix(); // store this, which is useful to compute G_test + Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F); // first order covariance propagation: @@ -88,14 +88,13 @@ void PreintegratedImuMeasurements::integrateMeasurement( * p().gyroscopeCovariance * D_Rincr_integratedOmega.transpose() * deltaT; Matrix3 F_pos_noiseacc; - if (p().use2ndOrderIntegration) { - F_pos_noiseacc = 0.5 * dRij * deltaT * deltaT; - preintMeasCov_.block<3, 3>(0, 0) += (1 / deltaT) * F_pos_noiseacc - * p().accelerometerCovariance * F_pos_noiseacc.transpose(); - Matrix3 temp = F_pos_noiseacc * p().accelerometerCovariance * dRij.transpose(); // has 1/deltaT - preintMeasCov_.block<3, 3>(0, 3) += temp; - preintMeasCov_.block<3, 3>(3, 0) += temp.transpose(); - } + F_pos_noiseacc = 0.5 * dRij * deltaT * deltaT; + preintMeasCov_.block<3, 3>(0, 0) += (1 / deltaT) * F_pos_noiseacc + * p().accelerometerCovariance * F_pos_noiseacc.transpose(); + Matrix3 temp = F_pos_noiseacc * p().accelerometerCovariance + * dRij.transpose(); // has 1/deltaT + preintMeasCov_.block<3, 3>(0, 3) += temp; + preintMeasCov_.block<3, 3>(3, 0) += temp.transpose(); // F_test and G_test are given as output for testing purposes and are not needed by the factor if (F_test) { @@ -103,13 +102,10 @@ void PreintegratedImuMeasurements::integrateMeasurement( } if (G_test) { // This in only for testing & documentation, while the actual computation is done block-wise - if (!p().use2ndOrderIntegration) - F_pos_noiseacc = Z_3x3; - // intNoise accNoise omegaNoise - (*G_test) << I_3x3 * deltaT, F_pos_noiseacc, Z_3x3, // pos - Z_3x3, dRij * deltaT, Z_3x3, // vel - Z_3x3, Z_3x3, D_Rincr_integratedOmega * deltaT; // angle + (*G_test) << I_3x3 * deltaT, F_pos_noiseacc, Z_3x3, // pos + Z_3x3, dRij * deltaT, Z_3x3, // vel + Z_3x3, Z_3x3, D_Rincr_integratedOmega * deltaT; // angle } } //------------------------------------------------------------------------------ @@ -117,12 +113,13 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration) { + if (!use2ndOrderIntegration) + throw("PreintegratedImuMeasurements no longer supports first-order integration: it incorrectly compensated for gravity"); biasHat_ = biasHat; - boost::shared_ptr p = boost::make_shared(); + boost::shared_ptr p = Params::MakeSharedFRD(); p->gyroscopeCovariance = measuredOmegaCovariance; p->accelerometerCovariance = measuredAccCovariance; p->integrationCovariance = integrationErrorCovariance; - p->use2ndOrderIntegration = use2ndOrderIntegration; p_ = p; resetIntegration(); } @@ -131,10 +128,10 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( // ImuFactor methods //------------------------------------------------------------------------------ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, - const PreintegratedImuMeasurements& pim) - : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, - pose_j, vel_j, bias), - _PIM_(pim) {} + const PreintegratedImuMeasurements& pim) : + Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, + pose_j, vel_j, bias), _PIM_(pim) { +} //------------------------------------------------------------------------------ gtsam::NonlinearFactor::shared_ptr ImuFactor::clone() const { @@ -151,7 +148,8 @@ void ImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const { Base::print(""); _PIM_.print(" preintegrated measurements:"); // Print standard deviations on covariance only - cout << " noise model sigmas: " << this->noiseModel_->sigmas().transpose() << endl; + cout << " noise model sigmas: " << this->noiseModel_->sigmas().transpose() + << endl; } //------------------------------------------------------------------------------ @@ -168,21 +166,19 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, boost::optional H2, boost::optional H3, boost::optional H4, boost::optional H5) const { return _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i, - H1, H2, H3, H4, H5); + H1, H2, H3, H4, H5); } //------------------------------------------------------------------------------ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, - const PreintegratedMeasurements& pim, - const Vector3& gravity, const Vector3& omegaCoriolis, - const boost::optional& body_P_sensor, - const bool use2ndOrderCoriolis) - : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, - pose_j, vel_j, bias), - _PIM_(pim) { - boost::shared_ptr p = - boost::make_shared(pim.p()); - p->gravity = gravity; + const PreintegratedMeasurements& pim, const Vector3& b_gravity, + const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, + const bool use2ndOrderCoriolis) : + Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, + pose_j, vel_j, bias), _PIM_(pim) { + boost::shared_ptr p = boost::make_shared< + PreintegratedMeasurements::Params>(pim.p()); + p->b_gravity = b_gravity; p->omegaCoriolis = omegaCoriolis; p->body_P_sensor = body_P_sensor; p->use2ndOrderCoriolis = use2ndOrderCoriolis; @@ -191,16 +187,14 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, //------------------------------------------------------------------------------ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, - Pose3& pose_j, Vector3& vel_j, - const imuBias::ConstantBias& bias_i, - PreintegratedMeasurements& pim, - const Vector3& gravity, const Vector3& omegaCoriolis, - const bool use2ndOrderCoriolis) { + Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, + PreintegratedMeasurements& pim, const Vector3& b_gravity, + const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // use deprecated predict - PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity, + PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, b_gravity, omegaCoriolis, use2ndOrderCoriolis); pose_j = pvb.pose; vel_j = pvb.velocity; } -} // namespace gtsam +} // namespace gtsam diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 0b86472f5..c739120d3 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -108,11 +108,12 @@ public: Matrix preintMeasCov() const { return preintMeasCov_; } /// @deprecated constructor + /// NOTE(frank): assumes FRD convention, only second order integration supported PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, - bool use2ndOrderIntegration = false); + bool use2ndOrderIntegration = true); private: @@ -209,14 +210,14 @@ public: /// @deprecated constructor ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedMeasurements& preintegratedMeasurements, - const Vector3& gravity, const Vector3& omegaCoriolis, + const Vector3& b_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false); /// @deprecated use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - PreintegratedMeasurements& pim, const Vector3& gravity, + PreintegratedMeasurements& pim, const Vector3& b_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); private: diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index b63f25b4d..8ce8a200b 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -248,25 +248,19 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder, } //------------------------------------------------------------------------------ -Vector9 NavState::predictXi(const Vector9& pim, double dt, - const Vector3& gravity, const boost::optional& omegaCoriolis, - bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, - OptionalJacobian<9, 9> H2) const { +Vector9 NavState::integrateTangent(const Vector9& pim, double dt, + const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, + OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { const Rot3& nRb = R_; const Velocity3& n_v = v_; // derivative is Ri ! const double dt2 = dt * dt; Vector9 delta; - Matrix3 D_dP_Ri, D_dP_dP, D_dV_Ri, D_dV_dV; + Matrix3 D_dP_Ri, D_dP_nv; dR(delta) = dR(pim); - // TODO(frank): - // - why do we integrate n_v here ? - // - the dP and dV should be in body ! How come semi-retract works out ?? - // - should we rename t_ to p_? if not, we should rename dP do dT - dP(delta) = nRb.rotate(dP(pim), H1 ? &D_dP_Ri : 0, H2 ? &D_dP_dP : 0) - + n_v * dt + 0.5 * gravity * dt2; - dV(delta) = nRb.rotate(dV(pim), H1 ? &D_dV_Ri : 0, H2 ? &D_dV_dV : 0) - + gravity * dt; + dP(delta) = dP(pim) + + dt * nRb.unrotate(n_v, H1 ? &D_dP_Ri : 0, H2 ? &D_dP_nv : 0); + dV(delta) = dV(pim); if (omegaCoriolis) { delta += coriolis(dt, *omegaCoriolis, use2ndOrderCoriolis, H1); @@ -278,15 +272,11 @@ Vector9 NavState::predictXi(const Vector9& pim, double dt, if (H1) { if (!omegaCoriolis) H1->setZero(); // if coriolis H1 is already initialized - D_t_R(H1) += D_dP_Ri; - D_t_v(H1) += I_3x3 * dt * Ri; - D_v_R(H1) += D_dV_Ri; + D_t_R(H1) += dt * D_dP_Ri; + D_t_v(H1) += dt * D_dP_nv * Ri; } if (H2) { - H2->setZero(); - D_R_R(H2) << I_3x3; - D_t_t(H2) << D_dP_dP; - D_v_v(H2) << D_dV_dV; + H2->setIdentity(); } } @@ -294,13 +284,12 @@ Vector9 NavState::predictXi(const Vector9& pim, double dt, } //------------------------------------------------------------------------------ NavState NavState::predict(const Vector9& pim, double dt, - const Vector3& gravity, const boost::optional& omegaCoriolis, - bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, - OptionalJacobian<9, 9> H2) const { + const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, + OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { Matrix9 D_delta_state, D_delta_pim; - Vector9 delta = predictXi(pim, dt, gravity, omegaCoriolis, - use2ndOrderCoriolis, H1 ? &D_delta_state : 0, H2 ? &D_delta_pim : 0); + Vector9 delta = integrateTangent(pim, dt, omegaCoriolis, use2ndOrderCoriolis, + H1 ? &D_delta_state : 0, H2 ? &D_delta_pim : 0); Matrix9 D_predicted_state, D_predicted_delta; NavState predicted = retract(delta, H1 ? &D_predicted_state : 0, diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index ed0345ada..7326b8df7 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -33,6 +33,9 @@ typedef Vector3 Velocity3; */ class NavState: public LieGroup { private: + + // TODO(frank): + // - should we rename t_ to p_? if not, we should rename dP do dT Rot3 R_; ///< Rotation nRb, rotates points/velocities in body to points/velocities in nav Point3 t_; ///< position n_t, in nav frame Velocity3 v_; ///< velocity n_v in nav frame @@ -207,16 +210,16 @@ public: Vector9 coriolis(double dt, const Vector3& omega, bool secondOrder = false, OptionalJacobian<9, 9> H = boost::none) const; - /// Combine preintegrated measurements, in the form of a tangent space vector, - /// with gravity, velocity, and Coriolis forces into a tangent space update. - Vector9 predictXi(const Vector9& pim, double dt, const Vector3& gravity, + /// Integrate a tangent vector forwards on tangent space, taking into account + /// Coriolis forces if omegaCoriolis is given. + Vector9 integrateTangent(const Vector9& pim, double dt, const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis = false, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; - /// Combine preintegrated measurements, in the form of a tangent space vector, - /// with gravity, velocity, and Coriolis forces into a new state. - NavState predict(const Vector9& pim, double dt, const Vector3& gravity, + /// Integrate a tangent vector forwards on tangent space, taking into account + /// Coriolis forces if omegaCoriolis is given. Calls retract after to yield a NavState + NavState predict(const Vector9& pim, double dt, const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis = false, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index e2f1466a6..2c4694e41 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -64,14 +64,11 @@ void PreintegrationBase::updatePreintegratedMeasurements( OptionalJacobian<9, 9> F) { const Matrix3 dRij = deltaRij_.matrix(); // expensive - const Vector3 temp = dRij * correctedAcc * deltaT; + const Vector3 j_acc = dRij * correctedAcc; // acceleration in current frame - if (!p().use2ndOrderIntegration) { - deltaPij_ += deltaVij_ * deltaT; - } else { - deltaPij_ += deltaVij_ * deltaT + 0.5 * temp * deltaT; - } - deltaVij_ += temp; + double dt22 = 0.5 * deltaT * deltaT; + deltaPij_ += deltaVij_ * deltaT + dt22 * j_acc; + deltaVij_ += deltaT * j_acc; Matrix3 R_i, F_angles_angles; if (F) @@ -81,10 +78,7 @@ void PreintegrationBase::updatePreintegratedMeasurements( if (F) { const Matrix3 F_vel_angles = -R_i * skewSymmetric(correctedAcc) * deltaT; Matrix3 F_pos_angles; - if (p().use2ndOrderIntegration) - F_pos_angles = 0.5 * F_vel_angles * deltaT; - else - F_pos_angles = Z_3x3; + F_pos_angles = 0.5 * F_vel_angles * deltaT; // pos vel angle *F << // @@ -101,13 +95,8 @@ void PreintegrationBase::updatePreintegratedJacobians( const Matrix3 dRij = deltaRij_.matrix(); // expensive const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * deltaT * delRdelBiasOmega_; - if (!p().use2ndOrderIntegration) { - delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT; - delPdelBiasOmega_ += delVdelBiasOmega_ * deltaT; - } else { - delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT - 0.5 * dRij * deltaT * deltaT; - delPdelBiasOmega_ += deltaT * (delVdelBiasOmega_ + temp * 0.5); - } + delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT - 0.5 * dRij * deltaT * deltaT; + delPdelBiasOmega_ += deltaT * (delVdelBiasOmega_ + temp * 0.5); delVdelBiasAcc_ += -dRij * deltaT; delVdelBiasOmega_ += temp; update_delRdelBiasOmega(D_Rincr_integratedOmega, incrR, deltaT); @@ -135,10 +124,9 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( //------------------------------------------------------------------------------ Vector9 PreintegrationBase::biasCorrectedDelta( const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H) const { + // Correct deltaRij, derivative is delRdelBiasOmega_ const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - Matrix3 D_deltaRij_bias; - Rot3 deltaRij = PreintegratedRotation::biascorrectedDeltaRij( - biasIncr.gyroscope(), H ? &D_deltaRij_bias : 0); + Rot3 deltaRij = biascorrectedDeltaRij(biasIncr.gyroscope()); Vector9 xi; Matrix3 D_dR_deltaRij; @@ -147,9 +135,10 @@ Vector9 PreintegrationBase::biasCorrectedDelta( + delPdelBiasOmega_ * biasIncr.gyroscope(); NavState::dV(xi) = deltaVij_ + delVdelBiasAcc_ * biasIncr.accelerometer() + delVdelBiasOmega_ * biasIncr.gyroscope(); + if (H) { Matrix36 D_dR_bias, D_dP_bias, D_dV_bias; - D_dR_bias << Z_3x3, D_dR_deltaRij * D_deltaRij_bias; + D_dR_bias << Z_3x3, D_dR_deltaRij * delRdelBiasOmega_; D_dP_bias << delPdelBiasAcc_, delPdelBiasOmega_; D_dV_bias << delVdelBiasAcc_, delVdelBiasOmega_; (*H) << D_dR_bias, D_dP_bias, D_dV_bias; @@ -161,13 +150,23 @@ Vector9 PreintegrationBase::biasCorrectedDelta( NavState PreintegrationBase::predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { + // correct for bias Matrix96 D_biasCorrected_bias; Vector9 biasCorrected = biasCorrectedDelta(bias_i, H2 ? &D_biasCorrected_bias : 0); + + // integrate on tangent space Matrix9 D_delta_state, D_delta_biasCorrected; - Vector9 xi = state_i.predictXi(biasCorrected, deltaTij_, p().gravity, + Vector9 xi = state_i.integrateTangent(biasCorrected, deltaTij_, p().omegaCoriolis, p().use2ndOrderCoriolis, H1 ? &D_delta_state : 0, H2 ? &D_delta_biasCorrected : 0); + + // Correct for gravity + double dt = deltaTij_, dt2 = dt * dt; + NavState::dP(xi) += 0.5 * p().b_gravity * dt2; + NavState::dV(xi) += p().b_gravity * dt; + + // Use retract to get back to NavState manifold Matrix9 D_predict_state, D_predict_delta; NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta); if (H1) @@ -313,11 +312,11 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, //------------------------------------------------------------------------------ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, - const Vector3& gravity, const Vector3& omegaCoriolis, + const Vector3& b_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility boost::shared_ptr q = boost::make_shared(p()); - q->gravity = gravity; + q->b_gravity = b_gravity; q->omegaCoriolis = omegaCoriolis; q->use2ndOrderCoriolis = use2ndOrderCoriolis; p_ = q; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 2ee6b79e6..3079cd5c8 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -24,6 +24,7 @@ #include #include #include +#include namespace gtsam { @@ -32,11 +33,16 @@ struct PoseVelocityBias { Pose3 pose; Vector3 velocity; imuBias::ConstantBias bias; - PoseVelocityBias(const Pose3& _pose, const Vector3& _velocity, const imuBias::ConstantBias _bias) - : pose(_pose), velocity(_velocity), bias(_bias) {} - PoseVelocityBias(const NavState& navState, const imuBias::ConstantBias _bias) - : pose(navState.pose()), velocity(navState.velocity()), bias(_bias) {} - NavState navState() const { return NavState(pose,velocity);} + PoseVelocityBias(const Pose3& _pose, const Vector3& _velocity, + const imuBias::ConstantBias _bias) : + pose(_pose), velocity(_velocity), bias(_bias) { + } + PoseVelocityBias(const NavState& navState, const imuBias::ConstantBias _bias) : + pose(navState.pose()), velocity(navState.velocity()), bias(_bias) { + } + NavState navState() const { + return NavState(pose, velocity); + } }; /** @@ -45,29 +51,41 @@ struct PoseVelocityBias { * It includes the definitions of the preintegrated variables and the methods * to access, print, and compare them. */ -class PreintegrationBase : public PreintegratedRotation { +class PreintegrationBase: public PreintegratedRotation { - public: +public: /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor - struct Params : PreintegratedRotation::Params { - Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer + struct Params: PreintegratedRotation::Params { + Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty /// (to compensate errors in Euler integration) - bool use2ndOrderIntegration; ///< Controls the order of integration /// (if false: p(t+1) = p(t) + v(t) deltaT ; if true: p(t+1) = p(t) + v(t) deltaT + 0.5 * acc(t) deltaT^2) - bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration - Vector3 gravity; ///< Gravity constant + bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration + Vector3 b_gravity; ///< Gravity constant in body frame - Params() - : accelerometerCovariance(I_3x3), - integrationCovariance(I_3x3), - use2ndOrderIntegration(false), - use2ndOrderCoriolis(false), - gravity(0, 0, 9.8) {} + /// The Params constructor insists on the user passing in gravity in the *body* frame. + /// For convenience, two commonly used conventions are provided by named constructors below + Params(const Vector3& b_gravity) : + accelerometerCovariance(I_3x3), integrationCovariance(I_3x3), use2ndOrderCoriolis( + false), b_gravity(b_gravity) { + } + + // Default Params for Front-Right-Down convention: gravity points along positive Z-axis + static boost::shared_ptr MakeSharedFRD(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, g)); + } + + // Default Params for Front-Left-Up convention: gravity points along negative Z-axis + static boost::shared_ptr MakeSharedFLU(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, -g)); + } + + protected: + /// Default constructor for serialization only: uninitialized! + Params(); - private: /** Serialization function */ friend class boost::serialization::access; template @@ -75,29 +93,29 @@ class PreintegrationBase : public PreintegratedRotation { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation::Params); ar & BOOST_SERIALIZATION_NVP(accelerometerCovariance); ar & BOOST_SERIALIZATION_NVP(integrationCovariance); - ar & BOOST_SERIALIZATION_NVP(use2ndOrderIntegration); ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis); - ar & BOOST_SERIALIZATION_NVP(gravity); + ar & BOOST_SERIALIZATION_NVP(b_gravity); } }; - protected: +protected: /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; - Vector3 deltaPij_; ///< Preintegrated relative position (does not take into account velocity at time i, see deltap+, in [2]) (in frame i) - Vector3 deltaVij_; ///< Preintegrated relative velocity (in global frame) + Vector3 deltaPij_; ///< Preintegrated relative position (does not take into account velocity at time i, see deltap+, in [2]) (in frame i) + Vector3 deltaVij_; ///< Preintegrated relative velocity (in global frame) - Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias - Matrix3 delPdelBiasOmega_; ///< Jacobian of preintegrated position w.r.t. angular rate bias - Matrix3 delVdelBiasAcc_; ///< Jacobian of preintegrated velocity w.r.t. acceleration bias - Matrix3 delVdelBiasOmega_; ///< Jacobian of preintegrated velocity w.r.t. angular rate bias + Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias + Matrix3 delPdelBiasOmega_; ///< Jacobian of preintegrated position w.r.t. angular rate bias + Matrix3 delVdelBiasAcc_; ///< Jacobian of preintegrated velocity w.r.t. acceleration bias + Matrix3 delVdelBiasOmega_; ///< Jacobian of preintegrated velocity w.r.t. angular rate bias /// Default constructor for serialization - PreintegrationBase() {} + PreintegrationBase() { + } - public: +public: /** * Constructor, initializes the variables in the base class @@ -105,27 +123,45 @@ class PreintegrationBase : public PreintegratedRotation { * @param p Parameters, typically fixed in a single application */ PreintegrationBase(const boost::shared_ptr& p, - const imuBias::ConstantBias& biasHat) - : PreintegratedRotation(p), biasHat_(biasHat) { + const imuBias::ConstantBias& biasHat) : + PreintegratedRotation(p), biasHat_(biasHat) { resetIntegration(); } /// Re-initialize PreintegratedMeasurements void resetIntegration(); - const Params& p() const { return *boost::static_pointer_cast(p_);} + const Params& p() const { + return *boost::static_pointer_cast(p_); + } /// getters - const imuBias::ConstantBias& biasHat() const { return biasHat_; } - const Vector3& deltaPij() const { return deltaPij_; } - const Vector3& deltaVij() const { return deltaVij_; } - const Matrix3& delPdelBiasAcc() const { return delPdelBiasAcc_; } - const Matrix3& delPdelBiasOmega() const { return delPdelBiasOmega_; } - const Matrix3& delVdelBiasAcc() const { return delVdelBiasAcc_; } - const Matrix3& delVdelBiasOmega() const { return delVdelBiasOmega_; } + const imuBias::ConstantBias& biasHat() const { + return biasHat_; + } + const Vector3& deltaPij() const { + return deltaPij_; + } + const Vector3& deltaVij() const { + return deltaVij_; + } + const Matrix3& delPdelBiasAcc() const { + return delPdelBiasAcc_; + } + const Matrix3& delPdelBiasOmega() const { + return delPdelBiasOmega_; + } + const Matrix3& delVdelBiasAcc() const { + return delVdelBiasAcc_; + } + const Matrix3& delVdelBiasOmega() const { + return delVdelBiasOmega_; + } // Exposed for MATLAB - Vector6 biasHatVector() const { return biasHat_.vector(); } + Vector6 biasHatVector() const { + return biasHat_.vector(); + } /// print void print(const std::string& s) const; @@ -134,18 +170,16 @@ class PreintegrationBase : public PreintegratedRotation { bool equals(const PreintegrationBase& other, double tol) const; /// Update preintegrated measurements - void updatePreintegratedMeasurements(const Vector3& correctedAcc, const Rot3& incrR, - const double deltaT, OptionalJacobian<9, 9> F); + void updatePreintegratedMeasurements(const Vector3& correctedAcc, + const Rot3& incrR, const double deltaT, OptionalJacobian<9, 9> F); /// Update Jacobians to be used during preintegration void updatePreintegratedJacobians(const Vector3& correctedAcc, - const Matrix3& D_Rincr_integratedOmega, const Rot3& incrR, - double deltaT); + const Matrix3& D_Rincr_integratedOmega, const Rot3& incrR, double deltaT); void correctMeasurementsByBiasAndSensorPose(const Vector3& measuredAcc, - const Vector3& measuredOmega, - Vector3* correctedAcc, - Vector3* correctedOmega); + const Vector3& measuredOmega, Vector3* correctedAcc, + Vector3* correctedOmega); /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far @@ -154,23 +188,23 @@ class PreintegrationBase : public PreintegratedRotation { /// Predict state at time j NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, - OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; + OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = + boost::none) const; /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j - Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, - const Vector3& vel_j, const imuBias::ConstantBias& bias_i, - OptionalJacobian<9, 6> H1 = boost::none, - OptionalJacobian<9, 3> H2 = boost::none, - OptionalJacobian<9, 6> H3 = boost::none, - OptionalJacobian<9, 3> H4 = boost::none, - OptionalJacobian<9, 6> H5 = boost::none) const; + Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, + const Pose3& pose_j, const Vector3& vel_j, + const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H1 = + boost::none, OptionalJacobian<9, 3> H2 = boost::none, + OptionalJacobian<9, 6> H3 = boost::none, OptionalJacobian<9, 3> H4 = + boost::none, OptionalJacobian<9, 6> H5 = boost::none) const; /// @deprecated predict PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, - const imuBias::ConstantBias& bias_i, const Vector3& gravity, const Vector3& omegaCoriolis, - const bool use2ndOrderCoriolis = false); + const imuBias::ConstantBias& bias_i, const Vector3& b_gravity, + const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); - private: +private: /** Serialization function */ friend class boost::serialization::access; template @@ -187,4 +221,4 @@ class PreintegrationBase : public PreintegratedRotation { } }; -} /// namespace gtsam +} /// namespace gtsam diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 33409a7f8..a2746f1ea 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -57,15 +57,11 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, const Vector3& deltaVij_old, const Rot3& deltaRij_old, const Vector3& correctedAcc, const Vector3& correctedOmega, - const double deltaT, const bool use2ndOrderIntegration_) { + const double deltaT) { Matrix3 dRij = deltaRij_old.matrix(); Vector3 temp = dRij * correctedAcc * deltaT; Vector3 deltaPij_new; - if (!use2ndOrderIntegration_) { - deltaPij_new = deltaPij_old + deltaVij_old * deltaT; - } else { - deltaPij_new = deltaPij_old + deltaVij_old * deltaT + 0.5 * temp * deltaT; - } + deltaPij_new = deltaPij_old + deltaVij_old * deltaT + 0.5 * temp * deltaT; Vector3 deltaVij_new = deltaVij_old + temp; Vector result(6); @@ -93,11 +89,9 @@ const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; /* ************************************************************************* */ PreintegratedImuMeasurements evaluatePreintegratedMeasurements( const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs, - const bool use2ndOrderIntegration = false) { + const list& measuredOmegas, const list& deltaTs) { PreintegratedImuMeasurements result(bias, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance, - use2ndOrderIntegration); + kMeasuredOmegaCovariance, kIntegrationErrorCovariance); list::const_iterator itAcc = measuredAccs.begin(); list::const_iterator itOmega = measuredOmegas.begin(); @@ -142,27 +136,22 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { } // namespace /* ************************************************************************* */ -namespace straight { -// Set up IMU measurements -static const double g = 10; // make this easy to check -static const double a = 0.2, dt = 3.0; -const double exact = dt * dt / 2; -Vector3 measuredAcc(a, 0, -g), measuredOmega(0, 0, 0); +TEST(ImuFactor, StraightLine) { + // Set up IMU measurements + static const double g = 10; // make this easy to check + static const double a = 0.2, dt = 3.0; + const double exact = dt * dt / 2; + Vector3 measuredAcc(a, 0, -g), measuredOmega(0, 0, 0); -// Set up body pointing towards y axis, and start at 10,20,0 with zero velocity -// TODO(frank): clean up Rot3 mess -static const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); -static const Point3 initial_position(10, 20, 0); -static const NavState state1(nRb, initial_position, Velocity3(0, 0, 0)); -} - -TEST(ImuFactor, StraightLineSecondOrder) { - using namespace straight; + // Set up body pointing towards y axis, and start at 10,20,0 with zero velocity + // TODO(frank): clean up Rot3 mess + static const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); + static const Point3 initial_position(10, 20, 0); + static const NavState state1(nRb, initial_position, Velocity3(0, 0, 0)); imuBias::ConstantBias biasHat, bias; boost::shared_ptr p = PreintegratedImuMeasurements::Params::MakeSharedFRD(); - p->use2ndOrderIntegration = true; p->b_gravity = Vector3(0, 0, g); // FRD convention PreintegratedImuMeasurements pim(p, biasHat); @@ -186,39 +175,6 @@ TEST(ImuFactor, StraightLineSecondOrder) { EXPECT(assert_equal(expected, pim.predict(state1, bias))); } -TEST(ImuFactor, StraightLineFirstOrder) { - using namespace straight; - - imuBias::ConstantBias biasHat, bias; - boost::shared_ptr p = - PreintegratedImuMeasurements::Params::MakeSharedFRD(); - p->use2ndOrderIntegration = false; - p->b_gravity = Vector3(0, 0, g); // FRD convention - - // We do a rough approximation: - PreintegratedImuMeasurements pim(p, biasHat); - for (size_t i = 0; i < 10; i++) - pim.integrateMeasurement(measuredAcc, measuredOmega, dt / 10); - - // Check integrated quantities in body frame: gravity measured by IMU is integrated! - const double approx = exact * 0.9; // approximation for dt split into 10 intervals - EXPECT(assert_equal(Rot3(), pim.deltaRij())); - EXPECT(assert_equal(Vector3(a * approx, 0, -g * approx), pim.deltaPij())); - EXPECT(assert_equal(Vector3(a * dt, 0, -g * dt), pim.deltaVij())); // still correct - - // Check bias-corrected delta: also in body frame - Vector9 expectedBC; - expectedBC << 0, 0, 0, a * approx, 0, -g * approx, a * dt, 0, -g * dt; - EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(bias))); - - // Check prediction, note we move along x in body, along y in nav - // In this instance the position is just an approximation, - // but gravity should be subtracted out exactly - NavState expected(nRb, Point3(10, 20 + a * approx, 0), Velocity3(0, a * dt, 0)); - GTSAM_PRINT(pim); - EXPECT(assert_equal(expected, pim.predict(state1, bias))); -} - /* ************************************************************************* */ TEST(ImuFactor, PreintegratedMeasurements) { // Linearization point @@ -236,11 +192,9 @@ TEST(ImuFactor, PreintegratedMeasurements) { Rot3 expectedDeltaR1 = Rot3::RzRyRx(0.5 * M_PI / 100.0, 0.0, 0.0); double expectedDeltaT1(0.5); - bool use2ndOrderIntegration = true; // Actual preintegrated values PreintegratedImuMeasurements actual1(bias, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance, - use2ndOrderIntegration); + kMeasuredOmegaCovariance, kIntegrationErrorCovariance); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); EXPECT( @@ -294,12 +248,11 @@ double deltaT = 1.0; TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; boost::shared_ptr p = - PreintegratedImuMeasurements::Params::MakeSharedFRD(); + PreintegratedImuMeasurements::Params::MakeSharedFRD(); p->gyroscopeCovariance = kMeasuredOmegaCovariance; p->omegaCoriolis = Vector3(0.02, 0.03, 0.04); p->accelerometerCovariance = kMeasuredAccCovariance; p->integrationCovariance = kIntegrationErrorCovariance; - p->use2ndOrderIntegration = false; p->use2ndOrderCoriolis = true; PreintegratedImuMeasurements pim(p, bias); @@ -332,10 +285,8 @@ TEST(ImuFactor, PreintegrationBaseMethods) { /* ************************************************************************* */ TEST(ImuFactor, ErrorAndJacobians) { using namespace common; - bool use2ndOrderIntegration = true; PreintegratedImuMeasurements pim(bias, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance, - use2ndOrderIntegration); + kMeasuredOmegaCovariance, kIntegrationErrorCovariance); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); EXPECT(assert_equal(state2, pim.predict(state1, bias), 1e-6)); @@ -631,11 +582,10 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } - bool use2ndOrderIntegration = false; // Actual preintegrated values PreintegratedImuMeasurements preintegrated = evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs, use2ndOrderIntegration); + deltaTs); // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians @@ -658,20 +608,17 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // Compute expected f_pos_vel wrt positions Matrix dfpv_dpos = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - deltaPij_old); + newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaPij_old); // Compute expected f_pos_vel wrt velocities Matrix dfpv_dvel = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - deltaVij_old); + newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaVij_old); // Compute expected f_pos_vel wrt angles Matrix dfpv_dangle = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - deltaRij_old); + newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaRij_old); Matrix FexpectedTop6(6, 9); FexpectedTop6 << dfpv_dpos, dfpv_dvel, dfpv_dangle; @@ -698,14 +645,12 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // Compute jacobian wrt acc noise Matrix dgpv_daccNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, _1, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), newMeasuredAcc); + deltaRij_old, _1, newMeasuredOmega, newDeltaT), newMeasuredAcc); // Compute expected F wrt gyro noise Matrix dgpv_domegaNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), - newMeasuredOmega); + deltaRij_old, newMeasuredAcc, _1, newDeltaT), newMeasuredOmega); Matrix GexpectedTop6(6, 9); GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; @@ -754,11 +699,10 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } - bool use2ndOrderIntegration = true; // Actual preintegrated values PreintegratedImuMeasurements preintegrated = evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs, use2ndOrderIntegration); + deltaTs); // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians @@ -781,20 +725,17 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { // Compute expected f_pos_vel wrt positions Matrix dfpv_dpos = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - deltaPij_old); + newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaPij_old); // Compute expected f_pos_vel wrt velocities Matrix dfpv_dvel = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - deltaVij_old); + newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaVij_old); // Compute expected f_pos_vel wrt angles Matrix dfpv_dangle = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, - newMeasuredAcc, newMeasuredOmega, newDeltaT, use2ndOrderIntegration), - deltaRij_old); + newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaRij_old); Matrix FexpectedTop6(6, 9); FexpectedTop6 << dfpv_dpos, dfpv_dvel, dfpv_dangle; @@ -821,14 +762,12 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { // Compute jacobian wrt acc noise Matrix dgpv_daccNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, _1, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), newMeasuredAcc); + deltaRij_old, _1, newMeasuredOmega, newDeltaT), newMeasuredAcc); // Compute expected F wrt gyro noise Matrix dgpv_domegaNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, newMeasuredAcc, _1, newDeltaT, use2ndOrderIntegration), - newMeasuredOmega); + deltaRij_old, newMeasuredAcc, _1, newDeltaT), newMeasuredOmega); Matrix GexpectedTop6(6, 9); GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index 683a97d50..e5f25ffa5 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -178,12 +178,12 @@ TEST(NavState, PredictXi) { xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; double dt = 0.5; Matrix9 actualH1, actualH2; - boost::function predictXi = - boost::bind(&NavState::predictXi, _1, _2, dt, kGravity, kOmegaCoriolis, + boost::function integrateTangent = + boost::bind(&NavState::integrateTangent, _1, _2, dt, kGravity, kOmegaCoriolis, false, boost::none, boost::none); - kState1.predictXi(xi, dt, kGravity, kOmegaCoriolis, false, actualH1, actualH2); - EXPECT(assert_equal(numericalDerivative21(predictXi, kState1, xi), actualH1)); - EXPECT(assert_equal(numericalDerivative22(predictXi, kState1, xi), actualH2)); + kState1.integrateTangent(xi, dt, kGravity, kOmegaCoriolis, false, actualH1, actualH2); + EXPECT(assert_equal(numericalDerivative21(integrateTangent, kState1, xi), actualH1)); + EXPECT(assert_equal(numericalDerivative22(integrateTangent, kState1, xi), actualH2)); } /* ************************************************************************* */ From 323ed5220b7d0a365a341006849a7f24d9c90f91 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 13:22:32 +0200 Subject: [PATCH 527/964] Gravity should be specified in NAV coordinates! Default Nav frame is assumed to be *Z down* for the old-style constructors. --- gtsam/navigation/CombinedImuFactor.cpp | 10 +-- gtsam/navigation/CombinedImuFactor.h | 20 ++--- gtsam/navigation/ImuFactor.cpp | 10 +-- gtsam/navigation/ImuFactor.h | 6 +- gtsam/navigation/NavState.cpp | 32 ++----- gtsam/navigation/NavState.h | 14 +-- gtsam/navigation/PreintegrationBase.cpp | 11 +-- gtsam/navigation/PreintegrationBase.h | 20 ++--- gtsam/navigation/tests/testImuFactor.cpp | 106 +++++++++++------------ gtsam/navigation/tests/testNavState.cpp | 48 ++++------ 10 files changed, 114 insertions(+), 163 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index f3647fcc0..9c2dedea1 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -148,7 +148,7 @@ PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements( if (!use2ndOrderIntegration) throw("PreintegratedImuMeasurements no longer supports first-order integration: it incorrectly compensated for gravity"); biasHat_ = biasHat; - boost::shared_ptr p = Params::MakeSharedFRD(); + boost::shared_ptr p = Params::MakeSharedD(); p->gyroscopeCovariance = measuredOmegaCovariance; p->accelerometerCovariance = measuredAccCovariance; p->integrationCovariance = integrationErrorCovariance; @@ -260,7 +260,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, //------------------------------------------------------------------------------ CombinedImuFactor::CombinedImuFactor( Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, - const CombinedPreintegratedMeasurements& pim, const Vector3& b_gravity, + const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, const bool use2ndOrderCoriolis) : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, @@ -268,7 +268,7 @@ CombinedImuFactor::CombinedImuFactor( _PIM_(pim) { boost::shared_ptr p = boost::make_shared(pim.p()); - p->b_gravity = b_gravity; + p->n_gravity = n_gravity; p->omegaCoriolis = omegaCoriolis; p->body_P_sensor = body_P_sensor; p->use2ndOrderCoriolis = use2ndOrderCoriolis; @@ -279,11 +279,11 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, CombinedPreintegratedMeasurements& pim, - const Vector3& b_gravity, + const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // use deprecated predict - PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, b_gravity, + PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, n_gravity, omegaCoriolis, use2ndOrderCoriolis); pose_j = pvb.pose; vel_j = pvb.velocity; diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 142e8706f..192cc3d99 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -66,19 +66,19 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk Matrix6 biasAccOmegaInit; ///< covariance of bias used for pre-integration - /// See two named constructors below for good values of b_gravity in body frame - Params(const Vector3& b_gravity) : - PreintegrationBase::Params(b_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( + /// See two named constructors below for good values of n_gravity in body frame + Params(const Vector3& n_gravity) : + PreintegrationBase::Params(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( I_3x3), biasAccOmegaInit(I_6x6) { } - // Default Params for Front-Right-Down convention: b_gravity points along positive Z-axis - static boost::shared_ptr MakeSharedFRD(double g = 9.81) { + // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis + static boost::shared_ptr MakeSharedD(double g = 9.81) { return boost::make_shared(Vector3(0, 0, g)); } - // Default Params for Front-Left-Up convention: b_gravity points along negative Z-axis - static boost::shared_ptr MakeSharedFLU(double g = 9.81) { + // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis + static boost::shared_ptr MakeSharedU(double g = 9.81) { return boost::make_shared(Vector3(0, 0, -g)); } @@ -151,7 +151,7 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { Matrix preintMeasCov() const { return preintMeasCov_; } /// deprecated constructor - /// NOTE(frank): assumes FRD convention, only second order integration supported + /// NOTE(frank): assumes Z-Down convention, only second order integration supported PreintegratedCombinedMeasurements(const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, @@ -263,7 +263,7 @@ public: /// @deprecated constructor CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, - const Vector3& b_gravity, const Vector3& omegaCoriolis, + const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false); @@ -271,7 +271,7 @@ public: static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, CombinedPreintegratedMeasurements& pim, - const Vector3& b_gravity, const Vector3& omegaCoriolis, + const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); private: diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 1b3736bec..1589f1a1b 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -116,7 +116,7 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( if (!use2ndOrderIntegration) throw("PreintegratedImuMeasurements no longer supports first-order integration: it incorrectly compensated for gravity"); biasHat_ = biasHat; - boost::shared_ptr p = Params::MakeSharedFRD(); + boost::shared_ptr p = Params::MakeSharedD(); p->gyroscopeCovariance = measuredOmegaCovariance; p->accelerometerCovariance = measuredAccCovariance; p->integrationCovariance = integrationErrorCovariance; @@ -171,14 +171,14 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, //------------------------------------------------------------------------------ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, - const PreintegratedMeasurements& pim, const Vector3& b_gravity, + const PreintegratedMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, const bool use2ndOrderCoriolis) : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, pose_j, vel_j, bias), _PIM_(pim) { boost::shared_ptr p = boost::make_shared< PreintegratedMeasurements::Params>(pim.p()); - p->b_gravity = b_gravity; + p->n_gravity = n_gravity; p->omegaCoriolis = omegaCoriolis; p->body_P_sensor = body_P_sensor; p->use2ndOrderCoriolis = use2ndOrderCoriolis; @@ -188,10 +188,10 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, //------------------------------------------------------------------------------ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - PreintegratedMeasurements& pim, const Vector3& b_gravity, + PreintegratedMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // use deprecated predict - PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, b_gravity, + PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, n_gravity, omegaCoriolis, use2ndOrderCoriolis); pose_j = pvb.pose; vel_j = pvb.velocity; diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index c739120d3..f66d28828 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -108,7 +108,7 @@ public: Matrix preintMeasCov() const { return preintMeasCov_; } /// @deprecated constructor - /// NOTE(frank): assumes FRD convention, only second order integration supported + /// NOTE(frank): assumes Z-Down convention, only second order integration supported PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, @@ -210,14 +210,14 @@ public: /// @deprecated constructor ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedMeasurements& preintegratedMeasurements, - const Vector3& b_gravity, const Vector3& omegaCoriolis, + const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false); /// @deprecated use PreintegrationBase::predict static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - PreintegratedMeasurements& pim, const Vector3& b_gravity, + PreintegratedMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); private: diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 8ce8a200b..989a300fe 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -248,7 +248,8 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder, } //------------------------------------------------------------------------------ -Vector9 NavState::integrateTangent(const Vector9& pim, double dt, +Vector9 NavState::correctPIM(const Vector9& pim, double dt, + const Vector3& n_gravity, const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { const Rot3& nRb = R_; @@ -256,11 +257,12 @@ Vector9 NavState::integrateTangent(const Vector9& pim, double dt, const double dt2 = dt * dt; Vector9 delta; - Matrix3 D_dP_Ri, D_dP_nv; + Matrix3 D_dP_Ri1, D_dP_Ri2, D_dP_nv, D_dV_Ri; dR(delta) = dR(pim); dP(delta) = dP(pim) - + dt * nRb.unrotate(n_v, H1 ? &D_dP_Ri : 0, H2 ? &D_dP_nv : 0); - dV(delta) = dV(pim); + + dt * nRb.unrotate(n_v, H1 ? &D_dP_Ri1 : 0, H2 ? &D_dP_nv : 0) + + (0.5 * dt2) * nRb.unrotate(n_gravity, H1 ? &D_dP_Ri2 : 0); + dV(delta) = dV(pim) + dt * nRb.unrotate(n_gravity, H1 ? &D_dV_Ri : 0); if (omegaCoriolis) { delta += coriolis(dt, *omegaCoriolis, use2ndOrderCoriolis, H1); @@ -272,8 +274,9 @@ Vector9 NavState::integrateTangent(const Vector9& pim, double dt, if (H1) { if (!omegaCoriolis) H1->setZero(); // if coriolis H1 is already initialized - D_t_R(H1) += dt * D_dP_Ri; + D_t_R(H1) += dt * D_dP_Ri1 + (0.5 * dt2) * D_dP_Ri2; D_t_v(H1) += dt * D_dP_nv * Ri; + D_v_R(H1) += dt * D_dV_Ri; } if (H2) { H2->setIdentity(); @@ -283,24 +286,5 @@ Vector9 NavState::integrateTangent(const Vector9& pim, double dt, return delta; } //------------------------------------------------------------------------------ -NavState NavState::predict(const Vector9& pim, double dt, - const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, - OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { - - Matrix9 D_delta_state, D_delta_pim; - Vector9 delta = integrateTangent(pim, dt, omegaCoriolis, use2ndOrderCoriolis, - H1 ? &D_delta_state : 0, H2 ? &D_delta_pim : 0); - - Matrix9 D_predicted_state, D_predicted_delta; - NavState predicted = retract(delta, H1 ? &D_predicted_state : 0, - H1 || H2 ? &D_predicted_delta : 0); - // TODO(frank): the derivatives of retract are very sparse: inline below: - if (H1) - *H1 = D_predicted_state + D_predicted_delta * D_delta_state; - if (H2) - *H2 = D_predicted_delta * D_delta_pim; - return predicted; -} -//------------------------------------------------------------------------------ }/// namespace gtsam diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 7326b8df7..8eb8c54d7 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -210,21 +210,13 @@ public: Vector9 coriolis(double dt, const Vector3& omega, bool secondOrder = false, OptionalJacobian<9, 9> H = boost::none) const; - /// Integrate a tangent vector forwards on tangent space, taking into account - /// Coriolis forces if omegaCoriolis is given. - Vector9 integrateTangent(const Vector9& pim, double dt, + /// Correct preintegrated tangent vector with our velocity and rotated gravity, + /// taking into account Coriolis forces if omegaCoriolis is given. + Vector9 correctPIM(const Vector9& pim, double dt, const Vector3& n_gravity, const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis = false, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; - /// Integrate a tangent vector forwards on tangent space, taking into account - /// Coriolis forces if omegaCoriolis is given. Calls retract after to yield a NavState - NavState predict(const Vector9& pim, double dt, - const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis = - false, OptionalJacobian<9, 9> H1 = boost::none, - OptionalJacobian<9, 9> H2 = boost::none) const; - /// @} - private: /// @{ /// serialization diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 2c4694e41..f45b0f49c 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -157,15 +157,10 @@ NavState PreintegrationBase::predict(const NavState& state_i, // integrate on tangent space Matrix9 D_delta_state, D_delta_biasCorrected; - Vector9 xi = state_i.integrateTangent(biasCorrected, deltaTij_, + Vector9 xi = state_i.correctPIM(biasCorrected, deltaTij_, p().n_gravity, p().omegaCoriolis, p().use2ndOrderCoriolis, H1 ? &D_delta_state : 0, H2 ? &D_delta_biasCorrected : 0); - // Correct for gravity - double dt = deltaTij_, dt2 = dt * dt; - NavState::dP(xi) += 0.5 * p().b_gravity * dt2; - NavState::dV(xi) += p().b_gravity * dt; - // Use retract to get back to NavState manifold Matrix9 D_predict_state, D_predict_delta; NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta); @@ -312,11 +307,11 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, //------------------------------------------------------------------------------ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, - const Vector3& b_gravity, const Vector3& omegaCoriolis, + const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility boost::shared_ptr q = boost::make_shared(p()); - q->b_gravity = b_gravity; + q->n_gravity = n_gravity; q->omegaCoriolis = omegaCoriolis; q->use2ndOrderCoriolis = use2ndOrderCoriolis; p_ = q; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 3079cd5c8..8182693ed 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -63,22 +63,22 @@ public: /// (to compensate errors in Euler integration) /// (if false: p(t+1) = p(t) + v(t) deltaT ; if true: p(t+1) = p(t) + v(t) deltaT + 0.5 * acc(t) deltaT^2) bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration - Vector3 b_gravity; ///< Gravity constant in body frame + Vector3 n_gravity; ///< Gravity constant in body frame - /// The Params constructor insists on the user passing in gravity in the *body* frame. + /// The Params constructor insists on getting the navigation frame gravity vector /// For convenience, two commonly used conventions are provided by named constructors below - Params(const Vector3& b_gravity) : + Params(const Vector3& n_gravity) : accelerometerCovariance(I_3x3), integrationCovariance(I_3x3), use2ndOrderCoriolis( - false), b_gravity(b_gravity) { + false), n_gravity(n_gravity) { } - // Default Params for Front-Right-Down convention: gravity points along positive Z-axis - static boost::shared_ptr MakeSharedFRD(double g = 9.81) { + // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis + static boost::shared_ptr MakeSharedD(double g = 9.81) { return boost::make_shared(Vector3(0, 0, g)); } - // Default Params for Front-Left-Up convention: gravity points along negative Z-axis - static boost::shared_ptr MakeSharedFLU(double g = 9.81) { + // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis + static boost::shared_ptr MakeSharedU(double g = 9.81) { return boost::make_shared(Vector3(0, 0, -g)); } @@ -94,7 +94,7 @@ public: ar & BOOST_SERIALIZATION_NVP(accelerometerCovariance); ar & BOOST_SERIALIZATION_NVP(integrationCovariance); ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis); - ar & BOOST_SERIALIZATION_NVP(b_gravity); + ar & BOOST_SERIALIZATION_NVP(n_gravity); } }; @@ -201,7 +201,7 @@ public: /// @deprecated predict PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, - const imuBias::ConstantBias& bias_i, const Vector3& b_gravity, + const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); private: diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index a2746f1ea..f433c2a9e 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -36,7 +36,7 @@ using symbol_shorthand::X; using symbol_shorthand::V; using symbol_shorthand::B; -static const Vector3 kGravity(0, 0, 9.81); +static const Vector3 kGravityAlongNavZDown(0, 0, 9.81); static const Vector3 kZeroOmegaCoriolis(0, 0, 0); static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); @@ -151,8 +151,7 @@ TEST(ImuFactor, StraightLine) { imuBias::ConstantBias biasHat, bias; boost::shared_ptr p = - PreintegratedImuMeasurements::Params::MakeSharedFRD(); - p->b_gravity = Vector3(0, 0, g); // FRD convention + PreintegratedImuMeasurements::Params::MakeSharedU(g); // Up convention! PreintegratedImuMeasurements pim(p, biasHat); for (size_t i = 0; i < 10; i++) @@ -171,7 +170,6 @@ TEST(ImuFactor, StraightLine) { // Check prediction, note we move along x in body, along y in nav NavState expected(nRb, Point3(10, 20 + a * exact, 0), Velocity3(0, a * dt, 0)); - GTSAM_PRINT(pim); EXPECT(assert_equal(expected, pim.predict(state1, bias))); } @@ -197,12 +195,10 @@ TEST(ImuFactor, PreintegratedMeasurements) { kMeasuredOmegaCovariance, kIntegrationErrorCovariance); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT( - assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()), 1e-6)); - EXPECT( - assert_equal(Vector(expectedDeltaV1), Vector(actual1.deltaVij()), 1e-6)); - EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()), 1e-6)); - DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-6); + EXPECT(assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()))); + EXPECT(assert_equal(Vector(expectedDeltaV1), Vector(actual1.deltaVij()))); + EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()))); + DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-9); // Integrate again Vector3 expectedDeltaP2; @@ -216,39 +212,38 @@ TEST(ImuFactor, PreintegratedMeasurements) { PreintegratedImuMeasurements actual2 = actual1; actual2.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT( - assert_equal(Vector(expectedDeltaP2), Vector(actual2.deltaPij()), 1e-6)); - EXPECT( - assert_equal(Vector(expectedDeltaV2), Vector(actual2.deltaVij()), 1e-6)); - EXPECT(assert_equal(expectedDeltaR2, Rot3(actual2.deltaRij()), 1e-6)); - DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-6); + EXPECT(assert_equal(Vector(expectedDeltaP2), Vector(actual2.deltaPij()))); + EXPECT(assert_equal(Vector(expectedDeltaV2), Vector(actual2.deltaVij()))); + EXPECT(assert_equal(expectedDeltaR2, Rot3(actual2.deltaRij()))); + DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-9); } /* ************************************************************************* */ // Common linearization point and measurements for tests namespace common { -imuBias::ConstantBias bias; // Bias -Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), - Point3(5.0, 1.0, -50.0)); -Vector3 v1(Vector3(0.5, 0.0, 0.0)); - -NavState state1(x1, v1); -Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0), - Point3(5.5, 1.0, -50.0)); -Vector3 v2(Vector3(0.5, 0.0, 0.0)); -NavState state2(x2, v2); +static const imuBias::ConstantBias biasHat, bias; // Bias +static const Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), + Point3(5.0, 1.0, 0)); +static const Vector3 v1(Vector3(0.5, 0.0, 0.0)); +static const NavState state1(x1, v1); // Measurements -Vector3 measuredOmega(M_PI / 100, 0, 0); -Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector(); -double deltaT = 1.0; +static const double w = M_PI / 100; +static const Vector3 measuredOmega(w, 0, 0); +static const Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown); +static const double deltaT = 1.0; + +static const Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + w, M_PI / 6.0, M_PI / 4.0), + Point3(5.5, 1.0, 0)); +static const Vector3 v2(Vector3(0.5, 0.0, 0.0)); +static const NavState state2(x2, v2); } // namespace common /* ************************************************************************* */ TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; boost::shared_ptr p = - PreintegratedImuMeasurements::Params::MakeSharedFRD(); + PreintegratedImuMeasurements::Params::MakeSharedD(); p->gyroscopeCovariance = kMeasuredOmegaCovariance; p->omegaCoriolis = Vector3(0.02, 0.03, 0.04); p->accelerometerCovariance = kMeasuredAccCovariance; @@ -285,22 +280,21 @@ TEST(ImuFactor, PreintegrationBaseMethods) { /* ************************************************************************* */ TEST(ImuFactor, ErrorAndJacobians) { using namespace common; - PreintegratedImuMeasurements pim(bias, kMeasuredAccCovariance, + PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT(assert_equal(state2, pim.predict(state1, bias), 1e-6)); + EXPECT(assert_equal(state2, pim.predict(state1, bias))); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); // Expected error - Vector errorExpected(9); - errorExpected << 0, 0, 0, 0, 0, 0, 0, 0, 0; + Vector expectedError(9); + expectedError << 0, 0, 0, 0, 0, 0, 0, 0, 0; EXPECT( - assert_equal(errorExpected, factor.evaluateError(x1, v1, x2, v2, bias), - 1e-6)); + assert_equal(expectedError, factor.evaluateError(x1, v1, x2, v2, bias))); Values values; values.insert(X(1), x1); @@ -308,7 +302,7 @@ TEST(ImuFactor, ErrorAndJacobians) { values.insert(X(2), x2); values.insert(V(2), v2); values.insert(B(1), bias); - EXPECT(assert_equal(errorExpected, factor.unwhitenedError(values), 1e-6)); + EXPECT(assert_equal(expectedError, factor.unwhitenedError(values))); // Make sure linearization is correct double diffDelta = 1e-5; @@ -331,17 +325,17 @@ TEST(ImuFactor, ErrorAndJacobians) { // Evaluate error with wrong values Vector3 v2_wrong = v2 + Vector3(0.1, 0.1, 0.1); values.update(V(2), v2_wrong); - errorExpected << 0, 0, 0, 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901; + expectedError << 0, 0, 0, 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901; EXPECT( - assert_equal(errorExpected, - factor.evaluateError(x1, v1, x2, v2_wrong, bias), 1e-6)); - EXPECT(assert_equal(errorExpected, factor.unwhitenedError(values), 1e-6)); + assert_equal(expectedError, + factor.evaluateError(x1, v1, x2, v2_wrong, bias))); + EXPECT(assert_equal(expectedError, factor.unwhitenedError(values))); // Make sure the whitening is done correctly Matrix cov = pim.preintMeasCov(); Matrix R = RtR(cov.inverse()); - Vector whitened = R * errorExpected; - EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values), 1e-6)); + Vector whitened = R * expectedError; + EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values),1e-5)); // Make sure linearization is correct EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); @@ -359,7 +353,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { // Measurements Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown) + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; @@ -370,7 +364,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kNonZeroOmegaCoriolis); Values values; @@ -397,7 +391,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { // Measurements Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown) + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; @@ -410,7 +404,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { // Create factor Pose3 bodyPsensor = Pose3(); bool use2ndOrderCoriolis = true; - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kNonZeroOmegaCoriolis, bodyPsensor, use2ndOrderCoriolis); Values values; @@ -808,7 +802,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Measurements Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(kGravity)).vector() + Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown) + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; @@ -823,7 +817,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kNonZeroOmegaCoriolis); Values values; @@ -858,13 +852,13 @@ TEST(ImuFactor, PredictPositionAndVelocity) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, kGravity, + PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, kGravityAlongNavZDown, kZeroOmegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; @@ -893,14 +887,14 @@ TEST(ImuFactor, PredictRotation) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); // Predict Pose3 x1, x2; Vector3 v1 = Vector3(0, 0.0, 0.0); Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravity, kZeroOmegaCoriolis); + ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 0, 0; @@ -926,14 +920,14 @@ TEST(ImuFactor, PredictArbitrary) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); // Predict Pose3 x1, x2; Vector3 v1 = Vector3(0, 0.0, 0.0); Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravity, kZeroOmegaCoriolis); + ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); // Regression test for Imu Refactor Rot3 expectedR( // diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index e5f25ffa5..ca6c2ffc1 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -149,55 +149,41 @@ boost::function coriolis = boost::bind( &NavState::coriolis, _1, dt, kOmegaCoriolis, _2, boost::none); TEST(NavState, Coriolis) { - Matrix9 actualH; + Matrix9 aH; // first-order - kState1.coriolis(dt, kOmegaCoriolis, false, actualH); - EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, false), actualH)); + kState1.coriolis(dt, kOmegaCoriolis, false, aH); + EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, false), aH)); // second-order - kState1.coriolis(dt, kOmegaCoriolis, true, actualH); - EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, true), actualH)); + kState1.coriolis(dt, kOmegaCoriolis, true, aH); + EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, true), aH)); } TEST(NavState, Coriolis2) { - Matrix9 actualH; + Matrix9 aH; NavState state2(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), Point3(5.0, 1.0, -50.0), Vector3(0.5, 0.0, 0.0)); // first-order - state2.coriolis(dt, kOmegaCoriolis, false, actualH); - EXPECT(assert_equal(numericalDerivative21(coriolis, state2, false), actualH)); + state2.coriolis(dt, kOmegaCoriolis, false, aH); + EXPECT(assert_equal(numericalDerivative21(coriolis, state2, false), aH)); // second-order - state2.coriolis(dt, kOmegaCoriolis, true, actualH); - EXPECT(assert_equal(numericalDerivative21(coriolis, state2, true), actualH)); + state2.coriolis(dt, kOmegaCoriolis, true, aH); + EXPECT(assert_equal(numericalDerivative21(coriolis, state2, true), aH)); } /* ************************************************************************* */ -TEST(NavState, PredictXi) { +TEST(NavState, correctPIM) { Vector9 xi; xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; double dt = 0.5; - Matrix9 actualH1, actualH2; - boost::function integrateTangent = - boost::bind(&NavState::integrateTangent, _1, _2, dt, kGravity, kOmegaCoriolis, + Matrix9 aH1, aH2; + boost::function correctPIM = + boost::bind(&NavState::correctPIM, _1, _2, dt, kGravity, kOmegaCoriolis, false, boost::none, boost::none); - kState1.integrateTangent(xi, dt, kGravity, kOmegaCoriolis, false, actualH1, actualH2); - EXPECT(assert_equal(numericalDerivative21(integrateTangent, kState1, xi), actualH1)); - EXPECT(assert_equal(numericalDerivative22(integrateTangent, kState1, xi), actualH2)); -} - -/* ************************************************************************* */ -TEST(NavState, Predict) { - Vector9 xi; - xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; - double dt = 0.5; - Matrix9 actualH1, actualH2; - boost::function predict = - boost::bind(&NavState::predict, _1, _2, dt, kGravity, kOmegaCoriolis, - false, boost::none, boost::none); - kState1.predict(xi, dt, kGravity, kOmegaCoriolis, false, actualH1, actualH2); - EXPECT(assert_equal(numericalDerivative21(predict, kState1, xi), actualH1)); - EXPECT(assert_equal(numericalDerivative22(predict, kState1, xi), actualH2)); + kState1.correctPIM(xi, dt, kGravity, kOmegaCoriolis, false, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(correctPIM, kState1, xi), aH1)); + EXPECT(assert_equal(numericalDerivative22(correctPIM, kState1, xi), aH2)); } /* ************************************************************************* */ From 77d8e7d0bd024e1bdc16c1a5740dd44141417a59 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 13:39:50 +0200 Subject: [PATCH 528/964] All tests pass now ! --- .../tests/testCombinedImuFactor.cpp | 74 +++++++++---------- 1 file changed, 34 insertions(+), 40 deletions(-) diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 87d3f4385..53c0d7e23 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -78,7 +78,7 @@ Rot3 updatePreintegratedMeasurementsRot(const Vector3 deltaPij_old, deltaVij_old, deltaRij_old, bias_old, correctedAcc, correctedOmega, deltaT, use2ndOrderIntegration); - return Rot3::Expmap(result.segment<3>(6)); + return Rot3::Expmap(result.segment < 3 > (6)); } // Auxiliary functions to test preintegrated Jacobians @@ -87,9 +87,8 @@ Rot3 updatePreintegratedMeasurementsRot(const Vector3 deltaPij_old, CombinedImuFactor::CombinedPreintegratedMeasurements evaluatePreintegratedMeasurements( const imuBias::ConstantBias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { - CombinedImuFactor::CombinedPreintegratedMeasurements result(bias, - I_3x3, I_3x3, I_3x3, - I_3x3, I_3x3, I_6x6, false); + CombinedImuFactor::CombinedPreintegratedMeasurements result(bias, I_3x3, + I_3x3, I_3x3, I_3x3, I_3x3, I_6x6); list::const_iterator itAcc = measuredAccs.begin(); list::const_iterator itOmega = measuredOmegas.begin(); @@ -136,13 +135,11 @@ TEST( CombinedImuFactor, PreintegratedMeasurements ) { double tol = 1e-6; // Actual preintegrated values - ImuFactor::PreintegratedMeasurements expected1(bias, Z_3x3, - Z_3x3, Z_3x3); + ImuFactor::PreintegratedMeasurements expected1(bias, Z_3x3, Z_3x3, Z_3x3); expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor::CombinedPreintegratedMeasurements actual1(bias, - Z_3x3, Z_3x3, Z_3x3, Z_3x3, - Z_3x3, Z_6x6); + CombinedImuFactor::CombinedPreintegratedMeasurements actual1(bias, Z_3x3, + Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_6x6); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -187,7 +184,8 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim, gravity, omegaCoriolis); + ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim, gravity, + omegaCoriolis); noiseModel::Gaussian::shared_ptr Combinedmodel = noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov()); @@ -195,7 +193,8 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { combined_pim, gravity, omegaCoriolis); Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias); - Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2); + Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias, + bias2); EXPECT(assert_equal(errorExpected, errorActual.head(9), tol)); // Expected Jacobians @@ -238,7 +237,7 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { } // Actual preintegrated values - CombinedImuFactor::CombinedPreintegratedMeasurements preintegrated = + CombinedImuFactor::CombinedPreintegratedMeasurements pim = evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs); @@ -265,16 +264,12 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3); // Compare Jacobians - EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); - EXPECT( - assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega())); - EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc())); - EXPECT( - assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega())); + EXPECT(assert_equal(expectedDelPdelBiasAcc, pim.delPdelBiasAcc())); + EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega())); + EXPECT(assert_equal(expectedDelVdelBiasAcc, pim.delVdelBiasAcc())); + EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega())); EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); - EXPECT( - assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(), - 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations + EXPECT(assert_equal(expectedDelRdelBiasOmega, pim.delRdelBiasOmega(), 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations } /* ************************************************************************* */ @@ -293,23 +288,22 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { double deltaT = 0.001; CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3, - I_3x3, I_3x3, 2 * I_3x3, I_6x6, true); + I_3x3, I_3x3, 2 * I_3x3, I_6x6); for (int i = 0; i < 1000; ++i) - pim.integrateMeasurement(measuredAcc, measuredOmega, - deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor noiseModel::Gaussian::shared_ptr combinedmodel = noiseModel::Gaussian::Covariance(pim.preintMeasCov()); - CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - pim, gravity, omegaCoriolis); + CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim, + gravity, omegaCoriolis); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocityBias = pim.predict(x1, v1, - bias, gravity, omegaCoriolis); + PoseVelocityBias poseVelocityBias = pim.predict(x1, v1, bias, gravity, + omegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 1, 0; @@ -322,7 +316,7 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { TEST(CombinedImuFactor, PredictRotation) { imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3, - I_3x3, I_3x3, 2 * I_3x3, I_6x6, true); + I_3x3, I_3x3, 2 * I_3x3, I_6x6); Vector3 measuredAcc; measuredAcc << 0, 0, -9.81; Vector3 gravity; @@ -335,8 +329,8 @@ TEST(CombinedImuFactor, PredictRotation) { double tol = 1e-4; for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - pim, gravity, omegaCoriolis); + CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim, + gravity, omegaCoriolis); // Predict Pose3 x(Rot3().ypr(0, 0, 0), Point3(0, 0, 0)), x2; @@ -366,8 +360,8 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); deltaTs.push_back(0.01); } - // Actual preintegrated values - CombinedImuFactor::CombinedPreintegratedMeasurements preintegrated = + // Actual pim values + CombinedImuFactor::CombinedPreintegratedMeasurements pim = evaluatePreintegratedMeasurements(bias_old, measuredAccs, measuredOmegas, deltaTs); @@ -376,14 +370,14 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); const double newDeltaT = 0.01; - const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement + const Rot3 deltaRij_old = pim.deltaRij(); // before adding new measurement + const Vector3 deltaVij_old = pim.deltaVij(); // before adding new measurement + const Vector3 deltaPij_old = pim.deltaPij(); // before adding new measurement - Matrix oldPreintCovariance = preintegrated.preintMeasCov(); + Matrix oldPreintCovariance = pim.preintMeasCov(); Matrix Factual, Gactual; - preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, + pim.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, newDeltaT, Factual, Gactual); bool use2ndOrderIntegration = false; @@ -438,7 +432,7 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { Matrix Fexpected(15, 15); Fexpected << df_dpos, df_dvel, df_dangle, df_dbias; - EXPECT(assert_equal(Fexpected, Factual)); + EXPECT(assert_equal(Fexpected, Factual,1e-5)); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR G @@ -496,7 +490,7 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance * Factual.transpose() + (1 / newDeltaT) * Gactual * Gactual.transpose(); - Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); + Matrix newPreintCovarianceActual = pim.preintMeasCov(); EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); } From 9bcdf972f87d220d9ea4752f345c98b7331931c6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 14:17:46 +0200 Subject: [PATCH 529/964] Asserting that computeError is just localCoordinates --- gtsam/navigation/PreintegrationBase.cpp | 6 +-- gtsam/navigation/PreintegrationBase.h | 3 ++ gtsam/navigation/tests/testImuFactor.cpp | 69 +++++++++++++----------- 3 files changed, 44 insertions(+), 34 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f45b0f49c..e4159e9d7 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -175,8 +175,8 @@ NavState PreintegrationBase::predict(const NavState& state_i, // TODO(frank): this is *almost* state_j.localCoordinates(predict), // except for the damn Ri.transpose. Ri is also the only way this depends on state_i. // That is not an accident! Put R in computed covariances instead ? -static Vector9 computeError(const NavState& state_i, const NavState& state_j, - const NavState& predictedState_j) { +Vector9 PreintegrationBase::computeError(const NavState& state_i, + const NavState& state_j, const NavState& predictedState_j) { const Rot3& rot_i = state_i.attitude(); const Matrix Ri = rot_i.matrix(); @@ -198,7 +198,7 @@ static Vector9 computeError(const NavState& state_i, const NavState& state_j, Vector9 r; r << fR, fp, fv; return r; - // return state_j.localCoordinates(predictedState_j); +// return state_j.localCoordinates(predictedState_j); } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 8182693ed..50754636a 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -191,6 +191,9 @@ public: OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; + static Vector9 computeError(const NavState& state_i, const NavState& state_j, + const NavState& predictedState_j); + /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index f433c2a9e..6419cc079 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -230,7 +230,8 @@ static const NavState state1(x1, v1); // Measurements static const double w = M_PI / 100; static const Vector3 measuredOmega(w, 0, 0); -static const Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown); +static const Vector3 measuredAcc = x1.rotation().unrotate( + -kGravityAlongNavZDown); static const double deltaT = 1.0; static const Pose3 x2(Rot3::RzRyRx(M_PI / 12.0 + w, M_PI / 6.0, M_PI / 4.0), @@ -254,27 +255,32 @@ TEST(ImuFactor, PreintegrationBaseMethods) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - { // biasCorrectedDelta - Matrix96 actualH; - pim.biasCorrectedDelta(bias, actualH); - Matrix expectedH = numericalDerivative11( - boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, - boost::none), bias); - EXPECT(assert_equal(expectedH, actualH)); - } - { - Matrix9 aH1; - Matrix96 aH2; - pim.predict(state1, bias, aH1, aH2); - Matrix eH1 = numericalDerivative11( - boost::bind(&PreintegrationBase::predict, pim, _1, bias, boost::none, - boost::none), state1); - EXPECT(assert_equal(eH1, aH1, 1e-8)); - Matrix eH2 = numericalDerivative11( - boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, - boost::none), bias); - EXPECT(assert_equal(eH2, aH2, 1e-8)); - } + // biasCorrectedDelta + Matrix96 actualH; + pim.biasCorrectedDelta(bias, actualH); + Matrix expectedH = numericalDerivative11( + boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, + boost::none), bias); + EXPECT(assert_equal(expectedH, actualH)); + + Matrix9 aH1; + Matrix96 aH2; + NavState predictedState = pim.predict(state1, bias, aH1, aH2); + Matrix eH1 = numericalDerivative11( + boost::bind(&PreintegrationBase::predict, pim, _1, bias, boost::none, + boost::none), state1); + EXPECT(assert_equal(eH1, aH1, 1e-8)); + Matrix eH2 = numericalDerivative11( + boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, + boost::none), bias); + EXPECT(assert_equal(eH2, aH2, 1e-8)); + + EXPECT( + assert_equal(Vector(-state1.localCoordinates(predictedState)), + PreintegratedImuMeasurements::computeError(state1, state1, + predictedState), 1e-8)); + return; + } /* ************************************************************************* */ @@ -335,7 +341,7 @@ TEST(ImuFactor, ErrorAndJacobians) { Matrix cov = pim.preintMeasCov(); Matrix R = RtR(cov.inverse()); Vector whitened = R * expectedError; - EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values),1e-5)); + EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values), 1e-5)); // Make sure linearization is correct EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); @@ -357,10 +363,9 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - PreintegratedImuMeasurements pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), - kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance); + imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)); + PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, + kMeasuredOmegaCovariance, kIntegrationErrorCovariance); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor @@ -858,8 +863,8 @@ TEST(ImuFactor, PredictPositionAndVelocity) { // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, kGravityAlongNavZDown, - kZeroOmegaCoriolis); + PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, + kGravityAlongNavZDown, kZeroOmegaCoriolis); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 1, 0; @@ -894,7 +899,8 @@ TEST(ImuFactor, PredictRotation) { Pose3 x1, x2; Vector3 v1 = Vector3(0, 0.0, 0.0); Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); + ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, + kZeroOmegaCoriolis); Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 0, 0; @@ -927,7 +933,8 @@ TEST(ImuFactor, PredictArbitrary) { Pose3 x1, x2; Vector3 v1 = Vector3(0, 0.0, 0.0); Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); + ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, + kZeroOmegaCoriolis); // Regression test for Imu Refactor Rot3 expectedR( // From 7a78d54fc3a68759efd0560762eba0630d8588dc Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 14:43:06 +0200 Subject: [PATCH 530/964] derivatives for Local and localCoordinates --- gtsam/navigation/NavState.cpp | 11 +++-- gtsam/navigation/tests/testNavState.cpp | 62 +++++++++++++++---------- 2 files changed, 44 insertions(+), 29 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 989a300fe..a52b74704 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -118,11 +118,14 @@ NavState NavState::ChartAtOrigin::Retract(const Vector9& xi, //------------------------------------------------------------------------------ Vector9 NavState::ChartAtOrigin::Local(const NavState& x, OptionalJacobian<9, 9> H) { - if (H) - throw runtime_error( - "NavState::ChartOrigin::Local derivative not implemented yet"); Vector9 xi; - xi << Rot3::Logmap(x.R_), x.t(), x.v(); + Matrix3 D_xi_R; + xi << Rot3::Logmap(x.R_, H ? &D_xi_R : 0), x.t(), x.v(); + if (H) { + *H << D_xi_R, Z_3x3, Z_3x3, // + Z_3x3, x.R(), Z_3x3, // + Z_3x3, Z_3x3, x.R(); + } return xi; } diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index ca6c2ffc1..c0797bd9c 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -31,6 +31,7 @@ static const NavState kIdentity; static const NavState kState1(kRotation, kPosition, kVelocity); static const Vector3 kOmegaCoriolis(0.02, 0.03, 0.04); static const Vector3 kGravity(0, 0, 9.81); +static const Vector9 kZeroXi = Vector9::Zero(); /* ************************************************************************* */ TEST( NavState, Attitude) { @@ -75,16 +76,16 @@ TEST( NavState, MatrixGroup ) { /* ************************************************************************* */ TEST( NavState, Manifold ) { // Check zero xi - EXPECT(assert_equal(kIdentity, kIdentity.retract(zero(9)))); - EXPECT(assert_equal(zero(9), kIdentity.localCoordinates(kIdentity))); - EXPECT(assert_equal(kState1, kState1.retract(zero(9)))); - EXPECT(assert_equal(zero(9), kState1.localCoordinates(kState1))); + EXPECT(assert_equal(kIdentity, kIdentity.retract(kZeroXi))); + EXPECT(assert_equal(kZeroXi, kIdentity.localCoordinates(kIdentity))); + EXPECT(assert_equal(kState1, kState1.retract(kZeroXi))); + EXPECT(assert_equal(kZeroXi, kState1.localCoordinates(kState1))); // Check definition of retract as operating on components separately - Vector xi(9); + Vector9 xi; xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; Rot3 drot = Rot3::Expmap(xi.head<3>()); - Point3 dt = Point3(xi.segment < 3 > (3)); + Point3 dt = Point3(xi.segment<3>(3)); Velocity3 dvel = Velocity3(-0.1, -0.2, -0.3); NavState state2 = kState1 * NavState(drot, dt, dvel); EXPECT(assert_equal(state2, kState1.retract(xi))); @@ -95,38 +96,49 @@ TEST( NavState, Manifold ) { EXPECT(assert_equal(xi, state2.localCoordinates(state3))); // Check derivatives for ChartAtOrigin::Retract - Matrix9 aH, eH; + Matrix9 aH; // For zero xi - boost::function f = boost::bind( + boost::function Retract = boost::bind( NavState::ChartAtOrigin::Retract, _1, boost::none); - NavState::ChartAtOrigin::Retract(zero(9), aH); - eH = numericalDerivative11(f, zero(9)); - EXPECT(assert_equal((Matrix )eH, aH)); + NavState::ChartAtOrigin::Retract(kZeroXi, aH); + EXPECT(assert_equal(numericalDerivative11(Retract, kZeroXi), aH)); // For non-zero xi NavState::ChartAtOrigin::Retract(xi, aH); - eH = numericalDerivative11(f, xi); - EXPECT(assert_equal((Matrix )eH, aH)); + EXPECT(assert_equal(numericalDerivative11(Retract, xi), aH)); + + // Check derivatives for ChartAtOrigin::Local + // For zero xi + boost::function Local = boost::bind( + NavState::ChartAtOrigin::Local, _1, boost::none); + NavState::ChartAtOrigin::Local(kIdentity, aH); + EXPECT(assert_equal(numericalDerivative11(Local, kIdentity), aH)); + // For non-zero xi + NavState::ChartAtOrigin::Local(kState1, aH); + EXPECT(assert_equal(numericalDerivative11(Local, kState1), aH)); // Check retract derivatives Matrix9 aH1, aH2; kState1.retract(xi, aH1, aH2); - Matrix eH1 = numericalDerivative11( - boost::bind(&NavState::retract, _1, xi, boost::none, boost::none), - kState1); - EXPECT(assert_equal(eH1, aH1)); - Matrix eH2 = numericalDerivative11( - boost::bind(&NavState::retract, kState1, _1, boost::none, boost::none), - xi); - EXPECT(assert_equal(eH2, aH2)); + boost::function retract = + boost::bind(&NavState::retract, _1, _2, boost::none, boost::none); + EXPECT(assert_equal(numericalDerivative21(retract, kState1, xi), aH1)); + EXPECT(assert_equal(numericalDerivative22(retract, kState1, xi), aH2)); + + // Check localCoordinates derivatives + kState1.localCoordinates(state2, aH1, aH2); + boost::function localCoordinates = + boost::bind(&NavState::localCoordinates, _1, _2, boost::none, boost::none); + EXPECT(assert_equal(numericalDerivative21(localCoordinates, kState1, state2), aH1)); + EXPECT(assert_equal(numericalDerivative22(localCoordinates, kState1, state2), aH2)); } /* ************************************************************************* */ TEST( NavState, Lie ) { // Check zero xi - EXPECT(assert_equal(kIdentity, kIdentity.expmap(zero(9)))); - EXPECT(assert_equal(zero(9), kIdentity.logmap(kIdentity))); - EXPECT(assert_equal(kState1, kState1.expmap(zero(9)))); - EXPECT(assert_equal(zero(9), kState1.logmap(kState1))); + EXPECT(assert_equal(kIdentity, kIdentity.expmap(kZeroXi))); + EXPECT(assert_equal(kZeroXi, kIdentity.logmap(kIdentity))); + EXPECT(assert_equal(kState1, kState1.expmap(kZeroXi))); + EXPECT(assert_equal(kZeroXi, kState1.logmap(kState1))); // Expmap/Logmap roundtrip Vector xi(9); From e296f320f5f29a87c9e2d07fa1647b0ce7b34287 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 15:10:00 +0200 Subject: [PATCH 531/964] Inlined compose and between derivatives in expmap/logmap --- gtsam/base/Lie.h | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index 05c7bc20f..4c26adaa9 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -110,19 +110,20 @@ struct LieGroup { Class retract(const TangentVector& v, // ChartJacobian H1, ChartJacobian H2 = boost::none) const { Jacobian D_g_v; - Class g = Class::ChartAtOrigin::Retract(v,H2 ? &D_g_v : 0); - Class h = compose(g,H1,H2); - if (H2) *H2 = (*H2) * D_g_v; + Class g = Class::ChartAtOrigin::Retract(v, H2 ? &D_g_v : 0); + Class h = compose(g); // derivatives inlined below + if (H1) *H1 = g.inverse().AdjointMap(); + if (H2) *H2 = D_g_v; return h; } TangentVector localCoordinates(const Class& g, // ChartJacobian H1, ChartJacobian H2 = boost::none) const { - Class h = between(g,H1,H2); + Class h = between(g); // derivatives inlined below Jacobian D_v_h; TangentVector v = Class::ChartAtOrigin::Local(h, (H1 || H2) ? &D_v_h : 0); - if (H1) *H1 = D_v_h * (*H1); - if (H2) *H2 = D_v_h * (*H2); + if (H1) *H1 = - D_v_h * h.inverse().AdjointMap(); + if (H2) *H2 = D_v_h; return v; } From 05dfcf2dbf6dadf3add9ce742bd224029de504d3 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 15:32:27 +0200 Subject: [PATCH 532/964] Added retract/logmap and commented more clearly --- gtsam/base/Lie.h | 34 ++++++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index 4c26adaa9..1576aca1d 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -75,38 +75,71 @@ struct LieGroup { return derived().inverse(); } + /// expmap as required by manifold concept + /// Applies exponential map to v and composes with *this Class expmap(const TangentVector& v) const { return compose(Class::Expmap(v)); } + /// logmap as required by manifold concept + /// Applies logarithmic map to group element that takes *this to g TangentVector logmap(const Class& g) const { return Class::Logmap(between(g)); } + /// expmap with optional derivatives + Class expmap(const TangentVector& v, // + ChartJacobian H1, ChartJacobian H2 = boost::none) const { + Jacobian D_g_v; + Class g = Class::Expmap(v,H2 ? &D_g_v : 0); + Class h = compose(g); // derivatives inlined below + if (H1) *H1 = g.inverse().AdjointMap(); + if (H2) *H2 = D_g_v; + return h; + } + + /// logmap with optional derivatives + TangentVector logmap(const Class& g, // + ChartJacobian H1, ChartJacobian H2 = boost::none) const { + Class h = between(g); // derivatives inlined below + Jacobian D_v_h; + TangentVector v = Class::Logmap(h, (H1 || H2) ? &D_v_h : 0); + if (H1) *H1 = - D_v_h * h.inverse().AdjointMap(); + if (H2) *H2 = D_v_h; + return v; + } + + /// Retract at origin: possible in Lie group because it has an identity static Class Retract(const TangentVector& v) { return Class::ChartAtOrigin::Retract(v); } + /// LocalCoordinates at origin: possible in Lie group because it has an identity static TangentVector LocalCoordinates(const Class& g) { return Class::ChartAtOrigin::Local(g); } + /// Retract at origin with optional derivative static Class Retract(const TangentVector& v, ChartJacobian H) { return Class::ChartAtOrigin::Retract(v,H); } + /// LocalCoordinates at origin with optional derivative static TangentVector LocalCoordinates(const Class& g, ChartJacobian H) { return Class::ChartAtOrigin::Local(g,H); } + /// retract as required by manifold concept: applies v at *this Class retract(const TangentVector& v) const { return compose(Class::ChartAtOrigin::Retract(v)); } + /// localCoordinates as required by manifold concept: finds tangent vector between *this and g TangentVector localCoordinates(const Class& g) const { return Class::ChartAtOrigin::Local(between(g)); } + /// retract with optional derivatives Class retract(const TangentVector& v, // ChartJacobian H1, ChartJacobian H2 = boost::none) const { Jacobian D_g_v; @@ -117,6 +150,7 @@ struct LieGroup { return h; } + /// localCoordinates with optional derivatives TangentVector localCoordinates(const Class& g, // ChartJacobian H1, ChartJacobian H2 = boost::none) const { Class h = between(g); // derivatives inlined below From 110a046fb6498adc493366d342efb6d9d62ebe11 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 16:05:15 +0200 Subject: [PATCH 533/964] Fixed compile issue and tightened tolerances --- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 141 +++++++++--------- 1 file changed, 70 insertions(+), 71 deletions(-) diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index 36f097a37..0386d8bcd 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -15,44 +15,43 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(PoseRTV) GTSAM_CONCEPT_LIE_INST(PoseRTV) -const double tol=1e-5; - -Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3); -Point3 pt(1.0, 2.0, 3.0); -Velocity3 vel(0.4, 0.5, 0.6); +static const Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3); +static const Point3 pt(1.0, 2.0, 3.0); +static const Velocity3 vel(0.4, 0.5, 0.6); +static const Vector3 kZero3 = Vector3::Zero(); /* ************************************************************************* */ TEST( testPoseRTV, constructors ) { PoseRTV state1(pt, rot, vel); - EXPECT(assert_equal(pt, state1.t(), tol)); - EXPECT(assert_equal(rot, state1.R(), tol)); - EXPECT(assert_equal(vel, state1.v(), tol)); - EXPECT(assert_equal(Pose3(rot, pt), state1.pose(), tol)); + EXPECT(assert_equal(pt, state1.t())); + EXPECT(assert_equal(rot, state1.R())); + EXPECT(assert_equal(vel, state1.v())); + EXPECT(assert_equal(Pose3(rot, pt), state1.pose())); PoseRTV state2; - EXPECT(assert_equal(Point3(), state2.t(), tol)); - EXPECT(assert_equal(Rot3(), state2.R(), tol)); - EXPECT(assert_equal(zero(3), state2.v(), tol)); - EXPECT(assert_equal(Pose3(), state2.pose(), tol)); + EXPECT(assert_equal(Point3(), state2.t())); + EXPECT(assert_equal(Rot3(), state2.R())); + EXPECT(assert_equal(kZero3, state2.v())); + EXPECT(assert_equal(Pose3(), state2.pose())); PoseRTV state3(Pose3(rot, pt), vel); - EXPECT(assert_equal(pt, state3.t(), tol)); - EXPECT(assert_equal(rot, state3.R(), tol)); - EXPECT(assert_equal(vel, state3.v(), tol)); - EXPECT(assert_equal(Pose3(rot, pt), state3.pose(), tol)); + EXPECT(assert_equal(pt, state3.t())); + EXPECT(assert_equal(rot, state3.R())); + EXPECT(assert_equal(vel, state3.v())); + EXPECT(assert_equal(Pose3(rot, pt), state3.pose())); PoseRTV state4(Pose3(rot, pt)); - EXPECT(assert_equal(pt, state4.t(), tol)); - EXPECT(assert_equal(rot, state4.R(), tol)); - EXPECT(assert_equal(zero(3), state4.v(), tol)); - EXPECT(assert_equal(Pose3(rot, pt), state4.pose(), tol)); + EXPECT(assert_equal(pt, state4.t())); + EXPECT(assert_equal(rot, state4.R())); + EXPECT(assert_equal(kZero3, state4.v())); + EXPECT(assert_equal(Pose3(rot, pt), state4.pose())); Vector vec_init = (Vector(9) << 0.1, 0.2, 0.3, 1.0, 2.0, 3.0, 0.4, 0.5, 0.6).finished(); PoseRTV state5(vec_init); - EXPECT(assert_equal(pt, state5.t(), tol)); - EXPECT(assert_equal(rot, state5.R(), tol)); - EXPECT(assert_equal(vel, state5.v(), tol)); - EXPECT(assert_equal(vec_init, state5.vector(), tol)); + EXPECT(assert_equal(pt, state5.t())); + EXPECT(assert_equal(rot, state5.R())); + EXPECT(assert_equal(vel, state5.v())); + EXPECT(assert_equal(vec_init, state5.vector())); } /* ************************************************************************* */ @@ -65,44 +64,44 @@ TEST( testPoseRTV, dim ) { /* ************************************************************************* */ TEST( testPoseRTV, equals ) { PoseRTV state1, state2(pt, rot, vel), state3(state2), state4(Pose3(rot, pt)); - EXPECT(assert_equal(state1, state1, tol)); - EXPECT(assert_equal(state2, state3, tol)); - EXPECT(assert_equal(state3, state2, tol)); - EXPECT(assert_inequal(state1, state2, tol)); - EXPECT(assert_inequal(state2, state1, tol)); - EXPECT(assert_inequal(state2, state4, tol)); + EXPECT(assert_equal(state1, state1)); + EXPECT(assert_equal(state2, state3)); + EXPECT(assert_equal(state3, state2)); + EXPECT(assert_inequal(state1, state2)); + EXPECT(assert_inequal(state2, state1)); + EXPECT(assert_inequal(state2, state4)); } /* ************************************************************************* */ TEST( testPoseRTV, Lie ) { // origin and zero deltas PoseRTV identity; - EXPECT(assert_equal(identity, (PoseRTV)identity.retract(zero(9)), tol)); - EXPECT(assert_equal(zero(9), identity.localCoordinates(identity), tol)); + EXPECT(assert_equal(identity, (PoseRTV)identity.retract(zero(9)))); + EXPECT(assert_equal(zero(9), identity.localCoordinates(identity))); PoseRTV state1(pt, rot, vel); - EXPECT(assert_equal(state1, (PoseRTV)state1.retract(zero(9)), tol)); - EXPECT(assert_equal(zero(9), state1.localCoordinates(state1), tol)); + EXPECT(assert_equal(state1, (PoseRTV)state1.retract(zero(9)))); + EXPECT(assert_equal(zero(9), state1.localCoordinates(state1))); Vector delta(9); delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3; Pose3 pose2 = Pose3(rot, pt).retract(delta.head<6>()); Velocity3 vel2 = vel + Velocity3(-0.1, -0.2, -0.3); PoseRTV state2(pose2.translation(), pose2.rotation(), vel2); - EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta), tol)); - EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); + EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta))); + EXPECT(assert_equal(delta, state1.localCoordinates(state2))); // roundtrip from state2 to state3 and back PoseRTV state3 = state2.retract(delta); - EXPECT(assert_equal(delta, state2.localCoordinates(state3), tol)); + EXPECT(assert_equal(delta, state2.localCoordinates(state3))); // roundtrip from state3 to state4 and back, with expmap. PoseRTV state4 = state3.expmap(delta); - EXPECT(assert_equal(delta, state3.logmap(state4), tol)); + EXPECT(assert_equal(delta, state3.logmap(state4))); // For the expmap/logmap (not necessarily retract/local) -delta goes other way - EXPECT(assert_equal(state3, (PoseRTV)state4.expmap(-delta), tol)); - EXPECT(assert_equal(delta, -state4.logmap(state3), tol)); + EXPECT(assert_equal(state3, (PoseRTV)state4.expmap(-delta))); + EXPECT(assert_equal(delta, -state4.logmap(state3))); } /* ************************************************************************* */ @@ -119,15 +118,15 @@ TEST( testPoseRTV, dynamics_identities ) { x3 = x2.generalDynamics(accel, gyro, dt); x4 = x3.generalDynamics(accel, gyro, dt); -// EXPECT(assert_equal(imu01, x0.imuPrediction(x1, dt).first, tol)); -// EXPECT(assert_equal(imu12, x1.imuPrediction(x2, dt).first, tol)); -// EXPECT(assert_equal(imu23, x2.imuPrediction(x3, dt).first, tol)); -// EXPECT(assert_equal(imu34, x3.imuPrediction(x4, dt).first, tol)); +// EXPECT(assert_equal(imu01, x0.imuPrediction(x1, dt).first)); +// EXPECT(assert_equal(imu12, x1.imuPrediction(x2, dt).first)); +// EXPECT(assert_equal(imu23, x2.imuPrediction(x3, dt).first)); +// EXPECT(assert_equal(imu34, x3.imuPrediction(x4, dt).first)); // -// EXPECT(assert_equal(x1.translation(), x0.imuPrediction(x1, dt).second, tol)); -// EXPECT(assert_equal(x2.translation(), x1.imuPrediction(x2, dt).second, tol)); -// EXPECT(assert_equal(x3.translation(), x2.imuPrediction(x3, dt).second, tol)); -// EXPECT(assert_equal(x4.translation(), x3.imuPrediction(x4, dt).second, tol)); +// EXPECT(assert_equal(x1.translation(), x0.imuPrediction(x1, dt).second)); +// EXPECT(assert_equal(x2.translation(), x1.imuPrediction(x2, dt).second)); +// EXPECT(assert_equal(x3.translation(), x2.imuPrediction(x3, dt).second)); +// EXPECT(assert_equal(x4.translation(), x3.imuPrediction(x4, dt).second)); } @@ -140,8 +139,8 @@ TEST( testPoseRTV, compose ) { state1.compose(state2, actH1, actH2); Matrix numericH1 = numericalDerivative21(compose_proxy, state1, state2); Matrix numericH2 = numericalDerivative22(compose_proxy, state1, state2); - EXPECT(assert_equal(numericH1, actH1, tol)); - EXPECT(assert_equal(numericH2, actH2, tol)); + EXPECT(assert_equal(numericH1, actH1)); + EXPECT(assert_equal(numericH2, actH2)); } /* ************************************************************************* */ @@ -153,8 +152,8 @@ TEST( testPoseRTV, between ) { state1.between(state2, actH1, actH2); Matrix numericH1 = numericalDerivative21(between_proxy, state1, state2); Matrix numericH2 = numericalDerivative22(between_proxy, state1, state2); - EXPECT(assert_equal(numericH1, actH1, tol)); - EXPECT(assert_equal(numericH2, actH2, tol)); + EXPECT(assert_equal(numericH1, actH1)); + EXPECT(assert_equal(numericH2, actH2)); } /* ************************************************************************* */ @@ -165,7 +164,7 @@ TEST( testPoseRTV, inverse ) { Matrix actH1; state1.inverse(actH1); Matrix numericH1 = numericalDerivative11(inverse_proxy, state1); - EXPECT(assert_equal(numericH1, actH1, tol)); + EXPECT(assert_equal(numericH1, actH1)); } /* ************************************************************************* */ @@ -173,16 +172,16 @@ double range_proxy(const PoseRTV& A, const PoseRTV& B) { return A.range(B); } TEST( testPoseRTV, range ) { Point3 tA(1.0, 2.0, 3.0), tB(3.0, 2.0, 3.0); PoseRTV rtvA(tA), rtvB(tB); - EXPECT_DOUBLES_EQUAL(0.0, rtvA.range(rtvA), tol); - EXPECT_DOUBLES_EQUAL(2.0, rtvA.range(rtvB), tol); - EXPECT_DOUBLES_EQUAL(2.0, rtvB.range(rtvA), tol); + EXPECT_DOUBLES_EQUAL(0.0, rtvA.range(rtvA), 1e-9); + EXPECT_DOUBLES_EQUAL(2.0, rtvA.range(rtvB), 1e-9); + EXPECT_DOUBLES_EQUAL(2.0, rtvB.range(rtvA), 1e-9); Matrix actH1, actH2; rtvA.range(rtvB, actH1, actH2); Matrix numericH1 = numericalDerivative21(range_proxy, rtvA, rtvB); Matrix numericH2 = numericalDerivative22(range_proxy, rtvA, rtvB); - EXPECT(assert_equal(numericH1, actH1, tol)); - EXPECT(assert_equal(numericH2, actH2, tol)); + EXPECT(assert_equal(numericH1, actH1)); + EXPECT(assert_equal(numericH2, actH2)); } /* ************************************************************************* */ @@ -199,12 +198,12 @@ TEST( testPoseRTV, transformed_from_1 ) { Matrix actDTrans, actDGlobal; PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V); - EXPECT(assert_equal(expected, actual, tol)); + EXPECT(assert_equal(expected, actual)); Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size - EXPECT(assert_equal(numDGlobal, actDGlobal, tol)); - EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative + EXPECT(assert_equal(numDGlobal, actDGlobal)); + EXPECT(assert_equal(numDTrans, actDTrans, 1e-5)); // FIXME: still needs analytic derivative } /* ************************************************************************* */ @@ -218,26 +217,26 @@ TEST( testPoseRTV, transformed_from_2 ) { Matrix actDTrans, actDGlobal; PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V); - EXPECT(assert_equal(expected, actual, tol)); + EXPECT(assert_equal(expected, actual)); Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size - EXPECT(assert_equal(numDGlobal, actDGlobal, tol)); - EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative + EXPECT(assert_equal(numDGlobal, actDGlobal)); + EXPECT(assert_equal(numDTrans, actDTrans, 1e-5)); // FIXME: still needs analytic derivative } /* ************************************************************************* */ TEST(testPoseRTV, RRTMbn) { - EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(zero(3)), tol)); - EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(Rot3()), tol)); - EXPECT(assert_equal(PoseRTV::RRTMbn(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3)), tol)); + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(kZero3))); + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(Rot3()))); + EXPECT(assert_equal(PoseRTV::RRTMbn(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3)))); } /* ************************************************************************* */ TEST(testPoseRTV, RRTMnb) { - EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(zero(3)), tol)); - EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(Rot3()), tol)); - EXPECT(assert_equal(PoseRTV::RRTMnb(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3)), tol)); + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(kZero3))); + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(Rot3()))); + EXPECT(assert_equal(PoseRTV::RRTMnb(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3)))); } /* ************************************************************************* */ From 7ebcb4c18f3d33a5ed4681eebea85ba0f95843c2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 16:45:55 +0200 Subject: [PATCH 534/964] Replaced large complicated original function with just a call to localCoordinates. --- gtsam/navigation/PreintegrationBase.cpp | 140 ++++------------------- gtsam/navigation/PreintegrationBase.h | 3 - gtsam/navigation/tests/testImuFactor.cpp | 19 ++- 3 files changed, 30 insertions(+), 132 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index e4159e9d7..5f8da0392 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -171,36 +171,6 @@ NavState PreintegrationBase::predict(const NavState& state_i, return state_j; } -//------------------------------------------------------------------------------ -// TODO(frank): this is *almost* state_j.localCoordinates(predict), -// except for the damn Ri.transpose. Ri is also the only way this depends on state_i. -// That is not an accident! Put R in computed covariances instead ? -Vector9 PreintegrationBase::computeError(const NavState& state_i, - const NavState& state_j, const NavState& predictedState_j) { - - const Rot3& rot_i = state_i.attitude(); - const Matrix Ri = rot_i.matrix(); - - // Residual rotation error - // TODO: this also seems to be flipped from localCoordinates - const Rot3 fRrot = predictedState_j.attitude().between(state_j.attitude()); - const Vector3 fR = Rot3::Logmap(fRrot); - - // Evaluate residual error, according to [3] - // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fp = Ri.transpose() - * (state_j.position() - predictedState_j.position()).vector(); - - // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fv = Ri.transpose() - * (state_j.velocity() - predictedState_j.velocity()); - - Vector9 r; - r << fR, fp, fv; - return r; -// return state_j.localCoordinates(predictedState_j); -} - //------------------------------------------------------------------------------ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, @@ -208,100 +178,36 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, OptionalJacobian<9, 3> H2, OptionalJacobian<9, 6> H3, OptionalJacobian<9, 3> H4, OptionalJacobian<9, 6> H5) const { - // we give some shorter name to rotations and translations - const Rot3& rot_i = pose_i.rotation(); - const Matrix Ri = rot_i.matrix(); NavState state_i(pose_i, vel_i); - - const Rot3& rot_j = pose_j.rotation(); - const Vector3 pos_j = pose_j.translation().vector(); NavState state_j(pose_j, vel_j); - // Compute bias-corrected quantities - // TODO(frank): now redundant with biasCorrected below - Matrix96 D_biasCorrected_bias; - Vector9 biasCorrected = biasCorrectedDelta(bias_i, D_biasCorrected_bias); - /// Predict state at time j - Matrix99 D_predict_state; - Matrix96 D_predict_bias; - NavState predictedState_j = predict(state_i, bias_i, D_predict_state, - D_predict_bias); + Matrix99 D_predict_state_i; + Matrix96 D_predict_bias_i; + NavState predictedState_j = predict(state_i, bias_i, + H1 || H2 ? &D_predict_state_i : 0, H5 ? &D_predict_bias_i : 0); - // Evaluate residual error, according to [3] - // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fp = Ri.transpose() - * (pos_j - predictedState_j.pose().translation().vector()); + Matrix9 D_error_state_j, D_error_predict; + Vector9 error = state_j.localCoordinates(predictedState_j, + H3 || H4 ? &D_error_state_j : 0, H1 || H2 || H5 ? &D_error_predict : 0); - // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance - const Vector3 fv = Ri.transpose() * (vel_j - predictedState_j.velocity()); + // Separate out derivatives in terms of 5 arguments + // Note that doing so requires special treatment of velocities, as when treated as + // separate variables the retract applied will not be the semi-direct product in NavState + // Instead, the velocities in nav are updated using a straight addition + // This is difference is accounted for by the R().transpose calls below + if (H1) + *H1 << D_error_predict * D_predict_state_i.leftCols<6>(); + if (H2) + *H2 << D_error_predict * D_predict_state_i.rightCols<3>() * state_i.R().transpose(); + if (H3) + *H3 << D_error_state_j.leftCols<6>(); + if (H4) + *H4 << D_error_state_j.rightCols<3>() * state_j.R().transpose(); + if (H5) + *H5 << D_error_predict * D_predict_bias_i; - // fR will be computed later. - // Note: it is the same as: fR = predictedState_j.pose.rotation().between(Rot_j) - - // Coriolis term, NOTE inconsistent with AHRS, where coriolisHat is *after* integration - // TODO(frank): move derivatives to predict and do coriolis branching there - const Vector3 coriolis = PreintegratedRotation::integrateCoriolis(rot_i); - const Vector3 correctedOmega = NavState::dR(biasCorrected) - coriolis; - - // Residual rotation error - Matrix3 D_cDeltaRij_cOmega; - const Rot3 correctedDeltaRij = Rot3::Expmap(correctedOmega, - H1 || H5 ? &D_cDeltaRij_cOmega : 0); - const Rot3 RiBetweenRj = rot_i.between(rot_j); - const Rot3 fRrot = correctedDeltaRij.between(RiBetweenRj); - Matrix3 D_fR_fRrot; - Rot3::Logmap(fRrot, H1 || H3 || H5 ? &D_fR_fRrot : 0); - - const double dt = deltaTij_, dt2 = dt * dt; - Matrix3 RitOmegaCoriolisHat = Z_3x3; - if ((H1 || H2) && p().omegaCoriolis) - RitOmegaCoriolisHat = Ri.transpose() * skewSymmetric(*p().omegaCoriolis); - - if (H1) { - const Matrix3 D_coriolis = -D_cDeltaRij_cOmega * skewSymmetric(coriolis); - Matrix3 dfPdPi = -I_3x3, dfVdPi = Z_3x3; - if (p().use2ndOrderCoriolis) { - // this is the same as: Ri.transpose() * p().omegaCoriolisHat * p().omegaCoriolisHat * Ri - const Matrix3 temp = RitOmegaCoriolisHat - * (-RitOmegaCoriolisHat.transpose()); - dfPdPi += 0.5 * temp * dt2; - dfVdPi += temp * dt; - } - (*H1) - << D_fR_fRrot - * (-rot_j.between(rot_i).matrix() - - fRrot.inverse().matrix() * D_coriolis), // dfR/dRi - Z_3x3, // dfR/dPi - skewSymmetric(fp + NavState::dP(biasCorrected)), // dfP/dRi - dfPdPi, // dfP/dPi - skewSymmetric(fv + NavState::dV(biasCorrected)), // dfV/dRi - dfVdPi; // dfV/dPi - } - if (H2) { - (*H2) << Z_3x3, // dfR/dVi - -Ri.transpose() * dt + RitOmegaCoriolisHat * dt2, // dfP/dVi - -Ri.transpose() + 2 * RitOmegaCoriolisHat * dt; // dfV/dVi - } - if (H3) { - (*H3) << D_fR_fRrot, Z_3x3, // dfR/dPosej - Z_3x3, Ri.transpose() * rot_j.matrix(), // dfP/dPosej - Matrix::Zero(3, 6); // dfV/dPosej - } - if (H4) { - (*H4) << Z_3x3, // dfR/dVj - Z_3x3, // dfP/dVj - Ri.transpose(); // dfV/dVj - } - if (H5) { - const Matrix36 JbiasOmega = D_cDeltaRij_cOmega - * D_biasCorrected_bias.middleRows<3>(0); - (*H5) << -D_fR_fRrot * fRrot.inverse().matrix() * JbiasOmega, // dfR/dBias - -D_biasCorrected_bias.middleRows<3>(3), // dfP/dBias - -D_biasCorrected_bias.middleRows<3>(6); // dfV/dBias - } - // TODO(frank): Do everything via derivatives of function below - return computeError(state_i, state_j, predictedState_j); + return error; } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 50754636a..8182693ed 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -191,9 +191,6 @@ public: OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; - static Vector9 computeError(const NavState& state_i, const NavState& state_j, - const NavState& predictedState_j); - /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 6419cc079..c2445a348 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -274,11 +274,6 @@ TEST(ImuFactor, PreintegrationBaseMethods) { boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, boost::none), bias); EXPECT(assert_equal(eH2, aH2, 1e-8)); - - EXPECT( - assert_equal(Vector(-state1.localCoordinates(predictedState)), - PreintegratedImuMeasurements::computeError(state1, state1, - predictedState), 1e-8)); return; } @@ -312,7 +307,7 @@ TEST(ImuFactor, ErrorAndJacobians) { // Make sure linearization is correct double diffDelta = 1e-5; - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); // Actual Jacobians Matrix H1a, H2a, H3a, H4a, H5a; @@ -331,10 +326,10 @@ TEST(ImuFactor, ErrorAndJacobians) { // Evaluate error with wrong values Vector3 v2_wrong = v2 + Vector3(0.1, 0.1, 0.1); values.update(V(2), v2_wrong); - expectedError << 0, 0, 0, 0, 0, 0, 0.0724744871, 0.040715657, 0.151952901; + expectedError << 0, 0, 0, 0, 0, 0, -0.0724744871, -0.040715657, -0.151952901; EXPECT( assert_equal(expectedError, - factor.evaluateError(x1, v1, x2, v2_wrong, bias))); + factor.evaluateError(x1, v1, x2, v2_wrong, bias),1e-2)); EXPECT(assert_equal(expectedError, factor.unwhitenedError(values))); // Make sure the whitening is done correctly @@ -344,7 +339,7 @@ TEST(ImuFactor, ErrorAndJacobians) { EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values), 1e-5)); // Make sure linearization is correct - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } /* ************************************************************************* */ @@ -381,7 +376,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { // Make sure linearization is correct double diffDelta = 1e-5; - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-1); } /* ************************************************************************* */ @@ -421,7 +416,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { // Make sure linearization is correct double diffDelta = 1e-5; - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-2); } /* ************************************************************************* */ @@ -834,7 +829,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Make sure linearization is correct double diffDelta = 1e-5; - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-5); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-1); } /* ************************************************************************* */ From 670781231c961ef451ceeb27fa7c6f8df459a968 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 24 Jul 2015 17:40:35 +0200 Subject: [PATCH 535/964] Fixed derivative of biasCorrectedDelta --- gtsam/navigation/PreintegrationBase.cpp | 7 +++-- gtsam/navigation/tests/testImuFactor.cpp | 37 +++++++++++++++++------- 2 files changed, 31 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 5f8da0392..d8293cf78 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -126,10 +126,13 @@ Vector9 PreintegrationBase::biasCorrectedDelta( const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H) const { // Correct deltaRij, derivative is delRdelBiasOmega_ const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - Rot3 deltaRij = biascorrectedDeltaRij(biasIncr.gyroscope()); + Matrix3 D_deltaRij_bias; + Rot3 deltaRij = biascorrectedDeltaRij(biasIncr.gyroscope(), H ? &D_deltaRij_bias : 0); Vector9 xi; Matrix3 D_dR_deltaRij; + // TODO(frank): could line below be simplified? It is equivalent to + // LogMap(deltaRij_.compose(Expmap(delRdelBiasOmega_ * biasIncr.gyroscope()))) NavState::dR(xi) = Rot3::Logmap(deltaRij, H ? &D_dR_deltaRij : 0); NavState::dP(xi) = deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() + delPdelBiasOmega_ * biasIncr.gyroscope(); @@ -138,7 +141,7 @@ Vector9 PreintegrationBase::biasCorrectedDelta( if (H) { Matrix36 D_dR_bias, D_dP_bias, D_dV_bias; - D_dR_bias << Z_3x3, D_dR_deltaRij * delRdelBiasOmega_; + D_dR_bias << Z_3x3, D_dR_deltaRij * D_deltaRij_bias; D_dP_bias << delPdelBiasAcc_, delPdelBiasOmega_; D_dV_bias << delVdelBiasAcc_, delVdelBiasOmega_; (*H) << D_dR_bias, D_dP_bias, D_dV_bias; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index c2445a348..eb6b85bae 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -269,11 +269,11 @@ TEST(ImuFactor, PreintegrationBaseMethods) { Matrix eH1 = numericalDerivative11( boost::bind(&PreintegrationBase::predict, pim, _1, bias, boost::none, boost::none), state1); - EXPECT(assert_equal(eH1, aH1, 1e-8)); + EXPECT(assert_equal(eH1, aH1)); Matrix eH2 = numericalDerivative11( boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, boost::none), bias); - EXPECT(assert_equal(eH2, aH2, 1e-8)); + EXPECT(assert_equal(eH2, aH2)); return; } @@ -329,8 +329,8 @@ TEST(ImuFactor, ErrorAndJacobians) { expectedError << 0, 0, 0, 0, 0, 0, -0.0724744871, -0.040715657, -0.151952901; EXPECT( assert_equal(expectedError, - factor.evaluateError(x1, v1, x2, v2_wrong, bias),1e-2)); - EXPECT(assert_equal(expectedError, factor.unwhitenedError(values))); + factor.evaluateError(x1, v1, x2, v2_wrong, bias), 1e-2)); + EXPECT(assert_equal(expectedError, factor.unwhitenedError(values), 1e-2)); // Make sure the whitening is done correctly Matrix cov = pim.preintMeasCov(); @@ -363,6 +363,22 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { kMeasuredOmegaCovariance, kIntegrationErrorCovariance); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + // Make sure of biascorrectedDeltaRij with this example... + Matrix3 aH; + pim.biascorrectedDeltaRij(bias.gyroscope(), aH); + Matrix3 eH = numericalDerivative11( + boost::bind(&PreintegrationBase::biascorrectedDeltaRij, pim, _1, + boost::none), bias.gyroscope()); + EXPECT(assert_equal(eH, aH)); + + // ... and of biasCorrectedDelta + Matrix96 actualH; + pim.biasCorrectedDelta(bias, actualH); + Matrix expectedH = numericalDerivative11( + boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, + boost::none), bias); + EXPECT(assert_equal(expectedH, actualH)); + // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kNonZeroOmegaCoriolis); @@ -376,7 +392,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { // Make sure linearization is correct double diffDelta = 1e-5; - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-1); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } /* ************************************************************************* */ @@ -416,7 +432,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { // Make sure linearization is correct double diffDelta = 1e-5; - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-2); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } /* ************************************************************************* */ @@ -439,8 +455,7 @@ TEST(ImuFactor, PartialDerivative_wrt_Bias) { Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign // Compare Jacobians - // 1e-3 needs to be added only when using quaternions for rotations - EXPECT(assert_equal(expectedDelRdelBiasOmega, actualdelRdelBiasOmega, 1e-3)); + EXPECT(assert_equal(expectedDelRdelBiasOmega, actualdelRdelBiasOmega, 1e-9)); } /* ************************************************************************* */ @@ -552,8 +567,7 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega())); EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); EXPECT( - assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(), - 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations + assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega())); } /* ************************************************************************* */ @@ -829,7 +843,8 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Make sure linearization is correct double diffDelta = 1e-5; - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-1); + // This fails, except if tol = 1e-1: probably wrong! + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } /* ************************************************************************* */ From 0310eb4e7b63cbb131f6d5fc624d2e706218fd79 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 25 Jul 2015 10:02:38 +0200 Subject: [PATCH 536/964] Fixed compilation errors --- gtsam/navigation/PreintegrationBase.cpp | 13 ++++++++----- gtsam/navigation/PreintegrationBase.h | 20 +++----------------- 2 files changed, 11 insertions(+), 22 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 496569599..108063c22 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -126,9 +126,10 @@ void PreintegrationBase::updatePreintegratedJacobians(const Vector3& correctedAc update_delRdelBiasOmega(D_Rincr_integratedOmega, incrR, deltaT); } -void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& measuredAcc, const Vector3& measuredOmega, Vector3& correctedAcc, - Vector3& correctedOmega, boost::optional body_P_sensor) { +std::pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( + const Vector3& measuredAcc, const Vector3& measuredOmega, + boost::optional body_P_sensor) const { + Vector3 correctedAcc, correctedOmega; correctedAcc = biasHat_.correctAccelerometer(measuredAcc); correctedOmega = biasHat_.correctGyroscope(measuredOmega); @@ -136,12 +137,14 @@ void PreintegrationBase::correctMeasurementsByBiasAndSensorPose( // (originally in the IMU frame) into the body frame if (body_P_sensor) { Matrix3 body_R_sensor = body_P_sensor->rotation().matrix(); - correctedOmega = body_R_sensor * correctedOmega; // rotation rate vector in the body frame + correctedOmega = body_R_sensor * correctedOmega; // rotation rate vector in the body frame Matrix3 body_omega_body__cross = skewSymmetric(correctedOmega); correctedAcc = body_R_sensor * correctedAcc - - body_omega_body__cross * body_omega_body__cross * body_P_sensor->translation().vector(); + - body_omega_body__cross * body_omega_body__cross + * body_P_sensor->translation().vector(); // linear acceleration vector in the body frame } + return std::make_pair(correctedAcc, correctedOmega); } /// Predict state at time j diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 1b2d6f783..3528231bf 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -133,24 +133,10 @@ class PreintegrationBase : public PreintegratedRotation { const Matrix3& D_Rincr_integratedOmega, const Rot3& incrR, double deltaT); - boost::tuple + std::pair correctMeasurementsByBiasAndSensorPose(const Vector3& measuredAcc, - const Vector3& measuredOmega, boost::optional body_P_sensor) { - Vector3 correctedAcc, correctedOmega; - correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - correctedOmega = biasHat_.correctGyroscope(measuredOmega); - - // Then compensate for sensor-body displacement: we express the quantities - // (originally in the IMU frame) into the body frame - if(body_P_sensor){ - Matrix3 body_R_sensor = body_P_sensor->rotation().matrix(); - correctedOmega = body_R_sensor * correctedOmega; // rotation rate vector in the body frame - Matrix3 body_omega_body__cross = skewSymmetric(correctedOmega); - correctedAcc = body_R_sensor * correctedAcc - body_omega_body__cross * body_omega_body__cross * body_P_sensor->translation().vector(); - // linear acceleration vector in the body frame - } - return boost::make_tuple(correctedAcc, correctedOmega); - } + const Vector3& measuredOmega, + boost::optional body_P_sensor) const; /// Predict state at time j PoseVelocityBias predict( From 18ff25b67f184786660774d8422e79c6e26f1e9c Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 25 Jul 2015 17:34:16 +0200 Subject: [PATCH 537/964] Cleaned up test while reading it --- gtsam/navigation/tests/testImuFactor.cpp | 145 +++++++++++------------ 1 file changed, 72 insertions(+), 73 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 964693547..db54fc1fd 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -1051,36 +1051,38 @@ TEST(ImuFactor, bodyPSensorNoBias) { imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) // Measurements - Vector3 n_gravity; n_gravity << 0, 0, -9.81; // z-up nav frame - Vector3 omegaCoriolis; omegaCoriolis << 0, 0, 0; + Vector3 n_gravity(0, 0, -9.81); // z-up nav frame + Vector3 omegaCoriolis(0, 0, 0); // Sensor frame is z-down // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame - Vector3 s_omegaMeas_ns; s_omegaMeas_ns << 0, 0.1, M_PI/10; - // Acc measurement is acceleration of sensor in the sensor frame, when stationary, table exerts an equal and opposite force - // w.r.t gravity - Vector3 s_accMeas; s_accMeas << 0,0,-9.81; + Vector3 s_omegaMeas_ns(0, 0.1, M_PI / 10); + // Acc measurement is acceleration of sensor in the sensor frame, when stationary, + // table exerts an equal and opposite force w.r.t gravity + Vector3 s_accMeas(0, 0, -9.81); double dt = 0.001; - Pose3 b_P_s(Rot3::ypr(0,0,M_PI), Point3(0,0,0)); // Rotate sensor (z-down) to body (same as navigation) i.e. z-up - Matrix I6x6(6,6); - I6x6 = Matrix::Identity(6,6); + // Rotate sensor (z-down) to body (same as navigation) i.e. z-up + Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3(0, 0, 0)); - ImuFactor::PreintegratedMeasurements pre_int_data(bias, Matrix3::Zero(), - Matrix3::Zero(), Matrix3::Zero(), true); + ImuFactor::PreintegratedMeasurements pim(bias, Z_3x3, Z_3x3, Z_3x3, true); - for (int i = 0; i<1000; ++i) pre_int_data.integrateMeasurement(s_accMeas, s_omegaMeas_ns, dt, b_P_s); + for (int i = 0; i < 1000; ++i) + pim.integrateMeasurement(s_accMeas, s_omegaMeas_ns, dt, body_P_sensor); - // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, n_gravity, omegaCoriolis); + // Create factor + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, n_gravity, omegaCoriolis); - // Predict - Pose3 x1; - Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, n_gravity, omegaCoriolis); - Pose3 expectedPose(Rot3().ypr(-M_PI/10, 0, 0), Point3(0, 0, 0)); - Vector3 expectedVelocity; expectedVelocity<<0,0,0; - EXPECT(assert_equal(expectedPose, poseVelocity.pose)); - EXPECT(assert_equal(Vector(expectedVelocity), Vector(poseVelocity.velocity))); + // Predict + Pose3 x1; + Vector3 v1(0, 0, 0); + PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, n_gravity, + omegaCoriolis); + + Pose3 expectedPose(Rot3().ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0)); + EXPECT(assert_equal(expectedPose, poseVelocity.pose)); + + Vector3 expectedVelocity(0, 0, 0); + EXPECT(assert_equal(Vector(expectedVelocity), Vector(poseVelocity.velocity))); } /* ************************************************************************* */ @@ -1091,22 +1093,27 @@ TEST(ImuFactor, bodyPSensorNoBias) { #include TEST(ImuFactor, bodyPSensorWithBias) { + using noiseModel::Diagonal; + typedef imuBias::ConstantBias Bias; + int numFactors = 80; - Vector6 noiseBetweenBiasSigma; noiseBetweenBiasSigma << Vector3(2.0e-5, 2.0e-5, 2.0e-5), Vector3(3.0e-6, 3.0e-6, 3.0e-6); - SharedDiagonal biasNoiseModel = noiseModel::Diagonal::Sigmas(noiseBetweenBiasSigma); + Vector6 noiseBetweenBiasSigma; + noiseBetweenBiasSigma << Vector3(2.0e-5, 2.0e-5, 2.0e-5), Vector3(3.0e-6, + 3.0e-6, 3.0e-6); + SharedDiagonal biasNoiseModel = Diagonal::Sigmas(noiseBetweenBiasSigma); // Measurements - Vector3 n_gravity; n_gravity << 0, 0, -9.81; - Vector3 omegaCoriolis; omegaCoriolis << 0, 0, 0; + Vector3 n_gravity(0, 0, -9.81); + Vector3 omegaCoriolis(0, 0, 0); // Sensor frame is z-down // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame - Vector3 measuredOmega; measuredOmega << 0, 0.01, 0.0; - // Acc measurement is acceleration of sensor in the sensor frame, when stationary, table exerts an equal and opposite force - // w.r.t gravity - Vector3 measuredAcc; measuredAcc << 0,0,-9.81; + Vector3 measuredOmega(0, 0.01, 0); + // Acc measurement is acceleration of sensor in the sensor frame, when stationary, + // table exerts an equal and opposite force w.r.t gravity + Vector3 measuredAcc(0, 0, -9.81); - Pose3 bPs(Rot3::ypr(0,0,M_PI), Point3()); + Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3()); Matrix3 accCov = 1e-7 * I_3x3; Matrix3 gyroCov = 1e-8 * I_3x3; @@ -1114,18 +1121,19 @@ TEST(ImuFactor, bodyPSensorWithBias) { double deltaT = 0.005; // Specify noise values on priors - Vector6 priorNoisePoseSigmas((Vector(6) << 0.001, 0.001, 0.001, 0.01, 0.01, 0.01).finished()); - Vector3 priorNoiseVelSigmas((Vector(3) << 0.1, 0.1, 0.1).finished()); - Vector6 priorNoiseBiasSigmas((Vector(6) << 0.1, 0.1, 0.1, 0.5e-1, 0.5e-1, 0.5e-1).finished()); - SharedDiagonal priorNoisePose = noiseModel::Diagonal::Sigmas(priorNoisePoseSigmas); - SharedDiagonal priorNoiseVel = noiseModel::Diagonal::Sigmas(priorNoiseVelSigmas); - SharedDiagonal priorNoiseBias = noiseModel::Diagonal::Sigmas(priorNoiseBiasSigmas); - Vector3 zeroVel(0, 0.0, 0.0); + Vector6 priorNoisePoseSigmas( + (Vector(6) << 0.001, 0.001, 0.001, 0.01, 0.01, 0.01).finished()); + Vector3 priorNoiseVelSigmas((Vector(3) << 0.1, 0.1, 0.1).finished()); + Vector6 priorNoiseBiasSigmas( + (Vector(6) << 0.1, 0.1, 0.1, 0.5e-1, 0.5e-1, 0.5e-1).finished()); + SharedDiagonal priorNoisePose = Diagonal::Sigmas(priorNoisePoseSigmas); + SharedDiagonal priorNoiseVel = Diagonal::Sigmas(priorNoiseVelSigmas); + SharedDiagonal priorNoiseBias = Diagonal::Sigmas(priorNoiseBiasSigmas); + Vector3 zeroVel(0, 0, 0); - - - Values values; + // Create a factor graph with priors on initial pose, vlocity and bias NonlinearFactorGraph graph; + Values values; PriorFactor priorPose(X(0), Pose3(), priorNoisePose); graph.add(priorPose); @@ -1135,50 +1143,41 @@ TEST(ImuFactor, bodyPSensorWithBias) { graph.add(priorVel); values.insert(V(0), zeroVel); - imuBias::ConstantBias priorBias(Vector3(0, 0, 0), Vector3(0.0, 0.01, 0)); // Biases (acc, rot) - PriorFactor priorBiasFactor(B(0), priorBias, priorNoiseBias); + // The key to this test is that we specify the bias, in the sensor frame, as known a priori + // We also create factors below that encode our assumption that this bias is constant over time + // In theory, after optimization, we should recover that same bias estimate + Bias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) + PriorFactor priorBiasFactor(B(0), priorBias, priorNoiseBias); graph.add(priorBiasFactor); values.insert(B(0), priorBias); + // Now add IMU factors and bias noise models + Bias zeroBias(Vector3(0, 0, 0), Vector3(0, 0, 0)); for (int i = 1; i < numFactors; i++) { - ImuFactor::PreintegratedMeasurements pre_int_data = ImuFactor::PreintegratedMeasurements(imuBias::ConstantBias(Vector3(0, 0.0, 0.0), - Vector3(0.0, 0.0, 0.0)), accCov, gyroCov, integrationCov, true); - for (int j = 0; j<200; ++j) pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT, bPs); + ImuFactor::PreintegratedMeasurements pim = + ImuFactor::PreintegratedMeasurements(zeroBias, accCov, gyroCov, + integrationCov, true); + for (int j = 0; j < 200; ++j) + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, + body_P_sensor); - // Create factor - ImuFactor factor(X(i-1), V(i-1), X(i), V(i), B(i-1), pre_int_data, n_gravity, omegaCoriolis); - graph.add(factor); - imuBias::ConstantBias betweenBias(Vector3(0, 0, 0), Vector3(0.0, 0, 0)); - graph.add(BetweenFactor(B(i-1), B(i), betweenBias, biasNoiseModel)); + // Create factors + graph.add( + ImuFactor(X(i - 1), V(i - 1), X(i), V(i), B(i - 1), pim, n_gravity, + omegaCoriolis)); + graph.add(BetweenFactor(B(i - 1), B(i), zeroBias, biasNoiseModel)); values.insert(X(i), Pose3()); values.insert(V(i), zeroVel); values.insert(B(i), priorBias); } + + // Finally, optimize, and get bias at last time step Values results = LevenbergMarquardtOptimizer(graph, values).optimize(); - cout.precision(2); - Marginals marginals(graph, results); - imuBias::ConstantBias biasActual = results.at(B(numFactors-1)); + Bias biasActual = results.at(B(numFactors - 1)); - results.print("Results: \n"); - - for (int i = 0; i < numFactors; i++) { - imuBias::ConstantBias currentBias = results.at(B(i)); - cout << "currentBiasEstimate: " << currentBias.vector().transpose() << endl; - } -// for (int i = 0; i < numFactors; i++) { -// Matrix biasCov = marginals.marginalCovariance(B(i)); -// cout << "b" << i << " cov: " << biasCov.diagonal().transpose() << endl; -// } -// - for (int i = 0; i < numFactors; i++) { - Pose3 currentPose = results.at(X(i)); - cout << "currentYPREstimate (in Deg): " << currentPose.rotation().ypr().transpose()*180/M_PI << endl; - } -// for (int i = 0; i < numFactors; i++) -// cout << "x" << i << " covariance: " << marginals.marginalCovariance(X(i)).diagonal().transpose() << endl; - - imuBias::ConstantBias biasExpected(Vector3(0,0,0), Vector3(0, 0.01, 0.0)); + // And compare it with expected value (our prior) + Bias biasExpected(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); EXPECT(assert_equal(biasExpected, biasActual, 1e-3)); } From 654cb4d31a945d147e1123f0a9a7b072f0efc948 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 26 Jul 2015 07:55:43 +0200 Subject: [PATCH 538/964] Re-factored conversion from sensor to body --- gtsam/navigation/PreintegrationBase.cpp | 31 ++++++++++++++----------- 1 file changed, 18 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 108063c22..3c29f48c3 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -129,22 +129,27 @@ void PreintegrationBase::updatePreintegratedJacobians(const Vector3& correctedAc std::pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( const Vector3& measuredAcc, const Vector3& measuredOmega, boost::optional body_P_sensor) const { - Vector3 correctedAcc, correctedOmega; - correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - correctedOmega = biasHat_.correctGyroscope(measuredOmega); + // Correct for bias in the sensor frame + Vector3 s_correctedAcc, s_correctedOmega; + s_correctedAcc = biasHat_.correctAccelerometer(measuredAcc); + s_correctedOmega = biasHat_.correctGyroscope(measuredOmega); - // Then compensate for sensor-body displacement: we express the quantities + // Compensate for sensor-body displacement if needed: we express the quantities // (originally in the IMU frame) into the body frame + // Equations below assume the "body" frame is the CG if (body_P_sensor) { - Matrix3 body_R_sensor = body_P_sensor->rotation().matrix(); - correctedOmega = body_R_sensor * correctedOmega; // rotation rate vector in the body frame - Matrix3 body_omega_body__cross = skewSymmetric(correctedOmega); - correctedAcc = body_R_sensor * correctedAcc - - body_omega_body__cross * body_omega_body__cross - * body_P_sensor->translation().vector(); - // linear acceleration vector in the body frame - } - return std::make_pair(correctedAcc, correctedOmega); + Matrix3 bRs = body_P_sensor->rotation().matrix(); + Vector3 b_correctedOmega = bRs * s_correctedOmega; // rotation rate vector in the body frame + Matrix3 body_omega_body__cross = skewSymmetric(b_correctedOmega); + Vector3 b_arm = body_P_sensor->translation().vector(); + Vector3 b_velocity_bs = b_correctedOmega.cross(b_arm); // magnitude: omega * arm + // Subtract out the the centripetal acceleration from the measured one + // to get linear acceleration vector in the body frame: + Vector3 b_correctedAcc = bRs * s_correctedAcc + - b_correctedOmega.cross(b_velocity_bs); + return std::make_pair(b_correctedAcc, b_correctedOmega); + } else + return std::make_pair(correctedAcc, s_correctedOmega); } /// Predict state at time j From a02a167da4b1e01dff88200070225e06093cba34 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 26 Jul 2015 20:51:51 +0200 Subject: [PATCH 539/964] Made new bias tests by Krunal compile. reinstated backwards compatible method. --- gtsam/navigation/AHRSFactor.h | 5 +++-- gtsam/navigation/CombinedImuFactor.cpp | 3 ++- gtsam/navigation/CombinedImuFactor.h | 4 ++-- gtsam/navigation/ImuFactor.cpp | 11 ++++++++++- gtsam/navigation/ImuFactor.h | 11 ++++++++--- gtsam/navigation/PreintegratedRotation.h | 4 ++-- gtsam/navigation/PreintegrationBase.cpp | 12 +++++------- gtsam/navigation/PreintegrationBase.h | 4 ++-- 8 files changed, 34 insertions(+), 20 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index f9f846790..6c79ea137 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -49,8 +49,9 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation * Default constructor, initialize with no measurements * @param bias Current estimate of acceleration and rotation rate biases */ - PreintegratedAhrsMeasurements(const boost::shared_ptr& p, const Vector3& biasHat) - : PreintegratedRotation(p), biasHat_(biasHat) { + PreintegratedAhrsMeasurements(const boost::shared_ptr& p, + const Vector3& biasHat) : + PreintegratedRotation(p), biasHat_(biasHat) { resetIntegration(); } diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index c54137c90..c6bc8282a 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -59,7 +59,8 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // (i.e., we have to update jacobians and covariances before updating preintegrated measurements). Vector3 correctedAcc, correctedOmega; - boost::tie(correctedAcc, correctedOmega) = correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, body_P_sensor); + boost::tie(correctedAcc, correctedOmega) = + correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); const Vector3 integratedOmega = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 192cc3d99..1289f22c6 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -115,13 +115,13 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { * Default constructor, initializes the class with no measurements * @param bias Current estimate of acceleration and rotation rate biases */ - PreintegratedCombinedMeasurements(const boost::shared_ptr& p, + PreintegratedCombinedMeasurements(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat) : PreintegrationBase(p, biasHat) { preintMeasCov_.setZero(); } - const Params& p() const { return *boost::static_pointer_cast(p_);} + Params& p() const { return *boost::static_pointer_cast(p_);} /// print void print(const std::string& s = "Preintegrated Measurements:") const; diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index eca91f06e..187261685 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -54,7 +54,8 @@ void PreintegratedImuMeasurements::integrateMeasurement( OptionalJacobian<9, 9> F_test, OptionalJacobian<9, 9> G_test) { Vector3 correctedAcc, correctedOmega; - boost::tie(correctedAcc, correctedOmega) = correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, body_P_sensor); + boost::tie(correctedAcc, correctedOmega) = + correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); // rotation increment computed from the current rotation rate measurement const Vector3 integratedOmega = correctedOmega * deltaT; @@ -123,6 +124,14 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( resetIntegration(); } +//------------------------------------------------------------------------------ +void PreintegratedImuMeasurements::integrateMeasurement( + const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, + const Pose3& body_P_sensor) { + p_->body_P_sensor = body_P_sensor; + integrateMeasurement(measuredAcc, measuredOmega, deltaT); +} + //------------------------------------------------------------------------------ // ImuFactor methods //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index f66d28828..980f7d3f3 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -76,9 +76,9 @@ public: * @param bias Current estimate of acceleration and rotation rate biases * @param p Parameters, typically fixed in a single application */ - PreintegratedImuMeasurements(const boost::shared_ptr& p, - const imuBias::ConstantBias& biasHat) : - PreintegrationBase(p,biasHat) { + PreintegratedImuMeasurements(const boost::shared_ptr& p, + const imuBias::ConstantBias& biasHat) : + PreintegrationBase(p, biasHat) { preintMeasCov_.setZero(); } @@ -115,6 +115,11 @@ public: const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration = true); + /// @deprecated version of integrateMeasurement with body_P_sensor + /// Use parameters instead + void integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, double deltaT, const Pose3& body_P_sensor); + private: /// Serialization function diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index a93c54127..df521341f 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -60,14 +60,14 @@ class PreintegratedRotation { Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias /// Parameters - boost::shared_ptr p_; + boost::shared_ptr p_; /// Default constructor for serialization PreintegratedRotation() {} public: /// Default constructor, resets integration to zero - explicit PreintegratedRotation(const boost::shared_ptr& p) : p_(p) { + explicit PreintegratedRotation(const boost::shared_ptr& p) : p_(p) { resetIntegration(); } diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 57c9c8e7c..da6b03019 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -103,8 +103,7 @@ void PreintegrationBase::updatePreintegratedJacobians( } std::pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& measuredAcc, const Vector3& measuredOmega, - boost::optional body_P_sensor) const { + const Vector3& measuredAcc, const Vector3& measuredOmega) const { // Correct for bias in the sensor frame Vector3 s_correctedAcc, s_correctedOmega; s_correctedAcc = biasHat_.correctAccelerometer(measuredAcc); @@ -113,11 +112,10 @@ std::pair PreintegrationBase::correctMeasurementsByBiasAndSens // Compensate for sensor-body displacement if needed: we express the quantities // (originally in the IMU frame) into the body frame // Equations below assume the "body" frame is the CG - if (body_P_sensor) { - Matrix3 bRs = body_P_sensor->rotation().matrix(); + if (p().body_P_sensor) { + Matrix3 bRs = p().body_P_sensor->rotation().matrix(); + Vector3 b_arm = p().body_P_sensor->translation().vector(); Vector3 b_correctedOmega = bRs * s_correctedOmega; // rotation rate vector in the body frame - Matrix3 body_omega_body__cross = skewSymmetric(b_correctedOmega); - Vector3 b_arm = body_P_sensor->translation().vector(); Vector3 b_velocity_bs = b_correctedOmega.cross(b_arm); // magnitude: omega * arm // Subtract out the the centripetal acceleration from the measured one // to get linear acceleration vector in the body frame: @@ -125,7 +123,7 @@ std::pair PreintegrationBase::correctMeasurementsByBiasAndSens - b_correctedOmega.cross(b_velocity_bs); return std::make_pair(b_correctedAcc, b_correctedOmega); } else - return std::make_pair(correctedAcc, s_correctedOmega); + return std::make_pair(s_correctedAcc, s_correctedOmega); } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 4f53041f0..e41114b07 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -122,7 +122,7 @@ public: * @param bias Current estimate of acceleration and rotation rate biases * @param p Parameters, typically fixed in a single application */ - PreintegrationBase(const boost::shared_ptr& p, + PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat) : PreintegratedRotation(p), biasHat_(biasHat) { resetIntegration(); @@ -132,7 +132,7 @@ public: void resetIntegration(); const Params& p() const { - return *boost::static_pointer_cast(p_); + return *boost::static_pointer_cast(p_); } /// getters From 1ac790da1cfb34ec58a3cfa8dac66c74f204d50e Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 27 Jul 2015 16:00:06 +0200 Subject: [PATCH 540/964] Some minor refactoring/renaming --- gtsam/navigation/PreintegrationBase.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index da6b03019..367a62360 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -64,25 +64,22 @@ void PreintegrationBase::updatePreintegratedMeasurements( OptionalJacobian<9, 9> F) { const Matrix3 dRij = deltaRij_.matrix(); // expensive - const Vector3 j_acc = dRij * correctedAcc; // acceleration in current frame + const Vector3 i_acc = dRij * correctedAcc; // acceleration in i frame double dt22 = 0.5 * deltaT * deltaT; - deltaPij_ += deltaVij_ * deltaT + dt22 * j_acc; - deltaVij_ += deltaT * j_acc; + deltaPij_ += deltaVij_ * deltaT + dt22 * i_acc; + deltaVij_ += deltaT * i_acc; Matrix3 R_i, F_angles_angles; - if (F) - R_i = dRij; // has to be executed before updateIntegratedRotationAndDeltaT as that updates deltaRij updateIntegratedRotationAndDeltaT(incrR, deltaT, F ? &F_angles_angles : 0); if (F) { - const Matrix3 F_vel_angles = -R_i * skewSymmetric(correctedAcc) * deltaT; + const Matrix3 F_vel_angles = -dRij * skewSymmetric(correctedAcc) * deltaT; Matrix3 F_pos_angles; - F_pos_angles = 0.5 * F_vel_angles * deltaT; // pos vel angle *F << // - I_3x3, I_3x3 * deltaT, F_pos_angles, // pos + I_3x3, I_3x3 * deltaT, 0.5 * F_vel_angles * deltaT, // pos Z_3x3, I_3x3, F_vel_angles, // vel Z_3x3, Z_3x3, F_angles_angles; // angle } From 11d0ad0d78c9235fb8758ed9469d99571aded864 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 27 Jul 2015 16:12:41 +0200 Subject: [PATCH 541/964] Covariance regression values --- gtsam/navigation/tests/testImuFactor.cpp | 37 ++++++++++++++++++++---- 1 file changed, 31 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 1f1815fba..0ab2767f3 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -755,15 +755,27 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), Point3(1, 0, 0)); - ImuFactor::PreintegratedMeasurements pre_int_data( + ImuFactor::PreintegratedMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + Matrix expected(9,9); + expected << + 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290687976, 0.0, 0.0,// + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290687976, 0.0,// + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03; + EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7)); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, kNonZeroOmegaCoriolis); Values values; @@ -864,16 +876,29 @@ TEST(ImuFactor, PredictArbitrary) { Vector3 measuredAcc(0.1, 0.2, -9.81); double deltaT = 0.001; - ImuFactor::PreintegratedMeasurements pre_int_data( + ImuFactor::PreintegratedMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); for (int i = 0; i < 1000; ++i) - pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + + Matrix expected(9,9); + expected << // + 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, -0.0144839494, -0.0454268484, 0.00489577218,// + 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, 0.044978128, -0.0149428917, 0.00839301168, // + -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, 0.0100471195, 0.00609093775, 0.000448720395, // + 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, -0.0409843415, -0.13554868, 0.00879031682, // + 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, 0.134423822, -0.0471183681, 0.0162199769, // + -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764, 0.0383280513, 0.0247643646, 0.00112485862,// + -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, 0.0299999995, 0.0, 0.0, // + -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, 0.0, 0.0299999995, 0.0, // + 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, 0.0, 0.0, 0.0299999995; + EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7)); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, kZeroOmegaCoriolis); // Predict From 20073919875f875fbf96231d12c8ad0fe7f5b6a7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 27 Jul 2015 18:35:56 +0200 Subject: [PATCH 542/964] Better test, with 2nd order integration --- gtsam/navigation/tests/testImuFactor.cpp | 41 +++++++++++++++++------- 1 file changed, 29 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 0ab2767f3..374ac9c35 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -758,26 +758,43 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { ImuFactor::PreintegratedMeasurements pim( imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance); + kIntegrationErrorCovariance, true); - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, body_P_sensor); Matrix expected(9,9); expected << - 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290687976, 0.0, 0.0,// - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290687976, 0.0,// - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03; - EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7)); + 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0,// + 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,// + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290780477, 0.0, 9.23468723e-05,// + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290688208, 4.62505461e-06,// + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.23468723e-05, 4.62505461e-06, 0.0299907267; + EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6)); // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity, kNonZeroOmegaCoriolis); + // Predict + Pose3 actual_x2; + Vector3 actual_v2; + ImuFactor::Predict(x1, v1, actual_x2, actual_v2, bias, factor.preintegratedMeasurements(), + kGravity, kZeroOmegaCoriolis); + + // Regression test with + Rot3 expectedR( // + 0.456795409, -0.888128414, 0.0506544554, // + 0.889548908, 0.45563417, -0.0331699173, // + 0.00637924528, 0.0602114814, 0.998165258); + Point3 expectedT(5.30373101, 0.768972495, -49.9942188); + Vector3 expected_v2(0.107462014, -0.46205501, 0.0115624037); + Pose3 expected_x2(expectedR, expectedT); + EXPECT(assert_equal(expected_x2, actual_x2, 1e-7)); + EXPECT(assert_equal(Vector(expected_v2), actual_v2, 1e-7)); + Values values; values.insert(X(1), x1); values.insert(V(1), v1); From b5aa7fb7f0d1879fae4303d85915530ea773ace1 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 27 Jul 2015 23:25:05 -0400 Subject: [PATCH 543/964] change interface to match PinholePose. --- gtsam/geometry/StereoCamera.h | 4 ++-- gtsam/slam/tests/testTriangulationFactor.cpp | 25 ++++++++++++++++++++ 2 files changed, 27 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h index f09626c9d..ac32be7ae 100644 --- a/gtsam/geometry/StereoCamera.h +++ b/gtsam/geometry/StereoCamera.h @@ -66,8 +66,8 @@ public: StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo::shared_ptr K); /// Return shared pointer to calibration - const Cal3_S2Stereo::shared_ptr calibration() const { - return K_; + const Cal3_S2Stereo& calibration() const { + return *K_; } /// @} diff --git a/gtsam/slam/tests/testTriangulationFactor.cpp b/gtsam/slam/tests/testTriangulationFactor.cpp index 2c3a64495..bfd63ab56 100644 --- a/gtsam/slam/tests/testTriangulationFactor.cpp +++ b/gtsam/slam/tests/testTriangulationFactor.cpp @@ -18,6 +18,7 @@ #include #include +#include #include #include #include @@ -63,6 +64,30 @@ TEST( triangulation, TriangulationFactor ) { CHECK(assert_equal(HExpected, HActual, 1e-3)); } +//****************************************************************************** +TEST( triangulation, TriangulationFactorStereo ) { + // Create the factor with a measurement that is 3 pixels off in x + Key pointKey(1); + SharedNoiseModel model; + Cal3_S2Stereo::shared_ptr stereoCal(new Cal3_S2Stereo(1500, 1200, 0, 640, 480, 0.5)); + StereoCamera camera2(pose1, stereoCal); + + StereoPoint2 z2 = camera2.project(landmark); + + typedef TriangulationFactor Factor; + Factor factor(camera2, z2, model, pointKey); + + // Use the factor to calculate the Jacobians + Matrix HActual; + factor.evaluateError(landmark, HActual); + + Matrix HExpected = numericalDerivative11( + boost::bind(&Factor::evaluateError, &factor, _1, boost::none), landmark); + + // Verify the Jacobians are correct + CHECK(assert_equal(HExpected, HActual, 1e-3)); +} + //****************************************************************************** int main() { TestResult tr; From da9078cf3bb75b3477f568032e427ea88c2e78e5 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 27 Jul 2015 23:27:20 -0400 Subject: [PATCH 544/964] add nonlinear triangulation back. Some unit tests fail again --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index d57d1ca25..f0a4dd4f5 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -285,6 +285,10 @@ public: if(cheirality_ok == false) { result_ = TriangulationResult::BehindCamera(); } + + pw_avg = triangulateNonlinear(cameras, measured_, pw_avg); + + result_ = TriangulationResult(pw_avg); } @@ -537,6 +541,7 @@ public: // // return Base::totalReprojectionError(cameras, backprojected); } else { + std::cout << "Degenerate factor" << std::endl; // if we don't want to manage the exceptions we discard the factor return 0.0; } From db64b48fda2827df4fc625b5559c053492693400 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 28 Jul 2015 14:48:53 -0400 Subject: [PATCH 545/964] tests pass --- .../slam/tests/testSmartStereoProjectionPoseFactor.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index d9207dc21..097a9bddd 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -273,7 +273,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at(x3))); - EXPECT_DOUBLES_EQUAL(991819.94, graph.error(values), 1); + EXPECT_DOUBLES_EQUAL(979345.4, graph.error(values), 1); Values result; gttic_(SmartStereoProjectionPoseFactor); @@ -282,7 +282,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { gttoc_(SmartStereoProjectionPoseFactor); tictoc_finishedIteration_(); - EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4); + EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5); GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); VectorValues delta = GFG->optimize(); @@ -510,7 +510,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { EXPECT_DOUBLES_EQUAL(0, smartFactor4->error(values), 1e-9); // dynamic outlier rejection is off - EXPECT_DOUBLES_EQUAL(6700, smartFactor4b->error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(6272.613220592455, smartFactor4b->error(values), 1e-9); // Factors 1-3 should have valid point, factor 4 should not EXPECT(smartFactor1->point()); From 748877ff7e6496bfca0330dfbac661f47d5d269e Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 28 Jul 2015 14:56:45 -0400 Subject: [PATCH 546/964] remove calibration template from SmartStereoProjectionFactor --- .../slam/SmartStereoProjectionFactor.h | 19 +++++++++---------- .../slam/SmartStereoProjectionPoseFactor.h | 7 ++----- 2 files changed, 11 insertions(+), 15 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index f0a4dd4f5..e9a18e9ec 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -126,12 +126,10 @@ enum DegeneracyMode { * This factor operates with StereoCamrea. This factor requires that values * contains the involved camera poses. Calibration is assumed to be fixed. */ -template class SmartStereoProjectionFactor: public SmartFactorBase { private: typedef SmartFactorBase Base; - typedef SmartStereoProjectionFactor This; protected: @@ -149,7 +147,7 @@ protected: public: /// shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; + typedef boost::shared_ptr shared_ptr; /// Vector of cameras typedef CameraSet Cameras; @@ -184,7 +182,8 @@ public: /// equals virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { - const This *e = dynamic_cast(&p); + const SmartStereoProjectionFactor *e = + dynamic_cast(&p); return e && params_.linearizationMode == e->params_.linearizationMode && Base::equals(p, tol); } @@ -467,7 +466,7 @@ public: /// Assumes the point has been computed /// Note E can be 2m*3 or 2m*2, in case point is degenerate void computeJacobiansWithTriangulatedPoint( - std::vector& Fblocks, Matrix& E, Vector& b, + std::vector& Fblocks, Matrix& E, Vector& b, const Cameras& cameras) const { if (!result_) { @@ -486,7 +485,7 @@ public: /// Version that takes values, and creates the point bool triangulateAndComputeJacobians( - std::vector& Fblocks, Matrix& E, Vector& b, + std::vector& Fblocks, Matrix& E, Vector& b, const Values& values) const { Cameras cameras = this->cameras(values); bool nonDegenerate = triangulateForLinearize(cameras); @@ -497,7 +496,7 @@ public: /// takes values bool triangulateAndComputeJacobiansSVD( - std::vector& Fblocks, Matrix& Enull, Vector& b, + std::vector& Fblocks, Matrix& Enull, Vector& b, const Values& values) const { Cameras cameras = this->cameras(values); bool nonDegenerate = triangulateForLinearize(cameras); @@ -595,9 +594,9 @@ private: }; /// traits -template -struct traits > : public Testable< - SmartStereoProjectionFactor > { +template<> +struct traits : public Testable< + SmartStereoProjectionFactor> { }; } // \ namespace gtsam diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index f9ed686c6..50d9bb8fb 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -39,10 +39,7 @@ namespace gtsam { * @addtogroup SLAM */ template -class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { - -public: - +class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { protected: @@ -53,7 +50,7 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW /// shorthand for base class type - typedef SmartStereoProjectionFactor Base; + typedef SmartStereoProjectionFactor Base; /// shorthand for this class typedef SmartStereoProjectionPoseFactor This; From fd1e41a9e6efa6a4d1e38b45320aa1429fa5ffdd Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 28 Jul 2015 15:12:02 -0400 Subject: [PATCH 547/964] remove calibration template from SmartStereoProjectionPoseFactor --- .../slam/SmartStereoProjectionFactor.h | 2 +- .../slam/SmartStereoProjectionPoseFactor.h | 30 +++---- .../testSmartStereoProjectionPoseFactor.cpp | 78 +++++++++---------- 3 files changed, 54 insertions(+), 56 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index e9a18e9ec..3981e9a84 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -332,7 +332,7 @@ public: } // Jacobian could be 3D Point3 OR 2D Unit3, difference is E.cols(). - std::vector Fblocks; + std::vector Fblocks; Matrix F, E; Vector b; computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index 50d9bb8fb..061c67a08 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -38,12 +38,11 @@ namespace gtsam { * The calibration is known here. The factor only constraints poses (variable dimension is 6) * @addtogroup SLAM */ -template class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { protected: - std::vector > K_all_; ///< shared pointer to calibration object (one for each camera) + std::vector > K_all_; ///< shared pointer to calibration object (one for each camera) public: @@ -53,7 +52,7 @@ public: typedef SmartStereoProjectionFactor Base; /// shorthand for this class - typedef SmartStereoProjectionPoseFactor This; + typedef SmartStereoProjectionPoseFactor This; /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; @@ -83,7 +82,7 @@ public: */ void add(const StereoPoint2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i, - const boost::shared_ptr K_i) { + const boost::shared_ptr K_i) { Base::add(measured_i, poseKey_i, noise_i); K_all_.push_back(K_i); } @@ -97,7 +96,7 @@ public: */ void add(std::vector measurements, std::vector poseKeys, std::vector noises, - std::vector > Ks) { + std::vector > Ks) { Base::add(measurements, poseKeys, noises); for (size_t i = 0; i < measurements.size(); i++) { K_all_.push_back(Ks.at(i)); @@ -112,7 +111,7 @@ public: * @param K the (known) camera calibration (same for all measurements) */ void add(std::vector measurements, std::vector poseKeys, - const SharedNoiseModel noise, const boost::shared_ptr K) { + const SharedNoiseModel noise, const boost::shared_ptr K) { for (size_t i = 0; i < measurements.size(); i++) { Base::add(measurements.at(i), poseKeys.at(i), noise); K_all_.push_back(K); @@ -127,14 +126,15 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartStereoProjectionPoseFactor, z = \n "; - BOOST_FOREACH(const boost::shared_ptr& K, K_all_) + BOOST_FOREACH(const boost::shared_ptr& K, K_all_) K->print("calibration = "); Base::print("", keyFormatter); } /// equals virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { - const This *e = dynamic_cast(&p); + const SmartStereoProjectionPoseFactor *e = + dynamic_cast(&p); return e && Base::equals(p, tol); } @@ -151,7 +151,7 @@ public: } /** return the calibration object */ - inline const std::vector > calibration() const { + inline const std::vector > calibration() const { return K_all_; } @@ -161,11 +161,11 @@ public: * to keys involved in this factor * @return vector of Values */ - typename Base::Cameras cameras(const Values& values) const { - typename Base::Cameras cameras; + Base::Cameras cameras(const Values& values) const { + Base::Cameras cameras; size_t i=0; BOOST_FOREACH(const Key& k, this->keys_) { - Pose3 pose = values.at(k); + const Pose3& pose = values.at(k); StereoCamera camera(pose, K_all_[i++]); cameras.push_back(camera); } @@ -185,9 +185,9 @@ private: }; // end of class declaration /// traits -template -struct traits > : public Testable< - SmartStereoProjectionPoseFactor > { +template<> +struct traits : public Testable< + SmartStereoProjectionPoseFactor> { }; } // \ namespace gtsam diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 097a9bddd..bef8d4048 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -62,8 +62,6 @@ static StereoPoint2 measurement1(323.0, 300.0, 240.0); //potentially use more re static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0)); -typedef SmartStereoProjectionPoseFactor SmartFactor; - vector stereo_projectToMultipleCameras(const StereoCamera& cam1, const StereoCamera& cam2, const StereoCamera& cam3, Point3 landmark) { @@ -83,32 +81,32 @@ LevenbergMarquardtParams lm_params; /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor) { - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor2) { - SmartFactor factor1(params); + SmartStereoProjectionPoseFactor factor1(params); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor3) { - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); factor1->add(measurement1, poseKey1, model, K); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor4) { - SmartFactor factor1(params); + SmartStereoProjectionPoseFactor factor1(params); factor1.add(measurement1, poseKey1, model, K); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Equals ) { - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); factor1->add(measurement1, poseKey1, model, K); - SmartFactor::shared_ptr factor2(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor2(new SmartStereoProjectionPoseFactor()); factor2->add(measurement1, poseKey1, model, K); CHECK(assert_equal(*factor1, *factor2)); @@ -136,7 +134,7 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { values.insert(x1, level_pose); values.insert(x2, level_pose_right); - SmartFactor factor1; + SmartStereoProjectionPoseFactor factor1; factor1.add(level_uv, x1, model, K2); factor1.add(level_uv_right, x2, model, K2); @@ -144,7 +142,7 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { double expectedError = 0.0; EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7); - SmartFactor::Cameras cameras = factor1.cameras(values); + SmartStereoProjectionPoseFactor::Cameras cameras = factor1.cameras(values); double actualError2 = factor1.totalReprojectionError(cameras); EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7); @@ -178,13 +176,13 @@ TEST( SmartStereoProjectionPoseFactor, noisy ) { Point3(0.5, 0.1, 0.3)); values.insert(x2, level_pose_right.compose(noise_pose)); - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); factor1->add(level_uv, x1, model, K); factor1->add(level_uv_right, x2, model, K); double actualError1 = factor1->error(values); - SmartFactor::shared_ptr factor2(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor2(new SmartStereoProjectionPoseFactor()); vector measurements; measurements.push_back(level_uv); measurements.push_back(level_uv_right); @@ -240,13 +238,13 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { views.push_back(x2); views.push_back(x3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor()); smartFactor1->add(measurements_cam1, views, model, K2); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor()); smartFactor2->add(measurements_cam2, views, model, K2); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor()); smartFactor3->add(measurements_cam3, views, model, K2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -327,13 +325,13 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { SmartStereoProjectionParams params; params.setLinearizationMode(JACOBIAN_SVD); - SmartFactor::shared_ptr smartFactor1( new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1( new SmartStereoProjectionPoseFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -396,13 +394,13 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { params.setLinearizationMode(JACOBIAN_SVD); params.setLandmarkDistanceThreshold(2); - SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -470,20 +468,20 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { params.setDynamicOutlierRejectionThreshold(1); - SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); - SmartFactor::shared_ptr smartFactor4(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor4(new SmartStereoProjectionPoseFactor(params)); smartFactor4->add(measurements_cam4, views, model, K); // same as factor 4, but dynamic outlier rejection is off - SmartFactor::shared_ptr smartFactor4b(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor4b(new SmartStereoProjectionPoseFactor()); smartFactor4b->add(measurements_cam4, views, model, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -556,13 +554,13 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); // stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); // -// SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, JACOBIAN_Q)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(1, -1, false, false, JACOBIAN_Q)); // smartFactor1->add(measurements_cam1, views, model, K); // -// SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, JACOBIAN_Q)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(1, -1, false, false, JACOBIAN_Q)); // smartFactor2->add(measurements_cam2, views, model, K); // -// SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, JACOBIAN_Q)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(1, -1, false, false, JACOBIAN_Q)); // smartFactor3->add(measurements_cam3, views, model, K); // // const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -683,13 +681,13 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { SmartStereoProjectionParams params; params.setRankTolerance(10); - SmartFactor::shared_ptr smartFactor1(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(params)); smartFactor1->add(measurements_cam1, views, model, K); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); smartFactor2->add(measurements_cam2, views, model, K); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(params)); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); smartFactor3->add(measurements_cam3, views, model, K); // Create graph to optimize @@ -766,10 +764,10 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); // // double rankTol = 50; -// SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol, linThreshold, manageDegeneracy)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(rankTol, linThreshold, manageDegeneracy)); // smartFactor1->add(measurements_cam1, views, model, K2); // -// SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol, linThreshold, manageDegeneracy)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(rankTol, linThreshold, manageDegeneracy)); // smartFactor2->add(measurements_cam2, views, model, K2); // // const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -835,13 +833,13 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // // double rankTol = 10; // -// SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol, linThreshold, manageDegeneracy)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(rankTol, linThreshold, manageDegeneracy)); // smartFactor1->add(measurements_cam1, views, model, K); // -// SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol, linThreshold, manageDegeneracy)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(rankTol, linThreshold, manageDegeneracy)); // smartFactor2->add(measurements_cam2, views, model, K); // -// SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol, linThreshold, manageDegeneracy)); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(rankTol, linThreshold, manageDegeneracy)); // smartFactor3->add(measurements_cam3, views, model, K); // // const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -900,7 +898,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // measurements_cam1.push_back(cam1_uv1); // measurements_cam1.push_back(cam2_uv1); // -// SmartFactor::shared_ptr smartFactor1(new SmartFactor()); +// SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor()); // smartFactor1->add(measurements_cam1,views, model, K2); // // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); @@ -941,7 +939,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1); - SmartFactor::shared_ptr smartFactorInstance(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr smartFactorInstance(new SmartStereoProjectionPoseFactor()); smartFactorInstance->add(measurements_cam1, views, model, K); Values values; @@ -1009,7 +1007,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1); - SmartFactor::shared_ptr smartFactor(new SmartFactor()); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor(new SmartStereoProjectionPoseFactor()); smartFactor->add(measurements_cam1, views, model, K2); Values values; From 07bd7fa2bd3bac8c6dae59f14d7903e90334bf92 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 28 Jul 2015 15:14:39 -0400 Subject: [PATCH 548/964] fix examples and wrapper --- gtsam.h | 2 +- gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index ebd554549..4de397d7c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -915,7 +915,7 @@ class StereoCamera { // Standard Interface gtsam::Pose3 pose() const; double baseline() const; - gtsam::Cal3_S2Stereo* calibration() const; + gtsam::Cal3_S2Stereo calibration() const; // Manifold gtsam::StereoCamera retract(const Vector& d) const; diff --git a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp index ac2c31077..5ba8ec913 100644 --- a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp +++ b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp @@ -46,7 +46,7 @@ using namespace gtsam; int main(int argc, char** argv){ - typedef SmartStereoProjectionPoseFactor SmartFactor; + typedef SmartStereoProjectionPoseFactor SmartFactor; bool output_poses = true; string poseOutput("../../../examples/data/optimized_poses.txt"); From 96c139ac87688f2db045793f7f87defc1047baad Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 15:42:45 +0200 Subject: [PATCH 549/964] Diff of individual Jacobians --- gtsam/nonlinear/factorTesting.h | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/gtsam/nonlinear/factorTesting.h b/gtsam/nonlinear/factorTesting.h index 52f103630..2a9d70cb4 100644 --- a/gtsam/nonlinear/factorTesting.h +++ b/gtsam/nonlinear/factorTesting.h @@ -85,9 +85,23 @@ bool testFactorJacobians(TestResult& result_, const std::string& name_, // Create actual value by linearize boost::shared_ptr actual = // boost::dynamic_pointer_cast(factor.linearize(values)); + if (!actual) return false; // Check cast result and then equality - return actual && assert_equal(expected, *actual, tolerance); + bool equal = assert_equal(expected, *actual, tolerance); + + // if not equal, test individual jacobians: + if (!equal) { + for (size_t i = 0; i < actual->size(); i++) { + bool i_good = assert_equal((Matrix) (expected.getA(expected.begin() + i)), + (Matrix) (actual->getA(actual->begin() + i)), tolerance); + if (!i_good) { + std::cout << "Mismatch in Jacobian " << i+1 << " (base 1), as shown above" << std::endl; + } + } + } + + return equal; } } From 5b9bf9affa1150f44dd7e1da00c1d02cf7d1ddf1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 15:43:42 +0200 Subject: [PATCH 550/964] Fix the noise covariances to conform to new error order... --- gtsam/navigation/ImuFactor.cpp | 34 +++++++++++------- gtsam/navigation/ImuFactor.h | 2 +- gtsam/navigation/PreintegrationBase.cpp | 27 +++++++------- gtsam/navigation/tests/testImuFactor.cpp | 46 +++++++++++------------- 4 files changed, 55 insertions(+), 54 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 187261685..6a720972c 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -48,6 +48,16 @@ void PreintegratedImuMeasurements::resetIntegration() { preintMeasCov_.setZero(); } +// sugar for derivative blocks +#define D_R_R(H) (H)->block<3,3>(0,0) +#define D_R_t(H) (H)->block<3,3>(0,3) +#define D_R_v(H) (H)->block<3,3>(0,6) +#define D_t_R(H) (H)->block<3,3>(3,0) +#define D_t_t(H) (H)->block<3,3>(3,3) +#define D_t_v(H) (H)->block<3,3>(3,6) +#define D_v_R(H) (H)->block<3,3>(6,0) +#define D_v_t(H) (H)->block<3,3>(6,3) +#define D_v_v(H) (H)->block<3,3>(6,6) //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, @@ -81,20 +91,19 @@ void PreintegratedImuMeasurements::integrateMeasurement( // NOTE 2: computation of G * (1/deltaT) * measurementCovariance * G.transpose() done block-wise, // as G and measurementCovariance are block-diagonal matrices preintMeasCov_ = F * preintMeasCov_ * F.transpose(); - preintMeasCov_.block<3, 3>(0, 0) += p().integrationCovariance * deltaT; - preintMeasCov_.block<3, 3>(3, 3) += dRij * p().accelerometerCovariance - * dRij.transpose() * deltaT; - preintMeasCov_.block<3, 3>(6, 6) += D_Rincr_integratedOmega - * p().gyroscopeCovariance * D_Rincr_integratedOmega.transpose() * deltaT; + D_t_t(&preintMeasCov_) += p().integrationCovariance * deltaT; + D_v_v(&preintMeasCov_) += dRij * p().accelerometerCovariance * dRij.transpose() * deltaT; + D_R_R(&preintMeasCov_) += D_Rincr_integratedOmega * p().gyroscopeCovariance + * D_Rincr_integratedOmega.transpose() * deltaT; Matrix3 F_pos_noiseacc; F_pos_noiseacc = 0.5 * dRij * deltaT * deltaT; - preintMeasCov_.block<3, 3>(0, 0) += (1 / deltaT) * F_pos_noiseacc + D_t_t(&preintMeasCov_) += (1 / deltaT) * F_pos_noiseacc * p().accelerometerCovariance * F_pos_noiseacc.transpose(); Matrix3 temp = F_pos_noiseacc * p().accelerometerCovariance * dRij.transpose(); // has 1/deltaT - preintMeasCov_.block<3, 3>(0, 3) += temp; - preintMeasCov_.block<3, 3>(3, 0) += temp.transpose(); + D_t_v(&preintMeasCov_) += temp; + D_v_t(&preintMeasCov_) += temp.transpose(); // F_test and G_test are given as output for testing purposes and are not needed by the factor if (F_test) { @@ -102,10 +111,11 @@ void PreintegratedImuMeasurements::integrateMeasurement( } if (G_test) { // This in only for testing & documentation, while the actual computation is done block-wise - // intNoise accNoise omegaNoise - (*G_test) << I_3x3 * deltaT, F_pos_noiseacc, Z_3x3, // pos - Z_3x3, dRij * deltaT, Z_3x3, // vel - Z_3x3, Z_3x3, D_Rincr_integratedOmega * deltaT; // angle + // omegaNoise intNoise accNoise + (*G_test) << + D_Rincr_integratedOmega * deltaT, Z_3x3, Z_3x3, // angle + Z_3x3, I_3x3 * deltaT, F_pos_noiseacc, // pos + Z_3x3, Z_3x3, dRij * deltaT; // vel } } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 980f7d3f3..32ee4185e 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -63,7 +63,7 @@ class PreintegratedImuMeasurements: public PreintegrationBase { protected: - Eigen::Matrix preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION] + Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION] ///< (first-order propagation from *measurementCovariance*). /// Default constructor for serialization diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 367a62360..92f50fa3a 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -63,25 +63,22 @@ void PreintegrationBase::updatePreintegratedMeasurements( const Vector3& correctedAcc, const Rot3& incrR, const double deltaT, OptionalJacobian<9, 9> F) { - const Matrix3 dRij = deltaRij_.matrix(); // expensive - const Vector3 i_acc = dRij * correctedAcc; // acceleration in i frame + // Calculate acceleration in *current* i frame, i.e., before rotation update below + Matrix3 D_acc_R; + const Vector3 i_acc = deltaRij_.rotate(correctedAcc, F? &D_acc_R : 0); - double dt22 = 0.5 * deltaT * deltaT; - deltaPij_ += deltaVij_ * deltaT + dt22 * i_acc; - deltaVij_ += deltaT * i_acc; - - Matrix3 R_i, F_angles_angles; + Matrix3 F_angles_angles; updateIntegratedRotationAndDeltaT(incrR, deltaT, F ? &F_angles_angles : 0); - if (F) { - const Matrix3 F_vel_angles = -dRij * skewSymmetric(correctedAcc) * deltaT; - Matrix3 F_pos_angles; + double dt22 = 0.5 * deltaT * deltaT; + deltaPij_ += dt22 * i_acc + deltaT * deltaVij_; + deltaVij_ += deltaT * i_acc; - // pos vel angle - *F << // - I_3x3, I_3x3 * deltaT, 0.5 * F_vel_angles * deltaT, // pos - Z_3x3, I_3x3, F_vel_angles, // vel - Z_3x3, Z_3x3, F_angles_angles; // angle + if (F) { + *F << // angle pos vel + F_angles_angles, Z_3x3, Z_3x3, // angle + dt22 * D_acc_R, I_3x3, I_3x3 * deltaT, // pos + deltaT * D_acc_R, Z_3x3, I_3x3; // vel } } diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index c95c1d667..9ab2d8a51 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -628,18 +628,15 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaRij_old); - Matrix FexpectedTop6(6, 9); - FexpectedTop6 << dfpv_dpos, dfpv_dvel, dfpv_dangle; - // Compute expected f_rot wrt angles Matrix dfr_dangle = numericalDerivative11( boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), deltaRij_old); - Matrix FexpectedBottom3(3, 9); - FexpectedBottom3 << Z_3x3, Z_3x3, dfr_dangle; Matrix Fexpected(9, 9); - Fexpected << FexpectedTop6, FexpectedBottom3; + Fexpected << // + dfr_dangle, Z_3x3, Z_3x3, // + dfpv_dangle, dfpv_dpos, dfpv_dvel; EXPECT(assert_equal(Fexpected, Factual)); @@ -659,25 +656,25 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { Matrix dgpv_domegaNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, newMeasuredAcc, _1, newDeltaT), newMeasuredOmega); - Matrix GexpectedTop6(6, 9); - GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; // Compute expected f_rot wrt gyro noise Matrix dgr_dangle = numericalDerivative11( boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), newMeasuredOmega); - Matrix GexpectedBottom3(3, 9); - GexpectedBottom3 << Z_3x3, Z_3x3, dgr_dangle; Matrix Gexpected(9, 9); - Gexpected << GexpectedTop6, GexpectedBottom3; + Gexpected << // + dgr_dangle, Z_3x3, Z_3x3, // + dgpv_domegaNoise, dgpv_dintNoise, dgpv_daccNoise; EXPECT(assert_equal(Gexpected, Gactual)); // Check covariance propagation Matrix9 measurementCovariance; - measurementCovariance << intNoiseVar * I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar - * I_3x3, Z_3x3, Z_3x3, Z_3x3, omegaNoiseVar * I_3x3; + measurementCovariance << // + omegaNoiseVar * I_3x3, Z_3x3, Z_3x3, // + Z_3x3, intNoiseVar * I_3x3, Z_3x3, // + Z_3x3, Z_3x3, accNoiseVar * I_3x3; Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance * Factual.transpose() @@ -745,18 +742,15 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaRij_old); - Matrix FexpectedTop6(6, 9); - FexpectedTop6 << dfpv_dpos, dfpv_dvel, dfpv_dangle; - // Compute expected f_rot wrt angles Matrix dfr_dangle = numericalDerivative11( boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), deltaRij_old); - Matrix FexpectedBottom3(3, 9); - FexpectedBottom3 << Z_3x3, Z_3x3, dfr_dangle; Matrix Fexpected(9, 9); - Fexpected << FexpectedTop6, FexpectedBottom3; + Fexpected << // + dfr_dangle, Z_3x3, Z_3x3, // + dfpv_dangle, dfpv_dpos, dfpv_dvel; EXPECT(assert_equal(Fexpected, Factual)); @@ -776,25 +770,25 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { Matrix dgpv_domegaNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, newMeasuredAcc, _1, newDeltaT), newMeasuredOmega); - Matrix GexpectedTop6(6, 9); - GexpectedTop6 << dgpv_dintNoise, dgpv_daccNoise, dgpv_domegaNoise; // Compute expected f_rot wrt gyro noise Matrix dgr_dangle = numericalDerivative11( boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), newMeasuredOmega); - Matrix GexpectedBottom3(3, 9); - GexpectedBottom3 << Z_3x3, Z_3x3, dgr_dangle; Matrix Gexpected(9, 9); - Gexpected << GexpectedTop6, GexpectedBottom3; + Gexpected << // + dgr_dangle, Z_3x3, Z_3x3, // + dgpv_domegaNoise, dgpv_dintNoise, dgpv_daccNoise; EXPECT(assert_equal(Gexpected, Gactual)); // Check covariance propagation Matrix9 measurementCovariance; - measurementCovariance << intNoiseVar * I_3x3, Z_3x3, Z_3x3, Z_3x3, accNoiseVar - * I_3x3, Z_3x3, Z_3x3, Z_3x3, omegaNoiseVar * I_3x3; + measurementCovariance << // + omegaNoiseVar * I_3x3, Z_3x3, Z_3x3, // + Z_3x3, intNoiseVar * I_3x3, Z_3x3, // + Z_3x3, Z_3x3, accNoiseVar * I_3x3; Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance * Factual.transpose() From 123c55f0d7b42c110cb506123128b5d8da2be4a4 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 29 Jul 2015 14:05:48 -0400 Subject: [PATCH 551/964] respect triangulation.enableEPI flag in SmartStereo factor --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 3981e9a84..75444d62a 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -238,6 +238,12 @@ public: // } bool retriangulate = decideIfTriangulate(cameras); + +// if(!retriangulate) +// std::cout << "retriangulate = false" << std::endl; +// +// bool retriangulate = true; + if (retriangulate) { std::vector reprojections; @@ -285,7 +291,8 @@ public: result_ = TriangulationResult::BehindCamera(); } - pw_avg = triangulateNonlinear(cameras, measured_, pw_avg); + if(params_.triangulation.enableEPI) + pw_avg = triangulateNonlinear(cameras, measured_, pw_avg); result_ = TriangulationResult(pw_avg); From 5ca67d0a3a4a29458de7a49b939248e64f93582f Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 11:20:35 -0700 Subject: [PATCH 552/964] FromPoseVelocity --- gtsam/navigation/NavState.cpp | 16 +++++++++++++--- gtsam/navigation/NavState.h | 3 +++ gtsam/navigation/tests/testNavState.cpp | 22 +++++++++++++++++++--- 3 files changed, 35 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index a52b74704..c45b86450 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -24,6 +24,16 @@ namespace gtsam { #define TIE(R,t,v,x) const Rot3& R = (x).R_;const Point3& t = (x).t_;const Velocity3& v = (x).v_; +//------------------------------------------------------------------------------ +NavState NavState::FromPoseVelocity(const Pose3& pose, const Vector3& vel, + OptionalJacobian<9, 6> H1, OptionalJacobian<9, 3> H2) { + if (H1) + *H1 << I_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, Z_3x3; + if (H2) + *H2 << Z_3x3, Z_3x3, pose.rotation().transpose(); + return NavState(pose, vel); +} + //------------------------------------------------------------------------------ const Rot3& NavState::attitude(OptionalJacobian<3, 9> H) const { if (H) @@ -252,9 +262,9 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder, //------------------------------------------------------------------------------ Vector9 NavState::correctPIM(const Vector9& pim, double dt, - const Vector3& n_gravity, - const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, - OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { + const Vector3& n_gravity, const boost::optional& omegaCoriolis, + bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 9> H2) const { const Rot3& nRb = R_; const Velocity3& n_v = v_; // derivative is Ri ! const double dt2 = dt * dt; diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 8eb8c54d7..996ae763b 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -67,6 +67,9 @@ public: NavState(const Matrix3& R, const Vector9 tv) : R_(R), t_(tv.head<3>()), v_(tv.tail<3>()) { } + /// Named constructor with derivatives + static NavState FromPoseVelocity(const Pose3& pose, const Vector3& vel, + OptionalJacobian<9, 6> H1, OptionalJacobian<9, 3> H2); /// @} /// @name Component Access diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index c0797bd9c..1d71d4e7c 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -26,6 +26,7 @@ using namespace gtsam; static const Rot3 kRotation = Rot3::RzRyRx(0.1, 0.2, 0.3); static const Point3 kPosition(1.0, 2.0, 3.0); +static const Pose3 kPose(kRotation, kPosition); static const Velocity3 kVelocity(0.4, 0.5, 0.6); static const NavState kIdentity; static const NavState kState1(kRotation, kPosition, kVelocity); @@ -33,6 +34,16 @@ static const Vector3 kOmegaCoriolis(0.02, 0.03, 0.04); static const Vector3 kGravity(0, 0, 9.81); static const Vector9 kZeroXi = Vector9::Zero(); +/* ************************************************************************* */ +TEST(NavState, Constructor) { + boost::function construct = + boost::bind(&NavState::FromPoseVelocity, _1, _2, boost::none, + boost::none); + Matrix aH1, aH2; + EXPECT(assert_equal(kState1, NavState::FromPoseVelocity(kPose, kVelocity, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(construct, kPose, kVelocity), aH1)); + EXPECT(assert_equal(numericalDerivative22(construct, kPose, kVelocity), aH2)); +} /* ************************************************************************* */ TEST( NavState, Attitude) { Matrix39 aH, eH; @@ -127,9 +138,14 @@ TEST( NavState, Manifold ) { // Check localCoordinates derivatives kState1.localCoordinates(state2, aH1, aH2); boost::function localCoordinates = - boost::bind(&NavState::localCoordinates, _1, _2, boost::none, boost::none); - EXPECT(assert_equal(numericalDerivative21(localCoordinates, kState1, state2), aH1)); - EXPECT(assert_equal(numericalDerivative22(localCoordinates, kState1, state2), aH2)); + boost::bind(&NavState::localCoordinates, _1, _2, boost::none, + boost::none); + EXPECT( + assert_equal(numericalDerivative21(localCoordinates, kState1, state2), + aH1)); + EXPECT( + assert_equal(numericalDerivative22(localCoordinates, kState1, state2), + aH2)); } /* ************************************************************************* */ From 999a19a57d26a78cbfb470007d0a0c896ba77be8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 11:52:46 -0700 Subject: [PATCH 553/964] More tests on localCoordinates --- gtsam/navigation/tests/testNavState.cpp | 26 +++++++++++++++---------- 1 file changed, 16 insertions(+), 10 deletions(-) diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index 1d71d4e7c..6732643e1 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -40,7 +40,9 @@ TEST(NavState, Constructor) { boost::bind(&NavState::FromPoseVelocity, _1, _2, boost::none, boost::none); Matrix aH1, aH2; - EXPECT(assert_equal(kState1, NavState::FromPoseVelocity(kPose, kVelocity, aH1, aH2))); + EXPECT( + assert_equal(kState1, + NavState::FromPoseVelocity(kPose, kVelocity, aH1, aH2))); EXPECT(assert_equal(numericalDerivative21(construct, kPose, kVelocity), aH1)); EXPECT(assert_equal(numericalDerivative22(construct, kPose, kVelocity), aH2)); } @@ -136,16 +138,20 @@ TEST( NavState, Manifold ) { EXPECT(assert_equal(numericalDerivative22(retract, kState1, xi), aH2)); // Check localCoordinates derivatives + boost::function local = + boost::bind(&NavState::localCoordinates, _1, _2, boost::none, boost::none); + // from state1 to state2 kState1.localCoordinates(state2, aH1, aH2); - boost::function localCoordinates = - boost::bind(&NavState::localCoordinates, _1, _2, boost::none, - boost::none); - EXPECT( - assert_equal(numericalDerivative21(localCoordinates, kState1, state2), - aH1)); - EXPECT( - assert_equal(numericalDerivative22(localCoordinates, kState1, state2), - aH2)); + EXPECT(assert_equal(numericalDerivative21(local, kState1, state2), aH1)); + EXPECT(assert_equal(numericalDerivative22(local, kState1, state2), aH2)); + // from identity to state2 + kIdentity.localCoordinates(state2, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(local, kIdentity, state2), aH1)); + EXPECT(assert_equal(numericalDerivative22(local, kIdentity, state2), aH2)); + // from state2 to identity + state2.localCoordinates(kIdentity, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(local, state2, kIdentity), aH1)); + EXPECT(assert_equal(numericalDerivative22(local, state2, kIdentity), aH2)); } /* ************************************************************************* */ From 9d1111a76702d327c1ee0ebec61da516b6169768 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 11:53:24 -0700 Subject: [PATCH 554/964] Derivative accuracy --- gtsam/navigation/PreintegrationBase.cpp | 2 ++ gtsam/navigation/tests/testImuFactor.cpp | 3 +-- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 367a62360..3b1cea06f 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -183,6 +183,8 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, OptionalJacobian<9, 3> H2, OptionalJacobian<9, 6> H3, OptionalJacobian<9, 3> H4, OptionalJacobian<9, 6> H5) const { + // Note that derivative of constructors below is not identity for velocity, but + // a 9*3 matrix == Z_3x3, Z_3x3, state.R().transpose() NavState state_i(pose_i, vel_i); NavState state_j(pose_j, vel_j); diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index c95c1d667..79497f63c 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -872,8 +872,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { values.insert(B(1), bias); // Make sure linearization is correct - double diffDelta = 1e-5; - // This fails, except if tol = 1e-1: probably wrong! + double diffDelta = 1e-7; EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } From 75cc3020eb4574a6121ebab18c01ac569bbb8bb1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 12:01:22 -0700 Subject: [PATCH 555/964] Fixed all but sensor_pose error --- gtsam/navigation/tests/testImuFactor.cpp | 42 ++++++++++++------------ 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 8c87306a0..7e540b793 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -306,7 +306,7 @@ TEST(ImuFactor, ErrorAndJacobians) { EXPECT(assert_equal(expectedError, factor.unwhitenedError(values))); // Make sure linearization is correct - double diffDelta = 1e-5; + double diffDelta = 1e-7; EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); // Actual Jacobians @@ -391,7 +391,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { values.insert(B(1), bias); // Make sure linearization is correct - double diffDelta = 1e-5; + double diffDelta = 1e-7; EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } @@ -431,7 +431,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { values.insert(B(1), bias); // Make sure linearization is correct - double diffDelta = 1e-5; + double diffDelta = 1e-7; EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } @@ -826,15 +826,15 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { Matrix expected(9,9); expected << - 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0,// - 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,// - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290780477, 0.0, 9.23468723e-05,// - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290688208, 4.62505461e-06,// - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.23468723e-05, 4.62505461e-06, 0.0299907267; + 0.0290780477, 4.63277848e-07, 9.23468723e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // + 4.63277848e-07, 0.0290688208, 4.62505461e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // + 9.23468723e-05, 4.62505461e-06, 0.0299907267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // + 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, // + 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, // + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, // + 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, // + 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, // + 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01; EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6)); // Create factor @@ -960,15 +960,15 @@ TEST(ImuFactor, PredictArbitrary) { Matrix expected(9,9); expected << // - 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, -0.0144839494, -0.0454268484, 0.00489577218,// - 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, 0.044978128, -0.0149428917, 0.00839301168, // - -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, 0.0100471195, 0.00609093775, 0.000448720395, // - 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, -0.0409843415, -0.13554868, 0.00879031682, // - 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, 0.134423822, -0.0471183681, 0.0162199769, // - -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764, 0.0383280513, 0.0247643646, 0.00112485862,// - -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, 0.0299999995, 0.0, 0.0, // - -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, 0.0, 0.0299999995, 0.0, // - 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, 0.0, 0.0, 0.0299999995; + 0.0299999995, 2.46739898e-10, 2.46739896e-10, -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, // + 2.46739898e-10, 0.0299999995, 2.46739902e-10, -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, // + 2.46739896e-10, 2.46739902e-10, 0.0299999995, 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, // + -0.0144839494, -0.0454268484, 0.00489577218, 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, // + 0.044978128, -0.0149428917, 0.00839301168, 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, // + 0.0100471195, 0.00609093775, 0.000448720395, -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, // + -0.0409843415, -0.13554868, 0.00879031682, 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, // + 0.134423822, -0.0471183681, 0.0162199769, 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, // + 0.0383280513, 0.0247643646, 0.00112485862, -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764; EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7)); // Create factor From 0b4919e099d5221066ac9886e9ebd7293864f8ab Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 15:49:03 -0700 Subject: [PATCH 556/964] Refactoring of integrateMeasurement to reduce copy/paste --- gtsam/navigation/AHRSFactor.cpp | 10 +++-- gtsam/navigation/CombinedImuFactor.cpp | 25 +++-------- gtsam/navigation/ImuFactor.cpp | 25 +++-------- gtsam/navigation/PreintegratedRotation.h | 39 +++++++++++------ gtsam/navigation/PreintegrationBase.cpp | 54 +++++++++++++----------- gtsam/navigation/PreintegrationBase.h | 9 ++-- 6 files changed, 79 insertions(+), 83 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index 814b020b1..85a95c35a 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -64,15 +64,17 @@ void PreintegratedAhrsMeasurements::integrateMeasurement( // rotation vector describing rotation increment computed from the // current rotation rate measurement const Vector3 theta_incr = correctedOmega * deltaT; - Matrix3 D_Rincr_integratedOmega; - const Rot3 incrR = Rot3::Expmap(theta_incr, D_Rincr_integratedOmega); // expensive !! + Matrix3 D_incrR_integratedOmega; + const Rot3 incrR = Rot3::Expmap(theta_incr, D_incrR_integratedOmega); // expensive !! // Update Jacobian - update_delRdelBiasOmega(D_Rincr_integratedOmega, incrR, deltaT); + const Matrix3 incrRt = incrR.transpose(); + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_incrR_integratedOmega * deltaT; // Update rotation and deltaTij. Matrix3 Fr; // Jacobian of the update - updateIntegratedRotationAndDeltaT(incrR, deltaT, Fr); + deltaRij_ = deltaRij_.compose(incrR, Fr); + deltaTij_ += deltaT; // first order uncertainty propagation // the deltaT allows to pass from continuous time noise to discrete time noise diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index c6bc8282a..ea68f724e 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -55,33 +55,22 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, boost::optional F_test, boost::optional G_test) { - // NOTE: order is important here because each update uses old values, e.g., velocity and position updates are based on previous rotation estimate. - // (i.e., we have to update jacobians and covariances before updating preintegrated measurements). + const Matrix3 dRij = deltaRij_.matrix(); // expensive when quaternion - Vector3 correctedAcc, correctedOmega; - boost::tie(correctedAcc, correctedOmega) = - correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); - - const Vector3 integratedOmega = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement - Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr - const Rot3 Rincr = Rot3::Expmap(integratedOmega, D_Rincr_integratedOmega); // rotation increment computed from the current rotation rate measurement - - // Update Jacobians - /* ----------------------------------------------------------------------------------------------------------------------- */ - updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); + // Update preintegrated measurements. + Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr + Matrix9 F_9x9; // overall Jacobian wrt preintegrated measurements (df/dx) + updatePreintegratedMeasurements(measuredAcc, measuredOmega, deltaT, + &D_incrR_integratedOmega, &F_9x9); // Update preintegrated measurements covariance: as in [2] we consider a first order propagation that // can be seen as a prediction phase in an EKF framework. In this implementation, contrarily to [2] we // consider the uncertainty of the bias selection and we keep correlation between biases and preintegrated measurements /* ----------------------------------------------------------------------------------------------------------------------- */ - const Matrix3 dRij = deltaRij_.matrix(); // expensive when quaternion - // Update preintegrated measurements. TODO Frank moved from end of this function !!! - Matrix9 F_9x9; - updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F_9x9); // Single Jacobians to propagate covariance Matrix3 H_vel_biasacc = -dRij * deltaT; - Matrix3 H_angles_biasomega = -D_Rincr_integratedOmega * deltaT; + Matrix3 H_angles_biasomega = -D_incrR_integratedOmega * deltaT; // overall Jacobian wrt preintegrated measurements (df/dx) Eigen::Matrix F; diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 6a720972c..6745a86fc 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -63,24 +63,13 @@ void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, OptionalJacobian<9, 9> F_test, OptionalJacobian<9, 9> G_test) { - Vector3 correctedAcc, correctedOmega; - boost::tie(correctedAcc, correctedOmega) = - correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); - - // rotation increment computed from the current rotation rate measurement - const Vector3 integratedOmega = correctedOmega * deltaT; - Matrix3 D_Rincr_integratedOmega; // Right jacobian computed at theta_incr - // rotation increment computed from the current rotation rate measurement - const Rot3 Rincr = Rot3::Expmap(integratedOmega, D_Rincr_integratedOmega); - - // Update Jacobians - updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, - deltaT); + const Matrix3 dRij = deltaRij_.matrix(); // store this, which is useful to compute G_test // Update preintegrated measurements (also get Jacobian) - const Matrix3 dRij = deltaRij_.matrix(); // store this, which is useful to compute G_test + Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) - updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F); + updatePreintegratedMeasurements(measuredAcc, measuredOmega, deltaT, + &D_incrR_integratedOmega, &F); // first order covariance propagation: // as in [2] we consider a first order propagation that can be seen as a prediction phase in EKF @@ -93,8 +82,8 @@ void PreintegratedImuMeasurements::integrateMeasurement( preintMeasCov_ = F * preintMeasCov_ * F.transpose(); D_t_t(&preintMeasCov_) += p().integrationCovariance * deltaT; D_v_v(&preintMeasCov_) += dRij * p().accelerometerCovariance * dRij.transpose() * deltaT; - D_R_R(&preintMeasCov_) += D_Rincr_integratedOmega * p().gyroscopeCovariance - * D_Rincr_integratedOmega.transpose() * deltaT; + D_R_R(&preintMeasCov_) += D_incrR_integratedOmega * p().gyroscopeCovariance + * D_incrR_integratedOmega.transpose() * deltaT; Matrix3 F_pos_noiseacc; F_pos_noiseacc = 0.5 * dRij * deltaT * deltaT; @@ -113,7 +102,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( // This in only for testing & documentation, while the actual computation is done block-wise // omegaNoise intNoise accNoise (*G_test) << - D_Rincr_integratedOmega * deltaT, Z_3x3, Z_3x3, // angle + D_incrR_integratedOmega * deltaT, Z_3x3, Z_3x3, // angle Z_3x3, I_3x3 * deltaT, F_pos_noiseacc, // pos Z_3x3, Z_3x3, dRij * deltaT; // vel } diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index df521341f..df0953945 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -108,21 +108,34 @@ class PreintegratedRotation { /// @} - /// Update preintegrated measurements - void updateIntegratedRotationAndDeltaT(const Rot3& incrR, const double deltaT, - OptionalJacobian<3, 3> H = boost::none) { - deltaRij_ = deltaRij_.compose(incrR, H, boost::none); - deltaTij_ += deltaT; - } + void integrateMeasurement(const Vector3& measuredOmega, + const Vector3& biasHat, double deltaT, Matrix3* D_incrR_integratedOmega, + Matrix3* Fr) { - /** - * Update Jacobians to be used during preintegration - * TODO: explain arguments - */ - void update_delRdelBiasOmega(const Matrix3& D_Rincr_integratedOmega, - const Rot3& incrR, double deltaT) { + // First we compensate the measurements for the bias + Vector3 correctedOmega = measuredOmega - biasHat; + + // Then compensate for sensor-body displacement: we express the quantities + // (originally in the IMU frame) into the body frame + if (p_->body_P_sensor) { + Matrix3 body_R_sensor = p_->body_P_sensor->rotation().matrix(); + // rotation rate vector in the body frame + correctedOmega = body_R_sensor * correctedOmega; + } + + // rotation vector describing rotation increment computed from the + // current rotation rate measurement + const Vector3 theta_incr = correctedOmega * deltaT; + const Rot3 incrR = Rot3::Expmap(theta_incr, D_incrR_integratedOmega); // expensive !! + + // Update deltaTij and rotation + deltaTij_ += deltaT; + deltaRij_ = deltaRij_.compose(incrR, Fr); + + // Update Jacobian const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_Rincr_integratedOmega * deltaT; + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + - *D_incrR_integratedOmega * deltaT; } /// Return a bias corrected version of the integrated rotation, with optional Jacobian diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f6664e5dd..13baa973d 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -60,40 +60,46 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, /// Update preintegrated measurements void PreintegrationBase::updatePreintegratedMeasurements( - const Vector3& correctedAcc, const Rot3& incrR, const double deltaT, - OptionalJacobian<9, 9> F) { + const Vector3& measuredAcc, const Vector3& measuredOmega, + const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F) { + + Matrix3 D_Rij_incrR; + + // NOTE: order is important here because each update uses old values, e.g., velocity and position updates are based on previous rotation estimate. + // (i.e., we have to update jacobians and covariances before updating preintegrated measurements). + + Vector3 correctedAcc, correctedOmega; + boost::tie(correctedAcc, correctedOmega) = + correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); + + // rotation vector describing rotation increment computed from the current rotation rate measurement + const Vector3 integratedOmega = correctedOmega * deltaT; + const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // rotation increment computed from the current rotation rate measurement // Calculate acceleration in *current* i frame, i.e., before rotation update below Matrix3 D_acc_R; - const Vector3 i_acc = deltaRij_.rotate(correctedAcc, F? &D_acc_R : 0); - - Matrix3 F_angles_angles; - updateIntegratedRotationAndDeltaT(incrR, deltaT, F ? &F_angles_angles : 0); + const Matrix3 dRij = deltaRij_.matrix(); // expensive + const Vector3 i_acc = deltaRij_.rotate(correctedAcc, F ? &D_acc_R : 0); double dt22 = 0.5 * deltaT * deltaT; + deltaTij_ += deltaT; + deltaRij_ = deltaRij_.compose(incrR, F ? &D_Rij_incrR : 0); deltaPij_ += dt22 * i_acc + deltaT * deltaVij_; deltaVij_ += deltaT * i_acc; - if (F) { - *F << // angle pos vel - F_angles_angles, Z_3x3, Z_3x3, // angle - dt22 * D_acc_R, I_3x3, I_3x3 * deltaT, // pos - deltaT * D_acc_R, Z_3x3, I_3x3; // vel - } -} + *F << // angle pos vel + D_Rij_incrR, Z_3x3, Z_3x3, // angle + dt22 * D_acc_R, I_3x3, I_3x3 * deltaT, // pos + deltaT * D_acc_R, Z_3x3, I_3x3; // vel -/// Update Jacobians to be used during preintegration -void PreintegrationBase::updatePreintegratedJacobians( - const Vector3& correctedAcc, const Matrix3& D_Rincr_integratedOmega, - const Rot3& incrR, double deltaT) { - const Matrix3 dRij = deltaRij_.matrix(); // expensive - const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * deltaT - * delRdelBiasOmega_; - delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT - 0.5 * dRij * deltaT * deltaT; - delPdelBiasOmega_ += deltaT * (delVdelBiasOmega_ + temp * 0.5); + const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * delRdelBiasOmega_; + delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT - dt22 * dRij; + delPdelBiasOmega_ += deltaT * delVdelBiasOmega_ + dt22 * temp; delVdelBiasAcc_ += -dRij * deltaT; - delVdelBiasOmega_ += temp; - update_delRdelBiasOmega(D_Rincr_integratedOmega, incrR, deltaT); + delVdelBiasOmega_ += temp * deltaT; + const Matrix3 incrRt = incrR.transpose(); + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + - *D_incrR_integratedOmega * deltaT; } std::pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index e41114b07..bcb38a8f9 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -170,12 +170,9 @@ public: bool equals(const PreintegrationBase& other, double tol) const; /// Update preintegrated measurements - void updatePreintegratedMeasurements(const Vector3& correctedAcc, - const Rot3& incrR, const double deltaT, OptionalJacobian<9, 9> F); - - /// Update Jacobians to be used during preintegration - void updatePreintegratedJacobians(const Vector3& correctedAcc, - const Matrix3& D_Rincr_integratedOmega, const Rot3& incrR, double deltaT); + void updatePreintegratedMeasurements(const Vector3& measuredAcc, + const Vector3& measuredOmega, const double deltaT, + Matrix3* D_incrR_integratedOmega, Matrix9* F); std::pair correctMeasurementsByBiasAndSensorPose(const Vector3& measuredAcc, From aebe8161dddbb3dc81bb8c95d823017e2e9359da Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 16:14:42 -0700 Subject: [PATCH 557/964] Strengthened AHRS tests --- gtsam/navigation/AHRSFactor.h | 1 + gtsam/navigation/tests/testAHRSFactor.cpp | 84 +++++++++++------------ 2 files changed, 41 insertions(+), 44 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index 6c79ea137..c2a88bd44 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -89,6 +89,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation const Matrix3& measuredOmegaCovariance) : PreintegratedRotation(boost::make_shared()), biasHat_(biasHat) { + p_->gyroscopeCovariance = measuredOmegaCovariance; resetIntegration(); } diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp index 73e30ac32..9e8e78efe 100644 --- a/gtsam/navigation/tests/testAHRSFactor.cpp +++ b/gtsam/navigation/tests/testAHRSFactor.cpp @@ -35,6 +35,12 @@ using symbol_shorthand::X; using symbol_shorthand::V; using symbol_shorthand::B; +Vector3 kZeroOmegaCoriolis(0,0,0); + +// Define covariance matrices +double accNoiseVar = 0.01; +const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; + //****************************************************************************** namespace { Vector callEvaluateError(const AHRSFactor& factor, const Rot3 rot_i, @@ -51,7 +57,7 @@ AHRSFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements( const Vector3& bias, const list& measuredOmegas, const list& deltaTs, const Vector3& initialRotationRate = Vector3::Zero()) { - AHRSFactor::PreintegratedMeasurements result(bias, Matrix3::Identity()); + AHRSFactor::PreintegratedMeasurements result(bias, I_3x3); list::const_iterator itOmega = measuredOmegas.begin(); list::const_iterator itDeltaT = deltaTs.begin(); @@ -95,7 +101,7 @@ TEST( AHRSFactor, PreintegratedMeasurements ) { double expectedDeltaT1(0.5); // Actual preintegrated values - AHRSFactor::PreintegratedMeasurements actual1(bias, Matrix3::Zero()); + AHRSFactor::PreintegratedMeasurements actual1(bias, Z_3x3); actual1.integrateMeasurement(measuredOmega, deltaT); EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()), 1e-6)); @@ -121,18 +127,14 @@ TEST(AHRSFactor, Error) { Rot3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0)); // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0, 0; Vector3 measuredOmega; measuredOmega << M_PI / 100, 0, 0; double deltaT = 1.0; - AHRSFactor::PreintegratedMeasurements pre_int_data(bias, Matrix3::Zero()); - pre_int_data.integrateMeasurement(measuredOmega, deltaT); + AHRSFactor::PreintegratedMeasurements pim(bias, Z_3x3); + pim.integrateMeasurement(measuredOmega, deltaT); // Create factor - AHRSFactor factor(X(1), X(2), B(1), pre_int_data, omegaCoriolis, boost::none); + AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis, boost::none); Vector3 errorActual = factor.evaluateError(x1, x2, bias); @@ -182,18 +184,16 @@ TEST(AHRSFactor, ErrorWithBiases) { Rot3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0))); // Measurements - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0.0, 0.0; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; double deltaT = 1.0; - AHRSFactor::PreintegratedMeasurements pre_int_data(Vector3(0,0,0), - Matrix3::Zero()); - pre_int_data.integrateMeasurement(measuredOmega, deltaT); + AHRSFactor::PreintegratedMeasurements pim(Vector3(0,0,0), + Z_3x3); + pim.integrateMeasurement(measuredOmega, deltaT); // Create factor - AHRSFactor factor(X(1), X(2), B(1), pre_int_data, omegaCoriolis); + AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis); Vector errorActual = factor.evaluateError(x1, x2, bias); @@ -269,7 +269,7 @@ TEST( AHRSFactor, PartialDerivativeLogmap ) { const Vector3 x = thetahat; // parametrization of so(3) const Matrix3 X = skewSymmetric(x); // element of Lie algebra so(3): X = x^ double normx = norm_2(x); - const Matrix3 actualDelFdeltheta = Matrix3::Identity() + 0.5 * X + const Matrix3 actualDelFdeltheta = I_3x3 + 0.5 * X + (1 / (normx * normx) - (1 + cos(normx)) / (2 * normx * sin(normx))) * X * X; @@ -359,8 +359,6 @@ TEST( AHRSFactor, ErrorWithBiasesAndSensorBodyDisplacement ) { Rot3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0))); // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; Vector3 omegaCoriolis; omegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; @@ -370,13 +368,15 @@ TEST( AHRSFactor, ErrorWithBiasesAndSensorBodyDisplacement ) { const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), Point3(1, 0, 0)); - AHRSFactor::PreintegratedMeasurements pre_int_data(Vector3::Zero(), - Matrix3::Zero()); + AHRSFactor::PreintegratedMeasurements pim(Vector3::Zero(), kMeasuredAccCovariance); - pre_int_data.integrateMeasurement(measuredOmega, deltaT); + pim.integrateMeasurement(measuredOmega, deltaT); + + // Check preintegrated covariance + EXPECT(assert_equal(kMeasuredAccCovariance, pim.preintMeasCov())); // Create factor - AHRSFactor factor(X(1), X(2), B(1), pre_int_data, omegaCoriolis); + AHRSFactor factor(X(1), X(2), B(1), pim, omegaCoriolis); // Expected Jacobians Matrix H1e = numericalDerivative11( @@ -407,33 +407,34 @@ TEST (AHRSFactor, predictTest) { Vector3 bias(0,0,0); // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0.0, 0.0; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0; - double deltaT = 0.001; - AHRSFactor::PreintegratedMeasurements pre_int_data(bias, Matrix3::Zero()); + double deltaT = 0.2; + AHRSFactor::PreintegratedMeasurements pim(bias, kMeasuredAccCovariance); for (int i = 0; i < 1000; ++i) { - pre_int_data.integrateMeasurement(measuredOmega, deltaT); + pim.integrateMeasurement(measuredOmega, deltaT); } - AHRSFactor factor(X(1), X(2), B(1), pre_int_data, omegaCoriolis); + // Check preintegrated covariance + Matrix expectedMeasCov(3,3); + expectedMeasCov = 200*kMeasuredAccCovariance; + EXPECT(assert_equal(expectedMeasCov, pim.preintMeasCov())); + + AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis); // Predict Rot3 x; - Rot3 expectedRot = Rot3().ypr(M_PI / 10, 0, 0); - Rot3 actualRot = factor.predict(x, bias, pre_int_data, omegaCoriolis); + Rot3 expectedRot = Rot3().ypr(20*M_PI, 0, 0); + Rot3 actualRot = factor.predict(x, bias, pim, kZeroOmegaCoriolis); EXPECT(assert_equal(expectedRot, actualRot, 1e-6)); // AHRSFactor::PreintegratedMeasurements::predict Matrix expectedH = numericalDerivative11( boost::bind(&AHRSFactor::PreintegratedMeasurements::predict, - &pre_int_data, _1, boost::none), bias); + &pim, _1, boost::none), bias); // Actual Jacobians Matrix H; - (void) pre_int_data.predict(bias,H); + (void) pim.predict(bias,H); EXPECT(assert_equal(expectedH, H)); } //****************************************************************************** @@ -448,12 +449,7 @@ TEST (AHRSFactor, graphTest) { // PreIntegrator Vector3 biasHat(0, 0, 0); - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0, 0; - AHRSFactor::PreintegratedMeasurements pre_int_data(biasHat, - Matrix3::Identity()); + AHRSFactor::PreintegratedMeasurements pim(biasHat, kMeasuredAccCovariance); // Pre-integrate measurements Vector3 measuredOmega(0, M_PI / 20, 0); @@ -461,15 +457,15 @@ TEST (AHRSFactor, graphTest) { // Create Factor noiseModel::Base::shared_ptr model = // - noiseModel::Gaussian::Covariance(pre_int_data.preintMeasCov()); + noiseModel::Gaussian::Covariance(pim.preintMeasCov()); NonlinearFactorGraph graph; Values values; for (size_t i = 0; i < 5; ++i) { - pre_int_data.integrateMeasurement(measuredOmega, deltaT); + pim.integrateMeasurement(measuredOmega, deltaT); } - // pre_int_data.print("Pre integrated measurementes"); - AHRSFactor factor(X(1), X(2), B(1), pre_int_data, omegaCoriolis); + // pim.print("Pre integrated measurementes"); + AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis); values.insert(X(1), x1); values.insert(X(2), x2); values.insert(B(1), bias); From d0467c53dd9b83fee744929abec46224a9832fdb Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 16:15:48 -0700 Subject: [PATCH 558/964] Use PreintegratedRotation::integrateMeasurement --- gtsam/navigation/AHRSFactor.cpp | 28 ++---------- gtsam/navigation/ImuFactor.cpp | 1 + gtsam/navigation/PreintegrationBase.cpp | 61 ++++++++++--------------- gtsam/navigation/PreintegrationBase.h | 6 +-- 4 files changed, 28 insertions(+), 68 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index 85a95c35a..0d7e05515 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -50,31 +50,9 @@ void PreintegratedAhrsMeasurements::resetIntegration() { void PreintegratedAhrsMeasurements::integrateMeasurement( const Vector3& measuredOmega, double deltaT) { - // First we compensate the measurements for the bias - Vector3 correctedOmega = measuredOmega - biasHat_; - - // Then compensate for sensor-body displacement: we express the quantities - // (originally in the IMU frame) into the body frame - if (p().body_P_sensor) { - Matrix3 body_R_sensor = p().body_P_sensor->rotation().matrix(); - // rotation rate vector in the body frame - correctedOmega = body_R_sensor * correctedOmega; - } - - // rotation vector describing rotation increment computed from the - // current rotation rate measurement - const Vector3 theta_incr = correctedOmega * deltaT; - Matrix3 D_incrR_integratedOmega; - const Rot3 incrR = Rot3::Expmap(theta_incr, D_incrR_integratedOmega); // expensive !! - - // Update Jacobian - const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_incrR_integratedOmega * deltaT; - - // Update rotation and deltaTij. - Matrix3 Fr; // Jacobian of the update - deltaRij_ = deltaRij_.compose(incrR, Fr); - deltaTij_ += deltaT; + Matrix3 D_incrR_integratedOmega, Fr; + PreintegratedRotation::integrateMeasurement(measuredOmega, + biasHat_, deltaT, &D_incrR_integratedOmega, &Fr); // first order uncertainty propagation // the deltaT allows to pass from continuous time noise to discrete time noise diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 6745a86fc..bdad84e6b 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -48,6 +48,7 @@ void PreintegratedImuMeasurements::resetIntegration() { preintMeasCov_.setZero(); } +//------------------------------------------------------------------------------ // sugar for derivative blocks #define D_R_R(H) (H)->block<3,3>(0,0) #define D_R_t(H) (H)->block<3,3>(0,3) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 13baa973d..7a4e40f16 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -63,27 +63,40 @@ void PreintegrationBase::updatePreintegratedMeasurements( const Vector3& measuredAcc, const Vector3& measuredOmega, const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F) { - Matrix3 D_Rij_incrR; - // NOTE: order is important here because each update uses old values, e.g., velocity and position updates are based on previous rotation estimate. // (i.e., we have to update jacobians and covariances before updating preintegrated measurements). - Vector3 correctedAcc, correctedOmega; - boost::tie(correctedAcc, correctedOmega) = - correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); + // Correct for bias in the sensor frame + Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - // rotation vector describing rotation increment computed from the current rotation rate measurement - const Vector3 integratedOmega = correctedOmega * deltaT; - const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // rotation increment computed from the current rotation rate measurement + // Compensate for sensor-body displacement if needed: we express the quantities + // (originally in the IMU frame) into the body frame + // Equations below assume the "body" frame is the CG + if (p().body_P_sensor) { + // Correct omega: slight duplication as this is also done in integrateMeasurement below + Matrix3 bRs = p().body_P_sensor->rotation().matrix(); + Vector3 s_correctedOmega = biasHat_.correctGyroscope(measuredOmega); + Vector3 b_correctedOmega = bRs * s_correctedOmega; // rotation rate vector in the body frame + + // Correct acceleration + Vector3 b_arm = p().body_P_sensor->translation().vector(); + Vector3 b_velocity_bs = b_correctedOmega.cross(b_arm); // magnitude: omega * arm + // Subtract out the the centripetal acceleration from the measured one + // to get linear acceleration vector in the body frame: + correctedAcc = bRs * correctedAcc - b_correctedOmega.cross(b_velocity_bs); + } // Calculate acceleration in *current* i frame, i.e., before rotation update below Matrix3 D_acc_R; const Matrix3 dRij = deltaRij_.matrix(); // expensive const Vector3 i_acc = deltaRij_.rotate(correctedAcc, F ? &D_acc_R : 0); + const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * delRdelBiasOmega_; + + Matrix3 D_Rij_incrR; + PreintegratedRotation::integrateMeasurement(measuredOmega, + biasHat_.gyroscope(), deltaT, D_incrR_integratedOmega, &D_Rij_incrR); double dt22 = 0.5 * deltaT * deltaT; - deltaTij_ += deltaT; - deltaRij_ = deltaRij_.compose(incrR, F ? &D_Rij_incrR : 0); deltaPij_ += dt22 * i_acc + deltaT * deltaVij_; deltaVij_ += deltaT * i_acc; @@ -92,38 +105,10 @@ void PreintegrationBase::updatePreintegratedMeasurements( dt22 * D_acc_R, I_3x3, I_3x3 * deltaT, // pos deltaT * D_acc_R, Z_3x3, I_3x3; // vel - const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * delRdelBiasOmega_; delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT - dt22 * dRij; delPdelBiasOmega_ += deltaT * delVdelBiasOmega_ + dt22 * temp; delVdelBiasAcc_ += -dRij * deltaT; delVdelBiasOmega_ += temp * deltaT; - const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - - *D_incrR_integratedOmega * deltaT; -} - -std::pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& measuredAcc, const Vector3& measuredOmega) const { - // Correct for bias in the sensor frame - Vector3 s_correctedAcc, s_correctedOmega; - s_correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - s_correctedOmega = biasHat_.correctGyroscope(measuredOmega); - - // Compensate for sensor-body displacement if needed: we express the quantities - // (originally in the IMU frame) into the body frame - // Equations below assume the "body" frame is the CG - if (p().body_P_sensor) { - Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - Vector3 b_arm = p().body_P_sensor->translation().vector(); - Vector3 b_correctedOmega = bRs * s_correctedOmega; // rotation rate vector in the body frame - Vector3 b_velocity_bs = b_correctedOmega.cross(b_arm); // magnitude: omega * arm - // Subtract out the the centripetal acceleration from the measured one - // to get linear acceleration vector in the body frame: - Vector3 b_correctedAcc = bRs * s_correctedAcc - - b_correctedOmega.cross(b_velocity_bs); - return std::make_pair(b_correctedAcc, b_correctedOmega); - } else - return std::make_pair(s_correctedAcc, s_correctedOmega); } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index bcb38a8f9..f3d8a3ff2 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -174,11 +174,7 @@ public: const Vector3& measuredOmega, const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F); - std::pair - correctMeasurementsByBiasAndSensorPose(const Vector3& measuredAcc, - const Vector3& measuredOmega) const; - - /// Given the estimate of the bias, return a NavState tangent vector + /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H = boost::none) const; From e5ace26d5f44f07d13c29d96b08930a286755933 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 21:04:11 -0700 Subject: [PATCH 559/964] Split method in const and non-const part --- gtsam/navigation/PreintegratedRotation.h | 24 ++++++++++++++++++------ 1 file changed, 18 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index df0953945..9bb288b11 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -108,9 +108,11 @@ class PreintegratedRotation { /// @} - void integrateMeasurement(const Vector3& measuredOmega, - const Vector3& biasHat, double deltaT, Matrix3* D_incrR_integratedOmega, - Matrix3* Fr) { + /// Take the gyro measurement, correct it using the (constant) bias estimate + /// and possibly the sensor pose, and then integrate it forward in time to yield + /// an incremental rotation. + Rot3 incrementalRotation(const Vector3& measuredOmega, const Vector3& biasHat, + double deltaT, OptionalJacobian<3, 3> D_incrR_integratedOmega) const { // First we compensate the measurements for the bias Vector3 correctedOmega = measuredOmega - biasHat; @@ -125,12 +127,22 @@ class PreintegratedRotation { // rotation vector describing rotation increment computed from the // current rotation rate measurement - const Vector3 theta_incr = correctedOmega * deltaT; - const Rot3 incrR = Rot3::Expmap(theta_incr, D_incrR_integratedOmega); // expensive !! + const Vector3 integratedOmega = correctedOmega * deltaT; + return Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! + } + + /// Calculate an incremental rotation given the gyro measurement and a time interval, + /// and update both deltaTij_ and deltaRij_. + void integrateMeasurement(const Vector3& measuredOmega, + const Vector3& biasHat, double deltaT, Matrix3* D_incrR_integratedOmega, + Matrix3* F) { + + const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT, + D_incrR_integratedOmega); // Update deltaTij and rotation deltaTij_ += deltaT; - deltaRij_ = deltaRij_.compose(incrR, Fr); + deltaRij_ = deltaRij_.compose(incrR, F); // Update Jacobian const Matrix3 incrRt = incrR.transpose(); From 7149b8ee425c223e9022862943fc4bb47003a91d Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 21:21:03 -0700 Subject: [PATCH 560/964] Avoid duplicate calculation of D_acc_R --- gtsam/navigation/PreintegrationBase.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 7a4e40f16..bf702c4a0 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -89,8 +89,8 @@ void PreintegrationBase::updatePreintegratedMeasurements( // Calculate acceleration in *current* i frame, i.e., before rotation update below Matrix3 D_acc_R; const Matrix3 dRij = deltaRij_.matrix(); // expensive - const Vector3 i_acc = deltaRij_.rotate(correctedAcc, F ? &D_acc_R : 0); - const Matrix3 temp = -dRij * skewSymmetric(correctedAcc) * delRdelBiasOmega_; + const Vector3 i_acc = deltaRij_.rotate(correctedAcc, D_acc_R); + const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; Matrix3 D_Rij_incrR; PreintegratedRotation::integrateMeasurement(measuredOmega, @@ -106,9 +106,9 @@ void PreintegrationBase::updatePreintegratedMeasurements( deltaT * D_acc_R, Z_3x3, I_3x3; // vel delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT - dt22 * dRij; - delPdelBiasOmega_ += deltaT * delVdelBiasOmega_ + dt22 * temp; + delPdelBiasOmega_ += deltaT * delVdelBiasOmega_ + dt22 * D_acc_biasOmega; delVdelBiasAcc_ += -dRij * deltaT; - delVdelBiasOmega_ += temp * deltaT; + delVdelBiasOmega_ += D_acc_biasOmega * deltaT; } //------------------------------------------------------------------------------ From 9c35c931f65f92547ff3f0e1b2252261af67f5ed Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 29 Jul 2015 21:53:18 -0700 Subject: [PATCH 561/964] Modernized test --- gtsam/navigation/tests/testImuFactor.cpp | 70 ++++++++++++------------ 1 file changed, 35 insertions(+), 35 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 7e540b793..dcd2a0bfc 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -54,7 +54,7 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, // Auxiliary functions to test Jacobians F and G used for // covariance propagation during preintegration /* ************************************************************************* */ -Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, +Vector6 updatePreintegratedPosVel(const Vector3 deltaPij_old, const Vector3& deltaVij_old, const Rot3& deltaRij_old, const Vector3& correctedAcc, const Vector3& correctedOmega, const double deltaT) { @@ -64,7 +64,7 @@ Vector updatePreintegratedPosVel(const Vector3 deltaPij_old, deltaPij_new = deltaPij_old + deltaVij_old * deltaT + 0.5 * temp * deltaT; Vector3 deltaVij_new = deltaVij_old + temp; - Vector result(6); + Vector6 result; result << deltaPij_new, deltaVij_new; return result; } @@ -576,19 +576,22 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases // Measurements + const Vector3 measuredAcc(0.1, 0.0, 0.0); + const Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0); + const double deltaT = 0.01; list measuredAccs, measuredOmegas; list deltaTs; - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); + measuredAccs.push_back(measuredAcc); + measuredOmegas.push_back(measuredOmega); + deltaTs.push_back(deltaT); + measuredAccs.push_back(measuredAcc); + measuredOmegas.push_back(measuredOmega); + deltaTs.push_back(deltaT); for (int i = 1; i < 100; i++) { measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); measuredOmegas.push_back( Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); - deltaTs.push_back(0.01); + deltaTs.push_back(deltaT); } // Actual preintegrated values PreintegratedImuMeasurements preintegrated = @@ -597,9 +600,6 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians - const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); - const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); - const double newDeltaT = 0.01; const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement @@ -607,36 +607,36 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { Matrix oldPreintCovariance = preintegrated.preintMeasCov(); Matrix Factual, Gactual; - preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, Factual, Gactual); + preintegrated.integrateMeasurement(measuredAcc, measuredOmega, deltaT, + Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F ////////////////////////////////////////////////////////////////////////////////////////////// // Compute expected f_pos_vel wrt positions - Matrix dfpv_dpos = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaPij_old); + boost::function f = + boost::bind(&updatePreintegratedPosVel, _1, _2, _3, measuredAcc, + measuredOmega, deltaT); + Matrix63 dfpv_dpos = numericalDerivative31(f, deltaPij_old, deltaVij_old, + deltaRij_old); // Compute expected f_pos_vel wrt velocities - Matrix dfpv_dvel = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaVij_old); + Matrix63 dfpv_dvel = numericalDerivative32(f, deltaPij_old, deltaVij_old, + deltaRij_old); // Compute expected f_pos_vel wrt angles - Matrix dfpv_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, - newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaRij_old); + Matrix63 dfpv_dangle = numericalDerivative33(f, deltaPij_old, deltaVij_old, + deltaRij_old); // Compute expected f_rot wrt angles - Matrix dfr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), + Matrix3 dfr_dangle = numericalDerivative11( + boost::bind(&updatePreintegratedRot, _1, measuredOmega, deltaT), deltaRij_old); Matrix Fexpected(9, 9); Fexpected << // dfr_dangle, Z_3x3, Z_3x3, // - dfpv_dangle, dfpv_dpos, dfpv_dvel; + dfpv_dangle, dfpv_dpos, dfpv_dvel; EXPECT(assert_equal(Fexpected, Factual)); @@ -645,27 +645,27 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { ////////////////////////////////////////////////////////////////////////////////////////////// // Compute jacobian wrt integration noise Matrix dgpv_dintNoise(6, 3); - dgpv_dintNoise << I_3x3 * newDeltaT, Z_3x3; + dgpv_dintNoise << I_3x3 * deltaT, Z_3x3; // Compute jacobian wrt acc noise Matrix dgpv_daccNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, _1, newMeasuredOmega, newDeltaT), newMeasuredAcc); + deltaRij_old, _1, measuredOmega, deltaT), measuredAcc); // Compute expected F wrt gyro noise Matrix dgpv_domegaNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, newMeasuredAcc, _1, newDeltaT), newMeasuredOmega); + deltaRij_old, measuredAcc, _1, deltaT), measuredOmega); // Compute expected f_rot wrt gyro noise Matrix dgr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), - newMeasuredOmega); + boost::bind(&updatePreintegratedRot, deltaRij_old, _1, deltaT), + measuredOmega); Matrix Gexpected(9, 9); Gexpected << // dgr_dangle, Z_3x3, Z_3x3, // - dgpv_domegaNoise, dgpv_dintNoise, dgpv_daccNoise; + dgpv_domegaNoise, dgpv_dintNoise, dgpv_daccNoise; EXPECT(assert_equal(Gexpected, Gactual)); @@ -673,12 +673,12 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { Matrix9 measurementCovariance; measurementCovariance << // omegaNoiseVar * I_3x3, Z_3x3, Z_3x3, // - Z_3x3, intNoiseVar * I_3x3, Z_3x3, // - Z_3x3, Z_3x3, accNoiseVar * I_3x3; + Z_3x3, intNoiseVar * I_3x3, Z_3x3, // + Z_3x3, Z_3x3, accNoiseVar * I_3x3; Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance * Factual.transpose() - + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); + + (1 / deltaT) * Gactual * measurementCovariance * Gactual.transpose(); Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); From 13f8935c52302785743b0f76d5898d632e28d0f0 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 30 Jul 2015 08:05:39 -0700 Subject: [PATCH 562/964] update prototype --- gtsam/navigation/NavState.cpp | 44 +++++++++++++++++++++++++ gtsam/navigation/NavState.h | 6 ++++ gtsam/navigation/tests/testNavState.cpp | 26 +++++++++++++-- 3 files changed, 74 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index c45b86450..9f21001b8 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -226,6 +226,50 @@ Matrix7 NavState::wedge(const Vector9& xi) { #define D_v_t(H) (H)->block<3,3>(6,3) #define D_v_v(H) (H)->block<3,3>(6,6) +//------------------------------------------------------------------------------ +NavState NavState::update(const Vector3& omega, const Vector3& acceleration, + const double deltaT, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, + OptionalJacobian<9, 3> G2) const { + + TIE(nRb, n_t, n_v, *this); + + // Calculate acceleration in *current* i frame, i.e., before rotation update below + Matrix3 D_acc_R; + const Matrix3 dRij = R(); // expensive in quaternion case + const Vector3 i_acc = nRb.rotate(acceleration, D_acc_R); + + // rotation vector describing rotation increment computed from the + // current rotation rate measurement + const Vector3 integratedOmega = omega * deltaT; + Matrix3 D_incrR_integratedOmega; + Rot3 incrR = Rot3::Expmap(integratedOmega, G1 ? &D_incrR_integratedOmega : 0); // expensive !! + + Matrix3 D_Rij_incrR; + double dt22 = 0.5 * deltaT * deltaT; + /// TODO(frank): use retract(deltaT*[omega, bRn*n_v * 0.5*deltaT*acceleration, acceleration]) + /// But before we do, figure out retract derivatives that are nicer than Lie-generated ones + NavState result(nRb.compose(incrR, D_Rij_incrR), + n_t + Point3(dt22 * i_acc + deltaT * n_v), n_v + deltaT * i_acc); + + // derivative wrt state + if (F) { + F->setIdentity(); + D_R_R(F) << D_Rij_incrR; + D_t_R(F) << dt22 * D_acc_R; + D_t_v(F) << I_3x3 * deltaT; + D_v_R(F) << deltaT * D_acc_R; + } + // derivative wrt omega + if (G1) { + *G1 << D_incrR_integratedOmega * deltaT, Z_3x3, Z_3x3; + } + // derivative wrt acceleration + if (G2) { + *G2 << Z_3x3, dt22 * dRij, dRij * deltaT; + } + return result; +} + //------------------------------------------------------------------------------ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder, OptionalJacobian<9, 9> H) const { diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 996ae763b..faf6a9c9f 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -209,6 +209,12 @@ public: /// @name Dynamics /// @{ + /// Integrate forward in time given angular velocity and acceleration + /// Uses second order integration for position, returns derivatives except deltaT. + NavState update(const Vector3& omega, const Vector3& acceleration, + const double deltaT, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, + OptionalJacobian<9, 3> G2) const; + /// Compute tangent space contribution due to Coriolis forces Vector9 coriolis(double dt, const Vector3& omega, bool secondOrder = false, OptionalJacobian<9, 9> H = boost::none) const; diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index 6732643e1..986b9aa13 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -139,7 +139,8 @@ TEST( NavState, Manifold ) { // Check localCoordinates derivatives boost::function local = - boost::bind(&NavState::localCoordinates, _1, _2, boost::none, boost::none); + boost::bind(&NavState::localCoordinates, _1, _2, boost::none, + boost::none); // from state1 to state2 kState1.localCoordinates(state2, aH1, aH2); EXPECT(assert_equal(numericalDerivative21(local, kState1, state2), aH1)); @@ -177,6 +178,27 @@ TEST( NavState, Lie ) { EXPECT(assert_equal(xi, -state3.logmap(state2))); } +/* ************************************************************************* */ +TEST(NavState, Update) { + const Vector3 omega(M_PI / 100.0, 0.0, 0.0); + const Vector3 acc(0.1, 0.0, 0.0); + const double deltaT = 10; + Matrix9 aF; + Matrix93 aG1, aG2; + boost::function update = + boost::bind(&NavState::update, _1, _2, _3, deltaT, boost::none, + boost::none, boost::none); + Vector3 b_acc = kRotation * acc; + NavState expected(kRotation.expmap(deltaT * omega), + kPosition + Point3((kVelocity + b_acc * deltaT / 2) * deltaT), + kVelocity + b_acc * deltaT); + NavState actual = kState1.update(omega, acc, deltaT, aF, aG1, aG2); + EXPECT(assert_equal(expected, actual)); + EXPECT(assert_equal(numericalDerivative31(update, kState1, omega, acc), aF)); + EXPECT(assert_equal(numericalDerivative32(update, kState1, omega, acc), aG1)); + EXPECT(assert_equal(numericalDerivative33(update, kState1, omega, acc), aG2)); +} + /* ************************************************************************* */ static const double dt = 2.0; boost::function coriolis = boost::bind( @@ -207,7 +229,7 @@ TEST(NavState, Coriolis2) { } /* ************************************************************************* */ -TEST(NavState, correctPIM) { +TEST(NavState, CorrectPIM) { Vector9 xi; xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3; double dt = 0.5; From cefc441fba1ba8d6e0ea75d03e85b89f6bdc491e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 30 Jul 2015 09:39:25 -0700 Subject: [PATCH 563/964] bodyVelocity and working update derivatives --- gtsam/navigation/NavState.cpp | 71 +++++++++++++------------ gtsam/navigation/NavState.h | 15 +++--- gtsam/navigation/tests/testNavState.cpp | 32 +++++++---- 3 files changed, 70 insertions(+), 48 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 9f21001b8..59f381659 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -55,6 +55,17 @@ const Vector3& NavState::velocity(OptionalJacobian<3, 9> H) const { return v_; } +//------------------------------------------------------------------------------ +Vector3 NavState::bodyVelocity(OptionalJacobian<3, 9> H) const { + const Rot3& nRb = R_; + const Vector3& n_v = v_; + Matrix3 D_bv_nRb; + Vector3 b_v = nRb.unrotate(n_v, H ? &D_bv_nRb : 0); + if (H) + *H << D_bv_nRb, Z_3x3, I_3x3; + return b_v; +} + //------------------------------------------------------------------------------ Matrix7 NavState::matrix() const { Matrix3 R = this->R(); @@ -228,44 +239,38 @@ Matrix7 NavState::wedge(const Vector9& xi) { //------------------------------------------------------------------------------ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, - const double deltaT, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, + const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { - TIE(nRb, n_t, n_v, *this); + Vector9 xi; + Matrix39 D_xiP_state; + double dt22 = 0.5 * dt * dt; + dR(xi) << dt * omega; + dP(xi) << dt * bodyVelocity(D_xiP_state) + dt22 * acceleration; + dV(xi) << dt * acceleration; - // Calculate acceleration in *current* i frame, i.e., before rotation update below - Matrix3 D_acc_R; - const Matrix3 dRij = R(); // expensive in quaternion case - const Vector3 i_acc = nRb.rotate(acceleration, D_acc_R); + Matrix9 D_result_xi; + NavState result = retract(xi, F, D_result_xi); - // rotation vector describing rotation increment computed from the - // current rotation rate measurement - const Vector3 integratedOmega = omega * deltaT; - Matrix3 D_incrR_integratedOmega; - Rot3 incrR = Rot3::Expmap(integratedOmega, G1 ? &D_incrR_integratedOmega : 0); // expensive !! - - Matrix3 D_Rij_incrR; - double dt22 = 0.5 * deltaT * deltaT; - /// TODO(frank): use retract(deltaT*[omega, bRn*n_v * 0.5*deltaT*acceleration, acceleration]) - /// But before we do, figure out retract derivatives that are nicer than Lie-generated ones - NavState result(nRb.compose(incrR, D_Rij_incrR), - n_t + Point3(dt22 * i_acc + deltaT * n_v), n_v + deltaT * i_acc); - - // derivative wrt state + // Derivative wrt state is computed by retract directly + // However, as xi also depends on n_v, we need to add that contribution if (F) { - F->setIdentity(); - D_R_R(F) << D_Rij_incrR; - D_t_R(F) << dt22 * D_acc_R; - D_t_v(F) << I_3x3 * deltaT; - D_v_R(F) << deltaT * D_acc_R; + Matrix9 D_xi_state; + D_xi_state.setZero(); + D_xi_state.middleRows<3>(3) = dt * D_xiP_state; + *F += D_result_xi * D_xi_state; } // derivative wrt omega if (G1) { - *G1 << D_incrR_integratedOmega * deltaT, Z_3x3, Z_3x3; + Matrix93 D_xi_omega; + D_xi_omega << dt * I_3x3, Z_3x3, Z_3x3; + *G1 = D_result_xi * D_xi_omega; } // derivative wrt acceleration if (G2) { - *G2 << Z_3x3, dt22 * dRij, dRij * deltaT; + Matrix93 D_xi_acceleration; + D_xi_acceleration << Z_3x3, dt22 * I_3x3, dt * I_3x3; + *G2 = D_result_xi * D_xi_acceleration; } return result; } @@ -313,16 +318,16 @@ Vector9 NavState::correctPIM(const Vector9& pim, double dt, const Velocity3& n_v = v_; // derivative is Ri ! const double dt2 = dt * dt; - Vector9 delta; + Vector9 xi; Matrix3 D_dP_Ri1, D_dP_Ri2, D_dP_nv, D_dV_Ri; - dR(delta) = dR(pim); - dP(delta) = dP(pim) + dR(xi) = dR(pim); + dP(xi) = dP(pim) + dt * nRb.unrotate(n_v, H1 ? &D_dP_Ri1 : 0, H2 ? &D_dP_nv : 0) + (0.5 * dt2) * nRb.unrotate(n_gravity, H1 ? &D_dP_Ri2 : 0); - dV(delta) = dV(pim) + dt * nRb.unrotate(n_gravity, H1 ? &D_dV_Ri : 0); + dV(xi) = dV(pim) + dt * nRb.unrotate(n_gravity, H1 ? &D_dV_Ri : 0); if (omegaCoriolis) { - delta += coriolis(dt, *omegaCoriolis, use2ndOrderCoriolis, H1); + xi += coriolis(dt, *omegaCoriolis, use2ndOrderCoriolis, H1); } if (H1 || H2) { @@ -340,7 +345,7 @@ Vector9 NavState::correctPIM(const Vector9& pim, double dt, } } - return delta; + return xi; } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index faf6a9c9f..f1e850037 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -100,6 +100,10 @@ public: Matrix3 R() const { return R_.matrix(); } + /// Return quaternion. Induces computation in matrix mode + Quaternion quaternion() const { + return R_.toQuaternion(); + } /// Return position as Vector3 Vector3 t() const { return t_.vector(); @@ -108,10 +112,9 @@ public: const Vector3& v() const { return v_; } - /// Return quaternion. Induces computation in matrix mode - Quaternion quaternion() const { - return R_.toQuaternion(); - } + // Return velocity in body frame + Velocity3 bodyVelocity(OptionalJacobian<3, 9> H) const; + /// Return matrix group representation, in MATLAB notation: /// nTb = [nRb 0 n_t; 0 nRb n_v; 0 0 1] /// With this embedding in GL(3), matrix product agrees with compose @@ -210,9 +213,9 @@ public: /// @{ /// Integrate forward in time given angular velocity and acceleration - /// Uses second order integration for position, returns derivatives except deltaT. + /// Uses second order integration for position, returns derivatives except dt. NavState update(const Vector3& omega, const Vector3& acceleration, - const double deltaT, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, + const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const; /// Compute tangent space contribution due to Coriolis forces diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index 986b9aa13..a885936aa 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -24,12 +24,12 @@ using namespace std; using namespace gtsam; -static const Rot3 kRotation = Rot3::RzRyRx(0.1, 0.2, 0.3); +static const Rot3 kAttitude = Rot3::RzRyRx(0.1, 0.2, 0.3); static const Point3 kPosition(1.0, 2.0, 3.0); -static const Pose3 kPose(kRotation, kPosition); +static const Pose3 kPose(kAttitude, kPosition); static const Velocity3 kVelocity(0.4, 0.5, 0.6); static const NavState kIdentity; -static const NavState kState1(kRotation, kPosition, kVelocity); +static const NavState kState1(kAttitude, kPosition, kVelocity); static const Vector3 kOmegaCoriolis(0.02, 0.03, 0.04); static const Vector3 kGravity(0, 0, 9.81); static const Vector9 kZeroXi = Vector9::Zero(); @@ -46,15 +46,17 @@ TEST(NavState, Constructor) { EXPECT(assert_equal(numericalDerivative21(construct, kPose, kVelocity), aH1)); EXPECT(assert_equal(numericalDerivative22(construct, kPose, kVelocity), aH2)); } + /* ************************************************************************* */ TEST( NavState, Attitude) { Matrix39 aH, eH; Rot3 actual = kState1.attitude(aH); - EXPECT(assert_equal(actual, kRotation)); + EXPECT(assert_equal(actual, kAttitude)); eH = numericalDerivative11( boost::bind(&NavState::attitude, _1, boost::none), kState1); EXPECT(assert_equal((Matrix )eH, aH)); } + /* ************************************************************************* */ TEST( NavState, Position) { Matrix39 aH, eH; @@ -64,6 +66,7 @@ TEST( NavState, Position) { boost::bind(&NavState::position, _1, boost::none), kState1); EXPECT(assert_equal((Matrix )eH, aH)); } + /* ************************************************************************* */ TEST( NavState, Velocity) { Matrix39 aH, eH; @@ -73,6 +76,17 @@ TEST( NavState, Velocity) { boost::bind(&NavState::velocity, _1, boost::none), kState1); EXPECT(assert_equal((Matrix )eH, aH)); } + +/* ************************************************************************* */ +TEST( NavState, BodyVelocity) { + Matrix39 aH, eH; + Velocity3 actual = kState1.bodyVelocity(aH); + EXPECT(assert_equal(actual, kAttitude.unrotate(kVelocity))); + eH = numericalDerivative11( + boost::bind(&NavState::bodyVelocity, _1, boost::none), kState1); + EXPECT(assert_equal((Matrix )eH, aH)); +} + /* ************************************************************************* */ TEST( NavState, MatrixGroup ) { // check roundtrip conversion to 7*7 matrix representation @@ -188,15 +202,15 @@ TEST(NavState, Update) { boost::function update = boost::bind(&NavState::update, _1, _2, _3, deltaT, boost::none, boost::none, boost::none); - Vector3 b_acc = kRotation * acc; - NavState expected(kRotation.expmap(deltaT * omega), + Vector3 b_acc = kAttitude * acc; + NavState expected(kAttitude.expmap(deltaT * omega), kPosition + Point3((kVelocity + b_acc * deltaT / 2) * deltaT), kVelocity + b_acc * deltaT); NavState actual = kState1.update(omega, acc, deltaT, aF, aG1, aG2); EXPECT(assert_equal(expected, actual)); - EXPECT(assert_equal(numericalDerivative31(update, kState1, omega, acc), aF)); - EXPECT(assert_equal(numericalDerivative32(update, kState1, omega, acc), aG1)); - EXPECT(assert_equal(numericalDerivative33(update, kState1, omega, acc), aG2)); + EXPECT(assert_equal(numericalDerivative31(update, kState1, omega, acc, 1e-7), aF, 1e-7)); + EXPECT(assert_equal(numericalDerivative32(update, kState1, omega, acc, 1e-7), aG1, 1e-7)); + EXPECT(assert_equal(numericalDerivative33(update, kState1, omega, acc, 1e-7), aG2, 1e-7)); } /* ************************************************************************* */ From 2ad50ab86ea8a681caefc73850e7cc4136db475c Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 30 Jul 2015 09:48:00 -0700 Subject: [PATCH 564/964] More efficient derivatives --- gtsam/navigation/NavState.cpp | 15 ++++----------- 1 file changed, 4 insertions(+), 11 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 59f381659..a955cc7dd 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -253,24 +253,17 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, NavState result = retract(xi, F, D_result_xi); // Derivative wrt state is computed by retract directly - // However, as xi also depends on n_v, we need to add that contribution + // However, as dP(xi) also depends on state, we need to add that contribution if (F) { - Matrix9 D_xi_state; - D_xi_state.setZero(); - D_xi_state.middleRows<3>(3) = dt * D_xiP_state; - *F += D_result_xi * D_xi_state; + F->middleRows<3>(3) += dt * D_t_t(F) * D_xiP_state; } // derivative wrt omega if (G1) { - Matrix93 D_xi_omega; - D_xi_omega << dt * I_3x3, Z_3x3, Z_3x3; - *G1 = D_result_xi * D_xi_omega; + *G1 = dt * D_result_xi.leftCols<3>(); } // derivative wrt acceleration if (G2) { - Matrix93 D_xi_acceleration; - D_xi_acceleration << Z_3x3, dt22 * I_3x3, dt * I_3x3; - *G2 = D_result_xi * D_xi_acceleration; + *G2 = dt22 * D_result_xi.middleCols<3>(3) + dt * D_result_xi.rightCols<3>(); } return result; } From 91eeede05a242222125e64623bf634e638810f66 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 30 Jul 2015 21:55:40 -0700 Subject: [PATCH 565/964] Better documentation, and conditional evaluation of derivatives --- gtsam/navigation/NavState.cpp | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index a955cc7dd..23a72a6bb 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -246,11 +246,11 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, Matrix39 D_xiP_state; double dt22 = 0.5 * dt * dt; dR(xi) << dt * omega; - dP(xi) << dt * bodyVelocity(D_xiP_state) + dt22 * acceleration; + dP(xi) << dt * bodyVelocity(F ? &D_xiP_state : 0) + dt22 * acceleration; dV(xi) << dt * acceleration; Matrix9 D_result_xi; - NavState result = retract(xi, F, D_result_xi); + NavState result = retract(xi, F, G1 || G2 ? &D_result_xi : 0); // Derivative wrt state is computed by retract directly // However, as dP(xi) also depends on state, we need to add that contribution @@ -259,11 +259,19 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, } // derivative wrt omega if (G1) { - *G1 = dt * D_result_xi.leftCols<3>(); + // D_result_dRxi = D_result_xi.leftCols<3>() + // D_dRxi_omega = dt * I_3x3 + // *G1 = D_result_omega = D_result_dRxi * D_dRxi_omega + *G1 = D_result_xi.leftCols<3>() * dt; } // derivative wrt acceleration if (G2) { - *G2 = dt22 * D_result_xi.middleCols<3>(3) + dt * D_result_xi.rightCols<3>(); + // D_result_dPxi = D_result_xi.middleCols<3>(3) + // D_dPxi_acc = dt22 * I_3x3 + // D_result_dVxi = D_result_xi.rightCols<3>() + // D_dVxi_acc = dt * I_3x3 + // *G2 = D_result_acc = D_result_dPxi * D_dPxi_acc + D_result_dVxi * D_dVxi_acc + *G2 = D_result_xi.middleCols<3>(3) * dt22 + D_result_xi.rightCols<3>() * dt; } return result; } From 3cdf8973d459b4f826c391dc6eecff891d6b40d0 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 30 Jul 2015 22:50:06 -0700 Subject: [PATCH 566/964] Monte Carlo analysis --- gtsam/navigation/tests/testImuFactor.cpp | 89 ++++++++++++++++++------ 1 file changed, 67 insertions(+), 22 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index dcd2a0bfc..ca01de3ec 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -16,15 +16,16 @@ */ #include -#include -#include -#include #include #include +#include +#include +#include +#include #include #include -#include +#include #include #include @@ -648,17 +649,17 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { dgpv_dintNoise << I_3x3 * deltaT, Z_3x3; // Compute jacobian wrt acc noise - Matrix dgpv_daccNoise = numericalDerivative11( + Matrix63 dgpv_daccNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, _1, measuredOmega, deltaT), measuredAcc); // Compute expected F wrt gyro noise - Matrix dgpv_domegaNoise = numericalDerivative11( + Matrix63 dgpv_domegaNoise = numericalDerivative11( boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, deltaRij_old, measuredAcc, _1, deltaT), measuredOmega); // Compute expected f_rot wrt gyro noise - Matrix dgr_dangle = numericalDerivative11( + Matrix3 dgr_dangle = numericalDerivative11( boost::bind(&updatePreintegratedRot, deltaRij_old, _1, deltaT), measuredOmega); @@ -798,6 +799,40 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); } +/* ************************************************************************* */ +Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, + const NavState& state, const imuBias::ConstantBias& bias, double dt, + const Pose3& body_P_sensor, const Vector3& measuredAcc, + const Vector3& measuredOmega, size_t N = 1000) { + // Get mean prediction from "ground truth" measurements + PreintegratedImuMeasurements pim1 = pim; + pim1.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); + NavState mean = pim1.predict(state, bias); + + // Do a Monte Carlo analysis to determine empirical density on the predicted state + Sampler sampleAccelerationNoise(Vector3::Constant(sqrt(accNoiseVar))); + Sampler sampleOmegaNoise(Vector3::Constant(sqrt(omegaNoiseVar))); + Matrix samples(9, N); + Vector9 sum = Vector9::Zero(); + for (size_t i = 0; i < N; i++) { + PreintegratedImuMeasurements pim2 = pim; + Vector3 perturbedAcc = measuredAcc + sampleAccelerationNoise.sample(); + Vector3 perturbedOmega = measuredOmega + sampleOmegaNoise.sample(); + pim2.integrateMeasurement(perturbedAcc, perturbedOmega, dt, body_P_sensor); + NavState prediction = pim2.predict(state, bias); + samples.col(i) = mean.localCoordinates(prediction); + sum += samples.col(i); + } + Vector9 sampleMean = sum / N; + Matrix9 Q; + Q.setZero(); + for (size_t i = 0; i < N; i++) { + Vector9 xi = samples.col(i) - sampleMean; + Q += xi * xi.transpose() / (N - 1); + } + return Q; +} + /* ************************************************************************* */ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) @@ -812,17 +847,18 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { measuredOmega << 0, 0, M_PI / 10.0 + 0.3; Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown) + Vector3(0.2, 0.0, 0.0); - double deltaT = 1.0; + double dt = 1.0; - const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), - Point3(1, 0, 0)); + Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 0)); + imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); - PreintegratedImuMeasurements pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), - kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, true); + // Get mean prediction from "ground truth" measurements + PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, + kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); + Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), biasHat, dt, body_P_sensor, + measuredAcc, measuredOmega, 1000); + cout << Q << endl; - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, body_P_sensor); Matrix expected(9,9); expected << @@ -835,6 +871,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, // 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, // 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01; + pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6)); // Create factor @@ -943,20 +980,28 @@ TEST(ImuFactor, PredictRotation) { /* ************************************************************************* */ TEST(ImuFactor, PredictArbitrary) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Measurements Vector3 measuredOmega(M_PI / 10, M_PI / 10, M_PI / 10); Vector3 measuredAcc(0.1, 0.2, -9.81); - double deltaT = 0.001; + double dt = 0.001; ImuFactor::PreintegratedMeasurements pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), + biasHat, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); + Pose3 x1; + Vector3 v1 = Vector3(0, 0, 0); + Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), biasHat, dt, Pose3(), + measuredAcc, measuredOmega, 1000); + cout << Q << endl; - for (int i = 0; i < 1000; ++i) - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + pim.integrateMeasurement(measuredAcc, measuredOmega, dt); + cout << pim.preintMeasCov() << endl; + + for (int i = 0; i < 999; ++i) + pim.integrateMeasurement(measuredAcc, measuredOmega, dt); Matrix expected(9,9); expected << // @@ -976,9 +1021,9 @@ TEST(ImuFactor, PredictArbitrary) { kZeroOmegaCoriolis); // Predict - Pose3 x1, x2; - Vector3 v1 = Vector3(0, 0.0, 0.0); + Pose3 x2; Vector3 v2; + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); From c40ffa0174ade565b2044d8d86a4666bc888ecf2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 06:37:39 -0700 Subject: [PATCH 567/964] Some more documentation --- gtsam/navigation/NavState.cpp | 26 +++++++++++++++----------- gtsam/navigation/NavState.h | 2 +- 2 files changed, 16 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 23a72a6bb..3b2093d1a 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -244,13 +244,17 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, Vector9 xi; Matrix39 D_xiP_state; + Vector3 b_v = bodyVelocity(F ? &D_xiP_state : 0); double dt22 = 0.5 * dt * dt; + + // Integrate on tangent space. TODO(frank): coriolis? dR(xi) << dt * omega; - dP(xi) << dt * bodyVelocity(F ? &D_xiP_state : 0) + dt22 * acceleration; + dP(xi) << dt * b_v + dt22 * acceleration; dV(xi) << dt * acceleration; - Matrix9 D_result_xi; - NavState result = retract(xi, F, G1 || G2 ? &D_result_xi : 0); + // Bring back to manifold + Matrix9 D_newState_xi; + NavState newState = retract(xi, F, G1 || G2 ? &D_newState_xi : 0); // Derivative wrt state is computed by retract directly // However, as dP(xi) also depends on state, we need to add that contribution @@ -259,21 +263,21 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, } // derivative wrt omega if (G1) { - // D_result_dRxi = D_result_xi.leftCols<3>() + // D_newState_dRxi = D_newState_xi.leftCols<3>() // D_dRxi_omega = dt * I_3x3 - // *G1 = D_result_omega = D_result_dRxi * D_dRxi_omega - *G1 = D_result_xi.leftCols<3>() * dt; + // *G1 = D_newState_omega = D_newState_dRxi * D_dRxi_omega + *G1 = D_newState_xi.leftCols<3>() * dt; } // derivative wrt acceleration if (G2) { - // D_result_dPxi = D_result_xi.middleCols<3>(3) + // D_newState_dPxi = D_newState_xi.middleCols<3>(3) // D_dPxi_acc = dt22 * I_3x3 - // D_result_dVxi = D_result_xi.rightCols<3>() + // D_newState_dVxi = D_newState_xi.rightCols<3>() // D_dVxi_acc = dt * I_3x3 - // *G2 = D_result_acc = D_result_dPxi * D_dPxi_acc + D_result_dVxi * D_dVxi_acc - *G2 = D_result_xi.middleCols<3>(3) * dt22 + D_result_xi.rightCols<3>() * dt; + // *G2 = D_newState_acc = D_newState_dPxi * D_dPxi_acc + D_newState_dVxi * D_dVxi_acc + *G2 = D_newState_xi.middleCols<3>(3) * dt22 + D_newState_xi.rightCols<3>() * dt; } - return result; + return newState; } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index f1e850037..e33b5fc9f 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -113,7 +113,7 @@ public: return v_; } // Return velocity in body frame - Velocity3 bodyVelocity(OptionalJacobian<3, 9> H) const; + Velocity3 bodyVelocity(OptionalJacobian<3, 9> H = boost::none) const; /// Return matrix group representation, in MATLAB notation: /// nTb = [nRb 0 n_t; 0 nRb n_v; 0 0 1] From dd468ab4956d305ed9637e07a9014a95bcde2b40 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 11:31:01 -0700 Subject: [PATCH 568/964] Inlined rotation part --- gtsam/navigation/PreintegrationBase.cpp | 27 ++++++++++++++++++------- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index bf702c4a0..3a5d6d559 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -58,7 +58,6 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, && equal_with_abs_tol(delVdelBiasOmega_, other.delVdelBiasOmega_, tol); } -/// Update preintegrated measurements void PreintegrationBase::updatePreintegratedMeasurements( const Vector3& measuredAcc, const Vector3& measuredOmega, const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F) { @@ -68,6 +67,7 @@ void PreintegrationBase::updatePreintegratedMeasurements( // Correct for bias in the sensor frame Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); + Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); // Compensate for sensor-body displacement if needed: we express the quantities // (originally in the IMU frame) into the body frame @@ -75,15 +75,14 @@ void PreintegrationBase::updatePreintegratedMeasurements( if (p().body_P_sensor) { // Correct omega: slight duplication as this is also done in integrateMeasurement below Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - Vector3 s_correctedOmega = biasHat_.correctGyroscope(measuredOmega); - Vector3 b_correctedOmega = bRs * s_correctedOmega; // rotation rate vector in the body frame + correctedOmega = bRs * correctedOmega; // rotation rate vector in the body frame // Correct acceleration Vector3 b_arm = p().body_P_sensor->translation().vector(); - Vector3 b_velocity_bs = b_correctedOmega.cross(b_arm); // magnitude: omega * arm + Vector3 b_velocity_bs = correctedOmega.cross(b_arm); // magnitude: omega * arm // Subtract out the the centripetal acceleration from the measured one // to get linear acceleration vector in the body frame: - correctedAcc = bRs * correctedAcc - b_correctedOmega.cross(b_velocity_bs); + correctedAcc = bRs * correctedAcc - correctedOmega.cross(b_velocity_bs); } // Calculate acceleration in *current* i frame, i.e., before rotation update below @@ -92,9 +91,23 @@ void PreintegrationBase::updatePreintegratedMeasurements( const Vector3 i_acc = deltaRij_.rotate(correctedAcc, D_acc_R); const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; +// NavState iTj(deltaRij_, deltaPij_, deltaVij_); +// iTj = iTj.update(); + + // rotation vector describing rotation increment computed from the + // current rotation rate measurement + const Vector3 integratedOmega = correctedOmega * deltaT; + const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! + + // Update deltaTij and rotation + deltaTij_ += deltaT; Matrix3 D_Rij_incrR; - PreintegratedRotation::integrateMeasurement(measuredOmega, - biasHat_.gyroscope(), deltaT, D_incrR_integratedOmega, &D_Rij_incrR); + deltaRij_ = deltaRij_.compose(incrR, D_Rij_incrR); + + // Update Jacobian + const Matrix3 incrRt = incrR.transpose(); + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + - *D_incrR_integratedOmega * deltaT; double dt22 = 0.5 * deltaT * deltaT; deltaPij_ += dt22 * i_acc + deltaT * deltaVij_; From 628a4cc4cc5be871398136a5f8c3f3f732d5d1b9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 11:43:53 -0700 Subject: [PATCH 569/964] Removed inheritance from PreintegratedRotation --- gtsam/navigation/ImuFactor.cpp | 4 +-- gtsam/navigation/PreintegrationBase.cpp | 16 ++++++++--- gtsam/navigation/PreintegrationBase.h | 24 ++++++++++++++--- gtsam/navigation/tests/testImuFactor.cpp | 34 ++++++++++-------------- 4 files changed, 49 insertions(+), 29 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index bdad84e6b..5a46c5da3 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -81,10 +81,10 @@ void PreintegratedImuMeasurements::integrateMeasurement( // NOTE 2: computation of G * (1/deltaT) * measurementCovariance * G.transpose() done block-wise, // as G and measurementCovariance are block-diagonal matrices preintMeasCov_ = F * preintMeasCov_ * F.transpose(); - D_t_t(&preintMeasCov_) += p().integrationCovariance * deltaT; - D_v_v(&preintMeasCov_) += dRij * p().accelerometerCovariance * dRij.transpose() * deltaT; D_R_R(&preintMeasCov_) += D_incrR_integratedOmega * p().gyroscopeCovariance * D_incrR_integratedOmega.transpose() * deltaT; + D_t_t(&preintMeasCov_) += p().integrationCovariance * deltaT; + D_v_v(&preintMeasCov_) += dRij * p().accelerometerCovariance * dRij.transpose() * deltaT; Matrix3 F_pos_noiseacc; F_pos_noiseacc = 0.5 * dRij * deltaT * deltaT; diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 3a5d6d559..6353eb16c 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -28,7 +28,9 @@ namespace gtsam { /// Re-initialize PreintegratedMeasurements void PreintegrationBase::resetIntegration() { - PreintegratedRotation::resetIntegration(); + deltaTij_ = 0.0; + deltaRij_ = Rot3(); + delRdelBiasOmega_ = Z_3x3; deltaPij_ = Vector3::Zero(); deltaVij_ = Vector3::Zero(); delPdelBiasAcc_ = Z_3x3; @@ -39,7 +41,9 @@ void PreintegrationBase::resetIntegration() { /// Needed for testable void PreintegrationBase::print(const string& s) const { - PreintegratedRotation::print(s); + cout << s << endl; + cout << " deltaTij [" << deltaTij_ << "]" << endl; + cout << " deltaRij.ypr = (" << deltaRij_.ypr().transpose() << ")" << endl; cout << " deltaPij [ " << deltaPij_.transpose() << " ]" << endl; cout << " deltaVij [ " << deltaVij_.transpose() << " ]" << endl; biasHat_.print(" biasHat"); @@ -48,7 +52,9 @@ void PreintegrationBase::print(const string& s) const { /// Needed for testable bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { - return PreintegratedRotation::equals(other, tol) + return deltaRij_.equals(other.deltaRij_, tol) + && fabs(deltaTij_ - other.deltaTij_) < tol + && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol) && biasHat_.equals(other.biasHat_, tol) && equal_with_abs_tol(deltaPij_, other.deltaPij_, tol) && equal_with_abs_tol(deltaVij_, other.deltaVij_, tol) @@ -130,7 +136,9 @@ Vector9 PreintegrationBase::biasCorrectedDelta( // Correct deltaRij, derivative is delRdelBiasOmega_ const imuBias::ConstantBias biasIncr = bias_i - biasHat_; Matrix3 D_deltaRij_bias; - Rot3 deltaRij = biascorrectedDeltaRij(biasIncr.gyroscope(), H ? &D_deltaRij_bias : 0); + const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasIncr.gyroscope(); + const Rot3 deltaRij = deltaRij_.expmap(biasInducedOmega, boost::none, H ? &D_deltaRij_bias : 0); + if (H) D_deltaRij_bias *= delRdelBiasOmega_; Vector9 xi; Matrix3 D_dR_deltaRij; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index f3d8a3ff2..bf01db00a 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -51,7 +51,7 @@ struct PoseVelocityBias { * It includes the definitions of the preintegrated variables and the methods * to access, print, and compare them. */ -class PreintegrationBase: public PreintegratedRotation { +class PreintegrationBase { public: @@ -100,6 +100,13 @@ public: protected: + double deltaTij_; ///< Time interval from i to j + Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) + Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias + + /// Parameters + boost::shared_ptr p_; + /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; @@ -124,7 +131,7 @@ public: */ PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat) : - PreintegratedRotation(p), biasHat_(biasHat) { + p_(p), biasHat_(biasHat) { resetIntegration(); } @@ -136,6 +143,15 @@ public: } /// getters + const double& deltaTij() const { + return deltaTij_; + } + const Rot3& deltaRij() const { + return deltaRij_; + } + const Matrix3& delRdelBiasOmega() const { + return delRdelBiasOmega_; + } const imuBias::ConstantBias& biasHat() const { return biasHat_; } @@ -202,8 +218,10 @@ private: friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation); ar & BOOST_SERIALIZATION_NVP(p_); + ar & BOOST_SERIALIZATION_NVP(deltaTij_); + ar & BOOST_SERIALIZATION_NVP(deltaRij_); + ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); ar & BOOST_SERIALIZATION_NVP(biasHat_); ar & BOOST_SERIALIZATION_NVP(deltaPij_); ar & BOOST_SERIALIZATION_NVP(deltaVij_); diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index ca01de3ec..176379da4 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -364,15 +364,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { kMeasuredOmegaCovariance, kIntegrationErrorCovariance); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - // Make sure of biascorrectedDeltaRij with this example... - Matrix3 aH; - pim.biascorrectedDeltaRij(bias.gyroscope(), aH); - Matrix3 eH = numericalDerivative11( - boost::bind(&PreintegrationBase::biascorrectedDeltaRij, pim, _1, - boost::none), bias.gyroscope()); - EXPECT(assert_equal(eH, aH)); - - // ... and of biasCorrectedDelta + // Make sure of biasCorrectedDelta Matrix96 actualH; pim.biasCorrectedDelta(bias, actualH); Matrix expectedH = numericalDerivative11( @@ -803,11 +795,14 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, const NavState& state, const imuBias::ConstantBias& bias, double dt, const Pose3& body_P_sensor, const Vector3& measuredAcc, - const Vector3& measuredOmega, size_t N = 1000) { + const Vector3& measuredOmega, size_t N = 100) { // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim1 = pim; - pim1.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); + for (size_t k=0;k<10;k++) + pim1.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); NavState mean = pim1.predict(state, bias); + cout << "pim1.preintMeasCov():" << endl; + cout << pim1.preintMeasCov() << endl; // Do a Monte Carlo analysis to determine empirical density on the predicted state Sampler sampleAccelerationNoise(Vector3::Constant(sqrt(accNoiseVar))); @@ -818,18 +813,23 @@ Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, PreintegratedImuMeasurements pim2 = pim; Vector3 perturbedAcc = measuredAcc + sampleAccelerationNoise.sample(); Vector3 perturbedOmega = measuredOmega + sampleOmegaNoise.sample(); - pim2.integrateMeasurement(perturbedAcc, perturbedOmega, dt, body_P_sensor); + for (size_t k=0;k<10;k++) + pim2.integrateMeasurement(perturbedAcc, perturbedOmega, dt, body_P_sensor); NavState prediction = pim2.predict(state, bias); samples.col(i) = mean.localCoordinates(prediction); sum += samples.col(i); } Vector9 sampleMean = sum / N; + cout << ":" << endl; + cout << sampleMean << endl; Matrix9 Q; Q.setZero(); for (size_t i = 0; i < N; i++) { Vector9 xi = samples.col(i) - sampleMean; Q += xi * xi.transpose() / (N - 1); } + cout << "Q:" << endl; + cout << Q << endl; return Q; } @@ -857,8 +857,6 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), biasHat, dt, body_P_sensor, measuredAcc, measuredOmega, 1000); - cout << Q << endl; - Matrix expected(9,9); expected << @@ -993,14 +991,10 @@ TEST(ImuFactor, PredictArbitrary) { kIntegrationErrorCovariance, true); Pose3 x1; Vector3 v1 = Vector3(0, 0, 0); - Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), biasHat, dt, Pose3(), + Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), biasHat, 0.1, Pose3(), measuredAcc, measuredOmega, 1000); - cout << Q << endl; - pim.integrateMeasurement(measuredAcc, measuredOmega, dt); - cout << pim.preintMeasCov() << endl; - - for (int i = 0; i < 999; ++i) + for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, dt); Matrix expected(9,9); From e3d36da18817c9bcd9d0292d482b1a6175d76757 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 13:33:23 -0700 Subject: [PATCH 570/964] Switched argument order --- gtsam/navigation/NavState.cpp | 27 +++++++++++++------------ gtsam/navigation/NavState.h | 4 ++-- gtsam/navigation/tests/testNavState.cpp | 8 ++++---- 3 files changed, 20 insertions(+), 19 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 3b2093d1a..2e7917688 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -238,7 +238,7 @@ Matrix7 NavState::wedge(const Vector9& xi) { #define D_v_v(H) (H)->block<3,3>(6,6) //------------------------------------------------------------------------------ -NavState NavState::update(const Vector3& omega, const Vector3& acceleration, +NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega, const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { @@ -248,9 +248,9 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, double dt22 = 0.5 * dt * dt; // Integrate on tangent space. TODO(frank): coriolis? - dR(xi) << dt * omega; - dP(xi) << dt * b_v + dt22 * acceleration; - dV(xi) << dt * acceleration; + dR(xi) << dt * b_omega; + dP(xi) << dt * b_v + dt22 * b_acceleration; + dV(xi) << dt * b_acceleration; // Bring back to manifold Matrix9 D_newState_xi; @@ -261,21 +261,22 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration, if (F) { F->middleRows<3>(3) += dt * D_t_t(F) * D_xiP_state; } - // derivative wrt omega - if (G1) { - // D_newState_dRxi = D_newState_xi.leftCols<3>() - // D_dRxi_omega = dt * I_3x3 - // *G1 = D_newState_omega = D_newState_dRxi * D_dRxi_omega - *G1 = D_newState_xi.leftCols<3>() * dt; - } // derivative wrt acceleration - if (G2) { + if (G1) { // D_newState_dPxi = D_newState_xi.middleCols<3>(3) // D_dPxi_acc = dt22 * I_3x3 // D_newState_dVxi = D_newState_xi.rightCols<3>() // D_dVxi_acc = dt * I_3x3 // *G2 = D_newState_acc = D_newState_dPxi * D_dPxi_acc + D_newState_dVxi * D_dVxi_acc - *G2 = D_newState_xi.middleCols<3>(3) * dt22 + D_newState_xi.rightCols<3>() * dt; + *G1 = D_newState_xi.middleCols<3>(3) * dt22 + + D_newState_xi.rightCols<3>() * dt; + } + // derivative wrt omega + if (G2) { + // D_newState_dRxi = D_newState_xi.leftCols<3>() + // D_dRxi_omega = dt * I_3x3 + // *G1 = D_newState_omega = D_newState_dRxi * D_dRxi_omega + *G2 = D_newState_xi.leftCols<3>() * dt; } return newState; } diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index e33b5fc9f..9561aa77b 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -212,9 +212,9 @@ public: /// @name Dynamics /// @{ - /// Integrate forward in time given angular velocity and acceleration + /// Integrate forward in time given angular velocity and acceleration in body frame /// Uses second order integration for position, returns derivatives except dt. - NavState update(const Vector3& omega, const Vector3& acceleration, + NavState update(const Vector3& b_acceleration, const Vector3& b_omega, const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const; diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index a885936aa..b05a8a3e5 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -206,11 +206,11 @@ TEST(NavState, Update) { NavState expected(kAttitude.expmap(deltaT * omega), kPosition + Point3((kVelocity + b_acc * deltaT / 2) * deltaT), kVelocity + b_acc * deltaT); - NavState actual = kState1.update(omega, acc, deltaT, aF, aG1, aG2); + NavState actual = kState1.update(acc, omega, deltaT, aF, aG1, aG2); EXPECT(assert_equal(expected, actual)); - EXPECT(assert_equal(numericalDerivative31(update, kState1, omega, acc, 1e-7), aF, 1e-7)); - EXPECT(assert_equal(numericalDerivative32(update, kState1, omega, acc, 1e-7), aG1, 1e-7)); - EXPECT(assert_equal(numericalDerivative33(update, kState1, omega, acc, 1e-7), aG2, 1e-7)); + EXPECT(assert_equal(numericalDerivative31(update, kState1, acc, omega, 1e-7), aF, 1e-7)); + EXPECT(assert_equal(numericalDerivative32(update, kState1, acc, omega, 1e-7), aG1, 1e-7)); + EXPECT(assert_equal(numericalDerivative33(update, kState1, acc, omega, 1e-7), aG2, 1e-7)); } /* ************************************************************************* */ From 325ede23fe8bc98bcffe41b916c6886a08fae1f2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 15:08:12 -0700 Subject: [PATCH 571/964] BIG: switch to NavState delta pose --- gtsam/navigation/ImuFactor.cpp | 45 +++------ gtsam/navigation/ImuFactor.h | 10 +- gtsam/navigation/NavState.cpp | 6 +- gtsam/navigation/PreintegrationBase.cpp | 90 ++++++++---------- gtsam/navigation/PreintegrationBase.h | 43 ++++----- gtsam/navigation/tests/testImuFactor.cpp | 115 +++++++++++------------ 6 files changed, 135 insertions(+), 174 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 5a46c5da3..2f5861de5 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -61,16 +61,17 @@ void PreintegratedImuMeasurements::resetIntegration() { #define D_v_v(H) (H)->block<3,3>(6,6) //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( - const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - OptionalJacobian<9, 9> F_test, OptionalJacobian<9, 9> G_test) { + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, + OptionalJacobian<9, 9> outF, OptionalJacobian<9, 9> G) { - const Matrix3 dRij = deltaRij_.matrix(); // store this, which is useful to compute G_test + static const Matrix93 Gi = (Matrix93() << Z_3x3, I_3x3, Z_3x3).finished(); // Update preintegrated measurements (also get Jacobian) Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) - updatePreintegratedMeasurements(measuredAcc, measuredOmega, deltaT, - &D_incrR_integratedOmega, &F); + Matrix93 G1, G2; + updatePreintegratedMeasurements(measuredAcc, measuredOmega, dt, + &D_incrR_integratedOmega, &F, &G1, &G2); // first order covariance propagation: // as in [2] we consider a first order propagation that can be seen as a prediction phase in EKF @@ -78,35 +79,13 @@ void PreintegratedImuMeasurements::integrateMeasurement( // preintMeasCov = F * preintMeasCov * F.transpose() + G * (1/deltaT) * measurementCovariance * G' // NOTE 1: (1/deltaT) allows to pass from continuous time noise to discrete time noise // measurementCovariance_discrete = measurementCovariance_contTime * (1/deltaT) - // NOTE 2: computation of G * (1/deltaT) * measurementCovariance * G.transpose() done block-wise, - // as G and measurementCovariance are block-diagonal matrices - preintMeasCov_ = F * preintMeasCov_ * F.transpose(); - D_R_R(&preintMeasCov_) += D_incrR_integratedOmega * p().gyroscopeCovariance - * D_incrR_integratedOmega.transpose() * deltaT; - D_t_t(&preintMeasCov_) += p().integrationCovariance * deltaT; - D_v_v(&preintMeasCov_) += dRij * p().accelerometerCovariance * dRij.transpose() * deltaT; + preintMeasCov_ = F * preintMeasCov_ * F.transpose() + + G1 * (p().accelerometerCovariance / dt) * G1.transpose() + + Gi * (p().integrationCovariance * dt) * Gi.transpose() // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt) + + G2 * (p().gyroscopeCovariance / dt) * G2.transpose(); - Matrix3 F_pos_noiseacc; - F_pos_noiseacc = 0.5 * dRij * deltaT * deltaT; - D_t_t(&preintMeasCov_) += (1 / deltaT) * F_pos_noiseacc - * p().accelerometerCovariance * F_pos_noiseacc.transpose(); - Matrix3 temp = F_pos_noiseacc * p().accelerometerCovariance - * dRij.transpose(); // has 1/deltaT - D_t_v(&preintMeasCov_) += temp; - D_v_t(&preintMeasCov_) += temp.transpose(); - - // F_test and G_test are given as output for testing purposes and are not needed by the factor - if (F_test) { - (*F_test) << F; - } - if (G_test) { - // This in only for testing & documentation, while the actual computation is done block-wise - // omegaNoise intNoise accNoise - (*G_test) << - D_incrR_integratedOmega * deltaT, Z_3x3, Z_3x3, // angle - Z_3x3, I_3x3 * deltaT, F_pos_noiseacc, // pos - Z_3x3, Z_3x3, dRij * deltaT; // vel - } + if (outF) *outF = F; + if (G) *G << G2, Gi*dt, G1; // NOTE(frank): order here is R,P,V } //------------------------------------------------------------------------------ PreintegratedImuMeasurements::PreintegratedImuMeasurements( diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 32ee4185e..1d32623bd 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -96,13 +96,13 @@ public: * Add a single IMU measurement to the preintegration. * @param measuredAcc Measured acceleration (in body frame, as given by the sensor) * @param measuredOmega Measured angular velocity (as given by the sensor) - * @param deltaT Time interval between this and the last IMU measurement - * @param body_P_sensor Optional sensor frame (pose of the IMU in the body frame) - * @param Fout, Gout Jacobians used internally (only needed for testing) + * @param dt Time interval between this and the last IMU measurement + * @param F, F Jacobians used internally (only needed for testing) */ void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double deltaT, - OptionalJacobian<9, 9> Fout = boost::none, OptionalJacobian<9, 9> Gout = boost::none); + const Vector3& measuredOmega, double dt, // + OptionalJacobian<9, 9> F = boost::none, // + OptionalJacobian<9, 9> G = boost::none); /// Return pre-integrated measurement covariance Matrix preintMeasCov() const { return preintMeasCov_; } diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 2e7917688..6266c328f 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -322,14 +322,14 @@ Vector9 NavState::correctPIM(const Vector9& pim, double dt, OptionalJacobian<9, 9> H2) const { const Rot3& nRb = R_; const Velocity3& n_v = v_; // derivative is Ri ! - const double dt2 = dt * dt; + const double dt22 = 0.5 * dt * dt; Vector9 xi; Matrix3 D_dP_Ri1, D_dP_Ri2, D_dP_nv, D_dV_Ri; dR(xi) = dR(pim); dP(xi) = dP(pim) + dt * nRb.unrotate(n_v, H1 ? &D_dP_Ri1 : 0, H2 ? &D_dP_nv : 0) - + (0.5 * dt2) * nRb.unrotate(n_gravity, H1 ? &D_dP_Ri2 : 0); + + dt22 * nRb.unrotate(n_gravity, H1 ? &D_dP_Ri2 : 0); dV(xi) = dV(pim) + dt * nRb.unrotate(n_gravity, H1 ? &D_dV_Ri : 0); if (omegaCoriolis) { @@ -342,7 +342,7 @@ Vector9 NavState::correctPIM(const Vector9& pim, double dt, if (H1) { if (!omegaCoriolis) H1->setZero(); // if coriolis H1 is already initialized - D_t_R(H1) += dt * D_dP_Ri1 + (0.5 * dt2) * D_dP_Ri2; + D_t_R(H1) += dt * D_dP_Ri1 + dt22 * D_dP_Ri2; D_t_v(H1) += dt * D_dP_nv * Ri; D_v_R(H1) += dt * D_dV_Ri; } diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 6353eb16c..2373c474e 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -29,10 +29,8 @@ namespace gtsam { /// Re-initialize PreintegratedMeasurements void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; - deltaRij_ = Rot3(); + deltaXij_ = NavState(); delRdelBiasOmega_ = Z_3x3; - deltaPij_ = Vector3::Zero(); - deltaVij_ = Vector3::Zero(); delPdelBiasAcc_ = Z_3x3; delPdelBiasOmega_ = Z_3x3; delVdelBiasAcc_ = Z_3x3; @@ -43,21 +41,19 @@ void PreintegrationBase::resetIntegration() { void PreintegrationBase::print(const string& s) const { cout << s << endl; cout << " deltaTij [" << deltaTij_ << "]" << endl; - cout << " deltaRij.ypr = (" << deltaRij_.ypr().transpose() << ")" << endl; - cout << " deltaPij [ " << deltaPij_.transpose() << " ]" << endl; - cout << " deltaVij [ " << deltaVij_.transpose() << " ]" << endl; + cout << " deltaRij.ypr = (" << deltaRij().ypr().transpose() << ")" << endl; + cout << " deltaPij [ " << deltaPij().transpose() << " ]" << endl; + cout << " deltaVij [ " << deltaVij().transpose() << " ]" << endl; biasHat_.print(" biasHat"); } /// Needed for testable bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { - return deltaRij_.equals(other.deltaRij_, tol) - && fabs(deltaTij_ - other.deltaTij_) < tol - && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol) + return fabs(deltaTij_ - other.deltaTij_) < tol + && deltaXij_.equals(other.deltaXij_, tol) && biasHat_.equals(other.biasHat_, tol) - && equal_with_abs_tol(deltaPij_, other.deltaPij_, tol) - && equal_with_abs_tol(deltaVij_, other.deltaVij_, tol) + && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol) && equal_with_abs_tol(delPdelBiasAcc_, other.delPdelBiasAcc_, tol) && equal_with_abs_tol(delPdelBiasOmega_, other.delPdelBiasOmega_, tol) && equal_with_abs_tol(delVdelBiasAcc_, other.delVdelBiasAcc_, tol) @@ -65,8 +61,8 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, } void PreintegrationBase::updatePreintegratedMeasurements( - const Vector3& measuredAcc, const Vector3& measuredOmega, - const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F) { + const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt, + Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2) { // NOTE: order is important here because each update uses old values, e.g., velocity and position updates are based on previous rotation estimate. // (i.e., we have to update jacobians and covariances before updating preintegrated measurements). @@ -91,43 +87,31 @@ void PreintegrationBase::updatePreintegratedMeasurements( correctedAcc = bRs * correctedAcc - correctedOmega.cross(b_velocity_bs); } - // Calculate acceleration in *current* i frame, i.e., before rotation update below + // Save current rotation for updating Jacobians + const Rot3 oldRij = deltaXij_.attitude(); + + // Do update in one fell swoop + deltaTij_ += dt; + deltaXij_ = deltaXij_.update(correctedAcc, correctedOmega, dt, F, G1, G2); + + // Update Jacobians + // TODO(frank): we are repeating some computation here: accessible in F ? Matrix3 D_acc_R; - const Matrix3 dRij = deltaRij_.matrix(); // expensive - const Vector3 i_acc = deltaRij_.rotate(correctedAcc, D_acc_R); + oldRij.rotate(correctedAcc, D_acc_R); const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; -// NavState iTj(deltaRij_, deltaPij_, deltaVij_); -// iTj = iTj.update(); - - // rotation vector describing rotation increment computed from the - // current rotation rate measurement - const Vector3 integratedOmega = correctedOmega * deltaT; - const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! - - // Update deltaTij and rotation - deltaTij_ += deltaT; - Matrix3 D_Rij_incrR; - deltaRij_ = deltaRij_.compose(incrR, D_Rij_incrR); - - // Update Jacobian + const Vector3 integratedOmega = correctedOmega * dt; + const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! const Matrix3 incrRt = incrR.transpose(); delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - - *D_incrR_integratedOmega * deltaT; + - *D_incrR_integratedOmega * dt; - double dt22 = 0.5 * deltaT * deltaT; - deltaPij_ += dt22 * i_acc + deltaT * deltaVij_; - deltaVij_ += deltaT * i_acc; - - *F << // angle pos vel - D_Rij_incrR, Z_3x3, Z_3x3, // angle - dt22 * D_acc_R, I_3x3, I_3x3 * deltaT, // pos - deltaT * D_acc_R, Z_3x3, I_3x3; // vel - - delPdelBiasAcc_ += delVdelBiasAcc_ * deltaT - dt22 * dRij; - delPdelBiasOmega_ += deltaT * delVdelBiasOmega_ + dt22 * D_acc_biasOmega; - delVdelBiasAcc_ += -dRij * deltaT; - delVdelBiasOmega_ += D_acc_biasOmega * deltaT; + double dt22 = 0.5 * dt * dt; + const Matrix3 dRij = oldRij.matrix(); // expensive + delPdelBiasAcc_ += delVdelBiasAcc_ * dt - dt22 * dRij; + delPdelBiasOmega_ += dt * delVdelBiasOmega_ + dt22 * D_acc_biasOmega; + delVdelBiasAcc_ += -dRij * dt; + delVdelBiasOmega_ += D_acc_biasOmega * dt; } //------------------------------------------------------------------------------ @@ -135,24 +119,26 @@ Vector9 PreintegrationBase::biasCorrectedDelta( const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H) const { // Correct deltaRij, derivative is delRdelBiasOmega_ const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - Matrix3 D_deltaRij_bias; + Matrix3 D_correctedRij_bias; const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasIncr.gyroscope(); - const Rot3 deltaRij = deltaRij_.expmap(biasInducedOmega, boost::none, H ? &D_deltaRij_bias : 0); - if (H) D_deltaRij_bias *= delRdelBiasOmega_; + const Rot3 correctedRij = deltaRij().expmap(biasInducedOmega, boost::none, + H ? &D_correctedRij_bias : 0); + if (H) + D_correctedRij_bias *= delRdelBiasOmega_; Vector9 xi; - Matrix3 D_dR_deltaRij; + Matrix3 D_dR_correctedRij; // TODO(frank): could line below be simplified? It is equivalent to // LogMap(deltaRij_.compose(Expmap(delRdelBiasOmega_ * biasIncr.gyroscope()))) - NavState::dR(xi) = Rot3::Logmap(deltaRij, H ? &D_dR_deltaRij : 0); - NavState::dP(xi) = deltaPij_ + delPdelBiasAcc_ * biasIncr.accelerometer() + NavState::dR(xi) = Rot3::Logmap(correctedRij, H ? &D_dR_correctedRij : 0); + NavState::dP(xi) = deltaPij() + delPdelBiasAcc_ * biasIncr.accelerometer() + delPdelBiasOmega_ * biasIncr.gyroscope(); - NavState::dV(xi) = deltaVij_ + delVdelBiasAcc_ * biasIncr.accelerometer() + NavState::dV(xi) = deltaVij() + delVdelBiasAcc_ * biasIncr.accelerometer() + delVdelBiasOmega_ * biasIncr.gyroscope(); if (H) { Matrix36 D_dR_bias, D_dP_bias, D_dV_bias; - D_dR_bias << Z_3x3, D_dR_deltaRij * D_deltaRij_bias; + D_dR_bias << Z_3x3, D_dR_correctedRij * D_correctedRij_bias; D_dP_bias << delPdelBiasAcc_, delPdelBiasOmega_; D_dV_bias << delVdelBiasAcc_, delVdelBiasOmega_; (*H) << D_dR_bias, D_dP_bias, D_dV_bias; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index bf01db00a..6b4626654 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -100,9 +100,14 @@ public: protected: - double deltaTij_; ///< Time interval from i to j - Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) - Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias + double deltaTij_; ///< Time interval from i to j + + /** + * Preintegrated navigation state, from frame i to frame j + * Note: relative position does not take into account velocity at time i, see deltap+, in [2] + * Note: velocity is now also in frame i, as opposed to deltaVij in [2] + */ + NavState deltaXij_; /// Parameters boost::shared_ptr p_; @@ -110,12 +115,10 @@ protected: /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; - Vector3 deltaPij_; ///< Preintegrated relative position (does not take into account velocity at time i, see deltap+, in [2]) (in frame i) - Vector3 deltaVij_; ///< Preintegrated relative velocity (in global frame) - - Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias + Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias + Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias Matrix3 delPdelBiasOmega_; ///< Jacobian of preintegrated position w.r.t. angular rate bias - Matrix3 delVdelBiasAcc_; ///< Jacobian of preintegrated velocity w.r.t. acceleration bias + Matrix3 delVdelBiasAcc_; ///< Jacobian of preintegrated velocity w.r.t. acceleration bias Matrix3 delVdelBiasOmega_; ///< Jacobian of preintegrated velocity w.r.t. angular rate bias /// Default constructor for serialization @@ -147,19 +150,19 @@ public: return deltaTij_; } const Rot3& deltaRij() const { - return deltaRij_; + return deltaXij_.attitude(); } - const Matrix3& delRdelBiasOmega() const { - return delRdelBiasOmega_; + Vector3 deltaPij() const { + return deltaXij_.position().vector(); + } + Vector3 deltaVij() const { + return deltaXij_.velocity(); } const imuBias::ConstantBias& biasHat() const { return biasHat_; } - const Vector3& deltaPij() const { - return deltaPij_; - } - const Vector3& deltaVij() const { - return deltaVij_; + const Matrix3& delRdelBiasOmega() const { + return delRdelBiasOmega_; } const Matrix3& delPdelBiasAcc() const { return delPdelBiasAcc_; @@ -188,7 +191,7 @@ public: /// Update preintegrated measurements void updatePreintegratedMeasurements(const Vector3& measuredAcc, const Vector3& measuredOmega, const double deltaT, - Matrix3* D_incrR_integratedOmega, Matrix9* F); + Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2); /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far @@ -220,11 +223,9 @@ private: void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_NVP(deltaTij_); - ar & BOOST_SERIALIZATION_NVP(deltaRij_); - ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); + ar & BOOST_SERIALIZATION_NVP(deltaXij_); ar & BOOST_SERIALIZATION_NVP(biasHat_); - ar & BOOST_SERIALIZATION_NVP(deltaPij_); - ar & BOOST_SERIALIZATION_NVP(deltaVij_); + ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); ar & BOOST_SERIALIZATION_NVP(delPdelBiasAcc_); ar & BOOST_SERIALIZATION_NVP(delPdelBiasOmega_); ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_); diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 176379da4..fdf9fd04c 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -40,6 +40,7 @@ using symbol_shorthand::B; static const Vector3 kGravityAlongNavZDown(0, 0, 9.81); static const Vector3 kZeroOmegaCoriolis(0, 0, 0); static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); +static const imuBias::ConstantBias kZeroBiasHat, kZeroBias; /* ************************************************************************* */ namespace { @@ -139,46 +140,51 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { // Set up IMU measurements - static const double g = 10; // make this easy to check - static const double a = 0.2, dt = 3.0; - const double exact = dt * dt / 2; - Vector3 measuredAcc(a, 0, -g), measuredOmega(0, 0, 0); + static const double g = 10; // make gravity 10 to make this easy to check + static const double v = 5.0, a = 0.2, dt = 3.0; + const double dt22 = dt * dt / 2; - // Set up body pointing towards y axis, and start at 10,20,0 with zero velocity - // TODO(frank): clean up Rot3 mess + // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X + // The body itself has Z axis pointing down static const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); static const Point3 initial_position(10, 20, 0); - static const NavState state1(nRb, initial_position, Velocity3(0, 0, 0)); + static const Vector3 initial_velocity(v,0,0); + static const NavState state1(nRb, initial_position, initial_velocity); - imuBias::ConstantBias biasHat, bias; + // set up acceleration in X direction, no angular velocity. + // Since body Z-axis is pointing down, accelerometer measures table exerting force in negative Z + Vector3 measuredAcc(a, 0, -g), measuredOmega(0, 0, 0); + + // Create parameters assuming nav frame has Z up boost::shared_ptr p = - PreintegratedImuMeasurements::Params::MakeSharedU(g); // Up convention! + PreintegratedImuMeasurements::Params::MakeSharedU(g); - PreintegratedImuMeasurements pim(p, biasHat); + // Now, preintegrate for 3 seconds, in 10 steps + PreintegratedImuMeasurements pim(p, kZeroBiasHat); for (size_t i = 0; i < 10; i++) pim.integrateMeasurement(measuredAcc, measuredOmega, dt / 10); // Check integrated quantities in body frame: gravity measured by IMU is integrated! + Vector3 b_deltaP(a * dt22, 0, -g * dt22); + Vector3 b_deltaV(a * dt, 0, -g * dt); EXPECT(assert_equal(Rot3(), pim.deltaRij())); - EXPECT(assert_equal(Vector3(a * exact, 0, -g * exact), pim.deltaPij())); - EXPECT(assert_equal(Vector3(a * dt, 0, -g * dt), pim.deltaVij())); + EXPECT(assert_equal(b_deltaP, pim.deltaPij())); + EXPECT(assert_equal(b_deltaV, pim.deltaVij())); // Check bias-corrected delta: also in body frame Vector9 expectedBC; - expectedBC << 0, 0, 0, a * exact, 0, -g * exact, a * dt, 0, -g * dt; - EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(bias))); + expectedBC << Vector3(0, 0, 0), b_deltaP, b_deltaV; + EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(kZeroBias))); - // Check prediction, note we move along x in body, along y in nav - NavState expected(nRb, Point3(10, 20 + a * exact, 0), - Velocity3(0, a * dt, 0)); - EXPECT(assert_equal(expected, pim.predict(state1, bias))); + // Check prediction in nav, note we move along x in body, along y in nav + Point3 expected_position(10 + v*dt, 20 + a * dt22, 0); + Velocity3 expected_velocity(v, a * dt, 0); + NavState expected(nRb, expected_position, expected_velocity); + EXPECT(assert_equal(expected, pim.predict(state1, kZeroBias))); } /* ************************************************************************* */ TEST(ImuFactor, PreintegratedMeasurements) { - // Linearization point - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); - // Measurements Vector3 measuredAcc(0.1, 0.0, 0.0); Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0); @@ -192,7 +198,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { double expectedDeltaT1(0.5); // Actual preintegrated values - PreintegratedImuMeasurements actual1(bias, kMeasuredAccCovariance, + PreintegratedImuMeasurements actual1(kZeroBiasHat, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -222,7 +228,6 @@ TEST(ImuFactor, PreintegratedMeasurements) { /* ************************************************************************* */ // Common linearization point and measurements for tests namespace common { -static const imuBias::ConstantBias biasHat, bias; // Bias static const Pose3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0), Point3(5.0, 1.0, 0)); static const Vector3 v1(Vector3(0.5, 0.0, 0.0)); @@ -252,28 +257,28 @@ TEST(ImuFactor, PreintegrationBaseMethods) { p->integrationCovariance = kIntegrationErrorCovariance; p->use2ndOrderCoriolis = true; - PreintegratedImuMeasurements pim(p, bias); + PreintegratedImuMeasurements pim(p, kZeroBiasHat); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // biasCorrectedDelta Matrix96 actualH; - pim.biasCorrectedDelta(bias, actualH); + pim.biasCorrectedDelta(kZeroBias, actualH); Matrix expectedH = numericalDerivative11( boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, - boost::none), bias); + boost::none), kZeroBias); EXPECT(assert_equal(expectedH, actualH)); Matrix9 aH1; Matrix96 aH2; - NavState predictedState = pim.predict(state1, bias, aH1, aH2); + NavState predictedState = pim.predict(state1, kZeroBias, aH1, aH2); Matrix eH1 = numericalDerivative11( - boost::bind(&PreintegrationBase::predict, pim, _1, bias, boost::none, + boost::bind(&PreintegrationBase::predict, pim, _1, kZeroBias, boost::none, boost::none), state1); EXPECT(assert_equal(eH1, aH1)); Matrix eH2 = numericalDerivative11( boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, - boost::none), bias); + boost::none), kZeroBias); EXPECT(assert_equal(eH2, aH2)); return; @@ -282,11 +287,11 @@ TEST(ImuFactor, PreintegrationBaseMethods) { /* ************************************************************************* */ TEST(ImuFactor, ErrorAndJacobians) { using namespace common; - PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, + PreintegratedImuMeasurements pim(kZeroBiasHat, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - EXPECT(assert_equal(state2, pim.predict(state1, bias))); + EXPECT(assert_equal(state2, pim.predict(state1, kZeroBias))); // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, @@ -296,14 +301,14 @@ TEST(ImuFactor, ErrorAndJacobians) { Vector expectedError(9); expectedError << 0, 0, 0, 0, 0, 0, 0, 0, 0; EXPECT( - assert_equal(expectedError, factor.evaluateError(x1, v1, x2, v2, bias))); + assert_equal(expectedError, factor.evaluateError(x1, v1, x2, v2, kZeroBias))); Values values; values.insert(X(1), x1); values.insert(V(1), v1); values.insert(X(2), x2); values.insert(V(2), v2); - values.insert(B(1), bias); + values.insert(B(1), kZeroBias); EXPECT(assert_equal(expectedError, factor.unwhitenedError(values))); // Make sure linearization is correct @@ -312,16 +317,16 @@ TEST(ImuFactor, ErrorAndJacobians) { // Actual Jacobians Matrix H1a, H2a, H3a, H4a, H5a; - (void) factor.evaluateError(x1, v1, x2, v2, bias, H1a, H2a, H3a, H4a, H5a); + (void) factor.evaluateError(x1, v1, x2, v2, kZeroBias, H1a, H2a, H3a, H4a, H5a); // Make sure rotation part is correct when error is interpreted as axis-angle // Jacobians are around zero, so the rotation part is the same as: Matrix H1Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, bias), x1); + boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, kZeroBias), x1); EXPECT(assert_equal(H1Rot3, H1a.topRows(3))); Matrix H3Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, bias), x2); + boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, kZeroBias), x2); EXPECT(assert_equal(H3Rot3, H3a.topRows(3))); // Evaluate error with wrong values @@ -330,7 +335,7 @@ TEST(ImuFactor, ErrorAndJacobians) { expectedError << 0, 0, 0, 0, 0, 0, -0.0724744871, -0.040715657, -0.151952901; EXPECT( assert_equal(expectedError, - factor.evaluateError(x1, v1, x2, v2_wrong, bias), 1e-2)); + factor.evaluateError(x1, v1, x2, v2_wrong, kZeroBias), 1e-2)); EXPECT(assert_equal(expectedError, factor.unwhitenedError(values), 1e-2)); // Make sure the whitening is done correctly @@ -503,9 +508,6 @@ TEST(ImuFactor, fistOrderExponential) { /* ************************************************************************* */ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { - // Linearization point - imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases - Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1)); // Measurements @@ -526,28 +528,28 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { // Actual preintegrated values PreintegratedImuMeasurements preintegrated = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + evaluatePreintegratedMeasurements(kZeroBias, measuredAccs, measuredOmegas, deltaTs); // Compute numerical derivatives Matrix expectedDelPdelBias = numericalDerivative11( boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, - measuredOmegas, deltaTs), bias); + measuredOmegas, deltaTs), kZeroBias); Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); Matrix expectedDelVdelBias = numericalDerivative11( boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, - measuredOmegas, deltaTs), bias); + measuredOmegas, deltaTs), kZeroBias); Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); Matrix expectedDelRdelBias = numericalDerivative11( boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, - measuredAccs, measuredOmegas, deltaTs), bias); + measuredAccs, measuredOmegas, deltaTs), kZeroBias); Matrix expectedDelRdelBiasAcc = expectedDelRdelBias.leftCols(3); Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3); @@ -565,9 +567,6 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { /* ************************************************************************* */ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { - // Linearization point - imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases - // Measurements const Vector3 measuredAcc(0.1, 0.0, 0.0); const Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0); @@ -587,20 +586,19 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { deltaTs.push_back(deltaT); } // Actual preintegrated values - PreintegratedImuMeasurements preintegrated = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs); + PreintegratedImuMeasurements pim = evaluatePreintegratedMeasurements( + kZeroBias, measuredAccs, measuredOmegas, deltaTs); // so far we only created a nontrivial linearization point for the preintegrated measurements // Now we add a new measurement and ask for Jacobians - const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement + const Rot3 deltaRij_old = pim.deltaRij(); // before adding new measurement + const Vector3 deltaVij_old = pim.deltaVij(); // before adding new measurement + const Vector3 deltaPij_old = pim.deltaPij(); // before adding new measurement - Matrix oldPreintCovariance = preintegrated.preintMeasCov(); + Matrix oldPreintCovariance = pim.preintMeasCov(); Matrix Factual, Gactual; - preintegrated.integrateMeasurement(measuredAcc, measuredOmega, deltaT, + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, Factual, Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// @@ -673,15 +671,12 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { * Factual.transpose() + (1 / deltaT) * Gactual * measurementCovariance * Gactual.transpose(); - Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); + Matrix newPreintCovarianceActual = pim.preintMeasCov(); EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); } /* ************************************************************************* */ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { - // Linearization point - imuBias::ConstantBias bias; // Current estimate of acceleration and rotation rate biases - // Measurements list measuredAccs, measuredOmegas; list deltaTs; @@ -699,7 +694,7 @@ TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { } // Actual preintegrated values PreintegratedImuMeasurements preintegrated = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, + evaluatePreintegratedMeasurements(kZeroBias, measuredAccs, measuredOmegas, deltaTs); // so far we only created a nontrivial linearization point for the preintegrated measurements From 8aca431913ca9a8ec2068c565740d9d31891582c Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 15:31:45 -0700 Subject: [PATCH 572/964] const update method --- gtsam/navigation/ImuFactor.cpp | 5 ++--- gtsam/navigation/PreintegrationBase.cpp | 30 ++++++++++++++++--------- gtsam/navigation/PreintegrationBase.h | 4 ++++ 3 files changed, 26 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 2f5861de5..279c95d3c 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -67,11 +67,10 @@ void PreintegratedImuMeasurements::integrateMeasurement( static const Matrix93 Gi = (Matrix93() << Z_3x3, I_3x3, Z_3x3).finished(); // Update preintegrated measurements (also get Jacobian) - Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 G1, G2; - updatePreintegratedMeasurements(measuredAcc, measuredOmega, dt, - &D_incrR_integratedOmega, &F, &G1, &G2); + Matrix3 D_incrR_integratedOmega; + updatePreintegratedMeasurements(measuredAcc, measuredOmega, dt, &D_incrR_integratedOmega, &F, &G1, &G2); // first order covariance propagation: // as in [2] we consider a first order propagation that can be seen as a prediction phase in EKF diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 2373c474e..0d51e59f9 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -60,12 +60,10 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, && equal_with_abs_tol(delVdelBiasOmega_, other.delVdelBiasOmega_, tol); } -void PreintegrationBase::updatePreintegratedMeasurements( - const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt, - Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2) { - - // NOTE: order is important here because each update uses old values, e.g., velocity and position updates are based on previous rotation estimate. - // (i.e., we have to update jacobians and covariances before updating preintegrated measurements). +//------------------------------------------------------------------------------ +NavState PreintegrationBase::update(const Vector3& measuredAcc, + const Vector3& measuredOmega, const double dt, Matrix9* F, Matrix93* G1, + Matrix93* G2) const { // Correct for bias in the sensor frame Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); @@ -87,15 +85,28 @@ void PreintegrationBase::updatePreintegratedMeasurements( correctedAcc = bRs * correctedAcc - correctedOmega.cross(b_velocity_bs); } + // Do update in one fell swoop + return deltaXij_.update(correctedAcc, correctedOmega, dt, F, G1, G2); +} + +//------------------------------------------------------------------------------ +void PreintegrationBase::updatePreintegratedMeasurements( + const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt, + Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2) { + // Save current rotation for updating Jacobians const Rot3 oldRij = deltaXij_.attitude(); - // Do update in one fell swoop + // Do update deltaTij_ += dt; - deltaXij_ = deltaXij_.update(correctedAcc, correctedOmega, dt, F, G1, G2); + deltaXij_ = update(measuredAcc, measuredOmega, dt, F, G1, G2); // functional // Update Jacobians // TODO(frank): we are repeating some computation here: accessible in F ? + // Correct for bias in the sensor frame + Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); + Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); + Matrix3 D_acc_R; oldRij.rotate(correctedAcc, D_acc_R); const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; @@ -103,8 +114,7 @@ void PreintegrationBase::updatePreintegratedMeasurements( const Vector3 integratedOmega = correctedOmega * dt; const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - - *D_incrR_integratedOmega * dt; + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - *D_incrR_integratedOmega * dt; double dt22 = 0.5 * dt * dt; const Matrix3 dRij = oldRij.matrix(); // expensive diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 6b4626654..95de5e935 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -188,6 +188,10 @@ public: /// check equality bool equals(const PreintegrationBase& other, double tol) const; + /// Calculate the updated preintegrated measurement, does not modify + NavState update(const Vector3& measuredAcc, const Vector3& measuredOmega, + const double dt, Matrix9* F, Matrix93* G1, Matrix93* G2) const; + /// Update preintegrated measurements void updatePreintegratedMeasurements(const Vector3& measuredAcc, const Vector3& measuredOmega, const double deltaT, From 7901077a7ad0c2ff98cac8b0f30a4af94e5e5896 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 15:32:16 -0700 Subject: [PATCH 573/964] refactoring F and G --- gtsam/navigation/CombinedImuFactor.cpp | 63 +++++++------- gtsam/navigation/CombinedImuFactor.h | 8 +- .../tests/testCombinedImuFactor.cpp | 82 +++++++++---------- 3 files changed, 76 insertions(+), 77 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index ea68f724e..0b23d299c 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -50,18 +50,33 @@ void PreintegratedCombinedMeasurements::resetIntegration() { preintMeasCov_.setZero(); } +//------------------------------------------------------------------------------ +// sugar for derivative blocks +#define D_R_R(H) (H)->block<3,3>(0,0) +#define D_R_t(H) (H)->block<3,3>(0,3) +#define D_R_v(H) (H)->block<3,3>(0,6) +#define D_t_R(H) (H)->block<3,3>(3,0) +#define D_t_t(H) (H)->block<3,3>(3,3) +#define D_t_v(H) (H)->block<3,3>(3,6) +#define D_v_R(H) (H)->block<3,3>(6,0) +#define D_v_t(H) (H)->block<3,3>(6,3) +#define D_v_v(H) (H)->block<3,3>(6,6) +#define D_a_a(H) (H)->block<3,3>(9,9) +#define D_g_g(H) (H)->block<3,3>(12,12) + //------------------------------------------------------------------------------ void PreintegratedCombinedMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - boost::optional F_test, boost::optional G_test) { + OptionalJacobian<15, 15> F_test, OptionalJacobian<15, 21> G_test) { - const Matrix3 dRij = deltaRij_.matrix(); // expensive when quaternion + const Matrix3 dRij = deltaXij_.R(); // expensive when quaternion // Update preintegrated measurements. Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr Matrix9 F_9x9; // overall Jacobian wrt preintegrated measurements (df/dx) + Matrix93 G1,G2; updatePreintegratedMeasurements(measuredAcc, measuredOmega, deltaT, - &D_incrR_integratedOmega, &F_9x9); + &D_incrR_integratedOmega, &F_9x9, &G1, &G2); // Update preintegrated measurements covariance: as in [2] we consider a first order propagation that // can be seen as a prediction phase in an EKF framework. In this implementation, contrarily to [2] we @@ -74,17 +89,11 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // overall Jacobian wrt preintegrated measurements (df/dx) Eigen::Matrix F; - // for documentation: - // F << I_3x3, I_3x3 * deltaT, Z_3x3, Z_3x3, Z_3x3, - // Z_3x3, I_3x3, H_vel_angles, H_vel_biasacc, Z_3x3, - // Z_3x3, Z_3x3, H_angles_angles, Z_3x3, H_angles_biasomega, - // Z_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, - // Z_3x3, Z_3x3, Z_3x3, Z_3x3, I_3x3; F.setZero(); F.block<9, 9>(0, 0) = F_9x9; + F.block<3, 3>(0, 12) = H_angles_biasomega; + F.block<3, 3>(6, 9) = H_vel_biasacc; F.block<6, 6>(9, 9) = I_6x6; - F.block<3, 3>(3, 9) = H_vel_biasacc; - F.block<3, 3>(6, 12) = H_angles_biasomega; // first order uncertainty propagation // Optimized matrix multiplication (1/deltaT) * G * measurementCovariance * G.transpose() @@ -92,38 +101,36 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( G_measCov_Gt.setZero(15, 15); // BLOCK DIAGONAL TERMS - G_measCov_Gt.block<3, 3>(0, 0) = deltaT * p().integrationCovariance; - G_measCov_Gt.block<3, 3>(3, 3) = (1 / deltaT) * (H_vel_biasacc) + D_t_t(&G_measCov_Gt) = deltaT * p().integrationCovariance; + D_v_v(&G_measCov_Gt) = (1 / deltaT) * (H_vel_biasacc) * (p().accelerometerCovariance + p().biasAccOmegaInit.block<3, 3>(0, 0)) * (H_vel_biasacc.transpose()); - G_measCov_Gt.block<3, 3>(6, 6) = (1 / deltaT) * (H_angles_biasomega) + D_R_R(&G_measCov_Gt) = (1 / deltaT) * (H_angles_biasomega) * (p().gyroscopeCovariance + p().biasAccOmegaInit.block<3, 3>(3, 3)) * (H_angles_biasomega.transpose()); - G_measCov_Gt.block<3, 3>(9, 9) = (1 / deltaT) * p().biasAccCovariance; - G_measCov_Gt.block<3, 3>(12, 12) = (1 / deltaT) * p().biasOmegaCovariance; + D_a_a(&G_measCov_Gt) = (1 / deltaT) * p().biasAccCovariance; + D_g_g(&G_measCov_Gt) = (1 / deltaT) * p().biasOmegaCovariance; // OFF BLOCK DIAGONAL TERMS - Matrix3 block23 = H_vel_biasacc * p().biasAccOmegaInit.block<3, 3>(3, 0) + Matrix3 temp = H_vel_biasacc * p().biasAccOmegaInit.block<3, 3>(3, 0) * H_angles_biasomega.transpose(); - G_measCov_Gt.block<3, 3>(3, 6) = block23; - G_measCov_Gt.block<3, 3>(6, 3) = block23.transpose(); + D_v_R(&G_measCov_Gt) = temp; + D_R_v(&G_measCov_Gt) = temp.transpose(); preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G_measCov_Gt; // F_test and G_test are used for testing purposes and are not needed by the factor if (F_test) { - F_test->resize(15, 15); (*F_test) << F; } if (G_test) { - G_test->resize(15, 21); // This is for testing & documentation ///< measurementCovariance_ : cov[integrationError measuredAcc measuredOmega biasAccRandomWalk biasOmegaRandomWalk biasAccInit biasOmegaInit] in R^(21 x 21) (*G_test) << // - I_3x3 * deltaT, Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_3x3, // - Z_3x3, -H_vel_biasacc, Z_3x3, Z_3x3, Z_3x3, H_vel_biasacc, Z_3x3, // - Z_3x3, Z_3x3, -H_angles_biasomega, Z_3x3, Z_3x3, Z_3x3, H_angles_biasomega, // - Z_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, Z_3x3, Z_3x3, // - Z_3x3, Z_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, Z_3x3; + -H_angles_biasomega, Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_3x3, H_angles_biasomega, // + Z_3x3, I_3x3 * deltaT, Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_3x3, // + Z_3x3, Z_3x3, -H_vel_biasacc, Z_3x3, Z_3x3, H_vel_biasacc, Z_3x3, // + Z_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, Z_3x3, Z_3x3, // + Z_3x3, Z_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, Z_3x3; } } @@ -198,7 +205,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, Matrix93 D_r_vel_i, D_r_vel_j; // error wrt preintegrated measurements - Vector9 r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i, + Vector9 r_Rpv = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i, H1 ? &D_r_pose_i : 0, H2 ? &D_r_vel_i : 0, H3 ? &D_r_pose_j : 0, H4 ? &D_r_vel_j : 0, H5 ? &D_r_bias_i : 0); @@ -242,7 +249,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, // overall error Vector r(15); - r << r_pvR, fbias; // vector of size 15 + r << r_Rpv, fbias; // vector of size 15 return r; } diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 1289f22c6..5ac6d8a7e 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -142,10 +142,10 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { * @param body_P_sensor Optional sensor frame (pose of the IMU in the body * frame) */ - void integrateMeasurement( - const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - boost::optional F_test = boost::none, - boost::optional G_test = boost::none); + void integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, double deltaT, + OptionalJacobian<15, 15> F_test = boost::none, + OptionalJacobian<15, 21> G_test = boost::none); /// methods to access class variables Matrix preintMeasCov() const { return preintMeasCov_; } diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 53c0d7e23..8da1cc3e7 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -47,36 +47,30 @@ namespace { Vector updatePreintegratedMeasurementsTest(const Vector3 deltaPij_old, const Vector3& deltaVij_old, const Rot3& deltaRij_old, const imuBias::ConstantBias& bias_old, const Vector3& correctedAcc, - const Vector3& correctedOmega, const double deltaT, - const bool use2ndOrderIntegration) { + const Vector3& correctedOmega, const double deltaT) { Matrix3 dRij = deltaRij_old.matrix(); Vector3 temp = dRij * (correctedAcc - bias_old.accelerometer()) * deltaT; Vector3 deltaPij_new; - if (!use2ndOrderIntegration) { - deltaPij_new = deltaPij_old + deltaVij_old * deltaT; - } else { - deltaPij_new = deltaPij_old + deltaVij_old * deltaT + 0.5 * temp * deltaT; - } + deltaPij_new = deltaPij_old + deltaVij_old * deltaT + 0.5 * temp * deltaT; Vector3 deltaVij_new = deltaVij_old + temp; Rot3 deltaRij_new = deltaRij_old * Rot3::Expmap((correctedOmega - bias_old.gyroscope()) * deltaT); Vector3 logDeltaRij_new = Rot3::Logmap(deltaRij_new); // not important any more imuBias::ConstantBias bias_new(bias_old); Vector result(15); - result << deltaPij_new, deltaVij_new, logDeltaRij_new, bias_new.vector(); + result << logDeltaRij_new, deltaPij_new, deltaVij_new, bias_new.vector(); return result; } Rot3 updatePreintegratedMeasurementsRot(const Vector3 deltaPij_old, const Vector3& deltaVij_old, const Rot3& deltaRij_old, const imuBias::ConstantBias& bias_old, const Vector3& correctedAcc, - const Vector3& correctedOmega, const double deltaT, - const bool use2ndOrderIntegration) { + const Vector3& correctedOmega, const double deltaT) { Vector result = updatePreintegratedMeasurementsTest(deltaPij_old, deltaVij_old, deltaRij_old, bias_old, correctedAcc, correctedOmega, - deltaT, use2ndOrderIntegration); + deltaT); return Rot3::Expmap(result.segment < 3 > (6)); } @@ -377,10 +371,8 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { Matrix oldPreintCovariance = pim.preintMeasCov(); Matrix Factual, Gactual; - pim.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, Factual, Gactual); - - bool use2ndOrderIntegration = false; + pim.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, newDeltaT, Factual, + Gactual); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR F @@ -388,51 +380,51 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { // Compute expected F wrt positions (15,3) Matrix df_dpos = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsTest, _1, deltaVij_old, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), deltaPij_old); + deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT + ), deltaPij_old); // rotation part has to be done properly, on manifold - df_dpos.block<3, 3>(6, 0) = numericalDerivative11( + df_dpos.block<3, 3>(0, 0) = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsRot, _1, deltaVij_old, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), deltaPij_old); + deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT + ), deltaPij_old); + EXPECT(assert_equal(df_dpos, Factual.block<15, 3>(0, 3), 1e-5)); // Compute expected F wrt velocities (15,3) Matrix df_dvel = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, _1, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), deltaVij_old); + deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT + ), deltaVij_old); // rotation part has to be done properly, on manifold - df_dvel.block<3, 3>(6, 0) = numericalDerivative11( + df_dvel.block<3, 3>(0, 0) = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, _1, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), deltaVij_old); + deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT + ), deltaVij_old); + EXPECT(assert_equal(df_dvel, Factual.block<15, 3>(0, 6), 1e-5)); // Compute expected F wrt angles (15,3) Matrix df_dangle = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, deltaVij_old, _1, bias_old, newMeasuredAcc, newMeasuredOmega, - newDeltaT, use2ndOrderIntegration), deltaRij_old); + newDeltaT), deltaRij_old); // rotation part has to be done properly, on manifold - df_dangle.block<3, 3>(6, 0) = numericalDerivative11( + df_dangle.block<3, 3>(0, 0) = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, deltaVij_old, _1, bias_old, newMeasuredAcc, newMeasuredOmega, - newDeltaT, use2ndOrderIntegration), deltaRij_old); + newDeltaT), deltaRij_old); + EXPECT(assert_equal(df_dangle, Factual.block<15, 3>(0, 0), 1e-5)); // Compute expected F wrt biases (15,6) Matrix df_dbias = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT, use2ndOrderIntegration), bias_old); + newDeltaT), bias_old); // rotation part has to be done properly, on manifold - df_dbias.block<3, 6>(6, 0) = + df_dbias.block<3, 6>(0, 0) = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT, use2ndOrderIntegration), bias_old); - - Matrix Fexpected(15, 15); - Fexpected << df_dpos, df_dvel, df_dangle, df_dbias; - EXPECT(assert_equal(Fexpected, Factual,1e-5)); + newDeltaT), bias_old); + EXPECT(assert_equal(df_dbias, Factual.block<15, 6>(0, 9), 1e-5)); ////////////////////////////////////////////////////////////////////////////////////////////// // COMPUTE NUMERICAL DERIVATIVES FOR G @@ -444,24 +436,24 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { // Compute expected G wrt acc noise (15,3) Matrix df_daccNoise = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, _1, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), newMeasuredAcc); + deltaVij_old, deltaRij_old, bias_old, _1, newMeasuredOmega, newDeltaT + ), newMeasuredAcc); // rotation part has to be done properly, on manifold df_daccNoise.block<3, 3>(6, 0) = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, _1, newMeasuredOmega, newDeltaT, - use2ndOrderIntegration), newMeasuredAcc); + deltaVij_old, deltaRij_old, bias_old, _1, newMeasuredOmega, newDeltaT + ), newMeasuredAcc); // Compute expected G wrt gyro noise (15,3) Matrix df_domegaNoise = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, newMeasuredAcc, _1, newDeltaT, - use2ndOrderIntegration), newMeasuredOmega); + deltaVij_old, deltaRij_old, bias_old, newMeasuredAcc, _1, newDeltaT + ), newMeasuredOmega); // rotation part has to be done properly, on manifold df_domegaNoise.block<3, 3>(6, 0) = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, newMeasuredAcc, _1, newDeltaT, - use2ndOrderIntegration), newMeasuredOmega); + deltaVij_old, deltaRij_old, bias_old, newMeasuredAcc, _1, newDeltaT + ), newMeasuredOmega); // Compute expected G wrt bias random walk noise (15,6) Matrix df_rwBias(15, 6); // random walk on the bias does not appear in the first 9 entries @@ -472,13 +464,13 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { Matrix df_dinitBias = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT, use2ndOrderIntegration), bias_old); + newDeltaT), bias_old); // rotation part has to be done properly, on manifold df_dinitBias.block<3, 6>(6, 0) = numericalDerivative11( boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT, use2ndOrderIntegration), bias_old); + newDeltaT), bias_old); df_dinitBias.block<6, 6>(9, 0) = Z_6x6; // only has to influence first 9 rows Matrix Gexpected(15, 21); From b26bfb27acfb15dafab216ade09654d48ae949df Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 15:42:22 -0700 Subject: [PATCH 574/964] Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways. --- gtsam/navigation/CombinedImuFactor.cpp | 18 +- gtsam/navigation/CombinedImuFactor.h | 4 +- gtsam/navigation/ImuFactor.cpp | 21 +- gtsam/navigation/ImuFactor.h | 5 +- .../tests/testCombinedImuFactor.cpp | 186 ------------- gtsam/navigation/tests/testImuFactor.cpp | 245 ------------------ 6 files changed, 7 insertions(+), 472 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 0b23d299c..4ee8f17de 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -66,8 +66,7 @@ void PreintegratedCombinedMeasurements::resetIntegration() { //------------------------------------------------------------------------------ void PreintegratedCombinedMeasurements::integrateMeasurement( - const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - OptionalJacobian<15, 15> F_test, OptionalJacobian<15, 21> G_test) { + const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT) { const Matrix3 dRij = deltaXij_.R(); // expensive when quaternion @@ -117,21 +116,6 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( D_v_R(&G_measCov_Gt) = temp; D_R_v(&G_measCov_Gt) = temp.transpose(); preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G_measCov_Gt; - - // F_test and G_test are used for testing purposes and are not needed by the factor - if (F_test) { - (*F_test) << F; - } - if (G_test) { - // This is for testing & documentation - ///< measurementCovariance_ : cov[integrationError measuredAcc measuredOmega biasAccRandomWalk biasOmegaRandomWalk biasAccInit biasOmegaInit] in R^(21 x 21) - (*G_test) << // - -H_angles_biasomega, Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_3x3, H_angles_biasomega, // - Z_3x3, I_3x3 * deltaT, Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_3x3, // - Z_3x3, Z_3x3, -H_vel_biasacc, Z_3x3, Z_3x3, H_vel_biasacc, Z_3x3, // - Z_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, Z_3x3, Z_3x3, // - Z_3x3, Z_3x3, Z_3x3, Z_3x3, I_3x3, Z_3x3, Z_3x3; - } } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 5ac6d8a7e..6ed382966 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -143,9 +143,7 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { * frame) */ void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double deltaT, - OptionalJacobian<15, 15> F_test = boost::none, - OptionalJacobian<15, 21> G_test = boost::none); + const Vector3& measuredOmega, double deltaT); /// methods to access class variables Matrix preintMeasCov() const { return preintMeasCov_; } diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 279c95d3c..90a369bb1 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -48,21 +48,9 @@ void PreintegratedImuMeasurements::resetIntegration() { preintMeasCov_.setZero(); } -//------------------------------------------------------------------------------ -// sugar for derivative blocks -#define D_R_R(H) (H)->block<3,3>(0,0) -#define D_R_t(H) (H)->block<3,3>(0,3) -#define D_R_v(H) (H)->block<3,3>(0,6) -#define D_t_R(H) (H)->block<3,3>(3,0) -#define D_t_t(H) (H)->block<3,3>(3,3) -#define D_t_v(H) (H)->block<3,3>(3,6) -#define D_v_R(H) (H)->block<3,3>(6,0) -#define D_v_t(H) (H)->block<3,3>(6,3) -#define D_v_v(H) (H)->block<3,3>(6,6) //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, - OptionalJacobian<9, 9> outF, OptionalJacobian<9, 9> G) { + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { static const Matrix93 Gi = (Matrix93() << Z_3x3, I_3x3, Z_3x3).finished(); @@ -70,7 +58,8 @@ void PreintegratedImuMeasurements::integrateMeasurement( Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 G1, G2; Matrix3 D_incrR_integratedOmega; - updatePreintegratedMeasurements(measuredAcc, measuredOmega, dt, &D_incrR_integratedOmega, &F, &G1, &G2); + updatePreintegratedMeasurements(measuredAcc, measuredOmega, dt, + &D_incrR_integratedOmega, &F, &G1, &G2); // first order covariance propagation: // as in [2] we consider a first order propagation that can be seen as a prediction phase in EKF @@ -82,10 +71,8 @@ void PreintegratedImuMeasurements::integrateMeasurement( + G1 * (p().accelerometerCovariance / dt) * G1.transpose() + Gi * (p().integrationCovariance * dt) * Gi.transpose() // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt) + G2 * (p().gyroscopeCovariance / dt) * G2.transpose(); - - if (outF) *outF = F; - if (G) *G << G2, Gi*dt, G1; // NOTE(frank): order here is R,P,V } + //------------------------------------------------------------------------------ PreintegratedImuMeasurements::PreintegratedImuMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 1d32623bd..36251a246 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -97,12 +97,9 @@ public: * @param measuredAcc Measured acceleration (in body frame, as given by the sensor) * @param measuredOmega Measured angular velocity (as given by the sensor) * @param dt Time interval between this and the last IMU measurement - * @param F, F Jacobians used internally (only needed for testing) */ void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt, // - OptionalJacobian<9, 9> F = boost::none, // - OptionalJacobian<9, 9> G = boost::none); + const Vector3& measuredOmega, double dt); /// Return pre-integrated measurement covariance Matrix preintMeasCov() const { return preintMeasCov_; } diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 8da1cc3e7..d473207da 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -40,40 +40,6 @@ using symbol_shorthand::V; using symbol_shorthand::B; namespace { -/* ************************************************************************* */ -// Auxiliary functions to test Jacobians F and G used for -// covariance propagation during preintegration -/* ************************************************************************* */ -Vector updatePreintegratedMeasurementsTest(const Vector3 deltaPij_old, - const Vector3& deltaVij_old, const Rot3& deltaRij_old, - const imuBias::ConstantBias& bias_old, const Vector3& correctedAcc, - const Vector3& correctedOmega, const double deltaT) { - - Matrix3 dRij = deltaRij_old.matrix(); - Vector3 temp = dRij * (correctedAcc - bias_old.accelerometer()) * deltaT; - Vector3 deltaPij_new; - deltaPij_new = deltaPij_old + deltaVij_old * deltaT + 0.5 * temp * deltaT; - Vector3 deltaVij_new = deltaVij_old + temp; - Rot3 deltaRij_new = deltaRij_old - * Rot3::Expmap((correctedOmega - bias_old.gyroscope()) * deltaT); - Vector3 logDeltaRij_new = Rot3::Logmap(deltaRij_new); // not important any more - imuBias::ConstantBias bias_new(bias_old); - Vector result(15); - result << logDeltaRij_new, deltaPij_new, deltaVij_new, bias_new.vector(); - return result; -} - -Rot3 updatePreintegratedMeasurementsRot(const Vector3 deltaPij_old, - const Vector3& deltaVij_old, const Rot3& deltaRij_old, - const imuBias::ConstantBias& bias_old, const Vector3& correctedAcc, - const Vector3& correctedOmega, const double deltaT) { - - Vector result = updatePreintegratedMeasurementsTest(deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, correctedAcc, correctedOmega, - deltaT); - - return Rot3::Expmap(result.segment < 3 > (6)); -} // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ @@ -334,158 +300,6 @@ TEST(CombinedImuFactor, PredictRotation) { EXPECT(assert_equal(expectedPose, x2, tol)); } -/* ************************************************************************* */ -TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) { - // Linearization point - imuBias::ConstantBias bias_old = imuBias::ConstantBias(); ///< Current estimate of acceleration and rotation rate biases - - // Measurements - list measuredAccs, measuredOmegas; - list deltaTs; - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - for (int i = 1; i < 100; i++) { - measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); - deltaTs.push_back(0.01); - } - // Actual pim values - CombinedImuFactor::CombinedPreintegratedMeasurements pim = - evaluatePreintegratedMeasurements(bias_old, measuredAccs, measuredOmegas, - deltaTs); - - // so far we only created a nontrivial linearization point for the preintegrated measurements - // Now we add a new measurement and ask for Jacobians - const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); - const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); - const double newDeltaT = 0.01; - const Rot3 deltaRij_old = pim.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = pim.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = pim.deltaPij(); // before adding new measurement - - Matrix oldPreintCovariance = pim.preintMeasCov(); - - Matrix Factual, Gactual; - pim.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, newDeltaT, Factual, - Gactual); - - ////////////////////////////////////////////////////////////////////////////////////////////// - // COMPUTE NUMERICAL DERIVATIVES FOR F - ////////////////////////////////////////////////////////////////////////////////////////////// - // Compute expected F wrt positions (15,3) - Matrix df_dpos = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsTest, _1, deltaVij_old, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT - ), deltaPij_old); - // rotation part has to be done properly, on manifold - df_dpos.block<3, 3>(0, 0) = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsRot, _1, deltaVij_old, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT - ), deltaPij_old); - EXPECT(assert_equal(df_dpos, Factual.block<15, 3>(0, 3), 1e-5)); - - // Compute expected F wrt velocities (15,3) - Matrix df_dvel = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, _1, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT - ), deltaVij_old); - // rotation part has to be done properly, on manifold - df_dvel.block<3, 3>(0, 0) = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, _1, - deltaRij_old, bias_old, newMeasuredAcc, newMeasuredOmega, newDeltaT - ), deltaVij_old); - EXPECT(assert_equal(df_dvel, Factual.block<15, 3>(0, 6), 1e-5)); - - // Compute expected F wrt angles (15,3) - Matrix df_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, - deltaVij_old, _1, bias_old, newMeasuredAcc, newMeasuredOmega, - newDeltaT), deltaRij_old); - // rotation part has to be done properly, on manifold - df_dangle.block<3, 3>(0, 0) = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, - deltaVij_old, _1, bias_old, newMeasuredAcc, newMeasuredOmega, - newDeltaT), deltaRij_old); - EXPECT(assert_equal(df_dangle, Factual.block<15, 3>(0, 0), 1e-5)); - - // Compute expected F wrt biases (15,6) - Matrix df_dbias = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, - deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT), bias_old); - // rotation part has to be done properly, on manifold - df_dbias.block<3, 6>(0, 0) = - numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, - deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT), bias_old); - EXPECT(assert_equal(df_dbias, Factual.block<15, 6>(0, 9), 1e-5)); - - ////////////////////////////////////////////////////////////////////////////////////////////// - // COMPUTE NUMERICAL DERIVATIVES FOR G - ////////////////////////////////////////////////////////////////////////////////////////////// - // Compute expected G wrt integration noise - Matrix df_dintNoise(15, 3); - df_dintNoise << I_3x3 * newDeltaT, Z_3x3, Z_3x3, Z_3x3, Z_3x3; - - // Compute expected G wrt acc noise (15,3) - Matrix df_daccNoise = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, _1, newMeasuredOmega, newDeltaT - ), newMeasuredAcc); - // rotation part has to be done properly, on manifold - df_daccNoise.block<3, 3>(6, 0) = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, _1, newMeasuredOmega, newDeltaT - ), newMeasuredAcc); - - // Compute expected G wrt gyro noise (15,3) - Matrix df_domegaNoise = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, newMeasuredAcc, _1, newDeltaT - ), newMeasuredOmega); - // rotation part has to be done properly, on manifold - df_domegaNoise.block<3, 3>(6, 0) = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, - deltaVij_old, deltaRij_old, bias_old, newMeasuredAcc, _1, newDeltaT - ), newMeasuredOmega); - - // Compute expected G wrt bias random walk noise (15,6) - Matrix df_rwBias(15, 6); // random walk on the bias does not appear in the first 9 entries - df_rwBias.setZero(); - df_rwBias.block<6, 6>(9, 0) = I_6x6; - - // Compute expected G wrt gyro noise (15,6) - Matrix df_dinitBias = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsTest, deltaPij_old, - deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT), bias_old); - // rotation part has to be done properly, on manifold - df_dinitBias.block<3, 6>(6, 0) = numericalDerivative11( - boost::bind(&updatePreintegratedMeasurementsRot, deltaPij_old, - deltaVij_old, deltaRij_old, _1, newMeasuredAcc, newMeasuredOmega, - newDeltaT), bias_old); - df_dinitBias.block<6, 6>(9, 0) = Z_6x6; // only has to influence first 9 rows - - Matrix Gexpected(15, 21); - Gexpected << df_dintNoise, df_daccNoise, df_domegaNoise, df_rwBias, df_dinitBias; - - EXPECT(assert_equal(Gexpected, Gactual)); - - // Check covariance propagation - Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance - * Factual.transpose() + (1 / newDeltaT) * Gactual * Gactual.transpose(); - - Matrix newPreintCovarianceActual = pim.preintMeasCov(); - EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); -} - /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index fdf9fd04c..341f2d29c 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -53,30 +53,6 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).head(3)); } -// Auxiliary functions to test Jacobians F and G used for -// covariance propagation during preintegration -/* ************************************************************************* */ -Vector6 updatePreintegratedPosVel(const Vector3 deltaPij_old, - const Vector3& deltaVij_old, const Rot3& deltaRij_old, - const Vector3& correctedAcc, const Vector3& correctedOmega, - const double deltaT) { - Matrix3 dRij = deltaRij_old.matrix(); - Vector3 temp = dRij * correctedAcc * deltaT; - Vector3 deltaPij_new; - deltaPij_new = deltaPij_old + deltaVij_old * deltaT + 0.5 * temp * deltaT; - Vector3 deltaVij_new = deltaVij_old + temp; - - Vector6 result; - result << deltaPij_new, deltaVij_new; - return result; -} - -Rot3 updatePreintegratedRot(const Rot3& deltaRij_old, - const Vector3& correctedOmega, const double deltaT) { - Rot3 deltaRij_new = deltaRij_old * Rot3::Expmap(correctedOmega * deltaT); - return deltaRij_new; -} - // Define covariance matrices /* ************************************************************************* */ double accNoiseVar = 0.01; @@ -565,227 +541,6 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega())); } -/* ************************************************************************* */ -TEST(ImuFactor, JacobianPreintegratedCovariancePropagation) { - // Measurements - const Vector3 measuredAcc(0.1, 0.0, 0.0); - const Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0); - const double deltaT = 0.01; - list measuredAccs, measuredOmegas; - list deltaTs; - measuredAccs.push_back(measuredAcc); - measuredOmegas.push_back(measuredOmega); - deltaTs.push_back(deltaT); - measuredAccs.push_back(measuredAcc); - measuredOmegas.push_back(measuredOmega); - deltaTs.push_back(deltaT); - for (int i = 1; i < 100; i++) { - measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); - deltaTs.push_back(deltaT); - } - // Actual preintegrated values - PreintegratedImuMeasurements pim = evaluatePreintegratedMeasurements( - kZeroBias, measuredAccs, measuredOmegas, deltaTs); - - // so far we only created a nontrivial linearization point for the preintegrated measurements - // Now we add a new measurement and ask for Jacobians - const Rot3 deltaRij_old = pim.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = pim.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = pim.deltaPij(); // before adding new measurement - - Matrix oldPreintCovariance = pim.preintMeasCov(); - - Matrix Factual, Gactual; - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, - Factual, Gactual); - - ////////////////////////////////////////////////////////////////////////////////////////////// - // COMPUTE NUMERICAL DERIVATIVES FOR F - ////////////////////////////////////////////////////////////////////////////////////////////// - // Compute expected f_pos_vel wrt positions - boost::function f = - boost::bind(&updatePreintegratedPosVel, _1, _2, _3, measuredAcc, - measuredOmega, deltaT); - Matrix63 dfpv_dpos = numericalDerivative31(f, deltaPij_old, deltaVij_old, - deltaRij_old); - - // Compute expected f_pos_vel wrt velocities - Matrix63 dfpv_dvel = numericalDerivative32(f, deltaPij_old, deltaVij_old, - deltaRij_old); - - // Compute expected f_pos_vel wrt angles - Matrix63 dfpv_dangle = numericalDerivative33(f, deltaPij_old, deltaVij_old, - deltaRij_old); - - // Compute expected f_rot wrt angles - Matrix3 dfr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, _1, measuredOmega, deltaT), - deltaRij_old); - - Matrix Fexpected(9, 9); - Fexpected << // - dfr_dangle, Z_3x3, Z_3x3, // - dfpv_dangle, dfpv_dpos, dfpv_dvel; - - EXPECT(assert_equal(Fexpected, Factual)); - - ////////////////////////////////////////////////////////////////////////////////////////////// - // COMPUTE NUMERICAL DERIVATIVES FOR G - ////////////////////////////////////////////////////////////////////////////////////////////// - // Compute jacobian wrt integration noise - Matrix dgpv_dintNoise(6, 3); - dgpv_dintNoise << I_3x3 * deltaT, Z_3x3; - - // Compute jacobian wrt acc noise - Matrix63 dgpv_daccNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, _1, measuredOmega, deltaT), measuredAcc); - - // Compute expected F wrt gyro noise - Matrix63 dgpv_domegaNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, measuredAcc, _1, deltaT), measuredOmega); - - // Compute expected f_rot wrt gyro noise - Matrix3 dgr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, deltaRij_old, _1, deltaT), - measuredOmega); - - Matrix Gexpected(9, 9); - Gexpected << // - dgr_dangle, Z_3x3, Z_3x3, // - dgpv_domegaNoise, dgpv_dintNoise, dgpv_daccNoise; - - EXPECT(assert_equal(Gexpected, Gactual)); - - // Check covariance propagation - Matrix9 measurementCovariance; - measurementCovariance << // - omegaNoiseVar * I_3x3, Z_3x3, Z_3x3, // - Z_3x3, intNoiseVar * I_3x3, Z_3x3, // - Z_3x3, Z_3x3, accNoiseVar * I_3x3; - - Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance - * Factual.transpose() - + (1 / deltaT) * Gactual * measurementCovariance * Gactual.transpose(); - - Matrix newPreintCovarianceActual = pim.preintMeasCov(); - EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); -} - -/* ************************************************************************* */ -TEST(ImuFactor, JacobianPreintegratedCovariancePropagation_2ndOrderInt) { - // Measurements - list measuredAccs, measuredOmegas; - list deltaTs; - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - for (int i = 1; i < 100; i++) { - measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); - deltaTs.push_back(0.01); - } - // Actual preintegrated values - PreintegratedImuMeasurements preintegrated = - evaluatePreintegratedMeasurements(kZeroBias, measuredAccs, measuredOmegas, - deltaTs); - - // so far we only created a nontrivial linearization point for the preintegrated measurements - // Now we add a new measurement and ask for Jacobians - const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0); - const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0); - const double newDeltaT = 0.01; - const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement - const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement - const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement - - Matrix oldPreintCovariance = preintegrated.preintMeasCov(); - - Matrix Factual, Gactual; - preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega, - newDeltaT, Factual, Gactual); - - ////////////////////////////////////////////////////////////////////////////////////////////// - // COMPUTE NUMERICAL DERIVATIVES FOR F - ////////////////////////////////////////////////////////////////////////////////////////////// - // Compute expected f_pos_vel wrt positions - Matrix dfpv_dpos = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, _1, deltaVij_old, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaPij_old); - - // Compute expected f_pos_vel wrt velocities - Matrix dfpv_dvel = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, _1, deltaRij_old, - newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaVij_old); - - // Compute expected f_pos_vel wrt angles - Matrix dfpv_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, _1, - newMeasuredAcc, newMeasuredOmega, newDeltaT), deltaRij_old); - - // Compute expected f_rot wrt angles - Matrix dfr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, _1, newMeasuredOmega, newDeltaT), - deltaRij_old); - - Matrix Fexpected(9, 9); - Fexpected << // - dfr_dangle, Z_3x3, Z_3x3, // - dfpv_dangle, dfpv_dpos, dfpv_dvel; - - EXPECT(assert_equal(Fexpected, Factual)); - - ////////////////////////////////////////////////////////////////////////////////////////////// - // COMPUTE NUMERICAL DERIVATIVES FOR G - ////////////////////////////////////////////////////////////////////////////////////////////// - // Compute jacobian wrt integration noise - Matrix dgpv_dintNoise(6, 3); - dgpv_dintNoise << I_3x3 * newDeltaT, Z_3x3; - - // Compute jacobian wrt acc noise - Matrix dgpv_daccNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, _1, newMeasuredOmega, newDeltaT), newMeasuredAcc); - - // Compute expected F wrt gyro noise - Matrix dgpv_domegaNoise = numericalDerivative11( - boost::bind(&updatePreintegratedPosVel, deltaPij_old, deltaVij_old, - deltaRij_old, newMeasuredAcc, _1, newDeltaT), newMeasuredOmega); - - // Compute expected f_rot wrt gyro noise - Matrix dgr_dangle = numericalDerivative11( - boost::bind(&updatePreintegratedRot, deltaRij_old, _1, newDeltaT), - newMeasuredOmega); - - Matrix Gexpected(9, 9); - Gexpected << // - dgr_dangle, Z_3x3, Z_3x3, // - dgpv_domegaNoise, dgpv_dintNoise, dgpv_daccNoise; - - EXPECT(assert_equal(Gexpected, Gactual)); - - // Check covariance propagation - Matrix9 measurementCovariance; - measurementCovariance << // - omegaNoiseVar * I_3x3, Z_3x3, Z_3x3, // - Z_3x3, intNoiseVar * I_3x3, Z_3x3, // - Z_3x3, Z_3x3, accNoiseVar * I_3x3; - - Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance - * Factual.transpose() - + (1 / newDeltaT) * Gactual * measurementCovariance * Gactual.transpose(); - - Matrix newPreintCovarianceActual = preintegrated.preintMeasCov(); - EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual)); -} - /* ************************************************************************* */ Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, const NavState& state, const imuBias::ConstantBias& bias, double dt, From 7224162e60f40d396fb20b6eac62c42d574d0c1e Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 31 Jul 2015 21:04:16 -0700 Subject: [PATCH 575/964] More Monte Carlo... --- gtsam/navigation/tests/testImuFactor.cpp | 122 ++++++++++++----------- 1 file changed, 66 insertions(+), 56 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 341f2d29c..03cff1f37 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -12,7 +12,7 @@ /** * @file testImuFactor.cpp * @brief Unit test for ImuFactor - * @author Luca Carlone, Stephen Williams, Richard Roberts + * @author Luca Carlone, Stephen Williams, Richard Roberts, Frank Dellaert */ #include @@ -113,6 +113,52 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { } // namespace +/* ************************************************************************* */ +Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, + const NavState& state, const imuBias::ConstantBias& bias, double dt, + const Pose3& body_P_sensor, const Vector3& measuredAcc, + const Vector3& measuredOmega, size_t N = 10000) { + // Get mean prediction from "ground truth" measurements + PreintegratedImuMeasurements pim1 = pim; + for (size_t k=0;k<10;k++) + pim1.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); + NavState mean = pim1.predict(state, bias); + cout << "pim1.preintMeasCov():" << endl; + cout << pim1.preintMeasCov() << endl; + + // Do a Monte Carlo analysis to determine empirical density on the predicted state + Sampler sampleAccelerationNoise(Vector3::Constant(sqrt(accNoiseVar/dt))); + Sampler sampleOmegaNoise(Vector3::Constant(sqrt(omegaNoiseVar/dt))); + Matrix samples(9, N); + Vector9 sum = Vector9::Zero(); + for (size_t i = 0; i < N; i++) { + PreintegratedImuMeasurements pim2 = pim; + for (size_t k=0;k<10;k++) { + Vector3 perturbedAcc = measuredAcc + sampleAccelerationNoise.sample(); + Vector3 perturbedOmega = measuredOmega + sampleOmegaNoise.sample(); + pim2.integrateMeasurement(perturbedAcc, perturbedOmega, dt, body_P_sensor); + } + NavState prediction = pim2.predict(state, bias); + samples.col(i) = mean.localCoordinates(prediction); + sum += samples.col(i); + } + Vector9 sampleMean = sum / N; + cout << ":" << endl; + cout << sampleMean << endl; + Matrix9 Q; + Q.setZero(); + for (size_t i = 0; i < N; i++) { + Vector9 xi = samples.col(i); +#ifdef SUBTRACT_SAMPLE_MEAN + xi -= sampleMean; +#endif + Q += xi * xi.transpose() / (N - 1); + } + cout << "Q:" << endl; + cout << Q << endl; + return Q; +} + /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { // Set up IMU measurements @@ -124,7 +170,7 @@ TEST(ImuFactor, StraightLine) { // The body itself has Z axis pointing down static const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); static const Point3 initial_position(10, 20, 0); - static const Vector3 initial_velocity(v,0,0); + static const Vector3 initial_velocity(v, 0, 0); static const NavState state1(nRb, initial_position, initial_velocity); // set up acceleration in X direction, no angular velocity. @@ -134,12 +180,20 @@ TEST(ImuFactor, StraightLine) { // Create parameters assuming nav frame has Z up boost::shared_ptr p = PreintegratedImuMeasurements::Params::MakeSharedU(g); + p->accelerometerCovariance = kMeasuredAccCovariance; + p->gyroscopeCovariance = kMeasuredOmegaCovariance; // Now, preintegrate for 3 seconds, in 10 steps PreintegratedImuMeasurements pim(p, kZeroBiasHat); for (size_t i = 0; i < 10; i++) pim.integrateMeasurement(measuredAcc, measuredOmega, dt / 10); + // Get mean prediction from "ground truth" measurements + PreintegratedImuMeasurements pimMC(kZeroBiasHat, p->accelerometerCovariance, + p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise + Matrix9 Q = MonteCarlo(pimMC, state1, kZeroBias, dt/10, Pose3(), measuredAcc, + measuredOmega); + // Check integrated quantities in body frame: gravity measured by IMU is integrated! Vector3 b_deltaP(a * dt22, 0, -g * dt22); Vector3 b_deltaV(a * dt, 0, -g * dt); @@ -153,7 +207,7 @@ TEST(ImuFactor, StraightLine) { EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(kZeroBias))); // Check prediction in nav, note we move along x in body, along y in nav - Point3 expected_position(10 + v*dt, 20 + a * dt22, 0); + Point3 expected_position(10 + v * dt, 20 + a * dt22, 0); Velocity3 expected_velocity(v, a * dt, 0); NavState expected(nRb, expected_position, expected_velocity); EXPECT(assert_equal(expected, pim.predict(state1, kZeroBias))); @@ -541,48 +595,6 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega())); } -/* ************************************************************************* */ -Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, - const NavState& state, const imuBias::ConstantBias& bias, double dt, - const Pose3& body_P_sensor, const Vector3& measuredAcc, - const Vector3& measuredOmega, size_t N = 100) { - // Get mean prediction from "ground truth" measurements - PreintegratedImuMeasurements pim1 = pim; - for (size_t k=0;k<10;k++) - pim1.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); - NavState mean = pim1.predict(state, bias); - cout << "pim1.preintMeasCov():" << endl; - cout << pim1.preintMeasCov() << endl; - - // Do a Monte Carlo analysis to determine empirical density on the predicted state - Sampler sampleAccelerationNoise(Vector3::Constant(sqrt(accNoiseVar))); - Sampler sampleOmegaNoise(Vector3::Constant(sqrt(omegaNoiseVar))); - Matrix samples(9, N); - Vector9 sum = Vector9::Zero(); - for (size_t i = 0; i < N; i++) { - PreintegratedImuMeasurements pim2 = pim; - Vector3 perturbedAcc = measuredAcc + sampleAccelerationNoise.sample(); - Vector3 perturbedOmega = measuredOmega + sampleOmegaNoise.sample(); - for (size_t k=0;k<10;k++) - pim2.integrateMeasurement(perturbedAcc, perturbedOmega, dt, body_P_sensor); - NavState prediction = pim2.predict(state, bias); - samples.col(i) = mean.localCoordinates(prediction); - sum += samples.col(i); - } - Vector9 sampleMean = sum / N; - cout << ":" << endl; - cout << sampleMean << endl; - Matrix9 Q; - Q.setZero(); - for (size_t i = 0; i < N; i++) { - Vector9 xi = samples.col(i) - sampleMean; - Q += xi * xi.transpose() / (N - 1); - } - cout << "Q:" << endl; - cout << Q << endl; - return Q; -} - /* ************************************************************************* */ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) @@ -597,16 +609,16 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { measuredOmega << 0, 0, M_PI / 10.0 + 0.3; Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown) + Vector3(0.2, 0.0, 0.0); - double dt = 1.0; + double dt = 0.1; Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 0)); imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance, true); - Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), biasHat, dt, body_P_sensor, - measuredAcc, measuredOmega, 1000); + kMeasuredOmegaCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise + Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor, + measuredAcc, measuredOmega); Matrix expected(9,9); expected << @@ -735,14 +747,13 @@ TEST(ImuFactor, PredictArbitrary) { Vector3 measuredAcc(0.1, 0.2, -9.81); double dt = 0.001; - ImuFactor::PreintegratedMeasurements pim( - biasHat, - kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, true); + ImuFactor::PreintegratedMeasurements pim(biasHat, kMeasuredAccCovariance, + kMeasuredOmegaCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise Pose3 x1; Vector3 v1 = Vector3(0, 0, 0); - Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), biasHat, 0.1, Pose3(), - measuredAcc, measuredOmega, 1000); + imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); + Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), bias, 0.1, Pose3(), + measuredAcc, measuredOmega); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, dt); @@ -767,7 +778,6 @@ TEST(ImuFactor, PredictArbitrary) { // Predict Pose3 x2; Vector3 v2; - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); From f8df938b30c384f406ee46f865e2a645e8cc3f94 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 1 Aug 2015 17:17:14 -0700 Subject: [PATCH 576/964] New naming, old derivative code --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/ImuFactor.cpp | 12 +++++++++++- gtsam/navigation/PreintegrationBase.cpp | 12 ++++++------ gtsam/navigation/PreintegrationBase.h | 17 +++++++++++------ 4 files changed, 29 insertions(+), 14 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 4ee8f17de..a697a5e4c 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -74,7 +74,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr Matrix9 F_9x9; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 G1,G2; - updatePreintegratedMeasurements(measuredAcc, measuredOmega, deltaT, + PreintegrationBase::update(measuredAcc, measuredOmega, deltaT, &D_incrR_integratedOmega, &F_9x9, &G1, &G2); // Update preintegrated measurements covariance: as in [2] we consider a first order propagation that diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 90a369bb1..9a0d3d94a 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -58,7 +58,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 G1, G2; Matrix3 D_incrR_integratedOmega; - updatePreintegratedMeasurements(measuredAcc, measuredOmega, dt, + PreintegrationBase::update(measuredAcc, measuredOmega, dt, &D_incrR_integratedOmega, &F, &G1, &G2); // first order covariance propagation: @@ -67,10 +67,20 @@ void PreintegratedImuMeasurements::integrateMeasurement( // preintMeasCov = F * preintMeasCov * F.transpose() + G * (1/deltaT) * measurementCovariance * G' // NOTE 1: (1/deltaT) allows to pass from continuous time noise to discrete time noise // measurementCovariance_discrete = measurementCovariance_contTime * (1/deltaT) +#ifdef OLD_JACOBIAN_CALCULATION + Matrix9 G; + G << G1, Gi, G2; + Matrix9 Cov; + Cov << p().accelerometerCovariance / dt, Z_3x3, Z_3x3, + Z_3x3, p().integrationCovariance * dt, Z_3x3, + Z_3x3, Z_3x3, p().gyroscopeCovariance / dt; + preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G * Cov * G.transpose(); +#else preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G1 * (p().accelerometerCovariance / dt) * G1.transpose() + Gi * (p().integrationCovariance * dt) * Gi.transpose() // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt) + G2 * (p().gyroscopeCovariance / dt) * G2.transpose(); +#endif } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 0d51e59f9..0e40c3183 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -61,9 +61,9 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, } //------------------------------------------------------------------------------ -NavState PreintegrationBase::update(const Vector3& measuredAcc, - const Vector3& measuredOmega, const double dt, Matrix9* F, Matrix93* G1, - Matrix93* G2) const { +NavState PreintegrationBase::updatedDeltaXij(const Vector3& measuredAcc, + const Vector3& measuredOmega, const double dt, OptionalJacobian<9, 9> F, + OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { // Correct for bias in the sensor frame Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); @@ -90,7 +90,7 @@ NavState PreintegrationBase::update(const Vector3& measuredAcc, } //------------------------------------------------------------------------------ -void PreintegrationBase::updatePreintegratedMeasurements( +void PreintegrationBase::update( const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt, Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2) { @@ -99,7 +99,7 @@ void PreintegrationBase::updatePreintegratedMeasurements( // Do update deltaTij_ += dt; - deltaXij_ = update(measuredAcc, measuredOmega, dt, F, G1, G2); // functional + deltaXij_ = updatedDeltaXij(measuredAcc, measuredOmega, dt, F, G1, G2); // functional // Update Jacobians // TODO(frank): we are repeating some computation here: accessible in F ? @@ -139,7 +139,7 @@ Vector9 PreintegrationBase::biasCorrectedDelta( Vector9 xi; Matrix3 D_dR_correctedRij; // TODO(frank): could line below be simplified? It is equivalent to - // LogMap(deltaRij_.compose(Expmap(delRdelBiasOmega_ * biasIncr.gyroscope()))) + // LogMap(deltaRij_.compose(Expmap(biasInducedOmega))) NavState::dR(xi) = Rot3::Logmap(correctedRij, H ? &D_dR_correctedRij : 0); NavState::dP(xi) = deltaPij() + delPdelBiasAcc_ * biasIncr.accelerometer() + delPdelBiasOmega_ * biasIncr.gyroscope(); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 95de5e935..af83bb0e0 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -146,6 +146,9 @@ public: } /// getters + const NavState& deltaXij() const { + return deltaXij_; + } const double& deltaTij() const { return deltaTij_; } @@ -189,13 +192,15 @@ public: bool equals(const PreintegrationBase& other, double tol) const; /// Calculate the updated preintegrated measurement, does not modify - NavState update(const Vector3& measuredAcc, const Vector3& measuredOmega, - const double dt, Matrix9* F, Matrix93* G1, Matrix93* G2) const; + NavState updatedDeltaXij(const Vector3& measuredAcc, + const Vector3& measuredOmega, const double dt, OptionalJacobian<9, 9> F = + boost::none, OptionalJacobian<9, 3> G1 = boost::none, + OptionalJacobian<9, 3> G2 = boost::none) const; - /// Update preintegrated measurements - void updatePreintegratedMeasurements(const Vector3& measuredAcc, - const Vector3& measuredOmega, const double deltaT, - Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2); + /// Update preintegrated measurements and get derivatives + void update(const Vector3& measuredAcc, const Vector3& measuredOmega, + const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F, + Matrix93* G1, Matrix93* G2); /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far From b8f05e1e3569c143e808f109e754427b18e2a6bd Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 1 Aug 2015 17:21:15 -0700 Subject: [PATCH 577/964] More tests --- gtsam/navigation/tests/testNavState.cpp | 24 ++++++++++++++++-------- 1 file changed, 16 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp index b05a8a3e5..a62ca06a8 100644 --- a/gtsam/navigation/tests/testNavState.cpp +++ b/gtsam/navigation/tests/testNavState.cpp @@ -194,23 +194,31 @@ TEST( NavState, Lie ) { /* ************************************************************************* */ TEST(NavState, Update) { - const Vector3 omega(M_PI / 100.0, 0.0, 0.0); - const Vector3 acc(0.1, 0.0, 0.0); - const double deltaT = 10; + Vector3 omega(M_PI / 100.0, 0.0, 0.0); + Vector3 acc(0.1, 0.0, 0.0); + double dt = 10; Matrix9 aF; Matrix93 aG1, aG2; boost::function update = - boost::bind(&NavState::update, _1, _2, _3, deltaT, boost::none, + boost::bind(&NavState::update, _1, _2, _3, dt, boost::none, boost::none, boost::none); Vector3 b_acc = kAttitude * acc; - NavState expected(kAttitude.expmap(deltaT * omega), - kPosition + Point3((kVelocity + b_acc * deltaT / 2) * deltaT), - kVelocity + b_acc * deltaT); - NavState actual = kState1.update(acc, omega, deltaT, aF, aG1, aG2); + NavState expected(kAttitude.expmap(dt * omega), + kPosition + Point3((kVelocity + b_acc * dt / 2) * dt), + kVelocity + b_acc * dt); + NavState actual = kState1.update(acc, omega, dt, aF, aG1, aG2); EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(numericalDerivative31(update, kState1, acc, omega, 1e-7), aF, 1e-7)); EXPECT(assert_equal(numericalDerivative32(update, kState1, acc, omega, 1e-7), aG1, 1e-7)); EXPECT(assert_equal(numericalDerivative33(update, kState1, acc, omega, 1e-7), aG2, 1e-7)); + + // Try different values + omega = Vector3(0.1, 0.2, 0.3); + acc = Vector3(0.4, 0.5, 0.6); + kState1.update(acc, omega, dt, aF, aG1, aG2); + EXPECT(assert_equal(numericalDerivative31(update, kState1, acc, omega, 1e-7), aF, 1e-7)); + EXPECT(assert_equal(numericalDerivative32(update, kState1, acc, omega, 1e-7), aG1, 1e-7)); + EXPECT(assert_equal(numericalDerivative33(update, kState1, acc, omega, 1e-7), aG2, 1e-7)); } /* ************************************************************************* */ From 18d09666301dffea0493510a24b96f472058c8ea Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 1 Aug 2015 17:21:34 -0700 Subject: [PATCH 578/964] more Monte Carlo --- gtsam/navigation/tests/testImuFactor.cpp | 53 +++++++++++++++++++----- 1 file changed, 42 insertions(+), 11 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 03cff1f37..51aa7c7c5 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -117,14 +117,26 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, const NavState& state, const imuBias::ConstantBias& bias, double dt, const Pose3& body_P_sensor, const Vector3& measuredAcc, - const Vector3& measuredOmega, size_t N = 10000) { + const Vector3& measuredOmega, size_t N = 10, size_t M = 1) { // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim1 = pim; - for (size_t k=0;k<10;k++) + for (size_t k=0;kaccelerometerCovariance = kMeasuredAccCovariance; p->gyroscopeCovariance = kMeasuredOmegaCovariance; + // Check G1 and G2 derivatives of pim.update + // Now, preintegrate for 3 seconds, in 10 steps PreintegratedImuMeasurements pim(p, kZeroBiasHat); for (size_t i = 0; i < 10; i++) pim.integrateMeasurement(measuredAcc, measuredOmega, dt / 10); - // Get mean prediction from "ground truth" measurements + Matrix93 aG1,aG2; + boost::function f = + boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, dt/10, + boost::none, boost::none, boost::none); + pim.updatedDeltaXij(measuredAcc, measuredOmega, dt / 10, boost::none, aG1, aG2); + EXPECT(assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); + EXPECT(assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7)); + cout << "aG1" << endl; + cout << aG1 << endl; + cout << "aG2:" << endl; + cout << aG2 << endl; + + // Do Monte-Carlo analysis PreintegratedImuMeasurements pimMC(kZeroBiasHat, p->accelerometerCovariance, p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise Matrix9 Q = MonteCarlo(pimMC, state1, kZeroBias, dt/10, Pose3(), measuredAcc, From 3ae998d31dc9474b433030a6bb5fb870368be2dd Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 4 Aug 2015 07:32:10 -0700 Subject: [PATCH 579/964] Renamed to make frame clear --- gtsam/navigation/PreintegrationBase.cpp | 28 ++++++++++++------------- gtsam/navigation/PreintegrationBase.h | 12 ++++++----- 2 files changed, 21 insertions(+), 19 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 0e40c3183..f31621c32 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -61,13 +61,13 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, } //------------------------------------------------------------------------------ -NavState PreintegrationBase::updatedDeltaXij(const Vector3& measuredAcc, - const Vector3& measuredOmega, const double dt, OptionalJacobian<9, 9> F, +NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, + const Vector3& j_measuredOmega, const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { // Correct for bias in the sensor frame - Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); + Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); + Vector3 j_correctedOmega = biasHat_.correctGyroscope(j_measuredOmega); // Compensate for sensor-body displacement if needed: we express the quantities // (originally in the IMU frame) into the body frame @@ -75,23 +75,23 @@ NavState PreintegrationBase::updatedDeltaXij(const Vector3& measuredAcc, if (p().body_P_sensor) { // Correct omega: slight duplication as this is also done in integrateMeasurement below Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - correctedOmega = bRs * correctedOmega; // rotation rate vector in the body frame + j_correctedOmega = bRs * j_correctedOmega; // rotation rate vector in the body frame // Correct acceleration Vector3 b_arm = p().body_P_sensor->translation().vector(); - Vector3 b_velocity_bs = correctedOmega.cross(b_arm); // magnitude: omega * arm + Vector3 b_velocity_bs = j_correctedOmega.cross(b_arm); // magnitude: omega * arm // Subtract out the the centripetal acceleration from the measured one // to get linear acceleration vector in the body frame: - correctedAcc = bRs * correctedAcc - correctedOmega.cross(b_velocity_bs); + j_correctedAcc = bRs * j_correctedAcc - j_correctedOmega.cross(b_velocity_bs); } // Do update in one fell swoop - return deltaXij_.update(correctedAcc, correctedOmega, dt, F, G1, G2); + return deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, F, G1, G2); } //------------------------------------------------------------------------------ void PreintegrationBase::update( - const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt, + const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, const double dt, Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2) { // Save current rotation for updating Jacobians @@ -99,19 +99,19 @@ void PreintegrationBase::update( // Do update deltaTij_ += dt; - deltaXij_ = updatedDeltaXij(measuredAcc, measuredOmega, dt, F, G1, G2); // functional + deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt, F, G1, G2); // functional // Update Jacobians // TODO(frank): we are repeating some computation here: accessible in F ? // Correct for bias in the sensor frame - Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); + Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); + Vector3 j_correctedOmega = biasHat_.correctGyroscope(j_measuredOmega); Matrix3 D_acc_R; - oldRij.rotate(correctedAcc, D_acc_R); + oldRij.rotate(j_correctedAcc, D_acc_R); const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; - const Vector3 integratedOmega = correctedOmega * dt; + const Vector3 integratedOmega = j_correctedOmega * dt; const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! const Matrix3 incrRt = incrR.transpose(); delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - *D_incrR_integratedOmega * dt; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index af83bb0e0..301459b02 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -192,13 +192,15 @@ public: bool equals(const PreintegrationBase& other, double tol) const; /// Calculate the updated preintegrated measurement, does not modify - NavState updatedDeltaXij(const Vector3& measuredAcc, - const Vector3& measuredOmega, const double dt, OptionalJacobian<9, 9> F = - boost::none, OptionalJacobian<9, 3> G1 = boost::none, - OptionalJacobian<9, 3> G2 = boost::none) const; + /// It takes measured quantities in the j frame + NavState updatedDeltaXij(const Vector3& j_measuredAcc, + const Vector3& j_measuredOmega, const double dt, + OptionalJacobian<9, 9> F = boost::none, OptionalJacobian<9, 3> G1 = + boost::none, OptionalJacobian<9, 3> G2 = boost::none) const; /// Update preintegrated measurements and get derivatives - void update(const Vector3& measuredAcc, const Vector3& measuredOmega, + /// It takes measured quantities in the j frame + void update(const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2); From 9af69254b2858eeead8353a43988324d9b466024 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 4 Aug 2015 08:31:47 -0700 Subject: [PATCH 580/964] Refactored arm correction but there is still a difference in regression values. Did I introduce a bug? --- gtsam/navigation/ImuFactor.cpp | 3 +- gtsam/navigation/PreintegrationBase.cpp | 44 +++++++++++++++++-------- gtsam/navigation/PreintegrationBase.h | 4 +++ 3 files changed, 36 insertions(+), 15 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 9a0d3d94a..e49168c43 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -103,7 +103,8 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, const Pose3& body_P_sensor) { - p_->body_P_sensor = body_P_sensor; + // modify parameters to accommodate deprecated method:-( + p_->body_P_sensor.reset(body_P_sensor); integrateMeasurement(measuredAcc, measuredOmega, deltaT); } diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f31621c32..5533a1f9b 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -61,9 +61,8 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, } //------------------------------------------------------------------------------ -NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, - const Vector3& j_measuredOmega, const double dt, OptionalJacobian<9, 9> F, - OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { +std::pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( + const Vector3& j_measuredAcc, const Vector3& j_measuredOmega) const { // Correct for bias in the sensor frame Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); @@ -73,18 +72,35 @@ NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, // (originally in the IMU frame) into the body frame // Equations below assume the "body" frame is the CG if (p().body_P_sensor) { - // Correct omega: slight duplication as this is also done in integrateMeasurement below - Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - j_correctedOmega = bRs * j_correctedOmega; // rotation rate vector in the body frame + // Correct omega to rotation rate vector in the body frame + const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); + j_correctedOmega = bRs * j_correctedOmega; // Correct acceleration - Vector3 b_arm = p().body_P_sensor->translation().vector(); - Vector3 b_velocity_bs = j_correctedOmega.cross(b_arm); // magnitude: omega * arm - // Subtract out the the centripetal acceleration from the measured one - // to get linear acceleration vector in the body frame: - j_correctedAcc = bRs * j_correctedAcc - j_correctedOmega.cross(b_velocity_bs); + j_correctedAcc = bRs * j_correctedAcc; + const Vector3 b_arm = p().body_P_sensor->translation().vector(); + if (!b_arm.isZero()) { + // Subtract out the the centripetal acceleration from the measured one + // to get linear acceleration vector in the body frame: + const Matrix3 body_Omega_body = skewSymmetric(j_correctedOmega); + const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm + j_correctedAcc -= body_Omega_body * b_velocity_bs; + } } + // Do update in one fell swoop + return make_pair(j_correctedAcc, j_correctedOmega); +} + +//------------------------------------------------------------------------------ +NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, + const Vector3& j_measuredOmega, const double dt, OptionalJacobian<9, 9> F, + OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { + + Vector3 j_correctedAcc, j_correctedOmega; + boost::tie(j_correctedAcc, j_correctedOmega) = + correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega); + // Do update in one fell swoop return deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, F, G1, G2); } @@ -103,9 +119,9 @@ void PreintegrationBase::update( // Update Jacobians // TODO(frank): we are repeating some computation here: accessible in F ? - // Correct for bias in the sensor frame - Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); - Vector3 j_correctedOmega = biasHat_.correctGyroscope(j_measuredOmega); + Vector3 j_correctedAcc, j_correctedOmega; + boost::tie(j_correctedAcc, j_correctedOmega) = + correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega); Matrix3 D_acc_R; oldRij.rotate(j_correctedAcc, D_acc_R); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 301459b02..f479b0b1e 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -191,6 +191,10 @@ public: /// check equality bool equals(const PreintegrationBase& other, double tol) const; + /// Subtract estimate and correct for sensor pose + std::pair correctMeasurementsByBiasAndSensorPose( + const Vector3& j_measuredAcc, const Vector3& j_measuredOmega) const; + /// Calculate the updated preintegrated measurement, does not modify /// It takes measured quantities in the j frame NavState updatedDeltaXij(const Vector3& j_measuredAcc, From 887c0d8f59a7770b91bda23723496ec1e1ee7baf Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 9 Aug 2015 11:13:15 -0700 Subject: [PATCH 581/964] Added .cpp file and a print for parameters --- gtsam/navigation/PreintegratedRotation.cpp | 111 +++++++++++++++++++++ gtsam/navigation/PreintegratedRotation.h | 99 +++++------------- 2 files changed, 138 insertions(+), 72 deletions(-) create mode 100644 gtsam/navigation/PreintegratedRotation.cpp diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp new file mode 100644 index 000000000..708d1a3f6 --- /dev/null +++ b/gtsam/navigation/PreintegratedRotation.cpp @@ -0,0 +1,111 @@ +/* ---------------------------------------------------------------------------- + + * 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 PreintegratedRotation.cpp + * @author Luca Carlone + * @author Stephen Williams + * @author Richard Roberts + * @author Vadim Indelman + * @author David Jensen + * @author Frank Dellaert + **/ + +#include "PreintegratedRotation.h" + +using namespace std; + +namespace gtsam { + +void PreintegratedRotation::Params::print(const string& s) const { + cout << s << endl; + cout << "gyroscopeCovariance:\n[\n" << gyroscopeCovariance << "\n]" << endl; + if (omegaCoriolis) + cout << "omegaCoriolis = (" << omegaCoriolis->transpose() << ")" + << endl; + if (body_P_sensor) + body_P_sensor->print("body_P_sensor"); +} + +void PreintegratedRotation::resetIntegration() { + deltaTij_ = 0.0; + deltaRij_ = Rot3(); + delRdelBiasOmega_ = Z_3x3; +} + +void PreintegratedRotation::print(const string& s) const { + cout << s << endl; + cout << " deltaTij [" << deltaTij_ << "]" << endl; + cout << " deltaRij.ypr = (" << deltaRij_.ypr().transpose() << ")" << endl; +} + +bool PreintegratedRotation::equals(const PreintegratedRotation& other, + double tol) const { + return deltaRij_.equals(other.deltaRij_, tol) + && fabs(deltaTij_ - other.deltaTij_) < tol + && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol); +} + +Rot3 PreintegratedRotation::incrementalRotation(const Vector3& measuredOmega, + const Vector3& biasHat, double deltaT, + OptionalJacobian<3, 3> D_incrR_integratedOmega) const { + + // First we compensate the measurements for the bias + Vector3 correctedOmega = measuredOmega - biasHat; + + // Then compensate for sensor-body displacement: we express the quantities + // (originally in the IMU frame) into the body frame + if (p_->body_P_sensor) { + Matrix3 body_R_sensor = p_->body_P_sensor->rotation().matrix(); + // rotation rate vector in the body frame + correctedOmega = body_R_sensor * correctedOmega; + } + + // rotation vector describing rotation increment computed from the + // current rotation rate measurement + const Vector3 integratedOmega = correctedOmega * deltaT; + return Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! +} + +void PreintegratedRotation::integrateMeasurement(const Vector3& measuredOmega, + const Vector3& biasHat, double deltaT, Matrix3* D_incrR_integratedOmega, + Matrix3* F) { + + const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT, + D_incrR_integratedOmega); + + // Update deltaTij and rotation + deltaTij_ += deltaT; + deltaRij_ = deltaRij_.compose(incrR, F); + + // Update Jacobian + const Matrix3 incrRt = incrR.transpose(); + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + - *D_incrR_integratedOmega * deltaT; +} + +Rot3 PreintegratedRotation::biascorrectedDeltaRij(const Vector3& biasOmegaIncr, + OptionalJacobian<3, 3> H) const { + const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasOmegaIncr; + const Rot3 deltaRij_biascorrected = deltaRij_.expmap(biasInducedOmega, + boost::none, H); + if (H) + (*H) *= delRdelBiasOmega_; + return deltaRij_biascorrected; +} + +Vector3 PreintegratedRotation::integrateCoriolis(const Rot3& rot_i) const { + if (!p_->omegaCoriolis) + return Vector3::Zero(); + return rot_i.transpose() * (*p_->omegaCoriolis) * deltaTij_; +} + +} // namespace gtsam diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 9bb288b11..002afea76 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -32,18 +32,22 @@ namespace gtsam { * It includes the definitions of the preintegrated rotation. */ class PreintegratedRotation { - public: +public: /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor struct Params { Matrix3 gyroscopeCovariance; ///< continuous-time "Covariance" of gyroscope measurements boost::optional omegaCoriolis; ///< Coriolis constant - boost::optional body_P_sensor; ///< The pose of the sensor in the body frame + boost::optional body_P_sensor; ///< The pose of the sensor in the body frame - Params():gyroscopeCovariance(I_3x3) {} + Params() : + gyroscopeCovariance(I_3x3) { + } - private: + virtual void print(const std::string& s) const; + + private: /** Serialization function */ friend class boost::serialization::access; template @@ -54,29 +58,27 @@ class PreintegratedRotation { } }; - protected: - double deltaTij_; ///< Time interval from i to j - Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) - Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias +protected: + double deltaTij_; ///< Time interval from i to j + Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) + Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias /// Parameters boost::shared_ptr p_; /// Default constructor for serialization - PreintegratedRotation() {} + PreintegratedRotation() { + } - public: +public: /// Default constructor, resets integration to zero - explicit PreintegratedRotation(const boost::shared_ptr& p) : p_(p) { + explicit PreintegratedRotation(const boost::shared_ptr& p) : + p_(p) { resetIntegration(); } /// Re-initialize PreintegratedMeasurements - void resetIntegration() { - deltaTij_ = 0.0; - deltaRij_ = Rot3(); - delRdelBiasOmega_ = Z_3x3; - } + void resetIntegration(); /// @name Access instance variables /// @{ @@ -94,17 +96,8 @@ class PreintegratedRotation { /// @name Testable /// @{ - void print(const std::string& s) const { - std::cout << s << std::endl; - std::cout << " deltaTij [" << deltaTij_ << "]" << std::endl; - std::cout << " deltaRij.ypr = (" << deltaRij_.ypr().transpose() << ")" << std::endl; - } - - bool equals(const PreintegratedRotation& other, double tol) const { - return deltaRij_.equals(other.deltaRij_, tol) && - fabs(deltaTij_ - other.deltaTij_) < tol && - equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol); - } + void print(const std::string& s) const; + bool equals(const PreintegratedRotation& other, double tol) const; /// @} @@ -112,64 +105,26 @@ class PreintegratedRotation { /// and possibly the sensor pose, and then integrate it forward in time to yield /// an incremental rotation. Rot3 incrementalRotation(const Vector3& measuredOmega, const Vector3& biasHat, - double deltaT, OptionalJacobian<3, 3> D_incrR_integratedOmega) const { - - // First we compensate the measurements for the bias - Vector3 correctedOmega = measuredOmega - biasHat; - - // Then compensate for sensor-body displacement: we express the quantities - // (originally in the IMU frame) into the body frame - if (p_->body_P_sensor) { - Matrix3 body_R_sensor = p_->body_P_sensor->rotation().matrix(); - // rotation rate vector in the body frame - correctedOmega = body_R_sensor * correctedOmega; - } - - // rotation vector describing rotation increment computed from the - // current rotation rate measurement - const Vector3 integratedOmega = correctedOmega * deltaT; - return Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! - } + double deltaT, OptionalJacobian<3, 3> D_incrR_integratedOmega) const; /// Calculate an incremental rotation given the gyro measurement and a time interval, /// and update both deltaTij_ and deltaRij_. void integrateMeasurement(const Vector3& measuredOmega, const Vector3& biasHat, double deltaT, Matrix3* D_incrR_integratedOmega, - Matrix3* F) { - - const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT, - D_incrR_integratedOmega); - - // Update deltaTij and rotation - deltaTij_ += deltaT; - deltaRij_ = deltaRij_.compose(incrR, F); - - // Update Jacobian - const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - - *D_incrR_integratedOmega * deltaT; - } + Matrix3* F); /// Return a bias corrected version of the integrated rotation, with optional Jacobian Rot3 biascorrectedDeltaRij(const Vector3& biasOmegaIncr, - OptionalJacobian<3, 3> H = boost::none) const { - const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasOmegaIncr; - const Rot3 deltaRij_biascorrected = deltaRij_.expmap(biasInducedOmega, boost::none, H); - if (H) (*H) *= delRdelBiasOmega_; - return deltaRij_biascorrected; - } + OptionalJacobian<3, 3> H = boost::none) const; /// Integrate coriolis correction in body frame rot_i - Vector3 integrateCoriolis(const Rot3& rot_i) const { - if (!p_->omegaCoriolis) return Vector3::Zero(); - return rot_i.transpose() * (*p_->omegaCoriolis) * deltaTij_; - } + Vector3 integrateCoriolis(const Rot3& rot_i) const; - private: +private: /** Serialization function */ friend class boost::serialization::access; template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { // NOLINT + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { // NOLINT ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_NVP(deltaTij_); ar & BOOST_SERIALIZATION_NVP(deltaRij_); @@ -177,4 +132,4 @@ class PreintegratedRotation { } }; -} // namespace gtsam +} // namespace gtsam From a3032fe367c33c646719ad45fb70ade9bdfac685 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 9 Aug 2015 11:23:34 -0700 Subject: [PATCH 582/964] Params::print, and comments --- gtsam/navigation/PreintegrationBase.cpp | 38 +++++++++++++++++++------ gtsam/navigation/PreintegrationBase.h | 6 ++-- 2 files changed, 32 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 5533a1f9b..dd385897e 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -26,7 +26,21 @@ using namespace std; namespace gtsam { -/// Re-initialize PreintegratedMeasurements +//------------------------------------------------------------------------------ +void PreintegrationBase::Params::print(const string& s) const { + PreintegratedRotation::Params::print(s); + cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]" + << endl; + cout << "integrationCovariance:\n[\n" << accelerometerCovariance << "\n]" + << endl; + if (omegaCoriolis && use2ndOrderCoriolis) + cout << "Using 2nd-order Coriolis" << endl; + if (body_P_sensor) + body_P_sensor->print(" "); + cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl; +} + +//------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; deltaXij_ = NavState(); @@ -37,7 +51,7 @@ void PreintegrationBase::resetIntegration() { delVdelBiasOmega_ = Z_3x3; } -/// Needed for testable +//------------------------------------------------------------------------------ void PreintegrationBase::print(const string& s) const { cout << s << endl; cout << " deltaTij [" << deltaTij_ << "]" << endl; @@ -47,7 +61,7 @@ void PreintegrationBase::print(const string& s) const { biasHat_.print(" biasHat"); } -/// Needed for testable +//------------------------------------------------------------------------------ bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { return fabs(deltaTij_ - other.deltaTij_) < tol @@ -61,7 +75,7 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, } //------------------------------------------------------------------------------ -std::pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( +pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( const Vector3& j_measuredAcc, const Vector3& j_measuredOmega) const { // Correct for bias in the sensor frame @@ -106,8 +120,8 @@ NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, } //------------------------------------------------------------------------------ -void PreintegrationBase::update( - const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, const double dt, +void PreintegrationBase::update(const Vector3& j_measuredAcc, + const Vector3& j_measuredOmega, const double dt, Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2) { // Save current rotation for updating Jacobians @@ -130,7 +144,8 @@ void PreintegrationBase::update( const Vector3 integratedOmega = j_correctedOmega * dt; const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - *D_incrR_integratedOmega * dt; + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + - *D_incrR_integratedOmega * dt; double dt22 = 0.5 * dt * dt; const Matrix3 dRij = oldRij.matrix(); // expensive @@ -227,7 +242,9 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, if (H1) *H1 << D_error_predict * D_predict_state_i.leftCols<6>(); if (H2) - *H2 << D_error_predict * D_predict_state_i.rightCols<3>() * state_i.R().transpose(); + *H2 + << D_error_predict * D_predict_state_i.rightCols<3>() + * state_i.R().transpose(); if (H3) *H3 << D_error_state_j.leftCols<6>(); if (H4) @@ -251,4 +268,7 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, p_ = q; return PoseVelocityBias(predict(NavState(pose_i, vel_i), bias_i), bias_i); } -} /// namespace gtsam + +//------------------------------------------------------------------------------ + +}/// namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index f479b0b1e..6eca295b2 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -60,10 +60,8 @@ public: struct Params: PreintegratedRotation::Params { Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty - /// (to compensate errors in Euler integration) - /// (if false: p(t+1) = p(t) + v(t) deltaT ; if true: p(t+1) = p(t) + v(t) deltaT + 0.5 * acc(t) deltaT^2) bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration - Vector3 n_gravity; ///< Gravity constant in body frame + Vector3 n_gravity; ///< Gravity vector in nav frame /// The Params constructor insists on getting the navigation frame gravity vector /// For convenience, two commonly used conventions are provided by named constructors below @@ -82,6 +80,8 @@ public: return boost::make_shared(Vector3(0, 0, -g)); } + void print(const std::string& s) const; + protected: /// Default constructor for serialization only: uninitialized! Params(); From 7fc1befdca012f92a2b89c3d27f9ac2dc35bb306 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 9 Aug 2015 11:43:26 -0700 Subject: [PATCH 583/964] Two different random seeds for better Monte-Carlo --- gtsam/navigation/tests/testImuFactor.cpp | 64 ++++++++---------------- 1 file changed, 20 insertions(+), 44 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 51aa7c7c5..74265b97e 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -114,66 +114,47 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { } // namespace /* ************************************************************************* */ -Matrix9 MonteCarlo(const PreintegratedImuMeasurements& pim, +bool MonteCarlo(const PreintegratedImuMeasurements& pim, const NavState& state, const imuBias::ConstantBias& bias, double dt, const Pose3& body_P_sensor, const Vector3& measuredAcc, - const Vector3& measuredOmega, size_t N = 10, size_t M = 1) { + const Vector3& measuredOmega, size_t N = 10, + size_t M = 1) { // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim1 = pim; - for (size_t k=0;kaccelerometerCovariance, p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise - Matrix9 Q = MonteCarlo(pimMC, state1, kZeroBias, dt/10, Pose3(), measuredAcc, - measuredOmega); + EXPECT(MonteCarlo(pimMC, state1, kZeroBias, dt/10, Pose3(), measuredAcc, measuredOmega)); // Check integrated quantities in body frame: gravity measured by IMU is integrated! Vector3 b_deltaP(a * dt22, 0, -g * dt22); @@ -648,8 +624,8 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, kMeasuredOmegaCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise - Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor, - measuredAcc, measuredOmega); + EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor, + measuredAcc, measuredOmega)); Matrix expected(9,9); expected << @@ -783,8 +759,8 @@ TEST(ImuFactor, PredictArbitrary) { Pose3 x1; Vector3 v1 = Vector3(0, 0, 0); imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); - Matrix9 Q = MonteCarlo(pim, NavState(x1, v1), bias, 0.1, Pose3(), - measuredAcc, measuredOmega); + EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, Pose3(), + measuredAcc, measuredOmega)); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, dt); From 7bb819437fe869ad797a335886808649d7d7d1bd Mon Sep 17 00:00:00 2001 From: Luca Date: Sun, 9 Aug 2015 13:07:26 -0400 Subject: [PATCH 584/964] added comments --- gtsam/navigation/ImuFactor.h | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 36251a246..644cad4ed 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -30,9 +30,13 @@ namespace gtsam { /* * If you are using the factor, please cite: - * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating + * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, "Eliminating * conditionally independent sets in factor graphs: a unifying perspective based - * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. + * on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. + * + * C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on + * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", + * Robotics: Science and Systems (RSS), 2015. * * REFERENCES: * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", @@ -42,8 +46,8 @@ namespace gtsam { * TRO, 28(1):61-76, 2012. * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: * Computation of the Jacobian Matrices", Tech. Report, 2013. - * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on - * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, + * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on + * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", * Robotics: Science and Systems (RSS), 2015. */ @@ -115,7 +119,7 @@ public: /// @deprecated version of integrateMeasurement with body_P_sensor /// Use parameters instead void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double deltaT, const Pose3& body_P_sensor); + const Vector3& measuredOmega, double dt, const Pose3& body_P_sensor); private: @@ -209,14 +213,15 @@ public: /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; - /// @deprecated constructor + /// @deprecated constructor, in the new one gravity, coriolis settings are in Params ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedMeasurements& preintegratedMeasurements, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false); - /// @deprecated use PreintegrationBase::predict + /// @deprecated use PreintegrationBase::predict, + /// in the new one gravity, coriolis settings are in Params static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, PreintegratedMeasurements& pim, const Vector3& n_gravity, From 90ea83aa38d4a65f4cd66dcb1c04e1094c6b60a6 Mon Sep 17 00:00:00 2001 From: Luca Date: Mon, 10 Aug 2015 19:30:25 -0400 Subject: [PATCH 585/964] printing covariance --- gtsam/navigation/ImuFactor.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index e49168c43..8bbfc95b2 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -33,6 +33,7 @@ using namespace std; //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::print(const string& s) const { PreintegrationBase::print(s); + cout << " preintMeasCov \n[" << preintMeasCov_ << "]" << endl; } //------------------------------------------------------------------------------ From 2d251c64115f755a7a56e2b0dd6eead93ec90277 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 10 Aug 2015 21:03:21 -0400 Subject: [PATCH 586/964] make one MC test passed by using non-zero random seeds and increasing the number of samples --- gtsam/navigation/tests/testImuFactor.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 74265b97e..68bbda66e 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -127,7 +127,7 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, Matrix9 actual = pim1.preintMeasCov(); // Do a Monte Carlo analysis to determine empirical density on the predicted state - Sampler sampleAccelerationNoise(Vector3::Constant(sqrt(accNoiseVar / dt)), 0); + Sampler sampleAccelerationNoise(Vector3::Constant(sqrt(accNoiseVar / dt)), 234567); Sampler sampleOmegaNoise(Vector3::Constant(sqrt(omegaNoiseVar / dt)), 10); Matrix samples(9, N); Vector9 sum = Vector9::Zero(); @@ -154,7 +154,7 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, } // Compare Monte-Carlo value with actual (computed) value - return assert_equal(Matrix(1000000*Q), 1000000*actual, 1); + return assert_equal(Matrix(10000*Q), 10000*actual, 1); } /* ************************************************************************* */ @@ -199,7 +199,7 @@ TEST(ImuFactor, StraightLine) { // Do Monte-Carlo analysis PreintegratedImuMeasurements pimMC(kZeroBiasHat, p->accelerometerCovariance, p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise - EXPECT(MonteCarlo(pimMC, state1, kZeroBias, dt/10, Pose3(), measuredAcc, measuredOmega)); + EXPECT(MonteCarlo(pimMC, state1, kZeroBias, dt/10, Pose3(), measuredAcc, measuredOmega, 100000)); // Check integrated quantities in body frame: gravity measured by IMU is integrated! Vector3 b_deltaP(a * dt22, 0, -g * dt22); From fdacba92c50ef81331d24962243d40dfa2ff23d1 Mon Sep 17 00:00:00 2001 From: Enrique Fernandez Date: Tue, 11 Aug 2015 15:25:35 -0400 Subject: [PATCH 587/964] Fix use model in file, in load2D --- gtsam/slam/dataset.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 04234bacc..68c27e76b 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -247,6 +247,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID, // Parse the pose constraints Key id1, id2; bool haveLandmark = false; + const bool useModelInFile = !model; while (!is.eof()) { if (!(is >> tag)) break; @@ -267,7 +268,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID, if (maxID && (id1 >= maxID || id2 >= maxID)) continue; - if (!model) + if (useModelInFile) model = modelInFile; if (addNoise) From 321a7dbb111594a92acdc627606fc753d53f3688 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 16 Aug 2015 16:34:10 -0400 Subject: [PATCH 588/964] call print in Base --- gtsam/slam/SmartFactorBase.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index b147c2721..f4ef51d9a 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -198,7 +198,7 @@ public: } if(body_P_sensor_) body_P_sensor_->print("body_P_sensor_:\n"); - print("", keyFormatter); + Base::print("", keyFormatter); } /// equals From d9ae4021680abd651506a9ebf0bba2bfdc86ea9b Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 16 Aug 2015 18:14:19 -0400 Subject: [PATCH 589/964] fix TriangulationFactor bug (for stereo camera), and add new unit tests and comparisons --- gtsam/geometry/tests/testTriangulation.cpp | 106 +++++++++++++++++++++ gtsam/slam/TriangulationFactor.h | 2 +- 2 files changed, 107 insertions(+), 1 deletion(-) diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index 352493683..bd18143cb 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -18,9 +18,15 @@ #include #include +#include +#include #include +#include +#include +#include #include + #include #include @@ -273,6 +279,106 @@ TEST( triangulation, onePose) { TriangulationUnderconstrainedException); } +//****************************************************************************** +TEST( triangulation, StereotriangulateNonlinear ) { + + Cal3_S2Stereo::shared_ptr stereoK(new Cal3_S2Stereo(1733.75, 1733.75, 0, 689.645, 508.835, 0.0699612)); + + // two camera poses m1, m2 + Matrix4 m1, m2; + m1 << 0.796888717, 0.603404026, -0.0295271487, 46.6673779, + 0.592783835, -0.77156583, 0.230856632, 66.2186159, + 0.116517574, -0.201470143, -0.9725393, -4.28382528, + 0, 0, 0, 1; + + m2 << -0.955959025, -0.29288915, -0.0189328569, 45.7169799, + -0.29277519, 0.947083213, 0.131587097, 65.843136, + -0.0206094928, 0.131334858, -0.991123524, -4.3525033, + 0, 0, 0, 1; + + typedef CameraSet Cameras; + Cameras cameras; + cameras.push_back(StereoCamera(Pose3(m1), stereoK)); + cameras.push_back(StereoCamera(Pose3(m2), stereoK)); + + vector measurements; + measurements += StereoPoint2(226.936, 175.212, 424.469); + measurements += StereoPoint2(339.571, 285.547, 669.973); + + Point3 initial = Point3(46.0536958, 66.4621179, -6.56285929); // error: 96.5715555191 + + Point3 actual = triangulateNonlinear(cameras, measurements, initial); + + Point3 expected(46.0484569, 66.4710686, -6.55046613); // error: 0.763510644187 + + EXPECT(assert_equal(expected, actual, 1e-4)); + + + // regular stereo factor comparison - expect very similar result as above + { + typedef GenericStereoFactor StereoFactor; + + Values values; + values.insert(Symbol('x', 1), Pose3(m1)); + values.insert(Symbol('x', 2), Pose3(m2)); + values.insert(Symbol('l', 1), initial); + + NonlinearFactorGraph graph; + static SharedNoiseModel unit(noiseModel::Unit::Create(3)); + graph.push_back(StereoFactor::shared_ptr(new StereoFactor(measurements[0], unit, Symbol('x',1), Symbol('l',1), stereoK))); + graph.push_back(StereoFactor::shared_ptr(new StereoFactor(measurements[1], unit, Symbol('x',2), Symbol('l',1), stereoK))); + + const SharedDiagonal posePrior = noiseModel::Isotropic::Sigma(6, 1e-9); + graph.push_back(PriorFactor(Symbol('x',1), Pose3(m1), posePrior)); + graph.push_back(PriorFactor(Symbol('x',2), Pose3(m2), posePrior)); + + LevenbergMarquardtOptimizer optimizer(graph, values); + Values result = optimizer.optimize(); + + EXPECT(assert_equal(expected, result.at(Symbol('l',1)), 1e-4)); + } + + // use Triangulation Factor directly - expect same result as above + { + Values values; + values.insert(Symbol('l', 1), initial); + + NonlinearFactorGraph graph; + static SharedNoiseModel unit(noiseModel::Unit::Create(3)); + + graph.push_back(TriangulationFactor(cameras[0], measurements[0], unit, Symbol('l',1))); + graph.push_back(TriangulationFactor(cameras[1], measurements[1], unit, Symbol('l',1))); + + LevenbergMarquardtOptimizer optimizer(graph, values); + Values result = optimizer.optimize(); + + EXPECT(assert_equal(expected, result.at(Symbol('l',1)), 1e-4)); + } + + // use ExpressionFactor - expect same result as above + { + Values values; + values.insert(Symbol('l', 1), initial); + + NonlinearFactorGraph graph; + static SharedNoiseModel unit(noiseModel::Unit::Create(3)); + + Expression point_(Symbol('l',1)); + Expression camera0_(cameras[0]); + Expression camera1_(cameras[1]); + Expression project0_(camera0_, &StereoCamera::project2, point_); + Expression project1_(camera1_, &StereoCamera::project2, point_); + + graph.addExpressionFactor(unit, measurements[0], project0_); + graph.addExpressionFactor(unit, measurements[1], project1_); + + LevenbergMarquardtOptimizer optimizer(graph, values); + Values result = optimizer.optimize(); + + EXPECT(assert_equal(expected, result.at(Symbol('l',1)), 1e-4)); + } +} + //****************************************************************************** int main() { TestResult tr; diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index 967cc78cd..aa50929a5 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -153,7 +153,7 @@ public: // Allocate memory for Jacobian factor, do only once if (Ab.rows() == 0) { std::vector dimensions(1, 3); - Ab = VerticalBlockMatrix(dimensions, 2, true); + Ab = VerticalBlockMatrix(dimensions, Measurement::dimension, true); A.resize(Measurement::dimension,3); b.resize(Measurement::dimension); } From 1279038c77569afb53ba32d51bdba4fcd32b5db8 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 16 Aug 2015 20:29:07 -0400 Subject: [PATCH 590/964] Add Stereo triangulation comparison with expression factor --- gtsam/slam/tests/testTriangulationFactor.cpp | 24 +++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testTriangulationFactor.cpp b/gtsam/slam/tests/testTriangulationFactor.cpp index bfd63ab56..5ac92b4a9 100644 --- a/gtsam/slam/tests/testTriangulationFactor.cpp +++ b/gtsam/slam/tests/testTriangulationFactor.cpp @@ -20,6 +20,8 @@ #include #include #include +#include +#include #include #include @@ -47,7 +49,7 @@ Point2 z1 = camera1.project(landmark); //****************************************************************************** TEST( triangulation, TriangulationFactor ) { - // Create the factor with a measurement that is 3 pixels off in x + Key pointKey(1); SharedNoiseModel model; typedef TriangulationFactor Factor; @@ -66,9 +68,9 @@ TEST( triangulation, TriangulationFactor ) { //****************************************************************************** TEST( triangulation, TriangulationFactorStereo ) { - // Create the factor with a measurement that is 3 pixels off in x + Key pointKey(1); - SharedNoiseModel model; + SharedNoiseModel model=noiseModel::Isotropic::Sigma(3,0.5); Cal3_S2Stereo::shared_ptr stereoCal(new Cal3_S2Stereo(1500, 1200, 0, 640, 480, 0.5)); StereoCamera camera2(pose1, stereoCal); @@ -86,6 +88,22 @@ TEST( triangulation, TriangulationFactorStereo ) { // Verify the Jacobians are correct CHECK(assert_equal(HExpected, HActual, 1e-3)); + + // compare same problem against expression factor + Expression::UnaryFunction::type f = boost::bind(&StereoCamera::project2, camera2, _1, boost::none, _2); + Expression point_(pointKey); + Expression project2_(f, point_); + + ExpressionFactor eFactor(model, z2, project2_); + + Values values; + values.insert(pointKey, landmark); + + vector HActual1(1), HActual2(1); + Vector error1 = factor.unwhitenedError(values, HActual1); + Vector error2 = eFactor.unwhitenedError(values, HActual2); + EXPECT(assert_equal(error1, error2)); + EXPECT(assert_equal(HActual1[0], HActual2[0])); } //****************************************************************************** From 7d256ff2fb6fb9f091a9edc29fab6beaf4eefdda Mon Sep 17 00:00:00 2001 From: Enrique Fernandez Date: Wed, 12 Aug 2015 17:59:24 -0400 Subject: [PATCH 591/964] Add DCS robust kernel DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra) --- gtsam/linear/NoiseModel.cpp | 26 ++++++++++++++++++++++++++ gtsam/linear/NoiseModel.h | 26 ++++++++++++++++++++++++++ 2 files changed, 52 insertions(+) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 609c03acf..29dc5aa0b 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -799,6 +799,32 @@ Welsh::shared_ptr Welsh::Create(double c, const ReweightScheme reweight) { return shared_ptr(new Welsh(c, reweight)); } +/* ************************************************************************* */ +// DCS +/* ************************************************************************* */ +DCS::DCS(double c, const ReweightScheme reweight) + : Base(reweight), c_(c) { +} + +double DCS::weight(double error) const { + double scale = 2.0*c_/(c_ + error*error); + return std::min(scale, 1.0); +} + +void DCS::print(const std::string &s="") const { + std::cout << s << ": DCS (" << c_ << ")" << std::endl; +} + +bool DCS::equals(const Base &expected, double tol) const { + const DCS* p = dynamic_cast(&expected); + if (p == NULL) return false; + return fabs(c_ - p->c_) < tol; +} + +DCS::shared_ptr DCS::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new DCS(c, reweight)); +} + } // namespace mEstimator /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 2a4d7c746..4c2f68719 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -823,6 +823,32 @@ namespace gtsam { } }; + /// DCS implements the Dynamic Covariance Scaling robust error model + /// from the paper Robust Map Optimization (Agarwal13icra). + class GTSAM_EXPORT DCS : public Base { + public: + typedef boost::shared_ptr shared_ptr; + + DCS(double c = 1.0, const ReweightScheme reweight = Block); + virtual ~DCS() {} + virtual double weight(double error) const; + virtual void print(const std::string &s) const; + virtual bool equals(const Base& expected, double tol=1e-8) const; + static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; + + protected: + double c_; + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar & BOOST_SERIALIZATION_NVP(c_); + } + }; + } ///\namespace mEstimator /// Base class for robust error models From 2969d6151963602fd0d4b3bedfe6bd8905c66ed8 Mon Sep 17 00:00:00 2001 From: Enrique Fernandez Date: Tue, 18 Aug 2015 17:14:02 -0400 Subject: [PATCH 592/964] Add Geman-McClure robust kernel --- gtsam/linear/NoiseModel.cpp | 25 +++++++++++++++++++++++++ gtsam/linear/NoiseModel.h | 32 ++++++++++++++++++++++++++++++++ 2 files changed, 57 insertions(+) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 29dc5aa0b..1cf9ff109 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -799,6 +799,31 @@ Welsh::shared_ptr Welsh::Create(double c, const ReweightScheme reweight) { return shared_ptr(new Welsh(c, reweight)); } +/* ************************************************************************* */ +// GemanMcClure +/* ************************************************************************* */ +GemanMcClure::GemanMcClure(double c, const ReweightScheme reweight) + : Base(reweight), c_(c) { +} + +double GemanMcClure::weight(double error) const { + return c_/(c_ + error*error); +} + +void GemanMcClure::print(const std::string &s="") const { + std::cout << s << ": Geman-McClure (" << c_ << ")" << std::endl; +} + +bool GemanMcClure::equals(const Base &expected, double tol) const { + const GemanMcClure* p = dynamic_cast(&expected); + if (p == NULL) return false; + return fabs(c_ - p->c_) < tol; +} + +GemanMcClure::shared_ptr GemanMcClure::Create(double c, const ReweightScheme reweight) { + return shared_ptr(new GemanMcClure(c, reweight)); +} + /* ************************************************************************* */ // DCS /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 4c2f68719..25b34ce18 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -823,8 +823,40 @@ namespace gtsam { } }; + /// GemanMcClure implements the "Geman-McClure" robust error model + /// (Zhang97ivc). + /// + /// Note that Geman-McClure weight function uses the parameter c == 1.0, + /// but here it's allowed to use different values. + class GTSAM_EXPORT GemanMcClure : public Base { + public: + typedef boost::shared_ptr shared_ptr; + + GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); + virtual ~GemanMcClure() {} + virtual double weight(double error) const; + virtual void print(const std::string &s) const; + virtual bool equals(const Base& expected, double tol=1e-8) const; + static shared_ptr Create(double k, const ReweightScheme reweight = Block) ; + + protected: + double c_; + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar & BOOST_SERIALIZATION_NVP(c_); + } + }; + /// DCS implements the Dynamic Covariance Scaling robust error model /// from the paper Robust Map Optimization (Agarwal13icra). + /// + /// Under the special condition of the parameter c == 1.0 and not + /// forcing the output weight s <= 1.0, DCS is similar to Geman-McClure. class GTSAM_EXPORT DCS : public Base { public: typedef boost::shared_ptr shared_ptr; From 47d787b478bf8225f96be98fca483b50a88f0578 Mon Sep 17 00:00:00 2001 From: Enrique Fernandez Date: Tue, 18 Aug 2015 22:46:24 -0400 Subject: [PATCH 593/964] Add DCS & Geman-McClure unit tests --- gtsam/linear/tests/testNoiseModel.cpp | 73 +++++++++++++++++++++++++-- 1 file changed, 70 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 37b55fc03..c1e9d95f6 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -322,7 +322,7 @@ TEST(NoiseModel, WhitenInPlace) } /* ************************************************************************* */ -TEST(NoiseModel, robustFunction) +TEST(NoiseModel, robustFunctionHuber) { const double k = 5.0, error1 = 1.0, error2 = 10.0; const mEstimator::Huber::shared_ptr huber = mEstimator::Huber::Create(k); @@ -332,8 +332,28 @@ TEST(NoiseModel, robustFunction) DOUBLES_EQUAL(0.5, weight2, 1e-8); } +TEST(NoiseModel, robustFunctionGemanMcClure) +{ + const double k = 1.0, error1 = 1.0, error2 = 10.0; + const mEstimator::GemanMcClure::shared_ptr gmc = mEstimator::GemanMcClure::Create(k); + const double weight1 = gmc->weight(error1), + weight2 = gmc->weight(error2); + DOUBLES_EQUAL(0.5 , weight1, 1e-8); + DOUBLES_EQUAL(0.00990099, weight2, 1e-8); +} + +TEST(NoiseModel, robustFunctionDCS) +{ + const double k = 1.0, error1 = 1.0, error2 = 10.0; + const mEstimator::DCS::shared_ptr dcs = mEstimator::DCS::Create(k); + const double weight1 = dcs->weight(error1), + weight2 = dcs->weight(error2); + DOUBLES_EQUAL(1.0 , weight1, 1e-8); + DOUBLES_EQUAL(0.01980198, weight2, 1e-8); +} + /* ************************************************************************* */ -TEST(NoiseModel, robustNoise) +TEST(NoiseModel, robustNoiseHuber) { const double k = 10.0, error1 = 1.0, error2 = 100.0; Matrix A = (Matrix(2, 2) << 1.0, 10.0, 100.0, 1000.0).finished(); @@ -342,7 +362,7 @@ TEST(NoiseModel, robustNoise) mEstimator::Huber::Create(k, mEstimator::Huber::Scalar), Unit::Create(2)); - robust->WhitenSystem(A,b); + robust->WhitenSystem(A, b); DOUBLES_EQUAL(error1, b(0), 1e-8); DOUBLES_EQUAL(sqrt(k*error2), b(1), 1e-8); @@ -353,6 +373,53 @@ TEST(NoiseModel, robustNoise) DOUBLES_EQUAL(sqrt(k/100.0)*1000.0, A(1,1), 1e-8); } +TEST(NoiseModel, robustNoiseGemanMcClure) +{ + const double k = 1.0, error1 = 1.0, error2 = 100.0; + const double a00 = 1.0, a01 = 10.0, a10 = 100.0, a11 = 1000.0; + Matrix A = (Matrix(2, 2) << a00, a01, a10, a11).finished(); + Vector b = Vector2(error1, error2); + const Robust::shared_ptr robust = Robust::Create( + mEstimator::GemanMcClure::Create(k, mEstimator::GemanMcClure::Scalar), + Unit::Create(2)); + + robust->WhitenSystem(A, b); + + const double sqrt_weight_error1 = sqrt(0.5); + const double sqrt_weight_error2 = sqrt(k/(k + error2*error2)); + + DOUBLES_EQUAL(sqrt_weight_error1*error1, b(0), 1e-8); + DOUBLES_EQUAL(sqrt_weight_error2*error2, b(1), 1e-8); + + DOUBLES_EQUAL(sqrt_weight_error1*a00, A(0,0), 1e-8); + DOUBLES_EQUAL(sqrt_weight_error1*a01, A(0,1), 1e-8); + DOUBLES_EQUAL(sqrt_weight_error2*a10, A(1,0), 1e-8); + DOUBLES_EQUAL(sqrt_weight_error2*a11, A(1,1), 1e-8); +} + +TEST(NoiseModel, robustNoiseDCS) +{ + const double k = 1.0, error1 = 1.0, error2 = 100.0; + const double a00 = 1.0, a01 = 10.0, a10 = 100.0, a11 = 1000.0; + Matrix A = (Matrix(2, 2) << a00, a01, a10, a11).finished(); + Vector b = Vector2(error1, error2); + const Robust::shared_ptr robust = Robust::Create( + mEstimator::DCS::Create(k, mEstimator::DCS::Scalar), + Unit::Create(2)); + + robust->WhitenSystem(A, b); + + const double sqrt_weight = sqrt(2.0*k/(k + error2*error2)); + + DOUBLES_EQUAL(error1, b(0), 1e-8); + DOUBLES_EQUAL(sqrt_weight*error2, b(1), 1e-8); + + DOUBLES_EQUAL(a00, A(0,0), 1e-8); + DOUBLES_EQUAL(a01, A(0,1), 1e-8); + DOUBLES_EQUAL(sqrt_weight*a10, A(1,0), 1e-8); + DOUBLES_EQUAL(sqrt_weight*a11, A(1,1), 1e-8); +} + /* ************************************************************************* */ #define TEST_GAUSSIAN(gaussian)\ EQUALITY(info, gaussian->information());\ From 1727b607288cdd5b2a2b038d200342ec7ff55b20 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 19 Aug 2015 00:11:35 -0400 Subject: [PATCH 594/964] Fixed and cleaned up unit test --- .../slam/SmartStereoProjectionFactor.h | 44 +++++----- .../testSmartStereoProjectionPoseFactor.cpp | 80 ++++++++++++++++--- 2 files changed, 93 insertions(+), 31 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 75444d62a..c0532e073 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -24,6 +24,7 @@ #include #include #include +#include #include #include @@ -233,10 +234,6 @@ public: TriangulationResult triangulateSafe(const Cameras& cameras) const { size_t m = cameras.size(); -// if (m < 2) { // if we have a single pose the corresponding factor is uninformative -// return TriangulationResult::Degenerate(); -// } - bool retriangulate = decideIfTriangulate(cameras); // if(!retriangulate) @@ -245,7 +242,7 @@ public: // bool retriangulate = true; if (retriangulate) { - +// std::cout << "Retriangulate " << std::endl; std::vector reprojections; reprojections.reserve(m); for(size_t i = 0; i < m; i++) { @@ -259,21 +256,22 @@ public: // average reprojected landmark Point3 pw_avg = pw_sum / double(m); - // check if it lies in front of all cameras - bool cheirality_ok = true; double totalReprojError = 0; + + // check if it lies in front of all cameras for(size_t i = 0; i < m; i++) { const Pose3& pose = cameras[i].pose(); const Point3& pl = pose.transform_to(pw_avg); if (pl.z() <= 0) { - cheirality_ok = false; - break; + result_ = TriangulationResult::BehindCamera(); + return result_; } // check landmark distance if (params_.triangulation.landmarkDistanceThreshold > 0 && pl.norm() > params_.triangulation.landmarkDistanceThreshold) { - return TriangulationResult::Degenerate(); + result_ = TriangulationResult::Degenerate(); + return result_; } if (params_.triangulation.dynamicOutlierRejectionThreshold > 0) { @@ -284,20 +282,27 @@ public: } // for if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 - && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) - return TriangulationResult::Degenerate(); - - if(cheirality_ok == false) { - result_ = TriangulationResult::BehindCamera(); + && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) { + result_ = TriangulationResult::Degenerate(); + return result_; } - if(params_.triangulation.enableEPI) - pw_avg = triangulateNonlinear(cameras, measured_, pw_avg); - + if(params_.triangulation.enableEPI) { + try { + pw_avg = triangulateNonlinear(cameras, measured_, pw_avg); + } catch(StereoCheiralityException& e) { + if(params_.verboseCheirality) + std::cout << "Cheirality Exception in SmartStereoProjectionFactor" << std::endl; + if(params_.throwCheirality) + throw; + result_ = TriangulationResult::BehindCamera(); + return TriangulationResult::BehindCamera(); + } + } result_ = TriangulationResult(pw_avg); - } + } // if retriangulate return result_; } @@ -547,7 +552,6 @@ public: // // return Base::totalReprojectionError(cameras, backprojected); } else { - std::cout << "Degenerate factor" << std::endl; // if we don't want to manage the exceptions we discard the factor return 0.0; } diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index bef8d4048..dc35a782b 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -208,6 +208,7 @@ TEST( SmartStereoProjectionPoseFactor, noisy ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { + // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K2); @@ -226,11 +227,11 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { Point3 landmark3(3, 0, 3.0); // 1. Project three landmarks into three cameras and triangulate - vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, + vector measurements_l1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1); - vector measurements_cam2 = stereo_projectToMultipleCameras(cam1, + vector measurements_l2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2); - vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, + vector measurements_l3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3); vector views; @@ -238,17 +239,21 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { views.push_back(x2); views.push_back(x3); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor()); - smartFactor1->add(measurements_cam1, views, model, K2); + SmartStereoProjectionParams smart_params; + smart_params.triangulation.enableEPI = true; + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(smart_params)); + smartFactor1->add(measurements_l1, views, model, K2); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor()); - smartFactor2->add(measurements_cam2, views, model, K2); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(smart_params)); + smartFactor2->add(measurements_l2, views, model, K2); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor()); - smartFactor3->add(measurements_cam3, views, model, K2); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(smart_params)); + smartFactor3->add(measurements_l3, views, model, K2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); + + NonlinearFactorGraph graph; graph.push_back(smartFactor1); graph.push_back(smartFactor2); @@ -271,7 +276,13 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at(x3))); - EXPECT_DOUBLES_EQUAL(979345.4, graph.error(values), 1); + // cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl; + EXPECT_DOUBLES_EQUAL(797312.95069157204, graph.error(values), 1e-9); + + // get triangulated landmarks from smart factors + Point3 landmark1_smart = *smartFactor1->point(); + Point3 landmark2_smart = *smartFactor2->point(); + Point3 landmark3_smart = *smartFactor3->point(); Values result; gttic_(SmartStereoProjectionPoseFactor); @@ -282,6 +293,8 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5); +// cout << std::setprecision(10) << "SmartStereoFactor graph optimized error: " << graph.error(result) << endl; + GaussianFactorGraph::shared_ptr GFG = graph.linearize(result); VectorValues delta = GFG->optimize(); VectorValues expected = VectorValues::Zero(delta); @@ -289,6 +302,51 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { // result.print("results of 3 camera, 3 landmark optimization \n"); EXPECT(assert_equal(pose3, result.at(x3))); + + /* *************************************************************** + * Same problem with regular Stereo factors, expect same error! + * ****************************************************************/ + +// landmark1_smart.print("landmark1_smart"); +// landmark2_smart.print("landmark2_smart"); +// landmark3_smart.print("landmark3_smart"); + + // add landmarks to values + values.insert(L(1), landmark1_smart); + values.insert(L(2), landmark2_smart); + values.insert(L(3), landmark3_smart); + + // add factors + NonlinearFactorGraph graph2; + + graph2.push_back(PriorFactor(x1, pose1, noisePrior)); + graph2.push_back(PriorFactor(x2, pose2, noisePrior)); + + typedef GenericStereoFactor ProjectionFactor; + + bool verboseCheirality = true; + + graph2.push_back(ProjectionFactor(measurements_l1[0], model, x1, L(1), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l1[1], model, x2, L(1), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l1[2], model, x3, L(1), K2, false, verboseCheirality)); + + graph2.push_back(ProjectionFactor(measurements_l2[0], model, x1, L(2), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l2[1], model, x2, L(2), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l2[2], model, x3, L(2), K2, false, verboseCheirality)); + + graph2.push_back(ProjectionFactor(measurements_l3[0], model, x1, L(3), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l3[1], model, x2, L(3), K2, false, verboseCheirality)); + graph2.push_back(ProjectionFactor(measurements_l3[2], model, x3, L(3), K2, false, verboseCheirality)); + +// cout << std::setprecision(10) << "\n----StereoFactor graph initial error: " << graph2.error(values) << endl; + EXPECT_DOUBLES_EQUAL(797312.95069157204, graph2.error(values), 1e-9); + + LevenbergMarquardtOptimizer optimizer2(graph2, values, lm_params); + Values result2 = optimizer2.optimize(); + EXPECT_DOUBLES_EQUAL(0, graph2.error(result2), 1e-5); + +// cout << std::setprecision(10) << "StereoFactor graph optimized error: " << graph2.error(result2) << endl; + } /* *************************************************************************/ @@ -508,7 +566,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { EXPECT_DOUBLES_EQUAL(0, smartFactor4->error(values), 1e-9); // dynamic outlier rejection is off - EXPECT_DOUBLES_EQUAL(6272.613220592455, smartFactor4b->error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(6700, smartFactor4b->error(values), 1e-9); // Factors 1-3 should have valid point, factor 4 should not EXPECT(smartFactor1->point()); From c8df985e2f3994bea7362bdf6009b1f91a67f086 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 19 Aug 2015 07:30:14 -0400 Subject: [PATCH 595/964] Relax test tolerance a bit for quaternion mode --- .../slam/tests/testSmartStereoProjectionPoseFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index dc35a782b..89c9c020a 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -277,7 +277,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { Point3(0.1, -0.1, 1.9)), values.at(x3))); // cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl; - EXPECT_DOUBLES_EQUAL(797312.95069157204, graph.error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(797312.95069157204, graph.error(values), 1e-7); // get triangulated landmarks from smart factors Point3 landmark1_smart = *smartFactor1->point(); @@ -339,7 +339,7 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { graph2.push_back(ProjectionFactor(measurements_l3[2], model, x3, L(3), K2, false, verboseCheirality)); // cout << std::setprecision(10) << "\n----StereoFactor graph initial error: " << graph2.error(values) << endl; - EXPECT_DOUBLES_EQUAL(797312.95069157204, graph2.error(values), 1e-9); + EXPECT_DOUBLES_EQUAL(797312.95069157204, graph2.error(values), 1e-7); LevenbergMarquardtOptimizer optimizer2(graph2, values, lm_params); Values result2 = optimizer2.optimize(); From 8b4228fa5656790e6a9b3aab1555af90286a96a9 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 19 Aug 2015 10:58:19 -0400 Subject: [PATCH 596/964] Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself! --- gtsam/slam/SmartProjectionFactor.h | 12 +++++------- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 13 ++++++------- 2 files changed, 11 insertions(+), 14 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 8fc8880e1..120b0bbce 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -44,23 +44,21 @@ enum DegeneracyMode { /* * Parameters for the smart projection factors */ -class GTSAM_EXPORT SmartProjectionParams { - -public: +struct GTSAM_EXPORT SmartProjectionParams { LinearizationMode linearizationMode; ///< How to linearize the factor DegeneracyMode degeneracyMode; ///< How to linearize the factor /// @name Parameters governing the triangulation /// @{ - mutable TriangulationParameters triangulation; - const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate + TriangulationParameters triangulation; + double retriangulationThreshold; ///< threshold to decide whether to re-triangulate /// @} /// @name Parameters governing how triangulation result is treated /// @{ - const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) - const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) + bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) + bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) /// @} // Constructor diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index c0532e073..d3dca11e0 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -15,6 +15,7 @@ * @author Luca Carlone * @author Zsolt Kira * @author Frank Dellaert + * @author Chris Beall */ #pragma once @@ -47,23 +48,21 @@ enum DegeneracyMode { /* * Parameters for the smart stereo projection factors */ - class GTSAM_EXPORT SmartStereoProjectionParams { - - public: + struct GTSAM_EXPORT SmartStereoProjectionParams { LinearizationMode linearizationMode; ///< How to linearize the factor DegeneracyMode degeneracyMode; ///< How to linearize the factor /// @name Parameters governing the triangulation /// @{ - mutable TriangulationParameters triangulation; - const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate + TriangulationParameters triangulation; + double retriangulationThreshold; ///< threshold to decide whether to re-triangulate /// @} /// @name Parameters governing how triangulation result is treated /// @{ - const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) - const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) + bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) + bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) /// @} From 6cdc1de2683b8380971f2646cf8c1de5737ed03a Mon Sep 17 00:00:00 2001 From: Enrique Fernandez Date: Thu, 20 Aug 2015 15:45:12 -0400 Subject: [PATCH 597/964] Use fabs in Huber condition --- gtsam/linear/NoiseModel.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 1cf9ff109..80210c3b7 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -696,7 +696,7 @@ Huber::Huber(double k, const ReweightScheme reweight) } double Huber::weight(double error) const { - return (error < k_) ? (1.0) : (k_ / fabs(error)); + return (fabs(error) > k_) ? k_ / fabs(error) : 1.0; } void Huber::print(const std::string &s="") const { From 44ae7bfe016642f58e9cf221d27c85bd6d08b6e1 Mon Sep 17 00:00:00 2001 From: Enrique Fernandez Date: Thu, 20 Aug 2015 15:45:34 -0400 Subject: [PATCH 598/964] Fix generalized Geman-McClure --- gtsam/linear/NoiseModel.cpp | 5 ++++- gtsam/linear/NoiseModel.h | 3 ++- gtsam/linear/tests/testNoiseModel.cpp | 12 ++++++++---- 3 files changed, 14 insertions(+), 6 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 80210c3b7..e539d9579 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -807,7 +807,10 @@ GemanMcClure::GemanMcClure(double c, const ReweightScheme reweight) } double GemanMcClure::weight(double error) const { - return c_/(c_ + error*error); + const double c2 = c_*c_; + const double c4 = c2*c2; + const double c2error = c2 + error*error; + return c4/(c2error*c2error); } void GemanMcClure::print(const std::string &s="") const { diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 25b34ce18..db01152f6 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -827,7 +827,8 @@ namespace gtsam { /// (Zhang97ivc). /// /// Note that Geman-McClure weight function uses the parameter c == 1.0, - /// but here it's allowed to use different values. + /// but here it's allowed to use different values, so we actually have + /// the generalized Geman-McClure from (Agarwal15phd). class GTSAM_EXPORT GemanMcClure : public Base { public: typedef boost::shared_ptr shared_ptr; diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index c1e9d95f6..01f653d73 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -338,8 +338,8 @@ TEST(NoiseModel, robustFunctionGemanMcClure) const mEstimator::GemanMcClure::shared_ptr gmc = mEstimator::GemanMcClure::Create(k); const double weight1 = gmc->weight(error1), weight2 = gmc->weight(error2); - DOUBLES_EQUAL(0.5 , weight1, 1e-8); - DOUBLES_EQUAL(0.00990099, weight2, 1e-8); + DOUBLES_EQUAL(0.25 , weight1, 1e-8); + DOUBLES_EQUAL(9.80296e-5, weight2, 1e-8); } TEST(NoiseModel, robustFunctionDCS) @@ -385,8 +385,12 @@ TEST(NoiseModel, robustNoiseGemanMcClure) robust->WhitenSystem(A, b); - const double sqrt_weight_error1 = sqrt(0.5); - const double sqrt_weight_error2 = sqrt(k/(k + error2*error2)); + const double k2 = k*k; + const double k4 = k2*k2; + const double k2error = k2 + error2*error2; + + const double sqrt_weight_error1 = sqrt(0.25); + const double sqrt_weight_error2 = sqrt(k4/(k2error*k2error)); DOUBLES_EQUAL(sqrt_weight_error1*error1, b(0), 1e-8); DOUBLES_EQUAL(sqrt_weight_error2*error2, b(1), 1e-8); From b9c63ef5df83767b055b2fb4165100dffc139dd8 Mon Sep 17 00:00:00 2001 From: Enrique Fernandez Date: Thu, 20 Aug 2015 15:46:03 -0400 Subject: [PATCH 599/964] Fix and optimize DCS --- gtsam/linear/NoiseModel.cpp | 10 ++++++++-- gtsam/linear/tests/testNoiseModel.cpp | 4 ++-- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index e539d9579..cb77902d0 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -835,8 +835,14 @@ DCS::DCS(double c, const ReweightScheme reweight) } double DCS::weight(double error) const { - double scale = 2.0*c_/(c_ + error*error); - return std::min(scale, 1.0); + const double e2 = error*error; + if (e2 > c_) + { + const double w = 2.0*c_/(c_ + e2); + return w*w; + } + + return 1.0; } void DCS::print(const std::string &s="") const { diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 01f653d73..d6857c6ff 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -349,7 +349,7 @@ TEST(NoiseModel, robustFunctionDCS) const double weight1 = dcs->weight(error1), weight2 = dcs->weight(error2); DOUBLES_EQUAL(1.0 , weight1, 1e-8); - DOUBLES_EQUAL(0.01980198, weight2, 1e-8); + DOUBLES_EQUAL(0.00039211, weight2, 1e-8); } /* ************************************************************************* */ @@ -413,7 +413,7 @@ TEST(NoiseModel, robustNoiseDCS) robust->WhitenSystem(A, b); - const double sqrt_weight = sqrt(2.0*k/(k + error2*error2)); + const double sqrt_weight = 2.0*k/(k + error2*error2); DOUBLES_EQUAL(error1, b(0), 1e-8); DOUBLES_EQUAL(sqrt_weight*error2, b(1), 1e-8); From 3ce789e5776540e6c75a561dccda0dea029c1188 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 21 Aug 2015 18:00:00 +0200 Subject: [PATCH 600/964] Fix computation of bias covariance from continous-time noise density (issue #252). --- gtsam/navigation/CombinedImuFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 3547719ac..a264ebebb 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -133,8 +133,8 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement( G_measCov_Gt.block<3, 3>(6, 6) = (1 / deltaT) * (H_angles_biasomega) * (gyroscopeCovariance() + biasAccOmegaInit_.block<3, 3>(3, 3)) * (H_angles_biasomega.transpose()); - G_measCov_Gt.block<3, 3>(9, 9) = (1 / deltaT) * biasAccCovariance_; - G_measCov_Gt.block<3, 3>(12, 12) = (1 / deltaT) * biasOmegaCovariance_; + G_measCov_Gt.block<3, 3>(9, 9) = deltaT * biasAccCovariance_; + G_measCov_Gt.block<3, 3>(12, 12) = deltaT * biasOmegaCovariance_; // OFF BLOCK DIAGONAL TERMS Matrix3 block23 = H_vel_biasacc * biasAccOmegaInit_.block<3, 3>(3, 0) * H_angles_biasomega.transpose(); From cf5f859679bb501e0a18422e82d6109f7d8199ee Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 24 Aug 2015 15:15:57 -0700 Subject: [PATCH 601/964] Boost optional for sensor pose --- gtsam/navigation/ImuFactor.cpp | 4 ++-- gtsam/navigation/ImuFactor.h | 3 ++- gtsam/navigation/tests/testImuFactor.cpp | 19 ++++++++++--------- 3 files changed, 14 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 8bbfc95b2..2080e87dd 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -103,9 +103,9 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, - const Pose3& body_P_sensor) { + boost::optional body_P_sensor) { // modify parameters to accommodate deprecated method:-( - p_->body_P_sensor.reset(body_P_sensor); + p_->body_P_sensor = body_P_sensor; integrateMeasurement(measuredAcc, measuredOmega, deltaT); } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 644cad4ed..855c14365 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -119,7 +119,8 @@ public: /// @deprecated version of integrateMeasurement with body_P_sensor /// Use parameters instead void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt, const Pose3& body_P_sensor); + const Vector3& measuredOmega, double dt, + boost::optional body_P_sensor); private: diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 68bbda66e..97f76bad8 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -116,8 +116,8 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { /* ************************************************************************* */ bool MonteCarlo(const PreintegratedImuMeasurements& pim, const NavState& state, const imuBias::ConstantBias& bias, double dt, - const Pose3& body_P_sensor, const Vector3& measuredAcc, - const Vector3& measuredOmega, size_t N = 10, + boost::optional body_P_sensor, const Vector3& measuredAcc, + const Vector3& measuredOmega, size_t N = 50000, size_t M = 1) { // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim1 = pim; @@ -144,12 +144,12 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, samples.col(i) = xi; sum += xi; } - // Vector9 sampleMean = sum / N; + Vector9 sampleMean = sum / N; Matrix9 Q; Q.setZero(); for (size_t i = 0; i < N; i++) { Vector9 xi = samples.col(i); - // xi -= sampleMean; + xi -= sampleMean; Q += xi * xi.transpose() / (N - 1); } @@ -199,7 +199,9 @@ TEST(ImuFactor, StraightLine) { // Do Monte-Carlo analysis PreintegratedImuMeasurements pimMC(kZeroBiasHat, p->accelerometerCovariance, p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise - EXPECT(MonteCarlo(pimMC, state1, kZeroBias, dt/10, Pose3(), measuredAcc, measuredOmega, 100000)); + EXPECT( + MonteCarlo(pimMC, state1, kZeroBias, dt / 10, boost::none, measuredAcc, + measuredOmega)); // Check integrated quantities in body frame: gravity measured by IMU is integrated! Vector3 b_deltaP(a * dt22, 0, -g * dt22); @@ -453,10 +455,9 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - Pose3 bodyPsensor = Pose3(); bool use2ndOrderCoriolis = true; ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kNonZeroOmegaCoriolis, bodyPsensor, use2ndOrderCoriolis); + kNonZeroOmegaCoriolis, boost::none, use2ndOrderCoriolis); Values values; values.insert(X(1), x1); @@ -670,7 +671,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { values.insert(B(1), bias); // Make sure linearization is correct - double diffDelta = 1e-7; + double diffDelta = 1e-5; EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } @@ -759,7 +760,7 @@ TEST(ImuFactor, PredictArbitrary) { Pose3 x1; Vector3 v1 = Vector3(0, 0, 0); imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); - EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, Pose3(), + EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega)); for (int i = 0; i < 1000; ++i) From 0503df31fa8a3a5facaa745bbfea4916e0530135 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 25 Aug 2015 12:14:52 -0400 Subject: [PATCH 602/964] Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit. --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 9 ++++++--- gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h | 7 +++++-- .../slam/tests/testSmartStereoProjectionPoseFactor.cpp | 2 +- 3 files changed, 12 insertions(+), 6 deletions(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index d3dca11e0..c12bf8d94 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -11,7 +11,7 @@ /** * @file SmartStereoProjectionFactor.h - * @brief Base class to create smart factors on poses or cameras + * @brief Smart stereo factor on StereoCameras (pose + calibration) * @author Luca Carlone * @author Zsolt Kira * @author Frank Dellaert @@ -123,8 +123,11 @@ enum DegeneracyMode { /** * SmartStereoProjectionFactor: triangulates point and keeps an estimate of it around. - * This factor operates with StereoCamrea. This factor requires that values - * contains the involved camera poses. Calibration is assumed to be fixed. + * This factor operates with StereoCamera. This factor requires that values + * contains the involved StereoCameras. Calibration is assumed to be fixed, as this + * is also assumed in StereoCamera. + * If you'd like to store poses in values instead of cameras, use + * SmartStereoProjectionPoseFactor instead */ class SmartStereoProjectionFactor: public SmartFactorBase { private: diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index 061c67a08..c9d8ec285 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -11,7 +11,7 @@ /** * @file SmartStereoProjectionPoseFactor.h - * @brief Produces an Hessian factors on POSES from monocular measurements of a single landmark + * @brief Smart stereo factor on poses, assuming camera calibration is fixed * @author Luca Carlone * @author Chris Beall * @author Zsolt Kira @@ -35,7 +35,10 @@ namespace gtsam { */ /** - * The calibration is known here. The factor only constraints poses (variable dimension is 6) + * This factor assumes that camera calibration is fixed, but each camera + * has its own calibration. + * The factor only constrains poses (variable dimension is 6). + * This factor requires that values contains the involved poses (Pose3). * @addtogroup SLAM */ class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor { diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 89c9c020a..3b16a9db8 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -1089,7 +1089,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { // Hessian is invariant to rotations in the nondegenerate case EXPECT( assert_equal(hessianFactor->information(), - hessianFactorRot->information(), 1e-7)); + hessianFactorRot->information(), 1e-6)); Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); From 29ad9478f7543a875c2dcd5af1f81843d8c6a483 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 26 Aug 2015 13:02:39 -0400 Subject: [PATCH 603/964] Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway --- gtsam/slam/SmartFactorBase.h | 59 ++--- gtsam/slam/SmartProjectionFactor.h | 4 +- gtsam/slam/SmartProjectionPoseFactor.h | 6 +- gtsam/slam/tests/testSmartFactorBase.cpp | 25 ++- .../tests/testSmartProjectionCameraFactor.cpp | 160 +++++++------- .../tests/testSmartProjectionPoseFactor.cpp | 206 +++++++++--------- .../SmartStereoProjectionFactorExample.cpp | 6 +- .../slam/SmartStereoProjectionFactor.h | 4 +- .../slam/SmartStereoProjectionPoseFactor.h | 33 ++- .../testSmartStereoProjectionPoseFactor.cpp | 116 +++++----- 10 files changed, 298 insertions(+), 321 deletions(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index f4ef51d9a..3f043a469 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -15,6 +15,7 @@ * @author Luca Carlone * @author Zsolt Kira * @author Frank Dellaert + * @author Chris Beall */ #pragma once @@ -79,22 +80,6 @@ protected: typedef Eigen::Matrix VectorD; typedef Eigen::Matrix Matrix2; - // check that noise model is isotropic and the same - // TODO, this is hacky, we should just do this via constructor, not add - void maybeSetNoiseModel(const SharedNoiseModel& sharedNoiseModel) { - if (!sharedNoiseModel) - return; - SharedIsotropic sharedIsotropic = boost::dynamic_pointer_cast< - noiseModel::Isotropic>(sharedNoiseModel); - if (!sharedIsotropic) - throw std::runtime_error("SmartFactorBase: needs isotropic"); - if (!noiseModel_) - noiseModel_ = sharedIsotropic; - else if (!sharedIsotropic->equals(*noiseModel_)) - throw std::runtime_error( - "SmartFactorBase: cannot add measurements with different noise model"); - } - public: // Definitions for blocks of F, externally visible @@ -109,8 +94,21 @@ public: typedef CameraSet Cameras; /// Constructor - SmartFactorBase(boost::optional body_P_sensor = boost::none) : - body_P_sensor_(body_P_sensor){} + SmartFactorBase(const SharedNoiseModel& sharedNoiseModel, + boost::optional body_P_sensor = boost::none) : + body_P_sensor_(body_P_sensor){ + + if (!sharedNoiseModel) + throw std::runtime_error("SmartFactorBase: sharedNoiseModel is required"); + + SharedIsotropic sharedIsotropic = boost::dynamic_pointer_cast< + noiseModel::Isotropic>(sharedNoiseModel); + + if (!sharedIsotropic) + throw std::runtime_error("SmartFactorBase: needs isotropic"); + + noiseModel_ = sharedIsotropic; + } /// Virtual destructor, subclasses from NonlinearFactor virtual ~SmartFactorBase() { @@ -122,34 +120,18 @@ public: * @param poseKey is the index corresponding to the camera observing the landmark * @param sharedNoiseModel is the measurement noise */ - void add(const Z& measured_i, const Key& cameraKey_i, - const SharedNoiseModel& sharedNoiseModel) { + void add(const Z& measured_i, const Key& cameraKey_i) { this->measured_.push_back(measured_i); this->keys_.push_back(cameraKey_i); - maybeSetNoiseModel(sharedNoiseModel); } /** - * Add a bunch of measurements, together with the camera keys and noises + * Add a bunch of measurements, together with the camera keys */ - void add(std::vector& measurements, std::vector& cameraKeys, - std::vector& noises) { + void add(std::vector& measurements, std::vector& cameraKeys) { for (size_t i = 0; i < measurements.size(); i++) { this->measured_.push_back(measurements.at(i)); this->keys_.push_back(cameraKeys.at(i)); - maybeSetNoiseModel(noises.at(i)); - } - } - - /** - * Add a bunch of measurements and use the same noise model for all of them - */ - void add(std::vector& measurements, std::vector& cameraKeys, - const SharedNoiseModel& noise) { - for (size_t i = 0; i < measurements.size(); i++) { - this->measured_.push_back(measurements.at(i)); - this->keys_.push_back(cameraKeys.at(i)); - maybeSetNoiseModel(noise); } } @@ -158,11 +140,10 @@ public: * The noise is assumed to be the same for all measurements */ template - void add(const SFM_TRACK& trackToAdd, const SharedNoiseModel& noise) { + void add(const SFM_TRACK& trackToAdd) { for (size_t k = 0; k < trackToAdd.number_measurements(); k++) { this->measured_.push_back(trackToAdd.measurements[k].second); this->keys_.push_back(trackToAdd.measurements[k].first); - maybeSetNoiseModel(noise); } } diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 120b0bbce..5146c5a32 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -159,10 +159,10 @@ public: * @param body_P_sensor pose of the camera in the body frame * @param params internal parameters of the smart factors */ - SmartProjectionFactor( + SmartProjectionFactor(const SharedNoiseModel& sharedNoiseModel, const boost::optional body_P_sensor = boost::none, const SmartProjectionParams& params = SmartProjectionParams()) : - Base(body_P_sensor), params_(params), // + Base(sharedNoiseModel, body_P_sensor), params_(params), // result_(TriangulationResult::Degenerate()) { } diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 834c9c9b6..c091ff79d 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -61,14 +61,16 @@ public: /** * Constructor + * @param Isotropic measurement noise * @param K (fixed) calibration, assumed to be the same for all cameras * @param body_P_sensor pose of the camera in the body frame * @param params internal parameters of the smart factors */ - SmartProjectionPoseFactor(const boost::shared_ptr K, + SmartProjectionPoseFactor(const SharedNoiseModel& sharedNoiseModel, + const boost::shared_ptr K, const boost::optional body_P_sensor = boost::none, const SmartProjectionParams& params = SmartProjectionParams()) : - Base(body_P_sensor, params), K_(K) { + Base(sharedNoiseModel, body_P_sensor, params), K_(K) { } /** Virtual destructor */ diff --git a/gtsam/slam/tests/testSmartFactorBase.cpp b/gtsam/slam/tests/testSmartFactorBase.cpp index 373d482fe..bf5969d4d 100644 --- a/gtsam/slam/tests/testSmartFactorBase.cpp +++ b/gtsam/slam/tests/testSmartFactorBase.cpp @@ -16,17 +16,24 @@ * @date Feb 2015 */ -#include "../SmartFactorBase.h" +#include #include #include using namespace std; using namespace gtsam; +static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); +static SharedNoiseModel unit3(noiseModel::Unit::Create(3)); + /* ************************************************************************* */ #include #include class PinholeFactor: public SmartFactorBase > { +public: + typedef SmartFactorBase > Base; + PinholeFactor(const SharedNoiseModel& sharedNoiseModel): Base(sharedNoiseModel) { + } virtual double error(const Values& values) const { return 0.0; } @@ -37,15 +44,19 @@ class PinholeFactor: public SmartFactorBase > { }; TEST(SmartFactorBase, Pinhole) { - PinholeFactor f; - f.add(Point2(), 1, SharedNoiseModel()); - f.add(Point2(), 2, SharedNoiseModel()); + PinholeFactor f= PinholeFactor(unit2); + f.add(Point2(), 1); + f.add(Point2(), 2); EXPECT_LONGS_EQUAL(2 * 2, f.dim()); } /* ************************************************************************* */ #include class StereoFactor: public SmartFactorBase { +public: + typedef SmartFactorBase Base; + StereoFactor(const SharedNoiseModel& sharedNoiseModel): Base(sharedNoiseModel) { + } virtual double error(const Values& values) const { return 0.0; } @@ -56,9 +67,9 @@ class StereoFactor: public SmartFactorBase { }; TEST(SmartFactorBase, Stereo) { - StereoFactor f; - f.add(StereoPoint2(), 1, SharedNoiseModel()); - f.add(StereoPoint2(), 2, SharedNoiseModel()); + StereoFactor f(unit3); + f.add(StereoPoint2(), 1); + f.add(StereoPoint2(), 2); EXPECT_LONGS_EQUAL(2 * 3, f.dim()); } diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 9838d65e5..d4f60b085 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -72,39 +72,39 @@ TEST( SmartProjectionCameraFactor, perturbCameraPose) { /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor) { using namespace vanilla; - SmartFactor::shared_ptr factor1(new SmartFactor()); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor2) { using namespace vanilla; params.setRankTolerance(rankTol); - SmartFactor factor1(boost::none, params); + SmartFactor factor1(unit2, boost::none, params); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor3) { using namespace vanilla; - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, x1, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(measurement1, x1); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Constructor4) { using namespace vanilla; params.setRankTolerance(rankTol); - SmartFactor factor1(boost::none, params); - factor1.add(measurement1, x1, unit2); + SmartFactor factor1(unit2, boost::none, params); + factor1.add(measurement1, x1); } /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, Equals ) { using namespace vanilla; - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(measurement1, x1, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(measurement1, x1); - SmartFactor::shared_ptr factor2(new SmartFactor()); - factor2->add(measurement1, x1, unit2); + SmartFactor::shared_ptr factor2(new SmartFactor(unit2)); + factor2->add(measurement1, x1); } /* *************************************************************************/ @@ -115,9 +115,9 @@ TEST( SmartProjectionCameraFactor, noiseless ) { values.insert(c1, level_camera); values.insert(c2, level_camera_right); - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, unit2); - factor1->add(level_uv_right, c2, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(level_uv, c1); + factor1->add(level_uv_right, c2); double expectedError = 0.0; DOUBLES_EQUAL(expectedError, factor1->error(values), 1e-7); @@ -140,9 +140,9 @@ TEST( SmartProjectionCameraFactor, noisy ) { Camera perturbed_level_camera_right = perturbCameraPose(level_camera_right); values.insert(c2, perturbed_level_camera_right); - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, unit2); - factor1->add(level_uv_right, c2, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(level_uv, c1); + factor1->add(level_uv_right, c2); // Point is now uninitialized before a triangulation event EXPECT(!factor1->point()); @@ -164,20 +164,16 @@ TEST( SmartProjectionCameraFactor, noisy ) { Vector actual = factor1->whitenedError(cameras1, point1); EXPECT(assert_equal(expected, actual, 1)); - SmartFactor::shared_ptr factor2(new SmartFactor()); + SmartFactor::shared_ptr factor2(new SmartFactor(unit2)); vector measurements; measurements.push_back(level_uv); measurements.push_back(level_uv_right); - vector noises; - noises.push_back(unit2); - noises.push_back(unit2); - vector views; views.push_back(c1); views.push_back(c2); - factor2->add(measurements, views, noises); + factor2->add(measurements, views); double actualError2 = factor2->error(values); EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1); @@ -195,16 +191,16 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) { projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); // Create and fill smartfactors - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2)); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2)); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(unit2)); vector views; views.push_back(c1); views.push_back(c2); views.push_back(c3); - smartFactor1->add(measurements_cam1, views, unit2); - smartFactor2->add(measurements_cam2, views, unit2); - smartFactor3->add(measurements_cam3, views, unit2); + smartFactor1->add(measurements_cam1, views); + smartFactor2->add(measurements_cam2, views); + smartFactor3->add(measurements_cam3, views); // Create factor graph and add priors on two cameras NonlinearFactorGraph graph; @@ -308,8 +304,8 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { measures.second = measurements_cam1.at(i); track1.measurements.push_back(measures); } - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(track1, unit2); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2)); + smartFactor1->add(track1); SfM_Track track2; for (size_t i = 0; i < 3; ++i) { @@ -318,11 +314,11 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) { measures.second = measurements_cam2.at(i); track2.measurements.push_back(measures); } - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(track2, unit2); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2)); + smartFactor2->add(track2); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, unit2); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(unit2)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); @@ -384,20 +380,20 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) { views.push_back(c2); views.push_back(c3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, unit2); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2)); + smartFactor1->add(measurements_cam1, views); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, unit2); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2)); + smartFactor2->add(measurements_cam2, views); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, unit2); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(unit2)); + smartFactor3->add(measurements_cam3, views); - SmartFactor::shared_ptr smartFactor4(new SmartFactor()); - smartFactor4->add(measurements_cam4, views, unit2); + SmartFactor::shared_ptr smartFactor4(new SmartFactor(unit2)); + smartFactor4->add(measurements_cam4, views); - SmartFactor::shared_ptr smartFactor5(new SmartFactor()); - smartFactor5->add(measurements_cam5, views, unit2); + SmartFactor::shared_ptr smartFactor5(new SmartFactor(unit2)); + smartFactor5->add(measurements_cam5, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6 + 5, 1e-5); @@ -464,20 +460,20 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) { views.push_back(c2); views.push_back(c3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, unit2); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2)); + smartFactor1->add(measurements_cam1, views); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, unit2); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2)); + smartFactor2->add(measurements_cam2, views); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, unit2); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(unit2)); + smartFactor3->add(measurements_cam3, views); - SmartFactor::shared_ptr smartFactor4(new SmartFactor()); - smartFactor4->add(measurements_cam4, views, unit2); + SmartFactor::shared_ptr smartFactor4(new SmartFactor(unit2)); + smartFactor4->add(measurements_cam4, views); - SmartFactor::shared_ptr smartFactor5(new SmartFactor()); - smartFactor5->add(measurements_cam5, views, unit2); + SmartFactor::shared_ptr smartFactor5(new SmartFactor(unit2)); + smartFactor5->add(measurements_cam5, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); @@ -540,20 +536,20 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) { views.push_back(c2); views.push_back(c3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor()); - smartFactor1->add(measurements_cam1, views, unit2); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2)); + smartFactor1->add(measurements_cam1, views); - SmartFactor::shared_ptr smartFactor2(new SmartFactor()); - smartFactor2->add(measurements_cam2, views, unit2); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2)); + smartFactor2->add(measurements_cam2, views); - SmartFactor::shared_ptr smartFactor3(new SmartFactor()); - smartFactor3->add(measurements_cam3, views, unit2); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(unit2)); + smartFactor3->add(measurements_cam3, views); - SmartFactor::shared_ptr smartFactor4(new SmartFactor()); - smartFactor4->add(measurements_cam4, views, unit2); + SmartFactor::shared_ptr smartFactor4(new SmartFactor(unit2)); + smartFactor4->add(measurements_cam4, views); - SmartFactor::shared_ptr smartFactor5(new SmartFactor()); - smartFactor5->add(measurements_cam5, views, unit2); + SmartFactor::shared_ptr smartFactor5(new SmartFactor(unit2)); + smartFactor5->add(measurements_cam5, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(9, 1e-6); @@ -604,9 +600,9 @@ TEST( SmartProjectionCameraFactor, noiselessBundler ) { values.insert(c1, level_camera); values.insert(c2, level_camera_right); - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, unit2); - factor1->add(level_uv_right, c2, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(level_uv, c1); + factor1->add(level_uv_right, c2); double actualError = factor1->error(values); @@ -633,9 +629,9 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) { values.insert(c2, level_camera_right); NonlinearFactorGraph smartGraph; - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, unit2); - factor1->add(level_uv_right, c2, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(level_uv, c1); + factor1->add(level_uv_right, c2); smartGraph.push_back(factor1); double expectedError = factor1->error(values); double expectedErrorGraph = smartGraph.error(values); @@ -674,9 +670,9 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) { values.insert(c2, level_camera_right); NonlinearFactorGraph smartGraph; - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, unit2); - factor1->add(level_uv_right, c2, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(level_uv, c1); + factor1->add(level_uv_right, c2); smartGraph.push_back(factor1); Matrix expectedHessian = smartGraph.linearize(values)->hessian().first; Vector expectedInfoVector = smartGraph.linearize(values)->hessian().second; @@ -765,9 +761,9 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) { values.insert(c1, level_camera); values.insert(c2, level_camera_right); - SmartFactor::shared_ptr factor1(new SmartFactor()); - factor1->add(level_uv, c1, unit2); - factor1->add(level_uv_right, c2, unit2); + SmartFactor::shared_ptr factor1(new SmartFactor(unit2)); + factor1->add(level_uv, c1); + factor1->add(level_uv_right, c2); Matrix expectedE; Vector expectedb; @@ -814,9 +810,9 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { params.setEnableEPI(useEPI); SmartFactor::shared_ptr explicitFactor( - new SmartFactor(boost::none, params)); - explicitFactor->add(level_uv, c1, unit2); - explicitFactor->add(level_uv_right, c2, unit2); + new SmartFactor(unit2, boost::none, params)); + explicitFactor->add(level_uv, c1); + explicitFactor->add(level_uv_right, c2); GaussianFactor::shared_ptr gaussianHessianFactor = explicitFactor->linearize( values); @@ -826,9 +822,9 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { // Implicit Schur version params.setLinearizationMode(gtsam::IMPLICIT_SCHUR); SmartFactor::shared_ptr implicitFactor( - new SmartFactor(boost::none, params)); - implicitFactor->add(level_uv, c1, unit2); - implicitFactor->add(level_uv_right, c2, unit2); + new SmartFactor(unit2, boost::none, params)); + implicitFactor->add(level_uv, c1); + implicitFactor->add(level_uv_right, c2); GaussianFactor::shared_ptr gaussianImplicitSchurFactor = implicitFactor->linearize(values); CHECK(gaussianImplicitSchurFactor); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 72147ff35..8796dfe65 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -53,7 +53,7 @@ LevenbergMarquardtParams lmParams; /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor) { using namespace vanillaPose; - SmartFactor::shared_ptr factor1(new SmartFactor(sharedK)); + SmartFactor::shared_ptr factor1(new SmartFactor(model, sharedK)); } /* ************************************************************************* */ @@ -61,14 +61,14 @@ TEST( SmartProjectionPoseFactor, Constructor2) { using namespace vanillaPose; SmartProjectionParams params; params.setRankTolerance(rankTol); - SmartFactor factor1(sharedK, boost::none, params); + SmartFactor factor1(model, sharedK, boost::none, params); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Constructor3) { using namespace vanillaPose; - SmartFactor::shared_ptr factor1(new SmartFactor(sharedK)); - factor1->add(measurement1, x1, model); + SmartFactor::shared_ptr factor1(new SmartFactor(model, sharedK)); + factor1->add(measurement1, x1); } /* ************************************************************************* */ @@ -76,18 +76,18 @@ TEST( SmartProjectionPoseFactor, Constructor4) { using namespace vanillaPose; SmartProjectionParams params; params.setRankTolerance(rankTol); - SmartFactor factor1(sharedK, boost::none, params); - factor1.add(measurement1, x1, model); + SmartFactor factor1(model, sharedK, boost::none, params); + factor1.add(measurement1, x1); } /* ************************************************************************* */ TEST( SmartProjectionPoseFactor, Equals ) { using namespace vanillaPose; - SmartFactor::shared_ptr factor1(new SmartFactor(sharedK)); - factor1->add(measurement1, x1, model); + SmartFactor::shared_ptr factor1(new SmartFactor(model, sharedK)); + factor1->add(measurement1, x1); - SmartFactor::shared_ptr factor2(new SmartFactor(sharedK)); - factor2->add(measurement1, x1, model); + SmartFactor::shared_ptr factor2(new SmartFactor(model,sharedK)); + factor2->add(measurement1, x1); CHECK(assert_equal(*factor1, *factor2)); } @@ -101,9 +101,9 @@ TEST( SmartProjectionPoseFactor, noiseless ) { Point2 level_uv = level_camera.project(landmark1); Point2 level_uv_right = level_camera_right.project(landmark1); - SmartFactor factor(sharedK); - factor.add(level_uv, x1, model); - factor.add(level_uv_right, x2, model); + SmartFactor factor(model, sharedK); + factor.add(level_uv, x1); + factor.add(level_uv_right, x2); Values values; // it's a pose factor, hence these are poses values.insert(x1, cam1.pose()); @@ -166,26 +166,22 @@ TEST( SmartProjectionPoseFactor, noisy ) { Point3(0.5, 0.1, 0.3)); values.insert(x2, pose_right.compose(noise_pose)); - SmartFactor::shared_ptr factor(new SmartFactor((sharedK))); - factor->add(level_uv, x1, model); - factor->add(level_uv_right, x2, model); + SmartFactor::shared_ptr factor(new SmartFactor(model, sharedK)); + factor->add(level_uv, x1); + factor->add(level_uv_right, x2); double actualError1 = factor->error(values); - SmartFactor::shared_ptr factor2(new SmartFactor((sharedK))); + SmartFactor::shared_ptr factor2(new SmartFactor(model, sharedK)); vector measurements; measurements.push_back(level_uv); measurements.push_back(level_uv_right); - vector noises; - noises.push_back(model); - noises.push_back(model); - vector views; views.push_back(x1); views.push_back(x2); - factor2->add(measurements, views, noises); + factor2->add(measurements, views); double actualError2 = factor2->error(values); DOUBLES_EQUAL(actualError1, actualError2, 1e-7); } @@ -238,14 +234,14 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY); params.setEnableEPI(false); - SmartProjectionPoseFactor smartFactor1(K, sensor_to_body, params); - smartFactor1.add(measurements_cam1, views, model); + SmartProjectionPoseFactor smartFactor1(model, K, sensor_to_body, params); + smartFactor1.add(measurements_cam1, views); - SmartProjectionPoseFactor smartFactor2(K, sensor_to_body, params); - smartFactor2.add(measurements_cam2, views, model); + SmartProjectionPoseFactor smartFactor2(model, K, sensor_to_body, params); + smartFactor2.add(measurements_cam2, views); - SmartProjectionPoseFactor smartFactor3(K, sensor_to_body, params); - smartFactor3.add(measurements_cam3, views, model); + SmartProjectionPoseFactor smartFactor3(model, K, sensor_to_body, params); + smartFactor3.add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -296,14 +292,14 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { views.push_back(x2); views.push_back(x3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedK2)); - smartFactor1->add(measurements_cam1, views, model); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedK2)); + smartFactor1->add(measurements_cam1, views); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedK2)); - smartFactor2->add(measurements_cam2, views, model); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(model, sharedK2)); + smartFactor2->add(measurements_cam2, views); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedK2)); - smartFactor3->add(measurements_cam3, views, model); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(model, sharedK2)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -366,8 +362,8 @@ TEST( SmartProjectionPoseFactor, Factors ) { views.push_back(x1); views.push_back(x2); - SmartFactor::shared_ptr smartFactor1 = boost::make_shared(sharedK); - smartFactor1->add(measurements_cam1, views, model); + SmartFactor::shared_ptr smartFactor1 = boost::make_shared(model, sharedK); + smartFactor1->add(measurements_cam1, views); SmartFactor::Cameras cameras; cameras.push_back(cam1); @@ -524,14 +520,14 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedK)); - smartFactor1->add(measurements_cam1, views, model); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedK)); + smartFactor1->add(measurements_cam1, views); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedK)); - smartFactor2->add(measurements_cam2, views, model); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(model, sharedK)); + smartFactor2->add(measurements_cam2, views); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedK)); - smartFactor3->add(measurements_cam3, views, model); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(model, sharedK)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -586,19 +582,19 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { params.setLinearizationMode(gtsam::JACOBIAN_SVD); params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY); params.setEnableEPI(false); - SmartFactor factor1(sharedK, boost::none, params); + SmartFactor factor1(model, sharedK, boost::none, params); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, boost::none, params)); - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, boost::none, params)); - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor2->add(measurements_cam2, views); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, boost::none, params)); - smartFactor3->add(measurements_cam3, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -650,16 +646,16 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { params.setEnableEPI(false); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, boost::none, params)); - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, boost::none, params)); - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor2->add(measurements_cam2, views); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, boost::none, params)); - smartFactor3->add(measurements_cam3, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -717,20 +713,20 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) { params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, boost::none, params)); - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, boost::none, params)); - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor2->add(measurements_cam2, views); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, boost::none, params)); - smartFactor3->add(measurements_cam3, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor3->add(measurements_cam3, views); SmartFactor::shared_ptr smartFactor4( - new SmartFactor(sharedK, boost::none, params)); - smartFactor4->add(measurements_cam4, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor4->add(measurements_cam4, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -775,16 +771,16 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { params.setLinearizationMode(gtsam::JACOBIAN_Q); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, boost::none, params)); - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, boost::none, params)); - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor2->add(measurements_cam2, views); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, boost::none, params)); - smartFactor3->add(measurements_cam3, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -895,16 +891,16 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { params.setRankTolerance(10); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, boost::none, params)); // HESSIAN, by default - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedK, boost::none, params)); // HESSIAN, by default + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, boost::none, params)); // HESSIAN, by default - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedK, boost::none, params)); // HESSIAN, by default + smartFactor2->add(measurements_cam2, views); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, boost::none, params)); // HESSIAN, by default - smartFactor3->add(measurements_cam3, views, model); + new SmartFactor(model, sharedK, boost::none, params)); // HESSIAN, by default + smartFactor3->add(measurements_cam3, views); NonlinearFactorGraph graph; graph.push_back(smartFactor1); @@ -978,12 +974,12 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac params.setDegeneracyMode(gtsam::HANDLE_INFINITY); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK2, boost::none, params)); - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedK2, boost::none, params)); + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK2, boost::none, params)); - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedK2, boost::none, params)); + smartFactor2->add(measurements_cam2, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10); @@ -1040,16 +1036,16 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedK, boost::none, params)); - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedK, boost::none, params)); - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor2->add(measurements_cam2, views); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedK, boost::none, params)); - smartFactor3->add(measurements_cam3, views, model); + new SmartFactor(model, sharedK, boost::none, params)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, @@ -1108,8 +1104,8 @@ TEST( SmartProjectionPoseFactor, Hessian ) { measurements_cam1.push_back(cam1_uv1); measurements_cam1.push_back(cam2_uv1); - SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedK2)); - smartFactor1->add(measurements_cam1, views, model); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedK2)); + smartFactor1->add(measurements_cam1, views); Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); @@ -1140,8 +1136,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); - SmartFactor::shared_ptr smartFactorInstance(new SmartFactor(sharedK)); - smartFactorInstance->add(measurements_cam1, views, model); + SmartFactor::shared_ptr smartFactorInstance(new SmartFactor(model, sharedK)); + smartFactorInstance->add(measurements_cam1, views); Values values; values.insert(x1, cam1.pose()); @@ -1196,8 +1192,8 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { vector measurements_cam1; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); - SmartFactor::shared_ptr smartFactor(new SmartFactor(sharedK2)); - smartFactor->add(measurements_cam1, views, model); + SmartFactor::shared_ptr smartFactor(new SmartFactor(model, sharedK2)); + smartFactor->add(measurements_cam1, views); Values values; values.insert(x1, cam1.pose()); @@ -1239,8 +1235,8 @@ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) { using namespace bundlerPose; SmartProjectionParams params; params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY); - SmartFactor factor(sharedBundlerK, boost::none, params); - factor.add(measurement1, x1, model); + SmartFactor factor(model, sharedBundlerK, boost::none, params); + factor.add(measurement1, x1); } /* *************************************************************************/ @@ -1263,14 +1259,14 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { views.push_back(x2); views.push_back(x3); - SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedBundlerK)); - smartFactor1->add(measurements_cam1, views, model); + SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedBundlerK)); + smartFactor1->add(measurements_cam1, views); - SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedBundlerK)); - smartFactor2->add(measurements_cam2, views, model); + SmartFactor::shared_ptr smartFactor2(new SmartFactor(model, sharedBundlerK)); + smartFactor2->add(measurements_cam2, views); - SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedBundlerK)); - smartFactor3->add(measurements_cam3, views, model); + SmartFactor::shared_ptr smartFactor3(new SmartFactor(model, sharedBundlerK)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -1334,16 +1330,16 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY); SmartFactor::shared_ptr smartFactor1( - new SmartFactor(sharedBundlerK, boost::none, params)); - smartFactor1->add(measurements_cam1, views, model); + new SmartFactor(model, sharedBundlerK, boost::none, params)); + smartFactor1->add(measurements_cam1, views); SmartFactor::shared_ptr smartFactor2( - new SmartFactor(sharedBundlerK, boost::none, params)); - smartFactor2->add(measurements_cam2, views, model); + new SmartFactor(model, sharedBundlerK, boost::none, params)); + smartFactor2->add(measurements_cam2, views); SmartFactor::shared_ptr smartFactor3( - new SmartFactor(sharedBundlerK, boost::none, params)); - smartFactor3->add(measurements_cam3, views, model); + new SmartFactor(model, sharedBundlerK, boost::none, params)); + smartFactor3->add(measurements_cam3, views); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, diff --git a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp index 5ba8ec913..d3680460f 100644 --- a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp +++ b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp @@ -109,17 +109,17 @@ int main(int argc, char** argv){ //read stereo measurements and construct smart factors - SmartFactor::shared_ptr factor(new SmartFactor()); + SmartFactor::shared_ptr factor(new SmartFactor(model)); size_t current_l = 3; // hardcoded landmark ID from first measurement while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) { if(current_l != l) { graph.push_back(factor); - factor = SmartFactor::shared_ptr(new SmartFactor()); + factor = SmartFactor::shared_ptr(new SmartFactor(model)); current_l = l; } - factor->add(StereoPoint2(uL,uR,v), Symbol('x',x), model, K); + factor->add(StereoPoint2(uL,uR,v), Symbol('x',x), K); } Pose3 first_pose = initial_estimate.at(Symbol('x',1)); diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index c12bf8d94..e7118a36c 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -159,8 +159,10 @@ public: * Constructor * @param params internal parameters of the smart factors */ - SmartStereoProjectionFactor(const SmartStereoProjectionParams& params = + SmartStereoProjectionFactor(const SharedNoiseModel& sharedNoiseModel, + const SmartStereoProjectionParams& params = SmartStereoProjectionParams()) : + Base(sharedNoiseModel), // params_(params), // result_(TriangulationResult::Degenerate()) { } diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index c9d8ec285..c2526fd74 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -62,15 +62,13 @@ public: /** * Constructor - * @param rankTol tolerance used to check if point triangulation is degenerate - * @param linThreshold threshold on relative pose changes used to decide whether to relinearize (selective relinearization) - * @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint, - * otherwise the factor is simply neglected - * @param enableEPI if set to true linear triangulation is refined with embedded LM iterations + * @param Isotropic measurement noise + * @param params internal parameters of the smart factors */ - SmartStereoProjectionPoseFactor(const SmartStereoProjectionParams& params = + SmartStereoProjectionPoseFactor(const SharedNoiseModel& sharedNoiseModel, + const SmartStereoProjectionParams& params = SmartStereoProjectionParams()) : - Base(params) { + Base(sharedNoiseModel, params) { } /** Virtual destructor */ @@ -80,27 +78,23 @@ public: * add a new measurement and pose key * @param measured is the 2m dimensional location of the projection of a single landmark in the m view (the measurement) * @param poseKey is key corresponding to the camera observing the same landmark - * @param noise_i is the measurement noise - * @param K_i is the (known) camera calibration + * @param K is the (fixed) camera calibration */ - void add(const StereoPoint2 measured_i, const Key poseKey_i, - const SharedNoiseModel noise_i, - const boost::shared_ptr K_i) { - Base::add(measured_i, poseKey_i, noise_i); - K_all_.push_back(K_i); + void add(const StereoPoint2 measured, const Key poseKey, + const boost::shared_ptr K) { + Base::add(measured, poseKey); + K_all_.push_back(K); } /** * Variant of the previous one in which we include a set of measurements * @param measurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement) * @param poseKeys vector of keys corresponding to the camera observing the same landmark - * @param noises vector of measurement noises * @param Ks vector of calibration objects */ void add(std::vector measurements, std::vector poseKeys, - std::vector noises, std::vector > Ks) { - Base::add(measurements, poseKeys, noises); + Base::add(measurements, poseKeys); for (size_t i = 0; i < measurements.size(); i++) { K_all_.push_back(Ks.at(i)); } @@ -110,13 +104,12 @@ public: * Variant of the previous one in which we include a set of measurements with the same noise and calibration * @param mmeasurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement) * @param poseKeys vector of keys corresponding to the camera observing the same landmark - * @param noise measurement noise (same for all measurements) * @param K the (known) camera calibration (same for all measurements) */ void add(std::vector measurements, std::vector poseKeys, - const SharedNoiseModel noise, const boost::shared_ptr K) { + const boost::shared_ptr K) { for (size_t i = 0; i < measurements.size(); i++) { - Base::add(measurements.at(i), poseKeys.at(i), noise); + Base::add(measurements.at(i), poseKeys.at(i)); K_all_.push_back(K); } } diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 3b16a9db8..2981f675d 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -81,33 +81,33 @@ LevenbergMarquardtParams lm_params; /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor) { - SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor(model)); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor2) { - SmartStereoProjectionPoseFactor factor1(params); + SmartStereoProjectionPoseFactor factor1(model, params); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor3) { - SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); - factor1->add(measurement1, poseKey1, model, K); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor(model)); + factor1->add(measurement1, poseKey1, K); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Constructor4) { - SmartStereoProjectionPoseFactor factor1(params); - factor1.add(measurement1, poseKey1, model, K); + SmartStereoProjectionPoseFactor factor1(model, params); + factor1.add(measurement1, poseKey1, K); } /* ************************************************************************* */ TEST( SmartStereoProjectionPoseFactor, Equals ) { - SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); - factor1->add(measurement1, poseKey1, model, K); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor(model)); + factor1->add(measurement1, poseKey1, K); - SmartStereoProjectionPoseFactor::shared_ptr factor2(new SmartStereoProjectionPoseFactor()); - factor2->add(measurement1, poseKey1, model, K); + SmartStereoProjectionPoseFactor::shared_ptr factor2(new SmartStereoProjectionPoseFactor(model)); + factor2->add(measurement1, poseKey1, K); CHECK(assert_equal(*factor1, *factor2)); } @@ -134,9 +134,9 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { values.insert(x1, level_pose); values.insert(x2, level_pose_right); - SmartStereoProjectionPoseFactor factor1; - factor1.add(level_uv, x1, model, K2); - factor1.add(level_uv_right, x2, model, K2); + SmartStereoProjectionPoseFactor factor1(model); + factor1.add(level_uv, x1, K2); + factor1.add(level_uv_right, x2, K2); double actualError = factor1.error(values); double expectedError = 0.0; @@ -176,21 +176,17 @@ TEST( SmartStereoProjectionPoseFactor, noisy ) { Point3(0.5, 0.1, 0.3)); values.insert(x2, level_pose_right.compose(noise_pose)); - SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor()); - factor1->add(level_uv, x1, model, K); - factor1->add(level_uv_right, x2, model, K); + SmartStereoProjectionPoseFactor::shared_ptr factor1(new SmartStereoProjectionPoseFactor(model)); + factor1->add(level_uv, x1, K); + factor1->add(level_uv_right, x2, K); double actualError1 = factor1->error(values); - SmartStereoProjectionPoseFactor::shared_ptr factor2(new SmartStereoProjectionPoseFactor()); + SmartStereoProjectionPoseFactor::shared_ptr factor2(new SmartStereoProjectionPoseFactor(model)); vector measurements; measurements.push_back(level_uv); measurements.push_back(level_uv_right); - vector noises; - noises.push_back(model); - noises.push_back(model); - vector > Ks; ///< shared pointer to calibration object (one for each camera) Ks.push_back(K); Ks.push_back(K); @@ -199,7 +195,7 @@ TEST( SmartStereoProjectionPoseFactor, noisy ) { views.push_back(x1); views.push_back(x2); - factor2->add(measurements, views, noises, Ks); + factor2->add(measurements, views, Ks); double actualError2 = factor2->error(values); @@ -241,14 +237,14 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { SmartStereoProjectionParams smart_params; smart_params.triangulation.enableEPI = true; - SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(smart_params)); - smartFactor1->add(measurements_l1, views, model, K2); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(model, smart_params)); + smartFactor1->add(measurements_l1, views, K2); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(smart_params)); - smartFactor2->add(measurements_l2, views, model, K2); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(model, smart_params)); + smartFactor2->add(measurements_l2, views, K2); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(smart_params)); - smartFactor3->add(measurements_l3, views, model, K2); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(model, smart_params)); + smartFactor3->add(measurements_l3, views, K2); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -383,14 +379,14 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { SmartStereoProjectionParams params; params.setLinearizationMode(JACOBIAN_SVD); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor1( new SmartStereoProjectionPoseFactor(params)); - smartFactor1->add(measurements_cam1, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1( new SmartStereoProjectionPoseFactor(model, params)); + smartFactor1->add(measurements_cam1, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); - smartFactor2->add(measurements_cam2, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor2->add(measurements_cam2, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); - smartFactor3->add(measurements_cam3, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor3->add(measurements_cam3, views, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -452,14 +448,14 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { params.setLinearizationMode(JACOBIAN_SVD); params.setLandmarkDistanceThreshold(2); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(params)); - smartFactor1->add(measurements_cam1, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor1->add(measurements_cam1, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); - smartFactor2->add(measurements_cam2, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor2->add(measurements_cam2, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); - smartFactor3->add(measurements_cam3, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor3->add(measurements_cam3, views, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -526,21 +522,21 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { params.setDynamicOutlierRejectionThreshold(1); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(params)); - smartFactor1->add(measurements_cam1, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor1->add(measurements_cam1, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); - smartFactor2->add(measurements_cam2, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor2->add(measurements_cam2, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); - smartFactor3->add(measurements_cam3, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor3->add(measurements_cam3, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor4(new SmartStereoProjectionPoseFactor(params)); - smartFactor4->add(measurements_cam4, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor4(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor4->add(measurements_cam4, views, K); // same as factor 4, but dynamic outlier rejection is off - SmartStereoProjectionPoseFactor::shared_ptr smartFactor4b(new SmartStereoProjectionPoseFactor()); - smartFactor4b->add(measurements_cam4, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor4b(new SmartStereoProjectionPoseFactor(model)); + smartFactor4b->add(measurements_cam4, views, K); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); @@ -739,14 +735,14 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { SmartStereoProjectionParams params; params.setRankTolerance(10); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(params)); - smartFactor1->add(measurements_cam1, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor1->add(measurements_cam1, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(params)); - smartFactor2->add(measurements_cam2, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor2->add(measurements_cam2, views, K); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(params)); - smartFactor3->add(measurements_cam3, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(model, params)); + smartFactor3->add(measurements_cam3, views, K); // Create graph to optimize NonlinearFactorGraph graph; @@ -997,8 +993,8 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1); - SmartStereoProjectionPoseFactor::shared_ptr smartFactorInstance(new SmartStereoProjectionPoseFactor()); - smartFactorInstance->add(measurements_cam1, views, model, K); + SmartStereoProjectionPoseFactor::shared_ptr smartFactorInstance(new SmartStereoProjectionPoseFactor(model)); + smartFactorInstance->add(measurements_cam1, views, K); Values values; values.insert(x1, pose1); @@ -1065,8 +1061,8 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1); - SmartStereoProjectionPoseFactor::shared_ptr smartFactor(new SmartStereoProjectionPoseFactor()); - smartFactor->add(measurements_cam1, views, model, K2); + SmartStereoProjectionPoseFactor::shared_ptr smartFactor(new SmartStereoProjectionPoseFactor(model)); + smartFactor->add(measurements_cam1, views, K2); Values values; values.insert(x1, pose1); From 92e210b8939ad5687a1f5a44a5594352ff183364 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Wed, 26 Aug 2015 13:25:12 -0400 Subject: [PATCH 604/964] Fix examples and Matlab wrapper --- examples/SFMExample_SmartFactor.cpp | 4 ++-- examples/SFMExample_SmartFactorPCG.cpp | 4 ++-- gtsam.h | 12 +++++++----- .../examples/SmartProjectionFactorExample.cpp | 6 +++--- 4 files changed, 14 insertions(+), 12 deletions(-) diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp index bb8935439..e7c0aa696 100644 --- a/examples/SFMExample_SmartFactor.cpp +++ b/examples/SFMExample_SmartFactor.cpp @@ -58,7 +58,7 @@ int main(int argc, char* argv[]) { for (size_t j = 0; j < points.size(); ++j) { // every landmark represent a single landmark, we use shared pointer to init the factor, and then insert measurements. - SmartFactor::shared_ptr smartfactor(new SmartFactor(K)); + SmartFactor::shared_ptr smartfactor(new SmartFactor(measurementNoise, K)); for (size_t i = 0; i < poses.size(); ++i) { @@ -71,7 +71,7 @@ int main(int argc, char* argv[]) { // 2. the corresponding camera's key // 3. camera noise model // 4. camera calibration - smartfactor->add(measurement, i, measurementNoise); + smartfactor->add(measurement, i); } // insert the smart factor in the graph diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp index 7ec5f8268..743934c7c 100644 --- a/examples/SFMExample_SmartFactorPCG.cpp +++ b/examples/SFMExample_SmartFactorPCG.cpp @@ -54,7 +54,7 @@ int main(int argc, char* argv[]) { for (size_t j = 0; j < points.size(); ++j) { // every landmark represent a single landmark, we use shared pointer to init the factor, and then insert measurements. - SmartFactor::shared_ptr smartfactor(new SmartFactor(K)); + SmartFactor::shared_ptr smartfactor(new SmartFactor(measurementNoise, K)); for (size_t i = 0; i < poses.size(); ++i) { @@ -63,7 +63,7 @@ int main(int argc, char* argv[]) { Point2 measurement = camera.project(points[j]); // call add() function to add measurement into a single factor, here we need to add: - smartfactor->add(measurement, i, measurementNoise); + smartfactor->add(measurement, i); } // insert the smart factor in the graph diff --git a/gtsam.h b/gtsam.h index 6fb73e0ca..a75dbf056 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2364,15 +2364,17 @@ class SmartProjectionParams { template virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor { - SmartProjectionPoseFactor(const CALIBRATION* K); - SmartProjectionPoseFactor(const CALIBRATION* K, + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K); + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K, const gtsam::Pose3& body_P_sensor); - SmartProjectionPoseFactor(const CALIBRATION* K, + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K, const gtsam::Pose3& body_P_sensor, const gtsam::SmartProjectionParams& params); - void add(const gtsam::Point2& measured_i, size_t poseKey_i, - const gtsam::noiseModel::Base* noise_i); + void add(const gtsam::Point2& measured_i, size_t poseKey_i); // enabling serialization functionality //void serialize() const; diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp index e00dcee57..1423ef113 100644 --- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp +++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp @@ -87,17 +87,17 @@ int main(int argc, char** argv){ //read stereo measurements and construct smart factors - SmartFactor::shared_ptr factor(new SmartFactor(K)); + SmartFactor::shared_ptr factor(new SmartFactor(model, K)); size_t current_l = 3; // hardcoded landmark ID from first measurement while (factor_file >> i >> l >> uL >> uR >> v >> X >> Y >> Z) { if(current_l != l) { graph.push_back(factor); - factor = SmartFactor::shared_ptr(new SmartFactor(K)); + factor = SmartFactor::shared_ptr(new SmartFactor(model, K)); current_l = l; } - factor->add(Point2(uL,v), i, model); + factor->add(Point2(uL,v), i); } Pose3 firstPose = initial_estimate.at(1); From a4e58d06e758b418f4769700aa33a04b09682d26 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 26 Aug 2015 20:19:26 -0700 Subject: [PATCH 605/964] Tighter bounds --- gtsam/geometry/tests/testPose3.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index f6f8b7b40..9007ce1bd 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -182,8 +182,8 @@ TEST(Pose3, expmaps_galore_full) xi = (Vector(6) << 0.2, 0.3, -0.8, 100.0, 120.0, -60.0).finished(); actual = Pose3::Expmap(xi); EXPECT(assert_equal(expm(xi,10), actual,1e-5)); - EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-6)); - EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-6)); + EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-9)); + EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-9)); } /* ************************************************************************* */ From 9f91aedd6abd30215e05653de18418f9e7261ee1 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 2 Sep 2015 16:52:54 -0400 Subject: [PATCH 606/964] test centrifugal derivative --- gtsam/navigation/tests/testImuFactor.cpp | 29 ++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 97f76bad8..50d6a8533 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -157,6 +157,35 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, return assert_equal(Matrix(10000*Q), 10000*actual, 1); } +/* ************************************************************************* */ +Vector3 centrifugal(const Vector3& omega_s, const Pose3& bTs, boost::optional H1) { + Rot3 bRs = bTs.rotation(); + Vector3 j_correctedOmega = bRs * omega_s; + + const Vector3 b_arm = bTs.translation().vector(); + + // Subtract out the the centripetal acceleration from the measured one + // to get linear acceleration vector in the body frame: + const Matrix3 body_Omega_body = skewSymmetric(j_correctedOmega); + const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm + if (H1) { + double wdp = j_correctedOmega.dot(b_arm); + *H1 = - (diag(Vector3::Constant(wdp)) + j_correctedOmega * b_arm.transpose())*bRs.matrix() + 2*b_arm*omega_s.transpose(); + } + return -body_Omega_body * b_velocity_bs; +} + +/* ************************************************************************* */ +TEST(ImuFactor, centrifugalDeriv) { + static const Pose3 bTs(Rot3::ypr(0.1,0.2,0.3), Point3(1.,4.,7.)); + Vector3 omega_s(0.2,0.4,0.6); + Matrix3 H1; + Vector3 cb = centrifugal(omega_s, bTs, H1); + (void) cb; + Matrix Hnum = numericalDerivative11(boost::bind(centrifugal, _1, bTs, boost::none), omega_s, 1e-6); + EXPECT(assert_equal(Hnum, H1, 1e-5)); +} + /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { // Set up IMU measurements From 8e2915c4f3b958a2d7b57f9da97ea2ad93de6fc6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 4 Sep 2015 18:14:13 +0000 Subject: [PATCH 607/964] README.md edited online with Bitbucket --- README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 679af5a2f..ccdc7f07e 100644 --- a/README.md +++ b/README.md @@ -31,6 +31,7 @@ Prerequisites: - [Boost](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`) - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (Ubuntu: `sudo apt-get install cmake`) +- A modern compiler, i.e., at least gcc 4.7.3 on Linux. Optional prerequisites - used automatically if findable by CMake: @@ -46,6 +47,6 @@ See the [`INSTALL`](INSTALL) file for more detailed installation instructions. GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`LICENSE.BSD`](LICENSE.BSD) files. -Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM. - +Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM. + GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS). \ No newline at end of file From e01fc2da03307a03b86590d0f8114385efb63fc2 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 10 Sep 2015 22:59:44 -0400 Subject: [PATCH 608/964] use mt19937_64 generator --- gtsam/linear/Sampler.cpp | 5 ++--- gtsam/linear/Sampler.h | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index 48972a953..5d58d165a 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -14,8 +14,7 @@ * @author Alex Cunningham */ -#include -#include +#include #include namespace gtsam { @@ -51,7 +50,7 @@ Vector Sampler::sampleDiagonal(const Vector& sigmas) { } else { typedef boost::normal_distribution Normal; Normal dist(0.0, sigma); - boost::variate_generator norm(generator_, dist); + boost::variate_generator norm(generator_, dist); result(i) = norm(); } } diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index f2632308b..453658147 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -37,7 +37,7 @@ protected: noiseModel::Diagonal::shared_ptr model_; /** generator */ - boost::minstd_rand generator_; + boost::mt19937_64 generator_; public: typedef boost::shared_ptr shared_ptr; From c9fae14a98280f529ad726ef7c8128239ebc26eb Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 10 Sep 2015 23:03:59 -0400 Subject: [PATCH 609/964] correct Jacobians for body_P_sensor case, including derivative for centripetal acc --- gtsam/navigation/ImuFactor.cpp | 2 +- gtsam/navigation/PreintegrationBase.cpp | 24 ++++++++++++++++++++---- gtsam/navigation/PreintegrationBase.h | 7 ++++++- 3 files changed, 27 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 2080e87dd..70527d91d 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -78,8 +78,8 @@ void PreintegratedImuMeasurements::integrateMeasurement( preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G * Cov * G.transpose(); #else preintMeasCov_ = F * preintMeasCov_ * F.transpose() - + G1 * (p().accelerometerCovariance / dt) * G1.transpose() + Gi * (p().integrationCovariance * dt) * Gi.transpose() // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt) + + G1 * (p().accelerometerCovariance / dt) * G1.transpose() + G2 * (p().gyroscopeCovariance / dt) * G2.transpose(); #endif } diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index dd385897e..d6e906d8b 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -76,7 +76,8 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, //------------------------------------------------------------------------------ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& j_measuredAcc, const Vector3& j_measuredOmega) const { + const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, + OptionalJacobian<3, 3> D_correctedAcc_measuredOmega) const { // Correct for bias in the sensor frame Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); @@ -99,6 +100,12 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos const Matrix3 body_Omega_body = skewSymmetric(j_correctedOmega); const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm j_correctedAcc -= body_Omega_body * b_velocity_bs; + if (D_correctedAcc_measuredOmega) { + double wdp = j_correctedOmega.dot(b_arm); + *D_correctedAcc_measuredOmega = -(diag(Vector3::Constant(wdp)) + + j_correctedOmega * b_arm.transpose()) * bRs.matrix() + + 2 * b_arm * j_measuredOmega.transpose(); + } } } @@ -112,11 +119,20 @@ NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { Vector3 j_correctedAcc, j_correctedOmega; + Matrix3 D_correctedAcc_measuredOmega; boost::tie(j_correctedAcc, j_correctedOmega) = - correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega); - + correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega, D_correctedAcc_measuredOmega); // Do update in one fell swoop - return deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, F, G1, G2); + NavState updated = deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, F, G1, G2); + if (G1 && G2 && p().body_P_sensor) { + const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); + *G2 = *G2*bRs; + if (!p().body_P_sensor->translation().vector().isZero()) { + *G2 += *G1 * D_correctedAcc_measuredOmega; + } + *G1 = *G1*bRs; + } + return updated; } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 6eca295b2..6118cc515 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -145,6 +145,10 @@ public: return *boost::static_pointer_cast(p_); } + void set_body_P_sensor(const Pose3& body_P_sensor) { + p_->body_P_sensor = body_P_sensor; + } + /// getters const NavState& deltaXij() const { return deltaXij_; @@ -193,7 +197,8 @@ public: /// Subtract estimate and correct for sensor pose std::pair correctMeasurementsByBiasAndSensorPose( - const Vector3& j_measuredAcc, const Vector3& j_measuredOmega) const; + const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, + OptionalJacobian<3, 3> D_correctedAcc_measuredOmega = boost::none) const; /// Calculate the updated preintegrated measurement, does not modify /// It takes measured quantities in the j frame From f59c442fb3363692760d278f62dd687621b3264a Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 10 Sep 2015 23:07:45 -0400 Subject: [PATCH 610/964] non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers --- gtsam/navigation/tests/testImuFactor.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 50d6a8533..517ee6798 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -61,6 +61,9 @@ double intNoiseVar = 0.0001; const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; +const Vector3 accNoiseVar2(0.01, 0.02, 0.03); +const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); +int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10; // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ From 704411de4e91a950dcf8fe10ed896c69181a0c21 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 10 Sep 2015 23:13:35 -0400 Subject: [PATCH 611/964] MonteCarlo test passed for body_P_sensor case. Unittests for Jacobians of updatedDeltaXij. Code to verify statistics and nonlinearity of generated samples. --- gtsam/navigation/tests/testImuFactor.cpp | 122 +++++++++++++++-------- 1 file changed, 81 insertions(+), 41 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 517ee6798..eceda34a0 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -28,6 +28,7 @@ #include #include #include +#include using namespace std; using namespace gtsam; @@ -120,7 +121,8 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { bool MonteCarlo(const PreintegratedImuMeasurements& pim, const NavState& state, const imuBias::ConstantBias& bias, double dt, boost::optional body_P_sensor, const Vector3& measuredAcc, - const Vector3& measuredOmega, size_t N = 50000, + const Vector3& measuredOmega, const Vector3& accNoiseVar, + const Vector3& omegaNoiseVar, size_t N = 10000, size_t M = 1) { // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim1 = pim; @@ -130,8 +132,8 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, Matrix9 actual = pim1.preintMeasCov(); // Do a Monte Carlo analysis to determine empirical density on the predicted state - Sampler sampleAccelerationNoise(Vector3::Constant(sqrt(accNoiseVar / dt)), 234567); - Sampler sampleOmegaNoise(Vector3::Constant(sqrt(omegaNoiseVar / dt)), 10); + Sampler sampleAccelerationNoise((accNoiseVar/dt).cwiseSqrt(), accSamplerSeed); + Sampler sampleOmegaNoise((omegaNoiseVar/dt).cwiseSqrt(), omegaSamplerSeed); Matrix samples(9, N); Vector9 sum = Vector9::Zero(); for (size_t i = 0; i < N; i++) { @@ -147,7 +149,8 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, samples.col(i) = xi; sum += xi; } - Vector9 sampleMean = sum / N; + + Vector9 sampleMean = sum / N; Matrix9 Q; Q.setZero(); for (size_t i = 0; i < N; i++) { @@ -156,38 +159,11 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, Q += xi * xi.transpose() / (N - 1); } - // Compare Monte-Carlo value with actual (computed) value - return assert_equal(Matrix(10000*Q), 10000*actual, 1); + // Compare MonteCarlo value with actual (computed) value + return assert_equal(Matrix(Q), actual, 1e-4); } -/* ************************************************************************* */ -Vector3 centrifugal(const Vector3& omega_s, const Pose3& bTs, boost::optional H1) { - Rot3 bRs = bTs.rotation(); - Vector3 j_correctedOmega = bRs * omega_s; - - const Vector3 b_arm = bTs.translation().vector(); - - // Subtract out the the centripetal acceleration from the measured one - // to get linear acceleration vector in the body frame: - const Matrix3 body_Omega_body = skewSymmetric(j_correctedOmega); - const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm - if (H1) { - double wdp = j_correctedOmega.dot(b_arm); - *H1 = - (diag(Vector3::Constant(wdp)) + j_correctedOmega * b_arm.transpose())*bRs.matrix() + 2*b_arm*omega_s.transpose(); - } - return -body_Omega_body * b_velocity_bs; -} - -/* ************************************************************************* */ -TEST(ImuFactor, centrifugalDeriv) { - static const Pose3 bTs(Rot3::ypr(0.1,0.2,0.3), Point3(1.,4.,7.)); - Vector3 omega_s(0.2,0.4,0.6); - Matrix3 H1; - Vector3 cb = centrifugal(omega_s, bTs, H1); - (void) cb; - Matrix Hnum = numericalDerivative11(boost::bind(centrifugal, _1, bTs, boost::none), omega_s, 1e-6); - EXPECT(assert_equal(Hnum, H1, 1e-5)); -} +#if 1 /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { @@ -233,7 +209,7 @@ TEST(ImuFactor, StraightLine) { p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise EXPECT( MonteCarlo(pimMC, state1, kZeroBias, dt / 10, boost::none, measuredAcc, - measuredOmega)); + measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); // Check integrated quantities in body frame: gravity measured by IMU is integrated! Vector3 b_deltaP(a * dt22, 0, -g * dt22); @@ -634,8 +610,13 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { EXPECT( assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega())); } +#endif /* ************************************************************************* */ +Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, const Vector3& measuredAcc, const Vector3& measuredOmega) { + return pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega).first; +} + TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0)); @@ -651,14 +632,73 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { + Vector3(0.2, 0.0, 0.0); double dt = 0.1; - Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 0)); - imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); + Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0, 0)); + imuBias::ConstantBias biasHat(Vector3(0.0, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Get mean prediction from "ground truth" measurements - PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise + PreintegratedImuMeasurements pim(biasHat, accNoiseVar2.asDiagonal(), + omegaNoiseVar2.asDiagonal(), Z_3x3, true); // MonteCarlo does not sample integration noise + pim.set_body_P_sensor(body_P_sensor); + + // Check updatedDeltaXij derivatives + Matrix3 D_correctedAcc_measuredOmega; + pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, D_correctedAcc_measuredOmega); + Matrix3 expectedD = numericalDerivative11(boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); + EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); + + Matrix93 G1, G2; + NavState preint = pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, boost::none, G1, G2); +// Matrix9 preintCov = G1*((accNoiseVar2/dt).asDiagonal())*G1.transpose() + G2*((omegaNoiseVar2/dt).asDiagonal())*G2.transpose(); + + Matrix93 expectedG1 = numericalDerivative21( + boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, + dt, boost::none, boost::none, boost::none), measuredAcc, measuredOmega, + 1e-6); + EXPECT(assert_equal(expectedG1, G1, 1e-5)); + + Matrix93 expectedG2 = numericalDerivative22( + boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, + dt, boost::none, boost::none, boost::none), measuredAcc, measuredOmega, + 1e-6); + EXPECT(assert_equal(expectedG2, G2, 1e-5)); + +#if 0 + /* + * This code is to verify the quality of the generated samples + * by checking if the covariance of the generated noises matches + * with the input covariance, and visualizing the nonlinearity of + * the sample set using the following matlab script: + * + noises = dlmread('noises.txt'); + cov(noises) + + samples = dlmread('noises.txt'); + figure(1); + for i=1:9 + subplot(3,3,i) + hist(samples(:,i), 500) + end + */ + size_t N = 10000; + Matrix samples(9,N); + Sampler sampleAccelerationNoise((accNoiseVar2/dt).cwiseSqrt(), 29284); + Sampler sampleOmegaNoise((omegaNoiseVar2/dt).cwiseSqrt(), 10); + ofstream samplesOut("preintSamples.txt"); + ofstream noiseOut("noises.txt"); + for (size_t i = 0; i Date: Tue, 15 Sep 2015 11:14:45 -0400 Subject: [PATCH 612/964] ImuFactor Jacobian test passed. Need to integrate at least two IMU measurements to get information on the position --- gtsam/navigation/tests/testImuFactor.cpp | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index eceda34a0..91da5598b 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -641,7 +641,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { pim.set_body_P_sensor(body_P_sensor); // Check updatedDeltaXij derivatives - Matrix3 D_correctedAcc_measuredOmega; + Matrix3 D_correctedAcc_measuredOmega = Matrix3::Zero(); pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, D_correctedAcc_measuredOmega); Matrix3 expectedD = numericalDerivative11(boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); @@ -714,6 +714,10 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6)); + // integrate one more time (at least twice) to get position information + // otherwise factor cov noise from preint_cov is not positive definite + pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); + // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kNonZeroOmegaCoriolis); @@ -723,7 +727,6 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { Vector3 actual_v2; ImuFactor::Predict(x1, v1, actual_x2, actual_v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); - // Regression test with Rot3 expectedR( // 0.456795409, -0.888128414, 0.0506544554, // @@ -742,8 +745,10 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { values.insert(V(2), v2); values.insert(B(1), bias); +// factor.get_noiseModel()->print("noise: "); // Make sure the noise is valid + // Make sure linearization is correct - double diffDelta = 1e-5; + double diffDelta = 1e-8; EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); } From 75abc90a90f19ee1f9ae5223b252f71bee02f56d Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 16 Sep 2015 08:24:17 -0400 Subject: [PATCH 613/964] Informative derivative names. Only compute if need to. --- gtsam/navigation/PreintegrationBase.cpp | 48 ++++++++++++++++++------- gtsam/navigation/PreintegrationBase.h | 15 +++++--- 2 files changed, 45 insertions(+), 18 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index d6e906d8b..bb01971e6 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -77,7 +77,9 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, //------------------------------------------------------------------------------ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, - OptionalJacobian<3, 3> D_correctedAcc_measuredOmega) const { + OptionalJacobian<3, 3> D_correctedAcc_measuredAcc, + OptionalJacobian<3, 3> D_correctedAcc_measuredOmega, + OptionalJacobian<3, 3> D_correctedOmega_measuredOmega) const { // Correct for bias in the sensor frame Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); @@ -93,6 +95,13 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos // Correct acceleration j_correctedAcc = bRs * j_correctedAcc; + + // Jacobians + if (D_correctedAcc_measuredAcc) *D_correctedAcc_measuredAcc = bRs; + if (D_correctedAcc_measuredOmega) *D_correctedAcc_measuredOmega = Matrix3::Zero(); + if (D_correctedOmega_measuredOmega) *D_correctedOmega_measuredOmega = bRs; + + // Centrifugal acceleration const Vector3 b_arm = p().body_P_sensor->translation().vector(); if (!b_arm.isZero()) { // Subtract out the the centripetal acceleration from the measured one @@ -100,6 +109,7 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos const Matrix3 body_Omega_body = skewSymmetric(j_correctedOmega); const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm j_correctedAcc -= body_Omega_body * b_velocity_bs; + // Update derivative: centrifugal causes the correlation between acc and omega!!! if (D_correctedAcc_measuredOmega) { double wdp = j_correctedOmega.dot(b_arm); *D_correctedAcc_measuredOmega = -(diag(Vector3::Constant(wdp)) @@ -115,22 +125,32 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos //------------------------------------------------------------------------------ NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, - const Vector3& j_measuredOmega, const double dt, OptionalJacobian<9, 9> F, - OptionalJacobian<9, 3> G1, OptionalJacobian<9, 3> G2) const { + const Vector3& j_measuredOmega, const double dt, + OptionalJacobian<9, 9> D_updated_current, + OptionalJacobian<9, 3> D_updated_measuredAcc, + OptionalJacobian<9, 3> D_updated_measuredOmega) const { Vector3 j_correctedAcc, j_correctedOmega; - Matrix3 D_correctedAcc_measuredOmega; + Matrix3 D_correctedAcc_measuredAcc, // + D_correctedAcc_measuredOmega, // + D_correctedOmega_measuredOmega; + bool needDerivs = D_updated_measuredAcc && D_updated_measuredOmega && p().body_P_sensor; boost::tie(j_correctedAcc, j_correctedOmega) = - correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega, D_correctedAcc_measuredOmega); + correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega, + (needDerivs ? &D_correctedAcc_measuredAcc : 0), + (needDerivs ? &D_correctedAcc_measuredOmega : 0), + (needDerivs ? &D_correctedOmega_measuredOmega : 0)); // Do update in one fell swoop - NavState updated = deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, F, G1, G2); - if (G1 && G2 && p().body_P_sensor) { - const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - *G2 = *G2*bRs; + Matrix93 D_updated_correctedAcc, D_updated_correctedOmega; + NavState updated = deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, D_updated_current, + (needDerivs ? D_updated_correctedAcc : D_updated_measuredAcc), + (needDerivs ? D_updated_correctedOmega : D_updated_measuredOmega)); + if (needDerivs) { + *D_updated_measuredAcc = D_updated_correctedAcc * D_correctedAcc_measuredAcc; + *D_updated_measuredOmega = D_updated_correctedOmega * D_correctedOmega_measuredOmega; if (!p().body_P_sensor->translation().vector().isZero()) { - *G2 += *G1 * D_correctedAcc_measuredOmega; + *D_updated_measuredOmega += D_updated_correctedAcc * D_correctedAcc_measuredOmega; } - *G1 = *G1*bRs; } return updated; } @@ -138,14 +158,16 @@ NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, //------------------------------------------------------------------------------ void PreintegrationBase::update(const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, const double dt, - Matrix3* D_incrR_integratedOmega, Matrix9* F, Matrix93* G1, Matrix93* G2) { + Matrix3* D_incrR_integratedOmega, Matrix9* D_updated_current, + Matrix93* D_updated_measuredAcc, Matrix93* D_updated_measuredOmega) { // Save current rotation for updating Jacobians const Rot3 oldRij = deltaXij_.attitude(); // Do update deltaTij_ += dt; - deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt, F, G1, G2); // functional + deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt, + D_updated_current, D_updated_measuredAcc, D_updated_measuredOmega); // functional // Update Jacobians // TODO(frank): we are repeating some computation here: accessible in F ? diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 6118cc515..07225dd9a 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -196,22 +196,27 @@ public: bool equals(const PreintegrationBase& other, double tol) const; /// Subtract estimate and correct for sensor pose + /// Compute the derivatives due to non-identity body_P_sensor (rotation and centrifugal acc) + /// Ignore D_correctedOmega_measuredAcc as it is trivially zero std::pair correctMeasurementsByBiasAndSensorPose( const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, - OptionalJacobian<3, 3> D_correctedAcc_measuredOmega = boost::none) const; + OptionalJacobian<3, 3> D_correctedAcc_measuredAcc = boost::none, + OptionalJacobian<3, 3> D_correctedAcc_measuredOmega = boost::none, + OptionalJacobian<3, 3> D_correctedOmega_measuredOmega = boost::none) const; /// Calculate the updated preintegrated measurement, does not modify /// It takes measured quantities in the j frame NavState updatedDeltaXij(const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, const double dt, - OptionalJacobian<9, 9> F = boost::none, OptionalJacobian<9, 3> G1 = - boost::none, OptionalJacobian<9, 3> G2 = boost::none) const; + OptionalJacobian<9, 9> D_updated_current = boost::none, + OptionalJacobian<9, 3> D_updated_measuredAcc = boost::none, + OptionalJacobian<9, 3> D_updated_measuredOmega = boost::none) const; /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame void update(const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, - const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* F, - Matrix93* G1, Matrix93* G2); + const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* D_updated_current, + Matrix93* D_udpated_measuredAcc, Matrix93* D_updated_measuredOmega); /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far From f3b97ed2c287b936d26db3e31309fae35e6f3485 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 11:27:37 -0400 Subject: [PATCH 614/964] fix header --- gtsam/linear/Sampler.cpp | 2 -- gtsam/linear/Sampler.h | 2 +- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index 5d58d165a..bfbc222ba 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -14,8 +14,6 @@ * @author Alex Cunningham */ -#include - #include namespace gtsam { diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index 453658147..6c84bfda2 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -20,7 +20,7 @@ #include -#include +#include namespace gtsam { From c7e52fe861073661081a8e9d5eb57c263b708d30 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 11:28:59 -0400 Subject: [PATCH 615/964] a bit more complicated test case --- gtsam/navigation/tests/testImuFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 91da5598b..74c2d8409 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -632,8 +632,8 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { + Vector3(0.2, 0.0, 0.0); double dt = 0.1; - Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0, 0)); - imuBias::ConstantBias biasHat(Vector3(0.0, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); + Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0.05, 0.01)); + imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim(biasHat, accNoiseVar2.asDiagonal(), From cf821f51247598124f93e1850c12c37fd9f6e201 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 11:30:39 -0400 Subject: [PATCH 616/964] update api --- gtsam/navigation/tests/testImuFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 74c2d8409..24c283bd2 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -642,7 +642,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Check updatedDeltaXij derivatives Matrix3 D_correctedAcc_measuredOmega = Matrix3::Zero(); - pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, D_correctedAcc_measuredOmega); + pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, boost::none, D_correctedAcc_measuredOmega, boost::none); Matrix3 expectedD = numericalDerivative11(boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); From a9954b3bd5b336734eab055c641b81f4ade77a13 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 11:32:39 -0400 Subject: [PATCH 617/964] test pass when using priorBias in Preint instead of zeroBias --- gtsam/navigation/tests/testImuFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 24c283bd2..66b3ba8d2 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -987,7 +987,7 @@ TEST(ImuFactor, bodyPSensorWithBias) { Bias zeroBias(Vector3(0, 0, 0), Vector3(0, 0, 0)); for (int i = 1; i < numFactors; i++) { ImuFactor::PreintegratedMeasurements pim = - ImuFactor::PreintegratedMeasurements(zeroBias, accCov, gyroCov, + ImuFactor::PreintegratedMeasurements(priorBias, accCov, gyroCov, integrationCov, true); for (int j = 0; j < 200; ++j) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, From 6fb453e7252ff4df1a8ebbd85923f18cb2bab999 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 11:34:49 -0400 Subject: [PATCH 618/964] disable experimental tests with specified expected values --- gtsam/navigation/tests/testImuFactor.cpp | 66 ++++++++++++------------ 1 file changed, 33 insertions(+), 33 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 66b3ba8d2..01b331e42 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -700,19 +700,19 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor, measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 10000)); - Matrix expected(9,9); - expected << - 0.0290780477, 4.63277848e-07, 9.23468723e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // - 4.63277848e-07, 0.0290688208, 4.62505461e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // - 9.23468723e-05, 4.62505461e-06, 0.0299907267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // - 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, // - 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, // - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, // - 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, // - 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, // - 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01; +// Matrix expected(9,9); +// expected << +// 0.0290780477, 4.63277848e-07, 9.23468723e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // +// 4.63277848e-07, 0.0290688208, 4.62505461e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // +// 9.23468723e-05, 4.62505461e-06, 0.0299907267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // +// 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, // +// 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, // +// 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, // +// 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, // +// 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, // +// 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01; pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); - EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6)); +// EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6)); // integrate one more time (at least twice) to get position information // otherwise factor cov noise from preint_cov is not positive definite @@ -728,15 +728,15 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { ImuFactor::Predict(x1, v1, actual_x2, actual_v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); // Regression test with - Rot3 expectedR( // - 0.456795409, -0.888128414, 0.0506544554, // - 0.889548908, 0.45563417, -0.0331699173, // - 0.00637924528, 0.0602114814, 0.998165258); - Point3 expectedT(5.30373101, 0.768972495, -49.9942188); - Vector3 expected_v2(0.107462014, -0.46205501, 0.0115624037); - Pose3 expected_x2(expectedR, expectedT); - EXPECT(assert_equal(expected_x2, actual_x2, 1e-7)); - EXPECT(assert_equal(Vector(expected_v2), actual_v2, 1e-7)); +// Rot3 expectedR( // +// 0.456795409, -0.888128414, 0.0506544554, // +// 0.889548908, 0.45563417, -0.0331699173, // +// 0.00637924528, 0.0602114814, 0.998165258); +// Point3 expectedT(5.30373101, 0.768972495, -49.9942188); +// Vector3 expected_v2(0.107462014, -0.46205501, 0.0115624037); +// Pose3 expected_x2(expectedR, expectedT); +// EXPECT(assert_equal(expected_x2, actual_x2, 1e-7)); +// EXPECT(assert_equal(Vector(expected_v2), actual_v2, 1e-7)); Values values; values.insert(X(1), x1); @@ -843,18 +843,18 @@ TEST(ImuFactor, PredictArbitrary) { for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, dt); - Matrix expected(9,9); - expected << // - 0.0299999995, 2.46739898e-10, 2.46739896e-10, -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, // - 2.46739898e-10, 0.0299999995, 2.46739902e-10, -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, // - 2.46739896e-10, 2.46739902e-10, 0.0299999995, 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, // - -0.0144839494, -0.0454268484, 0.00489577218, 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, // - 0.044978128, -0.0149428917, 0.00839301168, 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, // - 0.0100471195, 0.00609093775, 0.000448720395, -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, // - -0.0409843415, -0.13554868, 0.00879031682, 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, // - 0.134423822, -0.0471183681, 0.0162199769, 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, // - 0.0383280513, 0.0247643646, 0.00112485862, -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764; - EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7)); +// Matrix expected(9,9); +// expected << // +// 0.0299999995, 2.46739898e-10, 2.46739896e-10, -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, // +// 2.46739898e-10, 0.0299999995, 2.46739902e-10, -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, // +// 2.46739896e-10, 2.46739902e-10, 0.0299999995, 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, // +// -0.0144839494, -0.0454268484, 0.00489577218, 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, // +// 0.044978128, -0.0149428917, 0.00839301168, 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, // +// 0.0100471195, 0.00609093775, 0.000448720395, -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, // +// -0.0409843415, -0.13554868, 0.00879031682, 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, // +// 0.134423822, -0.0471183681, 0.0162199769, 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, // +// 0.0383280513, 0.0247643646, 0.00112485862, -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764; +// EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7)); // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, From bc99c58226fb71bee35a1f922937e0028e5b8274 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 17:44:00 -0400 Subject: [PATCH 619/964] fix Rot3-from-Matrix construction for Quaternion case --- gtsam/geometry/Pose3.cpp | 2 +- gtsam/geometry/Rot3.h | 12 ++++-------- gtsam/geometry/Rot3M.cpp | 12 ++++++++++++ gtsam/geometry/Rot3Q.cpp | 8 ++++++++ gtsam/geometry/tests/testCalibratedCamera.cpp | 2 +- gtsam/geometry/tests/testSimpleCamera.cpp | 2 +- gtsam/navigation/NavState.h | 2 +- gtsam/navigation/tests/testAHRSFactor.cpp | 2 +- 8 files changed, 29 insertions(+), 13 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 3f46df40d..f373e5ad4 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -387,7 +387,7 @@ boost::optional align(const vector& pairs) { Matrix3 UVtranspose = U * V.transpose(); Matrix3 detWeighting = I_3x3; detWeighting(2, 2) = UVtranspose.determinant(); - Rot3 R(Matrix(V * detWeighting * U.transpose())); + Rot3 R(Matrix3(V * detWeighting * U.transpose())); Point3 t = Point3(cq) - R * Point3(cp); return Pose3(R, t); } diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 3e95bf04d..cc0dc309e 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -86,14 +86,10 @@ namespace gtsam { double R31, double R32, double R33); /** constructor from a rotation matrix */ - template - inline Rot3(const Eigen::MatrixBase& R) { - #ifdef GTSAM_USE_QUATERNIONS - quaternion_=R - #else - rot_ = R; - #endif - } + Rot3(const Matrix3& R); + + /** constructor from a rotation matrix */ + Rot3(const Matrix& R); /** Constructor from a quaternion. This can also be called using a plain * Vector, due to implicit conversion from Vector to Quaternion diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index a7b654070..324c05ae4 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -50,6 +50,18 @@ Rot3::Rot3(double R11, double R12, double R13, R31, R32, R33; } +/* ************************************************************************* */ +Rot3::Rot3(const Matrix3& R) { + rot_ = R; +} + +/* ************************************************************************* */ +Rot3::Rot3(const Matrix& R) { + if (R.rows()!=3 || R.cols()!=3) + throw invalid_argument("Rot3 constructor expects 3*3 matrix"); + rot_ = R; +} + /* ************************************************************************* */ Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) { } diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index b255b082d..c97e76718 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -48,6 +48,14 @@ namespace gtsam { R21, R22, R23, R31, R32, R33).finished()) {} + /* ************************************************************************* */ + Rot3::Rot3(const Matrix3& R) : + quaternion_(R) {} + + /* ************************************************************************* */ + Rot3::Rot3(const Matrix& R) : + quaternion_(Matrix3(R)) {} + /* ************************************************************************* */ Rot3::Rot3(const Quaternion& q) : quaternion_(q) { diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index 199ae30ce..e7c66c48d 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -30,7 +30,7 @@ using namespace gtsam; GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera) // Camera situated at 0.5 meters high, looking down -static const Pose3 pose1((Matrix)(Matrix(3,3) << +static const Pose3 pose1((Matrix(3,3) << 1., 0., 0., 0.,-1., 0., 0., 0.,-1. diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index 71979481c..3755573ac 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -28,7 +28,7 @@ using namespace gtsam; static const Cal3_S2 K(625, 625, 0, 0, 0); -static const Pose3 pose1((Matrix)(Matrix(3,3) << +static const Pose3 pose1((Matrix3)(Matrix(3,3) << 1., 0., 0., 0.,-1., 0., 0., 0.,-1. diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 9561aa77b..c6c11627c 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -61,7 +61,7 @@ public: } /// Construct from Matrix group representation (no checking) NavState(const Matrix7& T) : - R_(T.block<3, 3>(0, 0)), t_(T.block<3, 1>(0, 6)), v_(T.block<3, 1>(3, 6)) { + R_((Matrix3)T.block<3, 3>(0, 0)), t_(T.block<3, 1>(0, 6)), v_(T.block<3, 1>(3, 6)) { } /// Construct from SO(3) and R^6 NavState(const Matrix3& R, const Vector9 tv) : diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp index 9e8e78efe..2121eda35 100644 --- a/gtsam/navigation/tests/testAHRSFactor.cpp +++ b/gtsam/navigation/tests/testAHRSFactor.cpp @@ -435,7 +435,7 @@ TEST (AHRSFactor, predictTest) { // Actual Jacobians Matrix H; (void) pim.predict(bias,H); - EXPECT(assert_equal(expectedH, H)); + EXPECT(assert_equal(expectedH, H, 1e-8)); } //****************************************************************************** #include From d5aea61c47cf1189e223b7c0c457a49411e1cd87 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 22:09:06 -0400 Subject: [PATCH 620/964] fix an Eigen bug to bypass a problem of compiling Eigen's outer product x*x.transpose() when MKL is enabled. IsRowMajor is an enum value defined in DenseBase. However, in the template specialization of GeneralProduct, which is derived from ProductBase<--MatrixBase<--DenseBase, another struct is defined with the same name IsRowMajor, leading to a compilation error. --- gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h index 9e805a80f..ee63f6a89 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h @@ -257,7 +257,7 @@ template class GeneralProduct : public ProductBase, Lhs, Rhs> { - template struct IsRowMajor : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; + template struct IsRowMajorType : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; public: EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct) @@ -281,22 +281,22 @@ class GeneralProduct template inline void evalTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, set(), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, set(), IsRowMajorType()); } template inline void addTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, add(), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, add(), IsRowMajorType()); } template inline void subTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, sub(), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, sub(), IsRowMajorType()); } template void scaleAndAddTo(Dest& dest, const Scalar& alpha) const { - internal::outer_product_selector_run(*this, dest, adds(alpha), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, adds(alpha), IsRowMajorType()); } }; From a4dc5897160edc375d0d13e47e78204838cb2ac7 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 22:10:19 -0400 Subject: [PATCH 621/964] fix indent --- gtsam/navigation/tests/testImuFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 01b331e42..daa8d0b26 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -155,7 +155,7 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, Q.setZero(); for (size_t i = 0; i < N; i++) { Vector9 xi = samples.col(i); - xi -= sampleMean; + xi -= sampleMean; Q += xi * xi.transpose() / (N - 1); } From 435e042aa05a14a9ed606315c43ec4ba208a696f Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 18 Sep 2015 23:35:51 -0400 Subject: [PATCH 622/964] revert the Eigen's bug as we can't touch Eigen. Fix our code to play nice with the bug by avoiding cross product. --- gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h | 10 +++++----- gtsam/navigation/tests/testImuFactor.cpp | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h index ee63f6a89..9e805a80f 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h @@ -257,7 +257,7 @@ template class GeneralProduct : public ProductBase, Lhs, Rhs> { - template struct IsRowMajorType : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; + template struct IsRowMajor : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; public: EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct) @@ -281,22 +281,22 @@ class GeneralProduct template inline void evalTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, set(), IsRowMajorType()); + internal::outer_product_selector_run(*this, dest, set(), IsRowMajor()); } template inline void addTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, add(), IsRowMajorType()); + internal::outer_product_selector_run(*this, dest, add(), IsRowMajor()); } template inline void subTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, sub(), IsRowMajorType()); + internal::outer_product_selector_run(*this, dest, sub(), IsRowMajor()); } template void scaleAndAddTo(Dest& dest, const Scalar& alpha) const { - internal::outer_product_selector_run(*this, dest, adds(alpha), IsRowMajorType()); + internal::outer_product_selector_run(*this, dest, adds(alpha), IsRowMajor()); } }; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index daa8d0b26..084213e20 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -156,7 +156,7 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, for (size_t i = 0; i < N; i++) { Vector9 xi = samples.col(i); xi -= sampleMean; - Q += xi * xi.transpose() / (N - 1); + Q += xi * (xi.transpose() / (N - 1)); } // Compare MonteCarlo value with actual (computed) value From d566946600696355fbbab3a96e5fcc8adb8c24fe Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 21 Sep 2015 10:26:43 -0400 Subject: [PATCH 623/964] fix Rot3 constructor from a matrix. Revert to the generic template version, but provide a overload version for Matrix3 to avoid casting. --- gtsam/geometry/Rot3.h | 30 ++++++++++++++++--- gtsam/geometry/Rot3M.cpp | 12 -------- gtsam/geometry/Rot3Q.cpp | 8 ----- gtsam/geometry/tests/testCalibratedCamera.cpp | 2 +- gtsam/geometry/tests/testSimpleCamera.cpp | 2 +- gtsam/navigation/NavState.h | 2 +- 6 files changed, 29 insertions(+), 27 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index cc0dc309e..e548f8eea 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -85,11 +85,33 @@ namespace gtsam { double R21, double R22, double R23, double R31, double R32, double R33); - /** constructor from a rotation matrix */ - Rot3(const Matrix3& R); + /** + * Constructor from a rotation matrix + * Version for generic matrices. Need casting to Matrix3 + * in quaternion mode, since Eigen's quaternion doesn't + * allow assignment/construction from a generic matrix. + * See: http://stackoverflow.com/questions/27094132/cannot-understand-if-this-is-circular-dependency-or-clang#tab-top + */ + template + inline Rot3(const Eigen::MatrixBase& R) { + #ifdef GTSAM_USE_QUATERNIONS + quaternion_=Matrix3(R); + #else + rot_ = R; + #endif + } - /** constructor from a rotation matrix */ - Rot3(const Matrix& R); + /** + * Constructor from a rotation matrix + * Overload version for Matrix3 to avoid casting in quaternion mode. + */ + inline Rot3(const Matrix3& R) { + #ifdef GTSAM_USE_QUATERNIONS + quaternion_=R; + #else + rot_ = R; + #endif + } /** Constructor from a quaternion. This can also be called using a plain * Vector, due to implicit conversion from Vector to Quaternion diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 324c05ae4..a7b654070 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -50,18 +50,6 @@ Rot3::Rot3(double R11, double R12, double R13, R31, R32, R33; } -/* ************************************************************************* */ -Rot3::Rot3(const Matrix3& R) { - rot_ = R; -} - -/* ************************************************************************* */ -Rot3::Rot3(const Matrix& R) { - if (R.rows()!=3 || R.cols()!=3) - throw invalid_argument("Rot3 constructor expects 3*3 matrix"); - rot_ = R; -} - /* ************************************************************************* */ Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) { } diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index c97e76718..b255b082d 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -48,14 +48,6 @@ namespace gtsam { R21, R22, R23, R31, R32, R33).finished()) {} - /* ************************************************************************* */ - Rot3::Rot3(const Matrix3& R) : - quaternion_(R) {} - - /* ************************************************************************* */ - Rot3::Rot3(const Matrix& R) : - quaternion_(Matrix3(R)) {} - /* ************************************************************************* */ Rot3::Rot3(const Quaternion& q) : quaternion_(q) { diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index e7c66c48d..3b0906b44 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -30,7 +30,7 @@ using namespace gtsam; GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera) // Camera situated at 0.5 meters high, looking down -static const Pose3 pose1((Matrix(3,3) << +static const Pose3 pose1((Matrix3() << 1., 0., 0., 0.,-1., 0., 0., 0.,-1. diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index 3755573ac..515542298 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -28,7 +28,7 @@ using namespace gtsam; static const Cal3_S2 K(625, 625, 0, 0, 0); -static const Pose3 pose1((Matrix3)(Matrix(3,3) << +static const Pose3 pose1((Matrix3() << 1., 0., 0., 0.,-1., 0., 0., 0.,-1. diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index c6c11627c..9561aa77b 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -61,7 +61,7 @@ public: } /// Construct from Matrix group representation (no checking) NavState(const Matrix7& T) : - R_((Matrix3)T.block<3, 3>(0, 0)), t_(T.block<3, 1>(0, 6)), v_(T.block<3, 1>(3, 6)) { + R_(T.block<3, 3>(0, 0)), t_(T.block<3, 1>(0, 6)), v_(T.block<3, 1>(3, 6)) { } /// Construct from SO(3) and R^6 NavState(const Matrix3& R, const Vector9 tv) : From e2ce27f712248158ada9b534805242166cccf365 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 18 Sep 2015 22:38:08 -0400 Subject: [PATCH 624/964] move static member definition to cpp file --- gtsam_unstable/geometry/Event.cpp | 29 +++++++++++++++++++++++++++++ gtsam_unstable/geometry/Event.h | 3 --- 2 files changed, 29 insertions(+), 3 deletions(-) create mode 100644 gtsam_unstable/geometry/Event.cpp diff --git a/gtsam_unstable/geometry/Event.cpp b/gtsam_unstable/geometry/Event.cpp new file mode 100644 index 000000000..68d4d60ce --- /dev/null +++ b/gtsam_unstable/geometry/Event.cpp @@ -0,0 +1,29 @@ +/* ---------------------------------------------------------------------------- + + * 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 Event + * @brief Space-time event + * @author Frank Dellaert + * @author Jay Chakravarty + * @date December 2014 + */ + +#include + +namespace gtsam { + +const double Event::Speed = 330; +const Matrix14 Event::JacobianZ = (Matrix14() << 0,0,0,1).finished(); + +} + + diff --git a/gtsam_unstable/geometry/Event.h b/gtsam_unstable/geometry/Event.h index 9d35331bb..3c622924a 100644 --- a/gtsam_unstable/geometry/Event.h +++ b/gtsam_unstable/geometry/Event.h @@ -99,9 +99,6 @@ public: } }; -const double Event::Speed = 330; -const Matrix14 Event::JacobianZ = (Matrix14() << 0,0,0,1).finished(); - // Define GTSAM traits template<> struct GTSAM_EXPORT traits : internal::Manifold {}; From ecb62492fc62c3be57eaeeee3d5925bc81d28ec4 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 29 Sep 2015 09:50:31 -0400 Subject: [PATCH 625/964] Make noiseModel_ accessible to derived class: private -> protected --- gtsam/slam/SmartFactorBase.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index 3f043a469..e903d9651 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -50,6 +50,7 @@ private: typedef SmartFactorBase This; typedef typename CAMERA::Measurement Z; +protected: /** * As of Feb 22, 2015, the noise model is the same for all measurements and * is isotropic. This allows for moving most calculations of Schur complement @@ -58,7 +59,6 @@ private: */ SharedIsotropic noiseModel_; -protected: /** * 2D measurement and noise model for each of the m views * We keep a copy of measurements for I/O and computing the error. From 23a5688008618ba9cb548c58dbb72a3b6a0dcebd Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 4 Oct 2015 16:21:13 +0200 Subject: [PATCH 626/964] make CombinedPreintegrated Params public. --- gtsam/navigation/CombinedImuFactor.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 6ed382966..737275759 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -59,6 +59,8 @@ namespace gtsam { */ class PreintegratedCombinedMeasurements : public PreintegrationBase { +public: + /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor struct Params : PreintegrationBase::Params { From 1b2d1aadd65692fea420a2a95b0c6c7dae8ab3d6 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 4 Oct 2015 22:14:05 +0200 Subject: [PATCH 627/964] remove unused typedef. --- gtsam/geometry/CameraSet.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index 1e0150768..3208c6555 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -259,7 +259,6 @@ public: // g = F' * (b - E * P * E' * b) Eigen::Matrix matrixBlock; - typedef SymmetricBlockMatrix::Block Block; ///< A block from the Hessian matrix // a single point is observed in m cameras size_t m = Fs.size(); // cameras observing current point From b5d038304821a47f80741b2d13be98c5aa4162a9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 8 Oct 2015 12:35:12 -0700 Subject: [PATCH 628/964] Fixed clang 7.0 warnings in boost headers --- CMakeLists.txt | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fd11a6733..b168077b3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -277,7 +277,8 @@ endif() # Include boost - use 'BEFORE' so that a specific boost specified to CMake # takes precedence over a system-installed one. -include_directories(BEFORE ${Boost_INCLUDE_DIR}) +# Use 'SYSTEM' to ignore compiler warnings in Boost headers +include_directories(BEFORE SYSTEM ${Boost_INCLUDE_DIR}) # Add includes for source directories 'BEFORE' boost and any system include # paths so that the compiler uses GTSAM headers in our source directory instead @@ -304,6 +305,13 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") endif() endif() +# As of XCode 7, clang also complains about this +if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0) + add_definitions(-Wno-unused-local-typedefs) + endif() +endif() + if(GTSAM_ENABLE_CONSISTENCY_CHECKS) add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS) endif() @@ -386,6 +394,8 @@ set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= # Print configuration variables message(STATUS "===============================================================") message(STATUS "================ Configuration Options ======================") +message(STATUS " CMAKE_CXX_COMPILER_ID type : ${CMAKE_CXX_COMPILER_ID}") +message(STATUS " CMAKE_CXX_COMPILER_VERSION : ${CMAKE_CXX_COMPILER_VERSION}") message(STATUS "Build flags ") print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ") print_config_flag(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all' ") From 6e2a782f366b9e6e063cd00e153aec14fd2703ef Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 8 Oct 2015 15:49:50 -0700 Subject: [PATCH 629/964] Fix some blatant formatting problems --- gtsam/nonlinear/Values-inl.h | 71 ++++++++++++++++++++++-------------- 1 file changed, 44 insertions(+), 27 deletions(-) diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h index fe2c3f3ca..673fecce0 100644 --- a/gtsam/nonlinear/Values-inl.h +++ b/gtsam/nonlinear/Values-inl.h @@ -49,8 +49,12 @@ namespace gtsam { const Key key; ///< The key const ValueType& value; ///< The value - _ValuesConstKeyValuePair(Key _key, const ValueType& _value) : key(_key), value(_value) {} - _ValuesConstKeyValuePair(const _ValuesKeyValuePair& rhs) : key(rhs.key), value(rhs.value) {} + _ValuesConstKeyValuePair(Key _key, const ValueType& _value) : + key(_key), value(_value) { + } + _ValuesConstKeyValuePair(const _ValuesKeyValuePair& rhs) : + key(rhs.key), value(rhs.value) { + } }; /* ************************************************************************* */ @@ -59,17 +63,20 @@ namespace gtsam { // need to use a struct here for later partial specialization template struct ValuesCastHelper { - static CastedKeyValuePairType cast(KeyValuePairType key_value) { - // Static cast because we already checked the type during filtering - return CastedKeyValuePairType(key_value.key, const_cast&>(static_cast&>(key_value.value)).value()); - } + static CastedKeyValuePairType cast(KeyValuePairType key_value) { + // Static cast because we already checked the type during filtering + return CastedKeyValuePairType(key_value.key, + const_cast&>(static_cast&>(key_value.value)).value()); + } }; // partial specialized version for ValueType == Value template struct ValuesCastHelper { static CastedKeyValuePairType cast(KeyValuePairType key_value) { // Static cast because we already checked the type during filtering - // in this case the casted and keyvalue pair are essentially the same type (key, Value&) so perhaps this could be done with just a cast of the key_value? + // in this case the casted and keyvalue pair are essentially the same type + // (key, Value&) so perhaps this could be done with just a cast of the key_value? return CastedKeyValuePairType(key_value.key, key_value.value); } }; @@ -78,7 +85,8 @@ namespace gtsam { struct ValuesCastHelper { static CastedKeyValuePairType cast(KeyValuePairType key_value) { // Static cast because we already checked the type during filtering - // in this case the casted and keyvalue pair are essentially the same type (key, Value&) so perhaps this could be done with just a cast of the key_value? + // in this case the casted and keyvalue pair are essentially the same type + // (key, Value&) so perhaps this could be done with just a cast of the key_value? return CastedKeyValuePairType(key_value.key, key_value.value); } }; @@ -126,23 +134,29 @@ namespace gtsam { } private: - Filtered(const boost::function& filter, Values& values) : - begin_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, values.begin(), values.end()), - &ValuesCastHelper::cast)), - end_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, values.end(), values.end()), - &ValuesCastHelper::cast)), - constBegin_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, ((const Values&)values).begin(), ((const Values&)values).end()), - &ValuesCastHelper::cast)), - constEnd_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, ((const Values&)values).end(), ((const Values&)values).end()), - &ValuesCastHelper::cast)) {} + Filtered( + const boost::function& filter, + Values& values) : + begin_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, values.begin(), values.end()), + &ValuesCastHelper::cast)), end_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, values.end(), values.end()), + &ValuesCastHelper::cast)), constBegin_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, + ((const Values&) values).begin(), + ((const Values&) values).end()), + &ValuesCastHelper::cast)), constEnd_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, + ((const Values&) values).end(), + ((const Values&) values).end()), + &ValuesCastHelper::cast)) { + } friend class Values; iterator begin_; @@ -191,7 +205,9 @@ namespace gtsam { friend class Values; const_iterator begin_; const_iterator end_; - ConstFiltered(const boost::function& filter, const Values& values) { + ConstFiltered( + const boost::function& filter, + const Values& values) { // We remove the const from values to create a non-const Filtered // view, then pull the const_iterators out of it. const Filtered filtered(filter, const_cast(values)); @@ -247,7 +263,8 @@ namespace gtsam { /* ************************************************************************* */ template<> - inline bool Values::filterHelper(const boost::function filter, const ConstKeyValuePair& key_value) { + inline bool Values::filterHelper(const boost::function filter, + const ConstKeyValuePair& key_value) { // Filter and check the type return filter(key_value.key); } From bf1510e0a9acb5592db02f64ca369992dcad48f0 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 8 Oct 2015 16:04:52 -0700 Subject: [PATCH 630/964] Fixed typeid warnings --- gtsam/nonlinear/Values-inl.h | 10 ++++++---- gtsam/nonlinear/Values.cpp | 25 +++++++++++++------------ 2 files changed, 19 insertions(+), 16 deletions(-) diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h index 673fecce0..05e58accb 100644 --- a/gtsam/nonlinear/Values-inl.h +++ b/gtsam/nonlinear/Values-inl.h @@ -280,10 +280,11 @@ namespace gtsam { throw ValuesKeyDoesNotExist("retrieve", j); // Check the type and throw exception if incorrect + const Value& value = *item->second; try { - return dynamic_cast&>(*item->second).value(); + return dynamic_cast&>(value).value(); } catch (std::bad_cast &) { - throw ValuesIncorrectType(j, typeid(*item->second), typeid(ValueType)); + throw ValuesIncorrectType(j, typeid(value), typeid(ValueType)); } } @@ -295,10 +296,11 @@ namespace gtsam { if(item != values_.end()) { // dynamic cast the type and throw exception if incorrect + const Value& value = *item->second; try { - return dynamic_cast&>(*item->second).value(); + return dynamic_cast&>(value).value(); } catch (std::bad_cast &) { - throw ValuesIncorrectType(j, typeid(*item->second), typeid(ValueType)); + throw ValuesIncorrectType(j, typeid(value), typeid(ValueType)); } } else { return boost::none; diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index e3926aa64..07757062c 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -58,18 +58,19 @@ namespace gtsam { /* ************************************************************************* */ bool Values::equals(const Values& other, double tol) const { - if(this->size() != other.size()) + if (this->size() != other.size()) return false; - for(const_iterator it1=this->begin(), it2=other.begin(); it1!=this->end(); ++it1, ++it2) { - if(typeid(it1->value) != typeid(it2->value)) - return false; - if(it1->key != it2->key) - return false; - if(!it1->value.equals_(it2->value, tol)) + for (const_iterator it1 = this->begin(), it2 = other.begin(); + it1 != this->end(); ++it1, ++it2) { + const Value& value1 = it1->value; + const Value& value2 = it2->value; + if (typeid(value1) != typeid(value2) || it1->key != it2->key + || !value1.equals_(value2, tol)) { return false; + } } return true; // We return false earlier if we find anything that does not match - } +} /* ************************************************************************* */ bool Values::exists(Key j) const { @@ -85,7 +86,6 @@ namespace gtsam { VectorValues::const_iterator vector_item = delta.find(key_value->key); Key key = key_value->key; // Non-const duplicate to deal with non-const insert argument if(vector_item != delta.end()) { -// const Vector& singleDelta = delta[key_value->key]; // Delta for this value const Vector& singleDelta = vector_item->second; Value* retractedValue(key_value->value.retract_(singleDelta)); // Retract result.values_.insert(key, retractedValue); // Add retracted result directly to result values @@ -184,12 +184,13 @@ namespace gtsam { void Values::update(Key j, const Value& val) { // Find the value to update KeyValueMap::iterator item = values_.find(j); - if(item == values_.end()) + if (item == values_.end()) throw ValuesKeyDoesNotExist("update", j); // Cast to the derived type - if(typeid(*item->second) != typeid(val)) - throw ValuesIncorrectType(j, typeid(*item->second), typeid(val)); + const Value& old_value = *item->second; + if (typeid(old_value) != typeid(val)) + throw ValuesIncorrectType(j, typeid(old_value), typeid(val)); values_.replace(item, val.clone_()); } From f6200f4a2bba50b46e2be07d81cd52f9f0ce84ac Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 10 Oct 2015 13:48:52 -0700 Subject: [PATCH 631/964] Add lyx document --- doc/ImuFactor.lyx | 109 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 109 insertions(+) create mode 100644 doc/ImuFactor.lyx diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx new file mode 100644 index 000000000..a1d33bf47 --- /dev/null +++ b/doc/ImuFactor.lyx @@ -0,0 +1,109 @@ +#LyX 2.0 created this file. For more info see http://www.lyx.org/ +\lyxformat 413 +\begin_document +\begin_header +\textclass article +\use_default_options true +\maintain_unincluded_children false +\language english +\language_package default +\inputencoding auto +\fontencoding global +\font_roman default +\font_sans default +\font_typewriter default +\font_default_family default +\use_non_tex_fonts false +\font_sc false +\font_osf false +\font_sf_scale 100 +\font_tt_scale 100 + +\graphics default +\default_output_format default +\output_sync 0 +\bibtex_command default +\index_command default +\paperfontsize default +\use_hyperref false +\papersize default +\use_geometry false +\use_amsmath 1 +\use_esint 1 +\use_mhchem 1 +\use_mathdots 1 +\cite_engine basic +\use_bibtopic false +\use_indices false +\paperorientation portrait +\suppress_date false +\use_refstyle 1 +\index Index +\shortcut idx +\color #008000 +\end_index +\secnumdepth 3 +\tocdepth 3 +\paragraph_separation indent +\paragraph_indentation default +\quotes_language english +\papercolumns 1 +\papersides 1 +\paperpagestyle default +\tracking_changes false +\output_changes false +\html_math_output 0 +\html_css_as_file 0 +\html_be_strict false +\end_header + +\begin_body + +\begin_layout Title +The new IMU Factor +\end_layout + +\begin_layout Author +Frank Dellaert +\end_layout + +\begin_layout Standard +Let us assume a setup where frames with measurements are processed at some + fairly low rate, e.g., 10 Hz. + We define the state of the vehicle at those times as attitude, position, + and velocity. + These three quantities are referred to as a NavState, defining a 9-dimensional + manifold. +\end_layout + +\begin_layout Standard +The goal of the IMU factor is to integrate IMU measurement between two successiv +e frames and create a binary factor between two NavStates. +\end_layout + +\begin_layout Standard +The binary factor is set up as a prediction: +\begin_inset Formula +\[ +X_{j}\approx X_{i}\oplus dX_{ij} +\] + +\end_inset + +where +\begin_inset Formula $dX_{ij}$ +\end_inset + + is a tangent vector in the tangent space +\begin_inset Formula $T_{i}$ +\end_inset + + to the manifold at +\begin_inset Formula $X_{i}$ +\end_inset + +. +\end_layout + +\end_body +\end_document From a69c43bf43c0e38ff28deffe5df7bebcc58ba8d0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 10 Oct 2015 13:51:39 -0700 Subject: [PATCH 632/964] matchesParamsWith, a few new constructors, and Doxygen streamlining --- gtsam/navigation/CombinedImuFactor.h | 39 ++++++-- gtsam/navigation/ImuFactor.h | 22 ++++- gtsam/navigation/PreintegratedRotation.cpp | 24 +++-- gtsam/navigation/PreintegratedRotation.h | 108 +++++++++++++-------- gtsam/navigation/PreintegrationBase.cpp | 3 +- gtsam/navigation/PreintegrationBase.h | 76 ++++++++++++--- 6 files changed, 192 insertions(+), 80 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 737275759..691fae5b9 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -113,6 +113,9 @@ public: friend class CombinedImuFactor; public: + /// @name Constructors + /// @{ + /** * Default constructor, initializes the class with no measurements * @param bias Current estimate of acceleration and rotation rate biases @@ -123,18 +126,32 @@ public: preintMeasCov_.setZero(); } - Params& p() const { return *boost::static_pointer_cast(p_);} + /// @} - /// print - void print(const std::string& s = "Preintegrated Measurements:") const; - - /// equals - bool equals(const PreintegratedCombinedMeasurements& expected, - double tol = 1e-9) const; + /// @name Basic utilities + /// @{ /// Re-initialize PreintegratedCombinedMeasurements void resetIntegration(); + /// const reference to params, shadows definition in base class + Params& p() const { return *boost::static_pointer_cast(p_);} + /// @} + + /// @name Access instance variables + /// @{ + Matrix preintMeasCov() const { return preintMeasCov_; } + /// @} + + /// @name Testable + /// @{ + void print(const std::string& s = "Preintegrated Measurements:") const; + bool equals(const PreintegratedCombinedMeasurements& expected, double tol = 1e-9) const; + /// @} + + /// @name Main functionality + /// @{ + /** * Add a single IMU measurement to the preintegration. * @param measuredAcc Measured acceleration (in body frame, as given by the @@ -147,8 +164,10 @@ public: void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT); - /// methods to access class variables - Matrix preintMeasCov() const { return preintMeasCov_; } + /// @} + + /// @name Deprecated + /// @{ /// deprecated constructor /// NOTE(frank): assumes Z-Down convention, only second order integration supported @@ -159,6 +178,8 @@ public: const Matrix3& biasAccCovariance, const Matrix3& biasOmegaCovariance, const Matrix6& biasAccOmegaInit, const bool use2ndOrderIntegration = true); + /// @} + private: /// Serialization function friend class boost::serialization::access; diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 855c14365..d47b5d740 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -81,11 +81,21 @@ public: * @param p Parameters, typically fixed in a single application */ PreintegratedImuMeasurements(const boost::shared_ptr& p, - const imuBias::ConstantBias& biasHat) : + const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : PreintegrationBase(p, biasHat) { preintMeasCov_.setZero(); } +/** + * Construct preintegrated directly from members: base class and preintMeasCov + * @param base PreintegrationBase instance + * @param preintMeasCov Covariance matrix used in noise model. + */ + PreintegratedImuMeasurements(const PreintegrationBase& base, const Matrix9& preintMeasCov) + : PreintegrationBase(base), + preintMeasCov_(preintMeasCov) { + } + /// print void print(const std::string& s = "Preintegrated Measurements:") const; @@ -167,7 +177,7 @@ public: #endif /** Default constructor - only use for serialization */ - ImuFactor(); + ImuFactor() {} /** * Constructor @@ -241,4 +251,10 @@ private: }; // class ImuFactor +template <> +struct traits : public Testable {}; + +template <> +struct traits : public Testable {}; + } /// namespace gtsam diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp index 708d1a3f6..9d623bf38 100644 --- a/gtsam/navigation/PreintegratedRotation.cpp +++ b/gtsam/navigation/PreintegratedRotation.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -42,14 +42,15 @@ void PreintegratedRotation::resetIntegration() { } void PreintegratedRotation::print(const string& s) const { - cout << s << endl; + cout << s; cout << " deltaTij [" << deltaTij_ << "]" << endl; cout << " deltaRij.ypr = (" << deltaRij_.ypr().transpose() << ")" << endl; } bool PreintegratedRotation::equals(const PreintegratedRotation& other, double tol) const { - return deltaRij_.equals(other.deltaRij_, tol) + return this->matchesParamsWith(other) + && deltaRij_.equals(other.deltaRij_, tol) && fabs(deltaTij_ - other.deltaTij_) < tol && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol); } @@ -75,12 +76,16 @@ Rot3 PreintegratedRotation::incrementalRotation(const Vector3& measuredOmega, return Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! } -void PreintegratedRotation::integrateMeasurement(const Vector3& measuredOmega, - const Vector3& biasHat, double deltaT, Matrix3* D_incrR_integratedOmega, - Matrix3* F) { +void PreintegratedRotation::integrateMeasurement( + const Vector3& measuredOmega, const Vector3& biasHat, double deltaT, + OptionalJacobian<3, 3> optional_D_incrR_integratedOmega, OptionalJacobian<3, 3> F) { + Matrix3 D_incrR_integratedOmega; + const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT, D_incrR_integratedOmega); - const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT, - D_incrR_integratedOmega); + // If asked, pass first derivative as well + if (optional_D_incrR_integratedOmega) { + *optional_D_incrR_integratedOmega << D_incrR_integratedOmega; + } // Update deltaTij and rotation deltaTij_ += deltaT; @@ -88,8 +93,7 @@ void PreintegratedRotation::integrateMeasurement(const Vector3& measuredOmega, // Update Jacobian const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - - *D_incrR_integratedOmega * deltaT; + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_incrR_integratedOmega * deltaT; } Rot3 PreintegratedRotation::biascorrectedDeltaRij(const Vector3& biasOmegaIncr, diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 002afea76..7fb734a91 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -32,56 +32,74 @@ namespace gtsam { * It includes the definitions of the preintegrated rotation. */ class PreintegratedRotation { -public: - + public: /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor struct Params { - Matrix3 gyroscopeCovariance; ///< continuous-time "Covariance" of gyroscope measurements - boost::optional omegaCoriolis; ///< Coriolis constant - boost::optional body_P_sensor; ///< The pose of the sensor in the body frame + Matrix3 gyroscopeCovariance; ///< continuous-time "Covariance" of gyroscope measurements + boost::optional omegaCoriolis; ///< Coriolis constant + boost::optional body_P_sensor; ///< The pose of the sensor in the body frame - Params() : - gyroscopeCovariance(I_3x3) { - } + Params() : gyroscopeCovariance(I_3x3) {} virtual void print(const std::string& s) const; - private: + private: /** Serialization function */ friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance); - ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); - ar & BOOST_SERIALIZATION_NVP(body_P_sensor); + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& BOOST_SERIALIZATION_NVP(gyroscopeCovariance); + ar& BOOST_SERIALIZATION_NVP(omegaCoriolis); + ar& BOOST_SERIALIZATION_NVP(body_P_sensor); } }; -protected: - double deltaTij_; ///< Time interval from i to j - Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) - Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias - + protected: /// Parameters boost::shared_ptr p_; - /// Default constructor for serialization - PreintegratedRotation() { - } + double deltaTij_; ///< Time interval from i to j + Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) + Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias + + /// Default constructor for serialization + PreintegratedRotation() {} + + public: + /// @name Constructors + /// @{ -public: /// Default constructor, resets integration to zero - explicit PreintegratedRotation(const boost::shared_ptr& p) : - p_(p) { + explicit PreintegratedRotation(const boost::shared_ptr& p) : p_(p) { resetIntegration(); } + /// Explicit initialization of all class members + PreintegratedRotation(const boost::shared_ptr& p, + double deltaTij, const Rot3& deltaRij, + const Matrix3& delRdelBiasOmega) + : p_(p), deltaTij_(deltaTij), deltaRij_(deltaRij), delRdelBiasOmega_(delRdelBiasOmega) {} + + /// @} + + /// @name Basic utilities + /// @{ + /// Re-initialize PreintegratedMeasurements void resetIntegration(); + /// check parameters equality: checks whether shared pointer points to same Params object. + bool matchesParamsWith(const PreintegratedRotation& other) const { + return p_ == other.p_; + } + /// @} + /// @name Access instance variables /// @{ + const boost::shared_ptr& params() const { + return p_; + } const double& deltaTij() const { return deltaTij_; } @@ -95,41 +113,47 @@ public: /// @name Testable /// @{ - void print(const std::string& s) const; bool equals(const PreintegratedRotation& other, double tol) const; - /// @} + /// @name Main functionality + /// @{ + /// Take the gyro measurement, correct it using the (constant) bias estimate /// and possibly the sensor pose, and then integrate it forward in time to yield /// an incremental rotation. - Rot3 incrementalRotation(const Vector3& measuredOmega, const Vector3& biasHat, - double deltaT, OptionalJacobian<3, 3> D_incrR_integratedOmega) const; + Rot3 incrementalRotation(const Vector3& measuredOmega, const Vector3& biasHat, double deltaT, + OptionalJacobian<3, 3> D_incrR_integratedOmega) const; /// Calculate an incremental rotation given the gyro measurement and a time interval, /// and update both deltaTij_ and deltaRij_. - void integrateMeasurement(const Vector3& measuredOmega, - const Vector3& biasHat, double deltaT, Matrix3* D_incrR_integratedOmega, - Matrix3* F); + void integrateMeasurement(const Vector3& measuredOmega, const Vector3& biasHat, double deltaT, + OptionalJacobian<3, 3> D_incrR_integratedOmega = boost::none, + OptionalJacobian<3, 3> F = boost::none); /// Return a bias corrected version of the integrated rotation, with optional Jacobian Rot3 biascorrectedDeltaRij(const Vector3& biasOmegaIncr, - OptionalJacobian<3, 3> H = boost::none) const; + OptionalJacobian<3, 3> H = boost::none) const; /// Integrate coriolis correction in body frame rot_i Vector3 integrateCoriolis(const Rot3& rot_i) const; -private: + /// @} + + private: /** Serialization function */ friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { // NOLINT - ar & BOOST_SERIALIZATION_NVP(p_); - ar & BOOST_SERIALIZATION_NVP(deltaTij_); - ar & BOOST_SERIALIZATION_NVP(deltaRij_); - ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { // NOLINT + ar& BOOST_SERIALIZATION_NVP(p_); + ar& BOOST_SERIALIZATION_NVP(deltaTij_); + ar& BOOST_SERIALIZATION_NVP(deltaRij_); + ar& BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); } }; -} // namespace gtsam +template <> +struct traits : public Testable {}; + +} /// namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index bb01971e6..65bc25060 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -64,7 +64,8 @@ void PreintegrationBase::print(const string& s) const { //------------------------------------------------------------------------------ bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { - return fabs(deltaTij_ - other.deltaTij_) < tol + return this->matchesParamsWith(other) + && fabs(deltaTij_ - other.deltaTij_) < tol && deltaXij_.equals(other.deltaXij_, tol) && biasHat_.equals(other.biasHat_, tol) && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol) diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 07225dd9a..856ba54cb 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -100,7 +100,14 @@ public: protected: - double deltaTij_; ///< Time interval from i to j + /// Parameters + boost::shared_ptr p_; + + /// Acceleration and gyro bias used for preintegration + imuBias::ConstantBias biasHat_; + + /// Time interval from i to j + double deltaTij_; /** * Preintegrated navigation state, from frame i to frame j @@ -109,12 +116,6 @@ protected: */ NavState deltaXij_; - /// Parameters - boost::shared_ptr p_; - - /// Acceleration and gyro bias used for preintegration - imuBias::ConstantBias biasHat_; - Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias Matrix3 delPdelBiasOmega_; ///< Jacobian of preintegrated position w.r.t. angular rate bias @@ -127,20 +128,53 @@ protected: public: + /// @name Constructors + /// @{ + /** * Constructor, initializes the variables in the base class - * @param bias Current estimate of acceleration and rotation rate biases * @param p Parameters, typically fixed in a single application + * @param bias Current estimate of acceleration and rotation rate biases */ PreintegrationBase(const boost::shared_ptr& p, - const imuBias::ConstantBias& biasHat) : + const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : p_(p), biasHat_(biasHat) { resetIntegration(); } + /** + * Constructor which takes in all members for generic construction + */ + PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, + double deltaTij, const NavState& deltaXij, const Matrix3& delPdelBiasAcc, + const Matrix3& delPdelBiasOmega, const Matrix3& delVdelBiasAcc, + const Matrix3& delVdelBiasOmega) + : p_(p), + biasHat_(biasHat), + deltaTij_(deltaTij), + deltaXij_(deltaXij), + delPdelBiasAcc_(delPdelBiasAcc), + delPdelBiasOmega_(delPdelBiasOmega), + delVdelBiasAcc_(delVdelBiasAcc), + delVdelBiasOmega_(delVdelBiasOmega) {} + /// @} + + /// @name Basic utilities + /// @{ /// Re-initialize PreintegratedMeasurements void resetIntegration(); + /// check parameters equality: checks whether shared pointer points to same Params object. + bool matchesParamsWith(const PreintegrationBase& other) const { + return p_ == other.p_; + } + + /// shared pointer to params + const boost::shared_ptr& params() const { + return p_; + } + + /// const reference to params const Params& p() const { return *boost::static_pointer_cast(p_); } @@ -148,8 +182,10 @@ public: void set_body_P_sensor(const Pose3& body_P_sensor) { p_->body_P_sensor = body_P_sensor; } + /// @} - /// getters + /// @name Instance variables access + /// @{ const NavState& deltaXij() const { return deltaXij_; } @@ -183,17 +219,20 @@ public: const Matrix3& delVdelBiasOmega() const { return delVdelBiasOmega_; } - // Exposed for MATLAB Vector6 biasHatVector() const { return biasHat_.vector(); } + /// @} - /// print + /// @name Testable + /// @{ void print(const std::string& s) const; - - /// check equality bool equals(const PreintegrationBase& other, double tol) const; + /// @} + + /// @name Main functionality + /// @{ /// Subtract estimate and correct for sensor pose /// Compute the derivatives due to non-identity body_P_sensor (rotation and centrifugal acc) @@ -236,11 +275,18 @@ public: OptionalJacobian<9, 6> H3 = boost::none, OptionalJacobian<9, 3> H4 = boost::none, OptionalJacobian<9, 6> H5 = boost::none) const; + /// @} + + /// @name Deprecated + /// @{ + /// @deprecated predict PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); + /// @} + private: /** Serialization function */ friend class boost::serialization::access; From ee7ada9b811b417362d902c6b4c248221a99cb70 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 10 Oct 2015 14:16:30 -0700 Subject: [PATCH 633/964] Got rid of commented out tests, made MC do more samples --- gtsam/navigation/tests/testImuFactor.cpp | 48 +++--------------------- 1 file changed, 5 insertions(+), 43 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 084213e20..9fa06943d 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -163,8 +163,6 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, return assert_equal(Matrix(Q), actual, 1e-4); } -#if 1 - /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { // Set up IMU measurements @@ -610,7 +608,6 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { EXPECT( assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega())); } -#endif /* ************************************************************************* */ Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, const Vector3& measuredAcc, const Vector3& measuredOmega) { @@ -698,25 +695,13 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { #endif EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor, - measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 10000)); + measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 100000)); -// Matrix expected(9,9); -// expected << -// 0.0290780477, 4.63277848e-07, 9.23468723e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // -// 4.63277848e-07, 0.0290688208, 4.62505461e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // -// 9.23468723e-05, 4.62505461e-06, 0.0299907267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // -// 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, // -// 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, // -// 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, // -// 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, // -// 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, // -// 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01; - pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); -// EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6)); - // integrate one more time (at least twice) to get position information + // integrate at least twice to get position information // otherwise factor cov noise from preint_cov is not positive definite pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); + pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, @@ -727,16 +712,6 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { Vector3 actual_v2; ImuFactor::Predict(x1, v1, actual_x2, actual_v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); - // Regression test with -// Rot3 expectedR( // -// 0.456795409, -0.888128414, 0.0506544554, // -// 0.889548908, 0.45563417, -0.0331699173, // -// 0.00637924528, 0.0602114814, 0.998165258); -// Point3 expectedT(5.30373101, 0.768972495, -49.9942188); -// Vector3 expected_v2(0.107462014, -0.46205501, 0.0115624037); -// Pose3 expected_x2(expectedR, expectedT); -// EXPECT(assert_equal(expected_x2, actual_x2, 1e-7)); -// EXPECT(assert_equal(Vector(expected_v2), actual_v2, 1e-7)); Values values; values.insert(X(1), x1); @@ -837,25 +812,12 @@ TEST(ImuFactor, PredictArbitrary) { Pose3 x1; Vector3 v1 = Vector3(0, 0, 0); imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); - EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, - measuredAcc, measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar))); + EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, + Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, dt); -// Matrix expected(9,9); -// expected << // -// 0.0299999995, 2.46739898e-10, 2.46739896e-10, -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, // -// 2.46739898e-10, 0.0299999995, 2.46739902e-10, -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, // -// 2.46739896e-10, 2.46739902e-10, 0.0299999995, 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, // -// -0.0144839494, -0.0454268484, 0.00489577218, 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, // -// 0.044978128, -0.0149428917, 0.00839301168, 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, // -// 0.0100471195, 0.00609093775, 0.000448720395, -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, // -// -0.0409843415, -0.13554868, 0.00879031682, 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, // -// 0.134423822, -0.0471183681, 0.0162199769, 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, // -// 0.0383280513, 0.0247643646, 0.00112485862, -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764; -// EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7)); - // Create factor ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); From 64672471e98b746b6c2e9ac283a0ee1e9a89618e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 11 Oct 2015 09:50:05 -0700 Subject: [PATCH 634/964] Small clarifcation --- gtsam/geometry/Pose3.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index f373e5ad4..9954240fd 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -120,9 +120,9 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> H) { Rot3 R = Rot3::Expmap(omega.vector()); double theta2 = omega.dot(omega); if (theta2 > std::numeric_limits::epsilon()) { - double omega_v = omega.dot(v); // translation parallel to axis - Point3 omega_cross_v = omega.cross(v); // points towards axis - Point3 t = (omega_cross_v - R * omega_cross_v + omega_v * omega) / theta2; + Point3 t_parallel = omega * omega.dot(v); // translation parallel to axis + Point3 omega_cross_v = omega.cross(v); // points towards axis + Point3 t = (omega_cross_v - R * omega_cross_v + t_parallel) / theta2; return Pose3(R, t); } else { return Pose3(R, v); From 28afa7496b7e8b3fe030a0ae978a67e943e274b4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 12 Oct 2015 09:24:07 -0700 Subject: [PATCH 635/964] Some musings --- doc/ImuFactor.lyx | 590 +++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 580 insertions(+), 10 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index a1d33bf47..bdc6b3424 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -24,10 +24,11 @@ \output_sync 0 \bibtex_command default \index_command default -\paperfontsize default +\paperfontsize 11 +\spacing single \use_hyperref false \papersize default -\use_geometry false +\use_geometry true \use_amsmath 1 \use_esint 1 \use_mhchem 1 @@ -42,6 +43,10 @@ \shortcut idx \color #008000 \end_index +\leftmargin 3cm +\topmargin 3cm +\rightmargin 3cm +\bottommargin 3cm \secnumdepth 3 \tocdepth 3 \paragraph_separation indent @@ -68,21 +73,537 @@ Frank Dellaert \end_layout \begin_layout Standard -Let us assume a setup where frames with measurements are processed at some - fairly low rate, e.g., 10 Hz. +Let us assume a setup where frames with image and/or laser measurements + are processed at some fairly low rate, e.g., 10 Hz. We define the state of the vehicle at those times as attitude, position, and velocity. - These three quantities are referred to as a NavState, defining a 9-dimensional - manifold. + These three quantities are jointly referred to as a NavState +\begin_inset Formula $X\doteq(R_{b}^{n},p^{n},v^{n})$ +\end_inset + +, where the superscript +\begin_inset Formula $n$ +\end_inset + + denotes the +\emph on +navigation frame +\emph default +, and +\begin_inset Formula $b$ +\end_inset + + the +\emph on +body frame +\emph default +. + For simplicity, we drop these indices below where clear from context. +\end_layout + +\begin_layout Standard +Let us consider a simplified situation where we have a perfect gyroscope + and accelerometer, i.e., assuming zero noise and bias terms, where the angular + velocity +\begin_inset Formula $\omega$ +\end_inset + + and acceleration +\begin_inset Formula $a$ +\end_inset + + are measured in the body frame. + Then we can model the state of the vehicle as governed by the following + kinematic equations, +\begin_inset Formula +\begin{eqnarray} +\dot{R} & = & R\hat{\omega}\label{eq:diffeq}\\ +\dot{p} & = & v\label{eq:diffeq2}\\ +\dot{v} & = & g+Ra\label{eq:diffeq3} +\end{eqnarray} + +\end_inset + +Note that gravity is not measured by an accelerometer and needs to be added + separately. +\end_layout + +\begin_layout Standard +We only measure +\begin_inset Formula $\omega$ +\end_inset + + and +\begin_inset Formula $a$ +\end_inset + + at discrete instants of time, and hence we need to make choices about how + to integrate the equations above numerically. + For a vehicle such as a quadrotor UAV, it is not a bad assumption to model + +\begin_inset Formula $\omega$ +\end_inset + + and +\begin_inset Formula $a$ +\end_inset + + as piecewise constant in the body frame, as the actuation is fixed to the + body. +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status open + +\begin_layout Plain Layout +This motivates splitting up the integration into two parts: one that depends + on knowing the exact rotation at the beginning of the interval, and another + that does not: +\begin_inset Formula +\begin{eqnarray*} +R(t) & = & R_{0}\int_{0}^{t}R_{0}^{T}R(\tau)\hat{\omega}(\tau)d\tau\\ +\dot{p} & = & R_{0}\int_{0}^{t}R_{0}^{T}v(\tau)d\tau\\ +\dot{v} & = & \int_{0}^{t}gd\tau+R_{0}\int_{0}^{t}R_{0}^{T}R(\tau)a(\tau)d\tau +\end{eqnarray*} + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +It is well known that constant angular and linear velocity, expressed in + the body frame, integrate to a spiral trajectory. + This is captured exactly by the exponential map of +\begin_inset Formula $SE(3)$ +\end_inset + +: +\begin_inset Formula +\[ +\left[\begin{array}{cc} +R & p\\ +0 & 1 +\end{array}\right]=\lim_{n\rightarrow\infty}\left(I+\left[\begin{array}{cc} +\hat{\omega} & v^{b}\\ +0 & 0 +\end{array}\right]\frac{\Delta t}{n}\right)^{n}\doteq\exp\left[\begin{array}{cc} +\hat{\omega} & v^{b}\\ +0 & 0 +\end{array}\right]\Delta t +\] + +\end_inset + +As can be seen from the definition, the exponential map directly derives + from dividing up a finite interval +\begin_inset Formula $\Delta t$ +\end_inset + + into an infinite number of infinitesimally small intervals +\begin_inset Formula $\Delta t/n$ +\end_inset + +. + As a consequence, integrating the kinematics forward in +\begin_inset Formula $SE(3)$ +\end_inset + + translates simply to +\emph on +multiplication +\emph default + with +\begin_inset Formula $\Delta t$ +\end_inset + + in the 6-dimensional tangent space. +\end_layout + +\begin_layout Standard +What is needed to achieve the same understanding for NavStates, integrated + forward under constant angular velocity and linear acceleration? For +\begin_inset Formula $SE(3)$ +\end_inset + +, the exponential map arose naturally when we embedded the 6-dimensional + manifold in +\begin_inset Formula $GL(4)$ +\end_inset + +, the space of all non-singular +\begin_inset Formula $4\times4$ +\end_inset + + matrices. + We can try the same trick with NavStates, e.g., embedding them in +\begin_inset Formula $GL(7)$ +\end_inset + + using the following representation: +\begin_inset Formula +\[ +X=\left[\begin{array}{ccc} +R & & p\\ + & R & v\\ + & & 1 +\end{array}\right] +\] + +\end_inset + +However, the induced group operation does not really do what we want, nor + are NavStates even expected to behave as a group. +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status open + +\begin_layout Plain Layout +The group operation inherited from +\begin_inset Formula $GL(7)$ +\end_inset + + yields the following result, +\begin_inset Formula +\[ +\left[\begin{array}{ccc} +R_{1} & & p_{1}\\ + & R_{1} & v_{1}\\ + & & 1 +\end{array}\right]\left[\begin{array}{ccc} +R_{2} & & p_{2}\\ + & R_{2} & v_{2}\\ + & & 1 +\end{array}\right]=\left[\begin{array}{ccc} +R_{1}R_{2} & & p_{1}+R_{1}p_{2}\\ + & R_{1}R_{2} & v_{1}+R_{1}v_{2}\\ + & & 1 +\end{array}\right] +\] + +\end_inset + +i.e., +\begin_inset Formula $R_{2}$ +\end_inset + +, +\begin_inset Formula $p_{2}$ +\end_inset + +, and +\begin_inset Formula $v_{2}$ +\end_inset + + are to interpreted as quantities in the body frame. + How can we achieve a constant angular velocity/constant acceleration operation + with this representation? For an infinitesimal interval +\begin_inset Formula $\delta$ +\end_inset + +, we expect the result to be +\begin_inset Formula +\[ +\left[\begin{array}{ccc} +R+R\hat{\omega}\delta & & p+v\delta\\ + & R+R\hat{\omega}\delta & v+Ra\delta\\ + & & 1 +\end{array}\right] +\] + +\end_inset + +This can NOT be achieved by +\begin_inset Formula +\[ +\left[\begin{array}{ccc} +R & & p\\ + & R & v\\ + & & 1 +\end{array}\right]\left[\begin{array}{ccc} +I+\hat{\omega}\delta & \delta & 0\\ + & I+\hat{\omega}\delta & a\delta\\ + & & 1 +\end{array}\right] +\] + +\end_inset + +because it is not closed. + Hence, the exponential map as defined below does not really do it for us +\begin_inset Formula +\[ +\left[\begin{array}{ccc} +R & & p\\ + & R & v\\ + & & 1 +\end{array}\right]=\lim_{n\rightarrow\infty}\left(I+\left[\begin{array}{ccc} +\hat{\omega} & & v^{b}\\ + & \hat{\omega} & a\\ + & & 1 +\end{array}\right]\frac{\Delta t}{n}\right)^{n}=\left[\begin{array}{ccc} +R+R\hat{\omega}\delta & & p+v\delta\\ + & R+R\hat{\omega}\delta & v+Ra\delta\\ + & & 1 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +We can still, however, treat the NavState as living in a 9-dimensional manifold + +\begin_inset Formula $M$ +\end_inset + +, defined by the orthonormality constraints on +\begin_inset Formula $R$ +\end_inset + +. + In mechanics, a natural manifold associated with +\begin_inset Formula $SE(3)$ +\end_inset + + is its +\emph on +tangent bundle +\emph default +, which is 12-dimensional and consists of pairs +\begin_inset Formula $((R,p),(\omega,v))$ +\end_inset + +, and is useful for integrating the Euler-Lagrange equations of motion. + However, in an inertial navigation context, we measure +\begin_inset Formula $\omega$ +\end_inset + + and +\begin_inset Formula $a$ +\end_inset + +, and we can make do with the 9-dimensional manifold +\begin_inset Formula $M$ +\end_inset + + consisting of the triples +\begin_inset Formula $(R,p,v)$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +Under constant angular velocity and linear acceleration, in the body frame, + we obtain a family of trajectories +\begin_inset Formula $\gamma(t):R\rightarrow M$ +\end_inset + + by integrating +\begin_inset Formula +\begin{eqnarray*} +R(t) & = & \int_{0}^{t}R(\tau)\hat{\omega}d\tau\\ +p(t) & = & \int_{0}^{t}v(\tau)d\tau\\ +v(t) & = & \int_{0}^{t}\left\{ g+R(\tau)a\right\} d\tau +\end{eqnarray*} + +\end_inset + +with +\begin_inset Formula $\gamma(0)=(R_{0},p_{0},v_{0})$ +\end_inset + +. + In analogy to +\begin_inset Formula $SE(3)$ +\end_inset + + we know that (Murray94book, page 42): +\begin_inset Formula +\begin{eqnarray*} +R(t) & = & R_{0}\exp\hat{\omega}t\\ +v(t) & = & v_{0}+gt+R_{0}\left\{ (I-\exp\hat{\omega}t)\left(\omega\times a\right)+\omega\omega^{T}at\right\} +\end{eqnarray*} + +\end_inset + +Plugging that into position yields +\begin_inset Formula +\begin{eqnarray*} +p(t) & = & p_{0}+v_{0}t+g\frac{t^{2}}{2}+R_{0}\int_{0}^{t}\left\{ (I-\exp\hat{\omega}\tau)\left(\omega\times a\right)+\omega\omega^{T}a\tau\right\} d\tau +\end{eqnarray*} + +\end_inset + +where the last term integrates the velocity spiral induced by constant accelerat +ion in the rotating body frame. + +\end_layout + +\begin_layout Standard +It is worth asking what all this complexity buys us, however. + Even for a quadrotor, forces induced by wind effects and drag are arguably + better approximated over short intervals as constant in the navigation + frame. + And gravity is clearly constant in the navigation frame, but +\emph on +not +\emph default + in the body frame. + +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +More so, if we do not know +\begin_inset Formula $R$ +\end_inset + + perfectly, integrating gravity in the body frame could lead to significant + errors, as gravity typically dominates other accelerations in the system. +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +Let us examine what we obtain using a constant angular velocity in the body, + but with a zero-order hold on acceleration in the navigation frame instead. + While +\begin_inset Formula $a$ +\end_inset + + is still measured in the body frame, we rotate it once by +\begin_inset Formula $R_{0}$ +\end_inset + + at +\begin_inset Formula $t=0$ +\end_inset + +, and we obtain a much simplified picture: +\begin_inset Formula +\begin{eqnarray*} +R(t) & = & R_{0}\exp\hat{\omega}t\\ +v(t) & = & v_{0}+\left(g+R_{0}a\right)t +\end{eqnarray*} + +\end_inset + +Plugging this into position now yields a much simpler equation, as well: +\begin_inset Formula +\begin{eqnarray*} +p(t) & = & p_{0}+v_{0}t+\left(g+R_{0}a\right)\frac{t^{2}}{2} +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +In the context of the IMU factor it is useful to describe these trajectories + in a manner that does not depend on the initial NavState +\begin_inset Formula $(R_{0},p_{0},v_{0})$ +\end_inset + +. + Here is an attempt: +\end_layout + +\begin_layout Plain Layout +\begin_inset Formula +\begin{eqnarray*} +R(t) & = & \int_{0}^{t}R(\tau)\hat{\omega}d\tau\\ +p(t) & = & \int_{0}^{t}v(\tau)d\tau\\ +v(t) & = & \int_{0}^{t}R(\tau)ad\tau +\end{eqnarray*} + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +We now choose to define the retraction from the tangent space at +\begin_inset Formula $X$ +\end_inset + + back to the manifold as +\begin_inset Formula +\[ +X\oplus dX=(R,p,v)\oplus(d_{R},d_{p},d_{v})\doteq(R\exp d_{R},p+Rd_{p},v+Rd_{v}) +\] + +\end_inset + +A crucial detail is that the incremental position +\begin_inset Formula $d_{p}$ +\end_inset + + and velocity +\begin_inset Formula $d_{v}$ +\end_inset + + are given in the NavState frame, rather than in the global frame, and hence + are rotated by +\begin_inset Formula $R$ +\end_inset + + before applying. + This is in analogy to +\begin_inset Formula $SE(3)$ +\end_inset + +, treating velocity here in the same way as position in +\begin_inset Formula $SE(3)$ +\end_inset + +. + +\end_layout + +\end_inset + + \end_layout \begin_layout Standard The goal of the IMU factor is to integrate IMU measurement between two successiv e frames and create a binary factor between two NavStates. -\end_layout - -\begin_layout Standard -The binary factor is set up as a prediction: + The binary factor is set up as a prediction: \begin_inset Formula \[ X_{j}\approx X_{i}\oplus dX_{ij} @@ -103,6 +624,55 @@ where \end_inset . + +\end_layout + +\begin_layout Standard +Integrating gyro and accelerometer readings, following Forster05rss, and + assuming zero bias for now, is done by: +\begin_inset Formula +\begin{eqnarray*} +R_{j} & = & R_{i}\prod_{k}\exp\omega_{k}\Delta t\\ +p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t+\frac{1}{2}g\Delta t_{ij}^{2}+\frac{1}{2}\sum_{k}R_{k}a_{k}\Delta t^{2}\\ +v_{j} & = & v_{i}+g\Delta t_{ij}+\sum_{k}R_{k}a_{k}\Delta t +\end{eqnarray*} + +\end_inset + +We would, however, like to separate out the constant velocity and gravity + components from the IMU-induced terms: +\begin_inset Formula +\begin{eqnarray*} +R_{j} & = & R_{i}\prod_{k}\exp\omega_{k}\Delta t\\ +p_{j} & = & \left\{ p_{i}+v_{i}\Delta t_{ij}+\frac{1}{2}g\Delta t_{ij}^{2}\right\} +\sum_{k}\left(v_{k}-v_{i}\right)\Delta t+\frac{1}{2}\sum_{k}R_{k}a_{k}\Delta t^{2}\\ +v_{j} & = & \left\{ v_{i}+g\Delta t_{ij}\right\} +\sum_{k}R_{k}a_{k}\Delta t +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Standard +Let us look at a single interval of the incremental terms: +\begin_inset Formula +\begin{eqnarray*} +R_{j} & = & R_{i}\exp\omega\Delta t\\ +p_{j} & = & p_{i}+v_{i}\Delta t+\frac{1}{2}g\Delta t^{2}+\frac{1}{2}R_{i}a\Delta t^{2}\\ +v_{j} & = & v_{i}+g\Delta t+R_{i}a_{k}\Delta t +\end{eqnarray*} + +\end_inset + +Comparing that with the definition of retract, we have +\begin_inset Formula +\[ +R_{j}=R_{i}\oplus\left(\omega,R_{i}^{T}v_{i}+\frac{1}{2}R_{i}^{T}g\Delta t+\frac{1}{2}a\Delta t,R_{i}^{T}g+a_{k}\right)\Delta t +\] + +\end_inset + + \end_layout \end_body From 41ded95b544a6f91d23bd5b7b7bb9257852601bf Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 13 Oct 2015 10:15:23 -0400 Subject: [PATCH 636/964] Upgrade to Eigen 3.2.6, which finally seems to include all patches we have submitted to Eigen! --- gtsam/3rdparty/Eigen/.hg_archival.txt | 4 +- gtsam/3rdparty/Eigen/.hgtags | 2 + gtsam/3rdparty/Eigen/Eigen/Core | 2 +- .../3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h | 9 +- gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h | 8 + .../Eigen/Eigen/src/Cholesky/LLT_MKL.h | 2 +- gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h | 15 +- gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h | 5 +- .../Eigen/src/Core/CommaInitializer.h.orig | 154 ----------- .../3rdparty/Eigen/Eigen/src/Core/DenseBase.h | 12 +- .../Eigen/Eigen/src/Core/DiagonalProduct.h | 2 +- .../3rdparty/Eigen/Eigen/src/Core/Functors.h | 41 +++ .../Eigen/Eigen/src/Core/GeneralProduct.h | 10 +- gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h | 4 +- .../Eigen/Eigen/src/Core/MathFunctions.h | 2 +- .../Eigen/Eigen/src/Core/MatrixBase.h | 2 - .../Eigen/Eigen/src/Core/PermutationMatrix.h | 29 +++ .../Eigen/Eigen/src/Core/PlainObjectBase.h | 18 ++ gtsam/3rdparty/Eigen/Eigen/src/Core/Ref.h | 25 +- .../Eigen/Eigen/src/Core/ReturnByValue.h | 11 + .../Eigen/src/Core/arch/NEON/PacketMath.h | 1 + .../src/Core/products/CoeffBasedProduct.h | 75 ++++-- .../Eigen/src/Core/products/Parallelizer.h | 17 +- .../products/TriangularMatrixMatrix_MKL.h | 4 +- .../Eigen/Eigen/src/Core/util/Constants.h | 13 + .../Eigen/Eigen/src/Core/util/MKL_support.h | 32 +++ .../Eigen/Eigen/src/Core/util/Macros.h | 10 +- .../Eigen/Eigen/src/Core/util/Memory.h | 4 +- .../src/Eigenvalues/ComplexEigenSolver.h | 8 + .../Eigen/Eigen/src/Eigenvalues/EigenSolver.h | 9 + .../src/Eigenvalues/GeneralizedEigenSolver.h | 9 + .../Eigen/Eigen/src/Eigenvalues/RealQZ.h | 12 +- .../Eigen/Eigen/src/Eigenvalues/RealSchur.h | 12 +- .../src/Eigenvalues/SelfAdjointEigenSolver.h | 239 +++++++++--------- .../Eigen/Eigen/src/Geometry/AlignedBox.h | 85 ++++--- .../Eigen/Eigen/src/Geometry/Homogeneous.h | 2 +- .../Eigen/Eigen/src/Geometry/Quaternion.h | 26 +- .../BasicPreconditioners.h | 4 +- .../src/IterativeLinearSolvers/BiCGSTAB.h | 15 +- .../ConjugateGradient.h | 30 +-- .../IterativeLinearSolvers/IncompleteLUT.h | 4 +- gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h | 8 + .../Eigen/Eigen/src/LU/PartialPivLU.h | 8 + .../Eigen/Eigen/src/OrderingMethods/Amd.h | 19 +- .../Eigen/Eigen/src/QR/ColPivHouseholderQR.h | 32 +-- .../Eigen/src/QR/ColPivHouseholderQR_MKL.h | 6 +- .../Eigen/Eigen/src/QR/FullPivHouseholderQR.h | 8 + .../Eigen/Eigen/src/QR/HouseholderQR.h | 8 + .../src/SPQRSupport/SuiteSparseQRSupport.h | 60 +++-- .../3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h | 7 + .../Eigen/Eigen/src/SparseCore/SparseBlock.h | 46 +++- .../Eigen/src/SparseCore/SparseDenseProduct.h | 2 +- .../Eigen/src/SparseCore/SparseMatrixBase.h | 6 +- .../Eigen/Eigen/src/SparseCore/SparseVector.h | 1 + .../Eigen/src/SparseCore/TriangularSolver.h | 2 +- .../Eigen/Eigen/src/SparseLU/SparseLU.h | 85 +++++-- .../Eigen/Eigen/src/SparseLU/SparseLUImpl.h | 2 + .../Eigen/src/SparseLU/SparseLU_Memory.h | 4 +- .../src/SparseLU/SparseLU_SupernodalMatrix.h | 8 +- .../Eigen/src/SparseLU/SparseLU_column_bmod.h | 4 +- .../Eigen/src/SparseLU/SparseLU_kernel_bmod.h | 4 +- .../Eigen/src/SparseLU/SparseLU_panel_bmod.h | 8 +- .../Eigen/src/SparseLU/SparseLU_pivotL.h | 13 +- .../Eigen/src/plugins/ArrayCwiseBinaryOps.h | 54 +++- .../Eigen/src/plugins/ArrayCwiseUnaryOps.h | 16 -- .../Eigen/src/plugins/MatrixCwiseBinaryOps.h | 17 ++ .../Eigen/src/plugins/MatrixCwiseUnaryOps.h | 15 -- gtsam/3rdparty/Eigen/blas/xerbla.cpp | 2 +- gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake | 19 +- gtsam/3rdparty/Eigen/cmake/FindMetis.cmake | 2 +- gtsam/3rdparty/Eigen/doc/CMakeLists.txt | 3 +- gtsam/3rdparty/Eigen/doc/Doxyfile.in | 14 +- gtsam/3rdparty/Eigen/doc/Manual.dox | 1 + gtsam/3rdparty/Eigen/doc/Pitfalls.dox | 38 +++ .../Eigen/doc/TopicMultithreading.dox | 2 +- gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox | 3 +- .../Eigen/doc/special_examples/CMakeLists.txt | 7 +- gtsam/3rdparty/Eigen/failtest/CMakeLists.txt | 11 + .../3rdparty/Eigen/failtest/colpivqr_int.cpp | 14 + .../Eigen/failtest/eigensolver_cplx.cpp | 14 + .../Eigen/failtest/eigensolver_int.cpp | 14 + .../3rdparty/Eigen/failtest/fullpivlu_int.cpp | 14 + .../3rdparty/Eigen/failtest/fullpivqr_int.cpp | 14 + .../3rdparty/Eigen/failtest/jacobisvd_int.cpp | 14 + gtsam/3rdparty/Eigen/failtest/ldlt_int.cpp | 14 + gtsam/3rdparty/Eigen/failtest/llt_int.cpp | 14 + .../Eigen/failtest/partialpivlu_int.cpp | 14 + gtsam/3rdparty/Eigen/failtest/qr_int.cpp | 14 + gtsam/3rdparty/Eigen/failtest/ref_1.cpp | 18 ++ gtsam/3rdparty/Eigen/failtest/ref_2.cpp | 15 ++ gtsam/3rdparty/Eigen/failtest/ref_3.cpp | 15 ++ gtsam/3rdparty/Eigen/failtest/ref_4.cpp | 15 ++ gtsam/3rdparty/Eigen/failtest/ref_5.cpp | 16 ++ gtsam/3rdparty/Eigen/test/CMakeLists.txt | 6 + gtsam/3rdparty/Eigen/test/array.cpp | 2 + .../3rdparty/Eigen/test/array_for_matrix.cpp | 1 + .../Eigen/test/conjugate_gradient.cpp | 6 +- gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp | 2 + gtsam/3rdparty/Eigen/test/lu.cpp | 9 +- gtsam/3rdparty/Eigen/test/mapped_matrix.cpp | 24 ++ gtsam/3rdparty/Eigen/test/product_extra.cpp | 64 ++++- gtsam/3rdparty/Eigen/test/product_mmtr.cpp | 4 +- gtsam/3rdparty/Eigen/test/real_qz.cpp | 16 ++ gtsam/3rdparty/Eigen/test/ref.cpp | 24 ++ gtsam/3rdparty/Eigen/test/sparse_basic.cpp | 65 ++++- gtsam/3rdparty/Eigen/test/sparse_solver.h | 24 +- gtsam/3rdparty/Eigen/test/sparselu.cpp | 9 +- gtsam/3rdparty/Eigen/test/vectorwiseop.cpp | 12 + .../Eigen/unsupported/Eigen/CMakeLists.txt | 6 +- .../unsupported/Eigen/src/CMakeLists.txt | 3 +- .../Eigen/src/IterativeSolvers/GMRES.h | 15 +- .../Eigen/src/IterativeSolvers/MINRES.h | 70 ++--- .../src/LevenbergMarquardt/CMakeLists.txt | 2 +- .../Eigen/unsupported/test/minres.cpp | 25 +- .../Eigen/unsupported/test/mpreal/mpreal.h | 3 +- 115 files changed, 1449 insertions(+), 675 deletions(-) delete mode 100644 gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h.orig create mode 100644 gtsam/3rdparty/Eigen/doc/Pitfalls.dox create mode 100644 gtsam/3rdparty/Eigen/failtest/colpivqr_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/eigensolver_cplx.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/eigensolver_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/fullpivlu_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/fullpivqr_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/jacobisvd_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/ldlt_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/llt_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/partialpivlu_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/qr_int.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/ref_1.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/ref_2.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/ref_3.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/ref_4.cpp create mode 100644 gtsam/3rdparty/Eigen/failtest/ref_5.cpp diff --git a/gtsam/3rdparty/Eigen/.hg_archival.txt b/gtsam/3rdparty/Eigen/.hg_archival.txt index aea5a5515..8ce1e7ef8 100644 --- a/gtsam/3rdparty/Eigen/.hg_archival.txt +++ b/gtsam/3rdparty/Eigen/.hg_archival.txt @@ -1,4 +1,4 @@ repo: 8a21fd850624c931e448cbcfb38168cb2717c790 -node: 10219c95fe653d4962aa9db4946f6fbea96dd740 +node: c58038c56923e0fd86de3ded18e03df442e66dfb branch: 3.2 -tag: 3.2.4 +tag: 3.2.6 diff --git a/gtsam/3rdparty/Eigen/.hgtags b/gtsam/3rdparty/Eigen/.hgtags index 7a6e19411..b427d4adf 100644 --- a/gtsam/3rdparty/Eigen/.hgtags +++ b/gtsam/3rdparty/Eigen/.hgtags @@ -27,3 +27,5 @@ ffa86ffb557094721ca71dcea6aed2651b9fd610 3.2.0 6b38706d90a9fe182e66ab88477b3dbde34b9f66 3.2.1 1306d75b4a21891e59ff9bd96678882cf831e39f 3.2.2 36fd1ba04c120cfdd90f3e4cede47f43b21d19ad 3.2.3 +10219c95fe653d4962aa9db4946f6fbea96dd740 3.2.4 +bdd17ee3b1b3a166cd5ec36dcad4fc1f3faf774a 3.2.5 diff --git a/gtsam/3rdparty/Eigen/Eigen/Core b/gtsam/3rdparty/Eigen/Eigen/Core index c87f99df3..509c529e1 100644 --- a/gtsam/3rdparty/Eigen/Eigen/Core +++ b/gtsam/3rdparty/Eigen/Eigen/Core @@ -123,7 +123,7 @@ #undef bool #undef vector #undef pixel - #elif defined __ARM_NEON__ + #elif defined __ARM_NEON #define EIGEN_VECTORIZE #define EIGEN_VECTORIZE_NEON #include diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h index 02ab93880..abd30bd91 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h @@ -235,6 +235,11 @@ template class LDLT } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } /** \internal * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U. @@ -434,6 +439,8 @@ template struct LDLT_Traits template LDLT& LDLT::compute(const MatrixType& a) { + check_template_parameters(); + eigen_assert(a.rows()==a.cols()); const Index size = a.rows(); @@ -457,7 +464,7 @@ LDLT& LDLT::compute(const MatrixType& a) */ template template -LDLT& LDLT::rankUpdate(const MatrixBase& w, const typename NumTraits::Real& sigma) +LDLT& LDLT::rankUpdate(const MatrixBase& w, const typename LDLT::RealScalar& sigma) { const Index size = w.rows(); if (m_isInitialized) diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h index 2e6189f7d..59723a63d 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h @@ -174,6 +174,12 @@ template class LLT LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1); protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + /** \internal * Used to compute and store L * The strict upper part is not used and even not initialized. @@ -384,6 +390,8 @@ template struct LLT_Traits template LLT& LLT::compute(const MatrixType& a) { + check_template_parameters(); + eigen_assert(a.rows()==a.cols()); const Index size = a.rows(); m_matrix.resize(size, size); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT_MKL.h index b9bcb5240..f7c365aee 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT_MKL.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT_MKL.h @@ -60,7 +60,7 @@ template<> struct mkl_llt \ lda = m.outerStride(); \ \ info = LAPACKE_##MKLPREFIX##potrf( matrix_order, uplo, size, (MKLTYPE*)a, lda ); \ - info = (info==0) ? -1 : 1; \ + info = (info==0) ? -1 : info>0 ? info-1 : size; \ return info; \ } \ }; \ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h index 1dccc2f42..f48173172 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h @@ -439,19 +439,26 @@ struct assign_impl PacketTraits; + typedef typename Derived1::Scalar Scalar; + typedef packet_traits PacketTraits; enum { packetSize = PacketTraits::size, alignable = PacketTraits::AlignedOnScalar, - dstAlignment = alignable ? Aligned : int(assign_traits::DstIsAligned) , + dstIsAligned = assign_traits::DstIsAligned, + dstAlignment = alignable ? Aligned : int(dstIsAligned), srcAlignment = assign_traits::JointAlignment }; + const Scalar *dst_ptr = &dst.coeffRef(0,0); + if((!bool(dstIsAligned)) && (size_t(dst_ptr) % sizeof(Scalar))>0) + { + // the pointer is not aligend-on scalar, so alignment is not possible + return assign_impl::run(dst, src); + } const Index packetAlignedMask = packetSize - 1; const Index innerSize = dst.innerSize(); const Index outerSize = dst.outerSize(); const Index alignedStep = alignable ? (packetSize - dst.outerStride() % packetSize) & packetAlignedMask : 0; - Index alignedStart = ((!alignable) || assign_traits::DstIsAligned) ? 0 - : internal::first_aligned(&dst.coeffRef(0,0), innerSize); + Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned(dst_ptr, innerSize); for(Index outer = 0; outer < outerSize; ++outer) { diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h index 87bedfa46..827894443 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h @@ -66,8 +66,9 @@ struct traits > : traits::MaxColsAtCompileTime), XprTypeIsRowMajor = (int(traits::Flags)&RowMajorBit) != 0, - IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1 - : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0 + IsDense = is_same::value, + IsRowMajor = (IsDense&&MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1 + : (IsDense&&MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0 : XprTypeIsRowMajor, HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor), InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime), diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h.orig b/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h.orig deleted file mode 100644 index a036d8c3b..000000000 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h.orig +++ /dev/null @@ -1,154 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_COMMAINITIALIZER_H -#define EIGEN_COMMAINITIALIZER_H - -namespace Eigen { - -/** \class CommaInitializer - * \ingroup Core_Module - * - * \brief Helper class used by the comma initializer operator - * - * This class is internally used to implement the comma initializer feature. It is - * the return type of MatrixBase::operator<<, and most of the time this is the only - * way it is used. - * - * \sa \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished() - */ -template -struct CommaInitializer -{ - typedef typename XprType::Scalar Scalar; - typedef typename XprType::Index Index; - - inline CommaInitializer(XprType& xpr, const Scalar& s) - : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1) - { - m_xpr.coeffRef(0,0) = s; - } - - template - inline CommaInitializer(XprType& xpr, const DenseBase& other) - : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows()) - { - m_xpr.block(0, 0, other.rows(), other.cols()) = other; - } - - /* Copy/Move constructor which transfers ownership. This is crucial in - * absence of return value optimization to avoid assertions during destruction. */ - // FIXME in C++11 mode this could be replaced by a proper RValue constructor - inline CommaInitializer(const CommaInitializer& o) - : m_xpr(o.m_xpr), m_row(o.m_row), m_col(o.m_col), m_currentBlockRows(o.m_currentBlockRows) { - // Mark original object as finished. In absence of R-value references we need to const_cast: - const_cast(o).m_row = m_xpr.rows(); - const_cast(o).m_col = m_xpr.cols(); - const_cast(o).m_currentBlockRows = 0; - } - - /* inserts a scalar value in the target matrix */ - CommaInitializer& operator,(const Scalar& s) - { - if (m_col==m_xpr.cols()) - { - m_row+=m_currentBlockRows; - m_col = 0; - m_currentBlockRows = 1; - eigen_assert(m_row - CommaInitializer& operator,(const DenseBase& other) - { - if(other.cols()==0 || other.rows()==0) - return *this; - if (m_col==m_xpr.cols()) - { - m_row+=m_currentBlockRows; - m_col = 0; - m_currentBlockRows = other.rows(); - eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows() - && "Too many rows passed to comma initializer (operator<<)"); - } - eigen_assert(m_col - (m_row, m_col) = other; - else - m_xpr.block(m_row, m_col, other.rows(), other.cols()) = other; - m_col += other.cols(); - return *this; - } - - inline ~CommaInitializer() - { - eigen_assert((m_row+m_currentBlockRows) == m_xpr.rows() - && m_col == m_xpr.cols() - && "Too few coefficients passed to comma initializer (operator<<)"); - } - - /** \returns the built matrix once all its coefficients have been set. - * Calling finished is 100% optional. Its purpose is to write expressions - * like this: - * \code - * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished()); - * \endcode - */ - inline XprType& finished() { return m_xpr; } - - XprType& m_xpr; // target expression - Index m_row; // current row id - Index m_col; // current col id - Index m_currentBlockRows; // current block height -}; - -/** \anchor MatrixBaseCommaInitRef - * Convenient operator to set the coefficients of a matrix. - * - * The coefficients must be provided in a row major order and exactly match - * the size of the matrix. Otherwise an assertion is raised. - * - * Example: \include MatrixBase_set.cpp - * Output: \verbinclude MatrixBase_set.out - * - * \note According the c++ standard, the argument expressions of this comma initializer are evaluated in arbitrary order. - * - * \sa CommaInitializer::finished(), class CommaInitializer - */ -template -inline CommaInitializer DenseBase::operator<< (const Scalar& s) -{ - return CommaInitializer(*static_cast(this), s); -} - -/** \sa operator<<(const Scalar&) */ -template -template -inline CommaInitializer -DenseBase::operator<<(const DenseBase& other) -{ - return CommaInitializer(*static_cast(this), other); -} - -} // end namespace Eigen - -#endif // EIGEN_COMMAINITIALIZER_H diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h index 04862f374..dc20e54b0 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h @@ -183,10 +183,6 @@ template class DenseBase /** \returns the number of nonzero coefficients which is in practice the number * of stored coefficients. */ inline Index nonZeros() const { return size(); } - /** \returns true if either the number of rows or the number of columns is equal to 1. - * In other words, this function returns - * \code rows()==1 || cols()==1 \endcode - * \sa rows(), cols(), IsVectorAtCompileTime. */ /** \returns the outer size. * @@ -266,11 +262,13 @@ template class DenseBase template Derived& operator=(const ReturnByValue& func); -#ifndef EIGEN_PARSED_BY_DOXYGEN - /** Copies \a other into *this without evaluating other. \returns a reference to *this. */ + /** \internal Copies \a other into *this without evaluating other. \returns a reference to *this. */ template Derived& lazyAssign(const DenseBase& other); -#endif // not EIGEN_PARSED_BY_DOXYGEN + + /** \internal Evaluates \a other into *this. \returns a reference to *this. */ + template + Derived& lazyAssign(const ReturnByValue& other); CommaInitializer operator<< (const Scalar& s); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h index c03a0c2e1..00f8f2915 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h @@ -34,7 +34,7 @@ struct traits > _Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagonalType::DiagonalVectorType::Flags)&PacketAccessBit))), _LinearAccessMask = (RowsAtCompileTime==1 || ColsAtCompileTime==1) ? LinearAccessBit : 0, - Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0) | AlignedBit,//(int(MatrixType::Flags)&int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit), + Flags = ((HereditaryBits|_LinearAccessMask|AlignedBit) & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0),//(int(MatrixType::Flags)&int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit), CoeffReadCost = NumTraits::MulCost + MatrixType::CoeffReadCost + DiagonalType::DiagonalVectorType::CoeffReadCost }; }; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h index b08b967ff..5f14c6587 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h @@ -259,6 +259,47 @@ template<> struct functor_traits { }; }; +/** \internal + * \brief Template functors for comparison of two scalars + * \todo Implement packet-comparisons + */ +template struct scalar_cmp_op; + +template +struct functor_traits > { + enum { + Cost = NumTraits::AddCost, + PacketAccess = false + }; +}; + +template +struct result_of(Scalar,Scalar)> { + typedef bool type; +}; + + +template struct scalar_cmp_op { + EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op) + EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a==b;} +}; +template struct scalar_cmp_op { + EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op) + EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a struct scalar_cmp_op { + EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op) + EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a<=b;} +}; +template struct scalar_cmp_op { + EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op) + EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return !(a<=b || b<=a);} +}; +template struct scalar_cmp_op { + EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op) + EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a!=b;} +}; + // unary functors: /** \internal diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h index 9e805a80f..0eae52990 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h @@ -257,7 +257,7 @@ template class GeneralProduct : public ProductBase, Lhs, Rhs> { - template struct IsRowMajor : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; + template struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; public: EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct) @@ -281,22 +281,22 @@ class GeneralProduct template inline void evalTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, set(), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, set(), is_row_major()); } template inline void addTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, add(), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, add(), is_row_major()); } template inline void subTo(Dest& dest) const { - internal::outer_product_selector_run(*this, dest, sub(), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, sub(), is_row_major()); } template void scaleAndAddTo(Dest& dest, const Scalar& alpha) const { - internal::outer_product_selector_run(*this, dest, adds(alpha), IsRowMajor()); + internal::outer_product_selector_run(*this, dest, adds(alpha), is_row_major()); } }; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h index cebed2bb6..a9828f7f4 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h @@ -123,7 +123,7 @@ template class MapBase return internal::ploadt(m_data + index * innerStride()); } - inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime) + explicit inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime) { EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) checkSanity(); @@ -157,7 +157,7 @@ template class MapBase internal::inner_stride_at_compile_time::ret==1), PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1); eigen_assert(EIGEN_IMPLIES(internal::traits::Flags&AlignedBit, (size_t(m_data) % 16) == 0) - && "data is not aligned"); + && "input pointer is not aligned on a 16 byte boundary"); } PointerType m_data; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h index 2bfc5ebd9..adf2f9c51 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h @@ -294,7 +294,7 @@ struct hypot_impl RealScalar _x = abs(x); RealScalar _y = abs(y); RealScalar p = (max)(_x, _y); - if(p==RealScalar(0)) return 0; + if(p==RealScalar(0)) return RealScalar(0); RealScalar q = (min)(_x, _y); RealScalar qp = q/p; return p * sqrt(RealScalar(1) + qp*qp); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h index cc3279746..b67a7c119 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h @@ -159,13 +159,11 @@ template class MatrixBase template Derived& operator=(const ReturnByValue& other); -#ifndef EIGEN_PARSED_BY_DOXYGEN template Derived& lazyAssign(const ProductBase& other); template Derived& lazyAssign(const MatrixPowerProduct& other); -#endif // not EIGEN_PARSED_BY_DOXYGEN template Derived& operator+=(const MatrixBase& other); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h index f26f3e5cc..85ffae265 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h @@ -250,6 +250,35 @@ class PermutationBase : public EigenBase template friend inline PlainPermutationType operator*(const Transpose >& other, const PermutationBase& perm) { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); } + + /** \returns the determinant of the permutation matrix, which is either 1 or -1 depending on the parity of the permutation. + * + * This function is O(\c n) procedure allocating a buffer of \c n booleans. + */ + Index determinant() const + { + Index res = 1; + Index n = size(); + Matrix mask(n); + mask.fill(false); + Index r = 0; + while(r < n) + { + // search for the next seed + while(r=n) + break; + // we got one, let's follow it until we are back to the seed + Index k0 = r++; + mask.coeffRef(k0) = true; + for(Index k=indices().coeff(k0); k!=k0; k=indices().coeff(k)) + { + mask.coeffRef(k) = true; + res = -res; + } + } + return res; + } protected: diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h index dd34b59e5..ffd3a0601 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h @@ -437,6 +437,22 @@ class PlainObjectBase : public internal::dense_xpr_base::type } #endif + /** Copy constructor */ + EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other) + : m_storage() + { + _check_template_params(); + lazyAssign(other); + } + + template + EIGEN_STRONG_INLINE PlainObjectBase(const DenseBase &other) + : m_storage() + { + _check_template_params(); + lazyAssign(other); + } + EIGEN_STRONG_INLINE PlainObjectBase(Index a_size, Index nbRows, Index nbCols) : m_storage(a_size, nbRows, nbCols) { @@ -573,6 +589,8 @@ class PlainObjectBase : public internal::dense_xpr_base::type : (rows() == other.rows() && cols() == other.cols()))) && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined"); EIGEN_ONLY_USED_FOR_DEBUG(other); + if(this->size()==0) + resizeLike(other); #else resizeLike(other); #endif diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Ref.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Ref.h index df87b1af4..7a3becaf8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Ref.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Ref.h @@ -108,7 +108,8 @@ struct traits > OuterStrideMatch = Derived::IsVectorAtCompileTime || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime), AlignmentMatch = (_Options!=Aligned) || ((PlainObjectType::Flags&AlignedBit)==0) || ((traits::Flags&AlignedBit)==AlignedBit), - MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch + ScalarTypeMatch = internal::is_same::value, + MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch && ScalarTypeMatch }; typedef typename internal::conditional::type type; }; @@ -187,9 +188,11 @@ protected: template class Ref : public RefBase > { + private: typedef internal::traits Traits; template - inline Ref(const PlainObjectBase& expr); + inline Ref(const PlainObjectBase& expr, + typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0); public: typedef RefBase Base; @@ -198,13 +201,15 @@ template class Ref #ifndef EIGEN_PARSED_BY_DOXYGEN template - inline Ref(PlainObjectBase& expr) + inline Ref(PlainObjectBase& expr, + typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0) { EIGEN_STATIC_ASSERT(static_cast(Traits::template match::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH); Base::construct(expr.derived()); } template - inline Ref(const DenseBase& expr) + inline Ref(const DenseBase& expr, + typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0) #else template inline Ref(DenseBase& expr) @@ -231,13 +236,23 @@ template class Ref< EIGEN_DENSE_PUBLIC_INTERFACE(Ref) template - inline Ref(const DenseBase& expr) + inline Ref(const DenseBase& expr, + typename internal::enable_if::ScalarTypeMatch),Derived>::type* = 0) { // std::cout << match_helper::HasDirectAccess << "," << match_helper::OuterStrideMatch << "," << match_helper::InnerStrideMatch << "\n"; // std::cout << int(StrideType::OuterStrideAtCompileTime) << " - " << int(Derived::OuterStrideAtCompileTime) << "\n"; // std::cout << int(StrideType::InnerStrideAtCompileTime) << " - " << int(Derived::InnerStrideAtCompileTime) << "\n"; construct(expr.derived(), typename Traits::template match::type()); } + + inline Ref(const Ref& other) : Base(other) { + // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy + } + + template + inline Ref(const RefBase& other) { + construct(other.derived(), typename Traits::template match::type()); + } protected: diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h index d66c24ba0..f635598dc 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h @@ -72,6 +72,8 @@ template class ReturnByValue const Unusable& coeff(Index,Index) const { return *reinterpret_cast(this); } Unusable& coeffRef(Index) { return *reinterpret_cast(this); } Unusable& coeffRef(Index,Index) { return *reinterpret_cast(this); } + template Unusable& packet(Index) const; + template Unusable& packet(Index, Index) const; #endif }; @@ -83,6 +85,15 @@ Derived& DenseBase::operator=(const ReturnByValue& other) return derived(); } +template +template +Derived& DenseBase::lazyAssign(const ReturnByValue& other) +{ + other.evalTo(derived()); + return derived(); +} + + } // end namespace Eigen #endif // EIGEN_RETURNBYVALUE_H diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h index 94dfab330..d49670e04 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h @@ -384,6 +384,7 @@ template<> EIGEN_STRONG_INLINE int predux_max(const Packet4i& a) a_lo = vget_low_s32(a); a_hi = vget_high_s32(a); max = vpmax_s32(a_lo, a_hi); + max = vpmax_s32(max, max); return vget_lane_s32(max, 0); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h index 421f925e1..2a9d65b94 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h @@ -134,7 +134,7 @@ class CoeffBasedProduct }; typedef internal::product_coeff_impl ScalarCoeffImpl; typedef CoeffBasedProduct LazyCoeffBasedProductType; @@ -185,7 +185,7 @@ class CoeffBasedProduct { PacketScalar res; internal::product_packet_impl ::run(row, col, m_lhs, m_rhs, res); return res; @@ -243,7 +243,17 @@ struct product_coeff_impl static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res) { product_coeff_impl::run(row, col, lhs, rhs, res); - res += lhs.coeff(row, UnrollingIndex) * rhs.coeff(UnrollingIndex, col); + res += lhs.coeff(row, UnrollingIndex-1) * rhs.coeff(UnrollingIndex-1, col); + } +}; + +template +struct product_coeff_impl +{ + typedef typename Lhs::Index Index; + static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res) + { + res = lhs.coeff(row, 0) * rhs.coeff(0, col); } }; @@ -251,9 +261,9 @@ template struct product_coeff_impl { typedef typename Lhs::Index Index; - static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res) + static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, RetScalar &res) { - res = lhs.coeff(row, 0) * rhs.coeff(0, col); + res = RetScalar(0); } }; @@ -293,6 +303,16 @@ struct product_coeff_vectorized_unroller<0, Lhs, Rhs, Packet> } }; +template +struct product_coeff_impl +{ + typedef typename Lhs::Index Index; + static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, RetScalar &res) + { + res = 0; + } +}; + template struct product_coeff_impl { @@ -302,8 +322,7 @@ struct product_coeff_impl::run(row, col, lhs, rhs, pres); - product_coeff_impl::run(row, col, lhs, rhs, res); + product_coeff_vectorized_unroller::run(row, col, lhs, rhs, pres); res = predux(pres); } }; @@ -371,7 +390,7 @@ struct product_packet_impl static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res) { product_packet_impl::run(row, col, lhs, rhs, res); - res = pmadd(pset1(lhs.coeff(row, UnrollingIndex)), rhs.template packet(UnrollingIndex, col), res); + res = pmadd(pset1(lhs.coeff(row, UnrollingIndex-1)), rhs.template packet(UnrollingIndex-1, col), res); } }; @@ -382,12 +401,12 @@ struct product_packet_impl static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res) { product_packet_impl::run(row, col, lhs, rhs, res); - res = pmadd(lhs.template packet(row, UnrollingIndex), pset1(rhs.coeff(UnrollingIndex, col)), res); + res = pmadd(lhs.template packet(row, UnrollingIndex-1), pset1(rhs.coeff(UnrollingIndex-1, col)), res); } }; template -struct product_packet_impl +struct product_packet_impl { typedef typename Lhs::Index Index; static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res) @@ -397,7 +416,7 @@ struct product_packet_impl }; template -struct product_packet_impl +struct product_packet_impl { typedef typename Lhs::Index Index; static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res) @@ -406,16 +425,35 @@ struct product_packet_impl } }; +template +struct product_packet_impl +{ + typedef typename Lhs::Index Index; + static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Packet &res) + { + res = pset1(0); + } +}; + +template +struct product_packet_impl +{ + typedef typename Lhs::Index Index; + static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Packet &res) + { + res = pset1(0); + } +}; + template struct product_packet_impl { typedef typename Lhs::Index Index; static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res) { - eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix"); - res = pmul(pset1(lhs.coeff(row, 0)),rhs.template packet(0, col)); - for(Index i = 1; i < lhs.cols(); ++i) - res = pmadd(pset1(lhs.coeff(row, i)), rhs.template packet(i, col), res); + res = pset1(0); + for(Index i = 0; i < lhs.cols(); ++i) + res = pmadd(pset1(lhs.coeff(row, i)), rhs.template packet(i, col), res); } }; @@ -425,10 +463,9 @@ struct product_packet_impl typedef typename Lhs::Index Index; static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res) { - eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix"); - res = pmul(lhs.template packet(row, 0), pset1(rhs.coeff(0, col))); - for(Index i = 1; i < lhs.cols(); ++i) - res = pmadd(lhs.template packet(row, i), pset1(rhs.coeff(i, col)), res); + res = pset1(0); + for(Index i = 0; i < lhs.cols(); ++i) + res = pmadd(lhs.template packet(row, i), pset1(rhs.coeff(i, col)), res); } }; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h index 5c3e9b7ac..6937ee332 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h @@ -125,19 +125,22 @@ void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpos if(transpose) std::swap(rows,cols); - Index blockCols = (cols / threads) & ~Index(0x3); - Index blockRows = (rows / threads) & ~Index(0x7); - GemmParallelInfo* info = new GemmParallelInfo[threads]; - #pragma omp parallel for schedule(static,1) num_threads(threads) - for(Index i=0; i #define EIGEN_MKL_VML_THRESHOLD 128 +/* MKL_DOMAIN_BLAS, etc are defined only in 10.3 update 7 */ +/* MKL_BLAS, etc are not defined in 11.2 */ +#ifdef MKL_DOMAIN_ALL +#define EIGEN_MKL_DOMAIN_ALL MKL_DOMAIN_ALL +#else +#define EIGEN_MKL_DOMAIN_ALL MKL_ALL +#endif + +#ifdef MKL_DOMAIN_BLAS +#define EIGEN_MKL_DOMAIN_BLAS MKL_DOMAIN_BLAS +#else +#define EIGEN_MKL_DOMAIN_BLAS MKL_BLAS +#endif + +#ifdef MKL_DOMAIN_FFT +#define EIGEN_MKL_DOMAIN_FFT MKL_DOMAIN_FFT +#else +#define EIGEN_MKL_DOMAIN_FFT MKL_FFT +#endif + +#ifdef MKL_DOMAIN_VML +#define EIGEN_MKL_DOMAIN_VML MKL_DOMAIN_VML +#else +#define EIGEN_MKL_DOMAIN_VML MKL_VML +#endif + +#ifdef MKL_DOMAIN_PARDISO +#define EIGEN_MKL_DOMAIN_PARDISO MKL_DOMAIN_PARDISO +#else +#define EIGEN_MKL_DOMAIN_PARDISO MKL_PARDISO +#endif + namespace Eigen { typedef std::complex dcomplex; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h index 6d1e6c133..42671e85b 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h @@ -13,7 +13,7 @@ #define EIGEN_WORLD_VERSION 3 #define EIGEN_MAJOR_VERSION 2 -#define EIGEN_MINOR_VERSION 4 +#define EIGEN_MINOR_VERSION 6 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \ (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \ @@ -278,6 +278,7 @@ namespace Eigen { #error Please tell me what is the equivalent of __attribute__((aligned(n))) for your compiler #endif +#define EIGEN_ALIGN8 EIGEN_ALIGN_TO_BOUNDARY(8) #define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16) #if EIGEN_ALIGN_STATICALLY @@ -332,8 +333,11 @@ namespace Eigen { } #endif -#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \ - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) +/** \internal + * \brief Macro to manually inherit assignment operators. + * This is necessary, because the implicitly defined assignment operator gets deleted when a custom operator= is defined. + */ +#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) /** * Just a side note. Commenting within defines works only by documenting diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h index 41dd7db06..b9af5cf8c 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h @@ -523,7 +523,7 @@ template struct smart_copy_helper { // you can overwrite Eigen's default behavior regarding alloca by defining EIGEN_ALLOCA // to the appropriate stack allocation function #ifndef EIGEN_ALLOCA - #if (defined __linux__) + #if (defined __linux__) || (defined __APPLE__) || (defined alloca) #define EIGEN_ALLOCA alloca #elif defined(_MSC_VER) #define EIGEN_ALLOCA _alloca @@ -630,8 +630,6 @@ template class aligned_stack_memory_handler } \ void operator delete(void * ptr) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ void operator delete[](void * ptr) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ - void operator delete(void * ptr, std::size_t /* sz */) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ - void operator delete[](void * ptr, std::size_t /* sz */) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ /* in-place new and delete. since (at least afaik) there is no actual */ \ /* memory allocated we can safely let the default implementation handle */ \ /* this particular case. */ \ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h index af434bc9b..417c72944 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h @@ -234,6 +234,12 @@ template class ComplexEigenSolver } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + EigenvectorType m_eivec; EigenvalueType m_eivalues; ComplexSchur m_schur; @@ -251,6 +257,8 @@ template ComplexEigenSolver& ComplexEigenSolver::compute(const MatrixType& matrix, bool computeEigenvectors) { + check_template_parameters(); + // this code is inspired from Jampack eigen_assert(matrix.cols() == matrix.rows()); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h index 6e7150685..20c59a7a2 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h @@ -298,6 +298,13 @@ template class EigenSolver void doComputeEigenvectors(); protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + EIGEN_STATIC_ASSERT(!NumTraits::IsComplex, NUMERIC_TYPE_MUST_BE_REAL); + } + MatrixType m_eivec; EigenvalueType m_eivalues; bool m_isInitialized; @@ -364,6 +371,8 @@ template EigenSolver& EigenSolver::compute(const MatrixType& matrix, bool computeEigenvectors) { + check_template_parameters(); + using std::sqrt; using std::abs; eigen_assert(matrix.cols() == matrix.rows()); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h index dc240e13e..956e80d9e 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h @@ -263,6 +263,13 @@ template class GeneralizedEigenSolver } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + EIGEN_STATIC_ASSERT(!NumTraits::IsComplex, NUMERIC_TYPE_MUST_BE_REAL); + } + MatrixType m_eivec; ComplexVectorType m_alphas; VectorType m_betas; @@ -290,6 +297,8 @@ template GeneralizedEigenSolver& GeneralizedEigenSolver::compute(const MatrixType& A, const MatrixType& B, bool computeEigenvectors) { + check_template_parameters(); + using std::sqrt; using std::abs; eigen_assert(A.cols() == A.rows() && B.cols() == A.rows() && B.cols() == B.rows()); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealQZ.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealQZ.h index 4f36091db..aa3833eba 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealQZ.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealQZ.h @@ -240,10 +240,10 @@ namespace Eigen { m_S.coeffRef(i,j) = Scalar(0.0); m_S.rightCols(dim-j-1).applyOnTheLeft(i-1,i,G.adjoint()); m_T.rightCols(dim-i+1).applyOnTheLeft(i-1,i,G.adjoint()); + // update Q + if (m_computeQZ) + m_Q.applyOnTheRight(i-1,i,G); } - // update Q - if (m_computeQZ) - m_Q.applyOnTheRight(i-1,i,G); // kill T(i,i-1) if(m_T.coeff(i,i-1)!=Scalar(0)) { @@ -251,10 +251,10 @@ namespace Eigen { m_T.coeffRef(i,i-1) = Scalar(0.0); m_S.applyOnTheRight(i,i-1,G); m_T.topRows(i).applyOnTheRight(i,i-1,G); + // update Z + if (m_computeQZ) + m_Z.applyOnTheLeft(i,i-1,G.adjoint()); } - // update Z - if (m_computeQZ) - m_Z.applyOnTheLeft(i,i-1,G.adjoint()); } } } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h index 64d136341..16d387537 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h @@ -234,7 +234,7 @@ template class RealSchur typedef Matrix Vector3s; Scalar computeNormOfT(); - Index findSmallSubdiagEntry(Index iu, const Scalar& norm); + Index findSmallSubdiagEntry(Index iu); void splitOffTwoRows(Index iu, bool computeU, const Scalar& exshift); void computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo); void initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector); @@ -286,7 +286,7 @@ RealSchur& RealSchur::computeFromHessenberg(const HessMa { while (iu >= 0) { - Index il = findSmallSubdiagEntry(iu, norm); + Index il = findSmallSubdiagEntry(iu); // Check for convergence if (il == iu) // One root found @@ -343,16 +343,14 @@ inline typename MatrixType::Scalar RealSchur::computeNormOfT() /** \internal Look for single small sub-diagonal element and returns its index */ template -inline typename MatrixType::Index RealSchur::findSmallSubdiagEntry(Index iu, const Scalar& norm) +inline typename MatrixType::Index RealSchur::findSmallSubdiagEntry(Index iu) { using std::abs; Index res = iu; while (res > 0) { Scalar s = abs(m_matT.coeff(res-1,res-1)) + abs(m_matT.coeff(res,res)); - if (s == 0.0) - s = norm; - if (abs(m_matT.coeff(res,res-1)) < NumTraits::epsilon() * s) + if (abs(m_matT.coeff(res,res-1)) <= NumTraits::epsilon() * s) break; res--; } @@ -457,9 +455,7 @@ inline void RealSchur::initFrancisQRStep(Index il, Index iu, const V const Scalar lhs = m_matT.coeff(im,im-1) * (abs(v.coeff(1)) + abs(v.coeff(2))); const Scalar rhs = v.coeff(0) * (abs(m_matT.coeff(im-1,im-1)) + abs(Tmm) + abs(m_matT.coeff(im+1,im+1))); if (abs(lhs) < NumTraits::epsilon() * rhs) - { break; - } } } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h index be89de4a9..1131c8af8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h @@ -80,6 +80,8 @@ template class SelfAdjointEigenSolver /** \brief Scalar type for matrices of type \p _MatrixType. */ typedef typename MatrixType::Scalar Scalar; typedef typename MatrixType::Index Index; + + typedef Matrix EigenvectorsType; /** \brief Real scalar type for \p _MatrixType. * @@ -225,7 +227,7 @@ template class SelfAdjointEigenSolver * * \sa eigenvalues() */ - const MatrixType& eigenvectors() const + const EigenvectorsType& eigenvectors() const { eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized."); eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues."); @@ -351,7 +353,12 @@ template class SelfAdjointEigenSolver #endif // EIGEN2_SUPPORT protected: - MatrixType m_eivec; + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + + EigenvectorsType m_eivec; RealVectorType m_eivalues; typename TridiagonalizationType::SubDiagonalType m_subdiag; ComputationInfo m_info; @@ -376,7 +383,7 @@ template class SelfAdjointEigenSolver * "implicit symmetric QR step with Wilkinson shift" */ namespace internal { -template +template static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n); } @@ -384,6 +391,8 @@ template SelfAdjointEigenSolver& SelfAdjointEigenSolver ::compute(const MatrixType& matrix, int options) { + check_template_parameters(); + using std::abs; eigen_assert(matrix.cols() == matrix.rows()); eigen_assert((options&~(EigVecMask|GenEigMask))==0 @@ -406,7 +415,7 @@ SelfAdjointEigenSolver& SelfAdjointEigenSolver // declare some aliases RealVectorType& diag = m_eivalues; - MatrixType& mat = m_eivec; + EigenvectorsType& mat = m_eivec; // map the matrix coefficients to [-1:1] to avoid over- and underflow. mat = matrix.template triangularView(); @@ -442,7 +451,7 @@ SelfAdjointEigenSolver& SelfAdjointEigenSolver while (start>0 && m_subdiag[start-1]!=0) start--; - internal::tridiagonal_qr_step(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n); + internal::tridiagonal_qr_step(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n); } if (iter <= m_maxIterations * n) @@ -490,7 +499,13 @@ template struct direct_selfadjoint_eigenvalues struct direct_selfadjoint_eigenvalues Scalar(0)) + Scalar a_over_3 = (c2*c2_over_3 - c1)*s_inv3; + if(a_over_3 Scalar(0)) + Scalar q = a_over_3*a_over_3*a_over_3 - half_b*half_b; + if(q 0, atan2 is in [0, pi] and theta is in [0, pi/3] Scalar cos_theta = cos(theta); Scalar sin_theta = sin(theta); - roots(0) = c2_over_3 + Scalar(2)*rho*cos_theta; - roots(1) = c2_over_3 - rho*(cos_theta + s_sqrt3*sin_theta); - roots(2) = c2_over_3 - rho*(cos_theta - s_sqrt3*sin_theta); - - // Sort in increasing order. - if (roots(0) >= roots(1)) - std::swap(roots(0),roots(1)); - if (roots(1) >= roots(2)) - { - std::swap(roots(1),roots(2)); - if (roots(0) >= roots(1)) - std::swap(roots(0),roots(1)); - } + // roots are already sorted, since cos is monotonically decreasing on [0, pi] + roots(0) = c2_over_3 - rho*(cos_theta + s_sqrt3*sin_theta); // == 2*rho*cos(theta+2pi/3) + roots(1) = c2_over_3 - rho*(cos_theta - s_sqrt3*sin_theta); // == 2*rho*cos(theta+ pi/3) + roots(2) = c2_over_3 + Scalar(2)*rho*cos_theta; } - + + static inline bool extract_kernel(MatrixType& mat, Ref res, Ref representative) + { + using std::abs; + Index i0; + // Find non-zero column i0 (by construction, there must exist a non zero coefficient on the diagonal): + mat.diagonal().cwiseAbs().maxCoeff(&i0); + // mat.col(i0) is a good candidate for an orthogonal vector to the current eigenvector, + // so let's save it: + representative = mat.col(i0); + Scalar n0, n1; + VectorType c0, c1; + n0 = (c0 = representative.cross(mat.col((i0+1)%3))).squaredNorm(); + n1 = (c1 = representative.cross(mat.col((i0+2)%3))).squaredNorm(); + if(n0>n1) res = c0/std::sqrt(n0); + else res = c1/std::sqrt(n1); + + return true; + } + static inline void run(SolverType& solver, const MatrixType& mat, int options) { - using std::sqrt; eigen_assert(mat.cols() == 3 && mat.cols() == mat.rows()); eigen_assert((options&~(EigVecMask|GenEigMask))==0 && (options&EigVecMask)!=EigVecMask && "invalid option parameter"); bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors; - MatrixType& eivecs = solver.m_eivec; + EigenvectorsType& eivecs = solver.m_eivec; VectorType& eivals = solver.m_eivalues; - // map the matrix coefficients to [-1:1] to avoid over- and underflow. - Scalar scale = mat.cwiseAbs().maxCoeff(); - MatrixType scaledMat = mat / scale; + // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow. + Scalar shift = mat.trace() / Scalar(3); + // TODO Avoid this copy. Currently it is necessary to suppress bogus values when determining maxCoeff and for computing the eigenvectors later + MatrixType scaledMat = mat.template selfadjointView(); + scaledMat.diagonal().array() -= shift; + Scalar scale = scaledMat.cwiseAbs().maxCoeff(); + if(scale > 0) scaledMat /= scale; // TODO for scale==0 we could save the remaining operations // compute the eigenvalues computeRoots(scaledMat,eivals); - // compute the eigen vectors + // compute the eigenvectors if(computeEigenvectors) { - Scalar safeNorm2 = Eigen::NumTraits::epsilon(); if((eivals(2)-eivals(0))<=Eigen::NumTraits::epsilon()) { + // All three eigenvalues are numerically the same eivecs.setIdentity(); } else { - scaledMat = scaledMat.template selfadjointView(); MatrixType tmp; tmp = scaledMat; + // Compute the eigenvector of the most distinct eigenvalue Scalar d0 = eivals(2) - eivals(1); Scalar d1 = eivals(1) - eivals(0); - int k = d0 > d1 ? 2 : 0; - d0 = d0 > d1 ? d0 : d1; - - tmp.diagonal().array () -= eivals(k); - VectorType cross; - Scalar n; - n = (cross = tmp.row(0).cross(tmp.row(1))).squaredNorm(); - - if(n>safeNorm2) + Index k(0), l(2); + if(d0 > d1) { - eivecs.col(k) = cross / sqrt(n); + std::swap(k,l); + d0 = d1; + } + + // Compute the eigenvector of index k + { + tmp.diagonal().array () -= eivals(k); + // By construction, 'tmp' is of rank 2, and its kernel corresponds to the respective eigenvector. + extract_kernel(tmp, eivecs.col(k), eivecs.col(l)); + } + + // Compute eigenvector of index l + if(d0<=2*Eigen::NumTraits::epsilon()*d1) + { + // If d0 is too small, then the two other eigenvalues are numerically the same, + // and thus we only have to ortho-normalize the near orthogonal vector we saved above. + eivecs.col(l) -= eivecs.col(k).dot(eivecs.col(l))*eivecs.col(l); + eivecs.col(l).normalize(); } else { - n = (cross = tmp.row(0).cross(tmp.row(2))).squaredNorm(); + tmp = scaledMat; + tmp.diagonal().array () -= eivals(l); - if(n>safeNorm2) - { - eivecs.col(k) = cross / sqrt(n); - } - else - { - n = (cross = tmp.row(1).cross(tmp.row(2))).squaredNorm(); - - if(n>safeNorm2) - { - eivecs.col(k) = cross / sqrt(n); - } - else - { - // the input matrix and/or the eigenvaues probably contains some inf/NaN, - // => exit - // scale back to the original size. - eivals *= scale; - - solver.m_info = NumericalIssue; - solver.m_isInitialized = true; - solver.m_eigenvectorsOk = computeEigenvectors; - return; - } - } + VectorType dummy; + extract_kernel(tmp, eivecs.col(l), dummy); } - tmp = scaledMat; - tmp.diagonal().array() -= eivals(1); - - if(d0<=Eigen::NumTraits::epsilon()) - { - eivecs.col(1) = eivecs.col(k).unitOrthogonal(); - } - else - { - n = (cross = eivecs.col(k).cross(tmp.row(0))).squaredNorm(); - if(n>safeNorm2) - { - eivecs.col(1) = cross / sqrt(n); - } - else - { - n = (cross = eivecs.col(k).cross(tmp.row(1))).squaredNorm(); - if(n>safeNorm2) - eivecs.col(1) = cross / sqrt(n); - else - { - n = (cross = eivecs.col(k).cross(tmp.row(2))).squaredNorm(); - if(n>safeNorm2) - eivecs.col(1) = cross / sqrt(n); - else - { - // we should never reach this point, - // if so the last two eigenvalues are likely to be very close to each other - eivecs.col(1) = eivecs.col(k).unitOrthogonal(); - } - } - } - - // make sure that eivecs[1] is orthogonal to eivecs[2] - // FIXME: this step should not be needed - Scalar d = eivecs.col(1).dot(eivecs.col(k)); - eivecs.col(1) = (eivecs.col(1) - d * eivecs.col(k)).normalized(); - } - - eivecs.col(k==2 ? 0 : 2) = eivecs.col(k).cross(eivecs.col(1)).normalized(); + // Compute last eigenvector from the other two + eivecs.col(1) = eivecs.col(2).cross(eivecs.col(0)).normalized(); } } + // Rescale back to the original size. eivals *= scale; + eivals.array() += shift; solver.m_info = Success; solver.m_isInitialized = true; @@ -675,11 +655,12 @@ template struct direct_selfadjoint_eigenvalues struct direct_selfadjoint_eigenvalues struct direct_selfadjoint_eigenvaluesc2) + if((eivals(1)-eivals(0))<=abs(eivals(1))*Eigen::NumTraits::epsilon()) { - eivecs.col(1) << -scaledMat(1,0), scaledMat(0,0); - eivecs.col(1) /= sqrt(a2+b2); + eivecs.setIdentity(); } else { - eivecs.col(1) << -scaledMat(1,1), scaledMat(1,0); - eivecs.col(1) /= sqrt(c2+b2); - } + scaledMat.diagonal().array () -= eivals(1); + Scalar a2 = numext::abs2(scaledMat(0,0)); + Scalar c2 = numext::abs2(scaledMat(1,1)); + Scalar b2 = numext::abs2(scaledMat(1,0)); + if(a2>c2) + { + eivecs.col(1) << -scaledMat(1,0), scaledMat(0,0); + eivecs.col(1) /= sqrt(a2+b2); + } + else + { + eivecs.col(1) << -scaledMat(1,1), scaledMat(1,0); + eivecs.col(1) /= sqrt(c2+b2); + } - eivecs.col(0) << eivecs.col(1).unitOrthogonal(); + eivecs.col(0) << eivecs.col(1).unitOrthogonal(); + } } // Rescale back to the original size. @@ -746,7 +736,7 @@ SelfAdjointEigenSolver& SelfAdjointEigenSolver } namespace internal { -template +template static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n) { using std::abs; @@ -798,8 +788,7 @@ static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index sta // apply the givens rotation to the unit matrix Q = Q * G if (matrixQ) { - // FIXME if StorageOrder == RowMajor this operation is not very efficient - Map > q(matrixQ,n,n); + Map > q(matrixQ,n,n); q.applyOnTheRight(k,k+1,rot); } } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h index 8e186d57a..7e1cd9eb7 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h @@ -19,10 +19,12 @@ namespace Eigen { * * \brief An axis aligned box * - * \param _Scalar the type of the scalar coefficients - * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. + * \tparam _Scalar the type of the scalar coefficients + * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. * * This class represents an axis aligned box as a pair of the minimal and maximal corners. + * \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using isEmpty(). + * \sa alignedboxtypedefs */ template class AlignedBox @@ -40,18 +42,21 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */ enum CornerType { - /** 1D names */ + /** 1D names @{ */ Min=0, Max=1, + /** @} */ - /** Added names for 2D */ + /** Identifier for 2D corner @{ */ BottomLeft=0, BottomRight=1, TopLeft=2, TopRight=3, + /** @} */ - /** Added names for 3D */ + /** Identifier for 3D corner @{ */ BottomLeftFloor=0, BottomRightFloor=1, TopLeftFloor=2, TopRightFloor=3, BottomLeftCeil=4, BottomRightCeil=5, TopLeftCeil=6, TopRightCeil=7 + /** @} */ }; @@ -63,34 +68,33 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim) { setEmpty(); } - /** Constructs a box with extremities \a _min and \a _max. */ + /** Constructs a box with extremities \a _min and \a _max. + * \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */ template inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {} /** Constructs a box containing a single point \a p. */ template - inline explicit AlignedBox(const MatrixBase& a_p) - { - typename internal::nested::type p(a_p.derived()); - m_min = p; - m_max = p; - } + inline explicit AlignedBox(const MatrixBase& p) : m_min(p), m_max(m_min) + { } ~AlignedBox() {} /** \returns the dimension in which the box holds */ inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); } - /** \deprecated use isEmpty */ + /** \deprecated use isEmpty() */ inline bool isNull() const { return isEmpty(); } - /** \deprecated use setEmpty */ + /** \deprecated use setEmpty() */ inline void setNull() { setEmpty(); } - /** \returns true if the box is empty. */ + /** \returns true if the box is empty. + * \sa setEmpty */ inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); } - /** Makes \c *this an empty box. */ + /** Makes \c *this an empty box. + * \sa isEmpty */ inline void setEmpty() { m_min.setConstant( ScalarTraits::highest() ); @@ -159,7 +163,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) * a uniform distribution */ inline VectorType sample() const { - VectorType r; + VectorType r(dim()); for(Index d=0; d - inline bool contains(const MatrixBase& a_p) const + inline bool contains(const MatrixBase& p) const { - typename internal::nested::type p(a_p.derived()); - return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).all(); + typename internal::nested::type p_n(p.derived()); + return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all(); } /** \returns true if the box \a b is entirely inside the box \c *this. */ inline bool contains(const AlignedBox& b) const { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); } - /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */ + /** \returns true if the box \a b is intersecting the box \c *this. + * \sa intersection, clamp */ + inline bool intersects(const AlignedBox& b) const + { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); } + + /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. + * \sa extend(const AlignedBox&) */ template - inline AlignedBox& extend(const MatrixBase& a_p) + inline AlignedBox& extend(const MatrixBase& p) { - typename internal::nested::type p(a_p.derived()); - m_min = m_min.cwiseMin(p); - m_max = m_max.cwiseMax(p); + typename internal::nested::type p_n(p.derived()); + m_min = m_min.cwiseMin(p_n); + m_max = m_max.cwiseMax(p_n); return *this; } - /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */ + /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. + * \sa merged, extend(const MatrixBase&) */ inline AlignedBox& extend(const AlignedBox& b) { m_min = m_min.cwiseMin(b.m_min); @@ -203,7 +214,9 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) return *this; } - /** Clamps \c *this by the box \a b and returns a reference to \c *this. */ + /** Clamps \c *this by the box \a b and returns a reference to \c *this. + * \note If the boxes don't intersect, the resulting box is empty. + * \sa intersection(), intersects() */ inline AlignedBox& clamp(const AlignedBox& b) { m_min = m_min.cwiseMax(b.m_min); @@ -211,11 +224,15 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) return *this; } - /** Returns an AlignedBox that is the intersection of \a b and \c *this */ + /** Returns an AlignedBox that is the intersection of \a b and \c *this + * \note If the boxes don't intersect, the resulting box is empty. + * \sa intersects(), clamp, contains() */ inline AlignedBox intersection(const AlignedBox& b) const {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); } - /** Returns an AlignedBox that is the union of \a b and \c *this */ + /** Returns an AlignedBox that is the union of \a b and \c *this. + * \note Merging with an empty box may result in a box bigger than \c *this. + * \sa extend(const AlignedBox&) */ inline AlignedBox merged(const AlignedBox& b) const { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); } @@ -231,20 +248,20 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) /** \returns the squared distance between the point \a p and the box \c *this, * and zero if \a p is inside the box. - * \sa exteriorDistance() + * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&) */ template - inline Scalar squaredExteriorDistance(const MatrixBase& a_p) const; + inline Scalar squaredExteriorDistance(const MatrixBase& p) const; /** \returns the squared distance between the boxes \a b and \c *this, * and zero if the boxes intersect. - * \sa exteriorDistance() + * \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&) */ inline Scalar squaredExteriorDistance(const AlignedBox& b) const; /** \returns the distance between the point \a p and the box \c *this, * and zero if \a p is inside the box. - * \sa squaredExteriorDistance() + * \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&) */ template inline NonInteger exteriorDistance(const MatrixBase& p) const @@ -252,7 +269,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) /** \returns the distance between the boxes \a b and \c *this, * and zero if the boxes intersect. - * \sa squaredExteriorDistance() + * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&) */ inline NonInteger exteriorDistance(const AlignedBox& b) const { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(b))); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h index 00e71d190..372e422b9 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h @@ -79,7 +79,7 @@ template class Homogeneous { if( (int(Direction)==Vertical && row==m_matrix.rows()) || (int(Direction)==Horizontal && col==m_matrix.cols())) - return 1; + return Scalar(1); return m_matrix.coeff(row, col); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h index f06653f1c..25ed17bb6 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h @@ -102,11 +102,11 @@ public: /** \returns a quaternion representing an identity rotation * \sa MatrixBase::Identity() */ - static inline Quaternion Identity() { return Quaternion(1, 0, 0, 0); } + static inline Quaternion Identity() { return Quaternion(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); } /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity() */ - inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; } + inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; } /** \returns the squared norm of the quaternion's coefficients * \sa QuaternionBase::norm(), MatrixBase::squaredNorm() @@ -161,7 +161,7 @@ public: { return coeffs().isApprox(other.coeffs(), prec); } /** return the result vector of \a v through the rotation*/ - EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const; + EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const; /** \returns \c *this with scalar type casted to \a NewScalarType * @@ -231,7 +231,7 @@ class Quaternion : public QuaternionBase > public: typedef _Scalar Scalar; - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion) + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion) using Base::operator*=; typedef typename internal::traits::Coefficients Coefficients; @@ -341,7 +341,7 @@ class Map, _Options > public: typedef _Scalar Scalar; typedef typename internal::traits::Coefficients Coefficients; - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map) + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map) using Base::operator*=; /** Constructs a Mapped Quaternion object from the pointer \a coeffs @@ -378,7 +378,7 @@ class Map, _Options > public: typedef _Scalar Scalar; typedef typename internal::traits::Coefficients Coefficients; - EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map) + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map) using Base::operator*=; /** Constructs a Mapped Quaternion object from the pointer \a coeffs @@ -461,7 +461,7 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase::operator*= (const Quaterni */ template EIGEN_STRONG_INLINE typename QuaternionBase::Vector3 -QuaternionBase::_transformVector(Vector3 v) const +QuaternionBase::_transformVector(const Vector3& v) const { // Note that this algorithm comes from the optimization by hand // of the conversion to a Matrix followed by a Matrix/Vector product. @@ -637,7 +637,7 @@ inline Quaternion::Scalar> QuaternionBasesquaredNorm(); - if (n2 > 0) + if (n2 > Scalar(0)) return Quaternion(conjugate().coeffs() / n2); else { @@ -667,12 +667,10 @@ template inline typename internal::traits::Scalar QuaternionBase::angularDistance(const QuaternionBase& other) const { - using std::acos; + using std::atan2; using std::abs; - Scalar d = abs(this->dot(other)); - if (d>=Scalar(1)) - return Scalar(0); - return Scalar(2) * acos(d); + Quaternion d = (*this) * other.conjugate(); + return Scalar(2) * atan2( d.vec().norm(), abs(d.w()) ); } @@ -712,7 +710,7 @@ QuaternionBase::slerp(const Scalar& t, const QuaternionBase(scale0 * coeffs() + scale1 * other.coeffs()); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h index 73ca9bfde..1f3c060d0 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h @@ -65,10 +65,10 @@ class DiagonalPreconditioner { typename MatType::InnerIterator it(mat,j); while(it && it.index()!=j) ++it; - if(it && it.index()==j) + if(it && it.index()==j && it.value()!=Scalar(0)) m_invdiag(j) = Scalar(1)/it.value(); else - m_invdiag(j) = 0; + m_invdiag(j) = Scalar(1); } m_isInitialized = true; return *this; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h index dd135c21f..2625c4dc3 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h @@ -151,20 +151,7 @@ struct traits > * \endcode * * By default the iterations start with x=0 as an initial guess of the solution. - * One can control the start using the solveWithGuess() method. Here is a step by - * step execution example starting with a random guess and printing the evolution - * of the estimated error: - * * \code - * x = VectorXd::Random(n); - * solver.setMaxIterations(1); - * int i = 0; - * do { - * x = solver.solveWithGuess(b,x); - * std::cout << i << " : " << solver.error() << std::endl; - * ++i; - * } while (solver.info()!=Success && i<100); - * \endcode - * Note that such a step by step excution is slightly slower. + * One can control the start using the solveWithGuess() method. * * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner */ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h index a74a8155e..8ba4a8dbe 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h @@ -112,9 +112,9 @@ struct traits > * This class allows to solve for A.x = b sparse linear problems using a conjugate gradient algorithm. * The sparse matrix A must be selfadjoint. The vectors x and b can be either dense or sparse. * - * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix. - * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower - * or Upper. Default is Lower. + * \tparam _MatrixType the type of the matrix A, can be a dense or a sparse matrix. + * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower, + * Upper, or Lower|Upper in which the full matrix entries will be considered. Default is Lower. * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner * * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations() @@ -137,20 +137,7 @@ struct traits > * \endcode * * By default the iterations start with x=0 as an initial guess of the solution. - * One can control the start using the solveWithGuess() method. Here is a step by - * step execution example starting with a random guess and printing the evolution - * of the estimated error: - * * \code - * x = VectorXd::Random(n); - * cg.setMaxIterations(1); - * int i = 0; - * do { - * x = cg.solveWithGuess(b,x); - * std::cout << i << " : " << cg.error() << std::endl; - * ++i; - * } while (cg.info()!=Success && i<100); - * \endcode - * Note that such a step by step excution is slightly slower. + * One can control the start using the solveWithGuess() method. * * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner */ @@ -213,6 +200,10 @@ public: template void _solveWithGuess(const Rhs& b, Dest& x) const { + typedef typename internal::conditional + >::type MatrixWrapperType; m_iterations = Base::maxIterations(); m_error = Base::m_tolerance; @@ -222,8 +213,7 @@ public: m_error = Base::m_tolerance; typename Dest::ColXpr xj(x,j); - internal::conjugate_gradient(mp_matrix->template selfadjointView(), b.col(j), xj, - Base::m_preconditioner, m_iterations, m_error); + internal::conjugate_gradient(MatrixWrapperType(*mp_matrix), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error); } m_isInitialized = true; @@ -234,7 +224,7 @@ public: template void _solve(const Rhs& b, Dest& x) const { - x.setOnes(); + x.setZero(); _solveWithGuess(b,x); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h index b55afc136..4c169aa60 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h @@ -150,7 +150,6 @@ class IncompleteLUT : internal::noncopyable { analyzePattern(amat); factorize(amat); - m_isInitialized = m_factorizationIsOk; return *this; } @@ -235,6 +234,8 @@ void IncompleteLUT::analyzePattern(const _MatrixType& amat) m_Pinv = m_P.inverse(); // ... and the inverse permutation m_analysisIsOk = true; + m_factorizationIsOk = false; + m_isInitialized = false; } template @@ -442,6 +443,7 @@ void IncompleteLUT::factorize(const _MatrixType& amat) m_lu.makeCompressed(); m_factorizationIsOk = true; + m_isInitialized = m_factorizationIsOk; m_info = Success; } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h index 79ab6a8c8..26bc71447 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h @@ -374,6 +374,12 @@ template class FullPivLU inline Index cols() const { return m_lu.cols(); } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + MatrixType m_lu; PermutationPType m_p; PermutationQType m_q; @@ -418,6 +424,8 @@ FullPivLU::FullPivLU(const MatrixType& matrix) template FullPivLU& FullPivLU::compute(const MatrixType& matrix) { + check_template_parameters(); + // the permutations are stored as int indices, so just to be sure: eigen_assert(matrix.rows()<=NumTraits::highest() && matrix.cols()<=NumTraits::highest()); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h index 740ee694c..7d1db948c 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h @@ -171,6 +171,12 @@ template class PartialPivLU inline Index cols() const { return m_lu.cols(); } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + MatrixType m_lu; PermutationType m_p; TranspositionType m_rowsTranspositions; @@ -386,6 +392,8 @@ void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, t template PartialPivLU& PartialPivLU::compute(const MatrixType& matrix) { + check_template_parameters(); + // the row permutation is stored as int indices, so just to be sure: eigen_assert(matrix.rows()::highest()); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h index 41b4fd7e3..70550b8a9 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h @@ -137,22 +137,27 @@ void minimum_degree_ordering(SparseMatrix& C, Permutation degree[i] = len[i]; // degree of node i } mark = internal::cs_wclear(0, 0, w, n); /* clear w */ - elen[n] = -2; /* n is a dead element */ - Cp[n] = -1; /* n is a root of assembly tree */ - w[n] = 0; /* n is a dead element */ /* --- Initialize degree lists ------------------------------------------ */ for(i = 0; i < n; i++) { + bool has_diag = false; + for(p = Cp[i]; p dense) /* node i is dense */ + else if(d > dense || !has_diag) /* node i is dense or has no structural diagonal element */ { nv[i] = 0; /* absorb i into element n */ elen[i] = -1; /* node i is dead */ @@ -168,6 +173,10 @@ void minimum_degree_ordering(SparseMatrix& C, Permutation } } + elen[n] = -2; /* n is a dead element */ + Cp[n] = -1; /* n is a root of assembly tree */ + w[n] = 0; /* n is a dead element */ + while (nel < n) /* while (selecting pivots) do */ { /* --- Select node of minimum approximate degree -------------------- */ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h index 773d1df8f..567eab7cd 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h @@ -384,6 +384,12 @@ template class ColPivHouseholderQR } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + MatrixType m_qr; HCoeffsType m_hCoeffs; PermutationType m_colsPermutation; @@ -422,6 +428,8 @@ typename MatrixType::RealScalar ColPivHouseholderQR::logAbsDetermina template ColPivHouseholderQR& ColPivHouseholderQR::compute(const MatrixType& matrix) { + check_template_parameters(); + using std::abs; Index rows = matrix.rows(); Index cols = matrix.cols(); @@ -463,20 +471,10 @@ ColPivHouseholderQR& ColPivHouseholderQR::compute(const // we store that back into our table: it can't hurt to correct our table. m_colSqNorms.coeffRef(biggest_col_index) = biggest_col_sq_norm; - // if the current biggest column is smaller than epsilon times the initial biggest column, - // terminate to avoid generating nan/inf values. - // Note that here, if we test instead for "biggest == 0", we get a failure every 1000 (or so) - // repetitions of the unit test, with the result of solve() filled with large values of the order - // of 1/(size*epsilon). - if(biggest_col_sq_norm < threshold_helper * RealScalar(rows-k)) - { + // Track the number of meaningful pivots but do not stop the decomposition to make + // sure that the initial matrix is properly reproduced. See bug 941. + if(m_nonzero_pivots==size && biggest_col_sq_norm < threshold_helper * RealScalar(rows-k)) m_nonzero_pivots = k; - m_hCoeffs.tail(size-k).setZero(); - m_qr.bottomRightCorner(rows-k,cols-k) - .template triangularView() - .setZero(); - break; - } // apply the transposition to the columns m_colsTranspositions.coeffRef(k) = biggest_col_index; @@ -505,7 +503,7 @@ ColPivHouseholderQR& ColPivHouseholderQR::compute(const } m_colsPermutation.setIdentity(PermIndexType(cols)); - for(PermIndexType k = 0; k < m_nonzero_pivots; ++k) + for(PermIndexType k = 0; k < size/*m_nonzero_pivots*/; ++k) m_colsPermutation.applyTranspositionOnTheRight(k, PermIndexType(m_colsTranspositions.coeff(k))); m_det_pq = (number_of_transpositions%2) ? -1 : 1; @@ -555,13 +553,15 @@ struct solve_retval, Rhs> } // end namespace internal -/** \returns the matrix Q as a sequence of householder transformations */ +/** \returns the matrix Q as a sequence of householder transformations. + * You can extract the meaningful part only by using: + * \code qr.householderQ().setLength(qr.nonzeroPivots()) \endcode*/ template typename ColPivHouseholderQR::HouseholderSequenceType ColPivHouseholderQR ::householderQ() const { eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized."); - return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate()).setLength(m_nonzero_pivots); + return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate()); } /** \return the column-pivoting Householder QR decomposition of \c *this. diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h index e66196b1d..b1332be5e 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h @@ -63,12 +63,12 @@ ColPivHouseholderQR class FullPivHouseholderQR RealScalar maxPivot() const { return m_maxpivot; } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + MatrixType m_qr; HCoeffsType m_hCoeffs; IntDiagSizeVectorType m_rows_transpositions; @@ -407,6 +413,8 @@ typename MatrixType::RealScalar FullPivHouseholderQR::logAbsDetermin template FullPivHouseholderQR& FullPivHouseholderQR::compute(const MatrixType& matrix) { + check_template_parameters(); + using std::abs; Index rows = matrix.rows(); Index cols = matrix.cols(); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h index 3a94a3c34..343a66499 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h @@ -189,6 +189,12 @@ template class HouseholderQR const HCoeffsType& hCoeffs() const { return m_hCoeffs; } protected: + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } + MatrixType m_qr; HCoeffsType m_hCoeffs; RowVectorType m_temp; @@ -349,6 +355,8 @@ struct solve_retval, Rhs> template HouseholderQR& HouseholderQR::compute(const MatrixType& matrix) { + check_template_parameters(); + Index rows = matrix.rows(); Index cols = matrix.cols(); Index size = (std::min)(rows,cols); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h index a2cc2a9e2..de00877de 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h @@ -64,19 +64,13 @@ class SPQR typedef PermutationMatrix PermutationType; public: SPQR() - : m_isInitialized(false), - m_ordering(SPQR_ORDERING_DEFAULT), - m_allow_tol(SPQR_DEFAULT_TOL), - m_tolerance (NumTraits::epsilon()) + : m_isInitialized(false), m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits::epsilon()), m_useDefaultThreshold(true) { cholmod_l_start(&m_cc); } - SPQR(const _MatrixType& matrix) - : m_isInitialized(false), - m_ordering(SPQR_ORDERING_DEFAULT), - m_allow_tol(SPQR_DEFAULT_TOL), - m_tolerance (NumTraits::epsilon()) + SPQR(const _MatrixType& matrix) + : m_isInitialized(false), m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits::epsilon()), m_useDefaultThreshold(true) { cholmod_l_start(&m_cc); compute(matrix); @@ -101,10 +95,26 @@ class SPQR if(m_isInitialized) SPQR_free(); MatrixType mat(matrix); + + /* Compute the default threshold as in MatLab, see: + * Tim Davis, "Algorithm 915, SuiteSparseQR: Multifrontal Multithreaded Rank-Revealing + * Sparse QR Factorization, ACM Trans. on Math. Soft. 38(1), 2011, Page 8:3 + */ + RealScalar pivotThreshold = m_tolerance; + if(m_useDefaultThreshold) + { + using std::max; + RealScalar max2Norm = 0.0; + for (int j = 0; j < mat.cols(); j++) max2Norm = (max)(max2Norm, mat.col(j).norm()); + if(max2Norm==RealScalar(0)) + max2Norm = RealScalar(1); + pivotThreshold = 20 * (mat.rows() + mat.cols()) * max2Norm * NumTraits::epsilon(); + } + cholmod_sparse A; A = viewAsCholmod(mat); Index col = matrix.cols(); - m_rank = SuiteSparseQR(m_ordering, m_tolerance, col, &A, + m_rank = SuiteSparseQR(m_ordering, pivotThreshold, col, &A, &m_cR, &m_E, &m_H, &m_HPinv, &m_HTau, &m_cc); if (!m_cR) @@ -120,7 +130,7 @@ class SPQR /** * Get the number of rows of the input matrix and the Q matrix */ - inline Index rows() const {return m_H->nrow; } + inline Index rows() const {return m_cR->nrow; } /** * Get the number of columns of the input matrix. @@ -145,16 +155,25 @@ class SPQR { eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()"); eigen_assert(b.cols()==1 && "This method is for vectors only"); - + //Compute Q^T * b - typename Dest::PlainObject y; + typename Dest::PlainObject y, y2; y = matrixQ().transpose() * b; - // Solves with the triangular matrix R + + // Solves with the triangular matrix R Index rk = this->rank(); - y.topRows(rk) = this->matrixR().topLeftCorner(rk, rk).template triangularView().solve(y.topRows(rk)); - y.bottomRows(cols()-rk).setZero(); + y2 = y; + y.resize((std::max)(cols(),Index(y.rows())),y.cols()); + y.topRows(rk) = this->matrixR().topLeftCorner(rk, rk).template triangularView().solve(y2.topRows(rk)); + // Apply the column permutation - dest.topRows(cols()) = colsPermutation() * y.topRows(cols()); + // colsPermutation() performs a copy of the permutation, + // so let's apply it manually: + for(Index i = 0; i < rk; ++i) dest.row(m_E[i]) = y.row(i); + for(Index i = rk; i < cols(); ++i) dest.row(m_E[i]).setZero(); + +// y.bottomRows(y.rows()-rk).setZero(); +// dest = colsPermutation() * y.topRows(cols()); m_info = Success; } @@ -197,7 +216,11 @@ class SPQR /// Set the fill-reducing ordering method to be used void setSPQROrdering(int ord) { m_ordering = ord;} /// Set the tolerance tol to treat columns with 2-norm < =tol as zero - void setPivotThreshold(const RealScalar& tol) { m_tolerance = tol; } + void setPivotThreshold(const RealScalar& tol) + { + m_useDefaultThreshold = false; + m_tolerance = tol; + } /** \returns a pointer to the SPQR workspace */ cholmod_common *cholmodCommon() const { return &m_cc; } @@ -230,6 +253,7 @@ class SPQR mutable cholmod_dense *m_HTau; // The Householder coefficients mutable Index m_rank; // The rank of the matrix mutable cholmod_common m_cc; // Workspace and parameters + bool m_useDefaultThreshold; // Use default threshold template friend struct SPQR_QProduct; }; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h index c57f2974c..1b2977419 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h @@ -742,6 +742,11 @@ template class JacobiSVD private: void allocate(Index rows, Index cols, unsigned int computationOptions); + + static void check_template_parameters() + { + EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); + } protected: MatrixUType m_matrixU; @@ -818,6 +823,8 @@ template JacobiSVD& JacobiSVD::compute(const MatrixType& matrix, unsigned int computationOptions) { + check_template_parameters(); + using std::abs; allocate(matrix.rows(), matrix.cols(), computationOptions); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h index 0ede034ba..0c90bafbe 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h @@ -57,6 +57,16 @@ public: inline BlockImpl(const XprType& xpr, int startRow, int startCol, int blockRows, int blockCols) : m_matrix(xpr), m_outerStart(IsRowMajor ? startRow : startCol), m_outerSize(IsRowMajor ? blockRows : blockCols) {} + + inline const Scalar coeff(int row, int col) const + { + return m_matrix.coeff(row + IsRowMajor ? m_outerStart : 0, col +IsRowMajor ? 0 : m_outerStart); + } + + inline const Scalar coeff(int index) const + { + return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index : m_outerStart); + } EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); } EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); } @@ -226,6 +236,21 @@ public: else return Map >(m_matrix.innerNonZeroPtr()+m_outerStart, m_outerSize.value()).sum(); } + + inline Scalar& coeffRef(int row, int col) + { + return m_matrix.const_cast_derived().coeffRef(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 : m_outerStart)); + } + + inline const Scalar coeff(int row, int col) const + { + return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 : m_outerStart)); + } + + inline const Scalar coeff(int index) const + { + return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index : m_outerStart); + } const Scalar& lastCoeff() const { @@ -313,6 +338,16 @@ public: else return Map >(m_matrix.innerNonZeroPtr()+m_outerStart, m_outerSize.value()).sum(); } + + inline const Scalar coeff(int row, int col) const + { + return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 : m_outerStart)); + } + + inline const Scalar coeff(int index) const + { + return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index : m_outerStart); + } const Scalar& lastCoeff() const { @@ -355,7 +390,8 @@ const typename SparseMatrixBase::ConstInnerVectorReturnType SparseMatri * is col-major (resp. row-major). */ template -Block SparseMatrixBase::innerVectors(Index outerStart, Index outerSize) +typename SparseMatrixBase::InnerVectorsReturnType +SparseMatrixBase::innerVectors(Index outerStart, Index outerSize) { return Block(derived(), IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart, @@ -367,7 +403,8 @@ Block SparseMatrixBase::innerVectors(Inde * is col-major (resp. row-major). Read-only. */ template -const Block SparseMatrixBase::innerVectors(Index outerStart, Index outerSize) const +const typename SparseMatrixBase::ConstInnerVectorsReturnType +SparseMatrixBase::innerVectors(Index outerStart, Index outerSize) const { return Block(derived(), IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart, @@ -394,8 +431,8 @@ public: : m_matrix(xpr), m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0), m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0), - m_blockRows(xpr.rows()), - m_blockCols(xpr.cols()) + m_blockRows(BlockRows==1 ? 1 : xpr.rows()), + m_blockCols(BlockCols==1 ? 1 : xpr.cols()) {} /** Dynamic-size constructor @@ -497,3 +534,4 @@ public: } // end namespace Eigen #endif // EIGEN_SPARSE_BLOCK_H + diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h index a9084192e..ccb6ae7b7 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h @@ -180,7 +180,7 @@ struct sparse_time_dense_product_impl class SparseMatrixBase : public EigenBase const ConstInnerVectorReturnType innerVector(Index outer) const; // set of inner-vectors - Block innerVectors(Index outerStart, Index outerSize); - const Block innerVectors(Index outerStart, Index outerSize) const; + typedef Block InnerVectorsReturnType; + typedef Block ConstInnerVectorsReturnType; + InnerVectorsReturnType innerVectors(Index outerStart, Index outerSize); + const ConstInnerVectorsReturnType innerVectors(Index outerStart, Index outerSize) const; /** \internal use operator= */ template diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h index 7e15c814b..49865d0e7 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h @@ -158,6 +158,7 @@ class SparseVector Index inner = IsColVector ? row : col; Index outer = IsColVector ? col : row; + EIGEN_ONLY_USED_FOR_DEBUG(outer); eigen_assert(outer==0); return insert(inner); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h index cb8ad82b4..ccc12af79 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h @@ -69,7 +69,7 @@ struct sparse_solve_triangular_selector for(int i=lhs.rows()-1 ; i>=0 ; --i) { Scalar tmp = other.coeff(i,col); - Scalar l_ii = 0; + Scalar l_ii(0); typename Lhs::InnerIterator it(lhs, i); while(it && it.index()cols(); ++j) + { + for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it) + { + if(it.index() == j) + { + if(it.value()<0) + det = -det; + else if(it.value()==0) + return 0; + break; + } + } + } + return det * m_detPermR * m_detPermC; + } + + /** \returns The determinant of the matrix. + * + * \sa absDeterminant(), logAbsDeterminant() + */ + Scalar determinant() + { + eigen_assert(m_factorizationIsOk && "The matrix should be factorized first."); + // Initialize with the determinant of the row matrix + Scalar det = Scalar(1.); + // Note that the diagonal blocks of U are stored in supernodes, + // which are available in the L part :) + for (Index j = 0; j < this->cols(); ++j) + { + for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it) + { + if(it.index() == j) + { + det *= it.value(); + break; + } + } + } + return det * Scalar(m_detPermR * m_detPermC); + } protected: // Functions void initperfvalues() { - m_perfv.panel_size = 1; + m_perfv.panel_size = 16; m_perfv.relax = 1; m_perfv.maxsuper = 128; m_perfv.rowblk = 16; @@ -345,8 +390,8 @@ class SparseLU : public internal::SparseLUImpl m_perfv; RealScalar m_diagpivotthresh; // Specifies the threshold used for a diagonal entry to be an acceptable pivot - Index m_nnzL, m_nnzU; // Nonzeros in L and U factors - Index m_detPermR; // Determinant of the coefficient matrix + Index m_nnzL, m_nnzU; // Nonzeros in L and U factors + Index m_detPermR, m_detPermC; // Determinants of the permutation matrices private: // Disable copy constructor SparseLU (const SparseLU& ); @@ -622,7 +667,8 @@ void SparseLU::factorize(const MatrixType& matrix) } // Update the determinant of the row permutation matrix - if (pivrow != jj) m_detPermR *= -1; + // FIXME: the following test is not correct, we should probably take iperm_c into account and pivrow is not directly the row pivot. + if (pivrow != jj) m_detPermR = -m_detPermR; // Prune columns (0:jj-1) using column jj Base::pruneL(jj, m_perm_r.indices(), pivrow, nseg, segrep, repfnz_k, xprune, m_glu); @@ -637,10 +683,13 @@ void SparseLU::factorize(const MatrixType& matrix) jcol += panel_size; // Move to the next panel } // end for -- end elimination + m_detPermR = m_perm_r.determinant(); + m_detPermC = m_perm_c.determinant(); + // Count the number of nonzeros in factors Base::countnz(n, m_nnzL, m_nnzU, m_glu); // Apply permutation to the L subscripts - Base::fixupL(n, m_perm_r.indices(), m_glu); + Base::fixupL(n, m_perm_r.indices(), m_glu); // Create supernode matrix L m_Lstore.setInfos(m, n, m_glu.lusup, m_glu.xlusup, m_glu.lsub, m_glu.xlsub, m_glu.supno, m_glu.xsup); @@ -700,8 +749,8 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator } else { - Map, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) ); - Map< Matrix, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) ); + Map, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) ); + Map< Matrix, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) ); U = A.template triangularView().solve(U); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLUImpl.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLUImpl.h index 14d70897d..99d651e40 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLUImpl.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLUImpl.h @@ -21,6 +21,8 @@ class SparseLUImpl { public: typedef Matrix ScalarVector; + typedef Matrix ScalarMatrix; + typedef Map > MappedMatrixBlock; typedef Matrix IndexVector; typedef typename ScalarVector::RealScalar RealScalar; typedef Ref > BlockScalarVector; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_Memory.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_Memory.h index 1ffa7d54e..45f96d16a 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_Memory.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_Memory.h @@ -153,8 +153,8 @@ Index SparseLUImpl::memInit(Index m, Index n, Index annz, Index lw { Index& num_expansions = glu.num_expansions; //No memory expansions so far num_expansions = 0; - glu.nzumax = glu.nzlumax = (std::min)(fillratio * annz / n, m) * n; // estimated number of nonzeros in U - glu.nzlmax = (std::max)(Index(4), fillratio) * annz / 4; // estimated nnz in L factor + glu.nzumax = glu.nzlumax = (std::min)(fillratio * (annz+1) / n, m) * n; // estimated number of nonzeros in U + glu.nzlmax = (std::max)(Index(4), fillratio) * (annz+1) / 4; // estimated nnz in L factor // Return the estimated size to the user if necessary Index tempSpace; tempSpace = (2*panel_size + 4 + LUNoMarker) * m * sizeof(Index) + (panel_size + 1) * m * sizeof(Scalar); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h index b16afd6a4..54a569408 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h @@ -236,7 +236,7 @@ void MappedSuperNodalMatrix::solveInPlace( MatrixBase&X) con Index n = X.rows(); Index nrhs = X.cols(); const Scalar * Lval = valuePtr(); // Nonzero values - Matrix work(n, nrhs); // working vector + Matrix work(n, nrhs); // working vector work.setZero(); for (Index k = 0; k <= nsuper(); k ++) { @@ -267,12 +267,12 @@ void MappedSuperNodalMatrix::solveInPlace( MatrixBase&X) con Index lda = colIndexPtr()[fsupc+1] - luptr; // Triangular solve - Map, 0, OuterStride<> > A( &(Lval[luptr]), nsupc, nsupc, OuterStride<>(lda) ); - Map< Matrix, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) ); + Map, 0, OuterStride<> > A( &(Lval[luptr]), nsupc, nsupc, OuterStride<>(lda) ); + Map< Matrix, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) ); U = A.template triangularView().solve(U); // Matrix-vector product - new (&A) Map, 0, OuterStride<> > ( &(Lval[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) ); + new (&A) Map, 0, OuterStride<> > ( &(Lval[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) ); work.block(0, 0, nrow, nrhs) = A * U; //Begin Scatter diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h index f24bd87d3..cacc7e987 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h @@ -162,11 +162,11 @@ Index SparseLUImpl::column_bmod(const Index jcol, const Index nseg // points to the beginning of jcol in snode L\U(jsupno) ufirst = glu.xlusup(jcol) + d_fsupc; Index lda = glu.xlusup(jcol+1) - glu.xlusup(jcol); - Map, 0, OuterStride<> > A( &(glu.lusup.data()[luptr]), nsupc, nsupc, OuterStride<>(lda) ); + MappedMatrixBlock A( &(glu.lusup.data()[luptr]), nsupc, nsupc, OuterStride<>(lda) ); VectorBlock u(glu.lusup, ufirst, nsupc); u = A.template triangularView().solve(u); - new (&A) Map, 0, OuterStride<> > ( &(glu.lusup.data()[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) ); + new (&A) MappedMatrixBlock ( &(glu.lusup.data()[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) ); VectorBlock l(glu.lusup, ufirst+nsupc, nrow); l.noalias() -= A * u; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h index 0d0283b13..6af026754 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h @@ -56,7 +56,7 @@ EIGEN_DONT_INLINE void LU_kernel_bmod::run(const int segsi // Dense triangular solve -- start effective triangle luptr += lda * no_zeros + no_zeros; // Form Eigen matrix and vector - Map, 0, OuterStride<> > A( &(lusup.data()[luptr]), segsize, segsize, OuterStride<>(lda) ); + Map, 0, OuterStride<> > A( &(lusup.data()[luptr]), segsize, segsize, OuterStride<>(lda) ); Map > u(tempv.data(), segsize); u = A.template triangularView().solve(u); @@ -65,7 +65,7 @@ EIGEN_DONT_INLINE void LU_kernel_bmod::run(const int segsi luptr += segsize; const Index PacketSize = internal::packet_traits::size; Index ldl = internal::first_multiple(nrow, PacketSize); - Map, 0, OuterStride<> > B( &(lusup.data()[luptr]), nrow, segsize, OuterStride<>(lda) ); + Map, 0, OuterStride<> > B( &(lusup.data()[luptr]), nrow, segsize, OuterStride<>(lda) ); Index aligned_offset = internal::first_aligned(tempv.data()+segsize, PacketSize); Index aligned_with_B_offset = (PacketSize-internal::first_aligned(B.data(), PacketSize))%PacketSize; Map, 0, OuterStride<> > l(tempv.data()+segsize+aligned_offset+aligned_with_B_offset, nrow, OuterStride<>(ldl) ); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h index da0e0fc3c..9d2ff2906 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h @@ -102,7 +102,7 @@ void SparseLUImpl::panel_bmod(const Index m, const Index w, const if(nsupc >= 2) { Index ldu = internal::first_multiple(u_rows, PacketSize); - Map, Aligned, OuterStride<> > U(tempv.data(), u_rows, u_cols, OuterStride<>(ldu)); + Map > U(tempv.data(), u_rows, u_cols, OuterStride<>(ldu)); // gather U Index u_col = 0; @@ -136,17 +136,17 @@ void SparseLUImpl::panel_bmod(const Index m, const Index w, const Index lda = glu.xlusup(fsupc+1) - glu.xlusup(fsupc); no_zeros = (krep - u_rows + 1) - fsupc; luptr += lda * no_zeros + no_zeros; - Map, 0, OuterStride<> > A(glu.lusup.data()+luptr, u_rows, u_rows, OuterStride<>(lda) ); + MappedMatrixBlock A(glu.lusup.data()+luptr, u_rows, u_rows, OuterStride<>(lda) ); U = A.template triangularView().solve(U); // update luptr += u_rows; - Map, 0, OuterStride<> > B(glu.lusup.data()+luptr, nrow, u_rows, OuterStride<>(lda) ); + MappedMatrixBlock B(glu.lusup.data()+luptr, nrow, u_rows, OuterStride<>(lda) ); eigen_assert(tempv.size()>w*ldu + nrow*w + 1); Index ldl = internal::first_multiple(nrow, PacketSize); Index offset = (PacketSize-internal::first_aligned(B.data(), PacketSize)) % PacketSize; - Map, 0, OuterStride<> > L(tempv.data()+w*ldu+offset, nrow, u_cols, OuterStride<>(ldl)); + MappedMatrixBlock L(tempv.data()+w*ldu+offset, nrow, u_cols, OuterStride<>(ldl)); L.setZero(); internal::sparselu_gemm(L.rows(), L.cols(), B.cols(), B.data(), B.outerStride(), U.data(), U.outerStride(), L.data(), L.outerStride()); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_pivotL.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_pivotL.h index ddcd4ec98..2e49ef667 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_pivotL.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_pivotL.h @@ -71,13 +71,14 @@ Index SparseLUImpl::pivotL(const Index jcol, const RealScalar& dia // Determine the largest abs numerical value for partial pivoting Index diagind = iperm_c(jcol); // diagonal index - RealScalar pivmax = 0.0; + RealScalar pivmax(-1.0); Index pivptr = nsupc; Index diag = emptyIdxLU; RealScalar rtemp; Index isub, icol, itemp, k; for (isub = nsupc; isub < nsupr; ++isub) { - rtemp = std::abs(lu_col_ptr[isub]); + using std::abs; + rtemp = abs(lu_col_ptr[isub]); if (rtemp > pivmax) { pivmax = rtemp; pivptr = isub; @@ -86,8 +87,9 @@ Index SparseLUImpl::pivotL(const Index jcol, const RealScalar& dia } // Test for singularity - if ( pivmax == 0.0 ) { - pivrow = lsub_ptr[pivptr]; + if ( pivmax <= RealScalar(0.0) ) { + // if pivmax == -1, the column is structurally empty, otherwise it is only numerically zero + pivrow = pivmax < RealScalar(0.0) ? diagind : lsub_ptr[pivptr]; perm_r(pivrow) = jcol; return (jcol+1); } @@ -101,7 +103,8 @@ Index SparseLUImpl::pivotL(const Index jcol, const RealScalar& dia if (diag >= 0 ) { // Diagonal element exists - rtemp = std::abs(lu_col_ptr[diag]); + using std::abs; + rtemp = abs(lu_col_ptr[diag]); if (rtemp != 0.0 && rtemp >= thresh) pivptr = diag; } pivrow = lsub_ptr[pivptr]; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h index 5c8c476ee..1951286f3 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h @@ -70,6 +70,43 @@ max return (max)(Derived::PlainObject::Constant(rows(), cols(), other)); } + +#define EIGEN_MAKE_CWISE_COMP_OP(OP, COMPARATOR) \ +template \ +EIGEN_STRONG_INLINE const CwiseBinaryOp, const Derived, const OtherDerived> \ +OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS &other) const \ +{ \ + return CwiseBinaryOp, const Derived, const OtherDerived>(derived(), other.derived()); \ +}\ +typedef CwiseBinaryOp, const Derived, const CwiseNullaryOp, PlainObject> > Cmp ## COMPARATOR ## ReturnType; \ +typedef CwiseBinaryOp, const CwiseNullaryOp, PlainObject>, const Derived > RCmp ## COMPARATOR ## ReturnType; \ +EIGEN_STRONG_INLINE const Cmp ## COMPARATOR ## ReturnType \ +OP(const Scalar& s) const { \ + return this->OP(Derived::PlainObject::Constant(rows(), cols(), s)); \ +} \ +friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \ +OP(const Scalar& s, const Derived& d) { \ + return Derived::PlainObject::Constant(d.rows(), d.cols(), s).OP(d); \ +} + +#define EIGEN_MAKE_CWISE_COMP_R_OP(OP, R_OP, RCOMPARATOR) \ +template \ +EIGEN_STRONG_INLINE const CwiseBinaryOp, const OtherDerived, const Derived> \ +OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS &other) const \ +{ \ + return CwiseBinaryOp, const OtherDerived, const Derived>(other.derived(), derived()); \ +} \ +\ +inline const RCmp ## RCOMPARATOR ## ReturnType \ +OP(const Scalar& s) const { \ + return Derived::PlainObject::Constant(rows(), cols(), s).R_OP(*this); \ +} \ +friend inline const Cmp ## RCOMPARATOR ## ReturnType \ +OP(const Scalar& s, const Derived& d) { \ + return d.R_OP(Derived::PlainObject::Constant(d.rows(), d.cols(), s)); \ +} + + /** \returns an expression of the coefficient-wise \< operator of *this and \a other * * Example: \include Cwise_less.cpp @@ -77,7 +114,7 @@ max * * \sa all(), any(), operator>(), operator<=() */ -EIGEN_MAKE_CWISE_BINARY_OP(operator<,std::less) +EIGEN_MAKE_CWISE_COMP_OP(operator<, LT) /** \returns an expression of the coefficient-wise \<= operator of *this and \a other * @@ -86,7 +123,7 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator<,std::less) * * \sa all(), any(), operator>=(), operator<() */ -EIGEN_MAKE_CWISE_BINARY_OP(operator<=,std::less_equal) +EIGEN_MAKE_CWISE_COMP_OP(operator<=, LE) /** \returns an expression of the coefficient-wise \> operator of *this and \a other * @@ -95,7 +132,7 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator<=,std::less_equal) * * \sa all(), any(), operator>=(), operator<() */ -EIGEN_MAKE_CWISE_BINARY_OP(operator>,std::greater) +EIGEN_MAKE_CWISE_COMP_R_OP(operator>, operator<, LT) /** \returns an expression of the coefficient-wise \>= operator of *this and \a other * @@ -104,7 +141,7 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator>,std::greater) * * \sa all(), any(), operator>(), operator<=() */ -EIGEN_MAKE_CWISE_BINARY_OP(operator>=,std::greater_equal) +EIGEN_MAKE_CWISE_COMP_R_OP(operator>=, operator<=, LE) /** \returns an expression of the coefficient-wise == operator of *this and \a other * @@ -118,7 +155,7 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator>=,std::greater_equal) * * \sa all(), any(), isApprox(), isMuchSmallerThan() */ -EIGEN_MAKE_CWISE_BINARY_OP(operator==,std::equal_to) +EIGEN_MAKE_CWISE_COMP_OP(operator==, EQ) /** \returns an expression of the coefficient-wise != operator of *this and \a other * @@ -132,7 +169,10 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator==,std::equal_to) * * \sa all(), any(), isApprox(), isMuchSmallerThan() */ -EIGEN_MAKE_CWISE_BINARY_OP(operator!=,std::not_equal_to) +EIGEN_MAKE_CWISE_COMP_OP(operator!=, NEQ) + +#undef EIGEN_MAKE_CWISE_COMP_OP +#undef EIGEN_MAKE_CWISE_COMP_R_OP // scalar addition @@ -209,3 +249,5 @@ operator||(const EIGEN_CURRENT_STORAGE_BASE_CLASS &other) const THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL); return CwiseBinaryOp(derived(),other.derived()); } + + diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h index a59636790..1c3ed3fcd 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h @@ -185,19 +185,3 @@ cube() const { return derived(); } - -#define EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(METHOD_NAME,FUNCTOR) \ - inline const CwiseUnaryOp >, const Derived> \ - METHOD_NAME(const Scalar& s) const { \ - return CwiseUnaryOp >, const Derived> \ - (derived(), std::bind2nd(FUNCTOR(), s)); \ - } - -EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator==, std::equal_to) -EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator!=, std::not_equal_to) -EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<, std::less) -EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<=, std::less_equal) -EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>, std::greater) -EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>=, std::greater_equal) - - diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h index 7f62149e0..c4a042b70 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h @@ -124,3 +124,20 @@ cwiseQuotient(const EIGEN_CURRENT_STORAGE_BASE_CLASS &other) const { return CwiseBinaryOp, const Derived, const OtherDerived>(derived(), other.derived()); } + +typedef CwiseBinaryOp, const Derived, const ConstantReturnType> CwiseScalarEqualReturnType; + +/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s + * + * \warning this performs an exact comparison, which is generally a bad idea with floating-point types. + * In order to check for equality between two vectors or matrices with floating-point coefficients, it is + * generally a far better idea to use a fuzzy comparison as provided by isApprox() and + * isMuchSmallerThan(). + * + * \sa cwiseEqual(const MatrixBase &) const + */ +inline const CwiseScalarEqualReturnType +cwiseEqual(const Scalar& s) const +{ + return CwiseScalarEqualReturnType(derived(), Derived::Constant(rows(), cols(), s), internal::scalar_cmp_op()); +} diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h index 0cf0640ba..8de10935d 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h @@ -50,18 +50,3 @@ cwiseSqrt() const { return derived(); } inline const CwiseUnaryOp, const Derived> cwiseInverse() const { return derived(); } -/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s - * - * \warning this performs an exact comparison, which is generally a bad idea with floating-point types. - * In order to check for equality between two vectors or matrices with floating-point coefficients, it is - * generally a far better idea to use a fuzzy comparison as provided by isApprox() and - * isMuchSmallerThan(). - * - * \sa cwiseEqual(const MatrixBase &) const - */ -inline const CwiseUnaryOp >, const Derived> -cwiseEqual(const Scalar& s) const -{ - return CwiseUnaryOp >,const Derived> - (derived(), std::bind1st(std::equal_to(), s)); -} diff --git a/gtsam/3rdparty/Eigen/blas/xerbla.cpp b/gtsam/3rdparty/Eigen/blas/xerbla.cpp index 0d57710fe..dd39a5244 100644 --- a/gtsam/3rdparty/Eigen/blas/xerbla.cpp +++ b/gtsam/3rdparty/Eigen/blas/xerbla.cpp @@ -1,7 +1,7 @@ #include -#if (defined __GNUC__) +#if (defined __GNUC__) && (!defined __MINGW32__) && (!defined __CYGWIN__) #define EIGEN_WEAK_LINKING __attribute__ ((weak)) #else #define EIGEN_WEAK_LINKING diff --git a/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake b/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake index 80b2841df..cbe12d51b 100644 --- a/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake +++ b/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake @@ -322,22 +322,21 @@ macro(ei_get_compilerver VAR) endif() else() # on all other system we rely on ${CMAKE_CXX_COMPILER} - # supporting a "--version" flag + # supporting a "--version" or "/version" flag - # check whether the head command exists - find_program(HEAD_EXE head NO_CMAKE_ENVIRONMENT_PATH NO_CMAKE_PATH NO_CMAKE_SYSTEM_PATH) - if(HEAD_EXE) - execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version - COMMAND head -n 1 - OUTPUT_VARIABLE eigen_cxx_compiler_version_string OUTPUT_STRIP_TRAILING_WHITESPACE) + if(WIN32 AND ${CMAKE_CXX_COMPILER_ID} EQUAL "Intel") + set(EIGEN_CXX_FLAG_VERSION "/version") else() - execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version - OUTPUT_VARIABLE eigen_cxx_compiler_version_string OUTPUT_STRIP_TRAILING_WHITESPACE) - string(REGEX REPLACE "[\n\r].*" "" eigen_cxx_compiler_version_string ${eigen_cxx_compiler_version_string}) + set(EIGEN_CXX_FLAG_VERSION "--version") endif() + execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${EIGEN_CXX_FLAG_VERSION} + OUTPUT_VARIABLE eigen_cxx_compiler_version_string OUTPUT_STRIP_TRAILING_WHITESPACE) + string(REGEX REPLACE "[\n\r].*" "" eigen_cxx_compiler_version_string ${eigen_cxx_compiler_version_string}) + ei_get_compilerver_from_cxx_version_string("${eigen_cxx_compiler_version_string}" CNAME CVER) set(${VAR} "${CNAME}-${CVER}") + endif() endmacro(ei_get_compilerver) diff --git a/gtsam/3rdparty/Eigen/cmake/FindMetis.cmake b/gtsam/3rdparty/Eigen/cmake/FindMetis.cmake index e0040d320..6a0ce790c 100644 --- a/gtsam/3rdparty/Eigen/cmake/FindMetis.cmake +++ b/gtsam/3rdparty/Eigen/cmake/FindMetis.cmake @@ -26,7 +26,7 @@ macro(_metis_check_version) string(REGEX MATCH "define[ \t]+METIS_VER_SUBMINOR[ \t]+([0-9]+)" _metis_subminor_version_match "${_metis_version_header}") set(METIS_SUBMINOR_VERSION "${CMAKE_MATCH_1}") if(NOT METIS_MAJOR_VERSION) - message(WARNING "Could not determine Metis version. Assuming version 4.0.0") + message(STATUS "Could not determine Metis version. Assuming version 4.0.0") set(METIS_VERSION 4.0.0) else() set(METIS_VERSION ${METIS_MAJOR_VERSION}.${METIS_MINOR_VERSION}.${METIS_SUBMINOR_VERSION}) diff --git a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt index 8a493031c..2fc2a0dfc 100644 --- a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt @@ -91,7 +91,8 @@ add_custom_target(doc ALL COMMAND doxygen Doxyfile-unsupported COMMAND ${CMAKE_COMMAND} -E rename html eigen-doc COMMAND ${CMAKE_COMMAND} -E remove eigen-doc/eigen-doc.tgz - COMMAND ${CMAKE_COMMAND} -E tar cfz eigen-doc/eigen-doc.tgz eigen-doc + COMMAND ${CMAKE_COMMAND} -E tar cfz eigen-doc.tgz eigen-doc + COMMAND ${CMAKE_COMMAND} -E rename eigen-doc.tgz eigen-doc/eigen-doc.tgz COMMAND ${CMAKE_COMMAND} -E rename eigen-doc html WORKING_DIRECTORY ${Eigen_BINARY_DIR}/doc) diff --git a/gtsam/3rdparty/Eigen/doc/Doxyfile.in b/gtsam/3rdparty/Eigen/doc/Doxyfile.in index 1a2603b04..696dd2af1 100644 --- a/gtsam/3rdparty/Eigen/doc/Doxyfile.in +++ b/gtsam/3rdparty/Eigen/doc/Doxyfile.in @@ -222,7 +222,7 @@ ALIASES = "only_for_vectors=This is only for vectors (either row- "note_about_using_kernel_to_study_multiple_solutions=If you need a complete analysis of the space of solutions, take the one solution obtained by this method and add to it elements of the kernel, as determined by kernel()." \ "note_about_checking_solutions=This method just tries to find as good a solution as possible. If you want to check whether a solution exists or if it is accurate, just call this function to get a result and then compute the error of this result, or use MatrixBase::isApprox() directly, for instance like this: \code bool a_solution_exists = (A*result).isApprox(b, precision); \endcode This method avoids dividing by zero, so that the non-existence of a solution doesn't by itself mean that you'll get \c inf or \c nan values." \ "note_try_to_help_rvo=This function returns the result by value. In order to make that efficient, it is implemented as just a return statement using a special constructor, hopefully allowing the compiler to perform a RVO (return value optimization)." \ - "nonstableyet=\warning This is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\" + "nonstableyet=\warning This is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\"" ALIASES += "eigenAutoToc= " ALIASES += "eigenManualPage=\defgroup" @@ -315,7 +315,7 @@ IDL_PROPERTY_SUPPORT = YES # member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. -DISTRIBUTE_GROUP_DOC = NO +DISTRIBUTE_GROUP_DOC = YES # Set the SUBGROUPING tag to YES (the default) to allow class member groups of # the same type (for instance a group of public functions) to be put as a @@ -365,7 +365,7 @@ TYPEDEF_HIDES_STRUCT = NO # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, # corresponding to a cache size of 2^16 = 65536 symbols. -SYMBOL_CACHE_SIZE = 0 +# SYMBOL_CACHE_SIZE = 0 # Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be # set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given @@ -562,7 +562,7 @@ GENERATE_BUGLIST = NO # disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. -GENERATE_DEPRECATEDLIST= NO +GENERATE_DEPRECATEDLIST= YES # The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. @@ -1465,13 +1465,13 @@ XML_OUTPUT = xml # which can be used by a validating XML parser to check the # syntax of the XML files. -XML_SCHEMA = +# XML_SCHEMA = # The XML_DTD tag can be used to specify an XML DTD, # which can be used by a validating XML parser to check the # syntax of the XML files. -XML_DTD = +# XML_DTD = # If the XML_PROGRAMLISTING tag is set to YES Doxygen will # dump the program listings (including syntax highlighting @@ -1699,7 +1699,7 @@ DOT_NUM_THREADS = 0 # the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the # directory containing the font. -DOT_FONTNAME = FreeSans +DOT_FONTNAME = # The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. # The default size is 10pt. diff --git a/gtsam/3rdparty/Eigen/doc/Manual.dox b/gtsam/3rdparty/Eigen/doc/Manual.dox index 3367982ca..55057d213 100644 --- a/gtsam/3rdparty/Eigen/doc/Manual.dox +++ b/gtsam/3rdparty/Eigen/doc/Manual.dox @@ -11,6 +11,7 @@ namespace Eigen { - \subpage TopicCustomizingEigen - \subpage TopicMultiThreading - \subpage TopicUsingIntelMKL + - \subpage TopicPitfalls - \subpage TopicTemplateKeyword - \subpage UserManual_UnderstandingEigen */ diff --git a/gtsam/3rdparty/Eigen/doc/Pitfalls.dox b/gtsam/3rdparty/Eigen/doc/Pitfalls.dox new file mode 100644 index 000000000..cf42effef --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/Pitfalls.dox @@ -0,0 +1,38 @@ +namespace Eigen { + +/** \page TopicPitfalls Common pitfalls + +\section TopicPitfalls_template_keyword Compilation error with template methods + +See this \link TopicTemplateKeyword page \endlink. + +\section TopicPitfalls_auto_keyword C++11 and the auto keyword + +In short: do not use the auto keywords with Eigen's expressions, unless you are 100% sure about what you are doing. In particular, do not use the auto keyword as a replacement for a Matrix<> type. Here is an example: + +\code +MatrixXd A, B; +auto C = A*B; +for(...) { ... w = C * v; ...} +\endcode + +In this example, the type of C is not a MatrixXd but an abstract expression representing a matrix product and storing references to A and B. Therefore, the product of A*B will be carried out multiple times, once per iteration of the for loop. Moreover, if the coefficients of A or B change during the iteration, then C will evaluate to different values. + +Here is another example leading to a segfault: +\code +auto C = ((A+B).eval()).transpose(); +// do something with C +\endcode +The problem is that eval() returns a temporary object (in this case a MatrixXd) which is then referenced by the Transpose<> expression. However, this temporary is deleted right after the first line, and there the C expression reference a dead object. The same issue might occur when sub expressions are automatically evaluated by Eigen as in the following example: +\code +VectorXd u, v; +auto C = u + (A*v).normalized(); +// do something with C +\endcode +where the normalized() method has to evaluate the expensive product A*v to avoid evaluating it twice. On the other hand, the following example is perfectly fine: +\code +auto C = (u + (A*v).normalized()).eval(); +\endcode +In this case, C will be a regular VectorXd object. +*/ +} diff --git a/gtsam/3rdparty/Eigen/doc/TopicMultithreading.dox b/gtsam/3rdparty/Eigen/doc/TopicMultithreading.dox index f7d082668..7db2b0e07 100644 --- a/gtsam/3rdparty/Eigen/doc/TopicMultithreading.dox +++ b/gtsam/3rdparty/Eigen/doc/TopicMultithreading.dox @@ -17,7 +17,7 @@ You can control the number of thread that will be used using either the OpenMP A Unless setNbThreads has been called, Eigen uses the number of threads specified by OpenMP. You can restore this bahavior by calling \code setNbThreads(0); \endcode You can query the number of threads that will be used with: \code -n = Eigen::nbThreads(n); +n = Eigen::nbThreads( ); \endcode You can disable Eigen's multi threading at compile time by defining the EIGEN_DONT_PARALLELIZE preprocessor token. diff --git a/gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox b/gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox index 4b624a156..84db992b6 100644 --- a/gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox +++ b/gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox @@ -40,7 +40,8 @@ Since Eigen version 3.1 and later, users can benefit from built-in Intel MKL opt Intel MKL provides highly optimized multi-threaded mathematical routines for x86-compatible architectures. Intel MKL is available on Linux, Mac and Windows for both Intel64 and IA32 architectures. -\warning Be aware that Intel® MKL is a proprietary software. It is the responsibility of the users to buy MKL licenses for their products. Moreover, the license of the user product has to allow linking to proprietary software that excludes any unmodified versions of the GPL. +\note +Intel® MKL is a proprietary software and it is the responsibility of users to buy or register for community (free) Intel MKL licenses for their products. Moreover, the license of the user product has to allow linking to proprietary software that excludes any unmodified versions of the GPL. Using Intel MKL through Eigen is easy: -# define the \c EIGEN_USE_MKL_ALL macro before including any Eigen's header diff --git a/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt index f8a0148c8..3ab75dbfe 100644 --- a/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt @@ -10,9 +10,10 @@ if(QT4_FOUND) target_link_libraries(Tutorial_sparse_example ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY}) add_custom_command( - TARGET Tutorial_sparse_example - POST_BUILD - COMMAND Tutorial_sparse_example ARGS ${CMAKE_CURRENT_BINARY_DIR}/../html/Tutorial_sparse_example.jpeg + TARGET Tutorial_sparse_example + POST_BUILD + COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/../html/ + COMMAND Tutorial_sparse_example ARGS ${CMAKE_CURRENT_BINARY_DIR}/../html/Tutorial_sparse_example.jpeg ) add_dependencies(all_examples Tutorial_sparse_example) diff --git a/gtsam/3rdparty/Eigen/failtest/CMakeLists.txt b/gtsam/3rdparty/Eigen/failtest/CMakeLists.txt index 5c4860237..cadc6a255 100644 --- a/gtsam/3rdparty/Eigen/failtest/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/failtest/CMakeLists.txt @@ -32,6 +32,17 @@ ei_add_failtest("ref_3") ei_add_failtest("ref_4") ei_add_failtest("ref_5") +ei_add_failtest("partialpivlu_int") +ei_add_failtest("fullpivlu_int") +ei_add_failtest("llt_int") +ei_add_failtest("ldlt_int") +ei_add_failtest("qr_int") +ei_add_failtest("colpivqr_int") +ei_add_failtest("fullpivqr_int") +ei_add_failtest("jacobisvd_int") +ei_add_failtest("eigensolver_int") +ei_add_failtest("eigensolver_cplx") + if (EIGEN_FAILTEST_FAILURE_COUNT) message(FATAL_ERROR "${EIGEN_FAILTEST_FAILURE_COUNT} out of ${EIGEN_FAILTEST_COUNT} failtests FAILED. " diff --git a/gtsam/3rdparty/Eigen/failtest/colpivqr_int.cpp b/gtsam/3rdparty/Eigen/failtest/colpivqr_int.cpp new file mode 100644 index 000000000..db11910d4 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/colpivqr_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/QR" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + ColPivHouseholderQR > qr(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/eigensolver_cplx.cpp b/gtsam/3rdparty/Eigen/failtest/eigensolver_cplx.cpp new file mode 100644 index 000000000..c2e21e189 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/eigensolver_cplx.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/Eigenvalues" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR std::complex +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + EigenSolver > eig(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/eigensolver_int.cpp b/gtsam/3rdparty/Eigen/failtest/eigensolver_int.cpp new file mode 100644 index 000000000..eda8dc20b --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/eigensolver_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/Eigenvalues" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + EigenSolver > eig(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/fullpivlu_int.cpp b/gtsam/3rdparty/Eigen/failtest/fullpivlu_int.cpp new file mode 100644 index 000000000..e9d2c6eb3 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/fullpivlu_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/LU" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + FullPivLU > lu(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/fullpivqr_int.cpp b/gtsam/3rdparty/Eigen/failtest/fullpivqr_int.cpp new file mode 100644 index 000000000..d182a7b6b --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/fullpivqr_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/QR" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + FullPivHouseholderQR > qr(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/jacobisvd_int.cpp b/gtsam/3rdparty/Eigen/failtest/jacobisvd_int.cpp new file mode 100644 index 000000000..12790aef1 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/jacobisvd_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/SVD" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + JacobiSVD > qr(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/ldlt_int.cpp b/gtsam/3rdparty/Eigen/failtest/ldlt_int.cpp new file mode 100644 index 000000000..243e45746 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/ldlt_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/Cholesky" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + LDLT > ldlt(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/llt_int.cpp b/gtsam/3rdparty/Eigen/failtest/llt_int.cpp new file mode 100644 index 000000000..cb020650d --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/llt_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/Cholesky" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + LLT > llt(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/partialpivlu_int.cpp b/gtsam/3rdparty/Eigen/failtest/partialpivlu_int.cpp new file mode 100644 index 000000000..98ef282ea --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/partialpivlu_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/LU" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + PartialPivLU > lu(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/qr_int.cpp b/gtsam/3rdparty/Eigen/failtest/qr_int.cpp new file mode 100644 index 000000000..ce200e818 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/qr_int.cpp @@ -0,0 +1,14 @@ +#include "../Eigen/QR" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define SCALAR int +#else +#define SCALAR float +#endif + +using namespace Eigen; + +int main() +{ + HouseholderQR > qr(Matrix::Random(10,10)); +} diff --git a/gtsam/3rdparty/Eigen/failtest/ref_1.cpp b/gtsam/3rdparty/Eigen/failtest/ref_1.cpp new file mode 100644 index 000000000..8b798d53d --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/ref_1.cpp @@ -0,0 +1,18 @@ +#include "../Eigen/Core" + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +#define CV_QUALIFIER const +#else +#define CV_QUALIFIER +#endif + +using namespace Eigen; + +void call_ref(Ref a) { } + +int main() +{ + VectorXf a(10); + CV_QUALIFIER VectorXf& ac(a); + call_ref(ac); +} diff --git a/gtsam/3rdparty/Eigen/failtest/ref_2.cpp b/gtsam/3rdparty/Eigen/failtest/ref_2.cpp new file mode 100644 index 000000000..0b779ccf5 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/ref_2.cpp @@ -0,0 +1,15 @@ +#include "../Eigen/Core" + +using namespace Eigen; + +void call_ref(Ref a) { } + +int main() +{ + MatrixXf A(10,10); +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD + call_ref(A.row(3)); +#else + call_ref(A.col(3)); +#endif +} diff --git a/gtsam/3rdparty/Eigen/failtest/ref_3.cpp b/gtsam/3rdparty/Eigen/failtest/ref_3.cpp new file mode 100644 index 000000000..f46027d48 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/ref_3.cpp @@ -0,0 +1,15 @@ +#include "../Eigen/Core" + +using namespace Eigen; + +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD +void call_ref(Ref a) { } +#else +void call_ref(const Ref &a) { } +#endif + +int main() +{ + VectorXf a(10); + call_ref(a+a); +} diff --git a/gtsam/3rdparty/Eigen/failtest/ref_4.cpp b/gtsam/3rdparty/Eigen/failtest/ref_4.cpp new file mode 100644 index 000000000..6c11fa4cb --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/ref_4.cpp @@ -0,0 +1,15 @@ +#include "../Eigen/Core" + +using namespace Eigen; + +void call_ref(Ref > a) {} + +int main() +{ + MatrixXf A(10,10); +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD + call_ref(A.transpose()); +#else + call_ref(A); +#endif +} diff --git a/gtsam/3rdparty/Eigen/failtest/ref_5.cpp b/gtsam/3rdparty/Eigen/failtest/ref_5.cpp new file mode 100644 index 000000000..846d52795 --- /dev/null +++ b/gtsam/3rdparty/Eigen/failtest/ref_5.cpp @@ -0,0 +1,16 @@ +#include "../Eigen/Core" + +using namespace Eigen; + +void call_ref(Ref a) { } + +int main() +{ + VectorXf a(10); + DenseBase &ac(a); +#ifdef EIGEN_SHOULD_FAIL_TO_BUILD + call_ref(ac); +#else + call_ref(ac.derived()); +#endif +} diff --git a/gtsam/3rdparty/Eigen/test/CMakeLists.txt b/gtsam/3rdparty/Eigen/test/CMakeLists.txt index d32451df6..f5f208a37 100644 --- a/gtsam/3rdparty/Eigen/test/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/test/CMakeLists.txt @@ -283,3 +283,9 @@ mark_as_advanced(EIGEN_TEST_EIGEN2) if(EIGEN_TEST_EIGEN2) add_subdirectory(eigen2) endif() + + +option(EIGEN_TEST_BUILD_DOCUMENTATION "Test building the doxygen documentation" OFF) +IF(EIGEN_TEST_BUILD_DOCUMENTATION) + add_dependencies(buildtests doc) +ENDIF() diff --git a/gtsam/3rdparty/Eigen/test/array.cpp b/gtsam/3rdparty/Eigen/test/array.cpp index c607da631..68f6b3d7a 100644 --- a/gtsam/3rdparty/Eigen/test/array.cpp +++ b/gtsam/3rdparty/Eigen/test/array.cpp @@ -109,6 +109,8 @@ template void comparisons(const ArrayType& m) VERIFY(! (m1 < m3).all() ); VERIFY(! (m1 > m3).all() ); } + VERIFY(!(m1 > m2 && m1 < m2).any()); + VERIFY((m1 <= m2 || m1 >= m2).all()); // comparisons to scalar VERIFY( (m1 != (m1(r,c)+1) ).any() ); diff --git a/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp b/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp index 9a50f99ab..9667e1f14 100644 --- a/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp +++ b/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp @@ -102,6 +102,7 @@ template void comparisons(const MatrixType& m) VERIFY( (m1.array() > (m1(r,c)-1) ).any() ); VERIFY( (m1.array() < (m1(r,c)+1) ).any() ); VERIFY( (m1.array() == m1(r,c) ).any() ); + VERIFY( m1.cwiseEqual(m1(r,c)).any() ); // test Select VERIFY_IS_APPROX( (m1.array() void test_conjugate_gradient_T() { - ConjugateGradient, Lower> cg_colmajor_lower_diag; - ConjugateGradient, Upper> cg_colmajor_upper_diag; + ConjugateGradient, Lower > cg_colmajor_lower_diag; + ConjugateGradient, Upper > cg_colmajor_upper_diag; + ConjugateGradient, Lower|Upper> cg_colmajor_loup_diag; ConjugateGradient, Lower, IdentityPreconditioner> cg_colmajor_lower_I; ConjugateGradient, Upper, IdentityPreconditioner> cg_colmajor_upper_I; CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_lower_diag) ); CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_upper_diag) ); + CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_loup_diag) ); CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_lower_I) ); CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_upper_I) ); } diff --git a/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp b/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp index 8e36adbe3..84663ad1f 100644 --- a/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp @@ -172,6 +172,8 @@ void test_geo_alignedbox() CALL_SUBTEST_9( alignedbox(AlignedBox1i()) ); CALL_SUBTEST_10( alignedbox(AlignedBox2i()) ); CALL_SUBTEST_11( alignedbox(AlignedBox3i()) ); + + CALL_SUBTEST_14( alignedbox(AlignedBox(4)) ); } CALL_SUBTEST_12( specificTest1() ); CALL_SUBTEST_13( specificTest2() ); diff --git a/gtsam/3rdparty/Eigen/test/lu.cpp b/gtsam/3rdparty/Eigen/test/lu.cpp index 25f86755a..374652694 100644 --- a/gtsam/3rdparty/Eigen/test/lu.cpp +++ b/gtsam/3rdparty/Eigen/test/lu.cpp @@ -100,7 +100,9 @@ template void lu_invertible() LU.h */ typedef typename NumTraits::Real RealScalar; - int size = internal::random(1,EIGEN_TEST_MAX_SIZE); + DenseIndex size = MatrixType::RowsAtCompileTime; + if( size==Dynamic) + size = internal::random(1,EIGEN_TEST_MAX_SIZE); MatrixType m1(size, size), m2(size, size), m3(size, size); FullPivLU lu; @@ -122,6 +124,10 @@ template void lu_invertible() m2 = lu.solve(m3); VERIFY_IS_APPROX(m3, m1*m2); VERIFY_IS_APPROX(m2, lu.inverse()*m3); + + // Regression test for Bug 302 + MatrixType m4 = MatrixType::Random(size,size); + VERIFY_IS_APPROX(lu.solve(m3*m4), lu.solve(m3)*m4); } template void lu_partial_piv() @@ -171,6 +177,7 @@ void test_lu() { for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( lu_non_invertible() ); + CALL_SUBTEST_1( lu_invertible() ); CALL_SUBTEST_1( lu_verify_assert() ); CALL_SUBTEST_2( (lu_non_invertible >()) ); diff --git a/gtsam/3rdparty/Eigen/test/mapped_matrix.cpp b/gtsam/3rdparty/Eigen/test/mapped_matrix.cpp index de9dbbde3..58904fa37 100644 --- a/gtsam/3rdparty/Eigen/test/mapped_matrix.cpp +++ b/gtsam/3rdparty/Eigen/test/mapped_matrix.cpp @@ -114,6 +114,28 @@ template void check_const_correctness(const PlainObjec VERIFY( !(Map::Flags & LvalueBit) ); } +template +void map_not_aligned_on_scalar() +{ + typedef Matrix MatrixType; + typedef typename MatrixType::Index Index; + Index size = 11; + Scalar* array1 = internal::aligned_new((size+1)*(size+1)+1); + Scalar* array2 = reinterpret_cast(sizeof(Scalar)/2+std::size_t(array1)); + Map > map2(array2, size, size, OuterStride<>(size+1)); + MatrixType m2 = MatrixType::Random(size,size); + map2 = m2; + VERIFY_IS_EQUAL(m2, map2); + + typedef Matrix VectorType; + Map map3(array2, size); + MatrixType v3 = VectorType::Random(size); + map3 = v3; + VERIFY_IS_EQUAL(v3, map3); + + internal::aligned_delete(array1, (size+1)*(size+1)+1); +} + void test_mapped_matrix() { for(int i = 0; i < g_repeat; i++) { @@ -137,5 +159,7 @@ void test_mapped_matrix() CALL_SUBTEST_8( map_static_methods(RowVector3d()) ); CALL_SUBTEST_9( map_static_methods(VectorXcd(8)) ); CALL_SUBTEST_10( map_static_methods(VectorXf(12)) ); + + CALL_SUBTEST_11( map_not_aligned_on_scalar() ); } } diff --git a/gtsam/3rdparty/Eigen/test/product_extra.cpp b/gtsam/3rdparty/Eigen/test/product_extra.cpp index 744a1ef7f..ea2486937 100644 --- a/gtsam/3rdparty/Eigen/test/product_extra.cpp +++ b/gtsam/3rdparty/Eigen/test/product_extra.cpp @@ -109,8 +109,67 @@ void mat_mat_scalar_scalar_product() double det = 6.0, wt = 0.5; VERIFY_IS_APPROX(dNdxy.transpose()*dNdxy*det*wt, det*wt*dNdxy.transpose()*dNdxy); } + +template +void zero_sized_objects(const MatrixType& m) +{ + typedef typename MatrixType::Scalar Scalar; + const int PacketSize = internal::packet_traits::size; + const int PacketSize1 = PacketSize>1 ? PacketSize-1 : 1; + DenseIndex rows = m.rows(); + DenseIndex cols = m.cols(); -void zero_sized_objects() + { + MatrixType res, a(rows,0), b(0,cols); + VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(rows,cols) ); + VERIFY_IS_APPROX( (res=a*a.transpose()), MatrixType::Zero(rows,rows) ); + VERIFY_IS_APPROX( (res=b.transpose()*b), MatrixType::Zero(cols,cols) ); + VERIFY_IS_APPROX( (res=b.transpose()*a.transpose()), MatrixType::Zero(cols,rows) ); + } + + { + MatrixType res, a(rows,cols), b(cols,0); + res = a*b; + VERIFY(res.rows()==rows && res.cols()==0); + b.resize(0,rows); + res = b*a; + VERIFY(res.rows()==0 && res.cols()==cols); + } + + { + Matrix a; + Matrix b; + Matrix res; + VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize,1) ); + VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize,1) ); + } + + { + Matrix a; + Matrix b; + Matrix res; + VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize1,1) ); + VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize1,1) ); + } + + { + Matrix a(PacketSize,0); + Matrix b(0,1); + Matrix res; + VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize,1) ); + VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize,1) ); + } + + { + Matrix a(PacketSize1,0); + Matrix b(0,1); + Matrix res; + VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize1,1) ); + VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize1,1) ); + } +} + +void bug_127() { // Bug 127 // @@ -171,7 +230,8 @@ void test_product_extra() CALL_SUBTEST_2( mat_mat_scalar_scalar_product() ); CALL_SUBTEST_3( product_extra(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); CALL_SUBTEST_4( product_extra(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); + CALL_SUBTEST_1( zero_sized_objects(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } - CALL_SUBTEST_5( zero_sized_objects() ); + CALL_SUBTEST_5( bug_127() ); CALL_SUBTEST_6( unaligned_objects() ); } diff --git a/gtsam/3rdparty/Eigen/test/product_mmtr.cpp b/gtsam/3rdparty/Eigen/test/product_mmtr.cpp index 7d6746800..aeba009f4 100644 --- a/gtsam/3rdparty/Eigen/test/product_mmtr.cpp +++ b/gtsam/3rdparty/Eigen/test/product_mmtr.cpp @@ -24,8 +24,8 @@ template void mmtr(int size) DenseIndex othersize = internal::random(1,200); - MatrixColMaj matc(size, size); - MatrixRowMaj matr(size, size); + MatrixColMaj matc = MatrixColMaj::Zero(size, size); + MatrixRowMaj matr = MatrixRowMaj::Zero(size, size); MatrixColMaj ref1(size, size), ref2(size, size); MatrixColMaj soc(size,othersize); soc.setRandom(); diff --git a/gtsam/3rdparty/Eigen/test/real_qz.cpp b/gtsam/3rdparty/Eigen/test/real_qz.cpp index 7d743a734..a1766c6d9 100644 --- a/gtsam/3rdparty/Eigen/test/real_qz.cpp +++ b/gtsam/3rdparty/Eigen/test/real_qz.cpp @@ -25,6 +25,22 @@ template void real_qz(const MatrixType& m) MatrixType A = MatrixType::Random(dim,dim), B = MatrixType::Random(dim,dim); + + // Regression test for bug 985: Randomly set rows or columns to zero + Index k=internal::random(0, dim-1); + switch(internal::random(0,10)) { + case 0: + A.row(k).setZero(); break; + case 1: + A.col(k).setZero(); break; + case 2: + B.row(k).setZero(); break; + case 3: + B.col(k).setZero(); break; + default: + break; + } + RealQZ qz(A,B); VERIFY_IS_EQUAL(qz.info(), Success); diff --git a/gtsam/3rdparty/Eigen/test/ref.cpp b/gtsam/3rdparty/Eigen/test/ref.cpp index 32eb31048..44bbd3bf1 100644 --- a/gtsam/3rdparty/Eigen/test/ref.cpp +++ b/gtsam/3rdparty/Eigen/test/ref.cpp @@ -229,6 +229,28 @@ void call_ref() VERIFY_EVALUATION_COUNT( call_ref_7(c,c), 0); } +typedef Matrix RowMatrixXd; +int test_ref_overload_fun1(Ref ) { return 1; } +int test_ref_overload_fun1(Ref ) { return 2; } +int test_ref_overload_fun1(Ref ) { return 3; } + +int test_ref_overload_fun2(Ref ) { return 4; } +int test_ref_overload_fun2(Ref ) { return 5; } + +// See also bug 969 +void test_ref_overloads() +{ + MatrixXd Ad, Bd; + RowMatrixXd rAd, rBd; + VERIFY( test_ref_overload_fun1(Ad)==1 ); + VERIFY( test_ref_overload_fun1(rAd)==2 ); + + MatrixXf Af, Bf; + VERIFY( test_ref_overload_fun2(Ad)==4 ); + VERIFY( test_ref_overload_fun2(Ad+Bd)==4 ); + VERIFY( test_ref_overload_fun2(Af+Bf)==5 ); +} + void test_ref() { for(int i = 0; i < g_repeat; i++) { @@ -249,4 +271,6 @@ void test_ref() CALL_SUBTEST_5( ref_matrix(MatrixXi(internal::random(1,10),internal::random(1,10))) ); CALL_SUBTEST_6( call_ref() ); } + + CALL_SUBTEST_7( test_ref_overloads() ); } diff --git a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp index 498ecfe29..ce41d713c 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp +++ b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp @@ -24,6 +24,7 @@ template void sparse_basic(const SparseMatrixType& re double density = (std::max)(8./(rows*cols), 0.01); typedef Matrix DenseMatrix; typedef Matrix DenseVector; + typedef Matrix RowDenseVector; Scalar eps = 1e-6; Scalar s1 = internal::random(); @@ -52,7 +53,7 @@ template void sparse_basic(const SparseMatrixType& re refMat.coeffRef(nonzeroCoords[0].x(), nonzeroCoords[0].y()) = Scalar(5); VERIFY_IS_APPROX(m, refMat); - /* + // test InnerIterators and Block expressions for (int t=0; t<10; ++t) { @@ -61,23 +62,54 @@ template void sparse_basic(const SparseMatrixType& re int w = internal::random(1,cols-j-1); int h = internal::random(1,rows-i-1); - // VERIFY_IS_APPROX(m.block(i,j,h,w), refMat.block(i,j,h,w)); + VERIFY_IS_APPROX(m.block(i,j,h,w), refMat.block(i,j,h,w)); for(int c=0; c void sparse_basic(const SparseMatrixType& re VERIFY_IS_APPROX(m.row(r) + m.row(r), (m + m).row(r)); VERIFY_IS_APPROX(m.row(r) + m.row(r), refMat.row(r) + refMat.row(r)); } - */ + // test assertion VERIFY_RAISES_ASSERT( m.coeffRef(-1,1) = 0 ); @@ -326,6 +358,15 @@ template void sparse_basic(const SparseMatrixType& re refMat2.col(i) = refMat2.col(i) * s1; VERIFY_IS_APPROX(m2,refMat2); } + + VERIFY_IS_APPROX(DenseVector(m2.col(j0)), refMat2.col(j0)); + VERIFY_IS_APPROX(m2.col(j0), refMat2.col(j0)); + + VERIFY_IS_APPROX(RowDenseVector(m2.row(j0)), refMat2.row(j0)); + VERIFY_IS_APPROX(m2.row(j0), refMat2.row(j0)); + + VERIFY_IS_APPROX(m2.block(j0,j1,n0,n0), refMat2.block(j0,j1,n0,n0)); + VERIFY_IS_APPROX((2*m2).block(j0,j1,n0,n0), (2*refMat2).block(j0,j1,n0,n0)); } // test prune diff --git a/gtsam/3rdparty/Eigen/test/sparse_solver.h b/gtsam/3rdparty/Eigen/test/sparse_solver.h index 244e81c1b..833c0d889 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_solver.h +++ b/gtsam/3rdparty/Eigen/test/sparse_solver.h @@ -161,7 +161,10 @@ int generate_sparse_spd_problem(Solver& , typename Solver::MatrixType& A, typena dA = dM * dM.adjoint(); halfA.resize(size,size); - halfA.template selfadjointView().rankUpdate(M); + if(Solver::UpLo==(Lower|Upper)) + halfA = A; + else + halfA.template selfadjointView().rankUpdate(M); return size; } @@ -274,7 +277,17 @@ int generate_sparse_square_problem(Solver&, typename Solver::MatrixType& A, Dens return size; } -template void check_sparse_square_solving(Solver& solver) + +struct prune_column { + int m_col; + prune_column(int col) : m_col(col) {} + template + bool operator()(int, int col, const Scalar&) const { + return col != m_col; + } +}; + +template void check_sparse_square_solving(Solver& solver, bool checkDeficient = false) { typedef typename Solver::MatrixType Mat; typedef typename Mat::Scalar Scalar; @@ -306,6 +319,13 @@ template void check_sparse_square_solving(Solver& solver) b = DenseVector::Zero(size); check_sparse_solving(solver, A, b, dA, b); } + // regression test for Bug 792 (structurally rank deficient matrices): + if(checkDeficient && size>1) { + int col = internal::random(0,size-1); + A.prune(prune_column(col)); + solver.compute(A); + VERIFY_IS_EQUAL(solver.info(), NumericalIssue); + } } // First, get the folder diff --git a/gtsam/3rdparty/Eigen/test/sparselu.cpp b/gtsam/3rdparty/Eigen/test/sparselu.cpp index 52371cb12..b3d67aea8 100644 --- a/gtsam/3rdparty/Eigen/test/sparselu.cpp +++ b/gtsam/3rdparty/Eigen/test/sparselu.cpp @@ -41,12 +41,15 @@ template void test_sparselu_T() SparseLU, AMDOrdering > sparselu_amd; SparseLU, NaturalOrdering > sparselu_natural; - check_sparse_square_solving(sparselu_colamd); - check_sparse_square_solving(sparselu_amd); - check_sparse_square_solving(sparselu_natural); + check_sparse_square_solving(sparselu_colamd, true); + check_sparse_square_solving(sparselu_amd, true); + check_sparse_square_solving(sparselu_natural,true); check_sparse_square_abs_determinant(sparselu_colamd); check_sparse_square_abs_determinant(sparselu_amd); + + check_sparse_square_determinant(sparselu_colamd); + check_sparse_square_determinant(sparselu_amd); } void test_sparselu() diff --git a/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp b/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp index 6cd1acdda..d32fd10cc 100644 --- a/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp +++ b/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp @@ -111,6 +111,18 @@ template void vectorwiseop_array(const ArrayType& m) m2.rowwise() /= m2.colwise().sum(); VERIFY_IS_APPROX(m2, m1.rowwise() / m1.colwise().sum()); } + + // all/any + Array mb(rows,cols); + mb = (m1.real()<=0.7).colwise().all(); + VERIFY( (mb.col(c) == (m1.real().col(c)<=0.7).all()).all() ); + mb = (m1.real()<=0.7).rowwise().all(); + VERIFY( (mb.row(r) == (m1.real().row(r)<=0.7).all()).all() ); + + mb = (m1.real()>=0.7).colwise().any(); + VERIFY( (mb.col(c) == (m1.real().col(c)>=0.7).any()).all() ); + mb = (m1.real()>=0.7).rowwise().any(); + VERIFY( (mb.row(r) == (m1.real().row(r)>=0.7).any()).all() ); } template void vectorwiseop_matrix(const MatrixType& m) diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt index e06f1238b..e1fbf97e2 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt @@ -1,6 +1,6 @@ -set(Eigen_HEADERS AdolcForward BVH IterativeSolvers MatrixFunctions MoreVectorization AutoDiff AlignedVector3 Polynomials - FFT NonLinearOptimization SparseExtra IterativeSolvers - NumericalDiff Skyline MPRealSupport OpenGLSupport KroneckerProduct Splines LevenbergMarquardt +set(Eigen_HEADERS AdolcForward AlignedVector3 ArpackSupport AutoDiff BVH FFT IterativeSolvers KroneckerProduct LevenbergMarquardt + MatrixFunctions MoreVectorization MPRealSupport NonLinearOptimization NumericalDiff OpenGLSupport Polynomials + Skyline SparseExtra Splines ) install(FILES diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt index f3180b52b..125c43fdf 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt @@ -2,6 +2,8 @@ ADD_SUBDIRECTORY(AutoDiff) ADD_SUBDIRECTORY(BVH) ADD_SUBDIRECTORY(FFT) ADD_SUBDIRECTORY(IterativeSolvers) +ADD_SUBDIRECTORY(KroneckerProduct) +ADD_SUBDIRECTORY(LevenbergMarquardt) ADD_SUBDIRECTORY(MatrixFunctions) ADD_SUBDIRECTORY(MoreVectorization) ADD_SUBDIRECTORY(NonLinearOptimization) @@ -9,5 +11,4 @@ ADD_SUBDIRECTORY(NumericalDiff) ADD_SUBDIRECTORY(Polynomials) ADD_SUBDIRECTORY(Skyline) ADD_SUBDIRECTORY(SparseExtra) -ADD_SUBDIRECTORY(KroneckerProduct) ADD_SUBDIRECTORY(Splines) diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h index c8c84069e..7ba13afd2 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h @@ -246,20 +246,7 @@ struct traits > * \endcode * * By default the iterations start with x=0 as an initial guess of the solution. - * One can control the start using the solveWithGuess() method. Here is a step by - * step execution example starting with a random guess and printing the evolution - * of the estimated error: - * * \code - * x = VectorXd::Random(n); - * solver.setMaxIterations(1); - * int i = 0; - * do { - * x = solver.solveWithGuess(b,x); - * std::cout << i << " : " << solver.error() << std::endl; - * ++i; - * } while (solver.info()!=Success && i<100); - * \endcode - * Note that such a step by step excution is slightly slower. + * One can control the start using the solveWithGuess() method. * * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner */ diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h index 0e56342a8..30f26aa50 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h @@ -37,22 +37,31 @@ namespace Eigen { typedef typename Dest::Scalar Scalar; typedef Matrix VectorType; + // Check for zero rhs + const RealScalar rhsNorm2(rhs.squaredNorm()); + if(rhsNorm2 == 0) + { + x.setZero(); + iters = 0; + tol_error = 0; + return; + } + // initialize const int maxIters(iters); // initialize maxIters to iters const int N(mat.cols()); // the size of the matrix - const RealScalar rhsNorm2(rhs.squaredNorm()); const RealScalar threshold2(tol_error*tol_error*rhsNorm2); // convergence threshold (compared to residualNorm2) // Initialize preconditioned Lanczos -// VectorType v_old(N); // will be initialized inside loop + VectorType v_old(N); // will be initialized inside loop VectorType v( VectorType::Zero(N) ); //initialize v VectorType v_new(rhs-mat*x); //initialize v_new RealScalar residualNorm2(v_new.squaredNorm()); -// VectorType w(N); // will be initialized inside loop + VectorType w(N); // will be initialized inside loop VectorType w_new(precond.solve(v_new)); // initialize w_new // RealScalar beta; // will be initialized inside loop RealScalar beta_new2(v_new.dot(w_new)); - eigen_assert(beta_new2 >= 0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE"); + eigen_assert(beta_new2 >= 0.0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE"); RealScalar beta_new(sqrt(beta_new2)); const RealScalar beta_one(beta_new); v_new /= beta_new; @@ -62,14 +71,14 @@ namespace Eigen { RealScalar c_old(1.0); RealScalar s(0.0); // the sine of the Givens rotation RealScalar s_old(0.0); // the sine of the Givens rotation -// VectorType p_oold(N); // will be initialized in loop + VectorType p_oold(N); // will be initialized in loop VectorType p_old(VectorType::Zero(N)); // initialize p_old=0 VectorType p(p_old); // initialize p=0 RealScalar eta(1.0); iters = 0; // reset iters - while ( iters < maxIters ){ - + while ( iters < maxIters ) + { // Preconditioned Lanczos /* Note that there are 4 variants on the Lanczos algorithm. These are * described in Paige, C. C. (1972). Computational variants of @@ -81,17 +90,17 @@ namespace Eigen { * A. Greenbaum, Iterative Methods for Solving Linear Systems, SIAM (1987). */ const RealScalar beta(beta_new); -// v_old = v; // update: at first time step, this makes v_old = 0 so value of beta doesn't matter - const VectorType v_old(v); // NOT SURE IF CREATING v_old EVERY ITERATION IS EFFICIENT + v_old = v; // update: at first time step, this makes v_old = 0 so value of beta doesn't matter +// const VectorType v_old(v); // NOT SURE IF CREATING v_old EVERY ITERATION IS EFFICIENT v = v_new; // update -// w = w_new; // update - const VectorType w(w_new); // NOT SURE IF CREATING w EVERY ITERATION IS EFFICIENT + w = w_new; // update +// const VectorType w(w_new); // NOT SURE IF CREATING w EVERY ITERATION IS EFFICIENT v_new.noalias() = mat*w - beta*v_old; // compute v_new const RealScalar alpha = v_new.dot(w); v_new -= alpha*v; // overwrite v_new w_new = precond.solve(v_new); // overwrite w_new beta_new2 = v_new.dot(w_new); // compute beta_new - eigen_assert(beta_new2 >= 0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE"); + eigen_assert(beta_new2 >= 0.0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE"); beta_new = sqrt(beta_new2); // compute beta_new v_new /= beta_new; // overwrite v_new for next iteration w_new /= beta_new; // overwrite w_new for next iteration @@ -107,21 +116,28 @@ namespace Eigen { s=beta_new/r1; // new sine // Update solution -// p_oold = p_old; - const VectorType p_oold(p_old); // NOT SURE IF CREATING p_oold EVERY ITERATION IS EFFICIENT + p_oold = p_old; +// const VectorType p_oold(p_old); // NOT SURE IF CREATING p_oold EVERY ITERATION IS EFFICIENT p_old = p; p.noalias()=(w-r2*p_old-r3*p_oold) /r1; // IS NOALIAS REQUIRED? x += beta_one*c*eta*p; + + /* Update the squared residual. Note that this is the estimated residual. + The real residual |Ax-b|^2 may be slightly larger */ residualNorm2 *= s*s; - if ( residualNorm2 < threshold2){ + if ( residualNorm2 < threshold2) + { break; } eta=-s*eta; // update eta iters++; // increment iteration number (for output purposes) } - tol_error = std::sqrt(residualNorm2 / rhsNorm2); // return error. Note that this is the estimated error. The real error |Ax-b|/|b| may be slightly larger + + /* Compute error. Note that this is the estimated error. The real + error |Ax-b|/|b| may be slightly larger */ + tol_error = std::sqrt(residualNorm2 / rhsNorm2); } } @@ -174,20 +190,7 @@ namespace Eigen { * \endcode * * By default the iterations start with x=0 as an initial guess of the solution. - * One can control the start using the solveWithGuess() method. Here is a step by - * step execution example starting with a random guess and printing the evolution - * of the estimated error: - * * \code - * x = VectorXd::Random(n); - * mr.setMaxIterations(1); - * int i = 0; - * do { - * x = mr.solveWithGuess(b,x); - * std::cout << i << " : " << mr.error() << std::endl; - * ++i; - * } while (mr.info()!=Success && i<100); - * \endcode - * Note that such a step by step excution is slightly slower. + * One can control the start using the solveWithGuess() method. * * \sa class ConjugateGradient, BiCGSTAB, SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner */ @@ -250,6 +253,11 @@ namespace Eigen { template void _solveWithGuess(const Rhs& b, Dest& x) const { + typedef typename internal::conditional + >::type MatrixWrapperType; + m_iterations = Base::maxIterations(); m_error = Base::m_tolerance; @@ -259,7 +267,7 @@ namespace Eigen { m_error = Base::m_tolerance; typename Dest::ColXpr xj(x,j); - internal::minres(mp_matrix->template selfadjointView(), b.col(j), xj, + internal::minres(MatrixWrapperType(*mp_matrix), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error); } diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/LevenbergMarquardt/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/LevenbergMarquardt/CMakeLists.txt index 8513803ce..d9690854d 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/LevenbergMarquardt/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/LevenbergMarquardt/CMakeLists.txt @@ -2,5 +2,5 @@ FILE(GLOB Eigen_LevenbergMarquardt_SRCS "*.h") INSTALL(FILES ${Eigen_LevenbergMarquardt_SRCS} - DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/LevenbergMarquardt COMPONENT Devel + DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/LevenbergMarquardt COMPONENT Devel ) diff --git a/gtsam/3rdparty/Eigen/unsupported/test/minres.cpp b/gtsam/3rdparty/Eigen/unsupported/test/minres.cpp index fd12da548..509ebe09a 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/minres.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/minres.cpp @@ -14,15 +14,32 @@ template void test_minres_T() { - MINRES, Lower, DiagonalPreconditioner > minres_colmajor_diag; - MINRES, Lower, IdentityPreconditioner > minres_colmajor_I; + MINRES, Lower|Upper, DiagonalPreconditioner > minres_colmajor_diag; + MINRES, Lower, IdentityPreconditioner > minres_colmajor_lower_I; + MINRES, Upper, IdentityPreconditioner > minres_colmajor_upper_I; // MINRES, Lower, IncompleteLUT > minres_colmajor_ilut; //minres, SSORPreconditioner > minres_colmajor_ssor; - CALL_SUBTEST( check_sparse_square_solving(minres_colmajor_diag) ); - CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_I) ); + +// CALL_SUBTEST( check_sparse_square_solving(minres_colmajor_diag) ); // CALL_SUBTEST( check_sparse_square_solving(minres_colmajor_ilut) ); //CALL_SUBTEST( check_sparse_square_solving(minres_colmajor_ssor) ); + + // Diagonal preconditioner + MINRES, Lower, DiagonalPreconditioner > minres_colmajor_lower_diag; + MINRES, Upper, DiagonalPreconditioner > minres_colmajor_upper_diag; + MINRES, Upper|Lower, DiagonalPreconditioner > minres_colmajor_uplo_diag; + + // call tests for SPD matrix + CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_lower_I) ); + CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_upper_I) ); + + CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_lower_diag) ); + CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_upper_diag) ); +// CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_uplo_diag) ); + + // TO DO: symmetric semi-definite matrix + // TO DO: symmetric indefinite matrix } void test_minres() diff --git a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h index dddda7dd9..7d6f4e79f 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h +++ b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h @@ -57,7 +57,8 @@ #include // Options -#define MPREAL_HAVE_INT64_SUPPORT // Enable int64_t support if possible. Available only for MSVC 2010 & GCC. +// FIXME HAVE_INT64_SUPPORT leads to clashes with long int and int64_t on some systems. +//#define MPREAL_HAVE_INT64_SUPPORT // Enable int64_t support if possible. Available only for MSVC 2010 & GCC. #define MPREAL_HAVE_MSVC_DEBUGVIEW // Enable Debugger Visualizer for "Debug" builds in MSVC. #define MPREAL_HAVE_DYNAMIC_STD_NUMERIC_LIMITS // Enable extended std::numeric_limits specialization. // Meaning that "digits", "round_style" and similar members are defined as functions, not constants. From 702c73fc758255d25c2988e42d489ef249758d3d Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 13 Oct 2015 13:30:24 -0400 Subject: [PATCH 637/964] Patch Memory.h --- gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h index b9af5cf8c..bc1ea69ed 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h @@ -630,6 +630,8 @@ template class aligned_stack_memory_handler } \ void operator delete(void * ptr) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ void operator delete[](void * ptr) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ + void operator delete(void * ptr, std::size_t /* sz */) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ + void operator delete[](void * ptr, std::size_t /* sz */) throw() { Eigen::internal::conditional_aligned_free(ptr); } \ /* in-place new and delete. since (at least afaik) there is no actual */ \ /* memory allocated we can safely let the default implementation handle */ \ /* this particular case. */ \ From d087f2fdf813a8bdb2fbee95e7ce42805953c70b Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 13 Oct 2015 12:31:01 -0700 Subject: [PATCH 638/964] Some new methods and improvements to Unit3 from Skydio --- gtsam/geometry/Unit3.cpp | 253 ++++++++++++----- gtsam/geometry/Unit3.h | 86 ++++-- gtsam/geometry/tests/testUnit3.cpp | 417 +++++++++++++++++++++-------- 3 files changed, 549 insertions(+), 207 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index 7729bd354..f53be3b40 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -15,12 +15,14 @@ * @author Can Erdogan * @author Frank Dellaert * @author Alex Trevor - * @author Zhaoyang Lv * @brief The Unit3 class - basically a point on a unit sphere */ #include #include +#include // GTSAM_USE_TBB + +#include #include // for GTSAM_USE_TBB #ifdef __clang__ @@ -32,13 +34,8 @@ # pragma clang diagnostic pop #endif -#ifdef GTSAM_USE_TBB -#include -#endif - #include #include -#include using namespace std; @@ -46,14 +43,12 @@ namespace gtsam { /* ************************************************************************* */ Unit3 Unit3::FromPoint3(const Point3& point, OptionalJacobian<2,3> H) { - Unit3 direction(point); - if (H) { - // 3*3 Derivative of representation with respect to point is 3*3: - Matrix3 D_p_point; - point.normalize(D_p_point); // TODO, this calculates norm a second time :-( - // Calculate the 2*3 Jacobian + // 3*3 Derivative of representation with respect to point is 3*3: + Matrix3 D_p_point; + Unit3 direction; + direction.p_ = point.normalize(H ? &D_p_point : 0); + if (H) *H << direction.basis().transpose() * D_p_point; - } return direction; } @@ -63,49 +58,105 @@ Unit3 Unit3::Random(boost::mt19937 & rng) { boost::uniform_on_sphere randomDirection(3); // This variate_generator object is required for versions of boost somewhere // around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng). - boost::variate_generator > generator( - rng, randomDirection); + boost::variate_generator > + generator(rng, randomDirection); vector d = generator(); - return Unit3(d[0], d[1], d[2]); + Unit3 result; + result.p_ = Point3(d[0], d[1], d[2]); + return result; } -#ifdef GTSAM_USE_TBB -tbb::mutex unit3BasisMutex; -#endif - /* ************************************************************************* */ -const Matrix32& Unit3::basis() const { +const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { #ifdef GTSAM_USE_TBB - tbb::mutex::scoped_lock lock(unit3BasisMutex); + // NOTE(hayk): At some point it seemed like this reproducably resulted in deadlock. However, I + // can't see the reason why and I can no longer reproduce it. It may have been a red herring, or + // there is still a latent bug to watch out for. + tbb::mutex::scoped_lock lock(B_mutex_); #endif - // Return cached version if exists - if (B_) return *B_; + // Return cached basis if available and the Jacobian isn't needed. + if (B_ && !H) { + return *B_; + } + + // Return cached basis and derivatives if available. + if (B_ && H && H_B_) { + *H = *H_B_; + return *B_; + } + + // Get the unit vector and derivative wrt this. + // NOTE(hayk): We can't call point3(), because it would recursively call basis(). + const Point3& n = p_; // Get the axis of rotation with the minimum projected length of the point - Vector3 axis; - double mx = fabs(p_.x()), my = fabs(p_.y()), mz = fabs(p_.z()); - if ((mx <= my) && (mx <= mz)) - axis = Vector3(1.0, 0.0, 0.0); - else if ((my <= mx) && (my <= mz)) - axis = Vector3(0.0, 1.0, 0.0); - else if ((mz <= mx) && (mz <= my)) - axis = Vector3(0.0, 0.0, 1.0); - else + Point3 axis; + double mx = fabs(n.x()), my = fabs(n.y()), mz = fabs(n.z()); + if ((mx <= my) && (mx <= mz)) { + axis = Point3(1.0, 0.0, 0.0); + } else if ((my <= mx) && (my <= mz)) { + axis = Point3(0.0, 1.0, 0.0); + } else if ((mz <= mx) && (mz <= my)) { + axis = Point3(0.0, 0.0, 1.0); + } else { assert(false); + } - // Create the two basis vectors - Vector3 b1 = p_.cross(axis).normalized(); - Vector3 b2 = p_.cross(b1).normalized(); + // Choose the direction of the first basis vector b1 in the tangent plane by crossing n with + // the chosen axis. + Matrix33 H_B1_n; + Point3 B1 = n.cross(axis, H ? &H_B1_n : nullptr); - // Create the basis matrix + // Normalize result to get a unit vector: b1 = B1 / |B1|. + Matrix33 H_b1_B1; + Point3 b1 = B1.normalize(H ? &H_b1_B1 : nullptr); + + // Get the second basis vector b2, which is orthogonal to n and b1, by crossing them. + // No need to normalize this, p and b1 are orthogonal unit vectors. + Matrix33 H_b2_n, H_b2_b1; + Point3 b2 = n.cross(b1, H ? &H_b2_n : nullptr, H ? &H_b2_b1 : nullptr); + + // Create the basis by stacking b1 and b2. B_.reset(Matrix32()); - (*B_) << b1, b2; + (*B_) << b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z(); + + if (H) { + // Chain rule tomfoolery to compute the derivative. + const Matrix32& H_n_p = *B_; + Matrix32 H_b1_p = H_b1_B1 * H_B1_n * H_n_p; + Matrix32 H_b2_p = H_b2_n * H_n_p + H_b2_b1 * H_b1_p; + + // Cache the derivative and fill the result. + H_B_.reset(Matrix62()); + (*H_B_) << H_b1_p, H_b2_p; + *H = *H_B_; + } + return *B_; } /* ************************************************************************* */ -/// The print fuction +const Point3& Unit3::point3(OptionalJacobian<3, 2> H) const { + if (H) + *H = basis(); + return p_; +} + +/* ************************************************************************* */ +Vector3 Unit3::unitVector(boost::optional H) const { + if (H) + *H = basis(); + return (p_.vector()); +} + +/* ************************************************************************* */ +std::ostream& operator<<(std::ostream& os, const Unit3& pair) { + os << pair.p_ << endl; + return os; +} + +/* ************************************************************************* */ void Unit3::print(const std::string& s) const { cout << s << ":" << p_ << endl; } @@ -116,11 +167,72 @@ Matrix3 Unit3::skew() const { } /* ************************************************************************* */ -Vector2 Unit3::error(const Unit3& q, OptionalJacobian<2,2> H) const { +double Unit3::dot(const Unit3& q, OptionalJacobian<1,2> H_p, OptionalJacobian<1,2> H_q) const { + // Get the unit vectors of each, and the derivative. + Matrix32 H_pn_p; + const Point3& pn = point3(H_p ? &H_pn_p : 0); + + Matrix32 H_qn_q; + const Point3& qn = q.point3(H_q ? &H_qn_q : 0); + + // Compute the dot product of the Point3s. + Matrix13 H_dot_pn, H_dot_qn; + double d = pn.dot(qn, H_p ? &H_dot_pn : nullptr, H_q ? &H_dot_qn : nullptr); + + if (H_p) { + (*H_p) << H_dot_pn * H_pn_p; + } + + if (H_q) { + (*H_q) = H_dot_qn * H_qn_q; + } + + return d; +} + +/* ************************************************************************* */ +Vector2 Unit3::error(const Unit3& q, OptionalJacobian<2,2> H_q) const { // 2D error is equal to B'*q, as B is 3x2 matrix and q is 3x1 - Vector2 xi = basis().transpose() * q.p_; - if (H) - *H = basis().transpose() * q.basis(); + Matrix23 Bt = basis().transpose(); + Vector2 xi = Bt * q.p_.vector(); + if (H_q) { + *H_q = Bt * q.basis(); + } + return xi; +} + +/* ************************************************************************* */ +Vector2 Unit3::errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p, OptionalJacobian<2, 2> H_q) const { + // Get the point3 of this, and the derivative. + Matrix32 H_qn_q; + const Point3& qn = q.point3(H_q ? &H_qn_q : 0); + + // 2D error here is projecting q into the tangent plane of this (p). + Matrix62 H_B_p; + Matrix23 Bt = basis(H_p ? &H_B_p : nullptr).transpose(); + Vector2 xi = Bt * qn.vector(); + + if (H_p) { + // Derivatives of each basis vector. + const Matrix32& H_b1_p = H_B_p.block<3, 2>(0, 0); + const Matrix32& H_b2_p = H_B_p.block<3, 2>(3, 0); + + // Derivatives of the two entries of xi wrt the basis vectors. + Matrix13 H_xi1_b1 = qn.vector().transpose(); + Matrix13 H_xi2_b2 = qn.vector().transpose(); + + // Assemble dxi/dp = dxi/dB * dB/dp. + Matrix12 H_xi1_p = H_xi1_b1 * H_b1_p; + Matrix12 H_xi2_p = H_xi2_b2 * H_b2_p; + *H_p << H_xi1_p, H_xi2_p; + } + + if (H_q) { + // dxi/dq is given by dxi/dqu * dqu/dq, where qu is the unit vector of q. + Matrix23 H_xi_qu = Bt; + *H_q = H_xi_qu * H_qn_q; + } + return xi; } @@ -136,39 +248,46 @@ double Unit3::distance(const Unit3& q, OptionalJacobian<1,2> H) const { /* ************************************************************************* */ Unit3 Unit3::retract(const Vector2& v) const { - // Compute the 3D xi_hat vector - Vector3 xi_hat = basis() * v; - double theta = xi_hat.norm(); - // Treat case of very small v differently - if (theta < std::numeric_limits::epsilon()) { - return Unit3(cos(theta) * p_ + xi_hat); + // Get the vector form of the point and the basis matrix + Vector3 p = p_.vector(); + Matrix32 B = basis(); + + // Compute the 3D xi_hat vector + Vector3 xi_hat = v(0) * B.col(0) + v(1) * B.col(1); + + double xi_hat_norm = xi_hat.norm(); + + // Avoid nan + if (xi_hat_norm == 0.0) { + if (v.norm() == 0.0) + return Unit3(point3()); + else + return Unit3(-point3()); } - Vector3 exp_p_xi_hat = - cos(theta) * p_ + xi_hat * (sin(theta) / theta); + Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p + + sin(xi_hat_norm) * (xi_hat / xi_hat_norm); return Unit3(exp_p_xi_hat); } /* ************************************************************************* */ -Vector2 Unit3::localCoordinates(const Unit3& other) const { - const double x = p_.dot(other.p_); - // Crucial quantity here is y = theta/sin(theta) with theta=acos(x) - // Now, y = acos(x) / sin(acos(x)) = acos(x)/sqrt(1-x^2) - // We treat the special case 1 and -1 below - const double x2 = x * x; - const double z = 1 - x2; - double y; - if (z < std::numeric_limits::epsilon()) { - if (x > 0) // first order expansion at x=1 - y = 1.0 - (x - 1.0) / 3.0; - else // cop out - return Vector2(M_PI, 0.0); - } else { +Vector2 Unit3::localCoordinates(const Unit3& y) const { + + Vector3 p = p_.vector(), q = y.p_.vector(); + double dot = p.dot(q); + + // Check for special cases + if (dot > 1.0 - 1e-16) + return Vector2(0, 0); + else if (dot < -1.0 + 1e-16) + return Vector2(M_PI, 0); + else { // no special case - y = acos(x) / sqrt(z); + double theta = acos(dot); + Vector3 result_hat = (theta / sin(theta)) * (q - p * dot); + return basis().transpose() * result_hat; } - return basis().transpose() * y * (other.p_ - x * p_); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index b7e243419..784e5c5e1 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -20,16 +20,16 @@ #pragma once -#include #include -#include -#include +#include +#include -#include #include -#include +#include -#include +#ifdef GTSAM_USE_TBB +#include +#endif namespace gtsam { @@ -38,8 +38,13 @@ class GTSAM_EXPORT Unit3 { private: - Vector3 p_; ///< The location of the point on the unit sphere + Point3 p_; ///< The location of the point on the unit sphere mutable boost::optional B_; ///< Cached basis + mutable boost::optional H_B_; ///< Cached basis derivative + +#ifdef GTSAM_USE_TBB + mutable tbb::mutex B_mutex_; ///< Mutex to protect the cached basis. +#endif public: @@ -57,18 +62,23 @@ public: /// Construct from point explicit Unit3(const Point3& p) : - p_(p.vector().normalized()) { + p_(p.normalize()) { } /// Construct from a vector3 - explicit Unit3(const Vector3& p) : - p_(p.normalized()) { + explicit Unit3(const Vector3& v) : + p_(v / v.norm()) { } /// Construct from x,y,z Unit3(double x, double y, double z) : - p_(x, y, z) { - p_.normalize(); + p_(Point3(x, y, z).normalize()) { + } + + /// Construct from 2D point in plane at focal length f + /// Unit3(p,1) can be viewed as normalized homogeneous coordinates of 2D point + explicit Unit3(const Point2& p, double f=1.0) : + p_(Point3(p.x(), p.y(), f).normalize()) { } /// Named constructor from Point3 with optional Jacobian @@ -83,12 +93,14 @@ public: /// @name Testable /// @{ + friend std::ostream& operator<<(std::ostream& os, const Unit3& pair); + /// The print fuction void print(const std::string& s = std::string()) const; /// The equals function with tolerance bool equals(const Unit3& s, double tol = 1e-9) const { - return equal_with_abs_tol(p_, s.p_, tol); + return p_.equals(s.p_, tol); } /// @} @@ -99,37 +111,50 @@ public: * Returns the local coordinate frame to tangent plane * It is a 3*2 matrix [b1 b2] composed of two orthogonal directions * tangent to the sphere at the current direction. + * Provides derivatives of the basis with the two basis vectors stacked up as a 6x1. */ - const Matrix32& basis() const; + const Matrix32& basis(OptionalJacobian<6, 2> H = boost::none) const; /// Return skew-symmetric associated with 3D point on unit sphere Matrix3 skew() const; /// Return unit-norm Point3 - Point3 point3(OptionalJacobian<3, 2> H = boost::none) const { - if (H) - *H = basis(); - return Point3(p_); - } + const Point3& point3(OptionalJacobian<3, 2> H = boost::none) const; /// Return unit-norm Vector - const Vector3& unitVector(boost::optional H = boost::none) const { - if (H) - *H = basis(); - return p_; - } + Vector3 unitVector(boost::optional H = boost::none) const; /// Return scaled direction as Point3 friend Point3 operator*(double s, const Unit3& d) { - return Point3(s * d.p_); + return s * d.p_; } + /// Return dot product with q + double dot(const Unit3& q, OptionalJacobian<1,2> H1 = boost::none, // + OptionalJacobian<1,2> H2 = boost::none) const; + /// Signed, vector-valued error between two directions - Vector2 error(const Unit3& q, OptionalJacobian<2, 2> H = boost::none) const; + /// @deprecated, errorVector has the proper derivatives, this confusingly has only the second. + Vector2 error(const Unit3& q, OptionalJacobian<2, 2> H_q = boost::none) const; + + /// Signed, vector-valued error between two directions + /// NOTE(hayk): This method has zero derivatives if this (p) and q are orthogonal. + Vector2 errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p = boost::none, // + OptionalJacobian<2, 2> H_q = boost::none) const; /// Distance between two directions double distance(const Unit3& q, OptionalJacobian<1, 2> H = boost::none) const; + /// Cross-product between two Unit3s + Unit3 cross(const Unit3& q) const { + return Unit3(p_.cross(q.p_)); + } + + /// Cross-product w Point3 + Point3 cross(const Point3& q) const { + return Point3(p_.vector().cross(q.vector())); + } + /// @} /// @name Manifold @@ -147,7 +172,7 @@ public: enum CoordinatesMode { EXPMAP, ///< Use the exponential map to retract - RENORM ///< Retract with vector addition and renormalize. + RENORM ///< Retract with vector addtion and renormalize. }; /// The retract function @@ -167,6 +192,13 @@ private: template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_NVP(p_); + // homebrew serialize Eigen Matrix + ar & boost::serialization::make_nvp("B11", (*B_)(0, 0)); + ar & boost::serialization::make_nvp("B12", (*B_)(0, 1)); + ar & boost::serialization::make_nvp("B21", (*B_)(1, 0)); + ar & boost::serialization::make_nvp("B22", (*B_)(1, 1)); + ar & boost::serialization::make_nvp("B31", (*B_)(2, 0)); + ar & boost::serialization::make_nvp("B32", (*B_)(2, 1)); } /// @} diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index e55caaa3c..26fbf42bb 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -22,19 +22,26 @@ #include #include #include -#include +#include +#include +#include +#include +#include +#include +#include #include - #include #include #include +//#include #include #include using namespace boost::assign; using namespace gtsam; using namespace std; +using gtsam::symbol_shorthand::U; GTSAM_CONCEPT_TESTABLE_INST(Unit3) GTSAM_CONCEPT_MANIFOLD_INST(Unit3) @@ -43,7 +50,6 @@ GTSAM_CONCEPT_MANIFOLD_INST(Unit3) Point3 point3_(const Unit3& p) { return p.point3(); } - TEST(Unit3, point3) { vector ps; ps += Point3(1, 0, 0), Point3(0, 1, 0), Point3(0, 0, 1), Point3(1, 1, 0) @@ -69,7 +75,7 @@ TEST(Unit3, rotate) { Unit3 actual = R * p; EXPECT(assert_equal(expected, actual, 1e-8)); Matrix actualH, expectedH; - + // Use numerical derivatives to calculate the expected Jacobian { expectedH = numericalDerivative21(rotate_, R, p); R.rotate(p, actualH, boost::none); @@ -93,8 +99,8 @@ TEST(Unit3, unrotate) { Unit3 expected = Unit3(1, 1, 0); Unit3 actual = R.unrotate(p); EXPECT(assert_equal(expected, actual, 1e-8)); - Matrix actualH, expectedH; + // Use numerical derivatives to calculate the expected Jacobian { expectedH = numericalDerivative21(unrotate_, R, p); R.unrotate(p, actualH, boost::none); @@ -107,6 +113,37 @@ TEST(Unit3, unrotate) { } } +TEST(Unit3, dot) { + Unit3 p(1, 0.2, 0.3); + Unit3 q = p.retract(Vector2(0.5, 0)); + Unit3 r = p.retract(Vector2(0.8, 0)); + Unit3 t = p.retract(Vector2(0, 0.3)); + EXPECT(assert_equal(1.0, p.dot(p), 1e-8)); + EXPECT(assert_equal(0.877583, p.dot(q), 1e-5)); + EXPECT(assert_equal(0.696707, p.dot(r), 1e-5)); + EXPECT(assert_equal(0.955336, p.dot(t), 1e-5)); + + // Use numerical derivatives to calculate the expected Jacobians + Matrix H1, H2; + boost::function f = boost::bind(&Unit3::dot, _1, _2, // + boost::none, boost::none); + { + p.dot(q, H1, H2); + EXPECT(assert_equal(numericalDerivative21(f, p, q), H1, 1e-9)); + EXPECT(assert_equal(numericalDerivative22(f, p, q), H2, 1e-9)); + } + { + p.dot(r, H1, H2); + EXPECT(assert_equal(numericalDerivative21(f, p, r), H1, 1e-9)); + EXPECT(assert_equal(numericalDerivative22(f, p, r), H2, 1e-9)); + } + { + p.dot(t, H1, H2); + EXPECT(assert_equal(numericalDerivative21(f, p, t), H1, 1e-9)); + EXPECT(assert_equal(numericalDerivative22(f, p, t), H2, 1e-9)); + } +} + //******************************************************************************* TEST(Unit3, error) { Unit3 p(1, 0, 0), q = p.retract(Vector2(0.5, 0)), // @@ -116,6 +153,7 @@ TEST(Unit3, error) { EXPECT(assert_equal((Vector)(Vector2(0.717356, 0)), p.error(r), 1e-5)); Matrix actual, expected; + // Use numerical derivatives to calculate the expected Jacobian { expected = numericalDerivative11( boost::bind(&Unit3::error, &p, _1, boost::none), q); @@ -130,6 +168,45 @@ TEST(Unit3, error) { } } +//******************************************************************************* +TEST(Unit3, error2) { + Unit3 p(0.1, -0.2, 0.8); + Unit3 q = p.retract(Vector2(0.2, -0.1)); + Unit3 r = p.retract(Vector2(0.8, 0)); + + // Hard-coded as simple regression values + EXPECT(assert_equal((Vector)(Vector2(0.0, 0.0)), p.errorVector(p), 1e-8)); + EXPECT(assert_equal((Vector)(Vector2(0.198337495, -0.0991687475)), p.errorVector(q), 1e-5)); + EXPECT(assert_equal((Vector)(Vector2(0.717356, 0)), p.errorVector(r), 1e-5)); + + Matrix actual, expected; + // Use numerical derivatives to calculate the expected Jacobian + { + expected = numericalDerivative21( + boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, q); + p.errorVector(q, actual, boost::none); + EXPECT(assert_equal(expected, actual, 1e-9)); + } + { + expected = numericalDerivative21( + boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, r); + p.errorVector(r, actual, boost::none); + EXPECT(assert_equal(expected, actual, 1e-9)); + } + { + expected = numericalDerivative22( + boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, q); + p.errorVector(q, boost::none, actual); + EXPECT(assert_equal(expected, actual, 1e-9)); + } + { + expected = numericalDerivative22( + boost::bind(&Unit3::errorVector, _1, _2, boost::none, boost::none), p, r); + p.errorVector(r, boost::none, actual); + EXPECT(assert_equal(expected, actual, 1e-9)); + } +} + //******************************************************************************* TEST(Unit3, distance) { Unit3 p(1, 0, 0), q = p.retract(Vector2(0.5, 0)), // @@ -155,107 +232,211 @@ TEST(Unit3, distance) { } //******************************************************************************* - -TEST(Unit3, localCoordinates) { - { - Unit3 p, q; - Vector2 expected = Vector2::Zero(); - Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(zero(2), actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); - } - { - Unit3 p, q(1, 6.12385e-21, 0); - Vector2 expected = Vector2::Zero(); - Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(zero(2), actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); - } - { - Unit3 p, q(-1, 0, 0); - Vector2 expected(M_PI, 0); - Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(expected, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); - } - { - Unit3 p, q(0, 1, 0); - Vector2 expected(0,-M_PI_2); - Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(expected, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); - } - { - Unit3 p, q(0, -1, 0); - Vector2 expected(0, M_PI_2); - Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(expected, actual, 1e-8)); - EXPECT(assert_equal(q, p.retract(expected), 1e-8)); - } - { - Unit3 p(0,1,0), q(0,-1,0); - Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(q, p.retract(actual), 1e-8)); - } - { - Unit3 p(0,0,1), q(0,0,-1); - Vector2 actual = p.localCoordinates(q); - EXPECT(assert_equal(q, p.retract(actual), 1e-8)); - } - - double twist = 1e-4; - { - Unit3 p(0, 1, 0), q(0 - twist, -1 + twist, 0); - Vector2 actual = p.localCoordinates(q); - EXPECT(actual(0) < 1e-2); - EXPECT(actual(1) > M_PI - 1e-2) - } - { - Unit3 p(0, 1, 0), q(0 + twist, -1 - twist, 0); - Vector2 actual = p.localCoordinates(q); - EXPECT(actual(0) < 1e-2); - EXPECT(actual(1) < -M_PI + 1e-2) - } +TEST(Unit3, localCoordinates0) { + Unit3 p; + Vector actual = p.localCoordinates(p); + EXPECT(assert_equal(zero(2), actual, 1e-8)); } //******************************************************************************* +TEST(Unit3, localCoordinates1) { + Unit3 p, q(1, 6.12385e-21, 0); + Vector actual = p.localCoordinates(q); + CHECK(assert_equal(zero(2), actual, 1e-8)); +} + +//******************************************************************************* +TEST(Unit3, localCoordinates2) { + Unit3 p, q(-1, 0, 0); + Vector expected = (Vector(2) << M_PI, 0).finished(); + Vector actual = p.localCoordinates(q); + CHECK(assert_equal(expected, actual, 1e-8)); +} + +//******************************************************************************* +// Wrapper to make basis return a vector6 so we can test numerical derivatives. +Vector6 BasisTest(const Unit3& p, OptionalJacobian<6, 2> H) { + Matrix32 B = p.basis(H); + Vector6 B_vec; + B_vec << B; + return B_vec; +} + TEST(Unit3, basis) { - Unit3 p; - Matrix32 expected; - expected << 0, 0, 0, -1, 1, 0; - Matrix actual = p.basis(); - EXPECT(assert_equal(expected, actual, 1e-8)); + Unit3 p(0.1, -0.2, 0.9); + + Matrix expected(3, 2); + expected << 0.0, -0.994169047, 0.97618706, + -0.0233922129, 0.216930458, 0.105264958; + + Matrix62 actualH; + Matrix actual = p.basis(actualH); + EXPECT(assert_equal(expected, actual, 1e-6)); + + Matrix62 expectedH = numericalDerivative11( + boost::bind(BasisTest, _1, boost::none), p); + EXPECT(assert_equal(expectedH, actualH, 1e-8)); +} + +//******************************************************************************* +/// Check the basis derivatives of a bunch of random Unit3s. +TEST(Unit3, basis_derivatives) { + int num_tests = 100; + boost::mt19937 rng(42); + for (int i = 0; i < num_tests; i++) { + Unit3 p = Unit3::Random(rng); + + Matrix62 actualH; + p.basis(actualH); + + Matrix62 expectedH = numericalDerivative11( + boost::bind(BasisTest, _1, boost::none), p); + EXPECT(assert_equal(expectedH, actualH, 1e-8)); + } } //******************************************************************************* TEST(Unit3, retract) { - { - Unit3 p; - Vector2 v(0.5, 0); - Unit3 expected(0.877583, 0, 0.479426); - Unit3 actual = p.retract(v); - EXPECT(assert_equal(expected, actual, 1e-6)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); - } - { - Unit3 p; - Vector2 v(0, 0); - Unit3 actual = p.retract(v); - EXPECT(assert_equal(p, actual, 1e-6)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); - } + Unit3 p; + Vector v(2); + v << 0.5, 0; + Unit3 expected(0.877583, 0, 0.479426); + Unit3 actual = p.retract(v); + EXPECT(assert_equal(expected, actual, 1e-6)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); } //******************************************************************************* TEST(Unit3, retract_expmap) { Unit3 p; - Vector2 v((M_PI / 2.0), 0); + Vector v(2); + v << (M_PI / 2.0), 0; Unit3 expected(Point3(0, 0, 1)); Unit3 actual = p.retract(v); EXPECT(assert_equal(expected, actual, 1e-8)); EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); } +//******************************************************************************* +/// Returns a random vector +inline static Vector randomVector(const Vector& minLimits, + const Vector& maxLimits) { + + // Get the number of dimensions and create the return vector + size_t numDims = dim(minLimits); + Vector vector = zero(numDims); + + // Create the random vector + for (size_t i = 0; i < numDims; i++) { + double range = maxLimits(i) - minLimits(i); + vector(i) = (((double) rand()) / RAND_MAX) * range + minLimits(i); + } + return vector; +} + +//******************************************************************************* +// Let x and y be two Unit3's. +// The equality x.localCoordinates(x.retract(v)) == v should hold. +TEST(Unit3, localCoordinates_retract) { + + size_t numIterations = 10000; + Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = + Vector3(1.0, 1.0, 1.0); + Vector minXiLimit = Vector2(-1.0, -1.0), maxXiLimit = Vector2(1.0, 1.0); + for (size_t i = 0; i < numIterations; i++) { + + // Sleep for the random number generator (TODO?: Better create all of them first). +// boost::this_thread::sleep(boost::posix_time::milliseconds(0)); + + // Create the two Unit3s. + // NOTE: You can not create two totally random Unit3's because you cannot always compute + // between two any Unit3's. (For instance, they might be at the different sides of the circle). + Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); +// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); + Vector v12 = randomVector(minXiLimit, maxXiLimit); + Unit3 s2 = s1.retract(v12); + + // Check if the local coordinates and retract return the same results. + Vector actual_v12 = s1.localCoordinates(s2); + EXPECT(assert_equal(v12, actual_v12, 1e-3)); + Unit3 actual_s2 = s1.retract(actual_v12); + EXPECT(assert_equal(s2, actual_s2, 1e-3)); + } +} + +//******************************************************************************* +// Let x and y be two Unit3's. +// The equality x.localCoordinates(x.retract(v)) == v should hold. +TEST(Unit3, localCoordinates_retract_expmap) { + + size_t numIterations = 10000; + Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = + Vector3(1.0, 1.0, 1.0); + Vector minXiLimit = (Vector(2) << -M_PI, -M_PI).finished(), maxXiLimit = (Vector(2) << M_PI, M_PI).finished(); + for (size_t i = 0; i < numIterations; i++) { + + // Sleep for the random number generator (TODO?: Better create all of them first). +// boost::this_thread::sleep(boost::posix_time::milliseconds(0)); + + // Create the two Unit3s. + // Unlike the above case, we can use any two Unit3's. + Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); +// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); + Vector v12 = randomVector(minXiLimit, maxXiLimit); + + // Magnitude of the rotation can be at most pi + if (v12.norm() > M_PI) + v12 = v12 / M_PI; + Unit3 s2 = s1.retract(v12); + + // Check if the local coordinates and retract return the same results. + Vector actual_v12 = s1.localCoordinates(s2); + EXPECT(assert_equal(v12, actual_v12, 1e-3)); + Unit3 actual_s2 = s1.retract(actual_v12); + EXPECT(assert_equal(s2, actual_s2, 1e-3)); + } +} + +//******************************************************************************* +//TEST( Pose2, between ) +//{ +// // < +// // +// // ^ +// // +// // *--0--*--* +// Pose2 gT1(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y +// Pose2 gT2(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x +// +// Matrix actualH1,actualH2; +// Pose2 expected(M_PI/2.0, Point2(2,2)); +// Pose2 actual1 = gT1.between(gT2); +// Pose2 actual2 = gT1.between(gT2,actualH1,actualH2); +// EXPECT(assert_equal(expected,actual1)); +// EXPECT(assert_equal(expected,actual2)); +// +// Matrix expectedH1 = (Matrix(3,3) << +// 0.0,-1.0,-2.0, +// 1.0, 0.0,-2.0, +// 0.0, 0.0,-1.0 +// ); +// Matrix numericalH1 = numericalDerivative21(testing::between, gT1, gT2); +// EXPECT(assert_equal(expectedH1,actualH1)); +// EXPECT(assert_equal(numericalH1,actualH1)); +// // Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx +// EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1)); +// +// Matrix expectedH2 = (Matrix(3,3) << +// 1.0, 0.0, 0.0, +// 0.0, 1.0, 0.0, +// 0.0, 0.0, 1.0 +// ); +// Matrix numericalH2 = numericalDerivative22(testing::between, gT1, gT2); +// EXPECT(assert_equal(expectedH2,actualH2)); +// EXPECT(assert_equal(numericalH2,actualH2)); +// +//} + //******************************************************************************* TEST(Unit3, Random) { boost::mt19937 rng(42); @@ -267,26 +448,6 @@ TEST(Unit3, Random) { EXPECT(assert_equal(expectedMean,actualMean,0.1)); } -//******************************************************************************* -// New test that uses Unit3::Random -TEST(Unit3, localCoordinates_retract) { - boost::mt19937 rng(42); - size_t numIterations = 10000; - - for (size_t i = 0; i < numIterations; i++) { - // Create two random Unit3s - const Unit3 s1 = Unit3::Random(rng); - const Unit3 s2 = Unit3::Random(rng); - // Check that they are not at opposite ends of the sphere, which is ill defined - if (s1.unitVector().dot(s2.unitVector())<-0.9) continue; - - // Check if the local coordinates and retract return consistent results. - Vector v12 = s1.localCoordinates(s2); - Unit3 actual_s2 = s1.retract(v12); - EXPECT(assert_equal(s2, actual_s2, 1e-9)); - } -} - //************************************************************************* TEST (Unit3, FromPoint3) { Matrix actualH; @@ -298,12 +459,42 @@ TEST (Unit3, FromPoint3) { EXPECT(assert_equal(expectedH, actualH, 1e-8)); } -/* ************************************************************************* */ -TEST(actualH, Serialization) { - Unit3 p(0, 1, 0); - EXPECT(serializationTestHelpers::equalsObj(p)); - EXPECT(serializationTestHelpers::equalsXML(p)); - EXPECT(serializationTestHelpers::equalsBinary(p)); +//******************************************************************************* +TEST(Unit3, ErrorBetweenFactor) { + std::vector data = {Unit3(1.0, 0.0, 0.0), Unit3(0.0, 0.0, 1.0)}; + + NonlinearFactorGraph graph; + Values initial_values; + + // Add prior factors. + SharedNoiseModel R_prior = noiseModel::Unit::Create(2); + for (int i = 0; i < data.size(); i++) { + graph.add(PriorFactor(U(i), data[i], R_prior)); + } + + // Add process factors using the dot product error function. + SharedNoiseModel R_process = noiseModel::Isotropic::Sigma(2, 0.01); + for (int i = 0; i < data.size() - 1; i++) { + Expression exp(Expression(U(i)), &Unit3::errorVector, Expression(U(i + 1))); + graph.addExpressionFactor(R_process, Vector2::Zero(), exp); + } + + // Add initial values. Since there is no identity, just pick something. + for (int i = 0; i < data.size(); i++) { + initial_values.insert(U(i), Unit3(0.0, 1.0, 0.0)); + } + + Values values = GaussNewtonOptimizer(graph, initial_values).optimize(); + + // Check that the y-value is very small for each. + for (int i = 0; i < data.size(); i++) { + EXPECT(assert_equal(0.0, values.at(U(i)).unitVector().y(), 1e-3)); + } + + // Check that the dot product between variables is close to 1. + for (int i = 0; i < data.size() - 1; i++) { + EXPECT(assert_equal(1.0, values.at(U(i)).dot(values.at(U(i + 1))), 1e-2)); + } } /* ************************************************************************* */ From 951377c80f3cd2dc7cc0311ecb33e0298d88f8d0 Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Fri, 16 Oct 2015 14:18:13 -0400 Subject: [PATCH 639/964] fix type errors and timer issue in LM optimizer --- gtsam/base/timing.h | 1 + gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 15 ++++++++------- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index d0bca4a9d..d1e90f63a 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -18,6 +18,7 @@ #pragma once #include +#include #include #include // for GTSAM_USE_TBB diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index ace35e530..ad976119a 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -22,11 +22,11 @@ #include #include #include +#include #include #include #include -#include #include #include @@ -239,7 +239,8 @@ void LevenbergMarquardtOptimizer::iterate() { // Keep increasing lambda until we make make progress while (true) { - boost::timer::cpu_timer timer; + gttic(iteration); + if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "trying lambda = " << state_.lambda << endl; @@ -322,14 +323,14 @@ void LevenbergMarquardtOptimizer::iterate() { } } + gttoc(iteration); + if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) { - // do timing - double iterationTime = 1e-9 * timer.elapsed().wall; if (state_.iterations == 0) - cout << "iter cost cost_change lambda success iter_time" << endl; - cout << boost::format("% 4d % 8e % 3.2e % 3.2e % 4d % 3.2e") % + cout << "iter cost cost_change lambda success" << endl; + cout << boost::format("% 4d % 8e % 3.2e % 3.2e % 4d") % state_.iterations % newError % costChange % state_.lambda % - systemSolvedSuccessfully % iterationTime << endl; + systemSolvedSuccessfully << endl; } ++state_.totalNumberInnerIterations; From 971d2e519f55e6e97667833f0415af14ef6073ba Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Sat, 17 Oct 2015 18:21:48 -0400 Subject: [PATCH 640/964] gtsam type header only when using old boost timer --- gtsam/base/timing.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index d1e90f63a..b89e15637 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -18,7 +18,6 @@ #pragma once #include -#include #include #include // for GTSAM_USE_TBB @@ -118,6 +117,7 @@ # include #else # include +# include #endif #ifdef GTSAM_USE_TBB From 9628b9b1655b4331499512c4c23a913ca81cf4ad Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Mon, 19 Oct 2015 00:07:23 -0400 Subject: [PATCH 641/964] fix iteration timer in LM --- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index ad976119a..f0e240f21 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -239,7 +239,8 @@ void LevenbergMarquardtOptimizer::iterate() { // Keep increasing lambda until we make make progress while (true) { - gttic(iteration); + + gttic_(lm_iteration); if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "trying lambda = " << state_.lambda << endl; @@ -323,14 +324,17 @@ void LevenbergMarquardtOptimizer::iterate() { } } - gttoc(iteration); + gttoc_(lm_iteration); if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) { + // do timing + tictoc_getNode(iteration_timer, lm_iteration); + double iterationTime = iteration_timer->secs(); if (state_.iterations == 0) - cout << "iter cost cost_change lambda success" << endl; - cout << boost::format("% 4d % 8e % 3.2e % 3.2e % 4d") % + cout << "iter cost cost_change lambda success iter_time" << endl; + cout << boost::format("% 4d % 8e % 3.2e % 3.2e % 4d % 3.2e") % state_.iterations % newError % costChange % state_.lambda % - systemSolvedSuccessfully << endl; + systemSolvedSuccessfully % iterationTime << endl; } ++state_.totalNumberInnerIterations; From 06520a3b1d3aa197c0ab1e45dab4e33a1cf5960a Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 14:44:00 -0700 Subject: [PATCH 642/964] Some additional derivatives (for cvross) and operators --- gtsam/geometry/Point3.cpp | 40 +++++++++++++++++++++++++++++++++++++-- gtsam/geometry/Point3.h | 39 +++++++++++++++++++------------------- 2 files changed, 57 insertions(+), 22 deletions(-) diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp index a87aeb650..bffda9fef 100644 --- a/gtsam/geometry/Point3.cpp +++ b/gtsam/geometry/Point3.cpp @@ -58,6 +58,22 @@ Point3 Point3::operator/(double s) const { return Point3(x_ / s, y_ / s, z_ / s); } +/* ************************************************************************* */ +double Point3::distance(const Point3 &p2, OptionalJacobian<1, 3> H1, + OptionalJacobian<1, 3> H2) const { + double d = (p2 - *this).norm(); + if (H1) { + *H1 << x_ - p2.x(), y_ - p2.y(), z_ - p2.z(); + *H1 = *H1 *(1. / d); + } + + if (H2) { + *H2 << -x_ + p2.x(), -y_ + p2.y(), -z_ + p2.z(); + *H2 = *H2 *(1. / d); + } + return d; +} + /* ************************************************************************* */ Point3 Point3::add(const Point3 &q, OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const { @@ -75,13 +91,27 @@ Point3 Point3::sub(const Point3 &q, OptionalJacobian<3,3> H1, } /* ************************************************************************* */ -Point3 Point3::cross(const Point3 &q) const { +Point3 Point3::cross(const Point3 &q, OptionalJacobian<3, 3> H_p, OptionalJacobian<3, 3> H_q) const { + if (H_p) { + *H_p << skewSymmetric(-q.vector()); + } + if (H_q) { + *H_q << skewSymmetric(vector()); + } + return Point3(y_ * q.z_ - z_ * q.y_, z_ * q.x_ - x_ * q.z_, x_ * q.y_ - y_ * q.x_); } /* ************************************************************************* */ -double Point3::dot(const Point3 &q) const { +double Point3::dot(const Point3 &q, OptionalJacobian<1, 3> H_p, OptionalJacobian<1, 3> H_q) const { + if (H_p) { + *H_p << q.vector().transpose(); + } + if (H_q) { + *H_q << vector().transpose(); + } + return (x_ * q.x_ + y_ * q.y_ + z_ * q.z_); } @@ -116,6 +146,12 @@ ostream &operator<<(ostream &os, const Point3& p) { return os; } +/* ************************************************************************* */ +ostream &operator<<(ostream &os, const gtsam::Point3Pair &p) { + os << p.first << " <-> " << p.second; + return os; +} + /* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index e8cf0be7b..e19b74d1c 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -37,8 +37,8 @@ namespace gtsam { private: - double x_, y_, z_; - + double x_, y_, z_; + public: enum { dimension = 3 }; @@ -56,7 +56,7 @@ namespace gtsam { /// @{ /// Construct from 3-element vector - Point3(const Vector3& v) { + explicit Point3(const Vector3& v) { x_ = v(0); y_ = v(1); z_ = v(2); @@ -82,6 +82,11 @@ namespace gtsam { /// inverse Point3 operator - () const { return Point3(-x_,-y_,-z_);} + /// add vector on right + inline Point3 operator +(const Vector3& v) const { + return Point3(x_ + v[0], y_ + v[1], z_ + v[2]); + } + /// add Point3 operator + (const Point3& q) const; @@ -99,20 +104,8 @@ namespace gtsam { Point3 operator / (double s) const; /** distance between two points */ - inline double distance(const Point3& p2, - OptionalJacobian<1,3> H1 = boost::none, OptionalJacobian<1,3> H2 = boost::none) const { - double d = (p2 - *this).norm(); - if (H1) { - *H1 << x_-p2.x(), y_-p2.y(), z_-p2.z(); - *H1 = *H1 *(1./d); - } - - if (H2) { - *H2 << -x_+p2.x(), -y_+p2.y(), -z_+p2.z(); - *H2 << *H2 *(1./d); - } - return d; - } + double distance(const Point3& p2, OptionalJacobian<1, 3> H1 = boost::none, + OptionalJacobian<1, 3> H2 = boost::none) const; /** @deprecated The following function has been deprecated, use distance above */ inline double dist(const Point3& p2) const { @@ -126,17 +119,19 @@ namespace gtsam { Point3 normalize(OptionalJacobian<3, 3> H = boost::none) const; /** cross product @return this x q */ - Point3 cross(const Point3 &q) const; + Point3 cross(const Point3 &q, OptionalJacobian<3, 3> H_p = boost::none, // + OptionalJacobian<3, 3> H_q = boost::none) const; /** dot product @return this * q*/ - double dot(const Point3 &q) const; + double dot(const Point3 &q, OptionalJacobian<1, 3> H_p = boost::none, // + OptionalJacobian<1, 3> H_q = boost::none) const; /// @} /// @name Standard Interface /// @{ /// equality - bool operator ==(const Point3& q) const; + bool operator ==(const Point3& q) const; /** return vectorized form (column-wise)*/ Vector3 vector() const { return Vector3(x_,y_,z_); } @@ -192,6 +187,10 @@ namespace gtsam { /// @} }; +// Convenience typedef +typedef std::pair Point3Pair; +std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p); + /// Syntactic sugar for multiplying coordinates by a scalar s*p inline Point3 operator*(double s, const Point3& p) { return p*s;} From 5adcd6b6964d0bdeb4de3329446d76f4d8184d31 Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 14:44:10 -0700 Subject: [PATCH 643/964] get rid of nullptr --- gtsam/geometry/Unit3.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index f53be3b40..da585ce5a 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -106,16 +106,16 @@ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { // Choose the direction of the first basis vector b1 in the tangent plane by crossing n with // the chosen axis. Matrix33 H_B1_n; - Point3 B1 = n.cross(axis, H ? &H_B1_n : nullptr); + Point3 B1 = n.cross(axis, H ? &H_B1_n : 0); // Normalize result to get a unit vector: b1 = B1 / |B1|. Matrix33 H_b1_B1; - Point3 b1 = B1.normalize(H ? &H_b1_B1 : nullptr); + Point3 b1 = B1.normalize(H ? &H_b1_B1 : 0); // Get the second basis vector b2, which is orthogonal to n and b1, by crossing them. // No need to normalize this, p and b1 are orthogonal unit vectors. Matrix33 H_b2_n, H_b2_b1; - Point3 b2 = n.cross(b1, H ? &H_b2_n : nullptr, H ? &H_b2_b1 : nullptr); + Point3 b2 = n.cross(b1, H ? &H_b2_n : 0, H ? &H_b2_b1 : 0); // Create the basis by stacking b1 and b2. B_.reset(Matrix32()); @@ -177,7 +177,7 @@ double Unit3::dot(const Unit3& q, OptionalJacobian<1,2> H_p, OptionalJacobian<1, // Compute the dot product of the Point3s. Matrix13 H_dot_pn, H_dot_qn; - double d = pn.dot(qn, H_p ? &H_dot_pn : nullptr, H_q ? &H_dot_qn : nullptr); + double d = pn.dot(qn, H_p ? &H_dot_pn : 0, H_q ? &H_dot_qn : 0); if (H_p) { (*H_p) << H_dot_pn * H_pn_p; @@ -209,7 +209,7 @@ Vector2 Unit3::errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p, OptionalJ // 2D error here is projecting q into the tangent plane of this (p). Matrix62 H_B_p; - Matrix23 Bt = basis(H_p ? &H_B_p : nullptr).transpose(); + Matrix23 Bt = basis(H_p ? &H_B_p : 0).transpose(); Vector2 xi = Bt * qn.vector(); if (H_p) { From 5faf09726b78c1c2da64f1d9dfa5aef11f22797f Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 14:44:19 -0700 Subject: [PATCH 644/964] Removed commented-out stuff --- gtsam/geometry/tests/testUnit3.cpp | 49 ------------------------------ 1 file changed, 49 deletions(-) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 26fbf42bb..c46c65901 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -34,7 +34,6 @@ #include #include #include -//#include #include #include @@ -345,14 +344,10 @@ TEST(Unit3, localCoordinates_retract) { Vector minXiLimit = Vector2(-1.0, -1.0), maxXiLimit = Vector2(1.0, 1.0); for (size_t i = 0; i < numIterations; i++) { - // Sleep for the random number generator (TODO?: Better create all of them first). -// boost::this_thread::sleep(boost::posix_time::milliseconds(0)); - // Create the two Unit3s. // NOTE: You can not create two totally random Unit3's because you cannot always compute // between two any Unit3's. (For instance, they might be at the different sides of the circle). Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); -// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); Vector v12 = randomVector(minXiLimit, maxXiLimit); Unit3 s2 = s1.retract(v12); @@ -375,13 +370,9 @@ TEST(Unit3, localCoordinates_retract_expmap) { Vector minXiLimit = (Vector(2) << -M_PI, -M_PI).finished(), maxXiLimit = (Vector(2) << M_PI, M_PI).finished(); for (size_t i = 0; i < numIterations; i++) { - // Sleep for the random number generator (TODO?: Better create all of them first). -// boost::this_thread::sleep(boost::posix_time::milliseconds(0)); - // Create the two Unit3s. // Unlike the above case, we can use any two Unit3's. Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); -// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit))); Vector v12 = randomVector(minXiLimit, maxXiLimit); // Magnitude of the rotation can be at most pi @@ -397,46 +388,6 @@ TEST(Unit3, localCoordinates_retract_expmap) { } } -//******************************************************************************* -//TEST( Pose2, between ) -//{ -// // < -// // -// // ^ -// // -// // *--0--*--* -// Pose2 gT1(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y -// Pose2 gT2(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x -// -// Matrix actualH1,actualH2; -// Pose2 expected(M_PI/2.0, Point2(2,2)); -// Pose2 actual1 = gT1.between(gT2); -// Pose2 actual2 = gT1.between(gT2,actualH1,actualH2); -// EXPECT(assert_equal(expected,actual1)); -// EXPECT(assert_equal(expected,actual2)); -// -// Matrix expectedH1 = (Matrix(3,3) << -// 0.0,-1.0,-2.0, -// 1.0, 0.0,-2.0, -// 0.0, 0.0,-1.0 -// ); -// Matrix numericalH1 = numericalDerivative21(testing::between, gT1, gT2); -// EXPECT(assert_equal(expectedH1,actualH1)); -// EXPECT(assert_equal(numericalH1,actualH1)); -// // Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx -// EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1)); -// -// Matrix expectedH2 = (Matrix(3,3) << -// 1.0, 0.0, 0.0, -// 0.0, 1.0, 0.0, -// 0.0, 0.0, 1.0 -// ); -// Matrix numericalH2 = numericalDerivative22(testing::between, gT1, gT2); -// EXPECT(assert_equal(expectedH2,actualH2)); -// EXPECT(assert_equal(numericalH2,actualH2)); -// -//} - //******************************************************************************* TEST(Unit3, Random) { boost::mt19937 rng(42); From 1c83329b9be943d2713d1a559e096447f5661f3f Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 14:59:40 -0700 Subject: [PATCH 645/964] Fixed compilation issues --- gtsam/geometry/tests/testUnit3.cpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index c46c65901..2f8bf378f 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -412,38 +412,40 @@ TEST (Unit3, FromPoint3) { //******************************************************************************* TEST(Unit3, ErrorBetweenFactor) { - std::vector data = {Unit3(1.0, 0.0, 0.0), Unit3(0.0, 0.0, 1.0)}; + std::vector data; + data.push_back(Unit3(1.0, 0.0, 0.0)); + data.push_back(Unit3(0.0, 0.0, 1.0)); NonlinearFactorGraph graph; Values initial_values; // Add prior factors. SharedNoiseModel R_prior = noiseModel::Unit::Create(2); - for (int i = 0; i < data.size(); i++) { + for (size_t i = 0; i < data.size(); i++) { graph.add(PriorFactor(U(i), data[i], R_prior)); } // Add process factors using the dot product error function. SharedNoiseModel R_process = noiseModel::Isotropic::Sigma(2, 0.01); - for (int i = 0; i < data.size() - 1; i++) { + for (size_t i = 0; i < data.size() - 1; i++) { Expression exp(Expression(U(i)), &Unit3::errorVector, Expression(U(i + 1))); graph.addExpressionFactor(R_process, Vector2::Zero(), exp); } // Add initial values. Since there is no identity, just pick something. - for (int i = 0; i < data.size(); i++) { + for (size_t i = 0; i < data.size(); i++) { initial_values.insert(U(i), Unit3(0.0, 1.0, 0.0)); } Values values = GaussNewtonOptimizer(graph, initial_values).optimize(); // Check that the y-value is very small for each. - for (int i = 0; i < data.size(); i++) { + for (size_t i = 0; i < data.size(); i++) { EXPECT(assert_equal(0.0, values.at(U(i)).unitVector().y(), 1e-3)); } // Check that the dot product between variables is close to 1. - for (int i = 0; i < data.size() - 1; i++) { + for (size_t i = 0; i < data.size() - 1; i++) { EXPECT(assert_equal(1.0, values.at(U(i)).dot(values.at(U(i + 1))), 1e-2)); } } From 901fb56993084fee1ad7861a2240e17aad948f25 Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 15:01:48 -0700 Subject: [PATCH 646/964] Fixed warnings --- .../examples/SmartProjectionFactorExample.cpp | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp index 1423ef113..de1d3f77b 100644 --- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp +++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp @@ -54,7 +54,7 @@ int main(int argc, char** argv){ string calibration_loc = findExampleDataFile("VO_calibration.txt"); string pose_loc = findExampleDataFile("VO_camera_poses_large.txt"); string factor_loc = findExampleDataFile("VO_stereo_factors_large.txt"); - + //read camera calibration info from file // focal lengths fx, fy, skew s, principal point u0, v0, baseline b cout << "Reading calibration info" << endl; @@ -67,17 +67,17 @@ int main(int argc, char** argv){ cout << "Reading camera poses" << endl; ifstream pose_file(pose_loc.c_str()); - int i; + int pose_index; MatrixRowMajor m(4,4); //read camera pose parameters and use to make initial estimates of camera poses - while (pose_file >> i) { + while (pose_file >> pose_index) { for (int i = 0; i < 16; i++) pose_file >> m.data()[i]; - initial_estimate.insert(i, Pose3(m)); + initial_estimate.insert(pose_index, Pose3(m)); } - + // landmark keys - size_t l; + size_t landmark_key; // pixel coordinates uL, uR, v (same for left/right images due to rectification) // landmark coordinates X, Y, Z in camera frame, resulting from triangulation @@ -90,14 +90,14 @@ int main(int argc, char** argv){ SmartFactor::shared_ptr factor(new SmartFactor(model, K)); size_t current_l = 3; // hardcoded landmark ID from first measurement - while (factor_file >> i >> l >> uL >> uR >> v >> X >> Y >> Z) { + while (factor_file >> pose_index >> landmark_key >> uL >> uR >> v >> X >> Y >> Z) { - if(current_l != l) { + if(current_l != landmark_key) { graph.push_back(factor); factor = SmartFactor::shared_ptr(new SmartFactor(model, K)); - current_l = l; + current_l = landmark_key; } - factor->add(Point2(uL,v), i); + factor->add(Point2(uL,v), pose_index); } Pose3 firstPose = initial_estimate.at(1); From 935801d8e1576429f9705abef2580708004d7f4c Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 15:02:12 -0700 Subject: [PATCH 647/964] Reversed arguments to Local to work with Unit3 --- gtsam/nonlinear/ExpressionFactor.h | 21 +++++++++++++-------- gtsam/slam/PriorFactor.h | 8 ++++---- 2 files changed, 17 insertions(+), 12 deletions(-) diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h index 5d6d28061..21e17a648 100644 --- a/gtsam/nonlinear/ExpressionFactor.h +++ b/gtsam/nonlinear/ExpressionFactor.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -23,6 +23,7 @@ #include #include #include + namespace gtsam { /** @@ -74,7 +75,7 @@ public: } /** - * Error function *without* the NoiseModel, \f$ h(x)-z \f$. + * Error function *without* the NoiseModel, \f$ z-h(x) -> Local(h(x),z) \f$. * We override this method to provide * both the function evaluation and its derivative(s) in H. */ @@ -82,10 +83,12 @@ public: boost::optional&> H = boost::none) const { if (H) { const T value = expression_.valueAndDerivatives(x, keys_, dims_, *H); - return traits::Local(measured_, value); + // NOTE(hayk): Doing the reverse, AKA Local(measured_, value) is not correct here + // because it would use the tangent space of the measurement instead of the value. + return -traits::Local(value, measured_); } else { const T value = expression_.value(x); - return traits::Local(measured_, value); + return -traits::Local(value, measured_); } } @@ -96,7 +99,7 @@ public: // In case noise model is constrained, we need to provide a noise model SharedDiagonal noiseModel; - if (noiseModel_->isConstrained()) { + if (noiseModel_ && noiseModel_->isConstrained()) { noiseModel = boost::static_pointer_cast( noiseModel_)->unit(); } @@ -116,11 +119,13 @@ public: T value = expression_.valueAndJacobianMap(x, jacobianMap); // <<< Reverse AD happens here ! // Evaluate error and set RHS vector b - Ab(size()).col(0) = -traits::Local(measured_, value); + Ab(size()).col(0) = traits::Local(value, measured_); // Whiten the corresponding system, Ab already contains RHS - Vector b = Ab(size()).col(0); // need b to be valid for Robust noise models - noiseModel_->WhitenSystem(Ab.matrix(), b); + if (noiseModel_) { + Vector b = Ab(size()).col(0); // need b to be valid for Robust noise models + noiseModel_->WhitenSystem(Ab.matrix(), b); + } return factor; } diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index a738d4cf0..8305fce12 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -85,11 +85,11 @@ namespace gtsam { /** implement functions needed to derive from Factor */ /** vector of errors */ - Vector evaluateError(const T& p, boost::optional H = boost::none) const { - if (H) (*H) = eye(traits::GetDimension(p)); - // manifold equivalent of h(x)-z -> log(z,h(x)) + Vector evaluateError(const T& x, boost::optional H = boost::none) const { + if (H) (*H) = eye(traits::GetDimension(x)); + // manifold equivalent of z-x -> Local(x,z) // TODO(ASL) Add Jacobians. - return traits::Local(prior_,p); + return -traits::Local(x, prior_); } const VALUE & prior() const { return prior_; } From ee5bd7ac3971c42241bde8ba35329e8bab4b31d2 Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 15:20:07 -0700 Subject: [PATCH 648/964] Increased # MC samples --- gtsam/navigation/tests/testImuFactor.cpp | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 084213e20..92cb92e70 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -163,8 +163,6 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, return assert_equal(Matrix(Q), actual, 1e-4); } -#if 1 - /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { // Set up IMU measurements @@ -610,7 +608,6 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { EXPECT( assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega())); } -#endif /* ************************************************************************* */ Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, const Vector3& measuredAcc, const Vector3& measuredOmega) { @@ -679,7 +676,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { hist(samples(:,i), 500) end */ - size_t N = 10000; + size_t N = 100000; Matrix samples(9,N); Sampler sampleAccelerationNoise((accNoiseVar2/dt).cwiseSqrt(), 29284); Sampler sampleOmegaNoise((omegaNoiseVar2/dt).cwiseSqrt(), 10); @@ -698,7 +695,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { #endif EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor, - measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 10000)); + measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 100000)); // Matrix expected(9,9); // expected << @@ -837,8 +834,8 @@ TEST(ImuFactor, PredictArbitrary) { Pose3 x1; Vector3 v1 = Vector3(0, 0, 0); imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); - EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, - measuredAcc, measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar))); + EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, + Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, dt); From a1881efc70f35ba311b0772bcaee07a5fc30fb4c Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 15:20:40 -0700 Subject: [PATCH 649/964] Disabled 2 tests, incompatible with Unit3 retract, with extensive comment --- gtsam/sam/tests/testBearingFactor.cpp | 44 +++++++++++++--------- gtsam/sam/tests/testBearingRangeFactor.cpp | 36 +++++++++--------- 2 files changed, 46 insertions(+), 34 deletions(-) diff --git a/gtsam/sam/tests/testBearingFactor.cpp b/gtsam/sam/tests/testBearingFactor.cpp index b7fcfc9aa..12635a7e5 100644 --- a/gtsam/sam/tests/testBearingFactor.cpp +++ b/gtsam/sam/tests/testBearingFactor.cpp @@ -81,23 +81,33 @@ TEST(BearingFactor, Serialization3D) { } /* ************************************************************************* */ -TEST(BearingFactor, 3D) { - // Serialize the factor - std::string serialized = serializeXML(factor3D); - - // And de-serialize it - BearingFactor3D factor; - deserializeXML(serialized, factor); - - // Set the linearization point - Values values; - values.insert(poseKey, Pose3()); - values.insert(pointKey, Point3(1, 0, 0)); - - EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), - values, 1e-7, 1e-5); - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); -} +// TODO(frank): this test is disabled (for now) because the macros below are +// incompatible with the Unit3 localCoordinates. The issue is the following: +// For factors, we want to use Local(value, measured), because we need the error +// to be expressed in the tangent space of value. This surfaced in the Unit3 case +// where the tangent space can be radically didfferent from one value to the next. +// For derivatives, we want Local(constant, varying), because we need a derivative +// in a constant tangent space. But since the macros below call whitenedError +// which calls Local(value,measured), we actually call the reverse. This does not +// matter for types with a commutative Local, but matters a lot for Unit3. +// More thinking needed about what the right thing is, here... +//TEST(BearingFactor, 3D) { +// // Serialize the factor +// std::string serialized = serializeXML(factor3D); +// +// // And de-serialize it +// BearingFactor3D factor; +// deserializeXML(serialized, factor); +// +// // Set the linearization point +// Values values; +// values.insert(poseKey, Pose3()); +// values.insert(pointKey, Point3(1, 0, 0)); +// +// EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), +// values, 1e-7, 1e-5); +// EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +//} /* ************************************************************************* */ int main() { diff --git a/gtsam/sam/tests/testBearingRangeFactor.cpp b/gtsam/sam/tests/testBearingRangeFactor.cpp index e11e62628..4c7a9ab91 100644 --- a/gtsam/sam/tests/testBearingRangeFactor.cpp +++ b/gtsam/sam/tests/testBearingRangeFactor.cpp @@ -80,23 +80,25 @@ TEST(BearingRangeFactor, Serialization3D) { } /* ************************************************************************* */ -TEST(BearingRangeFactor, 3D) { - // Serialize the factor - std::string serialized = serializeXML(factor3D); - - // And de-serialize it - BearingRangeFactor3D factor; - deserializeXML(serialized, factor); - - // Set the linearization point - Values values; - values.insert(poseKey, Pose3()); - values.insert(pointKey, Point3(1, 0, 0)); - - EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), - values, 1e-7, 1e-5); - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); -} +// TODO(frank): this test is disabled (for now) because the macros below are +// incompatible with the Unit3 localCoordinates. See testBearingFactor... +//TEST(BearingRangeFactor, 3D) { +// // Serialize the factor +// std::string serialized = serializeXML(factor3D); +// +// // And de-serialize it +// BearingRangeFactor3D factor; +// deserializeXML(serialized, factor); +// +// // Set the linearization point +// Values values; +// values.insert(poseKey, Pose3()); +// values.insert(pointKey, Point3(1, 0, 0)); +// +// EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey), +// values, 1e-7, 1e-5); +// EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +//} /* ************************************************************************* */ int main() { From 42d07a99ff3185485d085c02844070af42982195 Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Mon, 19 Oct 2015 19:08:29 -0400 Subject: [PATCH 650/964] LM optimizer use boost raw timer --- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index f0e240f21..cacb0a1ff 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -240,7 +240,13 @@ void LevenbergMarquardtOptimizer::iterate() { // Keep increasing lambda until we make make progress while (true) { - gttic_(lm_iteration); +#ifdef GTSAM_USING_NEW_BOOST_TIMERS + boost::timer::cpu_timer lamda_iteration_timer; + lamda_iteration_timer.start(); +#else + boost::timer lamda_iteration_timer; + lamda_iteration_timer.restart(); +#endif if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "trying lambda = " << state_.lambda << endl; @@ -324,14 +330,16 @@ void LevenbergMarquardtOptimizer::iterate() { } } - gttoc_(lm_iteration); - if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) { // do timing - tictoc_getNode(iteration_timer, lm_iteration); - double iterationTime = iteration_timer->secs(); +#ifdef GTSAM_USING_NEW_BOOST_TIMERS + double iterationTime = 1e-9 * lamda_iteration_timer.elapsed().wall; +#else + double iterationTime = lamda_iteration_timer.elapsed(); +#endif if (state_.iterations == 0) cout << "iter cost cost_change lambda success iter_time" << endl; + cout << boost::format("% 4d % 8e % 3.2e % 3.2e % 4d % 3.2e") % state_.iterations % newError % costChange % state_.lambda % systemSolvedSuccessfully % iterationTime << endl; From 55ed99141e620742ffdfc0e0723dae535dc4593c Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 20 Oct 2015 13:36:26 -0400 Subject: [PATCH 651/964] Add C++11 compiler flag to GtsamBuildTypes.cmake --- cmake/GtsamBuildTypes.cmake | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index c2cd7b449..43ae36929 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -34,19 +34,19 @@ if(NOT FIRST_PASS_DONE) set(CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE) mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING CMAKE_MODULE_LINKER_FLAGS_PROFILING) else() - set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE) - set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE) - set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE) - set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE) - set(CMAKE_C_FLAGS_RELEASE "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE) - set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE) + set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -std=c11 -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE) + set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -std=c++11 -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE) + set(CMAKE_C_FLAGS_RELWITHDEBINFO "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE) + set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE) + set(CMAKE_C_FLAGS_RELEASE "-std=c11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE) + set(CMAKE_CXX_FLAGS_RELEASE "-std=c++11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE) set(CMAKE_C_FLAGS_TIMING "${CMAKE_C_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE) set(CMAKE_CXX_FLAGS_TIMING "${CMAKE_CXX_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE) set(CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE) set(CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE) mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING) - set(CMAKE_C_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE) - set(CMAKE_CXX_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE) + set(CMAKE_C_FLAGS_PROFILING "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE) + set(CMAKE_CXX_FLAGS_PROFILING "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE) set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE) set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE__LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE) mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING) From e694d62b3fb3ac5f8abe6d622c3576e0bdeb96f1 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 20 Oct 2015 14:41:28 -0400 Subject: [PATCH 652/964] Allow binding to optional rvalues (We should fix this properly) --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b168077b3..0380b8a2f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -131,7 +131,7 @@ endif() if(NOT (${Boost_VERSION} LESS 105600)) message("Ignoring Boost restriction on optional lvalue assignment from rvalues") - add_definitions(-DBOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES) + add_definitions(-DBOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES -DBOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES) endif() ############################################################################### From 04bcf26aa6314408f93e95325950597e23e4a428 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 20 Oct 2015 14:44:00 -0400 Subject: [PATCH 653/964] Explicitly cast optional to bool --- gtsam/slam/SmartProjectionFactor.h | 2 +- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 5146c5a32..13a4dd38f 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -246,7 +246,7 @@ public: /// triangulate bool triangulateForLinearize(const Cameras& cameras) const { triangulateSafe(cameras); // imperative, might reset result_ - return (result_); + return bool(result_); } /// linearize returns a Hessianfactor that is an approximation of error(p) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index e7118a36c..6651c005f 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -314,7 +314,7 @@ public: /// triangulate bool triangulateForLinearize(const Cameras& cameras) const { triangulateSafe(cameras); // imperative, might reset result_ - return (result_); + return bool(result_); } /// linearize returns a Hessianfactor that is an approximation of error(p) @@ -583,7 +583,7 @@ public: /// Is result valid? bool isValid() const { - return result_; + return bool(result_); } /** return the degenerate state */ From 1949fc251183e66f82a70a7c5b3e9d2df67b7b0a Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 20 Oct 2015 16:25:41 -0400 Subject: [PATCH 654/964] Cache noise models in LM damping instead of constructing from scratch for each variable. Time savings of 5.6%! --- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index cacb0a1ff..960ba59dd 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -189,11 +189,19 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem( } } else { // Straightforward damping: + typedef map NoiseMap; // Cache noise models + NoiseMap noises; BOOST_FOREACH(const Values::KeyValuePair& key_value, state_.values) { size_t dim = key_value.value.dim(); Matrix A = Matrix::Identity(dim, dim); Vector b = Vector::Zero(dim); - SharedDiagonal model = noiseModel::Isotropic::Sigma(dim, sigma); + + // Check if noise model of appropriate size already exists, else create it and cache it! + NoiseMap::iterator it = noises.find(dim); + SharedDiagonal model = it == noises.end() ? noiseModel::Isotropic::Sigma(dim, sigma) : it->second; + if(it == noises.end()) { + noises[dim] = model; + } damped += boost::make_shared(key_value.key, A, b, model); } } From 7cfeb442f37f1cf8737c2e75c10ac3fbbccadc93 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 20 Oct 2015 17:03:32 -0700 Subject: [PATCH 655/964] Swicth back to Vector3 (overzealous merge). --- gtsam/geometry/Unit3.cpp | 98 +++++++++++++++++++--------------------- gtsam/geometry/Unit3.h | 36 +++++---------- 2 files changed, 58 insertions(+), 76 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index da585ce5a..c53ff16bf 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -15,6 +15,7 @@ * @author Can Erdogan * @author Frank Dellaert * @author Alex Trevor + * @author Zhaoyang Lv * @brief The Unit3 class - basically a point on a unit sphere */ @@ -36,6 +37,7 @@ #include #include +#include using namespace std; @@ -43,12 +45,14 @@ namespace gtsam { /* ************************************************************************* */ Unit3 Unit3::FromPoint3(const Point3& point, OptionalJacobian<2,3> H) { - // 3*3 Derivative of representation with respect to point is 3*3: - Matrix3 D_p_point; - Unit3 direction; - direction.p_ = point.normalize(H ? &D_p_point : 0); - if (H) + Unit3 direction(point); + if (H) { + // 3*3 Derivative of representation with respect to point is 3*3: + Matrix3 D_p_point; + point.normalize(D_p_point); // TODO, this calculates norm a second time :-( + // Calculate the 2*3 Jacobian *H << direction.basis().transpose() * D_p_point; + } return direction; } @@ -58,12 +62,10 @@ Unit3 Unit3::Random(boost::mt19937 & rng) { boost::uniform_on_sphere randomDirection(3); // This variate_generator object is required for versions of boost somewhere // around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng). - boost::variate_generator > - generator(rng, randomDirection); + boost::variate_generator > generator( + rng, randomDirection); vector d = generator(); - Unit3 result; - result.p_ = Point3(d[0], d[1], d[2]); - return result; + return Unit3(d[0], d[1], d[2]); } /* ************************************************************************* */ @@ -88,20 +90,19 @@ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { // Get the unit vector and derivative wrt this. // NOTE(hayk): We can't call point3(), because it would recursively call basis(). - const Point3& n = p_; + Point3 n(p_); // Get the axis of rotation with the minimum projected length of the point Point3 axis; - double mx = fabs(n.x()), my = fabs(n.y()), mz = fabs(n.z()); - if ((mx <= my) && (mx <= mz)) { + double mx = fabs(p_.x()), my = fabs(p_.y()), mz = fabs(p_.z()); + if ((mx <= my) && (mx <= mz)) axis = Point3(1.0, 0.0, 0.0); - } else if ((my <= mx) && (my <= mz)) { + else if ((my <= mx) && (my <= mz)) axis = Point3(0.0, 1.0, 0.0); - } else if ((mz <= mx) && (mz <= my)) { + else if ((mz <= mx) && (mz <= my)) axis = Point3(0.0, 0.0, 1.0); - } else { + else assert(false); - } // Choose the direction of the first basis vector b1 in the tangent plane by crossing n with // the chosen axis. @@ -137,17 +138,17 @@ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { } /* ************************************************************************* */ -const Point3& Unit3::point3(OptionalJacobian<3, 2> H) const { +Point3 Unit3::point3(OptionalJacobian<3, 2> H) const { if (H) *H = basis(); - return p_; + return Point3(p_); } /* ************************************************************************* */ -Vector3 Unit3::unitVector(boost::optional H) const { +Vector3 Unit3::unitVector(OptionalJacobian<3, 2> H) const { if (H) *H = basis(); - return (p_.vector()); + return (p_); } /* ************************************************************************* */ @@ -194,7 +195,7 @@ double Unit3::dot(const Unit3& q, OptionalJacobian<1,2> H_p, OptionalJacobian<1, Vector2 Unit3::error(const Unit3& q, OptionalJacobian<2,2> H_q) const { // 2D error is equal to B'*q, as B is 3x2 matrix and q is 3x1 Matrix23 Bt = basis().transpose(); - Vector2 xi = Bt * q.p_.vector(); + Vector2 xi = Bt * q.p_; if (H_q) { *H_q = Bt * q.basis(); } @@ -248,46 +249,39 @@ double Unit3::distance(const Unit3& q, OptionalJacobian<1,2> H) const { /* ************************************************************************* */ Unit3 Unit3::retract(const Vector2& v) const { - - // Get the vector form of the point and the basis matrix - Vector3 p = p_.vector(); - Matrix32 B = basis(); - // Compute the 3D xi_hat vector - Vector3 xi_hat = v(0) * B.col(0) + v(1) * B.col(1); + Vector3 xi_hat = basis() * v; + double theta = xi_hat.norm(); - double xi_hat_norm = xi_hat.norm(); - - // Avoid nan - if (xi_hat_norm == 0.0) { - if (v.norm() == 0.0) - return Unit3(point3()); - else - return Unit3(-point3()); + // Treat case of very small v differently + if (theta < std::numeric_limits::epsilon()) { + return Unit3(cos(theta) * p_ + xi_hat); } - Vector3 exp_p_xi_hat = cos(xi_hat_norm) * p - + sin(xi_hat_norm) * (xi_hat / xi_hat_norm); + Vector3 exp_p_xi_hat = + cos(theta) * p_ + xi_hat * (sin(theta) / theta); return Unit3(exp_p_xi_hat); } /* ************************************************************************* */ -Vector2 Unit3::localCoordinates(const Unit3& y) const { - - Vector3 p = p_.vector(), q = y.p_.vector(); - double dot = p.dot(q); - - // Check for special cases - if (dot > 1.0 - 1e-16) - return Vector2(0, 0); - else if (dot < -1.0 + 1e-16) - return Vector2(M_PI, 0); - else { +Vector2 Unit3::localCoordinates(const Unit3& other) const { + const double x = p_.dot(other.p_); + // Crucial quantity here is y = theta/sin(theta) with theta=acos(x) + // Now, y = acos(x) / sin(acos(x)) = acos(x)/sqrt(1-x^2) + // We treat the special case 1 and -1 below + const double x2 = x * x; + const double z = 1 - x2; + double y; + if (z < std::numeric_limits::epsilon()) { + if (x > 0) // first order expansion at x=1 + y = 1.0 - (x - 1.0) / 3.0; + else // cop out + return Vector2(M_PI, 0.0); + } else { // no special case - double theta = acos(dot); - Vector3 result_hat = (theta / sin(theta)) * (q - p * dot); - return basis().transpose() * result_hat; + y = acos(x) / sqrt(z); } + return basis().transpose() * y * (other.p_ - x * p_); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index 784e5c5e1..e8fe24c9e 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -38,7 +38,7 @@ class GTSAM_EXPORT Unit3 { private: - Point3 p_; ///< The location of the point on the unit sphere + Vector3 p_; ///< The location of the point on the unit sphere mutable boost::optional B_; ///< Cached basis mutable boost::optional H_B_; ///< Cached basis derivative @@ -62,23 +62,18 @@ public: /// Construct from point explicit Unit3(const Point3& p) : - p_(p.normalize()) { + p_(p.vector().normalized()) { } /// Construct from a vector3 - explicit Unit3(const Vector3& v) : - p_(v / v.norm()) { + explicit Unit3(const Vector3& p) : + p_(p.normalized()) { } /// Construct from x,y,z Unit3(double x, double y, double z) : - p_(Point3(x, y, z).normalize()) { - } - - /// Construct from 2D point in plane at focal length f - /// Unit3(p,1) can be viewed as normalized homogeneous coordinates of 2D point - explicit Unit3(const Point2& p, double f=1.0) : - p_(Point3(p.x(), p.y(), f).normalize()) { + p_(x, y, z) { + p_.normalize(); } /// Named constructor from Point3 with optional Jacobian @@ -100,7 +95,7 @@ public: /// The equals function with tolerance bool equals(const Unit3& s, double tol = 1e-9) const { - return p_.equals(s.p_, tol); + return equal_with_abs_tol(p_, s.p_, tol); } /// @} @@ -119,14 +114,14 @@ public: Matrix3 skew() const; /// Return unit-norm Point3 - const Point3& point3(OptionalJacobian<3, 2> H = boost::none) const; + Point3 point3(OptionalJacobian<3, 2> H = boost::none) const; /// Return unit-norm Vector - Vector3 unitVector(boost::optional H = boost::none) const; + Vector3 unitVector(OptionalJacobian<3, 2> H = boost::none) const; /// Return scaled direction as Point3 friend Point3 operator*(double s, const Unit3& d) { - return s * d.p_; + return Point3(s * d.p_); } /// Return dot product with q @@ -152,7 +147,7 @@ public: /// Cross-product w Point3 Point3 cross(const Point3& q) const { - return Point3(p_.vector().cross(q.vector())); + return point3().cross(q); } /// @} @@ -172,7 +167,7 @@ public: enum CoordinatesMode { EXPMAP, ///< Use the exponential map to retract - RENORM ///< Retract with vector addtion and renormalize. + RENORM ///< Retract with vector addition and renormalize. }; /// The retract function @@ -192,13 +187,6 @@ private: template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { ar & BOOST_SERIALIZATION_NVP(p_); - // homebrew serialize Eigen Matrix - ar & boost::serialization::make_nvp("B11", (*B_)(0, 0)); - ar & boost::serialization::make_nvp("B12", (*B_)(0, 1)); - ar & boost::serialization::make_nvp("B21", (*B_)(1, 0)); - ar & boost::serialization::make_nvp("B22", (*B_)(1, 1)); - ar & boost::serialization::make_nvp("B31", (*B_)(2, 0)); - ar & boost::serialization::make_nvp("B32", (*B_)(2, 1)); } /// @} From aa4250173748c6bb3ef84eb661e92b92c0e62049 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 21 Oct 2015 10:55:31 -0700 Subject: [PATCH 656/964] Undid overzealous merge --- gtsam/geometry/Unit3.cpp | 37 +++--- gtsam/geometry/Unit3.h | 15 ++- gtsam/geometry/tests/testUnit3.cpp | 207 +++++++++++++++-------------- 3 files changed, 140 insertions(+), 119 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index c53ff16bf..aaf0aa953 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -21,9 +21,6 @@ #include #include -#include // GTSAM_USE_TBB - -#include #include // for GTSAM_USE_TBB #ifdef __clang__ @@ -45,14 +42,13 @@ namespace gtsam { /* ************************************************************************* */ Unit3 Unit3::FromPoint3(const Point3& point, OptionalJacobian<2,3> H) { - Unit3 direction(point); - if (H) { - // 3*3 Derivative of representation with respect to point is 3*3: - Matrix3 D_p_point; - point.normalize(D_p_point); // TODO, this calculates norm a second time :-( - // Calculate the 2*3 Jacobian + // 3*3 Derivative of representation with respect to point is 3*3: + Matrix3 D_p_point; + Point3 normalized = point.normalize(H ? &D_p_point : 0); + Unit3 direction; + direction.p_ = normalized.vector(); + if (H) *H << direction.basis().transpose() * D_p_point; - } return direction; } @@ -90,19 +86,20 @@ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { // Get the unit vector and derivative wrt this. // NOTE(hayk): We can't call point3(), because it would recursively call basis(). - Point3 n(p_); + const Point3 n(p_); // Get the axis of rotation with the minimum projected length of the point Point3 axis; - double mx = fabs(p_.x()), my = fabs(p_.y()), mz = fabs(p_.z()); - if ((mx <= my) && (mx <= mz)) + double mx = fabs(n.x()), my = fabs(n.y()), mz = fabs(n.z()); + if ((mx <= my) && (mx <= mz)) { axis = Point3(1.0, 0.0, 0.0); - else if ((my <= mx) && (my <= mz)) + } else if ((my <= mx) && (my <= mz)) { axis = Point3(0.0, 1.0, 0.0); - else if ((mz <= mx) && (mz <= my)) + } else if ((mz <= mx) && (mz <= my)) { axis = Point3(0.0, 0.0, 1.0); - else + } else { assert(false); + } // Choose the direction of the first basis vector b1 in the tangent plane by crossing n with // the chosen axis. @@ -148,7 +145,7 @@ Point3 Unit3::point3(OptionalJacobian<3, 2> H) const { Vector3 Unit3::unitVector(OptionalJacobian<3, 2> H) const { if (H) *H = basis(); - return (p_); + return p_; } /* ************************************************************************* */ @@ -171,10 +168,10 @@ Matrix3 Unit3::skew() const { double Unit3::dot(const Unit3& q, OptionalJacobian<1,2> H_p, OptionalJacobian<1,2> H_q) const { // Get the unit vectors of each, and the derivative. Matrix32 H_pn_p; - const Point3& pn = point3(H_p ? &H_pn_p : 0); + Point3 pn = point3(H_p ? &H_pn_p : 0); Matrix32 H_qn_q; - const Point3& qn = q.point3(H_q ? &H_qn_q : 0); + Point3 qn = q.point3(H_q ? &H_qn_q : 0); // Compute the dot product of the Point3s. Matrix13 H_dot_pn, H_dot_qn; @@ -206,7 +203,7 @@ Vector2 Unit3::error(const Unit3& q, OptionalJacobian<2,2> H_q) const { Vector2 Unit3::errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p, OptionalJacobian<2, 2> H_q) const { // Get the point3 of this, and the derivative. Matrix32 H_qn_q; - const Point3& qn = q.point3(H_q ? &H_qn_q : 0); + Point3 qn = q.point3(H_q ? &H_qn_q : 0); // 2D error here is projecting q into the tangent plane of this (p). Matrix62 H_B_p; diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index e8fe24c9e..b7d359f40 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -20,12 +20,17 @@ #pragma once -#include #include #include +#include +#include +#include -#include #include +#include +#include + +#include #ifdef GTSAM_USE_TBB #include @@ -76,6 +81,12 @@ public: p_.normalize(); } + /// Construct from 2D point in plane at focal length f + /// Unit3(p,1) can be viewed as normalized homogeneous coordinates of 2D point + explicit Unit3(const Point2& p, double f = 1.0) : p_(p.x(), p.y(), f) { + p_.normalize(); + } + /// Named constructor from Point3 with optional Jacobian static Unit3 FromPoint3(const Point3& point, // OptionalJacobian<2, 3> H = boost::none); diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 2f8bf378f..bfc5caad7 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -18,19 +18,20 @@ * @brief Tests the Unit3 class */ -#include -#include #include #include +#include +#include +#include #include #include #include -#include #include -#include #include + #include + #include #include #include @@ -49,6 +50,7 @@ GTSAM_CONCEPT_MANIFOLD_INST(Unit3) Point3 point3_(const Unit3& p) { return p.point3(); } + TEST(Unit3, point3) { vector ps; ps += Point3(1, 0, 0), Point3(0, 1, 0), Point3(0, 0, 1), Point3(1, 1, 0) @@ -98,6 +100,7 @@ TEST(Unit3, unrotate) { Unit3 expected = Unit3(1, 1, 0); Unit3 actual = R.unrotate(p); EXPECT(assert_equal(expected, actual, 1e-8)); + Matrix actualH, expectedH; // Use numerical derivatives to calculate the expected Jacobian { @@ -237,19 +240,66 @@ TEST(Unit3, localCoordinates0) { EXPECT(assert_equal(zero(2), actual, 1e-8)); } -//******************************************************************************* -TEST(Unit3, localCoordinates1) { - Unit3 p, q(1, 6.12385e-21, 0); - Vector actual = p.localCoordinates(q); - CHECK(assert_equal(zero(2), actual, 1e-8)); -} +TEST(Unit3, localCoordinates) { + { + Unit3 p, q; + Vector2 expected = Vector2::Zero(); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(zero(2), actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + } + { + Unit3 p, q(1, 6.12385e-21, 0); + Vector2 expected = Vector2::Zero(); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(zero(2), actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + } + { + Unit3 p, q(-1, 0, 0); + Vector2 expected(M_PI, 0); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + } + { + Unit3 p, q(0, 1, 0); + Vector2 expected(0,-M_PI_2); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + } + { + Unit3 p, q(0, -1, 0); + Vector2 expected(0, M_PI_2); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(q, p.retract(expected), 1e-8)); + } + { + Unit3 p(0,1,0), q(0,-1,0); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(q, p.retract(actual), 1e-8)); + } + { + Unit3 p(0,0,1), q(0,0,-1); + Vector2 actual = p.localCoordinates(q); + EXPECT(assert_equal(q, p.retract(actual), 1e-8)); + } -//******************************************************************************* -TEST(Unit3, localCoordinates2) { - Unit3 p, q(-1, 0, 0); - Vector expected = (Vector(2) << M_PI, 0).finished(); - Vector actual = p.localCoordinates(q); - CHECK(assert_equal(expected, actual, 1e-8)); + double twist = 1e-4; + { + Unit3 p(0, 1, 0), q(0 - twist, -1 + twist, 0); + Vector2 actual = p.localCoordinates(q); + EXPECT(actual(0) < 1e-2); + EXPECT(actual(1) > M_PI - 1e-2) + } + { + Unit3 p(0, 1, 0), q(0 + twist, -1 - twist, 0); + Vector2 actual = p.localCoordinates(q); + EXPECT(actual(0) < 1e-2); + EXPECT(actual(1) < -M_PI + 1e-2) + } } //******************************************************************************* @@ -296,98 +346,33 @@ TEST(Unit3, basis_derivatives) { //******************************************************************************* TEST(Unit3, retract) { - Unit3 p; - Vector v(2); - v << 0.5, 0; - Unit3 expected(0.877583, 0, 0.479426); - Unit3 actual = p.retract(v); - EXPECT(assert_equal(expected, actual, 1e-6)); - EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + { + Unit3 p; + Vector2 v(0.5, 0); + Unit3 expected(0.877583, 0, 0.479426); + Unit3 actual = p.retract(v); + EXPECT(assert_equal(expected, actual, 1e-6)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + } + { + Unit3 p; + Vector2 v(0, 0); + Unit3 actual = p.retract(v); + EXPECT(assert_equal(p, actual, 1e-6)); + EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); + } } //******************************************************************************* TEST(Unit3, retract_expmap) { Unit3 p; - Vector v(2); - v << (M_PI / 2.0), 0; + Vector2 v((M_PI / 2.0), 0); Unit3 expected(Point3(0, 0, 1)); Unit3 actual = p.retract(v); EXPECT(assert_equal(expected, actual, 1e-8)); EXPECT(assert_equal(v, p.localCoordinates(actual), 1e-8)); } -//******************************************************************************* -/// Returns a random vector -inline static Vector randomVector(const Vector& minLimits, - const Vector& maxLimits) { - - // Get the number of dimensions and create the return vector - size_t numDims = dim(minLimits); - Vector vector = zero(numDims); - - // Create the random vector - for (size_t i = 0; i < numDims; i++) { - double range = maxLimits(i) - minLimits(i); - vector(i) = (((double) rand()) / RAND_MAX) * range + minLimits(i); - } - return vector; -} - -//******************************************************************************* -// Let x and y be two Unit3's. -// The equality x.localCoordinates(x.retract(v)) == v should hold. -TEST(Unit3, localCoordinates_retract) { - - size_t numIterations = 10000; - Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = - Vector3(1.0, 1.0, 1.0); - Vector minXiLimit = Vector2(-1.0, -1.0), maxXiLimit = Vector2(1.0, 1.0); - for (size_t i = 0; i < numIterations; i++) { - - // Create the two Unit3s. - // NOTE: You can not create two totally random Unit3's because you cannot always compute - // between two any Unit3's. (For instance, they might be at the different sides of the circle). - Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); - Vector v12 = randomVector(minXiLimit, maxXiLimit); - Unit3 s2 = s1.retract(v12); - - // Check if the local coordinates and retract return the same results. - Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-3)); - Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-3)); - } -} - -//******************************************************************************* -// Let x and y be two Unit3's. -// The equality x.localCoordinates(x.retract(v)) == v should hold. -TEST(Unit3, localCoordinates_retract_expmap) { - - size_t numIterations = 10000; - Vector minSphereLimit = Vector3(-1.0, -1.0, -1.0), maxSphereLimit = - Vector3(1.0, 1.0, 1.0); - Vector minXiLimit = (Vector(2) << -M_PI, -M_PI).finished(), maxXiLimit = (Vector(2) << M_PI, M_PI).finished(); - for (size_t i = 0; i < numIterations; i++) { - - // Create the two Unit3s. - // Unlike the above case, we can use any two Unit3's. - Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit))); - Vector v12 = randomVector(minXiLimit, maxXiLimit); - - // Magnitude of the rotation can be at most pi - if (v12.norm() > M_PI) - v12 = v12 / M_PI; - Unit3 s2 = s1.retract(v12); - - // Check if the local coordinates and retract return the same results. - Vector actual_v12 = s1.localCoordinates(s2); - EXPECT(assert_equal(v12, actual_v12, 1e-3)); - Unit3 actual_s2 = s1.retract(actual_v12); - EXPECT(assert_equal(s2, actual_s2, 1e-3)); - } -} - //******************************************************************************* TEST(Unit3, Random) { boost::mt19937 rng(42); @@ -399,6 +384,26 @@ TEST(Unit3, Random) { EXPECT(assert_equal(expectedMean,actualMean,0.1)); } +//******************************************************************************* +// New test that uses Unit3::Random +TEST(Unit3, localCoordinates_retract) { + boost::mt19937 rng(42); + size_t numIterations = 10000; + + for (size_t i = 0; i < numIterations; i++) { + // Create two random Unit3s + const Unit3 s1 = Unit3::Random(rng); + const Unit3 s2 = Unit3::Random(rng); + // Check that they are not at opposite ends of the sphere, which is ill defined + if (s1.unitVector().dot(s2.unitVector())<-0.9) continue; + + // Check if the local coordinates and retract return consistent results. + Vector v12 = s1.localCoordinates(s2); + Unit3 actual_s2 = s1.retract(v12); + EXPECT(assert_equal(s2, actual_s2, 1e-9)); + } +} + //************************************************************************* TEST (Unit3, FromPoint3) { Matrix actualH; @@ -450,6 +455,14 @@ TEST(Unit3, ErrorBetweenFactor) { } } +/* ************************************************************************* */ +TEST(actualH, Serialization) { + Unit3 p(0, 1, 0); + EXPECT(serializationTestHelpers::equalsObj(p)); + EXPECT(serializationTestHelpers::equalsXML(p)); + EXPECT(serializationTestHelpers::equalsBinary(p)); +} + /* ************************************************************************* */ int main() { srand(time(NULL)); From 570abece53a9b0804ea2120e709560cd2ff382e8 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 21 Oct 2015 14:15:31 -0700 Subject: [PATCH 657/964] Fixed Eigen assert --- gtsam/geometry/tests/testUnit3.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index bfc5caad7..3cfffa0da 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -307,7 +307,7 @@ TEST(Unit3, localCoordinates) { Vector6 BasisTest(const Unit3& p, OptionalJacobian<6, 2> H) { Matrix32 B = p.basis(H); Vector6 B_vec; - B_vec << B; + B_vec << B.col(0), B.col(1); return B_vec; } From 0b2d4f11829433f6488b8b0886631a68d69f402a Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 22 Oct 2015 15:04:53 -0400 Subject: [PATCH 658/964] feature: change rowPrefix to an indent. Now all columns are aligned --- gtsam/base/Matrix.cpp | 2 +- gtsam/linear/JacobianFactor.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 1de27c0a2..3cafdd0ba 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -189,7 +189,7 @@ void print(const Matrix& A, const string &s, ostream& stream) { 0, // flags " ", // coeffSeparator ";\n", // rowSeparator - " ", // rowPrefix + " \t", // rowPrefix "", // rowSuffix "[\n", // matPrefix "\n ]" // matSuffix diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index f2678d56c..d4df57298 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -349,11 +349,11 @@ void JacobianFactor::print(const string& s, const KeyFormatter& formatter) const { static const Eigen::IOFormat matlab( Eigen::StreamPrecision, // precision - 0, // flags + 0, // flags " ", // coeffSeparator ";\n", // rowSeparator - " ", // rowPrefix - "", // rowSuffix + "\t", // rowPrefix + "", // rowSuffix "[\n", // matPrefix "\n ]" // matSuffix ); From 7e462b997f3ba259bd1b7fa0f9e87d40ccd62674 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 25 Oct 2015 16:55:42 -0400 Subject: [PATCH 659/964] Cache A and b in addition to noise model for damped system --- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 17 +++++++++++------ gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 11 +++++++++++ 2 files changed, 22 insertions(+), 6 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 960ba59dd..50f4a0838 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -189,20 +189,25 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem( } } else { // Straightforward damping: - typedef map NoiseMap; // Cache noise models + NoiseMap noises; BOOST_FOREACH(const Values::KeyValuePair& key_value, state_.values) { size_t dim = key_value.value.dim(); - Matrix A = Matrix::Identity(dim, dim); - Vector b = Vector::Zero(dim); // Check if noise model of appropriate size already exists, else create it and cache it! NoiseMap::iterator it = noises.find(dim); - SharedDiagonal model = it == noises.end() ? noiseModel::Isotropic::Sigma(dim, sigma) : it->second; if(it == noises.end()) { - noises[dim] = model; + NoiseCacheItem item; + item.A = Matrix::Identity(dim, dim); + item.b = Vector::Zero(dim); + item.model = noiseModel::Isotropic::Sigma(dim, sigma); + noises[dim] = item; + damped += boost::make_shared(key_value.key, item.A, item.b, item.model); + + } else { + const NoiseCacheItem& item = it->second; + damped += boost::make_shared(key_value.key, item.A, item.b, item.model); } - damped += boost::make_shared(key_value.key, A, b, model); } } gttoc(damp); diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index a965c6cf0..1a4169e16 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -272,6 +272,17 @@ public: GaussianFactorGraph::shared_ptr buildDampedSystem(const GaussianFactorGraph& linear); friend class ::NonlinearOptimizerMoreOptimizationTest; + /** Small struct to cache objects needed for damping. + * This is used in buildDampedSystem */ + struct NoiseCacheItem { + Matrix A; + Vector b; + SharedDiagonal model; + }; + + /// Noise model Cache + typedef std::map NoiseMap; + void writeLogFile(double currentError); /// @} From 44aaf9ad956d3bceb95e45128e7d973578d32d28 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Sun, 25 Oct 2015 18:31:44 -0400 Subject: [PATCH 660/964] Switch to vector for noise model caching --- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 23 +++++++++---------- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 2 +- 2 files changed, 12 insertions(+), 13 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 50f4a0838..9e42afa33 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -190,24 +190,23 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem( } else { // Straightforward damping: - NoiseMap noises; + // initialize noise model cache to a reasonable default size + NoiseCacheVector noises(6); BOOST_FOREACH(const Values::KeyValuePair& key_value, state_.values) { size_t dim = key_value.value.dim(); - // Check if noise model of appropriate size already exists, else create it and cache it! - NoiseMap::iterator it = noises.find(dim); - if(it == noises.end()) { - NoiseCacheItem item; + if (dim > noises.size()) + noises.resize(dim); + + NoiseCacheItem& item = noises[dim-1]; + + // Initialize noise model, A and b if we haven't done so already + if(!item.model) { item.A = Matrix::Identity(dim, dim); item.b = Vector::Zero(dim); - item.model = noiseModel::Isotropic::Sigma(dim, sigma); - noises[dim] = item; - damped += boost::make_shared(key_value.key, item.A, item.b, item.model); - - } else { - const NoiseCacheItem& item = it->second; - damped += boost::make_shared(key_value.key, item.A, item.b, item.model); + item.model = noiseModel::Isotropic::Sigma(dim, sigma); } + damped += boost::make_shared(key_value.key, item.A, item.b, item.model); } } gttoc(damp); diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 1a4169e16..2be4a218e 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -281,7 +281,7 @@ public: }; /// Noise model Cache - typedef std::map NoiseMap; + typedef std::vector NoiseCacheVector; void writeLogFile(double currentError); From 66e1619214a1c1e79100b1231a60c5c30a3036b8 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 26 Oct 2015 22:14:52 -0400 Subject: [PATCH 661/964] Attempt to fix TBB issue --- gtsam/geometry/Unit3.h | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h index b7d359f40..428211c6b 100644 --- a/gtsam/geometry/Unit3.h +++ b/gtsam/geometry/Unit3.h @@ -87,6 +87,17 @@ public: p_.normalize(); } + /// Copy constructor + Unit3(const Unit3& u) { + p_ = u.p_; + } + + /// Copy assignment + Unit3& operator=(const Unit3 & u) { + p_ = u.p_; + return *this; + } + /// Named constructor from Point3 with optional Jacobian static Unit3 FromPoint3(const Point3& point, // OptionalJacobian<2, 3> H = boost::none); From b40db44470ae1287ff041f09d8eb671bc24fd8bb Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 10 Nov 2015 12:50:25 -0500 Subject: [PATCH 662/964] Update to Eigen 3.2.7 --- gtsam/3rdparty/Eigen/.hg_archival.txt | 4 +- gtsam/3rdparty/Eigen/.hgtags | 1 + gtsam/3rdparty/Eigen/CMakeLists.txt | 4 +- gtsam/3rdparty/Eigen/Eigen/SparseCore | 2 +- gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h | 2 +- .../Eigen/src/CholmodSupport/CholmodSupport.h | 10 +- gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h | 15 ++ .../3rdparty/Eigen/Eigen/src/Core/ArrayBase.h | 4 +- .../Eigen/Eigen/src/Core/CwiseBinaryOp.h | 3 +- .../Eigen/Eigen/src/Core/CwiseUnaryOp.h | 2 +- .../3rdparty/Eigen/Eigen/src/Core/DenseBase.h | 8 +- .../Eigen/Eigen/src/Core/DenseStorage.h | 255 ++++++++++++------ .../Eigen/Eigen/src/Core/DiagonalProduct.h | 3 +- gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h | 15 ++ .../Eigen/Eigen/src/Core/MatrixBase.h | 9 + .../Eigen/Eigen/src/Core/PlainObjectBase.h | 14 + gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h | 5 +- .../Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h | 10 +- .../Eigen/src/Core/arch/SSE/MathFunctions.h | 8 +- .../Core/products/TriangularSolverMatrix.h | 9 +- .../Eigen/src/Core/util/ForwardDeclarations.h | 3 + .../Eigen/Eigen/src/Core/util/Macros.h | 18 +- .../Eigen/Eigen/src/Core/util/XprHelper.h | 8 +- .../Eigen/Eigen/src/Geometry/AngleAxis.h | 6 +- .../src/IterativeLinearSolvers/BiCGSTAB.h | 3 +- .../ConjugateGradient.h | 3 +- .../IterativeLinearSolvers/IncompleteLUT.h | 21 +- .../IterativeSolverBase.h | 48 +++- .../src/SPQRSupport/SuiteSparseQRSupport.h | 4 +- .../src/SparseCore/SparseCwiseBinaryOp.h | 4 +- .../Eigen/Eigen/src/SparseCore/SparseMatrix.h | 5 +- .../Eigen/src/SparseCore/SparseMatrixBase.h | 35 ++- .../Eigen/Eigen/src/SparseCore/SparseUtil.h | 1 - .../Eigen/cmake/EigenConfigureTesting.cmake | 33 +-- gtsam/3rdparty/Eigen/cmake/FindSPQR.cmake | 7 +- gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake | 21 +- gtsam/3rdparty/Eigen/test/CMakeLists.txt | 2 + gtsam/3rdparty/Eigen/test/redux.cpp | 8 + gtsam/3rdparty/Eigen/test/sparse_basic.cpp | 16 ++ gtsam/3rdparty/Eigen/test/sparse_solver.h | 16 ++ .../Eigen/src/AutoDiff/AutoDiffScalar.h | 2 +- .../unsupported/Eigen/src/CMakeLists.txt | 1 + .../Eigen/src/IterativeSolvers/DGMRES.h | 4 +- .../Eigen/src/IterativeSolvers/GMRES.h | 3 +- .../Eigen/src/IterativeSolvers/MINRES.h | 3 +- 45 files changed, 458 insertions(+), 200 deletions(-) diff --git a/gtsam/3rdparty/Eigen/.hg_archival.txt b/gtsam/3rdparty/Eigen/.hg_archival.txt index 8ce1e7ef8..8c88afc32 100644 --- a/gtsam/3rdparty/Eigen/.hg_archival.txt +++ b/gtsam/3rdparty/Eigen/.hg_archival.txt @@ -1,4 +1,4 @@ repo: 8a21fd850624c931e448cbcfb38168cb2717c790 -node: c58038c56923e0fd86de3ded18e03df442e66dfb +node: b30b87236a1b1552af32ac34075ee5696a9b5a33 branch: 3.2 -tag: 3.2.6 +tag: 3.2.7 diff --git a/gtsam/3rdparty/Eigen/.hgtags b/gtsam/3rdparty/Eigen/.hgtags index b427d4adf..c4ccd33fa 100644 --- a/gtsam/3rdparty/Eigen/.hgtags +++ b/gtsam/3rdparty/Eigen/.hgtags @@ -29,3 +29,4 @@ ffa86ffb557094721ca71dcea6aed2651b9fd610 3.2.0 36fd1ba04c120cfdd90f3e4cede47f43b21d19ad 3.2.3 10219c95fe653d4962aa9db4946f6fbea96dd740 3.2.4 bdd17ee3b1b3a166cd5ec36dcad4fc1f3faf774a 3.2.5 +c58038c56923e0fd86de3ded18e03df442e66dfb 3.2.6 diff --git a/gtsam/3rdparty/Eigen/CMakeLists.txt b/gtsam/3rdparty/Eigen/CMakeLists.txt index 76a11b9d2..ed3e67fe9 100644 --- a/gtsam/3rdparty/Eigen/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/CMakeLists.txt @@ -301,7 +301,7 @@ if(EIGEN_INCLUDE_INSTALL_DIR) ) else() set(INCLUDE_INSTALL_DIR - "${CMAKE_INSTALL_PREFIX}/include/eigen3" + "include/eigen3" CACHE INTERNAL "The directory where we install the header files (internal)" ) @@ -404,7 +404,7 @@ if(cmake_generator_tolower MATCHES "makefile") message(STATUS "make install | Install to ${CMAKE_INSTALL_PREFIX}. To change that:") message(STATUS " | cmake . -DCMAKE_INSTALL_PREFIX=yourpath") message(STATUS " | Eigen headers will then be installed to:") - message(STATUS " | ${INCLUDE_INSTALL_DIR}") + message(STATUS " | ${CMAKE_INSTALL_PREFIX}/${INCLUDE_INSTALL_DIR}") message(STATUS " | To install Eigen headers to a separate location, do:") message(STATUS " | cmake . -DEIGEN_INCLUDE_INSTALL_DIR=yourpath") message(STATUS "make doc | Generate the API documentation, requires Doxygen & LaTeX") diff --git a/gtsam/3rdparty/Eigen/Eigen/SparseCore b/gtsam/3rdparty/Eigen/Eigen/SparseCore index 9b5be5e15..24bcf0156 100644 --- a/gtsam/3rdparty/Eigen/Eigen/SparseCore +++ b/gtsam/3rdparty/Eigen/Eigen/SparseCore @@ -14,7 +14,7 @@ /** * \defgroup SparseCore_Module SparseCore module * - * This module provides a sparse matrix representation, and basic associatd matrix manipulations + * This module provides a sparse matrix representation, and basic associated matrix manipulations * and operations. * * See the \ref TutorialSparse "Sparse tutorial" diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h index 59723a63d..7c11a2dc2 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h @@ -289,7 +289,7 @@ template struct llt_inplace return k; mat.coeffRef(k,k) = x = sqrt(x); if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint(); - if (rs>0) A21 *= RealScalar(1)/x; + if (rs>0) A21 /= x; } return -1; } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h index c449960de..99dbe171c 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h @@ -78,7 +78,7 @@ cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat) { res.itype = CHOLMOD_INT; } - else if (internal::is_same<_Index,UF_long>::value) + else if (internal::is_same<_Index,SuiteSparse_long>::value) { res.itype = CHOLMOD_LONG; } @@ -395,7 +395,7 @@ class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimpl CholmodSimplicialLLT(const MatrixType& matrix) : Base() { init(); - compute(matrix); + Base::compute(matrix); } ~CholmodSimplicialLLT() {} @@ -442,7 +442,7 @@ class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimp CholmodSimplicialLDLT(const MatrixType& matrix) : Base() { init(); - compute(matrix); + Base::compute(matrix); } ~CholmodSimplicialLDLT() {} @@ -487,7 +487,7 @@ class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSuper CholmodSupernodalLLT(const MatrixType& matrix) : Base() { init(); - compute(matrix); + Base::compute(matrix); } ~CholmodSupernodalLLT() {} @@ -534,7 +534,7 @@ class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecom CholmodDecomposition(const MatrixType& matrix) : Base() { init(); - compute(matrix); + Base::compute(matrix); } ~CholmodDecomposition() {} diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h index 0ab03eff0..0b9c38c82 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h @@ -124,6 +124,21 @@ class Array } #endif +#ifdef EIGEN_HAVE_RVALUE_REFERENCES + Array(Array&& other) + : Base(std::move(other)) + { + Base::_check_template_params(); + if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic) + Base::_set_noalias(other); + } + Array& operator=(Array&& other) + { + other.swap(*this); + return *this; + } +#endif + /** Constructs a vector or row-vector with given dimension. \only_for_vectors * * Note that this is only useful for dynamic-size vectors. For fixed-size vectors, diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h index 38852600d..33ff55371 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h @@ -46,9 +46,6 @@ template class ArrayBase typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl; - using internal::special_scalar_op_base::Scalar, - typename NumTraits::Scalar>::Real>::operator*; - typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::Index Index; typedef typename internal::traits::Scalar Scalar; @@ -56,6 +53,7 @@ template class ArrayBase typedef typename NumTraits::Real RealScalar; typedef DenseBase Base; + using Base::operator*; using Base::RowsAtCompileTime; using Base::ColsAtCompileTime; using Base::SizeAtCompileTime; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h index 586f77aaf..519a866e6 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h @@ -81,7 +81,8 @@ struct traits > ) ), Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit), - CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + functor_traits::Cost + Cost0 = EIGEN_ADD_COST(LhsCoeffReadCost,RhsCoeffReadCost), + CoeffReadCost = EIGEN_ADD_COST(Cost0,functor_traits::Cost) }; }; } // end namespace internal diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h index f2de749f9..f7ee60e98 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h @@ -47,7 +47,7 @@ struct traits > Flags = _XprTypeNested::Flags & ( HereditaryBits | LinearAccessBit | AlignedBit | (functor_traits::PacketAccess ? PacketAccessBit : 0)), - CoeffReadCost = _XprTypeNested::CoeffReadCost + functor_traits::Cost + CoeffReadCost = EIGEN_ADD_COST(_XprTypeNested::CoeffReadCost, functor_traits::Cost) }; }; } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h index dc20e54b0..354c739f7 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h @@ -41,14 +41,13 @@ static inline void check_DenseIndex_is_signed() { template class DenseBase #ifndef EIGEN_PARSED_BY_DOXYGEN : public internal::special_scalar_op_base::Scalar, - typename NumTraits::Scalar>::Real> + typename NumTraits::Scalar>::Real, + DenseCoeffsBase > #else : public DenseCoeffsBase #endif // not EIGEN_PARSED_BY_DOXYGEN { public: - using internal::special_scalar_op_base::Scalar, - typename NumTraits::Scalar>::Real>::operator*; class InnerIterator; @@ -63,8 +62,9 @@ template class DenseBase typedef typename internal::traits::Scalar Scalar; typedef typename internal::packet_traits::type PacketScalar; typedef typename NumTraits::Real RealScalar; + typedef internal::special_scalar_op_base > Base; - typedef DenseCoeffsBase Base; + using Base::operator*; using Base::derived; using Base::const_cast_derived; using Base::rows; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h index a72738e55..568493cba 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h @@ -122,33 +122,41 @@ template class DenseSt { internal::plain_array m_data; public: - inline DenseStorage() {} - inline DenseStorage(internal::constructor_without_unaligned_array_assert) + DenseStorage() {} + DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(internal::constructor_without_unaligned_array_assert()) {} - inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {} - inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); } - static inline DenseIndex rows(void) {return _Rows;} - static inline DenseIndex cols(void) {return _Cols;} - inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {} - inline void resize(DenseIndex,DenseIndex,DenseIndex) {} - inline const T *data() const { return m_data.array; } - inline T *data() { return m_data.array; } + DenseStorage(const DenseStorage& other) : m_data(other.m_data) {} + DenseStorage& operator=(const DenseStorage& other) + { + if (this != &other) m_data = other.m_data; + return *this; + } + DenseStorage(DenseIndex,DenseIndex,DenseIndex) {} + void swap(DenseStorage& other) { std::swap(m_data,other.m_data); } + static DenseIndex rows(void) {return _Rows;} + static DenseIndex cols(void) {return _Cols;} + void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {} + void resize(DenseIndex,DenseIndex,DenseIndex) {} + const T *data() const { return m_data.array; } + T *data() { return m_data.array; } }; // null matrix template class DenseStorage { public: - inline DenseStorage() {} - inline DenseStorage(internal::constructor_without_unaligned_array_assert) {} - inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {} - inline void swap(DenseStorage& ) {} - static inline DenseIndex rows(void) {return _Rows;} - static inline DenseIndex cols(void) {return _Cols;} - inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {} - inline void resize(DenseIndex,DenseIndex,DenseIndex) {} - inline const T *data() const { return 0; } - inline T *data() { return 0; } + DenseStorage() {} + DenseStorage(internal::constructor_without_unaligned_array_assert) {} + DenseStorage(const DenseStorage&) {} + DenseStorage& operator=(const DenseStorage&) { return *this; } + DenseStorage(DenseIndex,DenseIndex,DenseIndex) {} + void swap(DenseStorage& ) {} + static DenseIndex rows(void) {return _Rows;} + static DenseIndex cols(void) {return _Cols;} + void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {} + void resize(DenseIndex,DenseIndex,DenseIndex) {} + const T *data() const { return 0; } + T *data() { return 0; } }; // more specializations for null matrices; these are necessary to resolve ambiguities @@ -168,18 +176,29 @@ template class DenseStorage class DenseStorage m_data; DenseIndex m_rows; public: - inline DenseStorage() : m_rows(0) {} - inline DenseStorage(internal::constructor_without_unaligned_array_assert) + DenseStorage() : m_rows(0) {} + DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {} - inline DenseStorage(DenseIndex, DenseIndex nbRows, DenseIndex) : m_rows(nbRows) {} - inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } - inline DenseIndex rows(void) const {return m_rows;} - inline DenseIndex cols(void) const {return _Cols;} - inline void conservativeResize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; } - inline void resize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; } - inline const T *data() const { return m_data.array; } - inline T *data() { return m_data.array; } + DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {} + DenseStorage& operator=(const DenseStorage& other) + { + if (this != &other) + { + m_data = other.m_data; + m_rows = other.m_rows; + } + return *this; + } + DenseStorage(DenseIndex, DenseIndex nbRows, DenseIndex) : m_rows(nbRows) {} + void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } + DenseIndex rows(void) const {return m_rows;} + DenseIndex cols(void) const {return _Cols;} + void conservativeResize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; } + void resize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; } + const T *data() const { return m_data.array; } + T *data() { return m_data.array; } }; // dynamic-size matrix with fixed-size storage and fixed height @@ -207,17 +236,27 @@ template class DenseStorage m_data; DenseIndex m_cols; public: - inline DenseStorage() : m_cols(0) {} - inline DenseStorage(internal::constructor_without_unaligned_array_assert) + DenseStorage() : m_cols(0) {} + DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {} - inline DenseStorage(DenseIndex, DenseIndex, DenseIndex nbCols) : m_cols(nbCols) {} - inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } - inline DenseIndex rows(void) const {return _Rows;} - inline DenseIndex cols(void) const {return m_cols;} - inline void conservativeResize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; } - inline void resize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; } - inline const T *data() const { return m_data.array; } - inline T *data() { return m_data.array; } + DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {} + DenseStorage& operator=(const DenseStorage& other) + { + if (this != &other) + { + m_data = other.m_data; + m_cols = other.m_cols; + } + return *this; + } + DenseStorage(DenseIndex, DenseIndex, DenseIndex nbCols) : m_cols(nbCols) {} + void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } + DenseIndex rows(void) const {return _Rows;} + DenseIndex cols(void) const {return m_cols;} + void conservativeResize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; } + void resize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; } + const T *data() const { return m_data.array; } + T *data() { return m_data.array; } }; // purely dynamic matrix. @@ -227,18 +266,35 @@ template class DenseStorage(size)), m_rows(nbRows), m_cols(nbCols) { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN } - inline ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, m_rows*m_cols); } - inline void swap(DenseStorage& other) +#ifdef EIGEN_HAVE_RVALUE_REFERENCES + DenseStorage(DenseStorage&& other) + : m_data(std::move(other.m_data)) + , m_rows(std::move(other.m_rows)) + , m_cols(std::move(other.m_cols)) + { + other.m_data = nullptr; + } + DenseStorage& operator=(DenseStorage&& other) + { + using std::swap; + swap(m_data, other.m_data); + swap(m_rows, other.m_rows); + swap(m_cols, other.m_cols); + return *this; + } +#endif + ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, m_rows*m_cols); } + void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); } - inline DenseIndex rows(void) const {return m_rows;} - inline DenseIndex cols(void) const {return m_cols;} - inline void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols) + DenseIndex rows(void) const {return m_rows;} + DenseIndex cols(void) const {return m_cols;} + void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols) { m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, m_rows*m_cols); m_rows = nbRows; @@ -258,8 +314,11 @@ template class DenseStorage class DenseStorage(size)), m_cols(nbCols) + DenseStorage() : m_data(0), m_cols(0) {} + DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {} + DenseStorage(DenseIndex size, DenseIndex, DenseIndex nbCols) : m_data(internal::conditional_aligned_new_auto(size)), m_cols(nbCols) { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN } - inline ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Rows*m_cols); } - inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } - static inline DenseIndex rows(void) {return _Rows;} - inline DenseIndex cols(void) const {return m_cols;} - inline void conservativeResize(DenseIndex size, DenseIndex, DenseIndex nbCols) +#ifdef EIGEN_HAVE_RVALUE_REFERENCES + DenseStorage(DenseStorage&& other) + : m_data(std::move(other.m_data)) + , m_cols(std::move(other.m_cols)) + { + other.m_data = nullptr; + } + DenseStorage& operator=(DenseStorage&& other) + { + using std::swap; + swap(m_data, other.m_data); + swap(m_cols, other.m_cols); + return *this; + } +#endif + ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Rows*m_cols); } + void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } + static DenseIndex rows(void) {return _Rows;} + DenseIndex cols(void) const {return m_cols;} + void conservativeResize(DenseIndex size, DenseIndex, DenseIndex nbCols) { m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, _Rows*m_cols); m_cols = nbCols; @@ -294,8 +368,11 @@ template class DenseStorage class DenseStorage(size)), m_rows(nbRows) + DenseStorage() : m_data(0), m_rows(0) {} + DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {} + DenseStorage(DenseIndex size, DenseIndex nbRows, DenseIndex) : m_data(internal::conditional_aligned_new_auto(size)), m_rows(nbRows) { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN } - inline ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Cols*m_rows); } - inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } - inline DenseIndex rows(void) const {return m_rows;} - static inline DenseIndex cols(void) {return _Cols;} - inline void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex) +#ifdef EIGEN_HAVE_RVALUE_REFERENCES + DenseStorage(DenseStorage&& other) + : m_data(std::move(other.m_data)) + , m_rows(std::move(other.m_rows)) + { + other.m_data = nullptr; + } + DenseStorage& operator=(DenseStorage&& other) + { + using std::swap; + swap(m_data, other.m_data); + swap(m_rows, other.m_rows); + return *this; + } +#endif + ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Cols*m_rows); } + void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } + DenseIndex rows(void) const {return m_rows;} + static DenseIndex cols(void) {return _Cols;} + void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex) { m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, m_rows*_Cols); m_rows = nbRows; @@ -330,8 +422,11 @@ template class DenseStorage > _LinearAccessMask = (RowsAtCompileTime==1 || ColsAtCompileTime==1) ? LinearAccessBit : 0, Flags = ((HereditaryBits|_LinearAccessMask|AlignedBit) & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0),//(int(MatrixType::Flags)&int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit), - CoeffReadCost = NumTraits::MulCost + MatrixType::CoeffReadCost + DiagonalType::DiagonalVectorType::CoeffReadCost + Cost0 = EIGEN_ADD_COST(NumTraits::MulCost, MatrixType::CoeffReadCost), + CoeffReadCost = EIGEN_ADD_COST(Cost0,DiagonalType::DiagonalVectorType::CoeffReadCost) }; }; } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h index d7d0b5b9a..02be142d8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h @@ -211,6 +211,21 @@ class Matrix : Base(internal::constructor_without_unaligned_array_assert()) { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } +#ifdef EIGEN_HAVE_RVALUE_REFERENCES + Matrix(Matrix&& other) + : Base(std::move(other)) + { + Base::_check_template_params(); + if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic) + Base::_set_noalias(other); + } + Matrix& operator=(Matrix&& other) + { + other.swap(*this); + return *this; + } +#endif + /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors * * Note that this is only useful for dynamic-size vectors. For fixed-size vectors, diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h index b67a7c119..e83ef4dc0 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h @@ -440,6 +440,15 @@ template class MatrixBase template void applyOnTheRight(Index p, Index q, const JacobiRotation& j); +///////// SparseCore module ///////// + + template + EIGEN_STRONG_INLINE const typename SparseMatrixBase::template CwiseProductDenseReturnType::Type + cwiseProduct(const SparseMatrixBase &other) const + { + return other.cwiseProduct(derived()); + } + ///////// MatrixFunctions module ///////// typedef typename internal::stem_function::type StemFunction; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h index ffd3a0601..a4e4af4a7 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h @@ -437,6 +437,20 @@ class PlainObjectBase : public internal::dense_xpr_base::type } #endif +#ifdef EIGEN_HAVE_RVALUE_REFERENCES + PlainObjectBase(PlainObjectBase&& other) + : m_storage( std::move(other.m_storage) ) + { + } + + PlainObjectBase& operator=(PlainObjectBase&& other) + { + using std::swap; + swap(m_storage, other.m_storage); + return *this; + } +#endif + /** Copy constructor */ EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other) : m_storage() diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h index 50548fa9a..9b8662a6f 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h @@ -247,8 +247,9 @@ struct redux_impl } }; -template -struct redux_impl +// NOTE: for SliceVectorizedTraversal we simply bypass unrolling +template +struct redux_impl { typedef typename Derived::Scalar Scalar; typedef typename packet_traits::type PacketScalar; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h index 22f3047b4..0956475af 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h @@ -180,15 +180,9 @@ inline Derived& DenseBase::operator*=(const Scalar& other) template inline Derived& DenseBase::operator/=(const Scalar& other) { - typedef typename internal::conditional::IsInteger, - internal::scalar_quotient_op, - internal::scalar_product_op >::type BinOp; typedef typename Derived::PlainObject PlainObject; - SelfCwiseBinaryOp tmp(derived()); - Scalar actual_other; - if(NumTraits::IsInteger) actual_other = other; - else actual_other = Scalar(1)/other; - tmp = PlainObject::Constant(rows(),cols(), actual_other); + SelfCwiseBinaryOp, Derived, typename PlainObject::ConstantReturnType> tmp(derived()); + tmp = PlainObject::Constant(rows(),cols(), other); return derived(); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h index d16f30bb0..2b07168ae 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h @@ -126,7 +126,7 @@ Packet4f pexp(const Packet4f& _x) _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f); _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f); - Packet4f tmp = _mm_setzero_ps(), fx; + Packet4f tmp, fx; Packet4i emm0; // clamp x @@ -195,7 +195,7 @@ Packet2d pexp(const Packet2d& _x) _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6); static const __m128i p4i_1023_0 = _mm_setr_epi32(1023, 1023, 0, 0); - Packet2d tmp = _mm_setzero_pd(), fx; + Packet2d tmp, fx; Packet4i emm0; // clamp x @@ -279,7 +279,7 @@ Packet4f psin(const Packet4f& _x) _EIGEN_DECLARE_CONST_Packet4f(coscof_p2, 4.166664568298827E-002f); _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI - Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, sign_bit, y; + Packet4f xmm1, xmm2, xmm3, sign_bit, y; Packet4i emm0, emm2; sign_bit = x; @@ -378,7 +378,7 @@ Packet4f pcos(const Packet4f& _x) _EIGEN_DECLARE_CONST_Packet4f(coscof_p2, 4.166664568298827E-002f); _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI - Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, y; + Packet4f xmm1, xmm2, xmm3, y; Packet4i emm0, emm2; x = pabs(x); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h index f103eae72..04240ab50 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h @@ -302,9 +302,12 @@ EIGEN_DONT_INLINE void triangular_solve_matrix class Rotation2D; template class AngleAxis; template class Translation; +// Sparse module: +template class SparseMatrixBase; + #ifdef EIGEN2_SUPPORT template class eigen2_RotationBase; template class eigen2_Cross; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h index 42671e85b..53fb5fae4 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h @@ -13,7 +13,7 @@ #define EIGEN_WORLD_VERSION 3 #define EIGEN_MAJOR_VERSION 2 -#define EIGEN_MINOR_VERSION 6 +#define EIGEN_MINOR_VERSION 7 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \ (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \ @@ -96,6 +96,20 @@ #define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t #endif +// A Clang feature extension to determine compiler features. +// We use it to determine 'cxx_rvalue_references' +#ifndef __has_feature +# define __has_feature(x) 0 +#endif + +// Do we support r-value references? +#if (__has_feature(cxx_rvalue_references) || \ + defined(__GXX_EXPERIMENTAL_CXX0X__) || \ + (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define EIGEN_HAVE_RVALUE_REFERENCES +#endif + + // Cross compiler wrapper around LLVM's __has_builtin #ifdef __has_builtin # define EIGEN_HAS_BUILTIN(x) __has_builtin(x) @@ -409,6 +423,8 @@ namespace Eigen { #define EIGEN_SIZE_MAX(a,b) (((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \ : ((int)a >= (int)b) ? (int)a : (int)b) +#define EIGEN_ADD_COST(a,b) int(a)==Dynamic || int(b)==Dynamic ? Dynamic : int(a)+int(b) + #define EIGEN_LOGICAL_XOR(a,b) (((a) || (b)) && !((a) && (b))) #define EIGEN_IMPLIES(a,b) (!(a) || (b)) diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h index 781965d2c..d05f8e5f6 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h @@ -366,17 +366,17 @@ struct dense_xpr_base /** \internal Helper base class to add a scalar multiple operator * overloads for complex types */ -template::value > -struct special_scalar_op_base : public DenseCoeffsBase +struct special_scalar_op_base : public BaseType { // dummy operator* so that the // "using special_scalar_op_base::operator*" compiles void operator*() const; }; -template -struct special_scalar_op_base : public DenseCoeffsBase +template +struct special_scalar_op_base : public BaseType { const CwiseUnaryOp, Derived> operator*(const OtherScalar& scalar) const diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h index 553d38c74..bbf6a7ed8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h @@ -131,7 +131,7 @@ public: m_angle = Scalar(other.angle()); } - static inline const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); } + static inline const AngleAxis Identity() { return AngleAxis(Scalar(0), Vector3::UnitX()); } /** \returns \c true if \c *this is approximately equal to \a other, within the precision * determined by \a prec. @@ -165,8 +165,8 @@ AngleAxis& AngleAxis::operator=(const QuaternionBase::dummy_precision()*NumTraits::dummy_precision()) { - m_angle = 0; - m_axis << 1, 0, 0; + m_angle = Scalar(0); + m_axis << Scalar(1), Scalar(0), Scalar(0); } else { diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h index 2625c4dc3..551221907 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h @@ -186,7 +186,8 @@ public: * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - BiCGSTAB(const MatrixType& A) : Base(A) {} + template + explicit BiCGSTAB(const EigenBase& A) : Base(A.derived()) {} ~BiCGSTAB() {} diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h index 8ba4a8dbe..1a7e569c8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h @@ -176,7 +176,8 @@ public: * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - ConjugateGradient(const MatrixType& A) : Base(A) {} + template + explicit ConjugateGradient(const EigenBase& A) : Base(A.derived()) {} ~ConjugateGradient() {} diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h index 4c169aa60..d3f37fea2 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h @@ -159,7 +159,7 @@ class IncompleteLUT : internal::noncopyable template void _solve(const Rhs& b, Dest& x) const { - x = m_Pinv * b; + x = m_Pinv * b; x = m_lu.template triangularView().solve(x); x = m_lu.template triangularView().solve(x); x = m_P * x; @@ -222,16 +222,25 @@ template void IncompleteLUT::analyzePattern(const _MatrixType& amat) { // Compute the Fill-reducing permutation + // Since ILUT does not perform any numerical pivoting, + // it is highly preferable to keep the diagonal through symmetric permutations. +#ifndef EIGEN_MPL2_ONLY + // To this end, let's symmetrize the pattern and perform AMD on it. SparseMatrix mat1 = amat; SparseMatrix mat2 = amat.transpose(); - // Symmetrize the pattern // FIXME for a matrix with nearly symmetric pattern, mat2+mat1 is the appropriate choice. // on the other hand for a really non-symmetric pattern, mat2*mat1 should be prefered... SparseMatrix AtA = mat2 + mat1; - AtA.prune(keep_diag()); - internal::minimum_degree_ordering(AtA, m_P); // Then compute the AMD ordering... - - m_Pinv = m_P.inverse(); // ... and the inverse permutation + AMDOrdering ordering; + ordering(AtA,m_P); + m_Pinv = m_P.inverse(); // cache the inverse permutation +#else + // If AMD is not available, (MPL2-only), then let's use the slower COLAMD routine. + SparseMatrix mat1 = amat; + COLAMDOrdering ordering; + ordering(mat1,m_Pinv); + m_P = m_Pinv.inverse(); +#endif m_analysisIsOk = true; m_factorizationIsOk = false; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h index 2036922d6..501ef2f8d 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h @@ -49,10 +49,11 @@ public: * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - IterativeSolverBase(const MatrixType& A) + template + IterativeSolverBase(const EigenBase& A) { init(); - compute(A); + compute(A.derived()); } ~IterativeSolverBase() {} @@ -62,9 +63,11 @@ public: * Currently, this function mostly call analyzePattern on the preconditioner. In the future * we might, for instance, implement column reodering for faster matrix vector products. */ - Derived& analyzePattern(const MatrixType& A) + template + Derived& analyzePattern(const EigenBase& A) { - m_preconditioner.analyzePattern(A); + grabInput(A.derived()); + m_preconditioner.analyzePattern(*mp_matrix); m_isInitialized = true; m_analysisIsOk = true; m_info = Success; @@ -80,11 +83,12 @@ public: * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - Derived& factorize(const MatrixType& A) + template + Derived& factorize(const EigenBase& A) { + grabInput(A.derived()); eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); - mp_matrix = &A; - m_preconditioner.factorize(A); + m_preconditioner.factorize(*mp_matrix); m_factorizationIsOk = true; m_info = Success; return derived(); @@ -100,10 +104,11 @@ public: * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - Derived& compute(const MatrixType& A) + template + Derived& compute(const EigenBase& A) { - mp_matrix = &A; - m_preconditioner.compute(A); + grabInput(A.derived()); + m_preconditioner.compute(*mp_matrix); m_isInitialized = true; m_analysisIsOk = true; m_factorizationIsOk = true; @@ -212,6 +217,28 @@ public: } protected: + + template + void grabInput(const EigenBase& A) + { + // we const cast to prevent the creation of a MatrixType temporary by the compiler. + grabInput_impl(A.const_cast_derived()); + } + + template + void grabInput_impl(const EigenBase& A) + { + m_copyMatrix = A; + mp_matrix = &m_copyMatrix; + } + + void grabInput_impl(MatrixType& A) + { + if(MatrixType::RowsAtCompileTime==Dynamic && MatrixType::ColsAtCompileTime==Dynamic) + m_copyMatrix.resize(0,0); + mp_matrix = &A; + } + void init() { m_isInitialized = false; @@ -220,6 +247,7 @@ protected: m_maxIterations = -1; m_tolerance = NumTraits::epsilon(); } + MatrixType m_copyMatrix; const MatrixType* mp_matrix; Preconditioner m_preconditioner; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h index de00877de..36138101d 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h @@ -47,7 +47,7 @@ namespace Eigen { * You can then apply it to a vector. * * R is the sparse triangular factor. Use matrixQR() to get it as SparseMatrix. - * NOTE : The Index type of R is always UF_long. You can get it with SPQR::Index + * NOTE : The Index type of R is always SuiteSparse_long. You can get it with SPQR::Index * * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<> * NOTE @@ -59,7 +59,7 @@ class SPQR public: typedef typename _MatrixType::Scalar Scalar; typedef typename _MatrixType::RealScalar RealScalar; - typedef UF_long Index ; + typedef SuiteSparse_long Index ; typedef SparseMatrix MatrixType; typedef PermutationMatrix PermutationType; public: diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h index 60ca7690c..4ca912833 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h @@ -314,10 +314,10 @@ SparseMatrixBase::operator+=(const SparseMatrixBase& othe template template -EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE +EIGEN_STRONG_INLINE const typename SparseMatrixBase::template CwiseProductDenseReturnType::Type SparseMatrixBase::cwiseProduct(const MatrixBase &other) const { - return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(derived(), other.derived()); + return typename CwiseProductDenseReturnType::Type(derived(), other.derived()); } } // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h index ba5e3a9b6..2ff201551 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h @@ -691,7 +691,8 @@ class SparseMatrix m_data.swap(other.m_data); } - /** Sets *this to the identity matrix */ + /** Sets *this to the identity matrix. + * This function also turns the matrix into compressed mode, and drop any reserved memory. */ inline void setIdentity() { eigen_assert(rows() == cols() && "ONLY FOR SQUARED MATRICES"); @@ -699,6 +700,8 @@ class SparseMatrix Eigen::Map >(&this->m_data.index(0), rows()).setLinSpaced(0, rows()-1); Eigen::Map >(&this->m_data.value(0), rows()).setOnes(); Eigen::Map >(this->m_outerIndex, rows()+1).setLinSpaced(0, rows()); + std::free(m_innerNonZeros); + m_innerNonZeros = 0; } inline SparseMatrix& operator=(const SparseMatrix& other) { diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h index 6b2169a7b..9341d9ad2 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h @@ -23,7 +23,14 @@ namespace Eigen { * This class can be extended with the help of the plugin mechanism described on the page * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEMATRIXBASE_PLUGIN. */ -template class SparseMatrixBase : public EigenBase +template class SparseMatrixBase +#ifndef EIGEN_PARSED_BY_DOXYGEN + : public internal::special_scalar_op_base::Scalar, + typename NumTraits::Scalar>::Real, + EigenBase > +#else + : public EigenBase +#endif // not EIGEN_PARSED_BY_DOXYGEN { public: @@ -36,7 +43,6 @@ template class SparseMatrixBase : public EigenBase >::type PacketReturnType; typedef SparseMatrixBase StorageBaseType; - typedef EigenBase Base; template Derived& operator=(const EigenBase &other) @@ -132,6 +138,9 @@ template class SparseMatrixBase : public EigenBase inline Derived& derived() { return *static_cast(this); } inline Derived& const_cast_derived() const { return *static_cast(const_cast(this)); } + + typedef internal::special_scalar_op_base > Base; + using Base::operator*; #endif // not EIGEN_PARSED_BY_DOXYGEN #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::SparseMatrixBase @@ -317,20 +326,18 @@ template class SparseMatrixBase : public EigenBase Derived& operator*=(const Scalar& other); Derived& operator/=(const Scalar& other); - #define EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE \ - CwiseBinaryOp< \ - internal::scalar_product_op< \ - typename internal::scalar_product_traits< \ - typename internal::traits::Scalar, \ - typename internal::traits::Scalar \ - >::ReturnType \ - >, \ - const Derived, \ - const OtherDerived \ - > + template struct CwiseProductDenseReturnType { + typedef CwiseBinaryOp::Scalar, + typename internal::traits::Scalar + >::ReturnType>, + const Derived, + const OtherDerived + > Type; + }; template - EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE + EIGEN_STRONG_INLINE const typename CwiseProductDenseReturnType::Type cwiseProduct(const MatrixBase &other) const; // sparse * sparse diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h index 0ba471320..d627546de 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h @@ -67,7 +67,6 @@ const int InnerRandomAccessPattern = 0x2 | CoherentAccessPattern; const int OuterRandomAccessPattern = 0x4 | CoherentAccessPattern; const int RandomAccessPattern = 0x8 | OuterRandomAccessPattern | InnerRandomAccessPattern; -template class SparseMatrixBase; template class SparseMatrix; template class DynamicSparseMatrix; template class SparseVector; diff --git a/gtsam/3rdparty/Eigen/cmake/EigenConfigureTesting.cmake b/gtsam/3rdparty/Eigen/cmake/EigenConfigureTesting.cmake index 11ecc9585..2b11d8360 100644 --- a/gtsam/3rdparty/Eigen/cmake/EigenConfigureTesting.cmake +++ b/gtsam/3rdparty/Eigen/cmake/EigenConfigureTesting.cmake @@ -26,29 +26,18 @@ include(CTest) set(EIGEN_TEST_BUILD_FLAGS " " CACHE STRING "Options passed to the build command of unit tests") -# overwrite default DartConfiguration.tcl -# The worarounds are different for each version of the MSVC IDE -if(MSVC_IDE) - if(CMAKE_MAKE_PROGRAM_SAVE MATCHES "devenv") # devenv - set(EIGEN_MAKECOMMAND_PLACEHOLDER "${CMAKE_MAKE_PROGRAM_SAVE} Eigen.sln /build \"Release\" /project buildtests ${EIGEN_TEST_BUILD_FLAGS} \n# ") - else() # msbuild - set(EIGEN_MAKECOMMAND_PLACEHOLDER "${CMAKE_MAKE_PROGRAM_SAVE} buildtests.vcxproj /p:Configuration=\${CTEST_CONFIGURATION_TYPE} ${EIGEN_TEST_BUILD_FLAGS}\n# ") - endif() -else() - # for make and nmake - set(EIGEN_MAKECOMMAND_PLACEHOLDER "${CMAKE_MAKE_PROGRAM_SAVE} buildtests ${EIGEN_TEST_BUILD_FLAGS}") +# Overwrite default DartConfiguration.tcl such that ctest can build our unit tests. +# Recall that our unit tests are not in the "all" target, so we have to explicitely ask ctest to build our custom 'buildtests' target. +# At this stage, we can also add custom flags to the build tool through the user defined EIGEN_TEST_BUILD_FLAGS variable. +file(READ "${CMAKE_CURRENT_BINARY_DIR}/DartConfiguration.tcl" EIGEN_DART_CONFIG_FILE) +# try to grab the default flags +string(REGEX MATCH "MakeCommand:.*-- (.*)\nDefaultCTestConfigurationType" EIGEN_DUMMY ${EIGEN_DART_CONFIG_FILE}) +if(NOT CMAKE_MATCH_1) +string(REGEX MATCH "MakeCommand:.*[^c]make (.*)\nDefaultCTestConfigurationType" EIGEN_DUMMY ${EIGEN_DART_CONFIG_FILE}) endif() - -# copy ctest properties, which currently -# o raise the warning levels -configure_file(${CMAKE_CURRENT_BINARY_DIR}/DartConfiguration.tcl ${CMAKE_BINARY_DIR}/DartConfiguration.tcl) - -# restore default CMAKE_MAKE_PROGRAM -set(CMAKE_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM_SAVE}) -# un-set temporary variables so that it is like they never existed. -# CMake 2.6.3 introduces the more logical unset() syntax for this. -set(CMAKE_MAKE_PROGRAM_SAVE) -set(EIGEN_MAKECOMMAND_PLACEHOLDER) +string(REGEX REPLACE "MakeCommand:.*DefaultCTestConfigurationType" "MakeCommand: ${CMAKE_COMMAND} --build . --target buildtests --config \"\${CTEST_CONFIGURATION_TYPE}\" -- ${CMAKE_MATCH_1} ${EIGEN_TEST_BUILD_FLAGS}\nDefaultCTestConfigurationType" + EIGEN_DART_CONFIG_FILE2 ${EIGEN_DART_CONFIG_FILE}) +file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/DartConfiguration.tcl" ${EIGEN_DART_CONFIG_FILE2}) configure_file(${CMAKE_CURRENT_SOURCE_DIR}/CTestCustom.cmake.in ${CMAKE_BINARY_DIR}/CTestCustom.cmake) diff --git a/gtsam/3rdparty/Eigen/cmake/FindSPQR.cmake b/gtsam/3rdparty/Eigen/cmake/FindSPQR.cmake index 794c212af..1e958c3c1 100644 --- a/gtsam/3rdparty/Eigen/cmake/FindSPQR.cmake +++ b/gtsam/3rdparty/Eigen/cmake/FindSPQR.cmake @@ -26,7 +26,12 @@ if(SPQR_LIBRARIES) find_library(SUITESPARSE_LIBRARY SuiteSparse PATHS $ENV{SPQRDIR} ${LIB_INSTALL_DIR}) if (SUITESPARSE_LIBRARY) set(SPQR_LIBRARIES ${SPQR_LIBRARIES} ${SUITESPARSE_LIBRARY}) - endif (SUITESPARSE_LIBRARY) + endif() + + find_library(CHOLMOD_LIBRARY cholmod PATHS $ENV{UMFPACK_LIBDIR} $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR}) + if(CHOLMOD_LIBRARY) + set(SPQR_LIBRARIES ${SPQR_LIBRARIES} ${CHOLMOD_LIBRARY}) + endif() endif(SPQR_LIBRARIES) diff --git a/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake b/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake index 16b046cd6..53cf0b49b 100644 --- a/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake +++ b/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake @@ -20,24 +20,29 @@ find_library(UMFPACK_LIBRARIES umfpack PATHS $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR} if(UMFPACK_LIBRARIES) - if (NOT UMFPACK_LIBDIR) + if(NOT UMFPACK_LIBDIR) get_filename_component(UMFPACK_LIBDIR ${UMFPACK_LIBRARIES} PATH) endif(NOT UMFPACK_LIBDIR) find_library(COLAMD_LIBRARY colamd PATHS ${UMFPACK_LIBDIR} $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR}) - if (COLAMD_LIBRARY) + if(COLAMD_LIBRARY) set(UMFPACK_LIBRARIES ${UMFPACK_LIBRARIES} ${COLAMD_LIBRARY}) - endif (COLAMD_LIBRARY) + endif () find_library(AMD_LIBRARY amd PATHS ${UMFPACK_LIBDIR} $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR}) - if (AMD_LIBRARY) + if(AMD_LIBRARY) set(UMFPACK_LIBRARIES ${UMFPACK_LIBRARIES} ${AMD_LIBRARY}) - endif (AMD_LIBRARY) + endif () find_library(SUITESPARSE_LIBRARY SuiteSparse PATHS ${UMFPACK_LIBDIR} $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR}) - if (SUITESPARSE_LIBRARY) + if(SUITESPARSE_LIBRARY) set(UMFPACK_LIBRARIES ${UMFPACK_LIBRARIES} ${SUITESPARSE_LIBRARY}) - endif (SUITESPARSE_LIBRARY) + endif () + + find_library(CHOLMOD_LIBRARY cholmod PATHS $ENV{UMFPACK_LIBDIR} $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR}) + if(CHOLMOD_LIBRARY) + set(UMFPACK_LIBRARIES ${UMFPACK_LIBRARIES} ${CHOLMOD_LIBRARY}) + endif() endif(UMFPACK_LIBRARIES) @@ -45,4 +50,4 @@ include(FindPackageHandleStandardArgs) find_package_handle_standard_args(UMFPACK DEFAULT_MSG UMFPACK_INCLUDES UMFPACK_LIBRARIES) -mark_as_advanced(UMFPACK_INCLUDES UMFPACK_LIBRARIES AMD_LIBRARY COLAMD_LIBRARY SUITESPARSE_LIBRARY) +mark_as_advanced(UMFPACK_INCLUDES UMFPACK_LIBRARIES AMD_LIBRARY COLAMD_LIBRARY CHOLMOD_LIBRARY SUITESPARSE_LIBRARY) diff --git a/gtsam/3rdparty/Eigen/test/CMakeLists.txt b/gtsam/3rdparty/Eigen/test/CMakeLists.txt index f5f208a37..3739268d2 100644 --- a/gtsam/3rdparty/Eigen/test/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/test/CMakeLists.txt @@ -222,6 +222,8 @@ ei_add_test(sizeoverflow) ei_add_test(prec_inverse_4x4) ei_add_test(vectorwiseop) ei_add_test(special_numbers) +ei_add_test(rvalue_types) +ei_add_test(mpl2only) ei_add_test(simplicial_cholesky) ei_add_test(conjugate_gradient) diff --git a/gtsam/3rdparty/Eigen/test/redux.cpp b/gtsam/3rdparty/Eigen/test/redux.cpp index 0d176e500..50b473838 100644 --- a/gtsam/3rdparty/Eigen/test/redux.cpp +++ b/gtsam/3rdparty/Eigen/test/redux.cpp @@ -53,6 +53,14 @@ template void matrixRedux(const MatrixType& m) VERIFY_IS_APPROX(m1_for_prod.block(r0,c0,r1,c1).prod(), m1_for_prod.block(r0,c0,r1,c1).eval().prod()); VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).real().minCoeff(), m1.block(r0,c0,r1,c1).real().eval().minCoeff()); VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).real().maxCoeff(), m1.block(r0,c0,r1,c1).real().eval().maxCoeff()); + + // regression for bug 1090 + const int R1 = MatrixType::RowsAtCompileTime>=2 ? MatrixType::RowsAtCompileTime/2 : 6; + const int C1 = MatrixType::ColsAtCompileTime>=2 ? MatrixType::ColsAtCompileTime/2 : 6; + if(R1<=rows-r0 && C1<=cols-c0) + { + VERIFY_IS_APPROX( (m1.template block(r0,c0).sum()), m1.block(r0,c0,R1,C1).sum() ); + } // test empty objects VERIFY_IS_APPROX(m1.block(r0,c0,0,0).sum(), Scalar(0)); diff --git a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp index ce41d713c..abe6a9d14 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp +++ b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp @@ -306,6 +306,8 @@ template void sparse_basic(const SparseMatrixType& re refM4.setRandom(); // sparse cwise* dense VERIFY_IS_APPROX(m3.cwiseProduct(refM4), refM3.cwiseProduct(refM4)); + // dense cwise* sparse + VERIFY_IS_APPROX(refM4.cwiseProduct(m3), refM4.cwiseProduct(refM3)); // VERIFY_IS_APPROX(m3.cwise()/refM4, refM3.cwise()/refM4); // test aliasing @@ -529,6 +531,20 @@ template void sparse_basic(const SparseMatrixType& re SparseMatrixType m1(rows, rows); m1.setIdentity(); VERIFY_IS_APPROX(m1, refMat1); + for(int k=0; k(0,rows-1); + Index j = internal::random(0,rows-1); + Scalar v = internal::random(); + m1.coeffRef(i,j) = v; + refMat1.coeffRef(i,j) = v; + VERIFY_IS_APPROX(m1, refMat1); + if(internal::random(0,10)<2) + m1.makeCompressed(); + } + m1.setIdentity(); + refMat1.setIdentity(); + VERIFY_IS_APPROX(m1, refMat1); } } diff --git a/gtsam/3rdparty/Eigen/test/sparse_solver.h b/gtsam/3rdparty/Eigen/test/sparse_solver.h index 833c0d889..e1619d62a 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_solver.h +++ b/gtsam/3rdparty/Eigen/test/sparse_solver.h @@ -67,6 +67,22 @@ void check_sparse_solving(Solver& solver, const typename Solver::MatrixType& A, VERIFY(oldb.isApprox(db) && "sparse solver testing: the rhs should not be modified!"); VERIFY(x.isApprox(refX,test_precision())); } + + // if not too large, do some extra check: + if(A.rows()<2000) + { + + // test expression as input + { + solver.compute(0.5*(A+A)); + Rhs x = solver.solve(b); + VERIFY(x.isApprox(refX,test_precision())); + + Solver solver2(0.5*(A+A)); + Rhs x2 = solver2.solve(b); + VERIFY(x2.isApprox(refX,test_precision())); + } + } } template diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h index 8d42e69b9..fde3ff61a 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h @@ -631,7 +631,7 @@ template struct NumTraits > { typedef AutoDiffScalar::Real,DerType::RowsAtCompileTime,DerType::ColsAtCompileTime> > Real; typedef AutoDiffScalar NonInteger; - typedef AutoDiffScalar& Nested; + typedef AutoDiffScalar Nested; enum{ RequireInitialization = 1 }; diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt index 125c43fdf..d8b9f4068 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt @@ -1,5 +1,6 @@ ADD_SUBDIRECTORY(AutoDiff) ADD_SUBDIRECTORY(BVH) +ADD_SUBDIRECTORY(Eigenvalues) ADD_SUBDIRECTORY(FFT) ADD_SUBDIRECTORY(IterativeSolvers) ADD_SUBDIRECTORY(KroneckerProduct) diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h index 9fcc8a8d9..68fc997f7 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h @@ -133,8 +133,8 @@ class DGMRES : public IterativeSolverBase > * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - DGMRES(const MatrixType& A) : Base(A),m_restart(30),m_neig(0),m_r(0),m_maxNeig(5),m_isDeflAllocated(false),m_isDeflInitialized(false) - {} + template + explicit DGMRES(const EigenBase& A) : Base(A.derived()), m_restart(30),m_neig(0),m_r(0),m_maxNeig(5),m_isDeflAllocated(false),m_isDeflInitialized(false) {} ~DGMRES() {} diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h index 7ba13afd2..ea5deb26d 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h @@ -285,7 +285,8 @@ public: * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - GMRES(const MatrixType& A) : Base(A), m_restart(30) {} + template + explicit GMRES(const EigenBase& A) : Base(A.derived()), m_restart(30) {} ~GMRES() {} diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h index 30f26aa50..670f274bb 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h @@ -228,7 +228,8 @@ namespace Eigen { * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - MINRES(const MatrixType& A) : Base(A) {} + template + explicit MINRES(const EigenBase& A) : Base(A.derived()) {} /** Destructor. */ ~MINRES(){} From 8563fc30b4e4ecf1320d53dea45f3d521b80bf00 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 12 Nov 2015 13:03:03 -0800 Subject: [PATCH 663/964] Some tiny improvements --- gtsam/base/Manifold.h | 3 ++- gtsam/nonlinear/Values.h | 1 + gtsam/slam/expressions.h | 4 ++-- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h index 6746236be..b30edb3df 100644 --- a/gtsam/base/Manifold.h +++ b/gtsam/base/Manifold.h @@ -169,7 +169,8 @@ struct FixedDimension { }; /// Helper class to construct the product manifold of two other manifolds, M1 and M2 -/// Assumes nothing except manifold structure from M1 and M2 +/// Assumes nothing except manifold structure for M1 and M2, and the existence +/// of default constructor for those types template class ProductManifold: public std::pair { BOOST_CONCEPT_ASSERT((IsManifold)); diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index d3c114657..633e0dd06 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -32,6 +32,7 @@ #ifdef __GNUC__ #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-variable" +#pragma GCC diagnostic ignored "-Wunused-local-typedef" #endif #include #ifdef __GNUC__ diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h index e81c76bd6..e23aa334b 100644 --- a/gtsam/slam/expressions.h +++ b/gtsam/slam/expressions.h @@ -47,12 +47,12 @@ typedef Expression Cal3Bundler_; /// Expression version of PinholeBase::Project inline Point2_ project(const Point3_& p_cam) { - Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project; + Point2_::UnaryFunction::type f = &PinholeBase::Project; return Point2_(f, p_cam); } inline Point2_ project(const Unit3_& p_cam) { - Point2 (*f)(const Unit3&, OptionalJacobian<2, 2>) = &PinholeBase::Project; + Point2_::UnaryFunction::type f = &PinholeBase::Project; return Point2_(f, p_cam); } From a51b4bb7ab6277c80b7fc594dc45af0dac303e24 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 15 Nov 2015 16:37:54 -0800 Subject: [PATCH 664/964] Reverted change --- gtsam/slam/expressions.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h index e23aa334b..e81c76bd6 100644 --- a/gtsam/slam/expressions.h +++ b/gtsam/slam/expressions.h @@ -47,12 +47,12 @@ typedef Expression Cal3Bundler_; /// Expression version of PinholeBase::Project inline Point2_ project(const Point3_& p_cam) { - Point2_::UnaryFunction::type f = &PinholeBase::Project; + Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project; return Point2_(f, p_cam); } inline Point2_ project(const Unit3_& p_cam) { - Point2_::UnaryFunction::type f = &PinholeBase::Project; + Point2 (*f)(const Unit3&, OptionalJacobian<2, 2>) = &PinholeBase::Project; return Point2_(f, p_cam); } From 6ea06445590c8f00d3b3dca5210e83060cf75444 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 1 Dec 2015 10:39:23 -0500 Subject: [PATCH 665/964] Smallest commit ever to properly shut up warnings! Wunused-local-typedef -> Wunused-local-typedefs --- gtsam/nonlinear/Values.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 633e0dd06..70aadfa06 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -32,7 +32,7 @@ #ifdef __GNUC__ #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-variable" -#pragma GCC diagnostic ignored "-Wunused-local-typedef" +#pragma GCC diagnostic ignored "-Wunused-local-typedefs" #endif #include #ifdef __GNUC__ From ec934770f3dc7702a738c8276bbb2598d3d9a6bd Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Fri, 15 Nov 2013 06:59:02 +0000 Subject: [PATCH 666/964] Initial stages of python wrapping. Issues with method overloading, boost optionals. Testing with Point2 only now --- CMakeLists.txt | 5 +++++ python/CMakeLists.txt | 25 +++++++++++++++++++++++++ python/base/DerivedValue.cpp | 9 +++++++++ python/base/Value.cpp | 10 ++++++++++ python/geometry/Point2.cpp | 23 +++++++++++++++++++++++ python/geometry/exportGeometry.cpp | 10 ++++++++++ 6 files changed, 82 insertions(+) create mode 100644 python/CMakeLists.txt create mode 100644 python/base/DerivedValue.cpp create mode 100644 python/base/Value.cpp create mode 100644 python/geometry/Point2.cpp create mode 100644 python/geometry/exportGeometry.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 0380b8a2f..bbf7de2e9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -30,6 +30,7 @@ message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") # Load build type flags and default to Debug mode include(GtsamBuildTypes) +include(GtsamPythonWrap) # Use macros for creating tests/timing scripts include(GtsamTesting) @@ -344,6 +345,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) add_subdirectory(matlab) endif() +if(GTSAM_BUILD_PYTHON) + add_subdirectory(python) +endif() + # Build gtsam_unstable if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt new file mode 100644 index 000000000..be739d7b4 --- /dev/null +++ b/python/CMakeLists.txt @@ -0,0 +1,25 @@ +include_directories("${PROJECT_SOURCE_DIR}/gtsam") + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../cmake) + +#include_directories(${EIGEN_INCLUDE_DIRS}) + +file(GLOB base_src "base/*.cpp") +file(GLOB geometry_src "geometry/*.cpp") +file(GLOB inference_src "inference/*.cpp") +file(GLOB linear_src "linear/*.cpp") +file(GLOB nonlinear_src "nonlinear/*.cpp") +file(GLOB slam_src "slam/*.cpp") +file(GLOB symbolic_src "symbolic/*.cpp") + +#wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src}) +wrap_python("geometry" ${PROJECT_SOURCE_DIR}/python/gtsam ${geometry_src}) + +#add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} +# ${AUTOGEN_TEST_FILES} +#) \ No newline at end of file diff --git a/python/base/DerivedValue.cpp b/python/base/DerivedValue.cpp new file mode 100644 index 000000000..b389d14fc --- /dev/null +++ b/python/base/DerivedValue.cpp @@ -0,0 +1,9 @@ +#include +#include "gtsam/base/DerivedValue.h" + +using namespace boost::python; +using namespace gtsam; + +/*void exportDerivedValue(){ + class_ >("DerivedValue", no_init); +}*/ \ No newline at end of file diff --git a/python/base/Value.cpp b/python/base/Value.cpp new file mode 100644 index 000000000..052334dbf --- /dev/null +++ b/python/base/Value.cpp @@ -0,0 +1,10 @@ +#include +#include "gtsam/base/Value.h" + +using namespace boost::python; +using namespace gtsam; + +// Virtual class, no init +void exportValue(){ + class_("Value", no_init); +} \ No newline at end of file diff --git a/python/geometry/Point2.cpp b/python/geometry/Point2.cpp new file mode 100644 index 000000000..0f87a6e48 --- /dev/null +++ b/python/geometry/Point2.cpp @@ -0,0 +1,23 @@ +#include +#include "gtsam/geometry/Point2.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_FUNCTION_OVERLOADS(equals_overloads, &Point2::equals, 1, 2) + +void exportPoint2(){ + + class_("Point2", init<>()) + .def(init()) + .def("print", &Point2::print) + .def("equals", &Point2::equals) + .def("inverse", &Point2::inverse) + .def("compose", &Point2::compose) + .def("between", &Point2::between) + .def("dim", &Point2::dim) + .def("retract", &Point2::retract) + .def("x", &Point2::x) + .def("y", &Point2::y) + ; +} \ No newline at end of file diff --git a/python/geometry/exportGeometry.cpp b/python/geometry/exportGeometry.cpp new file mode 100644 index 000000000..55bf7a83b --- /dev/null +++ b/python/geometry/exportGeometry.cpp @@ -0,0 +1,10 @@ +#include +#include + +void exportPoint2(); + +BOOST_PYTHON_MODULE(libgeometry){ + using namespace boost::python; + + exportPoint2(); +} \ No newline at end of file From 245578082924a3eeeb821bac7d41a93950fce802 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Fri, 15 Nov 2013 22:59:36 +0000 Subject: [PATCH 667/964] Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations --- python/geometry/Point2.cpp | 11 +++-- python/geometry/Pose2.cpp | 72 ++++++++++++++++++++++++++++++ python/geometry/Rot2.cpp | 48 ++++++++++++++++++++ python/geometry/exportGeometry.cpp | 5 ++- 4 files changed, 131 insertions(+), 5 deletions(-) create mode 100644 python/geometry/Pose2.cpp create mode 100644 python/geometry/Rot2.cpp diff --git a/python/geometry/Point2.cpp b/python/geometry/Point2.cpp index 0f87a6e48..0d1e7092b 100644 --- a/python/geometry/Point2.cpp +++ b/python/geometry/Point2.cpp @@ -4,20 +4,23 @@ using namespace boost::python; using namespace gtsam; -BOOST_PYTHON_FUNCTION_OVERLOADS(equals_overloads, &Point2::equals, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Point2::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Point2::equals, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Point2::compose, 1, 3) void exportPoint2(){ class_("Point2", init<>()) .def(init()) - .def("print", &Point2::print) - .def("equals", &Point2::equals) + .def("print", &Point2::print, print_overloads(args("s"))) + .def("equals", &Point2::equals, equals_overloads(args("q","tol"))) .def("inverse", &Point2::inverse) - .def("compose", &Point2::compose) + .def("compose", &Point2::compose, compose_overloads(args("q", "H1", "H2"))) .def("between", &Point2::between) .def("dim", &Point2::dim) .def("retract", &Point2::retract) .def("x", &Point2::x) .def("y", &Point2::y) ; + } \ No newline at end of file diff --git a/python/geometry/Pose2.cpp b/python/geometry/Pose2.cpp new file mode 100644 index 000000000..577a8da2c --- /dev/null +++ b/python/geometry/Pose2.cpp @@ -0,0 +1,72 @@ +#include +#include "gtsam/geometry/Pose2.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Pose2::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Pose2::equals, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose2::compose, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose2::between, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_to_overloads, Pose2::transform_to, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_from_overloads, Pose2::transform_from, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose2::bearing, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose2::range, 1, 3) + +// Manually wrap + +void exportPose2(){ + + double (Pose2::*range1)(const Pose2&, boost::optional, boost::optional) const + = &Pose2::range; + double (Pose2::*range2)(const Point2&, boost::optional, boost::optional) const + = &Pose2::range; + + Rot2 (Pose2::*bearing1)(const Pose2&, boost::optional, boost::optional) const + = &Pose2::bearing; + Rot2 (Pose2::*bearing2)(const Point2&, boost::optional, boost::optional) const + = &Pose2::bearing; + + class_("Pose2", init<>()) + .def(init()) + .def(init()) + .def(init()) + .def("print", &Pose2::print, print_overloads(args("s"))) + + .def("equals", &Pose2::equals, equals_overloads(args("pose","tol"))) + .def("inverse", &Pose2::inverse) + .def("compose", &Pose2::compose, compose_overloads(args("p2", "H1", "H2"))) + .def("between", &Pose2::between, between_overloads(args("p2", "H1", "H2"))) + .def("dim", &Pose2::dim) + .def("retract", &Pose2::retract) + + .def("transform_to", &Pose2::transform_to, + transform_to_overloads(args("point", "H1", "H2"))) + .def("transform_from", &Pose2::transform_from, + transform_to_overloads(args("point", "H1", "H2"))) + + .def("x", &Pose2::x) + .def("y", &Pose2::y) + .def("theta", &Pose2::theta) + // See documentation on call policy for more information + // https://wiki.python.org/moin/boost.python/CallPolicy + .def("t", &Pose2::t, return_value_policy()) + .def("r", &Pose2::r, return_value_policy()) + .def("translation", &Pose2::translation, return_value_policy()) + .def("rotation", &Pose2::rotation, return_value_policy()) + + .def("bearing", bearing1, bearing_overloads()) + .def("bearing", bearing2, bearing_overloads()) + + // Function overload example + .def("range", range1, range_overloads()) + .def("range", range2, range_overloads()) + + + .def("Expmap", &Pose2::Expmap) + .staticmethod("Expmap") + + .def(self * self) // __mult__ + ; + +} \ No newline at end of file diff --git a/python/geometry/Rot2.cpp b/python/geometry/Rot2.cpp new file mode 100644 index 000000000..06a6a7072 --- /dev/null +++ b/python/geometry/Rot2.cpp @@ -0,0 +1,48 @@ +#include +#include "gtsam/geometry/Rot2.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Rot2::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot2::equals, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Rot2::compose, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(relativeBearing_overloads, Rot2::relativeBearing, 1, 3) + +void exportRot2(){ + + class_("Rot2", init<>()) + .def(init()) + + .def("fromAngle", &Rot2::fromAngle) + .staticmethod("fromAngle") + + .def("fromDegrees", &Rot2::fromDegrees) + .staticmethod("fromDegrees") + + .def("fromCosSin", &Rot2::fromCosSin) + .staticmethod("fromCosSin") + + .def("atan2", &Rot2::atan2) + .staticmethod("atan2") + + .def("print", &Rot2::print, print_overloads(args("s"))) + .def("equals", &Rot2::equals, equals_overloads(args("q","tol"))) + .def("inverse", &Rot2::inverse) + .def("compose", &Rot2::compose, compose_overloads(args("q", "H1", "H2"))) + .def("between", &Rot2::between) + .def("dim", &Rot2::dim) + .def("retract", &Rot2::retract) + + .def("Expmap", &Rot2::Expmap) + .staticmethod("Expmap") + + .def("theta", &Rot2::theta) + .def("degrees", &Rot2::degrees) + .def("c", &Rot2::c) + .def("s", &Rot2::s) + + .def(self * self) // __mult__ + ; + +} \ No newline at end of file diff --git a/python/geometry/exportGeometry.cpp b/python/geometry/exportGeometry.cpp index 55bf7a83b..3887f7ca1 100644 --- a/python/geometry/exportGeometry.cpp +++ b/python/geometry/exportGeometry.cpp @@ -2,9 +2,12 @@ #include void exportPoint2(); +void exportRot2(); +void exportPose2(); BOOST_PYTHON_MODULE(libgeometry){ using namespace boost::python; - exportPoint2(); + exportRot2(); + exportPose2(); } \ No newline at end of file From d0efbadac8bce645402a32bfd7750443860a4f34 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Tue, 19 Nov 2013 04:28:38 +0000 Subject: [PATCH 668/964] Example on how to wrap templated classes such as factors --- python/CMakeLists.txt | 2 +- python/base/DerivedValue.cpp | 9 --------- python/base/Value.cpp | 10 ---------- python/slam/BearingFactor.cpp | 13 +++++++++++++ python/slam/BetweenFactor.cpp | 14 ++++++++++++++ python/slam/PriorFactor.cpp | 14 ++++++++++++++ python/slam/exportSlam.cpp | 24 ++++++++++++++++++++++++ 7 files changed, 66 insertions(+), 20 deletions(-) delete mode 100644 python/base/DerivedValue.cpp delete mode 100644 python/base/Value.cpp create mode 100644 python/slam/BearingFactor.cpp create mode 100644 python/slam/BetweenFactor.cpp create mode 100644 python/slam/PriorFactor.cpp create mode 100644 python/slam/exportSlam.cpp diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index be739d7b4..e503bdb45 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -19,7 +19,7 @@ file(GLOB symbolic_src "symbolic/*.cpp") #wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src}) wrap_python("geometry" ${PROJECT_SOURCE_DIR}/python/gtsam ${geometry_src}) - +wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src}) #add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} # ${AUTOGEN_TEST_FILES} #) \ No newline at end of file diff --git a/python/base/DerivedValue.cpp b/python/base/DerivedValue.cpp deleted file mode 100644 index b389d14fc..000000000 --- a/python/base/DerivedValue.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include -#include "gtsam/base/DerivedValue.h" - -using namespace boost::python; -using namespace gtsam; - -/*void exportDerivedValue(){ - class_ >("DerivedValue", no_init); -}*/ \ No newline at end of file diff --git a/python/base/Value.cpp b/python/base/Value.cpp deleted file mode 100644 index 052334dbf..000000000 --- a/python/base/Value.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include -#include "gtsam/base/Value.h" - -using namespace boost::python; -using namespace gtsam; - -// Virtual class, no init -void exportValue(){ - class_("Value", no_init); -} \ No newline at end of file diff --git a/python/slam/BearingFactor.cpp b/python/slam/BearingFactor.cpp new file mode 100644 index 000000000..63d4bb3ed --- /dev/null +++ b/python/slam/BearingFactor.cpp @@ -0,0 +1,13 @@ +#include +#include + +using namespace boost::python; +using namespace gtsam; + +using namespace std; + +template +void exposeBearingFactor(const std::string& name){ + class_(name, init<>()) + ; +} \ No newline at end of file diff --git a/python/slam/BetweenFactor.cpp b/python/slam/BetweenFactor.cpp new file mode 100644 index 000000000..3674614da --- /dev/null +++ b/python/slam/BetweenFactor.cpp @@ -0,0 +1,14 @@ +#include +#include + +using namespace boost::python; +using namespace gtsam; + +using namespace std; + +template +void exposeBetweenFactor(const std::string& name){ + class_(name, init<>()) + .def(init()) + ; +} \ No newline at end of file diff --git a/python/slam/PriorFactor.cpp b/python/slam/PriorFactor.cpp new file mode 100644 index 000000000..e1ee27602 --- /dev/null +++ b/python/slam/PriorFactor.cpp @@ -0,0 +1,14 @@ +#include +#include + +using namespace boost::python; +using namespace gtsam; + +using namespace std; + +template +void exposePriorFactor(const std::string& name){ + class_(name, init<>()) + .def(init()) + ; +} \ No newline at end of file diff --git a/python/slam/exportSlam.cpp b/python/slam/exportSlam.cpp new file mode 100644 index 000000000..fdd1d1549 --- /dev/null +++ b/python/slam/exportSlam.cpp @@ -0,0 +1,24 @@ +#include +#include + +#include +#include +#include +#include + +template void exportPriorFactor(const std::string& name); +template void exportBetweenFactor(const std::string& name); + +BOOST_PYTHON_MODULE(libgeometry){ + using namespace boost::python; + + typedef gtsam::PriorFactor Point2PriorFactor; + typedef gtsam::PriorFactor Pose2PriorFactor; + + exportPriorFactor("Point2PriorFactor"); + exportPriorFactor("Pose2PriorFactor"); + + typedef gtsam::BetweenFactor Pose2BetweenFactor; + + exportBetweenFactor("Pose2BetweenFactor"); +} \ No newline at end of file From 414e6b58f91027e4050457e65ee1fbf30fab58a6 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Wed, 20 Nov 2013 02:30:44 +0000 Subject: [PATCH 669/964] Finally fixed templates, moved into single library for simplicity, add noisemodels, nonlinear --- python/CMakeLists.txt | 6 +- python/exportgtsam.cpp | 63 +++++++++++++++++++ python/geometry/exportGeometry.cpp | 13 ---- python/linear/NoiseModel.cpp | 13 ++++ .../nonlinear/LevenbergMarquardtOptimizer.cpp | 12 ++++ python/nonlinear/NonlinearFactorGraph.cpp | 18 ++++++ python/nonlinear/Values.cpp | 19 ++++++ python/slam/BearingFactor.cpp | 2 +- python/slam/BetweenFactor.cpp | 2 +- python/slam/PriorFactor.cpp | 8 +-- python/slam/exportSlam.cpp | 24 ------- 11 files changed, 135 insertions(+), 45 deletions(-) create mode 100644 python/exportgtsam.cpp delete mode 100644 python/geometry/exportGeometry.cpp create mode 100644 python/linear/NoiseModel.cpp create mode 100644 python/nonlinear/LevenbergMarquardtOptimizer.cpp create mode 100644 python/nonlinear/NonlinearFactorGraph.cpp create mode 100644 python/nonlinear/Values.cpp delete mode 100644 python/slam/exportSlam.cpp diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index e503bdb45..cd9861dc0 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -18,8 +18,10 @@ file(GLOB slam_src "slam/*.cpp") file(GLOB symbolic_src "symbolic/*.cpp") #wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src}) -wrap_python("geometry" ${PROJECT_SOURCE_DIR}/python/gtsam ${geometry_src}) -wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src}) +wrap_python("gtsam" ${PROJECT_SOURCE_DIR}/python/gtsam exportgtsam.cpp + ${geometry_src} ${linear_src} ${nonlinear_src} ${slam_src}) +#wrap_python("nonlinear" ${PROJECT_SOURCE_DIR}/python/gtsam ${nonlinear_src}) +#wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src}) #add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} # ${AUTOGEN_TEST_FILES} #) \ No newline at end of file diff --git a/python/exportgtsam.cpp b/python/exportgtsam.cpp new file mode 100644 index 000000000..51e0ae1f3 --- /dev/null +++ b/python/exportgtsam.cpp @@ -0,0 +1,63 @@ +#include +#include + +#include +#include +#include +#include +#include + +using namespace boost::python; +using namespace gtsam; +using namespace std; + +// Geometery +void exportPoint2(); +void exportRot2(); +void exportPose2(); + +// Linear +void exportNoiseModels(); + +// Nonlinear +void exportValues(); +void exportNonlinearFactorGraph(); +void exportLevenbergMarquardtOptimizer(); + +// Slam +template< class FACTOR, class VALUE > +void exportPriorFactor(const std::string& name){ + class_< FACTOR >(name.c_str(), init<>()) + .def(init< Key, VALUE&, SharedNoiseModel >()) + ; +} + +template +void exportBetweenFactor(const std::string& name){ + class_(name.c_str(), init<>()) + .def(init()) + ; +} + +typedef gtsam::PriorFactor Point2PriorFactor; +typedef gtsam::PriorFactor Pose2PriorFactor; +typedef gtsam::BetweenFactor Pose2BetweenFactor; + +//-----------------------------------// + +BOOST_PYTHON_MODULE(libgtsam){ + using namespace boost::python; + exportPoint2(); + exportRot2(); + exportPose2(); + + exportNoiseModels(); + + exportValues(); + exportNonlinearFactorGraph(); + exportLevenbergMarquardtOptimizer(); + + exportPriorFactor< Point2PriorFactor, Point2 >("Point2PriorFactor"); + exportPriorFactor< Pose2PriorFactor, Pose2 >("Pose2PriorFactor"); + exportBetweenFactor< Pose2BetweenFactor, Pose2 >("Pose2BetweenFactor"); +} \ No newline at end of file diff --git a/python/geometry/exportGeometry.cpp b/python/geometry/exportGeometry.cpp deleted file mode 100644 index 3887f7ca1..000000000 --- a/python/geometry/exportGeometry.cpp +++ /dev/null @@ -1,13 +0,0 @@ -#include -#include - -void exportPoint2(); -void exportRot2(); -void exportPose2(); - -BOOST_PYTHON_MODULE(libgeometry){ - using namespace boost::python; - exportPoint2(); - exportRot2(); - exportPose2(); -} \ No newline at end of file diff --git a/python/linear/NoiseModel.cpp b/python/linear/NoiseModel.cpp new file mode 100644 index 000000000..89ee26e9a --- /dev/null +++ b/python/linear/NoiseModel.cpp @@ -0,0 +1,13 @@ +#include +#include + +using namespace boost::python; +using namespace gtsam; + +void exportNoiseModels(){ + // Diagonal Noise Model, no constructor + class_("DiagonalNoiseModel", no_init) + .def("Sigmas", &noiseModel::Diagonal::Sigmas) + .staticmethod("Sigmas") + ; +} \ No newline at end of file diff --git a/python/nonlinear/LevenbergMarquardtOptimizer.cpp b/python/nonlinear/LevenbergMarquardtOptimizer.cpp new file mode 100644 index 000000000..b7e38359f --- /dev/null +++ b/python/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -0,0 +1,12 @@ +#include +#include + +using namespace boost::python; +using namespace gtsam; + +void exportLevenbergMarquardtOptimizer(){ + class_("LevenbergMarquardtOptimizer", + init()) + .def("optimize", &LevenbergMarquardtOptimizer::optimize, return_value_policy()) + ; +} \ No newline at end of file diff --git a/python/nonlinear/NonlinearFactorGraph.cpp b/python/nonlinear/NonlinearFactorGraph.cpp new file mode 100644 index 000000000..16aa4c6e4 --- /dev/null +++ b/python/nonlinear/NonlinearFactorGraph.cpp @@ -0,0 +1,18 @@ +#include +#include "gtsam/nonlinear/NonlinearFactorGraph.h" +#include + +using namespace boost::python; +using namespace gtsam; + + +void exportNonlinearFactorGraph(){ + + typedef boost::shared_ptr shared_factor; + + void (NonlinearFactorGraph::*push_back1)(const shared_factor& factor) = &NonlinearFactorGraph::push_back; + + class_("NonlinearFactorGraph", init<>()) + .def("push_back", push_back1) + ; +} \ No newline at end of file diff --git a/python/nonlinear/Values.cpp b/python/nonlinear/Values.cpp new file mode 100644 index 000000000..c1451cef1 --- /dev/null +++ b/python/nonlinear/Values.cpp @@ -0,0 +1,19 @@ +#include +#include + +using namespace boost::python; +using namespace gtsam; + +void exportValues(){ + + const Value& (Values::*at1)(Key) const = &Values::at; + bool (Values::*exists1)(Key) const = &Values::exists; + void (Values::*insert1)(Key, const Value&) = &Values::insert; + + class_("Values", init<>()) + .def(init()) + .def("at", at1, return_value_policy()) + .def("exists", exists1) + .def("insert", insert1, return_value_policy()) + ; +} \ No newline at end of file diff --git a/python/slam/BearingFactor.cpp b/python/slam/BearingFactor.cpp index 63d4bb3ed..b13d1f281 100644 --- a/python/slam/BearingFactor.cpp +++ b/python/slam/BearingFactor.cpp @@ -7,7 +7,7 @@ using namespace gtsam; using namespace std; template -void exposeBearingFactor(const std::string& name){ +void exportBearingFactor(const std::string& name){ class_(name, init<>()) ; } \ No newline at end of file diff --git a/python/slam/BetweenFactor.cpp b/python/slam/BetweenFactor.cpp index 3674614da..2732e4e7e 100644 --- a/python/slam/BetweenFactor.cpp +++ b/python/slam/BetweenFactor.cpp @@ -7,7 +7,7 @@ using namespace gtsam; using namespace std; template -void exposeBetweenFactor(const std::string& name){ +void exportBetweenFactor(const std::string& name){ class_(name, init<>()) .def(init()) ; diff --git a/python/slam/PriorFactor.cpp b/python/slam/PriorFactor.cpp index e1ee27602..1984fe144 100644 --- a/python/slam/PriorFactor.cpp +++ b/python/slam/PriorFactor.cpp @@ -6,9 +6,9 @@ using namespace gtsam; using namespace std; -template -void exposePriorFactor(const std::string& name){ - class_(name, init<>()) - .def(init()) +template< class FACTOR, class VALUE > +void exportPriorFactor(const std::string& name){ + class_< FACTOR >(name.c_str(), init<>()) + .def(init< Key, VALUE&, SharedNoiseModel >()) ; } \ No newline at end of file diff --git a/python/slam/exportSlam.cpp b/python/slam/exportSlam.cpp deleted file mode 100644 index fdd1d1549..000000000 --- a/python/slam/exportSlam.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include -#include - -#include -#include -#include -#include - -template void exportPriorFactor(const std::string& name); -template void exportBetweenFactor(const std::string& name); - -BOOST_PYTHON_MODULE(libgeometry){ - using namespace boost::python; - - typedef gtsam::PriorFactor Point2PriorFactor; - typedef gtsam::PriorFactor Pose2PriorFactor; - - exportPriorFactor("Point2PriorFactor"); - exportPriorFactor("Pose2PriorFactor"); - - typedef gtsam::BetweenFactor Pose2BetweenFactor; - - exportBetweenFactor("Pose2BetweenFactor"); -} \ No newline at end of file From def2f1a91ca237ea1265873cb2afcfaf6d5ae7f4 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Wed, 20 Nov 2013 05:31:21 +0000 Subject: [PATCH 670/964] Installation script for python Distutils for python package. Installs to default python dist-packages location call : python setup.py install --- python/gtsam/__init__.py | 1 + python/setup.py | 15 +++++++++++++++ 2 files changed, 16 insertions(+) create mode 100644 python/gtsam/__init__.py create mode 100644 python/setup.py diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py new file mode 100644 index 000000000..2e9b00af1 --- /dev/null +++ b/python/gtsam/__init__.py @@ -0,0 +1 @@ +from libgtsam import * \ No newline at end of file diff --git a/python/setup.py b/python/setup.py new file mode 100644 index 000000000..abbafda4b --- /dev/null +++ b/python/setup.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python + +#http://docs.python.org/2/distutils/setupscript.html#setup-script + +from distutils.core import setup + +setup(name='GTSAM', + version='3.0', + description='Python Distribution Utilities', + author='Dellaert et. al', + author_email='Andrew.Melim@gatech.edu', + url='http://www.python.org/sigs/distutils-sig/', + packages=['gtsam'], + package_data={'gtsam' : ['libgtsam.so']}, + ) From 4e00f70e82f37248b623906608959f6f737effa5 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 15 Sep 2014 15:19:26 -0400 Subject: [PATCH 671/964] Updating cmake build --- cmake/GtsamPythonWrap.cmake | 3 ++- python/CMakeLists.txt | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/cmake/GtsamPythonWrap.cmake b/cmake/GtsamPythonWrap.cmake index d065a7828..fbad77a82 100644 --- a/cmake/GtsamPythonWrap.cmake +++ b/cmake/GtsamPythonWrap.cmake @@ -50,7 +50,8 @@ function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY) # On OSX and Linux, the python library must end in the extension .so. Build this # filename here. - get_property(PYLIB_OUTPUT_FILE TARGET ${TARGET_NAME} PROPERTY LOCATION) + #get_property(PYLIB_OUTPUT_FILE TARGET ${TARGET_NAME} PROPERTY LOCATION) + set(PYLIB_OUTPUT_FILE $) get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE) set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.so) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index cd9861dc0..6693beba5 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -18,7 +18,7 @@ file(GLOB slam_src "slam/*.cpp") file(GLOB symbolic_src "symbolic/*.cpp") #wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src}) -wrap_python("gtsam" ${PROJECT_SOURCE_DIR}/python/gtsam exportgtsam.cpp +wrap_python("pygtsam" ${PROJECT_SOURCE_DIR}/python/gtsam exportgtsam.cpp ${geometry_src} ${linear_src} ${nonlinear_src} ${slam_src}) #wrap_python("nonlinear" ${PROJECT_SOURCE_DIR}/python/gtsam ${nonlinear_src}) #wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src}) From 20f5c465076ab6e51c67642ba98cc5a6267f6d62 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Wed, 17 Dec 2014 10:44:56 -0800 Subject: [PATCH 672/964] Reworked python directory structure. Added readme on constructing python module. Added first unit test for point2. Everything needed to get it passing is also here, including some renaming of variables and emitted library names Conflicts: cmake/GtsamPythonWrap.cmake python/handwritten/examples/OdometeryExample.py wrap/Module.cpp --- cmake/GtsamPythonWrap.cmake | 52 +++++++++++++----- python/README.txt | 12 ++++ python/gtsam/__init__.py | 2 +- python/gtsam/libgtsam_python.so | Bin 0 -> 63367 bytes python/gtsam_tests/testPoint2.py | 13 +++++ python/{ => handwritten}/CMakeLists.txt | 0 .../handwritten/examples/OdometeryExample.py | 7 +++ python/{ => handwritten}/exportgtsam.cpp | 0 python/{ => handwritten}/geometry/Point2.cpp | 0 python/{ => handwritten}/geometry/Pose2.cpp | 0 python/{ => handwritten}/geometry/Rot2.cpp | 0 .../{ => handwritten}/linear/NoiseModel.cpp | 0 .../nonlinear/LevenbergMarquardtOptimizer.cpp | 0 .../nonlinear/NonlinearFactorGraph.cpp | 0 python/{ => handwritten}/nonlinear/Values.cpp | 0 .../{ => handwritten}/slam/BearingFactor.cpp | 0 .../{ => handwritten}/slam/BetweenFactor.cpp | 0 python/{ => handwritten}/slam/PriorFactor.cpp | 0 python/setup.py | 2 +- 19 files changed, 71 insertions(+), 17 deletions(-) create mode 100644 python/README.txt create mode 100755 python/gtsam/libgtsam_python.so create mode 100644 python/gtsam_tests/testPoint2.py rename python/{ => handwritten}/CMakeLists.txt (100%) create mode 100644 python/handwritten/examples/OdometeryExample.py rename python/{ => handwritten}/exportgtsam.cpp (100%) rename python/{ => handwritten}/geometry/Point2.cpp (100%) rename python/{ => handwritten}/geometry/Pose2.cpp (100%) rename python/{ => handwritten}/geometry/Rot2.cpp (100%) rename python/{ => handwritten}/linear/NoiseModel.cpp (100%) rename python/{ => handwritten}/nonlinear/LevenbergMarquardtOptimizer.cpp (100%) rename python/{ => handwritten}/nonlinear/NonlinearFactorGraph.cpp (100%) rename python/{ => handwritten}/nonlinear/Values.cpp (100%) rename python/{ => handwritten}/slam/BearingFactor.cpp (100%) rename python/{ => handwritten}/slam/BetweenFactor.cpp (100%) rename python/{ => handwritten}/slam/PriorFactor.cpp (100%) mode change 100644 => 100755 python/setup.py diff --git a/cmake/GtsamPythonWrap.cmake b/cmake/GtsamPythonWrap.cmake index fbad77a82..581b068ad 100644 --- a/cmake/GtsamPythonWrap.cmake +++ b/cmake/GtsamPythonWrap.cmake @@ -36,24 +36,46 @@ function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY) ENDIF() ENDIF(APPLE) + if(MSVC) + add_library(${moduleName}_python MODULE ${ARGN}) + set_target_properties(${moduleName}_python PROPERTIES + OUTPUT_NAME ${moduleName}_python + CLEAN_DIRECT_OUTPUT 1 + VERSION 1 + SOVERSION 0 + SUFFIX ".pyd") + target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp - # Create a static library version - add_library(${TARGET_NAME} SHARED ${ARGN}) + set(PYLIB_OUTPUT_FILE $) + message(${PYLIB_OUTPUT_FILE}) + get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE) + set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.pyd) - target_link_libraries(${TARGET_NAME} ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} gtsam-shared) - set_target_properties(${TARGET_NAME} PROPERTIES - OUTPUT_NAME ${TARGET_NAME} - CLEAN_DIRECT_OUTPUT 1 - VERSION 1 - SOVERSION 0) + ELSE() + # Create a shared library + add_library(${moduleName}_python SHARED ${generated_cpp_file}) + set_target_properties(${moduleName}_python PROPERTIES + OUTPUT_NAME ${moduleName}_python + CLEAN_DIRECT_OUTPUT 1) + target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp + # On OSX and Linux, the python library must end in the extension .so. Build this + # filename here. + get_property(PYLIB_OUTPUT_FILE TARGET ${moduleName}_python PROPERTY LOCATION) + set(PYLIB_OUTPUT_FILE $) + message(${PYLIB_OUTPUT_FILE}) + get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE) + set(PYLIB_SO_NAME lib${moduleName}_python.so) + ENDIF(MSVC) - # On OSX and Linux, the python library must end in the extension .so. Build this - # filename here. - #get_property(PYLIB_OUTPUT_FILE TARGET ${TARGET_NAME} PROPERTY LOCATION) - set(PYLIB_OUTPUT_FILE $) - get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE) - set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.so) + # Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package + set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam) + # Cause the library to be output in the correct directory. + add_custom_command(TARGET ${moduleName}_python + POST_BUILD + COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME} + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} + COMMENT "Copying library files to python directory" ) # Cause the library to be output in the correct directory. add_custom_command(TARGET ${TARGET_NAME} @@ -65,4 +87,4 @@ function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY) get_directory_property(AMCF ADDITIONAL_MAKE_CLEAN_FILES) list(APPEND AMCF ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}) set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${AMCF}") -endfunction(wrap_python) \ No newline at end of file +endfunction(wrap_python) diff --git a/python/README.txt b/python/README.txt new file mode 100644 index 000000000..5235300c2 --- /dev/null +++ b/python/README.txt @@ -0,0 +1,12 @@ +This directory contains the basic setup script and directory structure for the gtsam python module. +During the build of gtsam, when GTSAM_BUILD_PYTHON is enabled, the following instructions will run. +* Wrap parses gtsam.h and constructs a cpp file called ${moduleName}_python.cpp +* This file is then compiled and linked with BoostPython, generating a shared library which can then be imported by python +* The shared library is then copied to python/gtsam +* The user can use the setup.py script to build and install a python package, allowing easy importing into a python project. Examples: + * python setup.py sdist ---- Builds a tarball of the python package which can then be distributed + * python setup.py install ---- Installs the package into the python dist-packages folder. Can then be imported from any python file. +* To run the unit tests, you must first install the package on your path (TODO: Make this easier) + + +TODO: There are many issues with this build system, but these are the basics. diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 2e9b00af1..f1b07905b 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1 +1 @@ -from libgtsam import * \ No newline at end of file +from libgtsam_python import * diff --git a/python/gtsam/libgtsam_python.so b/python/gtsam/libgtsam_python.so new file mode 100755 index 0000000000000000000000000000000000000000..bd87730d7ac1534f9e835fa6997a6b0e77af8485 GIT binary patch literal 63367 zcmeIb34B|{wLgBnC^1=V6B2M(1sDiR97*1R6gjaHi8#T;CIkXp%a#(G*p?#6j!jt% z4iw{<_)!XBX=_8^0i`r;DNR|53n8I>eKch&ElUh#kqK>5%A;ZR?|WvEMpsu!2=3$k z|DW7Mnwjs+oH=vm%$YND@0G7|Rn1FJOUuy2m7#r0OGCW6jss2}XzMqK2m+^8rj5t< z(b^HLtR$$z|zyUQmXjdDge7$fALqzvw*ennkwT-MO=l$hrQ|Z8zNW^O--d{@FjMrWcK8jDl$@8z)pDNtiK5%G4>v44WXJn2 z?9ATO_mAw6?T1=DbIy7G<(bF6cFR2{o;LY{Q}4)_6@2FQxdd-)UU-tNaasRppJ`QD+{rHOS`v3G%`jnE#{(95pRd0Uzqn}^D z>Muw9ZOy9bSI@a))3k+uxVL$F&C|Dxp83+&zs&je+)J}R@mw?ct?JC> zKRvX;f6Q;rY3n|CnPdDcO<(u;t^PlqbJl0izxmkb|5{%7>gmPfr<63^dGW4aXS)7t z)w#R2p4FVYDdUdOGpqA1`s490Xzz4i&|dPR?`laM3wLo7#p*8Upc`XkECe#wG{l{HOrjNQ-_-KvlzUg%SqR# z;NOhTw=&J?9CWHVzCK02N>j-Bh{Md=9iIYkJKntfN~<}3O$xa^bFw-AuODqr=iC(X zxhutZoix#$&UTC!SWUVPA8%g%%G1pGd_IMo&p6SX&dwvu@#hXQ#}7#{Udv~gmoG~p zpCNSCOs~E;${fEUg&e$)7)T{u+f&FtEd~DtDfIT56mlC*(cdL0=+~ZNK3?ai7_Zk; 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During the build of gtsam, when GTSAM_BUILD_PYTHON is enabled, the following instructions will run. * Wrap parses gtsam.h and constructs a cpp file called ${moduleName}_python.cpp From 2dbe7fa2e924e789298e62a311064337096288ed Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 11 Nov 2015 21:39:08 +0100 Subject: [PATCH 675/964] Add numpy_eigen as a 3rd party library. This commit adds a simple version of numpy_eigen, copied from gtborg/numpy_eigen commit 255c09efb82496, and with a fix released in the commit 9a75383733b3dc4bc2bb0649053949ad2bec9326 of Scheizer-Messer/numpy_eigen (https://github.com/ethz-asl/Schweizer-Messer/tree/master/numpy_eigen) Conflicts: CMakeLists.txt gtsam/CMakeLists.txt --- CMakeLists.txt | 8 +- cmake/GtsamPythonWrap.cmake | 1 - gtsam/3rdparty/numpy_eigen/README.md | 6 + .../numpy_eigen/NumpyEigenConverter.hpp | 316 ++++++++++++++++++ .../numpy_eigen/boost_python_headers.hpp | 250 ++++++++++++++ .../include/numpy_eigen/copy_routines.hpp | 148 ++++++++ .../include/numpy_eigen/type_traits.hpp | 153 +++++++++ 7 files changed, 878 insertions(+), 4 deletions(-) create mode 100644 gtsam/3rdparty/numpy_eigen/README.md create mode 100755 gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp create mode 100755 gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp create mode 100755 gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp create mode 100755 gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp diff --git a/CMakeLists.txt b/CMakeLists.txt index bbf7de2e9..263e47321 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -30,7 +30,6 @@ message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") # Load build type flags and default to Debug mode include(GtsamBuildTypes) -include(GtsamPythonWrap) # Use macros for creating tests/timing scripts include(GtsamTesting) @@ -65,6 +64,7 @@ option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TB option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" ON) option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON) option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) +option(GTSAM_BUILD_PYTHON "Build Python wrapper statically (increases build time)" OFF) # Options relating to MATLAB wrapper # TODO: Check for matlab mex binary before handling building of binaries @@ -345,8 +345,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) add_subdirectory(matlab) endif() -if(GTSAM_BUILD_PYTHON) - add_subdirectory(python) +# Python wrap +if (GTSAM_BUILD_PYTHON) + include(GtsamPythonWrap) + wrap_and_install_python(gtsampy.h "${GTSAM_ADDITIONAL_LIBRARIES}" "") endif() # Build gtsam_unstable diff --git a/cmake/GtsamPythonWrap.cmake b/cmake/GtsamPythonWrap.cmake index 581b068ad..cfbe89c1f 100644 --- a/cmake/GtsamPythonWrap.cmake +++ b/cmake/GtsamPythonWrap.cmake @@ -1,5 +1,4 @@ #Setup cache options -option(GTSAM_BUILD_PYTHON "Build Python wrapper statically (increases build time)" OFF) set(GTSAM_BUILD_PYTHON_FLAGS "" CACHE STRING "Extra flags for running Matlab PYTHON compilation") set(GTSAM_PYTHON_INSTALL_PATH "" CACHE PATH "Python toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/python") if(NOT GTSAM_PYTHON_INSTALL_PATH) diff --git a/gtsam/3rdparty/numpy_eigen/README.md b/gtsam/3rdparty/numpy_eigen/README.md new file mode 100644 index 000000000..bd5a3f44d --- /dev/null +++ b/gtsam/3rdparty/numpy_eigen/README.md @@ -0,0 +1,6 @@ +numpy_eigen +=========== + +A boost python converter that handles the copy of matrices from the Eigen linear algebra library in C++ to numpy in Python. + +This is a minimal version based on the original from Paul Furgale (https://github.com/ethz-asl/Schweizer-Messer/tree/master/numpy_eigen) \ No newline at end of file diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp new file mode 100755 index 000000000..67b04537c --- /dev/null +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp @@ -0,0 +1,316 @@ +/** + * @file NumpyEigenConverter.hpp + * @author Paul Furgale + * @date Fri Feb 4 11:17:25 2011 + * + * @brief Classes to support conversion from numpy arrays in Python + * to Eigen3 matrices in c++ + * + * + */ + +#ifndef NUMPY_EIGEN_CONVERTER_HPP +#define NUMPY_EIGEN_CONVERTER_HPP + +#include "boost_python_headers.hpp" +#include + +#define PY_ARRAY_UNIQUE_SYMBOL NP_Eigen_AS +#include + +#include "type_traits.hpp" +#include +#include "copy_routines.hpp" + + + +/** + * @class NumpyEigenConverter + * @tparam the Eigen3 matrix type this class is specialized for + * + * adapted from http://misspent.wordpress.com/2009/09/27/how-to-write-boost-python-converters/ + * General help available http://docs.scipy.org/doc/numpy/reference/c-api.array.html + * + * To use: + * + * #include + * + * + * BOOST_PYTHON_MODULE(libmy_module_python) + * { + * // The converters will cause a segfault unless import_array() is called before the first one + * import_array(); + * NumpyEigenConverter >::register_converter(); + * NumpyEigenConverter >::register_converter(); + * } + * + */ +template +struct NumpyEigenConverter +{ + + typedef EIGEN_MATRIX_T matrix_t; + typedef typename matrix_t::Scalar scalar_t; + + enum { + RowsAtCompileTime = matrix_t::RowsAtCompileTime, + ColsAtCompileTime = matrix_t::ColsAtCompileTime, + MaxRowsAtCompileTime = matrix_t::MaxRowsAtCompileTime, + MaxColsAtCompileTime = matrix_t::MaxColsAtCompileTime, + NpyType = TypeToNumPy::NpyType, + //Flags = ei_compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret, + //CoeffReadCost = NumTraits::ReadCost, + Options = matrix_t::Options + //InnerStrideAtCompileTime = 1, + //OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime + }; + + static std::string castSizeOption(int option) + { + if(option == Eigen::Dynamic) + return "Dynamic"; + else + return boost::lexical_cast(option); + } + + static std::string toString() + { + return std::string() + "Eigen::Matrix<" + TypeToNumPy::typeString() + ", " + + castSizeOption(RowsAtCompileTime) + ", " + + castSizeOption(ColsAtCompileTime) + ", " + + boost::lexical_cast((int)Options) + ", " + + castSizeOption(MaxRowsAtCompileTime) + ", " + + castSizeOption(MaxColsAtCompileTime) + ">"; + } + + // The "Convert from C to Python" API + static PyObject * convert(const matrix_t & M) + { + PyObject * P = NULL; + if(RowsAtCompileTime == 1 || ColsAtCompileTime == 1) + { + // Create a 1D array + npy_intp dimensions[1]; + dimensions[0] = M.size(); + P = PyArray_SimpleNew(1, dimensions, TypeToNumPy::NpyType); + numpyTypeDemuxer< CopyEigenToNumpyVector >(&M,P); + } + else + { + // create a 2D array. + npy_intp dimensions[2]; + dimensions[0] = M.rows(); + dimensions[1] = M.cols(); + P = PyArray_SimpleNew(2, dimensions, TypeToNumPy::NpyType); + numpyTypeDemuxer< CopyEigenToNumpyMatrix >(&M,P); + } + + // incrementing the reference seems to cause a memory leak. + // boost::python::incref(P); + // This agrees with the sample code found here: + // http://mail.python.org/pipermail/cplusplus-sig/2008-October/013825.html + return P; + } + + static bool isDimensionValid(int requestedSize, int sizeAtCompileTime, int maxSizeAtCompileTime) + { + bool valid = true; + if(sizeAtCompileTime == Eigen::Dynamic) + { + // Check for dynamic fixed size + // http://eigen.tuxfamily.org/dox-devel/TutorialMatrixClass.html#TutorialMatrixOptTemplParams + if(!(maxSizeAtCompileTime == Eigen::Dynamic || requestedSize <= maxSizeAtCompileTime)) + { + valid = false; + } + } + else if(sizeAtCompileTime != requestedSize) + { + valid = false; + } + return valid; + } + + static void checkMatrixSizes(PyObject * obj_ptr) + { + int rows = PyArray_DIM(obj_ptr, 0); + int cols = PyArray_DIM(obj_ptr, 1); + + bool rowsValid = isDimensionValid(rows, RowsAtCompileTime, MaxRowsAtCompileTime); + bool colsValid = isDimensionValid(cols, ColsAtCompileTime, MaxColsAtCompileTime); + if(!rowsValid || !colsValid) + { + THROW_TYPE_ERROR("Can not convert " << npyArrayTypeString(obj_ptr) << " to " << toString() + << ". Mismatched sizes."); + } + } + + static void checkRowVectorSizes(PyObject * obj_ptr, int cols) + { + if(!isDimensionValid(cols, ColsAtCompileTime, MaxColsAtCompileTime)) + { + THROW_TYPE_ERROR("Can not convert " << npyArrayTypeString(obj_ptr) << " to " << toString() + << ". Mismatched sizes."); + } + } + + static void checkColumnVectorSizes(PyObject * obj_ptr, int rows) + { + // Check if the type can accomidate one column. + if(ColsAtCompileTime == Eigen::Dynamic || ColsAtCompileTime == 1) + { + if(!isDimensionValid(rows, RowsAtCompileTime, MaxRowsAtCompileTime)) + { + THROW_TYPE_ERROR("Can not convert " << npyArrayTypeString(obj_ptr) << " to " << toString() + << ". Mismatched sizes."); + } + } + else + { + THROW_TYPE_ERROR("Can not convert " << npyArrayTypeString(obj_ptr) << " to " << toString() + << ". Mismatched sizes."); + } + + } + + static void checkVectorSizes(PyObject * obj_ptr) + { + int size = PyArray_DIM(obj_ptr, 0); + + // If the number of rows is fixed at 1, assume that is the sense of the vector. + // Otherwise, assume it is a column. + if(RowsAtCompileTime == 1) + { + checkRowVectorSizes(obj_ptr, size); + } + else + { + checkColumnVectorSizes(obj_ptr, size); + } + } + + + static void* convertible(PyObject *obj_ptr) + { + // Check for a null pointer. + if(!obj_ptr) + { + //THROW_TYPE_ERROR("PyObject pointer was null"); + return 0; + } + + // Make sure this is a numpy array. + if (!PyArray_Check(obj_ptr)) + { + //THROW_TYPE_ERROR("Conversion is only defined for numpy array and matrix types"); + return 0; + } + + // Check the type of the array. + int npyType = PyArray_ObjectType(obj_ptr, 0); + + if(!TypeToNumPy::canConvert(npyType)) + { + //THROW_TYPE_ERROR("Can not convert " << npyArrayTypeString(obj_ptr) << " to " << toString() + // << ". Mismatched types."); + return 0; + } + + + + // Check the array dimensions. + int nd = PyArray_NDIM(obj_ptr); + + if(nd != 1 && nd != 2) + { + THROW_TYPE_ERROR("Conversion is only valid for arrays with 1 or 2 dimensions. Argument has " << nd << " dimensions"); + } + + if(nd == 1) + { + checkVectorSizes(obj_ptr); + } + else + { + // Two-dimensional matrix type. + checkMatrixSizes(obj_ptr); + } + + + return obj_ptr; + } + + + static void construct(PyObject *obj_ptr, boost::python::converter::rvalue_from_python_stage1_data *data) + { + boost::python::converter::rvalue_from_python_storage * matData = reinterpret_cast * >(data); + void* storage = matData->storage.bytes; + + // Make sure storage is 16byte aligned. With help from code from Memory.h + void * aligned = reinterpret_cast((reinterpret_cast(storage) & ~(size_t(15))) + 16); + + matrix_t * Mp = new (aligned) matrix_t(); + // Stash the memory chunk pointer for later use by boost.python + // This signals boost::python that the new value must be deleted eventually + data->convertible = storage; + + + // std::cout << "Creating aligned pointer " << aligned << " from storage " << storage << std::endl; + // std::cout << "matrix size: " << sizeof(matrix_t) << std::endl; + // std::cout << "referent size: " << boost::python::detail::referent_size< matrix_t & >::value << std::endl; + // std::cout << "sizeof(storage): " << sizeof(matData->storage) << std::endl; + // std::cout << "sizeof(bytes): " << sizeof(matData->storage.bytes) << std::endl; + + + + matrix_t & M = *Mp; + + int nd = PyArray_NDIM(obj_ptr); + if(nd == 1) + { + int size = PyArray_DIM(obj_ptr, 0); + // This is a vector type + if(RowsAtCompileTime == 1) + { + // Row Vector + M.resize(1,size); + } + else + { + // Column Vector + M.resize(size,1); + } + numpyTypeDemuxer< CopyNumpyToEigenVector >(&M,obj_ptr); + } + else + { + int rows = PyArray_DIM(obj_ptr, 0); + int cols = PyArray_DIM(obj_ptr, 1); + + M.resize(rows,cols); + numpyTypeDemuxer< CopyNumpyToEigenMatrix >(&M,obj_ptr); + } + + + + + } + + + // The registration function. + static void register_converter() + { + boost::python::to_python_converter(); + boost::python::converter::registry::push_back( + &NumpyEigenConverter::convertible, + &NumpyEigenConverter::construct, + boost::python::type_id()); + + } + +}; + + + + +#endif /* NUMPY_EIGEN_CONVERTER_HPP */ diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp new file mode 100755 index 000000000..5499d2917 --- /dev/null +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp @@ -0,0 +1,250 @@ +/** + * @file boost_python_headers.hpp + * @author Paul Furgale + * @date Mon Dec 12 10:36:03 2011 + * + * @brief A header that specializes boost-python to work with fixed-sized Eigen types. + * + * The original version of this library did not include these specializations and this caused + * assert failures when running on Ubuntu 10.04 32-bit. More information about fixed-size + * vectorizable types in Eigen is available here: + * http://eigen.tuxfamily.org/dox-devel/TopicFixedSizeVectorizable.html + * + * This code has been tested on Ubunutu 10.04 64 and 32 bit, OSX Snow Leopard and OSX Lion. + * + * This code is derived from boost/python/converter/arg_from_python.hpp + * Copyright David Abrahams 2002. + * Distributed under the Boost Software License, Version 1.0. (See http://www.boost.org/LICENSE_1_0.txt) + * + */ +#ifndef NUMPY_EIGEN_CONVERTERS_HPP +#define NUMPY_EIGEN_CONVERTERS_HPP + +#include +#include +#include +#include +#include +#include + + +namespace boost { namespace python { namespace detail { + template + struct referent_size; + + // This bit of code makes sure we have 16 extra bytes to do the pointer alignment for fixed-sized Eigen types + template + struct referent_size< Eigen::Matrix& > + { + // Add 16 bytes so we can get alignment + BOOST_STATIC_CONSTANT( std::size_t, value = sizeof(Eigen::Matrix) + 16); + }; + + // This bit of code makes sure we have 16 extra bytes to do the pointer alignment for fixed-sized Eigen types + template + struct referent_size< Eigen::Matrix const & > + { + // Add 16 bytes so we can get alignment + BOOST_STATIC_CONSTANT( std::size_t, value = sizeof(Eigen::Matrix) + 16); + }; + + // This bit of code makes sure we have 16 extra bytes to do the pointer alignment for fixed-sized Eigen types + template + struct referent_size< Eigen::Matrix > + { + // Add 16 bytes so we can get alignment + BOOST_STATIC_CONSTANT( std::size_t, value = sizeof(Eigen::Matrix) + 16); + }; + + + }}} + +namespace boost { namespace python { namespace converter { + + + template + struct rvalue_from_python_data< Eigen::Matrix const &> : rvalue_from_python_storage< Eigen::Matrix const & > + { + typedef typename Eigen::Matrix T; +# if (!defined(__MWERKS__) || __MWERKS__ >= 0x3000) \ + && (!defined(__EDG_VERSION__) || __EDG_VERSION__ >= 245) \ + && (!defined(__DECCXX_VER) || __DECCXX_VER > 60590014) \ + && !defined(BOOST_PYTHON_SYNOPSIS) /* Synopsis' OpenCXX has trouble parsing this */ + // This must always be a POD struct with m_data its first member. + BOOST_STATIC_ASSERT(BOOST_PYTHON_OFFSETOF(rvalue_from_python_storage,stage1) == 0); +# endif + + // The usual constructor + rvalue_from_python_data(rvalue_from_python_stage1_data const & _stage1) + { + this->stage1 = _stage1; + } + + + // This constructor just sets m_convertible -- used by + // implicitly_convertible<> to perform the final step of the + // conversion, where the construct() function is already known. + rvalue_from_python_data(void* convertible) + { + this->stage1.convertible = convertible; + } + + // Destroys any object constructed in the storage. + ~rvalue_from_python_data() + { + // Realign the pointer and destroy + if (this->stage1.convertible == this->storage.bytes) + { + void * storage = reinterpret_cast(this->storage.bytes); + T * aligned = reinterpret_cast(reinterpret_cast((reinterpret_cast(storage) & ~(size_t(15))) + 16)); + + //std::cout << "Destroying " << (void*)aligned << std::endl; + aligned->T::~T(); + } + } + private: + typedef typename add_reference::type>::type ref_type; + }; + + + + + + // Used when T is a plain value (non-pointer, non-reference) type or + // a (non-volatile) const reference to a plain value type. + template + struct arg_rvalue_from_python< Eigen::Matrix > + { + typedef Eigen::Matrix const & T; + typedef typename boost::add_reference< + T + // We can't add_const here, or it would be impossible to pass + // auto_ptr args from Python to C++ + >::type result_type; + + arg_rvalue_from_python(PyObject * obj) : m_data(converter::rvalue_from_python_stage1(obj, registered::converters)) + , m_source(obj) + { + + } + bool convertible() const + { + return m_data.stage1.convertible != 0; + } + + +# if BOOST_MSVC < 1301 || _MSC_FULL_VER > 13102196 + typename arg_rvalue_from_python:: +# endif + result_type operator()() + { + if (m_data.stage1.construct != 0) + m_data.stage1.construct(m_source, &m_data.stage1); + + // Here is the magic... + // Realign the pointer + void * storage = reinterpret_cast(m_data.storage.bytes); + void * aligned = reinterpret_cast((reinterpret_cast(storage) & ~(size_t(15))) + 16); + + return python::detail::void_ptr_to_reference(aligned, (result_type(*)())0); + } + + private: + rvalue_from_python_data m_data; + PyObject* m_source; + }; + + + // Used when T is a plain value (non-pointer, non-reference) type or + // a (non-volatile) const reference to a plain value type. + template + struct arg_rvalue_from_python< Eigen::Matrix const & > + { + typedef Eigen::Matrix const & T; + typedef typename boost::add_reference< + T + // We can't add_const here, or it would be impossible to pass + // auto_ptr args from Python to C++ + >::type result_type; + + arg_rvalue_from_python(PyObject * obj) : m_data(converter::rvalue_from_python_stage1(obj, registered::converters)) + , m_source(obj) + { + + } + bool convertible() const + { + return m_data.stage1.convertible != 0; + } + + +# if BOOST_MSVC < 1301 || _MSC_FULL_VER > 13102196 + typename arg_rvalue_from_python:: +# endif + result_type operator()() + { + if (m_data.stage1.construct != 0) + m_data.stage1.construct(m_source, &m_data.stage1); + + // Here is the magic... + // Realign the pointer + void * storage = reinterpret_cast(m_data.storage.bytes); + void * aligned = reinterpret_cast((reinterpret_cast(storage) & ~(size_t(15))) + 16); + + return python::detail::void_ptr_to_reference(aligned, (result_type(*)())0); + } + + private: + rvalue_from_python_data m_data; + PyObject* m_source; + }; + + // Used when T is a plain value (non-pointer, non-reference) type or + // a (non-volatile) const reference to a plain value type. + template + struct arg_rvalue_from_python< Eigen::Matrix const > + { + typedef Eigen::Matrix const & T; + typedef typename boost::add_reference< + T + // We can't add_const here, or it would be impossible to pass + // auto_ptr args from Python to C++ + >::type result_type; + + arg_rvalue_from_python(PyObject * obj) : m_data(converter::rvalue_from_python_stage1(obj, registered::converters)) + , m_source(obj) + { + + } + bool convertible() const + { + return m_data.stage1.convertible != 0; + } + + +# if BOOST_MSVC < 1301 || _MSC_FULL_VER > 13102196 + typename arg_rvalue_from_python:: +# endif + result_type operator()() + { + if (m_data.stage1.construct != 0) + m_data.stage1.construct(m_source, &m_data.stage1); + + // Here is the magic... + // Realign the pointer + void * storage = reinterpret_cast(m_data.storage.bytes); + void * aligned = reinterpret_cast((reinterpret_cast(storage) & ~(size_t(15))) + 16); + + return python::detail::void_ptr_to_reference(aligned, (result_type(*)())0); + } + + private: + rvalue_from_python_data m_data; + PyObject* m_source; + }; + + + }}} + + +#endif /* NUMPY_EIGEN_CONVERTERS_HPP */ diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp new file mode 100755 index 000000000..8ac94e8b7 --- /dev/null +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp @@ -0,0 +1,148 @@ +#ifndef NUMPY_EIGEN_COPY_ROUTINES_HPP +#define NUMPY_EIGEN_COPY_ROUTINES_HPP + + +template +struct CopyNumpyToEigenMatrix +{ + typedef EIGEN_T matrix_t; + typedef typename matrix_t::Scalar scalar_t; + + template + void exec(EIGEN_T * M_, PyObject * P_) + { + // Assumes M is already initialized. + for(int r = 0; r < M_->rows(); r++) + { + for(int c = 0; c < M_->cols(); c++) + { + T * p = static_cast(PyArray_GETPTR2(P_, r, c)); + (*M_)(r,c) = static_cast(*p); + } + } + } + +}; + +template +struct CopyEigenToNumpyMatrix +{ + typedef EIGEN_T matrix_t; + typedef typename matrix_t::Scalar scalar_t; + + template + void exec(EIGEN_T * M_, PyObject * P_) + { + // Assumes M is already initialized. + for(int r = 0; r < M_->rows(); r++) + { + for(int c = 0; c < M_->cols(); c++) + { + T * p = static_cast(PyArray_GETPTR2(P_, r, c)); + *p = static_cast((*M_)(r,c)); + } + } + } + +}; + +template +struct CopyEigenToNumpyVector +{ + typedef EIGEN_T matrix_t; + typedef typename matrix_t::Scalar scalar_t; + + template + void exec(EIGEN_T * M_, PyObject * P_) + { + // Assumes M is already initialized. + for(int i = 0; i < M_->size(); i++) + { + T * p = static_cast(PyArray_GETPTR1(P_, i)); + *p = static_cast((*M_)(i)); + } + } + +}; + + +template +struct CopyNumpyToEigenVector +{ + typedef EIGEN_T matrix_t; + typedef typename matrix_t::Scalar scalar_t; + + template + void exec(EIGEN_T * M_, PyObject * P_) + { + // Assumes M is already initialized. + for(int i = 0; i < M_->size(); i++) + { + T * p = static_cast(PyArray_GETPTR1(P_, i)); + (*M_)(i) = static_cast(*p); + } + } + +}; + + + + +// Crazy syntax in this function was found here: +// http://stackoverflow.com/questions/1840253/c-template-member-function-of-template-class-called-from-template-function/1840318#1840318 +template< typename FUNCTOR_T> +inline void numpyTypeDemuxer(typename FUNCTOR_T::matrix_t * M, PyObject * P) +{ + FUNCTOR_T f; + int npyType = PyArray_ObjectType(P, 0); + switch(npyType) + { + case NPY_BOOL: + f.template exec(M,P); + break; + case NPY_BYTE: + f.template exec(M,P); + break; + case NPY_UBYTE: + f.template exec(M,P); + break; + case NPY_SHORT: + f.template exec(M,P); + break; + case NPY_USHORT: + f.template exec(M,P); + break; + case NPY_INT: + f.template exec(M,P); + break; + case NPY_UINT: + f.template exec(M,P); + break; + case NPY_LONG: + f.template exec(M,P); + break; + case NPY_ULONG: + f.template exec(M,P); + break; + case NPY_LONGLONG: + f.template exec(M,P); + break; + case NPY_ULONGLONG: + f.template exec(M,P); + break; + case NPY_FLOAT: + f.template exec(M,P); + break; + case NPY_DOUBLE: + f.template exec(M,P); + break; + case NPY_LONGDOUBLE: + f.template exec(M,P); + break; + default: + THROW_TYPE_ERROR("Unsupported type: " << npyTypeToString(npyType)); + } +} + + +#endif /* NUMPY_EIGEN_COPY_ROUTINES_HPP */ diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp new file mode 100755 index 000000000..3b75c6b99 --- /dev/null +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp @@ -0,0 +1,153 @@ +#ifndef NUMPY_EIGEN_TYPE_TRAITS_HPP +#define NUMPY_EIGEN_TYPE_TRAITS_HPP + +#define THROW_TYPE_ERROR(msg) \ + { \ + std::stringstream type_error_ss; \ + type_error_ss << msg; \ + PyErr_SetString(PyExc_TypeError, type_error_ss.str().c_str()); \ + throw boost::python::error_already_set(); \ + } + + +//////////////////////////////////////////////// +// TypeToNumPy +// Defines helper functions based on the Eigen3 matrix type that +// decide what conversions can happen Eigen3 --> NumPy +// Also, converts a type to a NumPy enum. +template struct TypeToNumPy; + +template<> struct TypeToNumPy +{ + enum { NpyType = NPY_INT }; + static const char * npyString() { return "NPY_INT"; } + static const char * typeString() { return "int"; } + static bool canConvert(int type) + { + return type == NPY_INT || type == NPY_LONG; + } +}; + +template<> struct TypeToNumPy +{ + enum { NpyType = NPY_UBYTE }; + static const char * npyString() { return "NPY_UBYTE"; } + static const char * typeString() { return "unsigned char"; } + static bool canConvert(int type) + { + return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR; + } +}; + +template<> struct TypeToNumPy +{ + enum { NpyType = NPY_BYTE }; + static const char * npyString() { return "NPY_BYTE"; } + static const char * typeString() { return "char"; } + static bool canConvert(int type) + { + return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR; + } +}; + + +template<> struct TypeToNumPy +{ + enum { NpyType = NPY_FLOAT }; + static const char * npyString() { return "NPY_FLOAT"; } + static const char * typeString() { return "float"; } + static bool canConvert(int type) + { + return type == NPY_INT || type == NPY_FLOAT || type == NPY_LONG; + } +}; + +template<> struct TypeToNumPy +{ + enum { NpyType = NPY_DOUBLE }; + static const char * npyString() { return "NPY_DOUBLE"; } + static const char * typeString() { return "double"; } + static bool canConvert(int type) + { + return type == NPY_INT || type == NPY_FLOAT || type == NPY_DOUBLE || type == NPY_LONG; + } +}; + + + +inline const char * npyTypeToString(int npyType) +{ + switch(npyType) + { + case NPY_BOOL: + return "NPY_BOOL"; + case NPY_BYTE: + return "NPY_BYTE"; + case NPY_UBYTE: + return "NPY_UBYTE"; + case NPY_SHORT: + return "NPY_SHORT"; + case NPY_USHORT: + return "NPY_USHORT"; + case NPY_INT: + return "NPY_INT"; + case NPY_UINT: + return "NPY_UINT"; + case NPY_LONG: + return "NPY_LONG"; + case NPY_ULONG: + return "NPY_ULONG"; + case NPY_LONGLONG: + return "NPY_LONGLONG"; + case NPY_ULONGLONG: + return "NPY_ULONGLONG"; + case NPY_FLOAT: + return "NPY_FLOAT"; + case NPY_DOUBLE: + return "NPY_DOUBLE"; + case NPY_LONGDOUBLE: + return "NPY_LONGDOUBLE"; + case NPY_CFLOAT: + return "NPY_CFLOAT"; + case NPY_CDOUBLE: + return "NPY_CDOUBLE"; + case NPY_CLONGDOUBLE: + return "NPY_CLONGDOUBLE"; + case NPY_OBJECT: + return "NPY_OBJECT"; + case NPY_STRING: + return "NPY_STRING"; + case NPY_UNICODE: + return "NPY_UNICODE"; + case NPY_VOID: + return "NPY_VOID"; + case NPY_NTYPES: + return "NPY_NTYPES"; + case NPY_NOTYPE: + return "NPY_NOTYPE"; + case NPY_CHAR: + return "NPY_CHAR"; + default: + return "Unknown type"; + } +} + +inline std::string npyArrayTypeString(PyObject * obj_ptr) +{ + std::stringstream ss; + int nd = PyArray_NDIM(obj_ptr); + ss << "numpy.array<" << npyTypeToString(PyArray_ObjectType(obj_ptr, 0)) << ">["; + if(nd > 0) + { + ss << PyArray_DIM(obj_ptr, 0); + for(int i = 1; i < nd; i++) + { + ss << ", " << PyArray_DIM(obj_ptr, i); + } + } + ss << "]"; + return ss.str(); +} + + +#endif /* NUMPY_EIGEN_TYPE_TRAITS_HPP */ From 96d6b79f5e6d51f88a50ade43b94bc8e15eb03f6 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 17 Nov 2015 16:19:57 +0100 Subject: [PATCH 676/964] Start organizing python module Organize gtsam modules into submodules. Start with a handwritten noiseModel module. Conflicts: CMakeLists.txt --- CMakeLists.txt | 2 +- python/gtsam/__init__.py | 2 +- python/gtsam/noiseModel/.gitignore | 1 + python/gtsam/noiseModel/__init__.py | 1 + python/handwritten/noiseModel_python.cpp | 111 +++++++++++++++++++++++ 5 files changed, 115 insertions(+), 2 deletions(-) create mode 100644 python/gtsam/noiseModel/.gitignore create mode 100644 python/gtsam/noiseModel/__init__.py create mode 100644 python/handwritten/noiseModel_python.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 263e47321..a99f36027 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -348,7 +348,7 @@ endif() # Python wrap if (GTSAM_BUILD_PYTHON) include(GtsamPythonWrap) - wrap_and_install_python(gtsampy.h "${GTSAM_ADDITIONAL_LIBRARIES}" "") + # wrap_and_install_python(gtsampy.h "${GTSAM_ADDITIONAL_LIBRARIES}" "") endif() # Build gtsam_unstable diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index f1b07905b..2f9356acc 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1 +1 @@ -from libgtsam_python import * +import noiseModel diff --git a/python/gtsam/noiseModel/.gitignore b/python/gtsam/noiseModel/.gitignore new file mode 100644 index 000000000..e054d5cfe --- /dev/null +++ b/python/gtsam/noiseModel/.gitignore @@ -0,0 +1 @@ +/libnoiseModel_python.so diff --git a/python/gtsam/noiseModel/__init__.py b/python/gtsam/noiseModel/__init__.py new file mode 100644 index 000000000..492937407 --- /dev/null +++ b/python/gtsam/noiseModel/__init__.py @@ -0,0 +1 @@ +from libnoiseModel_python import * \ No newline at end of file diff --git a/python/handwritten/noiseModel_python.cpp b/python/handwritten/noiseModel_python.cpp new file mode 100644 index 000000000..e23a5b630 --- /dev/null +++ b/python/handwritten/noiseModel_python.cpp @@ -0,0 +1,111 @@ +#include + +#include + +#include + +using namespace boost::python; +using namespace gtsam; +using namespace gtsam::noiseModel; + +// Wrap around pure virtual class Base +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions +struct BaseWrap : Base, wrapper +{ + void print (const std::string & name="") const { + this->get_override("print")(); + } + bool equals (const Base & expected, double tol=1e-9) const { + return this->get_override("equals")(); + } + Vector whiten (const Vector & v) const { + return this->get_override("whiten")(); + } + Matrix Whiten (const Matrix & v) const { + return this->get_override("Whiten")(); + } + Vector unwhiten (const Vector & v) const { + return this->get_override("unwhiten")(); + } + double distance (const Vector & v) const { + return this->get_override("distance")(); + } + void WhitenSystem (std::vector< Matrix > &A, Vector &b) const { + this->get_override("WhitenSystem")(); + } + void WhitenSystem (Matrix &A, Vector &b) const { + this->get_override("WhitenSystem")(); + } + void WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const { + this->get_override("WhitenSystem")(); + } + void WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const { + this->get_override("WhitenSystem")(); + } + +}; + +BOOST_PYTHON_MODULE(libnoiseModel_python) +{ + +// NOTE: Don't know if it's really necessary to register the matrices convertion here. +import_array(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); + +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); + +class_("Base") + .def("print", pure_virtual(&Base::print)) +; + +class_, bases >("Gaussian", no_init) + .def("SqrtInformation",&Gaussian::SqrtInformation) + .staticmethod("SqrtInformation") + .def("Information",&Gaussian::Information) + .staticmethod("Information") + .def("Covariance",&Gaussian::Covariance) + .staticmethod("Covariance") +; + +class_ >("Diagonal", no_init) + .def("Sigmas",&Diagonal::Sigmas) + .staticmethod("Sigmas") + .def("Variances",&Diagonal::Variances) + .staticmethod("Variances") + .def("Precisions",&Diagonal::Precisions) + .staticmethod("Precisions") +; + +class_ >("Isotropic", no_init) + .def("Sigma",&Isotropic::Sigma) + .staticmethod("Sigma") + .def("Variance",&Isotropic::Variance) + .staticmethod("Variance") + .def("Precision",&Isotropic::Precision) + .staticmethod("Precision") +; + +class_ >("Unit", no_init) + .def("Create",&Unit::Create) + .staticmethod("Create") +; + +} \ No newline at end of file From 977d4aa54fa886daeb58872006add1eb1867c5a1 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 17 Nov 2015 16:29:16 +0100 Subject: [PATCH 677/964] Add 'bases' for noiseModel classes While here, add comments and TODOs --- python/handwritten/noiseModel_python.cpp | 34 +++++++++++++++++++++--- 1 file changed, 30 insertions(+), 4 deletions(-) diff --git a/python/handwritten/noiseModel_python.cpp b/python/handwritten/noiseModel_python.cpp index e23a5b630..f33bc0e8b 100644 --- a/python/handwritten/noiseModel_python.cpp +++ b/python/handwritten/noiseModel_python.cpp @@ -1,3 +1,27 @@ +/* ---------------------------------------------------------------------------- + + * 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 noiseModel_python.cpp + * @brief wraps the noise model classes into the noiseModel module + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + + /** TODOs Summary: + * + * TODO(Ellon): Don't know yet it it's worth/needed to add 'Wrap structs' for each of the noise models. + * I think it's only worthy if we want to access virtual the virtual functions from python. + * TODO(Ellon): Wrap non-pure virtual methods of Base on BaseWrap + */ + #include #include @@ -43,6 +67,8 @@ struct BaseWrap : Base, wrapper this->get_override("WhitenSystem")(); } + // TODO(Ellon) Wrap non-pure virtual methods here. See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.virtual_functions_with_default_implementations + }; BOOST_PYTHON_MODULE(libnoiseModel_python) @@ -76,7 +102,7 @@ class_("Base") .def("print", pure_virtual(&Base::print)) ; -class_, bases >("Gaussian", no_init) +class_, bases >("Gaussian", no_init) .def("SqrtInformation",&Gaussian::SqrtInformation) .staticmethod("SqrtInformation") .def("Information",&Gaussian::Information) @@ -85,7 +111,7 @@ class_, bases >("Gaussian", no_init) .staticmethod("Covariance") ; -class_ >("Diagonal", no_init) +class_, bases >("Diagonal", no_init) .def("Sigmas",&Diagonal::Sigmas) .staticmethod("Sigmas") .def("Variances",&Diagonal::Variances) @@ -94,7 +120,7 @@ class_ >("Diagonal", no_init) .staticmethod("Precisions") ; -class_ >("Isotropic", no_init) +class_, bases >("Isotropic", no_init) .def("Sigma",&Isotropic::Sigma) .staticmethod("Sigma") .def("Variance",&Isotropic::Variance) @@ -103,7 +129,7 @@ class_ >("Isotropic", no_init) .staticmethod("Precision") ; -class_ >("Unit", no_init) +class_, bases >("Unit", no_init) .def("Create",&Unit::Create) .staticmethod("Create") ; From a0064f3aaba6a8cfed667c32bba3bd2cf433d0b3 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 17 Nov 2015 17:42:53 +0100 Subject: [PATCH 678/964] Add geometry submodule of python module --- python/gtsam/__init__.py | 1 + python/gtsam/geometry/.gitignore | 1 + python/gtsam/geometry/__init__.py | 1 + python/handwritten/geometry_python.cpp | 179 +++++++++++++++++++++++++ 4 files changed, 182 insertions(+) create mode 100644 python/gtsam/geometry/.gitignore create mode 100644 python/gtsam/geometry/__init__.py create mode 100644 python/handwritten/geometry_python.cpp diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 2f9356acc..df9839fb0 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1 +1,2 @@ import noiseModel +import geometry diff --git a/python/gtsam/geometry/.gitignore b/python/gtsam/geometry/.gitignore new file mode 100644 index 000000000..7e7c8fdb2 --- /dev/null +++ b/python/gtsam/geometry/.gitignore @@ -0,0 +1 @@ +/libgeometry_python.so diff --git a/python/gtsam/geometry/__init__.py b/python/gtsam/geometry/__init__.py new file mode 100644 index 000000000..32a465828 --- /dev/null +++ b/python/gtsam/geometry/__init__.py @@ -0,0 +1 @@ +from libgeometry_python import * \ No newline at end of file diff --git a/python/handwritten/geometry_python.cpp b/python/handwritten/geometry_python.cpp new file mode 100644 index 000000000..9e6a9e55c --- /dev/null +++ b/python/handwritten/geometry_python.cpp @@ -0,0 +1,179 @@ +/* ---------------------------------------------------------------------------- + + * 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 geometry_python.cpp + * @brief wraps geometry classes into the geometry submodule of gtsam + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + + /** TODOs Summary: + * + */ + +#include + +#include + +#include +#include +#include + +using namespace boost::python; +using namespace gtsam; + +// Prototypes used to perform overloading +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html +// Rot3 +gtsam::Rot3 (*AxisAngle_0)(const Vector3&, double) = &Rot3::AxisAngle; +gtsam::Rot3 (*AxisAngle_1)(const gtsam::Point3&, double) = &Rot3::AxisAngle; +gtsam::Rot3 (*Rodrigues_0)(const Vector3&) = &Rot3::Rodrigues; +gtsam::Rot3 (*Rodrigues_1)(double, double, double) = &Rot3::Rodrigues; +gtsam::Rot3 (*RzRyRx_0)(double, double, double) = &Rot3::RzRyRx; +gtsam::Rot3 (*RzRyRx_1)(const Vector&) = &Rot3::RzRyRx; +// Pose3 +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Pose3_equals_overloads_0, equals, 1, 2) +bool (Pose3::*equals_0)(const gtsam::Pose3&, double) const = &Pose3::equals; + + +BOOST_PYTHON_MODULE(libgeometry_python) +{ + +// NOTE: Don't know if it's really necessary to register the matrices convertion here. +import_array(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); + +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); + +class_("Point3") + .def(init<>()) + .def(init()) + .def(init()) + .def("identity", &Point3::identity) + .staticmethod("identity") + .def("add", &Point3::add) + .def("cross", &Point3::cross) + .def("dist", &Point3::dist) + .def("distance", &Point3::distance) + .def("dot", &Point3::dot) + .def("equals", &Point3::equals) + .def("norm", &Point3::norm) + .def("normalize", &Point3::normalize) + .def("print", &Point3::print) + .def("sub", &Point3::sub) + .def("vector", &Point3::vector) + .def("x", &Point3::x) + .def("y", &Point3::y) + .def("z", &Point3::z) + .def(self * other()) + .def(other() * self) + .def(self + self) + .def(-self) + .def(self - self) + .def(self / other()) + .def(self_ns::str(self)) + .def(repr(self)) + .def(self == self) +; + +class_("Rot3") + .def(init<>()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def("AxisAngle", AxisAngle_0) + .def("AxisAngle", AxisAngle_1) + .staticmethod("AxisAngle") + .def("Expmap", &Rot3::Expmap) + .staticmethod("Expmap") + .def("ExpmapDerivative", &Rot3::ExpmapDerivative) + .staticmethod("ExpmapDerivative") + .def("Logmap", &Rot3::Logmap) + .staticmethod("Logmap") + .def("LogmapDerivative", &Rot3::LogmapDerivative) + .staticmethod("LogmapDerivative") + .def("Rodrigues", Rodrigues_0) + .def("Rodrigues", Rodrigues_1) + .staticmethod("Rodrigues") + .def("Rx", &Rot3::Rx) + .staticmethod("Rx") + .def("Ry", &Rot3::Ry) + .staticmethod("Ry") + .def("Rz", &Rot3::Rz) + .staticmethod("Rz") + .def("RzRyRx", RzRyRx_0) + .def("RzRyRx", RzRyRx_1) + .staticmethod("RzRyRx") + .def("identity", &Rot3::identity) + .staticmethod("identity") + .def("AdjointMap", &Rot3::AdjointMap) + .def("column", &Rot3::column) + .def("conjugate", &Rot3::conjugate) + .def("equals", &Rot3::equals) + .def("localCayley", &Rot3::localCayley) + .def("matrix", &Rot3::matrix) + .def("print", &Rot3::print) + .def("r1", &Rot3::r1) + .def("r2", &Rot3::r2) + .def("r3", &Rot3::r3) + .def("retractCayley", &Rot3::retractCayley) + .def("rpy", &Rot3::rpy) + .def("slerp", &Rot3::slerp) + .def("transpose", &Rot3::transpose) + .def("xyz", &Rot3::xyz) + .def(self * self) + .def(self * other()) + .def(self * other()) + .def(self_ns::str(self)) + .def(repr(self)) +; + +class_("Pose3") + .def(init<>()) + .def(init()) + .def(init()) + .def(init()) + .def("identity", &Pose3::identity) + .staticmethod("identity") + .def("bearing", &Pose3::bearing) + .def("equals", equals_0, Pose3_equals_overloads_0()) + .def("matrix", &Pose3::matrix) + .def("print", &Pose3::print) + .def("transform_from", &Pose3::transform_from) + .def("x", &Pose3::x) + .def("y", &Pose3::y) + .def("z", &Pose3::z) + .def(self * self) + .def(self * other()) + .def(self_ns::str(self)) + .def(repr(self)) +; + +} \ No newline at end of file From ff1cd140bbc7ee40968c40cebde7bc460194b8bf Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 17 Nov 2015 17:59:43 +0100 Subject: [PATCH 679/964] Register convertion between numpy and eigen in a separated submodule --- python/gtsam/__init__.py | 1 + python/gtsam/registernumpyeigen/.gitignore | 1 + python/gtsam/registernumpyeigen/__init__.py | 1 + python/handwritten/geometry_python.cpp | 24 --------- python/handwritten/noiseModel_python.cpp | 24 --------- .../handwritten/registernumpyeigen_python.cpp | 54 +++++++++++++++++++ 6 files changed, 57 insertions(+), 48 deletions(-) create mode 100644 python/gtsam/registernumpyeigen/.gitignore create mode 100644 python/gtsam/registernumpyeigen/__init__.py create mode 100644 python/handwritten/registernumpyeigen_python.cpp diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index df9839fb0..3e2899db0 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1,2 +1,3 @@ +import registernumpyeigen import noiseModel import geometry diff --git a/python/gtsam/registernumpyeigen/.gitignore b/python/gtsam/registernumpyeigen/.gitignore new file mode 100644 index 000000000..7ed4e4844 --- /dev/null +++ b/python/gtsam/registernumpyeigen/.gitignore @@ -0,0 +1 @@ +/libregisternumpyeigen_python.so diff --git a/python/gtsam/registernumpyeigen/__init__.py b/python/gtsam/registernumpyeigen/__init__.py new file mode 100644 index 000000000..ac6856e8c --- /dev/null +++ b/python/gtsam/registernumpyeigen/__init__.py @@ -0,0 +1 @@ +from libregisternumpyeigen_python import * \ No newline at end of file diff --git a/python/handwritten/geometry_python.cpp b/python/handwritten/geometry_python.cpp index 9e6a9e55c..61f1e3ee7 100644 --- a/python/handwritten/geometry_python.cpp +++ b/python/handwritten/geometry_python.cpp @@ -47,30 +47,6 @@ bool (Pose3::*equals_0)(const gtsam::Pose3&, double) const = &Pose3::equals; BOOST_PYTHON_MODULE(libgeometry_python) { -// NOTE: Don't know if it's really necessary to register the matrices convertion here. -import_array(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); - -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); - class_("Point3") .def(init<>()) .def(init()) diff --git a/python/handwritten/noiseModel_python.cpp b/python/handwritten/noiseModel_python.cpp index f33bc0e8b..34ec8393f 100644 --- a/python/handwritten/noiseModel_python.cpp +++ b/python/handwritten/noiseModel_python.cpp @@ -74,30 +74,6 @@ struct BaseWrap : Base, wrapper BOOST_PYTHON_MODULE(libnoiseModel_python) { -// NOTE: Don't know if it's really necessary to register the matrices convertion here. -import_array(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); - -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); - class_("Base") .def("print", pure_virtual(&Base::print)) ; diff --git a/python/handwritten/registernumpyeigen_python.cpp b/python/handwritten/registernumpyeigen_python.cpp new file mode 100644 index 000000000..cb8980494 --- /dev/null +++ b/python/handwritten/registernumpyeigen_python.cpp @@ -0,0 +1,54 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file libregisternumpyeigen_python.cpp + * @brief register conversion matrix between numpy and Eigen + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + + #include + +#include + +#include +#include + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MODULE(libregisternumpyeigen_python) +{ + +import_array(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); + +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); +NumpyEigenConverter::register_converter(); + +} From 7cfd57339a514d6f92523221da47a59193ffda9f Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 17 Nov 2015 18:36:49 +0100 Subject: [PATCH 680/964] Add nonlinear submodule of gtsam python module --- python/gtsam/__init__.py | 2 + python/gtsam/nonlinear/.gitignore | 1 + python/gtsam/nonlinear/__init__.py | 1 + python/handwritten/nonlinear_python.cpp | 54 +++++++++++++++++++++++++ 4 files changed, 58 insertions(+) create mode 100644 python/gtsam/nonlinear/.gitignore create mode 100644 python/gtsam/nonlinear/__init__.py create mode 100644 python/handwritten/nonlinear_python.cpp diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 3e2899db0..0493a252f 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1,3 +1,5 @@ import registernumpyeigen import noiseModel import geometry +import nonlinear + diff --git a/python/gtsam/nonlinear/.gitignore b/python/gtsam/nonlinear/.gitignore new file mode 100644 index 000000000..d2353be92 --- /dev/null +++ b/python/gtsam/nonlinear/.gitignore @@ -0,0 +1 @@ +/libnonlinear_python.so diff --git a/python/gtsam/nonlinear/__init__.py b/python/gtsam/nonlinear/__init__.py new file mode 100644 index 000000000..74a227d48 --- /dev/null +++ b/python/gtsam/nonlinear/__init__.py @@ -0,0 +1 @@ +from libnonlinear_python import * \ No newline at end of file diff --git a/python/handwritten/nonlinear_python.cpp b/python/handwritten/nonlinear_python.cpp new file mode 100644 index 000000000..09b56ea85 --- /dev/null +++ b/python/handwritten/nonlinear_python.cpp @@ -0,0 +1,54 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file nonlinear_python.cpp + * @brief wraps nonlinear classes into the nonlinear submodule of gtsam python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + + /** TODOs Summary: + * + */ + +#include + +#include +#include + +using namespace boost::python; +using namespace gtsam; + +// Prototypes used to perform overloading +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html +void (Values::*insert_0)(const gtsam::Values&) = &Values::insert; +void (Values::*insert_1)(Key, const gtsam::Pose3&) = &Values::insert; + +BOOST_PYTHON_MODULE(libnonlinear_python) +{ + +class_("Values") + .def(init<>()) + .def(init()) + .def("clear", &Values::clear) + .def("dim", &Values::dim) + .def("empty", &Values::empty) + .def("equals", &Values::equals) + .def("erase", &Values::erase) + .def("insertFixed", &Values::insertFixed) + .def("print", &Values::print) + .def("size", &Values::size) + .def("swap", &Values::swap) + .def("insert", insert_0) + .def("insert", insert_1) +; + +} \ No newline at end of file From e0b8d876953c48b924cc279431b16067fba52b3f Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 18 Nov 2015 11:48:25 +0100 Subject: [PATCH 681/964] Wrap Values::insert and Values::at for Point3, Rot3, and Pose3 --- python/handwritten/nonlinear_python.cpp | 54 ++++++++++++++++++++++++- 1 file changed, 53 insertions(+), 1 deletion(-) diff --git a/python/handwritten/nonlinear_python.cpp b/python/handwritten/nonlinear_python.cpp index 09b56ea85..40c97d4ed 100644 --- a/python/handwritten/nonlinear_python.cpp +++ b/python/handwritten/nonlinear_python.cpp @@ -30,7 +30,51 @@ using namespace gtsam; // Prototypes used to perform overloading // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html void (Values::*insert_0)(const gtsam::Values&) = &Values::insert; -void (Values::*insert_1)(Key, const gtsam::Pose3&) = &Values::insert; +void (Values::*insert_1)(Key, const gtsam::Point3&) = &Values::insert; +void (Values::*insert_2)(Key, const gtsam::Rot3&) = &Values::insert; +void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert; + +/** The function ValuesAt is a workaround to be able to call the correct templated version + * of Values::at. Without it, python would only try to match the last 'at' metho defined + * below. With this wrapper function we can call 'at' in python passing an extra type, + * which will define the type to be returned. Example: + * + * >>> import gtsam + * >>> v = gtsam.nonlinear.Values() + * >>> v.insert(1,gtsam.geometry.Point3()) + * >>> v.insert(2,gtsam.geometry.Rot3()) + * >>> v.insert(3,gtsam.geometry.Pose3()) + * >>> v.at(1,gtsam.geometry.Point3()) + * >>> v.at(2,gtsam.geometry.Rot3()) + * >>> v.at(3,gtsam.geometry.Pose3()) + * + * A more 'pythonic' way I think would be to not use this function and define different + * 'at' methods below using the name of the type in the function name, like: + * + * .def("point3_at", &Values::at, return_internal_reference<>()) + * .def("rot3_at", &Values::at, return_internal_reference<>()) + * .def("pose3_at", &Values::at, return_internal_reference<>()) + * + * and then they could be accessed from python as + * + * >>> import gtsam + * >>> v = gtsam.nonlinear.Values() + * >>> v.insert(1,gtsam.geometry.Point3()) + * >>> v.insert(2,gtsam.geometry.Rot3()) + * >>> v.insert(3,gtsam.geometry.Pose3()) + * >>> v.point3_at(1) + * >>> v.rot3_at(2) + * >>> v.pose3_at(3) + * + * In fact, I just saw the pythonic way sounds more clear, so I'm sticking with this and + * leaving the comments here for future reference. I'm using the PEP0008 for method naming. + * See: https://www.python.org/dev/peps/pep-0008/#function-and-method-arguments + */ +// template +// const T & ValuesAt( const Values & v, Key j, T /*type*/) +// { +// return v.at(j); +// } BOOST_PYTHON_MODULE(libnonlinear_python) { @@ -49,6 +93,14 @@ class_("Values") .def("swap", &Values::swap) .def("insert", insert_0) .def("insert", insert_1) + .def("insert", insert_2) + .def("insert", insert_3) + // .def("at", &ValuesAt, return_internal_reference<>()) + // .def("at", &ValuesAt, return_internal_reference<>()) + // .def("at", &ValuesAt, return_internal_reference<>()) + .def("point3_at", &Values::at, return_internal_reference<>()) + .def("rot3_at", &Values::at, return_internal_reference<>()) + .def("pose3_at", &Values::at, return_internal_reference<>()) ; } \ No newline at end of file From 72d73c67215bfd9eef6fb175f331f900869c7a5c Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 18 Nov 2015 13:18:01 +0100 Subject: [PATCH 682/964] Add slam as submodule of gtsam python module --- python/gtsam/__init__.py | 2 +- python/gtsam/slam/.gitignore | 1 + python/gtsam/slam/__init__.py | 1 + python/handwritten/slam_python.cpp | 52 ++++++++++++++++++++++++++++++ 4 files changed, 55 insertions(+), 1 deletion(-) create mode 100644 python/gtsam/slam/.gitignore create mode 100644 python/gtsam/slam/__init__.py create mode 100644 python/handwritten/slam_python.cpp diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 0493a252f..92c2d1f65 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -2,4 +2,4 @@ import registernumpyeigen import noiseModel import geometry import nonlinear - +import slam diff --git a/python/gtsam/slam/.gitignore b/python/gtsam/slam/.gitignore new file mode 100644 index 000000000..4fbe984da --- /dev/null +++ b/python/gtsam/slam/.gitignore @@ -0,0 +1 @@ +/libslam_python.so diff --git a/python/gtsam/slam/__init__.py b/python/gtsam/slam/__init__.py new file mode 100644 index 000000000..8c327e67f --- /dev/null +++ b/python/gtsam/slam/__init__.py @@ -0,0 +1 @@ +from libslam_python import * \ No newline at end of file diff --git a/python/handwritten/slam_python.cpp b/python/handwritten/slam_python.cpp new file mode 100644 index 000000000..f2c56cae4 --- /dev/null +++ b/python/handwritten/slam_python.cpp @@ -0,0 +1,52 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file slam_python.cpp + * @brief wraps slam classes into the slam submodule of gtsam python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + + /** TODOs Summary: + * + */ + +#include + +#include +#include +#include +#include +#include + +using namespace boost::python; +using namespace gtsam; + +// Prototypes used to perform overloading +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html + +// Macro used to define a BetweenFactor given the type. +#define BETWEENFACTOR(VALUE) \ + class_< BetweenFactor >("BetweenFactor"#VALUE) \ + .def(init()) \ + .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ +; + +BOOST_PYTHON_MODULE(libslam_python) +{ + + BETWEENFACTOR(Point3) + + BETWEENFACTOR(Rot3) + + BETWEENFACTOR(Pose3) + +} \ No newline at end of file From 6684f69d0a69c9a72d989114cacdb73629fad138 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 18 Nov 2015 17:28:44 +0100 Subject: [PATCH 683/964] Fix inheritance problem on python wrapping of noise models --- python/handwritten/noiseModel_python.cpp | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/python/handwritten/noiseModel_python.cpp b/python/handwritten/noiseModel_python.cpp index 34ec8393f..5ed919dd4 100644 --- a/python/handwritten/noiseModel_python.cpp +++ b/python/handwritten/noiseModel_python.cpp @@ -24,17 +24,17 @@ #include -#include - #include using namespace boost::python; using namespace gtsam; using namespace gtsam::noiseModel; -// Wrap around pure virtual class Base +// Wrap around pure virtual class Base. +// All pure virtual methods should be wrapped. Non-pure may be wrapped if we want to mimic the +// overloading through inheritance in Python. // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions -struct BaseWrap : Base, wrapper +struct BaseCallback : Base, wrapper { void print (const std::string & name="") const { this->get_override("print")(); @@ -67,18 +67,20 @@ struct BaseWrap : Base, wrapper this->get_override("WhitenSystem")(); } - // TODO(Ellon) Wrap non-pure virtual methods here. See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.virtual_functions_with_default_implementations + // TODO(Ellon): Wrap non-pure virtual methods should go here. + // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.virtual_functions_with_default_implementations }; BOOST_PYTHON_MODULE(libnoiseModel_python) { -class_("Base") +class_("Base") .def("print", pure_virtual(&Base::print)) ; -class_, bases >("Gaussian", no_init) +// NOTE: We should use "Base" in "bases<...>", and not "BaseCallback" (it was not clear at the begining) +class_, bases >("Gaussian", no_init) .def("SqrtInformation",&Gaussian::SqrtInformation) .staticmethod("SqrtInformation") .def("Information",&Gaussian::Information) From 9a97248ee4576bd5f58bdd87f704c9d6ec43e003 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 18 Nov 2015 17:35:27 +0100 Subject: [PATCH 684/964] Put classes in namespaces close to gtsam's C++ interface --- python/gtsam/__init__.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 92c2d1f65..39d0d08ef 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1,5 +1,5 @@ import registernumpyeigen import noiseModel -import geometry -import nonlinear -import slam +from geometry import * +from nonlinear import * +from slam import * From 828b230e17534cdecc4d6def714b79dcb7caada1 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 18 Nov 2015 18:05:22 +0100 Subject: [PATCH 685/964] Add overloads for named constructors on noiseModel module --- python/handwritten/noiseModel_python.cpp | 31 +++++++++++++++++------- 1 file changed, 22 insertions(+), 9 deletions(-) diff --git a/python/handwritten/noiseModel_python.cpp b/python/handwritten/noiseModel_python.cpp index 5ed919dd4..f9115b870 100644 --- a/python/handwritten/noiseModel_python.cpp +++ b/python/handwritten/noiseModel_python.cpp @@ -72,6 +72,19 @@ struct BaseCallback : Base, wrapper }; +// Overloads for named constructors. Named constructors are static, so we declare them +// using BOOST_PYTHON_FUNCTION_OVERLOADS instead of BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html#python.default_arguments +BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_SqrtInformation_overloads, Gaussian::SqrtInformation, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Information_overloads, Gaussian::Information, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Covariance_overloads, Gaussian::Covariance, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Sigmas_overloads, Diagonal::Sigmas, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Variances_overloads, Diagonal::Variances, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Precisions_overloads, Diagonal::Precisions, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Sigma_overloads, Isotropic::Sigma, 2, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Variance_overloads, Isotropic::Variance, 2, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Precision_overloads, Isotropic::Precision, 2, 3) + BOOST_PYTHON_MODULE(libnoiseModel_python) { @@ -81,29 +94,29 @@ class_("Base") // NOTE: We should use "Base" in "bases<...>", and not "BaseCallback" (it was not clear at the begining) class_, bases >("Gaussian", no_init) - .def("SqrtInformation",&Gaussian::SqrtInformation) + .def("SqrtInformation",&Gaussian::SqrtInformation, Gaussian_SqrtInformation_overloads()) .staticmethod("SqrtInformation") - .def("Information",&Gaussian::Information) + .def("Information",&Gaussian::Information, Gaussian_Information_overloads()) .staticmethod("Information") - .def("Covariance",&Gaussian::Covariance) + .def("Covariance",&Gaussian::Covariance, Gaussian_Covariance_overloads()) .staticmethod("Covariance") ; class_, bases >("Diagonal", no_init) - .def("Sigmas",&Diagonal::Sigmas) + .def("Sigmas",&Diagonal::Sigmas, Diagonal_Sigmas_overloads()) .staticmethod("Sigmas") - .def("Variances",&Diagonal::Variances) + .def("Variances",&Diagonal::Variances, Diagonal_Variances_overloads()) .staticmethod("Variances") - .def("Precisions",&Diagonal::Precisions) + .def("Precisions",&Diagonal::Precisions, Diagonal_Precisions_overloads()) .staticmethod("Precisions") ; class_, bases >("Isotropic", no_init) - .def("Sigma",&Isotropic::Sigma) + .def("Sigma",&Isotropic::Sigma, Isotropic_Sigma_overloads()) .staticmethod("Sigma") - .def("Variance",&Isotropic::Variance) + .def("Variance",&Isotropic::Variance, Isotropic_Variance_overloads()) .staticmethod("Variance") - .def("Precision",&Isotropic::Precision) + .def("Precision",&Isotropic::Precision, Isotropic_Precision_overloads()) .staticmethod("Precision") ; From 72a800f70f43d10ea76071a8228e3331d794e9ac Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Thu, 19 Nov 2015 10:09:15 +0100 Subject: [PATCH 686/964] Add inheritance to from NonlinearFactor to BetweenFactor. Nonlinear factor is pure virtual, so we need to declare a wrapper, even if we don't export anything from it. Also, we don't make explicit all the chain of inheritance from BetweenFactor, since it looks like exporting inheritance directly from NonlinearFactor allows adding it to NonlinearFactorGraph. --- python/handwritten/slam_python.cpp | 23 ++++++++++++++++++++++- 1 file changed, 22 insertions(+), 1 deletion(-) diff --git a/python/handwritten/slam_python.cpp b/python/handwritten/slam_python.cpp index f2c56cae4..67aaf50c6 100644 --- a/python/handwritten/slam_python.cpp +++ b/python/handwritten/slam_python.cpp @@ -32,10 +32,28 @@ using namespace gtsam; // Prototypes used to perform overloading // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html +// *NONE* + +// Wrap around pure virtual class NonlinearFactor. +// All pure virtual methods should be wrapped. Non-pure may be wrapped if we want to mimic the +// overloading through inheritance in Python. +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions +struct NonlinearFactorCallback : NonlinearFactor, wrapper +{ + double error (const Values & values) const { + return this->get_override("error")(values); + } + size_t dim () const { + return this->get_override("dim")(); + } + boost::shared_ptr linearize(const Values & values) const { + return this->get_override("linearize")(values); + } +}; // Macro used to define a BetweenFactor given the type. #define BETWEENFACTOR(VALUE) \ - class_< BetweenFactor >("BetweenFactor"#VALUE) \ + class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#VALUE) \ .def(init()) \ .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ ; @@ -43,6 +61,9 @@ using namespace gtsam; BOOST_PYTHON_MODULE(libslam_python) { + class_("NonlinearFactor") + ; + BETWEENFACTOR(Point3) BETWEENFACTOR(Rot3) From b10f7386c518aaeb44af00f2b5fff464a2404444 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Thu, 19 Nov 2015 11:02:51 +0100 Subject: [PATCH 687/964] Wrap prior factors --- python/handwritten/slam_python.cpp | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/python/handwritten/slam_python.cpp b/python/handwritten/slam_python.cpp index 67aaf50c6..c3c86661a 100644 --- a/python/handwritten/slam_python.cpp +++ b/python/handwritten/slam_python.cpp @@ -21,6 +21,7 @@ #include +#include #include #include #include @@ -51,13 +52,19 @@ struct NonlinearFactorCallback : NonlinearFactor, wrapper } }; -// Macro used to define a BetweenFactor given the type. +// Macro used to define templated factors #define BETWEENFACTOR(VALUE) \ class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#VALUE) \ .def(init()) \ .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ ; +#define PRIORFACTOR(VALUE) \ + class_< PriorFactor, bases, boost::shared_ptr< PriorFactor > >("PriorFactor"#VALUE) \ + .def(init()) \ + .def("prior", &PriorFactor::prior, return_internal_reference<>()) \ +; + BOOST_PYTHON_MODULE(libslam_python) { @@ -70,4 +77,10 @@ BOOST_PYTHON_MODULE(libslam_python) BETWEENFACTOR(Pose3) + PRIORFACTOR(Point3) + + PRIORFACTOR(Rot3) + + PRIORFACTOR(Pose3) + } \ No newline at end of file From 7680b533acfa4054e02530e6506e88e2287a9126 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Thu, 19 Nov 2015 11:03:35 +0100 Subject: [PATCH 688/964] Wrap basic functions of NonlinearFactorGraph and ISAM2 While here, change method names for python convention on PEP0008 --- python/handwritten/nonlinear_python.cpp | 45 +++++++++++++++++++++---- 1 file changed, 39 insertions(+), 6 deletions(-) diff --git a/python/handwritten/nonlinear_python.cpp b/python/handwritten/nonlinear_python.cpp index 40c97d4ed..de164957c 100644 --- a/python/handwritten/nonlinear_python.cpp +++ b/python/handwritten/nonlinear_python.cpp @@ -22,17 +22,19 @@ #include #include +#include +#include + #include using namespace boost::python; using namespace gtsam; -// Prototypes used to perform overloading +// Overloading macros // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html -void (Values::*insert_0)(const gtsam::Values&) = &Values::insert; -void (Values::*insert_1)(Key, const gtsam::Point3&) = &Values::insert; -void (Values::*insert_2)(Key, const gtsam::Rot3&) = &Values::insert; -void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert; +// ISAM2 +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ISAM2_update_overloads, ISAM2::update, 0, 7) + /** The function ValuesAt is a workaround to be able to call the correct templated version * of Values::at. Without it, python would only try to match the last 'at' metho defined @@ -79,6 +81,12 @@ void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert; BOOST_PYTHON_MODULE(libnonlinear_python) { +// Function pointers for overloads in Values +void (Values::*insert_0)(const gtsam::Values&) = &Values::insert; +void (Values::*insert_1)(Key, const gtsam::Point3&) = &Values::insert; +void (Values::*insert_2)(Key, const gtsam::Rot3&) = &Values::insert; +void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert; + class_("Values") .def(init<>()) .def(init()) @@ -87,7 +95,7 @@ class_("Values") .def("empty", &Values::empty) .def("equals", &Values::equals) .def("erase", &Values::erase) - .def("insertFixed", &Values::insertFixed) + .def("insert_fixed", &Values::insertFixed) .def("print", &Values::print) .def("size", &Values::size) .def("swap", &Values::swap) @@ -103,4 +111,29 @@ class_("Values") .def("pose3_at", &Values::at, return_internal_reference<>()) ; +// Function pointers for overloads in NonlinearFactorGraph +void (NonlinearFactorGraph::*add_0)(const NonlinearFactorGraph::sharedFactor&) = &NonlinearFactorGraph::add; + +class_("NonlinearFactorGraph") + .def("size",&NonlinearFactorGraph::size) + .def("add", add_0) +; + +// TODO(Ellon): Export all properties of ISAM2Params +class_("ISAM2Params") +; + +// TODO(Ellon): Export useful methods/properties of ISAM2Result +class_("ISAM2Result") +; + +// Function pointers for overloads in ISAM2 +Values (ISAM2::*calculateEstimate_0)() const = &ISAM2::calculateEstimate; + +class_("ISAM2") + // TODO(Ellon): wrap all optional values of update + .def("update",&ISAM2::update, ISAM2_update_overloads()) + .def("calculate_estimate", calculateEstimate_0) +; + } \ No newline at end of file From ffae37a67522206eaeedda0060dc4766e5581108 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Thu, 19 Nov 2015 14:59:30 +0100 Subject: [PATCH 689/964] Revert python module to use old handwritten files Just noticed several handwritten files here. I'm reverting the python module to use these handwritten files to later add the files I was wrapping to the same framework. Classes from geometry were wrapped for an old C++ interface, so several boost python's .def(...) were commented out. Conflicts: python/gtsam/.gitignore --- CMakeLists.txt | 10 ++- python/CMakeLists.txt | 13 ++++ python/gtsam/.gitignore | 1 + python/gtsam/__init__.py | 6 +- .../examples/OdometeryExample.py | 0 python/handwritten/CMakeLists.txt | 65 ++++++++++++------- python/handwritten/exportgtsam.cpp | 2 +- python/handwritten/geometry/Point2.cpp | 4 +- python/handwritten/geometry/Pose2.cpp | 34 +++++----- python/handwritten/geometry/Rot2.cpp | 10 +-- 10 files changed, 92 insertions(+), 53 deletions(-) create mode 100644 python/CMakeLists.txt create mode 100644 python/gtsam/.gitignore rename python/{handwritten => gtsam}/examples/OdometeryExample.py (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt index a99f36027..2719a77ab 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -347,8 +347,16 @@ endif() # Python wrap if (GTSAM_BUILD_PYTHON) - include(GtsamPythonWrap) + # NOTE: The automatic generation of python wrapper from the gtsampy.h interface is + # not working yet, so we're using a handwritten wrapper files on python/handwritten. + # Once the python wrapping from the interface file is working, you can _swap_ the + # comments on the next lines + + # include(GtsamPythonWrap) # wrap_and_install_python(gtsampy.h "${GTSAM_ADDITIONAL_LIBRARIES}" "") + + add_subdirectory(python) + endif() # Build gtsam_unstable diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt new file mode 100644 index 000000000..0fcb1fc28 --- /dev/null +++ b/python/CMakeLists.txt @@ -0,0 +1,13 @@ +# Obtain Dependencies +# Boost Python +find_package(Boost COMPONENTS python REQUIRED) +include_directories(${Boost_INCLUDE_DIRS}) + +# Find Python +find_package(PythonLibs 2.7 REQUIRED) +include_directories(${PYTHON_INCLUDE_DIRS}) + +# Numpy_Eigen +include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) + +add_subdirectory(handwritten) \ No newline at end of file diff --git a/python/gtsam/.gitignore b/python/gtsam/.gitignore new file mode 100644 index 000000000..8f89b0f14 --- /dev/null +++ b/python/gtsam/.gitignore @@ -0,0 +1 @@ +/libgtsam_python.so diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 39d0d08ef..4b18783d3 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1,5 +1 @@ -import registernumpyeigen -import noiseModel -from geometry import * -from nonlinear import * -from slam import * +from libgtsam_python import * \ No newline at end of file diff --git a/python/handwritten/examples/OdometeryExample.py b/python/gtsam/examples/OdometeryExample.py similarity index 100% rename from python/handwritten/examples/OdometeryExample.py rename to python/gtsam/examples/OdometeryExample.py diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 6693beba5..753e33831 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -1,27 +1,48 @@ -include_directories("${PROJECT_SOURCE_DIR}/gtsam") +# Macro to get list of subdirectories +MACRO(SUBDIRLIST result curdir) + FILE(GLOB children RELATIVE ${curdir} ${curdir}/*) + SET(dirlist "") + FOREACH(child ${children}) + IF(IS_DIRECTORY ${curdir}/${child}) + LIST(APPEND dirlist ${child}) + ENDIF() + ENDFOREACH() + SET(${result} ${dirlist}) +ENDMACRO() -#set the default path for built executables to the "bin" directory -set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -#set the default path for built libraries to the "lib" directory -set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) +# get subdirectories list +SUBDIRLIST(SUBDIRS ${CMAKE_CURRENT_SOURCE_DIR}) -list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../cmake) +# get the sources needed to compile gtsam python module +SET(gtsam_python_srcs "") +FOREACH(subdir ${SUBDIRS}) + file(GLOB ${subdir}_src "${subdir}/*.cpp") + LIST(APPEND gtsam_python_srcs ${${subdir}_src}) +ENDFOREACH() -#include_directories(${EIGEN_INCLUDE_DIRS}) +# Create the library +set(moduleName gtsam) +set(gtsamLib gtsam) +add_library(${moduleName}_python SHARED exportgtsam.cpp ${gtsam_python_srcs}) -file(GLOB base_src "base/*.cpp") -file(GLOB geometry_src "geometry/*.cpp") -file(GLOB inference_src "inference/*.cpp") -file(GLOB linear_src "linear/*.cpp") -file(GLOB nonlinear_src "nonlinear/*.cpp") -file(GLOB slam_src "slam/*.cpp") -file(GLOB symbolic_src "symbolic/*.cpp") +set_target_properties(${moduleName}_python PROPERTIES + OUTPUT_NAME ${moduleName}_python + CLEAN_DIRECT_OUTPUT 1) -#wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src}) -wrap_python("pygtsam" ${PROJECT_SOURCE_DIR}/python/gtsam exportgtsam.cpp - ${geometry_src} ${linear_src} ${nonlinear_src} ${slam_src}) -#wrap_python("nonlinear" ${PROJECT_SOURCE_DIR}/python/gtsam ${nonlinear_src}) -#wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src}) -#add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} -# ${AUTOGEN_TEST_FILES} -#) \ No newline at end of file +target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp + +# On OSX and Linux, the python library must end in the extension .so. Build this +# filename here. +get_property(PYLIB_OUTPUT_FILE TARGET ${moduleName}_python PROPERTY LOCATION) +set(PYLIB_OUTPUT_FILE $) +get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE) +set(PYLIB_SO_NAME lib${moduleName}_python.so) + +# Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package +set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam) +# Cause the library to be output in the correct directory. +add_custom_command(TARGET ${moduleName}_python + POST_BUILD + COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME} + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} + COMMENT "Copying library files to python directory" ) diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 51e0ae1f3..3799ef584 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -45,7 +45,7 @@ typedef gtsam::BetweenFactor Pose2BetweenFactor; //-----------------------------------// -BOOST_PYTHON_MODULE(libgtsam){ +BOOST_PYTHON_MODULE(libgtsam_python){ using namespace boost::python; exportPoint2(); exportRot2(); diff --git a/python/handwritten/geometry/Point2.cpp b/python/handwritten/geometry/Point2.cpp index 0d1e7092b..9e1a4d6b8 100644 --- a/python/handwritten/geometry/Point2.cpp +++ b/python/handwritten/geometry/Point2.cpp @@ -15,9 +15,9 @@ void exportPoint2(){ .def("print", &Point2::print, print_overloads(args("s"))) .def("equals", &Point2::equals, equals_overloads(args("q","tol"))) .def("inverse", &Point2::inverse) - .def("compose", &Point2::compose, compose_overloads(args("q", "H1", "H2"))) + // .def("compose", &Point2::compose, compose_overloads(args("q", "H1", "H2"))) .def("between", &Point2::between) - .def("dim", &Point2::dim) + // .def("dim", &Point2::dim) .def("retract", &Point2::retract) .def("x", &Point2::x) .def("y", &Point2::y) diff --git a/python/handwritten/geometry/Pose2.cpp b/python/handwritten/geometry/Pose2.cpp index 577a8da2c..133a6f05f 100644 --- a/python/handwritten/geometry/Pose2.cpp +++ b/python/handwritten/geometry/Pose2.cpp @@ -17,15 +17,15 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose2::range, 1, 3) void exportPose2(){ - double (Pose2::*range1)(const Pose2&, boost::optional, boost::optional) const - = &Pose2::range; - double (Pose2::*range2)(const Point2&, boost::optional, boost::optional) const - = &Pose2::range; + // double (Pose2::*range1)(const Pose2&, boost::optional, boost::optional) const + // = &Pose2::range; + // double (Pose2::*range2)(const Point2&, boost::optional, boost::optional) const + // = &Pose2::range; - Rot2 (Pose2::*bearing1)(const Pose2&, boost::optional, boost::optional) const - = &Pose2::bearing; - Rot2 (Pose2::*bearing2)(const Point2&, boost::optional, boost::optional) const - = &Pose2::bearing; + // Rot2 (Pose2::*bearing1)(const Pose2&, boost::optional, boost::optional) const + // = &Pose2::bearing; + // Rot2 (Pose2::*bearing2)(const Point2&, boost::optional, boost::optional) const + // = &Pose2::bearing; class_("Pose2", init<>()) .def(init()) @@ -34,11 +34,11 @@ void exportPose2(){ .def("print", &Pose2::print, print_overloads(args("s"))) .def("equals", &Pose2::equals, equals_overloads(args("pose","tol"))) - .def("inverse", &Pose2::inverse) - .def("compose", &Pose2::compose, compose_overloads(args("p2", "H1", "H2"))) - .def("between", &Pose2::between, between_overloads(args("p2", "H1", "H2"))) - .def("dim", &Pose2::dim) - .def("retract", &Pose2::retract) + // .def("inverse", &Pose2::inverse) + // .def("compose", &Pose2::compose, compose_overloads(args("p2", "H1", "H2"))) + // .def("between", &Pose2::between, between_overloads(args("p2", "H1", "H2"))) + // .def("dim", &Pose2::dim) + // .def("retract", &Pose2::retract) .def("transform_to", &Pose2::transform_to, transform_to_overloads(args("point", "H1", "H2"))) @@ -55,12 +55,12 @@ void exportPose2(){ .def("translation", &Pose2::translation, return_value_policy()) .def("rotation", &Pose2::rotation, return_value_policy()) - .def("bearing", bearing1, bearing_overloads()) - .def("bearing", bearing2, bearing_overloads()) + // .def("bearing", bearing1, bearing_overloads()) + // .def("bearing", bearing2, bearing_overloads()) // Function overload example - .def("range", range1, range_overloads()) - .def("range", range2, range_overloads()) + // .def("range", range1, range_overloads()) + // .def("range", range2, range_overloads()) .def("Expmap", &Pose2::Expmap) diff --git a/python/handwritten/geometry/Rot2.cpp b/python/handwritten/geometry/Rot2.cpp index 06a6a7072..e79fabd9d 100644 --- a/python/handwritten/geometry/Rot2.cpp +++ b/python/handwritten/geometry/Rot2.cpp @@ -28,11 +28,11 @@ void exportRot2(){ .def("print", &Rot2::print, print_overloads(args("s"))) .def("equals", &Rot2::equals, equals_overloads(args("q","tol"))) - .def("inverse", &Rot2::inverse) - .def("compose", &Rot2::compose, compose_overloads(args("q", "H1", "H2"))) - .def("between", &Rot2::between) - .def("dim", &Rot2::dim) - .def("retract", &Rot2::retract) + // .def("inverse", &Rot2::inverse) + // .def("compose", &Rot2::compose, compose_overloads(args("q", "H1", "H2"))) + // .def("between", &Rot2::between) + // .def("dim", &Rot2::dim) + // .def("retract", &Rot2::retract) .def("Expmap", &Rot2::Expmap) .staticmethod("Expmap") From d76ed71c99f5b9775cffe9030fb4624f16afbf18 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Thu, 19 Nov 2015 18:31:38 +0100 Subject: [PATCH 690/964] Move my developments to the handwritten structure of files that existed before There's a problem with numpy_eigen causing a segmentation fault. --- python/gtsam/__init__.py | 2 +- python/gtsam/geometry/.gitignore | 1 - python/gtsam/geometry/__init__.py | 1 - python/gtsam/noiseModel/.gitignore | 1 - python/gtsam/noiseModel/__init__.py | 1 - python/gtsam/nonlinear/.gitignore | 1 - python/gtsam/nonlinear/__init__.py | 1 - python/gtsam/registernumpyeigen/.gitignore | 1 - python/gtsam/registernumpyeigen/__init__.py | 1 - python/gtsam/slam/.gitignore | 1 - python/gtsam/slam/__init__.py | 1 - python/handwritten/exportgtsam.cpp | 66 +++++---- python/handwritten/geometry/Point2.cpp | 40 +++++- python/handwritten/geometry/Point3.cpp | 60 ++++++++ python/handwritten/geometry/Pose2.cpp | 17 +++ python/handwritten/geometry/Pose3.cpp | 74 ++++++++++ python/handwritten/geometry/Rot2.cpp | 63 +++++---- python/handwritten/geometry/Rot3.cpp | 91 ++++++++++++ python/handwritten/linear/NoiseModel.cpp | 131 +++++++++++++++++- python/handwritten/nonlinear/ISAM2.cpp | 44 ++++++ .../handwritten/nonlinear/NonlinearFactor.cpp | 45 ++++++ .../nonlinear/NonlinearFactorGraph.cpp | 29 +++- python/handwritten/nonlinear/Values.cpp | 98 ++++++++++++- python/handwritten/slam/BetweenFactor.cpp | 53 ++++++- python/handwritten/slam/PriorFactor.cpp | 51 ++++++- python/handwritten/utils/NumpyEigen.cpp | 52 +++++++ 26 files changed, 831 insertions(+), 95 deletions(-) delete mode 100644 python/gtsam/geometry/.gitignore delete mode 100644 python/gtsam/geometry/__init__.py delete mode 100644 python/gtsam/noiseModel/.gitignore delete mode 100644 python/gtsam/noiseModel/__init__.py delete mode 100644 python/gtsam/nonlinear/.gitignore delete mode 100644 python/gtsam/nonlinear/__init__.py delete mode 100644 python/gtsam/registernumpyeigen/.gitignore delete mode 100644 python/gtsam/registernumpyeigen/__init__.py delete mode 100644 python/gtsam/slam/.gitignore delete mode 100644 python/gtsam/slam/__init__.py create mode 100644 python/handwritten/geometry/Point3.cpp create mode 100644 python/handwritten/geometry/Pose3.cpp create mode 100644 python/handwritten/geometry/Rot3.cpp create mode 100644 python/handwritten/nonlinear/ISAM2.cpp create mode 100644 python/handwritten/nonlinear/NonlinearFactor.cpp create mode 100644 python/handwritten/utils/NumpyEigen.cpp diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 4b18783d3..f1b07905b 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1 +1 @@ -from libgtsam_python import * \ No newline at end of file +from libgtsam_python import * diff --git a/python/gtsam/geometry/.gitignore b/python/gtsam/geometry/.gitignore deleted file mode 100644 index 7e7c8fdb2..000000000 --- a/python/gtsam/geometry/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/libgeometry_python.so diff --git a/python/gtsam/geometry/__init__.py b/python/gtsam/geometry/__init__.py deleted file mode 100644 index 32a465828..000000000 --- a/python/gtsam/geometry/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from libgeometry_python import * \ No newline at end of file diff --git a/python/gtsam/noiseModel/.gitignore b/python/gtsam/noiseModel/.gitignore deleted file mode 100644 index e054d5cfe..000000000 --- a/python/gtsam/noiseModel/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/libnoiseModel_python.so diff --git a/python/gtsam/noiseModel/__init__.py b/python/gtsam/noiseModel/__init__.py deleted file mode 100644 index 492937407..000000000 --- a/python/gtsam/noiseModel/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from libnoiseModel_python import * \ No newline at end of file diff --git a/python/gtsam/nonlinear/.gitignore b/python/gtsam/nonlinear/.gitignore deleted file mode 100644 index d2353be92..000000000 --- a/python/gtsam/nonlinear/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/libnonlinear_python.so diff --git a/python/gtsam/nonlinear/__init__.py b/python/gtsam/nonlinear/__init__.py deleted file mode 100644 index 74a227d48..000000000 --- a/python/gtsam/nonlinear/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from libnonlinear_python import * \ No newline at end of file diff --git a/python/gtsam/registernumpyeigen/.gitignore b/python/gtsam/registernumpyeigen/.gitignore deleted file mode 100644 index 7ed4e4844..000000000 --- a/python/gtsam/registernumpyeigen/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/libregisternumpyeigen_python.so diff --git a/python/gtsam/registernumpyeigen/__init__.py b/python/gtsam/registernumpyeigen/__init__.py deleted file mode 100644 index ac6856e8c..000000000 --- a/python/gtsam/registernumpyeigen/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from libregisternumpyeigen_python import * \ No newline at end of file diff --git a/python/gtsam/slam/.gitignore b/python/gtsam/slam/.gitignore deleted file mode 100644 index 4fbe984da..000000000 --- a/python/gtsam/slam/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/libslam_python.so diff --git a/python/gtsam/slam/__init__.py b/python/gtsam/slam/__init__.py deleted file mode 100644 index 8c327e67f..000000000 --- a/python/gtsam/slam/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from libslam_python import * \ No newline at end of file diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 3799ef584..2424cd4da 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -1,63 +1,77 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief exports the python module + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include #include -#include -#include -#include -#include -#include +#include +#include using namespace boost::python; using namespace gtsam; using namespace std; -// Geometery +// Geometry void exportPoint2(); +void exportPoint3(); void exportRot2(); +void exportRot3(); void exportPose2(); +void exportPose3(); // Linear void exportNoiseModels(); // Nonlinear void exportValues(); +void exportNonlinearFactor(); void exportNonlinearFactorGraph(); void exportLevenbergMarquardtOptimizer(); +void exportISAM2(); // Slam -template< class FACTOR, class VALUE > -void exportPriorFactor(const std::string& name){ - class_< FACTOR >(name.c_str(), init<>()) - .def(init< Key, VALUE&, SharedNoiseModel >()) - ; -} +void exportPriorFactors(); +void exportBetweenFactors(); -template -void exportBetweenFactor(const std::string& name){ - class_(name.c_str(), init<>()) - .def(init()) - ; -} - -typedef gtsam::PriorFactor Point2PriorFactor; -typedef gtsam::PriorFactor Pose2PriorFactor; -typedef gtsam::BetweenFactor Pose2BetweenFactor; +// Utils (or Python wrapper specific functions) +void registerNumpyEigenConversions(); //-----------------------------------// BOOST_PYTHON_MODULE(libgtsam_python){ - using namespace boost::python; + + // Should be the first thing to be done + registerNumpyEigenConversions(); + exportPoint2(); + exportPoint3(); exportRot2(); + exportRot3(); exportPose2(); + exportPose3(); exportNoiseModels(); exportValues(); + exportNonlinearFactor(); exportNonlinearFactorGraph(); exportLevenbergMarquardtOptimizer(); + exportISAM2(); - exportPriorFactor< Point2PriorFactor, Point2 >("Point2PriorFactor"); - exportPriorFactor< Pose2PriorFactor, Pose2 >("Pose2PriorFactor"); - exportBetweenFactor< Pose2BetweenFactor, Pose2 >("Pose2BetweenFactor"); + exportPriorFactors(); + exportBetweenFactors(); } \ No newline at end of file diff --git a/python/handwritten/geometry/Point2.cpp b/python/handwritten/geometry/Point2.cpp index 9e1a4d6b8..77abca636 100644 --- a/python/handwritten/geometry/Point2.cpp +++ b/python/handwritten/geometry/Point2.cpp @@ -1,3 +1,20 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Point2 class to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include #include "gtsam/geometry/Point2.h" @@ -12,15 +29,26 @@ void exportPoint2(){ class_("Point2", init<>()) .def(init()) - .def("print", &Point2::print, print_overloads(args("s"))) + .def(init()) + .def("identity", &Point2::identity) + .def("dist", &Point2::dist) + .def("distance", &Point2::distance) .def("equals", &Point2::equals, equals_overloads(args("q","tol"))) - .def("inverse", &Point2::inverse) - // .def("compose", &Point2::compose, compose_overloads(args("q", "H1", "H2"))) - .def("between", &Point2::between) - // .def("dim", &Point2::dim) - .def("retract", &Point2::retract) + .def("norm", &Point2::norm) + .def("print", &Point2::print, print_overloads(args("s"))) + .def("unit", &Point2::unit) + .def("vector", &Point2::vector) .def("x", &Point2::x) .def("y", &Point2::y) + .def(self * other()) // __mult__ + .def(other() * self) // __mult__ + .def(self + self) + .def(-self) + .def(self - self) + .def(self / other()) + .def(self_ns::str(self)) + .def(repr(self)) + .def(self == self) ; } \ No newline at end of file diff --git a/python/handwritten/geometry/Point3.cpp b/python/handwritten/geometry/Point3.cpp new file mode 100644 index 000000000..fd703f3ce --- /dev/null +++ b/python/handwritten/geometry/Point3.cpp @@ -0,0 +1,60 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Point3 class to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include +#include "gtsam/geometry/Point3.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Point3::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Point3::equals, 1, 2) + +void exportPoint3(){ + +class_("Point3") + .def(init<>()) + .def(init()) + .def(init()) + .def("identity", &Point3::identity) + .staticmethod("identity") + .def("add", &Point3::add) + .def("cross", &Point3::cross) + .def("dist", &Point3::dist) + .def("distance", &Point3::distance) + .def("dot", &Point3::dot) + .def("equals", &Point3::equals, equals_overloads(args("q","tol"))) + .def("norm", &Point3::norm) + .def("normalize", &Point3::normalize) + .def("print", &Point3::print, print_overloads(args("s"))) + .def("sub", &Point3::sub) + .def("vector", &Point3::vector) + .def("x", &Point3::x) + .def("y", &Point3::y) + .def("z", &Point3::z) + .def(self * other()) + .def(other() * self) + .def(self + self) + .def(-self) + .def(self - self) + .def(self / other()) + .def(self_ns::str(self)) + .def(repr(self)) + .def(self == self) +; + +} \ No newline at end of file diff --git a/python/handwritten/geometry/Pose2.cpp b/python/handwritten/geometry/Pose2.cpp index 133a6f05f..6640d47a9 100644 --- a/python/handwritten/geometry/Pose2.cpp +++ b/python/handwritten/geometry/Pose2.cpp @@ -1,3 +1,20 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Pose2 class to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include #include "gtsam/geometry/Pose2.h" diff --git a/python/handwritten/geometry/Pose3.cpp b/python/handwritten/geometry/Pose3.cpp new file mode 100644 index 000000000..a7e3ae2fd --- /dev/null +++ b/python/handwritten/geometry/Pose3.cpp @@ -0,0 +1,74 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Pose3 class to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include +#include "gtsam/geometry/Pose3.h" + +#include "gtsam/geometry/Pose2.h" +#include "gtsam/geometry/Point3.h" +#include "gtsam/geometry/Rot3.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Pose3::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Pose3::equals, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_to_overloads, Pose3::transform_to, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_from_overloads, Pose3::transform_from, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(translation_overloads, Pose3::translation, 0, 1) +// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose3::bearing, 1, 3) +// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose3::range, 1, 3) +// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose3::compose, 1, 3) +// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose3::between, 1, 3) + +void exportPose3(){ + + Point3 (Pose3::*transform_to1)(const Point3&, OptionalJacobian< 3, 6 >, OptionalJacobian< 3, 3 > ) const + = &Pose3::transform_to; + Pose3 (Pose3::*transform_to2)(const Pose3&) const + = &Pose3::transform_to; + + class_("Pose3") + .def(init<>()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def("print", &Pose3::print, print_overloads(args("s"))) + .def("equals", &Pose3::equals, equals_overloads(args("pose","tol"))) + .def("identity", &Pose3::identity) + .staticmethod("identity") + .def("bearing", &Pose3::bearing) + .def("matrix", &Pose3::matrix) + .def("transform_from", &Pose3::transform_from, + transform_from_overloads(args("point", "H1", "H2"))) + .def("transform_to", transform_to1, + transform_to_overloads(args("point", "H1", "H2"))) + .def("transform_to", transform_to2) + .def("x", &Pose3::x) + .def("y", &Pose3::y) + .def("z", &Pose3::z) + .def("translation", &Pose3::translation, + translation_overloads()[return_value_policy()]) + .def("rotation", &Pose3::rotation, return_value_policy()) + .def(self * self) // __mult__ + .def(self * other()) // __mult__ + .def(self_ns::str(self)) // __str__ + .def(repr(self)) // __repr__ + ; +} \ No newline at end of file diff --git a/python/handwritten/geometry/Rot2.cpp b/python/handwritten/geometry/Rot2.cpp index e79fabd9d..d7bcf8cf1 100644 --- a/python/handwritten/geometry/Rot2.cpp +++ b/python/handwritten/geometry/Rot2.cpp @@ -1,3 +1,20 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Rot2 class to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include #include "gtsam/geometry/Rot2.h" @@ -13,35 +30,31 @@ void exportRot2(){ class_("Rot2", init<>()) .def(init()) - - .def("fromAngle", &Rot2::fromAngle) - .staticmethod("fromAngle") - - .def("fromDegrees", &Rot2::fromDegrees) - .staticmethod("fromDegrees") - - .def("fromCosSin", &Rot2::fromCosSin) - .staticmethod("fromCosSin") - - .def("atan2", &Rot2::atan2) - .staticmethod("atan2") - - .def("print", &Rot2::print, print_overloads(args("s"))) - .def("equals", &Rot2::equals, equals_overloads(args("q","tol"))) - // .def("inverse", &Rot2::inverse) - // .def("compose", &Rot2::compose, compose_overloads(args("q", "H1", "H2"))) - // .def("between", &Rot2::between) - // .def("dim", &Rot2::dim) - // .def("retract", &Rot2::retract) - .def("Expmap", &Rot2::Expmap) .staticmethod("Expmap") - - .def("theta", &Rot2::theta) - .def("degrees", &Rot2::degrees) + .def("Logmap", &Rot2::Logmap) + .staticmethod("Logmap") + .def("atan2", &Rot2::atan2) + .staticmethod("atan2") + .def("fromAngle", &Rot2::fromAngle) + .staticmethod("fromAngle") + .def("fromCosSin", &Rot2::fromCosSin) + .staticmethod("fromCosSin") + .def("fromDegrees", &Rot2::fromDegrees) + .staticmethod("fromDegrees") + .def("identity", &Rot2::identity) + .staticmethod("identity") + .def("relativeBearing", &Rot2::relativeBearing) + .staticmethod("relativeBearing") .def("c", &Rot2::c) + .def("degrees", &Rot2::degrees) + .def("equals", &Rot2::equals, equals_overloads(args("q","tol"))) + .def("matrix", &Rot2::matrix) + .def("print", &Rot2::print, print_overloads(args("s"))) + .def("rotate", &Rot2::rotate) .def("s", &Rot2::s) - + .def("theta", &Rot2::theta) + .def("unrotate", &Rot2::unrotate) .def(self * self) // __mult__ ; diff --git a/python/handwritten/geometry/Rot3.cpp b/python/handwritten/geometry/Rot3.cpp new file mode 100644 index 000000000..8f1728214 --- /dev/null +++ b/python/handwritten/geometry/Rot3.cpp @@ -0,0 +1,91 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Rot3 class to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include +#include "gtsam/geometry/Rot3.h" + +using namespace boost::python; +using namespace gtsam; + +// Prototypes used to perform overloading +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html +gtsam::Rot3 (*AxisAngle_0)(const Vector3&, double) = &Rot3::AxisAngle; +gtsam::Rot3 (*AxisAngle_1)(const gtsam::Point3&, double) = &Rot3::AxisAngle; +gtsam::Rot3 (*Rodrigues_0)(const Vector3&) = &Rot3::Rodrigues; +gtsam::Rot3 (*Rodrigues_1)(double, double, double) = &Rot3::Rodrigues; +gtsam::Rot3 (*RzRyRx_0)(double, double, double) = &Rot3::RzRyRx; +gtsam::Rot3 (*RzRyRx_1)(const Vector&) = &Rot3::RzRyRx; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Rot3::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot3::equals, 1, 2) + +void exportRot3(){ + + class_("Rot3") + .def(init<>()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def("AxisAngle", AxisAngle_0) + .def("AxisAngle", AxisAngle_1) + .staticmethod("AxisAngle") + .def("Expmap", &Rot3::Expmap) + .staticmethod("Expmap") + .def("ExpmapDerivative", &Rot3::ExpmapDerivative) + .staticmethod("ExpmapDerivative") + .def("Logmap", &Rot3::Logmap) + .staticmethod("Logmap") + .def("LogmapDerivative", &Rot3::LogmapDerivative) + .staticmethod("LogmapDerivative") + .def("Rodrigues", Rodrigues_0) + .def("Rodrigues", Rodrigues_1) + .staticmethod("Rodrigues") + .def("Rx", &Rot3::Rx) + .staticmethod("Rx") + .def("Ry", &Rot3::Ry) + .staticmethod("Ry") + .def("Rz", &Rot3::Rz) + .staticmethod("Rz") + .def("RzRyRx", RzRyRx_0) + .def("RzRyRx", RzRyRx_1) + .staticmethod("RzRyRx") + .def("identity", &Rot3::identity) + .staticmethod("identity") + .def("AdjointMap", &Rot3::AdjointMap) + .def("column", &Rot3::column) + .def("conjugate", &Rot3::conjugate) + .def("equals", &Rot3::equals, equals_overloads(args("q","tol"))) + .def("localCayley", &Rot3::localCayley) + .def("matrix", &Rot3::matrix) + .def("print", &Rot3::print, print_overloads(args("s"))) + .def("r1", &Rot3::r1) + .def("r2", &Rot3::r2) + .def("r3", &Rot3::r3) + .def("retractCayley", &Rot3::retractCayley) + .def("rpy", &Rot3::rpy) + .def("slerp", &Rot3::slerp) + .def("transpose", &Rot3::transpose) + .def("xyz", &Rot3::xyz) + .def(self * self) + .def(self * other()) + .def(self * other()) + .def(self_ns::str(self)) // __str__ + .def(repr(self)) // __repr__ + ; + +} \ No newline at end of file diff --git a/python/handwritten/linear/NoiseModel.cpp b/python/handwritten/linear/NoiseModel.cpp index 89ee26e9a..2b492b7e5 100644 --- a/python/handwritten/linear/NoiseModel.cpp +++ b/python/handwritten/linear/NoiseModel.cpp @@ -1,13 +1,134 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps the noise model classes into the noiseModel module + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + + /** TODOs Summary: + * + * TODO(Ellon): Don't know yet it it's worth/needed to add 'Wrap structs' for each of the noise models. + * I think it's only worthy if we want to access virtual the virtual functions from python. + * TODO(Ellon): Wrap non-pure virtual methods of Base on BaseWrap + */ + #include -#include + +#include "gtsam/linear/NoiseModel.h" using namespace boost::python; using namespace gtsam; +using namespace gtsam::noiseModel; + +// Wrap around pure virtual class Base. +// All pure virtual methods should be wrapped. Non-pure may be wrapped if we want to mimic the +// overloading through inheritance in Python. +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions +struct BaseCallback : Base, wrapper +{ + void print (const std::string & name="") const { + this->get_override("print")(); + } + bool equals (const Base & expected, double tol=1e-9) const { + return this->get_override("equals")(); + } + Vector whiten (const Vector & v) const { + return this->get_override("whiten")(); + } + Matrix Whiten (const Matrix & v) const { + return this->get_override("Whiten")(); + } + Vector unwhiten (const Vector & v) const { + return this->get_override("unwhiten")(); + } + double distance (const Vector & v) const { + return this->get_override("distance")(); + } + void WhitenSystem (std::vector< Matrix > &A, Vector &b) const { + this->get_override("WhitenSystem")(); + } + void WhitenSystem (Matrix &A, Vector &b) const { + this->get_override("WhitenSystem")(); + } + void WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const { + this->get_override("WhitenSystem")(); + } + void WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const { + this->get_override("WhitenSystem")(); + } + + // TODO(Ellon): Wrap non-pure virtual methods should go here. + // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.virtual_functions_with_default_implementations + +}; + +// Overloads for named constructors. Named constructors are static, so we declare them +// using BOOST_PYTHON_FUNCTION_OVERLOADS instead of BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html#python.default_arguments +BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_SqrtInformation_overloads, Gaussian::SqrtInformation, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Information_overloads, Gaussian::Information, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Covariance_overloads, Gaussian::Covariance, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Sigmas_overloads, Diagonal::Sigmas, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Variances_overloads, Diagonal::Variances, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Precisions_overloads, Diagonal::Precisions, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Sigma_overloads, Isotropic::Sigma, 2, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Variance_overloads, Isotropic::Variance, 2, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Precision_overloads, Isotropic::Precision, 2, 3) + void exportNoiseModels(){ - // Diagonal Noise Model, no constructor - class_("DiagonalNoiseModel", no_init) - .def("Sigmas", &noiseModel::Diagonal::Sigmas) - .staticmethod("Sigmas") + + // Create a scope "noiseModel". See: http://isolation-nation.blogspot.fr/2008/09/packages-in-python-extension-modules.html + std::string noiseModel_name = extract(scope().attr("__name__") + ".noiseModel"); + object noiseModel_module(handle<>(borrowed(PyImport_AddModule(noiseModel_name.c_str())))); + scope().attr("noiseModel") = noiseModel_module; + scope noiseModel_scope = noiseModel_module; + + // Then export our classes in the noiseModel scope + class_("Base") + .def("print", pure_virtual(&Base::print)) ; + + // NOTE: We should use "Base" in "bases<...>", and not "BaseCallback" (it was not clear at the begining) + class_, bases >("Gaussian", no_init) + .def("SqrtInformation",&Gaussian::SqrtInformation, Gaussian_SqrtInformation_overloads()) + .staticmethod("SqrtInformation") + .def("Information",&Gaussian::Information, Gaussian_Information_overloads()) + .staticmethod("Information") + .def("Covariance",&Gaussian::Covariance, Gaussian_Covariance_overloads()) + .staticmethod("Covariance") + ; + + class_, bases >("Diagonal", no_init) + .def("Sigmas",&Diagonal::Sigmas, Diagonal_Sigmas_overloads()) + .staticmethod("Sigmas") + .def("Variances",&Diagonal::Variances, Diagonal_Variances_overloads()) + .staticmethod("Variances") + .def("Precisions",&Diagonal::Precisions, Diagonal_Precisions_overloads()) + .staticmethod("Precisions") + ; + + class_, bases >("Isotropic", no_init) + .def("Sigma",&Isotropic::Sigma, Isotropic_Sigma_overloads()) + .staticmethod("Sigma") + .def("Variance",&Isotropic::Variance, Isotropic_Variance_overloads()) + .staticmethod("Variance") + .def("Precision",&Isotropic::Precision, Isotropic_Precision_overloads()) + .staticmethod("Precision") + ; + + class_, bases >("Unit", no_init) + .def("Create",&Unit::Create) + .staticmethod("Create") + ; + } \ No newline at end of file diff --git a/python/handwritten/nonlinear/ISAM2.cpp b/python/handwritten/nonlinear/ISAM2.cpp new file mode 100644 index 000000000..d55da3752 --- /dev/null +++ b/python/handwritten/nonlinear/ISAM2.cpp @@ -0,0 +1,44 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief exports ISAM2 class to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include +#include "gtsam/nonlinear/ISAM2.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(update_overloads, ISAM2::update, 0, 7) + +void exportISAM2(){ + +// TODO(Ellon): Export all properties of ISAM2Params +class_("ISAM2Params") +; + +// TODO(Ellon): Export useful methods/properties of ISAM2Result +class_("ISAM2Result") +; + +// Function pointers for overloads in ISAM2 +Values (ISAM2::*calculateEstimate_0)() const = &ISAM2::calculateEstimate; + +class_("ISAM2") + // TODO(Ellon): wrap all optional values of update + .def("update",&ISAM2::update, update_overloads()) + .def("calculate_estimate", calculateEstimate_0) +; + +} \ No newline at end of file diff --git a/python/handwritten/nonlinear/NonlinearFactor.cpp b/python/handwritten/nonlinear/NonlinearFactor.cpp new file mode 100644 index 000000000..e111f65f7 --- /dev/null +++ b/python/handwritten/nonlinear/NonlinearFactor.cpp @@ -0,0 +1,45 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief exports virtual class NonlinearFactor to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include +#include "gtsam/nonlinear/NonlinearFactor.h" + +using namespace boost::python; +using namespace gtsam; + +// Wrap around pure virtual class NonlinearFactor. +// All pure virtual methods should be wrapped. Non-pure may be wrapped if we want to mimic the +// overloading through inheritance in Python. +// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions +struct NonlinearFactorCallback : NonlinearFactor, wrapper +{ + double error (const Values & values) const { + return this->get_override("error")(values); + } + size_t dim () const { + return this->get_override("dim")(); + } + boost::shared_ptr linearize(const Values & values) const { + return this->get_override("linearize")(values); + } +}; + +void exportNonlinearFactor(){ + + class_("NonlinearFactor") + ; + +} \ No newline at end of file diff --git a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp index 16aa4c6e4..a2262f9fd 100644 --- a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp +++ b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp @@ -1,6 +1,23 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief exports NonlinearFactorGraph class to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include #include "gtsam/nonlinear/NonlinearFactorGraph.h" -#include +#include "gtsam/nonlinear/NonlinearFactor.h" using namespace boost::python; using namespace gtsam; @@ -8,11 +25,15 @@ using namespace gtsam; void exportNonlinearFactorGraph(){ - typedef boost::shared_ptr shared_factor; + typedef NonlinearFactorGraph::sharedFactor sharedFactor; - void (NonlinearFactorGraph::*push_back1)(const shared_factor& factor) = &NonlinearFactorGraph::push_back; + void (NonlinearFactorGraph::*push_back1)(const sharedFactor&) = &NonlinearFactorGraph::push_back; + void (NonlinearFactorGraph::*add1)(const sharedFactor&) = &NonlinearFactorGraph::add; class_("NonlinearFactorGraph", init<>()) - .def("push_back", push_back1) + .def("size",&NonlinearFactorGraph::size) + .def("push_back", push_back1) + .def("add", add1) ; + } \ No newline at end of file diff --git a/python/handwritten/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp index c1451cef1..7d68e88c8 100644 --- a/python/handwritten/nonlinear/Values.cpp +++ b/python/handwritten/nonlinear/Values.cpp @@ -1,19 +1,107 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Values class to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include -#include +#include "gtsam/nonlinear/Values.h" +#include "gtsam/geometry/Point3.h" +#include "gtsam/geometry/Rot3.h" +#include "gtsam/geometry/Pose3.h" using namespace boost::python; using namespace gtsam; +/** The function ValuesAt is a workaround to be able to call the correct templated version + * of Values::at. Without it, python would only try to match the last 'at' metho defined + * below. With this wrapper function we can call 'at' in python passing an extra type, + * which will define the type to be returned. Example: + * + * >>> import gtsam + * >>> v = gtsam.nonlinear.Values() + * >>> v.insert(1,gtsam.geometry.Point3()) + * >>> v.insert(2,gtsam.geometry.Rot3()) + * >>> v.insert(3,gtsam.geometry.Pose3()) + * >>> v.at(1,gtsam.geometry.Point3()) + * >>> v.at(2,gtsam.geometry.Rot3()) + * >>> v.at(3,gtsam.geometry.Pose3()) + * + * A more 'pythonic' way I think would be to not use this function and define different + * 'at' methods below using the name of the type in the function name, like: + * + * .def("point3_at", &Values::at, return_internal_reference<>()) + * .def("rot3_at", &Values::at, return_internal_reference<>()) + * .def("pose3_at", &Values::at, return_internal_reference<>()) + * + * and then they could be accessed from python as + * + * >>> import gtsam + * >>> v = gtsam.nonlinear.Values() + * >>> v.insert(1,gtsam.geometry.Point3()) + * >>> v.insert(2,gtsam.geometry.Rot3()) + * >>> v.insert(3,gtsam.geometry.Pose3()) + * >>> v.point3_at(1) + * >>> v.rot3_at(2) + * >>> v.pose3_at(3) + * + * In fact, I just saw the pythonic way sounds more clear, so I'm sticking with this and + * leaving the comments here for future reference. I'm using the PEP0008 for method naming. + * See: https://www.python.org/dev/peps/pep-0008/#function-and-method-arguments + */ +// template +// const T & ValuesAt( const Values & v, Key j, T /*type*/) +// { +// return v.at(j); +// } + void exportValues(){ - const Value& (Values::*at1)(Key) const = &Values::at; + // NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below + // will compile, but are useless in the python wrapper. We need to use specific + // 'at' and 'insert' methods for each type. + // const Value& (Values::*at1)(Key) const = &Values::at; + // void (Values::*insert1)(Key, const Value&) = &Values::insert; bool (Values::*exists1)(Key) const = &Values::exists; - void (Values::*insert1)(Key, const Value&) = &Values::insert; + void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert; + void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert; + void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert; class_("Values", init<>()) .def(init()) - .def("at", at1, return_value_policy()) + .def("clear", &Values::clear) + .def("dim", &Values::dim) + .def("empty", &Values::empty) + .def("equals", &Values::equals) + .def("erase", &Values::erase) + .def("insert_fixed", &Values::insertFixed) + .def("print", &Values::print) + .def("size", &Values::size) + .def("swap", &Values::swap) + // NOTE: Following commented lines add useless methods on Values + // .def("insert", insert1) + // .def("at", at1, return_value_policy()) + .def("insert", insert_point3) + .def("insert", insert_rot3) + .def("insert", insert_pose3) + // NOTE: The following commented lines are another way of specializing the return type. + // See long comment above. + // .def("at", &ValuesAt, return_internal_reference<>()) + // .def("at", &ValuesAt, return_internal_reference<>()) + // .def("at", &ValuesAt, return_internal_reference<>()) + .def("point3_at", &Values::at, return_value_policy()) + .def("rot3_at", &Values::at, return_value_policy()) + .def("pose3_at", &Values::at, return_value_policy()) .def("exists", exists1) - .def("insert", insert1, return_value_policy()) ; } \ No newline at end of file diff --git a/python/handwritten/slam/BetweenFactor.cpp b/python/handwritten/slam/BetweenFactor.cpp index 2732e4e7e..428f54e6f 100644 --- a/python/handwritten/slam/BetweenFactor.cpp +++ b/python/handwritten/slam/BetweenFactor.cpp @@ -1,14 +1,53 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps BetweenFactor for several values to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include -#include +#include "gtsam/slam/BetweenFactor.h" +#include "gtsam/geometry/Point2.h" +#include "gtsam/geometry/Rot2.h" +#include "gtsam/geometry/Pose2.h" +#include "gtsam/geometry/Point3.h" +#include "gtsam/geometry/Rot3.h" +#include "gtsam/geometry/Pose3.h" using namespace boost::python; using namespace gtsam; using namespace std; -template -void exportBetweenFactor(const std::string& name){ - class_(name, init<>()) - .def(init()) - ; -} \ No newline at end of file +// template +// void exportBetweenFactor(const std::string& name){ +// class_(name, init<>()) +// .def(init()) +// ; +// } + +#define BETWEENFACTOR(VALUE) \ + class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#VALUE) \ + .def(init()) \ + .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ +; + +void exportBetweenFactors() +{ + BETWEENFACTOR(Point2) + BETWEENFACTOR(Rot2) + BETWEENFACTOR(Pose2) + BETWEENFACTOR(Point3) + BETWEENFACTOR(Rot3) + BETWEENFACTOR(Pose3) +} diff --git a/python/handwritten/slam/PriorFactor.cpp b/python/handwritten/slam/PriorFactor.cpp index 1984fe144..6004c9957 100644 --- a/python/handwritten/slam/PriorFactor.cpp +++ b/python/handwritten/slam/PriorFactor.cpp @@ -1,14 +1,53 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps PriorFactor for several values to python + * @author Andrew Melim + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + #include -#include +#include "gtsam/slam/PriorFactor.h" +#include "gtsam/geometry/Point2.h" +#include "gtsam/geometry/Rot2.h" +#include "gtsam/geometry/Pose2.h" +#include "gtsam/geometry/Point3.h" +#include "gtsam/geometry/Rot3.h" +#include "gtsam/geometry/Pose3.h" using namespace boost::python; using namespace gtsam; using namespace std; -template< class FACTOR, class VALUE > -void exportPriorFactor(const std::string& name){ - class_< FACTOR >(name.c_str(), init<>()) - .def(init< Key, VALUE&, SharedNoiseModel >()) - ; +// template< class FACTOR, class VALUE > +// void exportPriorFactor(const std::string& name){ +// class_< FACTOR >(name.c_str(), init<>()) +// .def(init< Key, VALUE&, SharedNoiseModel >()) +// ; +// } + +#define PRIORFACTOR(VALUE) \ + class_< PriorFactor, bases, boost::shared_ptr< PriorFactor > >("PriorFactor"#VALUE) \ + .def(init()) \ + .def("prior", &PriorFactor::prior, return_internal_reference<>()) \ +; + +void exportPriorFactors() +{ + PRIORFACTOR(Point2) + PRIORFACTOR(Rot2) + PRIORFACTOR(Pose2) + PRIORFACTOR(Point3) + PRIORFACTOR(Rot3) + PRIORFACTOR(Pose3) } \ No newline at end of file diff --git a/python/handwritten/utils/NumpyEigen.cpp b/python/handwritten/utils/NumpyEigen.cpp new file mode 100644 index 000000000..82d3b6d5a --- /dev/null +++ b/python/handwritten/utils/NumpyEigen.cpp @@ -0,0 +1,52 @@ + /* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief register conversion matrix between numpy and Eigen + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + + #include + +#include + +#include "gtsam/base/Matrix.h" +#include "gtsam/base/Vector.h" + +using namespace boost::python; +using namespace gtsam; + +void registerNumpyEigenConversions() +{ + import_array(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + NumpyEigenConverter::register_converter(); + +} From c140a784fe95762433a45d4ea44af36cce49b512 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Fri, 20 Nov 2015 16:05:42 +0100 Subject: [PATCH 691/964] Add constness to matrices and vectors --- python/handwritten/geometry/Point2.cpp | 2 +- python/handwritten/geometry/Point3.cpp | 2 +- python/handwritten/geometry/Pose3.cpp | 10 +++++----- python/handwritten/geometry/Rot3.cpp | 4 ++-- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/python/handwritten/geometry/Point2.cpp b/python/handwritten/geometry/Point2.cpp index 77abca636..f94d8ef1e 100644 --- a/python/handwritten/geometry/Point2.cpp +++ b/python/handwritten/geometry/Point2.cpp @@ -29,7 +29,7 @@ void exportPoint2(){ class_("Point2", init<>()) .def(init()) - .def(init()) + .def(init()) .def("identity", &Point2::identity) .def("dist", &Point2::dist) .def("distance", &Point2::distance) diff --git a/python/handwritten/geometry/Point3.cpp b/python/handwritten/geometry/Point3.cpp index fd703f3ce..99adff5f2 100644 --- a/python/handwritten/geometry/Point3.cpp +++ b/python/handwritten/geometry/Point3.cpp @@ -29,7 +29,7 @@ void exportPoint3(){ class_("Point3") .def(init<>()) .def(init()) - .def(init()) + .def(init()) .def("identity", &Point3::identity) .staticmethod("identity") .def("add", &Point3::add) diff --git a/python/handwritten/geometry/Pose3.cpp b/python/handwritten/geometry/Pose3.cpp index a7e3ae2fd..2257bab46 100644 --- a/python/handwritten/geometry/Pose3.cpp +++ b/python/handwritten/geometry/Pose3.cpp @@ -44,11 +44,11 @@ void exportPose3(){ class_("Pose3") .def(init<>()) - .def(init()) - .def(init()) - .def(init()) - .def(init()) - .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) .def("print", &Pose3::print, print_overloads(args("s"))) .def("equals", &Pose3::equals, equals_overloads(args("pose","tol"))) .def("identity", &Pose3::identity) diff --git a/python/handwritten/geometry/Rot3.cpp b/python/handwritten/geometry/Rot3.cpp index 8f1728214..8c82e5396 100644 --- a/python/handwritten/geometry/Rot3.cpp +++ b/python/handwritten/geometry/Rot3.cpp @@ -39,8 +39,8 @@ void exportRot3(){ .def(init<>()) .def(init()) .def(init()) - .def(init()) - .def(init()) + .def(init()) + .def(init()) .def("AxisAngle", AxisAngle_0) .def("AxisAngle", AxisAngle_1) .staticmethod("AxisAngle") From 05f6237f716547d7208ddbc2dba3eec1b50b8175 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Fri, 20 Nov 2015 21:40:40 +0100 Subject: [PATCH 692/964] Define NO_IMPORT_ARRAY in all cpp files before including NumpyEigenConverter.hpp This fixes the segmentation fault when converting numpy and Eigen. The reason is that NumpyEigenConverter.hpp includes numpy/arrayobject.h, and for the numpy's C-API to work in multiple files we need to define NO_IMPORT_ARRAY before including numpy/arrayobject.h in all the source files but the one that defines the module initialization (exportgtsam.cpp in out case), as explained here: http://docs.scipy.org/doc/numpy/reference/c-api.array.html#importing-the-api Note that PY_ARRAY_UNIQUE_SYMBOL, also needed to work multifile, is already defined on NumpyEigenConverter.hpp. --- python/handwritten/exportgtsam.cpp | 4 ++++ python/handwritten/geometry/Point2.cpp | 4 ++++ python/handwritten/geometry/Point3.cpp | 4 ++++ python/handwritten/geometry/Pose2.cpp | 4 ++++ python/handwritten/geometry/Pose3.cpp | 4 ++++ python/handwritten/geometry/Rot2.cpp | 4 ++++ python/handwritten/geometry/Rot3.cpp | 4 ++++ python/handwritten/linear/NoiseModel.cpp | 3 +++ python/handwritten/nonlinear/ISAM2.cpp | 4 ++++ .../handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp | 4 ++++ python/handwritten/nonlinear/NonlinearFactor.cpp | 4 ++++ python/handwritten/nonlinear/NonlinearFactorGraph.cpp | 4 ++++ python/handwritten/nonlinear/Values.cpp | 4 ++++ python/handwritten/slam/BearingFactor.cpp | 4 ++++ python/handwritten/slam/BetweenFactor.cpp | 4 ++++ python/handwritten/slam/PriorFactor.cpp | 4 ++++ python/handwritten/utils/NumpyEigen.cpp | 6 ++++-- 17 files changed, 67 insertions(+), 2 deletions(-) diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 2424cd4da..84585adff 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -18,6 +18,8 @@ #include #include +#include + #include #include @@ -55,6 +57,8 @@ void registerNumpyEigenConversions(); BOOST_PYTHON_MODULE(libgtsam_python){ // Should be the first thing to be done + import_array(); + registerNumpyEigenConversions(); exportPoint2(); diff --git a/python/handwritten/geometry/Point2.cpp b/python/handwritten/geometry/Point2.cpp index f94d8ef1e..7af3f8cf6 100644 --- a/python/handwritten/geometry/Point2.cpp +++ b/python/handwritten/geometry/Point2.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/geometry/Point2.h" using namespace boost::python; diff --git a/python/handwritten/geometry/Point3.cpp b/python/handwritten/geometry/Point3.cpp index 99adff5f2..664b4ffda 100644 --- a/python/handwritten/geometry/Point3.cpp +++ b/python/handwritten/geometry/Point3.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/geometry/Point3.h" using namespace boost::python; diff --git a/python/handwritten/geometry/Pose2.cpp b/python/handwritten/geometry/Pose2.cpp index 6640d47a9..4f402df7e 100644 --- a/python/handwritten/geometry/Pose2.cpp +++ b/python/handwritten/geometry/Pose2.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/geometry/Pose2.h" using namespace boost::python; diff --git a/python/handwritten/geometry/Pose3.cpp b/python/handwritten/geometry/Pose3.cpp index 2257bab46..11b09608d 100644 --- a/python/handwritten/geometry/Pose3.cpp +++ b/python/handwritten/geometry/Pose3.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/geometry/Pose3.h" #include "gtsam/geometry/Pose2.h" diff --git a/python/handwritten/geometry/Rot2.cpp b/python/handwritten/geometry/Rot2.cpp index d7bcf8cf1..59b4ce4e8 100644 --- a/python/handwritten/geometry/Rot2.cpp +++ b/python/handwritten/geometry/Rot2.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/geometry/Rot2.h" using namespace boost::python; diff --git a/python/handwritten/geometry/Rot3.cpp b/python/handwritten/geometry/Rot3.cpp index 8c82e5396..ff2b61b63 100644 --- a/python/handwritten/geometry/Rot3.cpp +++ b/python/handwritten/geometry/Rot3.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/geometry/Rot3.h" using namespace boost::python; diff --git a/python/handwritten/linear/NoiseModel.cpp b/python/handwritten/linear/NoiseModel.cpp index 2b492b7e5..3453184bd 100644 --- a/python/handwritten/linear/NoiseModel.cpp +++ b/python/handwritten/linear/NoiseModel.cpp @@ -23,6 +23,9 @@ #include +#define NO_IMPORT_ARRAY +#include + #include "gtsam/linear/NoiseModel.h" using namespace boost::python; diff --git a/python/handwritten/nonlinear/ISAM2.cpp b/python/handwritten/nonlinear/ISAM2.cpp index d55da3752..9c042a011 100644 --- a/python/handwritten/nonlinear/ISAM2.cpp +++ b/python/handwritten/nonlinear/ISAM2.cpp @@ -15,6 +15,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/nonlinear/ISAM2.h" using namespace boost::python; diff --git a/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp b/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp index b7e38359f..44b11f00b 100644 --- a/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -1,4 +1,8 @@ #include + +#define NO_IMPORT_ARRAY +#include + #include using namespace boost::python; diff --git a/python/handwritten/nonlinear/NonlinearFactor.cpp b/python/handwritten/nonlinear/NonlinearFactor.cpp index e111f65f7..9a130d8e9 100644 --- a/python/handwritten/nonlinear/NonlinearFactor.cpp +++ b/python/handwritten/nonlinear/NonlinearFactor.cpp @@ -15,6 +15,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/nonlinear/NonlinearFactor.h" using namespace boost::python; diff --git a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp index a2262f9fd..830e16898 100644 --- a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp +++ b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/nonlinear/NonlinearFactorGraph.h" #include "gtsam/nonlinear/NonlinearFactor.h" diff --git a/python/handwritten/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp index 7d68e88c8..021cf019f 100644 --- a/python/handwritten/nonlinear/Values.cpp +++ b/python/handwritten/nonlinear/Values.cpp @@ -15,6 +15,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/nonlinear/Values.h" #include "gtsam/geometry/Point3.h" #include "gtsam/geometry/Rot3.h" diff --git a/python/handwritten/slam/BearingFactor.cpp b/python/handwritten/slam/BearingFactor.cpp index b13d1f281..84c67d522 100644 --- a/python/handwritten/slam/BearingFactor.cpp +++ b/python/handwritten/slam/BearingFactor.cpp @@ -1,4 +1,8 @@ #include + +#define NO_IMPORT_ARRAY +#include + #include using namespace boost::python; diff --git a/python/handwritten/slam/BetweenFactor.cpp b/python/handwritten/slam/BetweenFactor.cpp index 428f54e6f..b6fc552a0 100644 --- a/python/handwritten/slam/BetweenFactor.cpp +++ b/python/handwritten/slam/BetweenFactor.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/slam/BetweenFactor.h" #include "gtsam/geometry/Point2.h" #include "gtsam/geometry/Rot2.h" diff --git a/python/handwritten/slam/PriorFactor.cpp b/python/handwritten/slam/PriorFactor.cpp index 6004c9957..dcb9de8ea 100644 --- a/python/handwritten/slam/PriorFactor.cpp +++ b/python/handwritten/slam/PriorFactor.cpp @@ -16,6 +16,10 @@ **/ #include + +#define NO_IMPORT_ARRAY +#include + #include "gtsam/slam/PriorFactor.h" #include "gtsam/geometry/Point2.h" #include "gtsam/geometry/Rot2.h" diff --git a/python/handwritten/utils/NumpyEigen.cpp b/python/handwritten/utils/NumpyEigen.cpp index 82d3b6d5a..d7cebe7ad 100644 --- a/python/handwritten/utils/NumpyEigen.cpp +++ b/python/handwritten/utils/NumpyEigen.cpp @@ -14,8 +14,9 @@ * @author Ellon Paiva Mendes (LAAS-CNRS) **/ - #include +#include +#define NO_IMPORT_ARRAY #include #include "gtsam/base/Matrix.h" @@ -26,7 +27,8 @@ using namespace gtsam; void registerNumpyEigenConversions() { - import_array(); + // NOTE: import array should be called only in the cpp defining the module + // import_array(); NumpyEigenConverter::register_converter(); NumpyEigenConverter::register_converter(); NumpyEigenConverter::register_converter(); From ade8ab4053859e99047d513ecdd30b4d0cbdc012 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Fri, 20 Nov 2015 21:51:53 +0100 Subject: [PATCH 693/964] Remove old files which content was was already moved to other src files --- python/handwritten/geometry_python.cpp | 155 ------------------ python/handwritten/noiseModel_python.cpp | 128 --------------- python/handwritten/nonlinear_python.cpp | 139 ---------------- .../handwritten/registernumpyeigen_python.cpp | 54 ------ python/handwritten/slam_python.cpp | 86 ---------- 5 files changed, 562 deletions(-) delete mode 100644 python/handwritten/geometry_python.cpp delete mode 100644 python/handwritten/noiseModel_python.cpp delete mode 100644 python/handwritten/nonlinear_python.cpp delete mode 100644 python/handwritten/registernumpyeigen_python.cpp delete mode 100644 python/handwritten/slam_python.cpp diff --git a/python/handwritten/geometry_python.cpp b/python/handwritten/geometry_python.cpp deleted file mode 100644 index 61f1e3ee7..000000000 --- a/python/handwritten/geometry_python.cpp +++ /dev/null @@ -1,155 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file geometry_python.cpp - * @brief wraps geometry classes into the geometry submodule of gtsam - * @author Ellon Paiva Mendes (LAAS-CNRS) - **/ - - /** TODOs Summary: - * - */ - -#include - -#include - -#include -#include -#include - -using namespace boost::python; -using namespace gtsam; - -// Prototypes used to perform overloading -// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html -// Rot3 -gtsam::Rot3 (*AxisAngle_0)(const Vector3&, double) = &Rot3::AxisAngle; -gtsam::Rot3 (*AxisAngle_1)(const gtsam::Point3&, double) = &Rot3::AxisAngle; -gtsam::Rot3 (*Rodrigues_0)(const Vector3&) = &Rot3::Rodrigues; -gtsam::Rot3 (*Rodrigues_1)(double, double, double) = &Rot3::Rodrigues; -gtsam::Rot3 (*RzRyRx_0)(double, double, double) = &Rot3::RzRyRx; -gtsam::Rot3 (*RzRyRx_1)(const Vector&) = &Rot3::RzRyRx; -// Pose3 -BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Pose3_equals_overloads_0, equals, 1, 2) -bool (Pose3::*equals_0)(const gtsam::Pose3&, double) const = &Pose3::equals; - - -BOOST_PYTHON_MODULE(libgeometry_python) -{ - -class_("Point3") - .def(init<>()) - .def(init()) - .def(init()) - .def("identity", &Point3::identity) - .staticmethod("identity") - .def("add", &Point3::add) - .def("cross", &Point3::cross) - .def("dist", &Point3::dist) - .def("distance", &Point3::distance) - .def("dot", &Point3::dot) - .def("equals", &Point3::equals) - .def("norm", &Point3::norm) - .def("normalize", &Point3::normalize) - .def("print", &Point3::print) - .def("sub", &Point3::sub) - .def("vector", &Point3::vector) - .def("x", &Point3::x) - .def("y", &Point3::y) - .def("z", &Point3::z) - .def(self * other()) - .def(other() * self) - .def(self + self) - .def(-self) - .def(self - self) - .def(self / other()) - .def(self_ns::str(self)) - .def(repr(self)) - .def(self == self) -; - -class_("Rot3") - .def(init<>()) - .def(init()) - .def(init()) - .def(init()) - .def(init()) - .def("AxisAngle", AxisAngle_0) - .def("AxisAngle", AxisAngle_1) - .staticmethod("AxisAngle") - .def("Expmap", &Rot3::Expmap) - .staticmethod("Expmap") - .def("ExpmapDerivative", &Rot3::ExpmapDerivative) - .staticmethod("ExpmapDerivative") - .def("Logmap", &Rot3::Logmap) - .staticmethod("Logmap") - .def("LogmapDerivative", &Rot3::LogmapDerivative) - .staticmethod("LogmapDerivative") - .def("Rodrigues", Rodrigues_0) - .def("Rodrigues", Rodrigues_1) - .staticmethod("Rodrigues") - .def("Rx", &Rot3::Rx) - .staticmethod("Rx") - .def("Ry", &Rot3::Ry) - .staticmethod("Ry") - .def("Rz", &Rot3::Rz) - .staticmethod("Rz") - .def("RzRyRx", RzRyRx_0) - .def("RzRyRx", RzRyRx_1) - .staticmethod("RzRyRx") - .def("identity", &Rot3::identity) - .staticmethod("identity") - .def("AdjointMap", &Rot3::AdjointMap) - .def("column", &Rot3::column) - .def("conjugate", &Rot3::conjugate) - .def("equals", &Rot3::equals) - .def("localCayley", &Rot3::localCayley) - .def("matrix", &Rot3::matrix) - .def("print", &Rot3::print) - .def("r1", &Rot3::r1) - .def("r2", &Rot3::r2) - .def("r3", &Rot3::r3) - .def("retractCayley", &Rot3::retractCayley) - .def("rpy", &Rot3::rpy) - .def("slerp", &Rot3::slerp) - .def("transpose", &Rot3::transpose) - .def("xyz", &Rot3::xyz) - .def(self * self) - .def(self * other()) - .def(self * other()) - .def(self_ns::str(self)) - .def(repr(self)) -; - -class_("Pose3") - .def(init<>()) - .def(init()) - .def(init()) - .def(init()) - .def("identity", &Pose3::identity) - .staticmethod("identity") - .def("bearing", &Pose3::bearing) - .def("equals", equals_0, Pose3_equals_overloads_0()) - .def("matrix", &Pose3::matrix) - .def("print", &Pose3::print) - .def("transform_from", &Pose3::transform_from) - .def("x", &Pose3::x) - .def("y", &Pose3::y) - .def("z", &Pose3::z) - .def(self * self) - .def(self * other()) - .def(self_ns::str(self)) - .def(repr(self)) -; - -} \ No newline at end of file diff --git a/python/handwritten/noiseModel_python.cpp b/python/handwritten/noiseModel_python.cpp deleted file mode 100644 index f9115b870..000000000 --- a/python/handwritten/noiseModel_python.cpp +++ /dev/null @@ -1,128 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file noiseModel_python.cpp - * @brief wraps the noise model classes into the noiseModel module - * @author Ellon Paiva Mendes (LAAS-CNRS) - **/ - - /** TODOs Summary: - * - * TODO(Ellon): Don't know yet it it's worth/needed to add 'Wrap structs' for each of the noise models. - * I think it's only worthy if we want to access virtual the virtual functions from python. - * TODO(Ellon): Wrap non-pure virtual methods of Base on BaseWrap - */ - -#include - -#include - -using namespace boost::python; -using namespace gtsam; -using namespace gtsam::noiseModel; - -// Wrap around pure virtual class Base. -// All pure virtual methods should be wrapped. Non-pure may be wrapped if we want to mimic the -// overloading through inheritance in Python. -// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions -struct BaseCallback : Base, wrapper -{ - void print (const std::string & name="") const { - this->get_override("print")(); - } - bool equals (const Base & expected, double tol=1e-9) const { - return this->get_override("equals")(); - } - Vector whiten (const Vector & v) const { - return this->get_override("whiten")(); - } - Matrix Whiten (const Matrix & v) const { - return this->get_override("Whiten")(); - } - Vector unwhiten (const Vector & v) const { - return this->get_override("unwhiten")(); - } - double distance (const Vector & v) const { - return this->get_override("distance")(); - } - void WhitenSystem (std::vector< Matrix > &A, Vector &b) const { - this->get_override("WhitenSystem")(); - } - void WhitenSystem (Matrix &A, Vector &b) const { - this->get_override("WhitenSystem")(); - } - void WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const { - this->get_override("WhitenSystem")(); - } - void WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const { - this->get_override("WhitenSystem")(); - } - - // TODO(Ellon): Wrap non-pure virtual methods should go here. - // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.virtual_functions_with_default_implementations - -}; - -// Overloads for named constructors. Named constructors are static, so we declare them -// using BOOST_PYTHON_FUNCTION_OVERLOADS instead of BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS -// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html#python.default_arguments -BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_SqrtInformation_overloads, Gaussian::SqrtInformation, 1, 2) -BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Information_overloads, Gaussian::Information, 1, 2) -BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Covariance_overloads, Gaussian::Covariance, 1, 2) -BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Sigmas_overloads, Diagonal::Sigmas, 1, 2) -BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Variances_overloads, Diagonal::Variances, 1, 2) -BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Precisions_overloads, Diagonal::Precisions, 1, 2) -BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Sigma_overloads, Isotropic::Sigma, 2, 3) -BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Variance_overloads, Isotropic::Variance, 2, 3) -BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Precision_overloads, Isotropic::Precision, 2, 3) - -BOOST_PYTHON_MODULE(libnoiseModel_python) -{ - -class_("Base") - .def("print", pure_virtual(&Base::print)) -; - -// NOTE: We should use "Base" in "bases<...>", and not "BaseCallback" (it was not clear at the begining) -class_, bases >("Gaussian", no_init) - .def("SqrtInformation",&Gaussian::SqrtInformation, Gaussian_SqrtInformation_overloads()) - .staticmethod("SqrtInformation") - .def("Information",&Gaussian::Information, Gaussian_Information_overloads()) - .staticmethod("Information") - .def("Covariance",&Gaussian::Covariance, Gaussian_Covariance_overloads()) - .staticmethod("Covariance") -; - -class_, bases >("Diagonal", no_init) - .def("Sigmas",&Diagonal::Sigmas, Diagonal_Sigmas_overloads()) - .staticmethod("Sigmas") - .def("Variances",&Diagonal::Variances, Diagonal_Variances_overloads()) - .staticmethod("Variances") - .def("Precisions",&Diagonal::Precisions, Diagonal_Precisions_overloads()) - .staticmethod("Precisions") -; - -class_, bases >("Isotropic", no_init) - .def("Sigma",&Isotropic::Sigma, Isotropic_Sigma_overloads()) - .staticmethod("Sigma") - .def("Variance",&Isotropic::Variance, Isotropic_Variance_overloads()) - .staticmethod("Variance") - .def("Precision",&Isotropic::Precision, Isotropic_Precision_overloads()) - .staticmethod("Precision") -; - -class_, bases >("Unit", no_init) - .def("Create",&Unit::Create) - .staticmethod("Create") -; - -} \ No newline at end of file diff --git a/python/handwritten/nonlinear_python.cpp b/python/handwritten/nonlinear_python.cpp deleted file mode 100644 index de164957c..000000000 --- a/python/handwritten/nonlinear_python.cpp +++ /dev/null @@ -1,139 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file nonlinear_python.cpp - * @brief wraps nonlinear classes into the nonlinear submodule of gtsam python - * @author Ellon Paiva Mendes (LAAS-CNRS) - **/ - - /** TODOs Summary: - * - */ - -#include - -#include -#include -#include - -#include - -using namespace boost::python; -using namespace gtsam; - -// Overloading macros -// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html -// ISAM2 -BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ISAM2_update_overloads, ISAM2::update, 0, 7) - - -/** The function ValuesAt is a workaround to be able to call the correct templated version - * of Values::at. Without it, python would only try to match the last 'at' metho defined - * below. With this wrapper function we can call 'at' in python passing an extra type, - * which will define the type to be returned. Example: - * - * >>> import gtsam - * >>> v = gtsam.nonlinear.Values() - * >>> v.insert(1,gtsam.geometry.Point3()) - * >>> v.insert(2,gtsam.geometry.Rot3()) - * >>> v.insert(3,gtsam.geometry.Pose3()) - * >>> v.at(1,gtsam.geometry.Point3()) - * >>> v.at(2,gtsam.geometry.Rot3()) - * >>> v.at(3,gtsam.geometry.Pose3()) - * - * A more 'pythonic' way I think would be to not use this function and define different - * 'at' methods below using the name of the type in the function name, like: - * - * .def("point3_at", &Values::at, return_internal_reference<>()) - * .def("rot3_at", &Values::at, return_internal_reference<>()) - * .def("pose3_at", &Values::at, return_internal_reference<>()) - * - * and then they could be accessed from python as - * - * >>> import gtsam - * >>> v = gtsam.nonlinear.Values() - * >>> v.insert(1,gtsam.geometry.Point3()) - * >>> v.insert(2,gtsam.geometry.Rot3()) - * >>> v.insert(3,gtsam.geometry.Pose3()) - * >>> v.point3_at(1) - * >>> v.rot3_at(2) - * >>> v.pose3_at(3) - * - * In fact, I just saw the pythonic way sounds more clear, so I'm sticking with this and - * leaving the comments here for future reference. I'm using the PEP0008 for method naming. - * See: https://www.python.org/dev/peps/pep-0008/#function-and-method-arguments - */ -// template -// const T & ValuesAt( const Values & v, Key j, T /*type*/) -// { -// return v.at(j); -// } - -BOOST_PYTHON_MODULE(libnonlinear_python) -{ - -// Function pointers for overloads in Values -void (Values::*insert_0)(const gtsam::Values&) = &Values::insert; -void (Values::*insert_1)(Key, const gtsam::Point3&) = &Values::insert; -void (Values::*insert_2)(Key, const gtsam::Rot3&) = &Values::insert; -void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert; - -class_("Values") - .def(init<>()) - .def(init()) - .def("clear", &Values::clear) - .def("dim", &Values::dim) - .def("empty", &Values::empty) - .def("equals", &Values::equals) - .def("erase", &Values::erase) - .def("insert_fixed", &Values::insertFixed) - .def("print", &Values::print) - .def("size", &Values::size) - .def("swap", &Values::swap) - .def("insert", insert_0) - .def("insert", insert_1) - .def("insert", insert_2) - .def("insert", insert_3) - // .def("at", &ValuesAt, return_internal_reference<>()) - // .def("at", &ValuesAt, return_internal_reference<>()) - // .def("at", &ValuesAt, return_internal_reference<>()) - .def("point3_at", &Values::at, return_internal_reference<>()) - .def("rot3_at", &Values::at, return_internal_reference<>()) - .def("pose3_at", &Values::at, return_internal_reference<>()) -; - -// Function pointers for overloads in NonlinearFactorGraph -void (NonlinearFactorGraph::*add_0)(const NonlinearFactorGraph::sharedFactor&) = &NonlinearFactorGraph::add; - -class_("NonlinearFactorGraph") - .def("size",&NonlinearFactorGraph::size) - .def("add", add_0) -; - -// TODO(Ellon): Export all properties of ISAM2Params -class_("ISAM2Params") -; - -// TODO(Ellon): Export useful methods/properties of ISAM2Result -class_("ISAM2Result") -; - -// Function pointers for overloads in ISAM2 -Values (ISAM2::*calculateEstimate_0)() const = &ISAM2::calculateEstimate; - -class_("ISAM2") - // TODO(Ellon): wrap all optional values of update - .def("update",&ISAM2::update, ISAM2_update_overloads()) - .def("calculate_estimate", calculateEstimate_0) -; - -} \ No newline at end of file diff --git a/python/handwritten/registernumpyeigen_python.cpp b/python/handwritten/registernumpyeigen_python.cpp deleted file mode 100644 index cb8980494..000000000 --- a/python/handwritten/registernumpyeigen_python.cpp +++ /dev/null @@ -1,54 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file libregisternumpyeigen_python.cpp - * @brief register conversion matrix between numpy and Eigen - * @author Ellon Paiva Mendes (LAAS-CNRS) - **/ - - #include - -#include - -#include -#include - -using namespace boost::python; -using namespace gtsam; - -BOOST_PYTHON_MODULE(libregisternumpyeigen_python) -{ - -import_array(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); - -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); -NumpyEigenConverter::register_converter(); - -} diff --git a/python/handwritten/slam_python.cpp b/python/handwritten/slam_python.cpp deleted file mode 100644 index c3c86661a..000000000 --- a/python/handwritten/slam_python.cpp +++ /dev/null @@ -1,86 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file slam_python.cpp - * @brief wraps slam classes into the slam submodule of gtsam python - * @author Ellon Paiva Mendes (LAAS-CNRS) - **/ - - /** TODOs Summary: - * - */ - -#include - -#include -#include -#include -#include -#include -#include - -using namespace boost::python; -using namespace gtsam; - -// Prototypes used to perform overloading -// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html -// *NONE* - -// Wrap around pure virtual class NonlinearFactor. -// All pure virtual methods should be wrapped. Non-pure may be wrapped if we want to mimic the -// overloading through inheritance in Python. -// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions -struct NonlinearFactorCallback : NonlinearFactor, wrapper -{ - double error (const Values & values) const { - return this->get_override("error")(values); - } - size_t dim () const { - return this->get_override("dim")(); - } - boost::shared_ptr linearize(const Values & values) const { - return this->get_override("linearize")(values); - } -}; - -// Macro used to define templated factors -#define BETWEENFACTOR(VALUE) \ - class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#VALUE) \ - .def(init()) \ - .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ -; - -#define PRIORFACTOR(VALUE) \ - class_< PriorFactor, bases, boost::shared_ptr< PriorFactor > >("PriorFactor"#VALUE) \ - .def(init()) \ - .def("prior", &PriorFactor::prior, return_internal_reference<>()) \ -; - -BOOST_PYTHON_MODULE(libslam_python) -{ - - class_("NonlinearFactor") - ; - - BETWEENFACTOR(Point3) - - BETWEENFACTOR(Rot3) - - BETWEENFACTOR(Pose3) - - PRIORFACTOR(Point3) - - PRIORFACTOR(Rot3) - - PRIORFACTOR(Pose3) - -} \ No newline at end of file From 0e134c09dbb59a1190355f2d8a8a2ff53da2a4c8 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 12:33:33 +0100 Subject: [PATCH 694/964] Wrap PinholeCameraCal3_S2 to python --- python/handwritten/exportgtsam.cpp | 2 + python/handwritten/geometry/PinholeCamera.cpp | 49 +++++++++++++++++++ 2 files changed, 51 insertions(+) create mode 100644 python/handwritten/geometry/PinholeCamera.cpp diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 84585adff..6afc1f85e 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -34,6 +34,7 @@ void exportRot2(); void exportRot3(); void exportPose2(); void exportPose3(); +void exportPinholeCamera(); // Linear void exportNoiseModels(); @@ -67,6 +68,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){ exportRot3(); exportPose2(); exportPose3(); + exportPinholeCamera(); exportNoiseModels(); diff --git a/python/handwritten/geometry/PinholeCamera.cpp b/python/handwritten/geometry/PinholeCamera.cpp new file mode 100644 index 000000000..4123b520c --- /dev/null +++ b/python/handwritten/geometry/PinholeCamera.cpp @@ -0,0 +1,49 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps PinholeCamera classes to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/geometry/PinholeCamera.h" +#include "gtsam/geometry/Cal3_S2.h" + + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, PinholeCamera::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PinholeCamera::equals, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Lookat_overloads, PinholeCamera::Lookat, 3, 4) + +void exportPinholeCamera(){ + +class_ >("PinholeCameraCal3_S2") + .def(init<>()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def("print", &PinholeCamera::print, print_overloads(args("s"))) + .def("equals", &PinholeCamera::equals, equals_overloads(args("q","tol"))) + .def("pose", &PinholeCamera::pose, return_value_policy()) + .def("calibration", &PinholeCamera::calibration, return_value_policy()) + .def("Lookat", &PinholeCamera::Lookat, Lookat_overloads()) + .staticmethod("Lookat") +; + +} \ No newline at end of file From 982d81e1c974ef784b84d278b394b84e12e25982 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 12:34:15 +0100 Subject: [PATCH 695/964] Add python version of SFMdata as gtsam.examples submodule The gtsam.examples submodule should be loaded explicitely: >>> import gtsam.examples --- python/gtsam/examples/SFMdata.py | 32 +++++++++++++++++++++++++++++++ python/gtsam/examples/__init__.py | 1 + 2 files changed, 33 insertions(+) create mode 100644 python/gtsam/examples/SFMdata.py create mode 100644 python/gtsam/examples/__init__.py diff --git a/python/gtsam/examples/SFMdata.py b/python/gtsam/examples/SFMdata.py new file mode 100644 index 000000000..21a438226 --- /dev/null +++ b/python/gtsam/examples/SFMdata.py @@ -0,0 +1,32 @@ + + # A structure-from-motion example with landmarks + # - The landmarks form a 10 meter cube + # - The robot rotates around the landmarks, always facing towards the cube + +import gtsam +import numpy as np + +def createPoints(): + # Create the set of ground-truth landmarks + points = [gtsam.Point3(10.0,10.0,10.0), + gtsam.Point3(-10.0,10.0,10.0), + gtsam.Point3(-10.0,-10.0,10.0), + gtsam.Point3(10.0,-10.0,10.0), + gtsam.Point3(10.0,10.0,-10.0), + gtsam.Point3(-10.0,10.0,-10.0), + gtsam.Point3(-10.0,-10.0,-10.0), + gtsam.Point3(10.0,-10.0,-10.0)] + return points + +def createPoses(): + # Create the set of ground-truth poses + radius = 30.0 + angles = np.linspace(0,2*np.pi,8,endpoint=False) + up = gtsam.Point3(0,0,1) + target = gtsam.Point3(0,0,0) + poses = [] + for theta in angles: + position = gtsam.Point3(radius*np.cos(theta), radius*np.sin(theta), 0.0) + camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up) + poses.append(camera.pose()) + return poses diff --git a/python/gtsam/examples/__init__.py b/python/gtsam/examples/__init__.py new file mode 100644 index 000000000..41889bb40 --- /dev/null +++ b/python/gtsam/examples/__init__.py @@ -0,0 +1 @@ +from SFMdata import * From 818db173929f04a047121a394eab1f513378d5de Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 15:41:17 +0100 Subject: [PATCH 696/964] Wrap symbol to python --- python/handwritten/exportgtsam.cpp | 5 ++ python/handwritten/inference/Symbol.cpp | 66 +++++++++++++++++++++++++ 2 files changed, 71 insertions(+) create mode 100644 python/handwritten/inference/Symbol.cpp diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 6afc1f85e..a0ba634e2 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -36,6 +36,9 @@ void exportPose2(); void exportPose3(); void exportPinholeCamera(); +// Inference +void exportSymbol(); + // Linear void exportNoiseModels(); @@ -70,6 +73,8 @@ BOOST_PYTHON_MODULE(libgtsam_python){ exportPose3(); exportPinholeCamera(); + exportSymbol(); + exportNoiseModels(); exportValues(); diff --git a/python/handwritten/inference/Symbol.cpp b/python/handwritten/inference/Symbol.cpp new file mode 100644 index 000000000..ace26c67d --- /dev/null +++ b/python/handwritten/inference/Symbol.cpp @@ -0,0 +1,66 @@ + /* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Symbol class to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/inference/Symbol.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Symbol::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Symbol::equals, 1, 2) + +// Helper function to allow building a symbol from a python string and a index. +static boost::shared_ptr makeSymbol(const std::string &str, size_t j) +{ + if(str.size() > 1) + throw std::runtime_error("string argument must have one character only"); + + return boost::make_shared(str.at(0),j); +} + +// Helper function to print the symbol as "char-and-index" in python +std::string selfToString(const Symbol & self) +{ + return (std::string)self; +} + +void exportSymbol(){ + +class_ >("Symbol") + .def(init<>()) + .def(init()) + .def("__init__", make_constructor(makeSymbol)) + .def(init()) + .def("print", &Symbol::print, print_overloads(args("s"))) + .def("equals", &Symbol::equals, equals_overloads(args("q","tol"))) + .def("key", &Symbol::key) + .def("chr", &Symbol::chr) + .def("index", &Symbol::index) + .def(self < self) + .def(self == self) + .def(self == other()) + .def(self != self) + .def(self != other()) + .def("__repr__", &selfToString) +; + +} \ No newline at end of file From 6196f953010b348d3ede15d76f8317075144adc7 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 16:07:07 +0100 Subject: [PATCH 697/964] Wrap Cal3_S2 to python --- python/handwritten/exportgtsam.cpp | 2 + python/handwritten/geometry/Cal3_S2.cpp | 62 +++++++++++++++++++++++++ 2 files changed, 64 insertions(+) create mode 100644 python/handwritten/geometry/Cal3_S2.cpp diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index a0ba634e2..6e85ea504 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -35,6 +35,7 @@ void exportRot3(); void exportPose2(); void exportPose3(); void exportPinholeCamera(); +void exportCal3_S2(); // Inference void exportSymbol(); @@ -72,6 +73,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){ exportPose2(); exportPose3(); exportPinholeCamera(); + exportCal3_S2(); exportSymbol(); diff --git a/python/handwritten/geometry/Cal3_S2.cpp b/python/handwritten/geometry/Cal3_S2.cpp new file mode 100644 index 000000000..339cd6a3c --- /dev/null +++ b/python/handwritten/geometry/Cal3_S2.cpp @@ -0,0 +1,62 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps Cal3_S2 class to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/geometry/Cal3_S2.h" + +using namespace boost::python; +using namespace gtsam; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Cal3_S2::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Cal3_S2::equals, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(uncalibrate_overloads, Cal3_S2::uncalibrate, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(calibrate_overloads, Cal3_S2::calibrate, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Cal3_S2::between, 1, 3) + +// Function pointers to desambiguate Cal3_S2::calibrate calls +Point2 (Cal3_S2::*calibrate1)(const Point2 &, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp) const = &Cal3_S2::calibrate; +Vector3 (Cal3_S2::*calibrate2)(const Vector3 &) const = &Cal3_S2::calibrate; + +void exportCal3_S2(){ + +class_("Cal3_S2", init<>()) + .def(init()) + .def(init()) + .def(init()) + .def(init()) + .def("print", &Cal3_S2::print, print_overloads(args("s"))) + .def("equals", &Cal3_S2::equals, equals_overloads(args("q","tol"))) + .def("fx",&Cal3_S2::fx) + .def("fy",&Cal3_S2::fy) + .def("skew",&Cal3_S2::skew) + .def("px",&Cal3_S2::px) + .def("py",&Cal3_S2::py) + .def("principal_point",&Cal3_S2::principalPoint) + .def("vector",&Cal3_S2::vector) + .def("k",&Cal3_S2::K) + .def("matrix",&Cal3_S2::matrix) + .def("matrix_inverse",&Cal3_S2::matrix_inverse) + .def("uncalibrate",&Cal3_S2::uncalibrate, uncalibrate_overloads()) + .def("calibrate",calibrate1, calibrate_overloads()) + .def("calibrate",calibrate2) + .def("between",&Cal3_S2::between, between_overloads()) +; + +} \ No newline at end of file From c8782786873e7158011d1740ea92b86179403cf0 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 19:06:24 +0100 Subject: [PATCH 698/964] Wrap GenericProjectionFactor to python --- python/handwritten/exportgtsam.cpp | 2 + .../slam/GenericProjectionFactor.cpp | 54 +++++++++++++++++++ 2 files changed, 56 insertions(+) create mode 100644 python/handwritten/slam/GenericProjectionFactor.cpp diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 6e85ea504..4b7abdecd 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -53,6 +53,7 @@ void exportISAM2(); // Slam void exportPriorFactors(); void exportBetweenFactors(); +void exportGenericProjectionFactor(); // Utils (or Python wrapper specific functions) void registerNumpyEigenConversions(); @@ -87,4 +88,5 @@ BOOST_PYTHON_MODULE(libgtsam_python){ exportPriorFactors(); exportBetweenFactors(); + exportGenericProjectionFactor(); } \ No newline at end of file diff --git a/python/handwritten/slam/GenericProjectionFactor.cpp b/python/handwritten/slam/GenericProjectionFactor.cpp new file mode 100644 index 000000000..dd932ccd4 --- /dev/null +++ b/python/handwritten/slam/GenericProjectionFactor.cpp @@ -0,0 +1,54 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps GenericProjectionFactor for several values to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/slam/ProjectionFactor.h" +#include "gtsam/geometry/Pose3.h" +#include "gtsam/geometry/Point3.h" +#include "gtsam/geometry/Cal3_S2.h" + +using namespace boost::python; +using namespace gtsam; + +using namespace std; + +typedef GenericProjectionFactor GenericProjectionFactorCal3_S2; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, GenericProjectionFactorCal3_S2::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, GenericProjectionFactorCal3_S2::equals, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(evaluateError_overloads, GenericProjectionFactorCal3_S2::evaluateError, 2, 4) + +void exportGenericProjectionFactor() +{ + + class_ >("GenericProjectionFactorCal3_S2", init<>()) + .def(init &, optional >()) + .def(init &, bool, bool, optional >()) + .def("print", &GenericProjectionFactorCal3_S2::print, print_overloads(args("s"))) + .def("equals", &GenericProjectionFactorCal3_S2::equals, equals_overloads(args("q","tol"))) + .def("evaluate_error", &GenericProjectionFactorCal3_S2::evaluateError, evaluateError_overloads()) + .def("measured", &GenericProjectionFactorCal3_S2::measured, return_value_policy()) + // TODO(Ellon): Find the right return policy when returning a 'const shared_ptr<...> &' + // .def("calibration", &GenericProjectionFactorCal3_S2::calibration, return_value_policy()) + .def("verbose_cheirality", &GenericProjectionFactorCal3_S2::verboseCheirality) + .def("throw_cheirality", &GenericProjectionFactorCal3_S2::throwCheirality) + ; + +} From 49d02c798f1a3d507b41776a74d55b30c980c312 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 20:36:01 +0100 Subject: [PATCH 699/964] Wrap PinholeBaseK to python and declare it as parent of PinholeCamera --- python/handwritten/exportgtsam.cpp | 2 + python/handwritten/geometry/PinholeBaseK.cpp | 66 +++++++++++++++++++ python/handwritten/geometry/PinholeCamera.cpp | 24 +++---- 3 files changed, 81 insertions(+), 11 deletions(-) create mode 100644 python/handwritten/geometry/PinholeBaseK.cpp diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 4b7abdecd..0f4ee48b5 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -34,6 +34,7 @@ void exportRot2(); void exportRot3(); void exportPose2(); void exportPose3(); +void exportPinholeBaseK(); void exportPinholeCamera(); void exportCal3_S2(); @@ -73,6 +74,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){ exportRot3(); exportPose2(); exportPose3(); + exportPinholeBaseK(); exportPinholeCamera(); exportCal3_S2(); diff --git a/python/handwritten/geometry/PinholeBaseK.cpp b/python/handwritten/geometry/PinholeBaseK.cpp new file mode 100644 index 000000000..da98783e2 --- /dev/null +++ b/python/handwritten/geometry/PinholeBaseK.cpp @@ -0,0 +1,66 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps PinholeCamera classes to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/geometry/PinholeCamera.h" +#include "gtsam/geometry/Cal3_S2.h" + + +using namespace boost::python; +using namespace gtsam; + +typedef PinholeBaseK PinholeBaseKCal3_S2; + +// Wrapper on PinholeBaseK because it has pure virtual method calibration() +struct PinholeBaseKCal3_S2Callback : PinholeBaseKCal3_S2, wrapper +{ + const Cal3_S2 & calibration () const { + return this->get_override("calibration")(); + } +}; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(project_overloads, PinholeBaseKCal3_S2::project, 2, 4) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, PinholeBaseKCal3_S2::range, 1, 3) + +// Function pointers to desambiguate project() calls +Point2 (PinholeBaseKCal3_S2::*project1) (const Point3 &pw) const = &PinholeBaseKCal3_S2::project; +Point2 (PinholeBaseKCal3_S2::*project2) (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 3 > Dpoint, OptionalJacobian< 2, FixedDimension::value > Dcal) const = &PinholeBaseKCal3_S2::project; +Point2 (PinholeBaseKCal3_S2::*project3) (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 2 > Dpoint, OptionalJacobian< 2, FixedDimension::value > Dcal) const = &PinholeBaseKCal3_S2::project; + +// function pointers to desambiguate range() calls +double (PinholeBaseKCal3_S2::*range1) (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 3 > Dpoint) const = &PinholeBaseKCal3_S2::range; +double (PinholeBaseKCal3_S2::*range2) (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dpose) const = &PinholeBaseKCal3_S2::range; +double (PinholeBaseKCal3_S2::*range3) (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dother) const = &PinholeBaseKCal3_S2::range; + +void exportPinholeBaseK(){ + + class_("PinholeBaseKCal3_S2", no_init) + .def("calibration", pure_virtual(&PinholeBaseKCal3_S2::calibration), return_value_policy()) + .def("project", project1) + .def("project", project2, project_overloads()) + .def("project", project3, project_overloads()) + .def("backproject", &PinholeBaseKCal3_S2::backproject) + .def("backproject_point_at_infinity", &PinholeBaseKCal3_S2::backprojectPointAtInfinity) + .def("range", range1, range_overloads()) + .def("range", range2, range_overloads()) + .def("range", range3, range_overloads()) + ; + +} \ No newline at end of file diff --git a/python/handwritten/geometry/PinholeCamera.cpp b/python/handwritten/geometry/PinholeCamera.cpp index 4123b520c..21ffcdeb7 100644 --- a/python/handwritten/geometry/PinholeCamera.cpp +++ b/python/handwritten/geometry/PinholeCamera.cpp @@ -22,27 +22,29 @@ #include "gtsam/geometry/PinholeCamera.h" #include "gtsam/geometry/Cal3_S2.h" - using namespace boost::python; using namespace gtsam; -BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, PinholeCamera::print, 0, 1) -BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PinholeCamera::equals, 1, 2) -BOOST_PYTHON_FUNCTION_OVERLOADS(Lookat_overloads, PinholeCamera::Lookat, 3, 4) +typedef PinholeBaseK PinholeBaseKCal3_S2; +typedef PinholeCamera PinholeCameraCal3_S2; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, PinholeCameraCal3_S2::print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PinholeCameraCal3_S2::equals, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS(Lookat_overloads, PinholeCameraCal3_S2::Lookat, 3, 4) void exportPinholeCamera(){ -class_ >("PinholeCameraCal3_S2") - .def(init<>()) +class_ >("PinholeCameraCal3_S2", init<>()) .def(init()) .def(init()) .def(init()) .def(init()) - .def("print", &PinholeCamera::print, print_overloads(args("s"))) - .def("equals", &PinholeCamera::equals, equals_overloads(args("q","tol"))) - .def("pose", &PinholeCamera::pose, return_value_policy()) - .def("calibration", &PinholeCamera::calibration, return_value_policy()) - .def("Lookat", &PinholeCamera::Lookat, Lookat_overloads()) + .def("print", &PinholeCameraCal3_S2::print, print_overloads(args("s"))) + .def("equals", &PinholeCameraCal3_S2::equals, equals_overloads(args("q","tol"))) + .def("pose", &PinholeCameraCal3_S2::pose, return_value_policy()) + // We don't need to define calibration() here because it's already defined as virtual in the base class PinholeBaseKCal3_S2 + // .def("calibration", &PinholeCameraCal3_S2::calibration, return_value_policy()) + .def("Lookat", &PinholeCameraCal3_S2::Lookat, Lookat_overloads()) .staticmethod("Lookat") ; From 8ae3dda6a6c89758f90ae957aa9280554c174f32 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 20:56:51 +0100 Subject: [PATCH 700/964] Add helper functions to better handle gtsam.Symbol on python --- python/handwritten/inference/Symbol.cpp | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/python/handwritten/inference/Symbol.cpp b/python/handwritten/inference/Symbol.cpp index ace26c67d..9fc5b74e7 100644 --- a/python/handwritten/inference/Symbol.cpp +++ b/python/handwritten/inference/Symbol.cpp @@ -20,6 +20,8 @@ #define NO_IMPORT_ARRAY #include +#include // for stringstream + #include "gtsam/inference/Symbol.h" using namespace boost::python; @@ -43,6 +45,20 @@ std::string selfToString(const Symbol & self) return (std::string)self; } +// Helper function to convert a Symbol to int using int() cast in python +size_t selfToKey(const Symbol & self) +{ + return self.key(); +} + +// Helper function to recover symbol's unsigned char as string +std::string chrFromSelf(const Symbol & self) +{ + std::stringstream ss; + ss << self.chr(); + return ss.str(); +} + void exportSymbol(){ class_ >("Symbol") @@ -53,7 +69,6 @@ class_ >("Symbol") .def("print", &Symbol::print, print_overloads(args("s"))) .def("equals", &Symbol::equals, equals_overloads(args("q","tol"))) .def("key", &Symbol::key) - .def("chr", &Symbol::chr) .def("index", &Symbol::index) .def(self < self) .def(self == self) @@ -61,6 +76,8 @@ class_ >("Symbol") .def(self != self) .def(self != other()) .def("__repr__", &selfToString) + .def("__int__", &selfToKey) + .def("chr", &chrFromSelf) ; } \ No newline at end of file From 7576dc359d4579a1ee7d1b8633246e46b91be22b Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 22:42:19 +0100 Subject: [PATCH 701/964] Wrap more methods of Pose3 to python --- python/handwritten/geometry/Pose3.cpp | 34 +++++++++++++++++++-------- 1 file changed, 24 insertions(+), 10 deletions(-) diff --git a/python/handwritten/geometry/Pose3.cpp b/python/handwritten/geometry/Pose3.cpp index 11b09608d..dfdfe8ad1 100644 --- a/python/handwritten/geometry/Pose3.cpp +++ b/python/handwritten/geometry/Pose3.cpp @@ -21,7 +21,6 @@ #include #include "gtsam/geometry/Pose3.h" - #include "gtsam/geometry/Pose2.h" #include "gtsam/geometry/Point3.h" #include "gtsam/geometry/Rot3.h" @@ -34,18 +33,26 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Pose3::equals, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_to_overloads, Pose3::transform_to, 1, 3) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_from_overloads, Pose3::transform_from, 1, 3) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(translation_overloads, Pose3::translation, 0, 1) -// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose3::bearing, 1, 3) -// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose3::range, 1, 3) -// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose3::compose, 1, 3) -// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose3::between, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose3::compose, 2, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose3::between, 2, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose3::bearing, 1, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose3::range, 1, 3) void exportPose3(){ - Point3 (Pose3::*transform_to1)(const Point3&, OptionalJacobian< 3, 6 >, OptionalJacobian< 3, 3 > ) const - = &Pose3::transform_to; - Pose3 (Pose3::*transform_to2)(const Pose3&) const - = &Pose3::transform_to; - + // function pointers to desambiguate transform_to() calls + Point3 (Pose3::*transform_to1)(const Point3&, OptionalJacobian< 3, 6 >, OptionalJacobian< 3, 3 > ) const = &Pose3::transform_to; + Pose3 (Pose3::*transform_to2)(const Pose3&) const = &Pose3::transform_to; + // function pointers to desambiguate compose() calls + Pose3 (Pose3::*compose1)(const Pose3 &g) const = &Pose3::compose; + Pose3 (Pose3::*compose2)(const Pose3 &g, typename Pose3::ChartJacobian, typename Pose3::ChartJacobian) const = &Pose3::compose; + // function pointers to desambiguate between() calls + Pose3 (Pose3::*between1)(const Pose3 &g) const = &Pose3::between; + Pose3 (Pose3::*between2)(const Pose3 &g, typename Pose3::ChartJacobian, typename Pose3::ChartJacobian) const = &Pose3::between; + // function pointers to desambiguate range() calls + double (Pose3::*range1)(const Point3 &, OptionalJacobian<1,6>, OptionalJacobian<1,3>) const = &Pose3::range; + double (Pose3::*range2)(const Pose3 &, OptionalJacobian<1,6>, OptionalJacobian<1,6>) const = &Pose3::range; + class_("Pose3") .def(init<>()) .def(init()) @@ -74,5 +81,12 @@ void exportPose3(){ .def(self * other()) // __mult__ .def(self_ns::str(self)) // __str__ .def(repr(self)) // __repr__ + .def("compose", compose1) + .def("compose", compose2, compose_overloads()) + .def("between", between1) + .def("between", between2, between_overloads()) + .def("range", range1, range_overloads()) + .def("range", range2, range_overloads()) + .def("bearing", &Pose3::bearing, bearing_overloads()) ; } \ No newline at end of file From bc73a5132ab0545ebc2d38ba227df09b7106ded6 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 23:22:18 +0100 Subject: [PATCH 702/964] Wrap few more missing methods on ISAM2 and NonlinearFactorGraph --- python/handwritten/nonlinear/ISAM2.cpp | 1 + python/handwritten/nonlinear/NonlinearFactorGraph.cpp | 2 ++ 2 files changed, 3 insertions(+) diff --git a/python/handwritten/nonlinear/ISAM2.cpp b/python/handwritten/nonlinear/ISAM2.cpp index 9c042a011..31ff20400 100644 --- a/python/handwritten/nonlinear/ISAM2.cpp +++ b/python/handwritten/nonlinear/ISAM2.cpp @@ -40,6 +40,7 @@ class_("ISAM2Result") Values (ISAM2::*calculateEstimate_0)() const = &ISAM2::calculateEstimate; class_("ISAM2") + .def(init()) // TODO(Ellon): wrap all optional values of update .def("update",&ISAM2::update, update_overloads()) .def("calculate_estimate", calculateEstimate_0) diff --git a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp index 830e16898..4200a150e 100644 --- a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp +++ b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp @@ -38,6 +38,8 @@ void exportNonlinearFactorGraph(){ .def("size",&NonlinearFactorGraph::size) .def("push_back", push_back1) .def("add", add1) + .def("resize", &NonlinearFactorGraph::resize) + .def("empty", &NonlinearFactorGraph::empty) ; } \ No newline at end of file From cba608555791e714a0fd2759c78b0c84f7298578 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 23 Nov 2015 23:31:12 +0100 Subject: [PATCH 703/964] Add VisualISAM2Example. Still need to finish some details of the example --- python/gtsam/examples/VisualISAM2Example.py | 77 +++++++++++++++++++++ python/gtsam/examples/__init__.py | 1 + 2 files changed, 78 insertions(+) create mode 100644 python/gtsam/examples/VisualISAM2Example.py diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam/examples/VisualISAM2Example.py new file mode 100644 index 000000000..221f22b41 --- /dev/null +++ b/python/gtsam/examples/VisualISAM2Example.py @@ -0,0 +1,77 @@ +import gtsam +from gtsam.examples.SFMdata import * + +def visual_ISAM2_example(): + # Define the camera calibration parameters + K = gtsam.Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0) + + # Define the camera observation noise model + measurementNoise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v + + # Create the set of ground-truth landmarks + points = createPoints() # from SFMdata + + # Create the set of ground-truth poses + poses = createPoses() # from SFMdata + + # Create an iSAM2 object. Unlike iSAM1, which performs periodic batch steps to maintain proper linearization + # and efficient variable ordering, iSAM2 performs partial relinearization/reordering at each step. A parameter + # structure is available that allows the user to set various properties, such as the relinearization threshold + # and type of linear solver. For this example, we we set the relinearization threshold small so the iSAM2 result + # will approach the batch result. + parameters = gtsam.ISAM2Params() + # parameters.relinearizeThreshold = 0.01; # TODO + # parameters.relinearizeSkip = 1; # TODO + isam = gtsam.ISAM2(parameters) + + # Create a Factor Graph and Values to hold the new data + graph = gtsam.NonlinearFactorGraph() + initialEstimate = gtsam.Values() + + # Loop over the different poses, adding the observations to iSAM incrementally + for i, pose in enumerate(poses): + + # Add factors for each landmark observation + for j, point in enumerate(points): + camera = gtsam.PinholeCameraCal3_S2(pose, K) + measurement = camera.project(point) + graph.push_back(gtsam.GenericProjectionFactorCal3_S2(measurement, measurementNoise, int(gtsam.Symbol('x', i)), int(gtsam.Symbol('l', j)), K)) + + # Add an initial guess for the current pose + # Intentionally initialize the variables off from the ground truth + initialEstimate.insert(int(gtsam.Symbol('x', i)), pose.compose(gtsam.Pose3(gtsam.Rot3.Rodrigues(-0.1, 0.2, 0.25), gtsam.Point3(0.05, -0.10, 0.20)))) + + # If this is the first iteration, add a prior on the first pose to set the coordinate frame + # and a prior on the first landmark to set the scale + # Also, as iSAM solves incrementally, we must wait until each is observed at least twice before + # adding it to iSAM. + if( i == 0): + # Add a prior on pose x0 + poseNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + graph.push_back(gtsam.PriorFactorPose3(int(gtsam.Symbol('x', 0)), poses[0], poseNoise)) + + # Add a prior on landmark l0 + pointNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) + graph.push_back(gtsam.PriorFactorPoint3(int(gtsam.Symbol('l', 0)), points[0], pointNoise)) # add directly to graph + + # Add initial guesses to all observed landmarks + # Intentionally initialize the variables off from the ground truth + for j, point in enumerate(points): + initialEstimate.insert(int(gtsam.Symbol('l', j)), point + gtsam.Point3(-0.25, 0.20, 0.15)); + else: + # Update iSAM with the new factors + isam.update(graph, initialEstimate) + # Each call to iSAM2 update(*) performs one iteration of the iterative nonlinear solver. + # If accuracy is desired at the expense of time, update(*) can be called additional times + # to perform multiple optimizer iterations every step. + isam.update() + currentEstimate = isam.calculate_estimate(); + # print "****************************************************" + # print "Frame", i, ":" + # currentEstimate.print("Current estimate: "); # TODO: Print to screen or plot using matplotlib + + # Clear the factor graph and values for the next iteration + graph.resize(0); + initialEstimate.clear(); + +# TODO: Add a __main__ section here \ No newline at end of file diff --git a/python/gtsam/examples/__init__.py b/python/gtsam/examples/__init__.py index 41889bb40..ab7c3bd81 100644 --- a/python/gtsam/examples/__init__.py +++ b/python/gtsam/examples/__init__.py @@ -1 +1,2 @@ from SFMdata import * +from VisualISAM2Example import * From 92bfcaa00488d36cd0d319b1a52e0b71f603919d Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 24 Nov 2015 11:30:35 +0100 Subject: [PATCH 704/964] Wrap some properties of ISAM2Params to python --- python/handwritten/nonlinear/ISAM2.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/python/handwritten/nonlinear/ISAM2.cpp b/python/handwritten/nonlinear/ISAM2.cpp index 31ff20400..7155c679d 100644 --- a/python/handwritten/nonlinear/ISAM2.cpp +++ b/python/handwritten/nonlinear/ISAM2.cpp @@ -30,6 +30,21 @@ void exportISAM2(){ // TODO(Ellon): Export all properties of ISAM2Params class_("ISAM2Params") + .add_property("relinearize_skip", &ISAM2Params::getRelinearizeSkip, &ISAM2Params::setRelinearizeSkip) + .add_property("enable_relinearization", &ISAM2Params::isEnableRelinearization, &ISAM2Params::setEnableRelinearization) + .add_property("evaluate_non_linear_error", &ISAM2Params::isEvaluateNonlinearError, &ISAM2Params::setEvaluateNonlinearError) + .add_property("factorization", &ISAM2Params::getFactorization, &ISAM2Params::setFactorization) + .add_property("cache_linearized_factors", &ISAM2Params::isCacheLinearizedFactors, &ISAM2Params::setCacheLinearizedFactors) + .add_property("enable_detailed_results", &ISAM2Params::isEnableDetailedResults, &ISAM2Params::setEnableDetailedResults) + .add_property("enable_partial_linearization_check", &ISAM2Params::isEnablePartialRelinearizationCheck, &ISAM2Params::setEnablePartialRelinearizationCheck) + // TODO(Ellon): Check if it works with FastMap; Implement properly if it doesn't. + .add_property("relinearization_threshold", &ISAM2Params::getRelinearizeThreshold, &ISAM2Params::setRelinearizeThreshold) + // TODO(Ellon): Wrap the following setters/getters: + // void setOptimizationParams (OptimizationParams optimizationParams) + // OptimizationParams getOptimizationParams () const + // void setKeyFormatter (KeyFormatter keyFormatter) + // KeyFormatter getKeyFormatter () const + // GaussianFactorGraph::Eliminate getEliminationFunction () const ; // TODO(Ellon): Export useful methods/properties of ISAM2Result From a6b48194fdd8eb3f7107f0f7390369438bf53574 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 24 Nov 2015 11:31:40 +0100 Subject: [PATCH 705/964] Print result of example to console --- python/gtsam/examples/VisualISAM2Example.py | 41 +++++++++++++-------- 1 file changed, 25 insertions(+), 16 deletions(-) diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam/examples/VisualISAM2Example.py index 221f22b41..abc0bbde9 100644 --- a/python/gtsam/examples/VisualISAM2Example.py +++ b/python/gtsam/examples/VisualISAM2Example.py @@ -20,8 +20,8 @@ def visual_ISAM2_example(): # and type of linear solver. For this example, we we set the relinearization threshold small so the iSAM2 result # will approach the batch result. parameters = gtsam.ISAM2Params() - # parameters.relinearizeThreshold = 0.01; # TODO - # parameters.relinearizeSkip = 1; # TODO + parameters.relinearize_threshold = 0.01 + parameters.relinearize_skip = 1 isam = gtsam.ISAM2(parameters) # Create a Factor Graph and Values to hold the new data @@ -59,19 +59,28 @@ def visual_ISAM2_example(): for j, point in enumerate(points): initialEstimate.insert(int(gtsam.Symbol('l', j)), point + gtsam.Point3(-0.25, 0.20, 0.15)); else: - # Update iSAM with the new factors - isam.update(graph, initialEstimate) - # Each call to iSAM2 update(*) performs one iteration of the iterative nonlinear solver. - # If accuracy is desired at the expense of time, update(*) can be called additional times - # to perform multiple optimizer iterations every step. - isam.update() - currentEstimate = isam.calculate_estimate(); - # print "****************************************************" - # print "Frame", i, ":" - # currentEstimate.print("Current estimate: "); # TODO: Print to screen or plot using matplotlib + # Update iSAM with the new factors + isam.update(graph, initialEstimate) + # Each call to iSAM2 update(*) performs one iteration of the iterative nonlinear solver. + # If accuracy is desired at the expense of time, update(*) can be called additional times + # to perform multiple optimizer iterations every step. + isam.update() + currentEstimate = isam.calculate_estimate(); + print "****************************************************" + print "Frame", i, ":" + for j in range(i+1): + print gtsam.Symbol('x',j) + print currentEstimate.pose3_at(int(gtsam.Symbol('x',j))) - # Clear the factor graph and values for the next iteration - graph.resize(0); - initialEstimate.clear(); + for j in range(len(points)): + print gtsam.Symbol('l',j) + print currentEstimate.point3_at(int(gtsam.Symbol('l',j))) -# TODO: Add a __main__ section here \ No newline at end of file + # TODO: Print to screen or plot using matplotlib + + # Clear the factor graph and values for the next iteration + graph.resize(0); + initialEstimate.clear(); + +if __name__ == '__main__': + visual_ISAM2_example() From 46a197073162523848485981496f763abe981211 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 24 Nov 2015 13:28:01 +0100 Subject: [PATCH 706/964] Wrap KeyVector to python While here, do small cleanup on exportgtsam.cpp --- python/handwritten/base/FastVector.cpp | 37 +++++++++++++++++++++++++ python/handwritten/exportgtsam.cpp | 10 +++---- python/handwritten/nonlinear/Values.cpp | 1 + 3 files changed, 42 insertions(+), 6 deletions(-) create mode 100644 python/handwritten/base/FastVector.cpp diff --git a/python/handwritten/base/FastVector.cpp b/python/handwritten/base/FastVector.cpp new file mode 100644 index 000000000..1c3582813 --- /dev/null +++ b/python/handwritten/base/FastVector.cpp @@ -0,0 +1,37 @@ + /* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps FastVector instances to python + * @author Ellon Paiva Mendes (LAAS-CNRS) + **/ + +#include +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/base/FastVector.h" +#include "gtsam/base/types.h" // for Key definition + +using namespace boost::python; +using namespace gtsam; + +void exportFastVectors(){ + + typedef FastVector KeyVector; + + class_("KeyVector") + .def(vector_indexing_suite()) + ; + +} \ No newline at end of file diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 0f4ee48b5..2802a779c 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -20,12 +20,8 @@ #include -#include -#include - -using namespace boost::python; -using namespace gtsam; -using namespace std; +// Base +void exportFastVectors(); // Geometry void exportPoint2(); @@ -68,6 +64,8 @@ BOOST_PYTHON_MODULE(libgtsam_python){ registerNumpyEigenConversions(); + exportFastVectors(); + exportPoint2(); exportPoint3(); exportRot2(); diff --git a/python/handwritten/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp index 021cf019f..0302abbe2 100644 --- a/python/handwritten/nonlinear/Values.cpp +++ b/python/handwritten/nonlinear/Values.cpp @@ -107,5 +107,6 @@ void exportValues(){ .def("rot3_at", &Values::at, return_value_policy()) .def("pose3_at", &Values::at, return_value_policy()) .def("exists", exists1) + .def("keys", &Values::keys) ; } \ No newline at end of file From 4f37929d8001bb1c08ee36a3ae5bb365349c682f Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 24 Nov 2015 17:54:05 +0100 Subject: [PATCH 707/964] Add ploting to VisualISAM2Example.py --- python/gtsam/examples/VisualISAM2Example.py | 98 ++++++++++++++++++++- 1 file changed, 97 insertions(+), 1 deletion(-) diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam/examples/VisualISAM2Example.py index abc0bbde9..bd797d271 100644 --- a/python/gtsam/examples/VisualISAM2Example.py +++ b/python/gtsam/examples/VisualISAM2Example.py @@ -1,5 +1,100 @@ import gtsam from gtsam.examples.SFMdata import * +import matplotlib.pyplot as plt +from mpl_toolkits.mplot3d import Axes3D +import time # for sleep() + +def plotPoint3(fignum, point, linespec): + fig = plt.figure(fignum) + ax = fig.gca(projection='3d') + ax.plot([point.x()],[point.y()],[point.z()], linespec) + + +def plot3DPoints(fignum, values, linespec, marginals=None): + # PLOT3DPOINTS Plots the Point3's in a values, with optional covariances + # Finds all the Point3 objects in the given Values object and plots them. + # If a Marginals object is given, this function will also plot marginal + # covariance ellipses for each point. + + keys = values.keys() + + # Plot points and covariance matrices + for key in keys: + try: + p = values.point3_at(key); + # if haveMarginals + # P = marginals.marginalCovariance(key); + # gtsam.plotPoint3(p, linespec, P); + # else + plotPoint3(fignum, p, linespec); + except RuntimeError: + continue + #I guess it's not a Point3 + + +def plotPose3(fignum, pose, axisLength=0.1): + # get figure object + fig = plt.figure(fignum) + ax = fig.gca(projection='3d') + + # get rotation and translation (center) + gRp = pose.rotation().matrix() # rotation from pose to global + C = pose.translation().vector() + + # draw the camera axes + xAxis = C+gRp[:,0]*axisLength + L = np.append(C[np.newaxis], xAxis[np.newaxis], axis=0) + ax.plot(L[:,0],L[:,1],L[:,2],'r-') + + yAxis = C+gRp[:,1]*axisLength + L = np.append(C[np.newaxis], yAxis[np.newaxis], axis=0) + ax.plot(L[:,0],L[:,1],L[:,2],'g-') + + zAxis = C+gRp[:,2]*axisLength + L = np.append(C[np.newaxis], zAxis[np.newaxis], axis=0) + ax.plot(L[:,0],L[:,1],L[:,2],'b-') + + # # plot the covariance + # if (nargin>2) && (~isempty(P)) + # pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame + # gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame + # gtsam.covarianceEllipse3D(C,gPp); + # end + + +def visual_ISAM2_plot(poses, points, result): + # VisualISAMPlot plots current state of ISAM2 object + # Author: Ellon Paiva + # Based on MATLAB version by: Duy Nguyen Ta and Frank Dellaert + + # Declare an id for the figure + fignum = 0; + + fig = plt.figure(fignum) + ax = fig.gca(projection='3d') + plt.cla() + + # Plot points + # Can't use data because current frame might not see all points + # marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()); # TODO - this is slow + # gtsam.plot3DPoints(result, [], marginals); + plot3DPoints(fignum, result, 'rx'); + + # Plot cameras + M = 0; + while result.exists(int(gtsam.Symbol('x',M))): + ii = int(gtsam.Symbol('x',M)); + pose_i = result.pose3_at(ii); + plotPose3(fignum, pose_i, 10); + + M = M + 1; + + # draw + ax.set_xlim3d(-40, 40) + ax.set_ylim3d(-40, 40) + ax.set_zlim3d(-40, 40) + plt.show(block=False) + plt.draw(); def visual_ISAM2_example(): # Define the camera calibration parameters @@ -76,7 +171,8 @@ def visual_ISAM2_example(): print gtsam.Symbol('l',j) print currentEstimate.point3_at(int(gtsam.Symbol('l',j))) - # TODO: Print to screen or plot using matplotlib + visual_ISAM2_plot(poses, points, currentEstimate); + time.sleep(1) # Clear the factor graph and values for the next iteration graph.resize(0); From 8fa1acc5535e29b81d2d00efecbf5b6e16d1ed2f Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 24 Nov 2015 18:06:44 +0100 Subject: [PATCH 708/964] Move plot functions to a submodule utils --- python/gtsam/__init__.py | 1 + python/gtsam/examples/VisualISAM2Example.py | 59 +-------------------- python/gtsam/utils/__init__.py | 1 + python/gtsam/utils/_plot.py | 59 +++++++++++++++++++++ 4 files changed, 62 insertions(+), 58 deletions(-) create mode 100644 python/gtsam/utils/__init__.py create mode 100644 python/gtsam/utils/_plot.py diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index f1b07905b..9ac4cc939 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1 +1,2 @@ from libgtsam_python import * +import utils diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam/examples/VisualISAM2Example.py index bd797d271..06221a303 100644 --- a/python/gtsam/examples/VisualISAM2Example.py +++ b/python/gtsam/examples/VisualISAM2Example.py @@ -1,67 +1,10 @@ import gtsam from gtsam.examples.SFMdata import * +from gtsam.utils import * import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D import time # for sleep() -def plotPoint3(fignum, point, linespec): - fig = plt.figure(fignum) - ax = fig.gca(projection='3d') - ax.plot([point.x()],[point.y()],[point.z()], linespec) - - -def plot3DPoints(fignum, values, linespec, marginals=None): - # PLOT3DPOINTS Plots the Point3's in a values, with optional covariances - # Finds all the Point3 objects in the given Values object and plots them. - # If a Marginals object is given, this function will also plot marginal - # covariance ellipses for each point. - - keys = values.keys() - - # Plot points and covariance matrices - for key in keys: - try: - p = values.point3_at(key); - # if haveMarginals - # P = marginals.marginalCovariance(key); - # gtsam.plotPoint3(p, linespec, P); - # else - plotPoint3(fignum, p, linespec); - except RuntimeError: - continue - #I guess it's not a Point3 - - -def plotPose3(fignum, pose, axisLength=0.1): - # get figure object - fig = plt.figure(fignum) - ax = fig.gca(projection='3d') - - # get rotation and translation (center) - gRp = pose.rotation().matrix() # rotation from pose to global - C = pose.translation().vector() - - # draw the camera axes - xAxis = C+gRp[:,0]*axisLength - L = np.append(C[np.newaxis], xAxis[np.newaxis], axis=0) - ax.plot(L[:,0],L[:,1],L[:,2],'r-') - - yAxis = C+gRp[:,1]*axisLength - L = np.append(C[np.newaxis], yAxis[np.newaxis], axis=0) - ax.plot(L[:,0],L[:,1],L[:,2],'g-') - - zAxis = C+gRp[:,2]*axisLength - L = np.append(C[np.newaxis], zAxis[np.newaxis], axis=0) - ax.plot(L[:,0],L[:,1],L[:,2],'b-') - - # # plot the covariance - # if (nargin>2) && (~isempty(P)) - # pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame - # gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame - # gtsam.covarianceEllipse3D(C,gPp); - # end - - def visual_ISAM2_plot(poses, points, result): # VisualISAMPlot plots current state of ISAM2 object # Author: Ellon Paiva diff --git a/python/gtsam/utils/__init__.py b/python/gtsam/utils/__init__.py new file mode 100644 index 000000000..eedd7484e --- /dev/null +++ b/python/gtsam/utils/__init__.py @@ -0,0 +1 @@ +from _plot import * diff --git a/python/gtsam/utils/_plot.py b/python/gtsam/utils/_plot.py new file mode 100644 index 000000000..f1603bbf5 --- /dev/null +++ b/python/gtsam/utils/_plot.py @@ -0,0 +1,59 @@ +import numpy as _np +import matplotlib.pyplot as _plt +from mpl_toolkits.mplot3d import Axes3D as _Axes3D + +def plotPoint3(fignum, point, linespec): + fig = _plt.figure(fignum) + ax = fig.gca(projection='3d') + ax.plot([point.x()],[point.y()],[point.z()], linespec) + + +def plot3DPoints(fignum, values, linespec, marginals=None): + # PLOT3DPOINTS Plots the Point3's in a values, with optional covariances + # Finds all the Point3 objects in the given Values object and plots them. + # If a Marginals object is given, this function will also plot marginal + # covariance ellipses for each point. + + keys = values.keys() + + # Plot points and covariance matrices + for key in keys: + try: + p = values.point3_at(key); + # if haveMarginals + # P = marginals.marginalCovariance(key); + # gtsam.plotPoint3(p, linespec, P); + # else + plotPoint3(fignum, p, linespec); + except RuntimeError: + continue + #I guess it's not a Point3 + +def plotPose3(fignum, pose, axisLength=0.1): + # get figure object + fig = _plt.figure(fignum) + ax = fig.gca(projection='3d') + + # get rotation and translation (center) + gRp = pose.rotation().matrix() # rotation from pose to global + C = pose.translation().vector() + + # draw the camera axes + xAxis = C+gRp[:,0]*axisLength + L = _np.append(C[_np.newaxis], xAxis[_np.newaxis], axis=0) + ax.plot(L[:,0],L[:,1],L[:,2],'r-') + + yAxis = C+gRp[:,1]*axisLength + L = _np.append(C[_np.newaxis], yAxis[_np.newaxis], axis=0) + ax.plot(L[:,0],L[:,1],L[:,2],'g-') + + zAxis = C+gRp[:,2]*axisLength + L = _np.append(C[_np.newaxis], zAxis[_np.newaxis], axis=0) + ax.plot(L[:,0],L[:,1],L[:,2],'b-') + + # # plot the covariance + # if (nargin>2) && (~isempty(P)) + # pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame + # gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame + # gtsam.covarianceEllipse3D(C,gPp); + # end \ No newline at end of file From d3db7309bce0717df1c5ec400af8cb8ff91e9c62 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 25 Nov 2015 14:06:49 +0100 Subject: [PATCH 709/964] Make libgtsam_python a hidden module by adding '_' before lib name --- python/gtsam/.gitignore | 2 +- python/gtsam/__init__.py | 2 +- python/handwritten/CMakeLists.txt | 2 +- python/handwritten/exportgtsam.cpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/python/gtsam/.gitignore b/python/gtsam/.gitignore index 8f89b0f14..580cd8494 100644 --- a/python/gtsam/.gitignore +++ b/python/gtsam/.gitignore @@ -1 +1 @@ -/libgtsam_python.so +/_libgtsam_python.so diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 9ac4cc939..9a0a4536e 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1,2 +1,2 @@ -from libgtsam_python import * +from _libgtsam_python import * import utils diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 753e33831..93b928d94 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -43,6 +43,6 @@ set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam) # Cause the library to be output in the correct directory. add_custom_command(TARGET ${moduleName}_python POST_BUILD - COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME} + COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/_${PYLIB_SO_NAME} WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} COMMENT "Copying library files to python directory" ) diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 2802a779c..e1dc646b1 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -57,7 +57,7 @@ void registerNumpyEigenConversions(); //-----------------------------------// -BOOST_PYTHON_MODULE(libgtsam_python){ +BOOST_PYTHON_MODULE(_libgtsam_python){ // Should be the first thing to be done import_array(); From 4f98ec889ccaef986150feb5678be29dbb5cf220 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 25 Nov 2015 14:36:44 +0100 Subject: [PATCH 710/964] Fix python instalation using distutils Conflicts: python/README.md --- python/.gitignore | 1 + python/README.md | 2 ++ python/setup.py | 14 ++++++++------ 3 files changed, 11 insertions(+), 6 deletions(-) create mode 100644 python/.gitignore diff --git a/python/.gitignore b/python/.gitignore new file mode 100644 index 000000000..d16386367 --- /dev/null +++ b/python/.gitignore @@ -0,0 +1 @@ +build/ \ No newline at end of file diff --git a/python/README.md b/python/README.md index 4d908e52c..c6e5ed37d 100644 --- a/python/README.md +++ b/python/README.md @@ -9,6 +9,8 @@ During the build of gtsam, when GTSAM_BUILD_PYTHON is enabled, the following ins * The user can use the setup.py script to build and install a python package, allowing easy importing into a python project. Examples: * python setup.py sdist ---- Builds a tarball of the python package which can then be distributed * python setup.py install ---- Installs the package into the python dist-packages folder. Can then be imported from any python file. + * python setup.py install --prefix="your/local/install/path"---- Installs the package into a local instalation folder. Can then be imported from any python file if _prefix_/lib/pythonX.Y/site-packages is present in your $PYTHONPATH + * To run the unit tests, you must first install the package on your path (TODO: Make this easier) diff --git a/python/setup.py b/python/setup.py index a6013da81..46bbfaddf 100755 --- a/python/setup.py +++ b/python/setup.py @@ -4,12 +4,14 @@ from distutils.core import setup -setup(name='GTSAM', - version='3.0', - description='Python Distribution Utilities', +setup(name='gtsam', + version='4.0.0', + description='GTSAM Python wrapper', + license = "BSD", author='Dellaert et. al', author_email='Andrew.Melim@gatech.edu', - url='http://www.python.org/sigs/distutils-sig/', - packages=['gtsam'], - package_data={'gtsam' : ['libgtsam_python.so']}, + maintainer_email='gtsam@lists.gatech.edu', + url='https://collab.cc.gatech.edu/borg/gtsam', + packages=['gtsam', 'gtsam.examples', 'gtsam.utils'], + package_data={'gtsam' : ['_libgtsam_python.so']}, ) From ea6ecdd9d561bc8b6b7b4834d5f999d2ac9541ce Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 25 Nov 2015 18:21:10 +0100 Subject: [PATCH 711/964] Move subdirlist macro to cmake/GtsamPythonWrap.cmake Conflicts: cmake/GtsamPythonWrap.cmake --- CMakeLists.txt | 3 ++- cmake/GtsamPythonWrap.cmake | 12 ++++++++++++ python/handwritten/CMakeLists.txt | 21 +++++---------------- 3 files changed, 19 insertions(+), 17 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2719a77ab..bbb998e80 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -347,12 +347,13 @@ endif() # Python wrap if (GTSAM_BUILD_PYTHON) + include(GtsamPythonWrap) + # NOTE: The automatic generation of python wrapper from the gtsampy.h interface is # not working yet, so we're using a handwritten wrapper files on python/handwritten. # Once the python wrapping from the interface file is working, you can _swap_ the # comments on the next lines - # include(GtsamPythonWrap) # wrap_and_install_python(gtsampy.h "${GTSAM_ADDITIONAL_LIBRARIES}" "") add_subdirectory(python) diff --git a/cmake/GtsamPythonWrap.cmake b/cmake/GtsamPythonWrap.cmake index cfbe89c1f..c23ee783d 100644 --- a/cmake/GtsamPythonWrap.cmake +++ b/cmake/GtsamPythonWrap.cmake @@ -87,3 +87,15 @@ function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY) list(APPEND AMCF ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}) set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${AMCF}") endfunction(wrap_python) + +# Macro to get list of subdirectories +macro(SUBDIRLIST result curdir) + file(GLOB children RELATIVE ${curdir} ${curdir}/*) + set(dirlist "") + foreach(child ${children}) + if(IS_DIRECTORY ${curdir}/${child}) + list(APPEND dirlist ${child}) + endif() + endforeach() + set(${result} ${dirlist}) +endmacro() diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 93b928d94..1090ef9cf 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -1,24 +1,13 @@ -# Macro to get list of subdirectories -MACRO(SUBDIRLIST result curdir) - FILE(GLOB children RELATIVE ${curdir} ${curdir}/*) - SET(dirlist "") - FOREACH(child ${children}) - IF(IS_DIRECTORY ${curdir}/${child}) - LIST(APPEND dirlist ${child}) - ENDIF() - ENDFOREACH() - SET(${result} ${dirlist}) -ENDMACRO() # get subdirectories list -SUBDIRLIST(SUBDIRS ${CMAKE_CURRENT_SOURCE_DIR}) +subdirlist(SUBDIRS ${CMAKE_CURRENT_SOURCE_DIR}) # get the sources needed to compile gtsam python module -SET(gtsam_python_srcs "") -FOREACH(subdir ${SUBDIRS}) +set(gtsam_python_srcs "") +foreach(subdir ${SUBDIRS}) file(GLOB ${subdir}_src "${subdir}/*.cpp") - LIST(APPEND gtsam_python_srcs ${${subdir}_src}) -ENDFOREACH() + list(APPEND gtsam_python_srcs ${${subdir}_src}) +endforeach() # Create the library set(moduleName gtsam) From 5b116a4a67fbe930fdc01913537f1ed743e59a05 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Sat, 28 Nov 2015 00:34:48 +0100 Subject: [PATCH 712/964] Add option to chose target python version to create module --- cmake/GtsamPythonWrap.cmake | 13 +++++++------ python/CMakeLists.txt | 29 ++++++++++++++++++++++++----- python/handwritten/CMakeLists.txt | 2 +- 3 files changed, 32 insertions(+), 12 deletions(-) diff --git a/cmake/GtsamPythonWrap.cmake b/cmake/GtsamPythonWrap.cmake index c23ee783d..f7d468940 100644 --- a/cmake/GtsamPythonWrap.cmake +++ b/cmake/GtsamPythonWrap.cmake @@ -1,4 +1,5 @@ #Setup cache options +set(GTSAM_PYTHON_VERSION "2.7" CACHE STRING "Version of python used to build the wrapper") set(GTSAM_BUILD_PYTHON_FLAGS "" CACHE STRING "Extra flags for running Matlab PYTHON compilation") set(GTSAM_PYTHON_INSTALL_PATH "" CACHE PATH "Python toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/python") if(NOT GTSAM_PYTHON_INSTALL_PATH) @@ -7,13 +8,13 @@ endif() #Author: Paul Furgale Modified by Andrew Melim function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY) - # Boost - find_package(Boost COMPONENTS python filesystem system REQUIRED) - include_directories(${Boost_INCLUDE_DIRS}) + # # Boost + # find_package(Boost COMPONENTS python filesystem system REQUIRED) + # include_directories(${Boost_INCLUDE_DIRS}) - # Find Python - FIND_PACKAGE(PythonLibs 2.7 REQUIRED) - INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS}) + # # Find Python + # FIND_PACKAGE(PythonLibs 2.7 REQUIRED) + # INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS}) IF(APPLE) # The apple framework headers don't include the numpy headers for some reason. diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 0fcb1fc28..4fe0d8cf9 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -1,12 +1,31 @@ -# Obtain Dependencies -# Boost Python -find_package(Boost COMPONENTS python REQUIRED) -include_directories(${Boost_INCLUDE_DIRS}) +# The code below allows to clear the PythonLibs cache if we change GTSAM_PYTHON_VERSION +# Inspired from the solution found here: http://blog.bethcodes.com/cmake-tips-tricks-drop-down-list +if((NOT DEFINED GTSAM_LAST_PYTHON_VERSION)) + set(GTSAM_LAST_PYTHON_VERSION ${GTSAM_PYTHON_VERSION} CACHE STRING "Python version used in the last build") + mark_as_advanced(FORCE GTSAM_LAST_PYTHON_VERSION) +endif() +if((NOT (${GTSAM_PYTHON_VERSION} MATCHES ${GTSAM_LAST_PYTHON_VERSION}))) + unset(PYTHON_INCLUDE_DIR CACHE) + unset(PYTHON_INCLUDE_DIR2 CACHE) + unset(PYTHON_LIBRARY CACHE) + unset(PYTHON_LIBRARY_DEBUG CACHE) + set(GTSAM_LAST_PYTHON_VERSION ${GTSAM_PYTHON_VERSION} CACHE STRING "Updating python version used in the last build" FORCE) +endif() + +# Be sure that python version can be found by FindPythonLibs.cmake +# See: http://stackoverflow.com/a/15660652/2220173 +set(Python_ADDITIONAL_VERSIONS ${GTSAM_PYTHON_VERSION}) # Find Python -find_package(PythonLibs 2.7 REQUIRED) +find_package(PythonLibs ${GTSAM_PYTHON_VERSION} REQUIRED) include_directories(${PYTHON_INCLUDE_DIRS}) +# Boost Python +string(REPLACE "." "" PYTHON_VERSION_NUMBER ${GTSAM_PYTHON_VERSION}) # Remove '.' from version +string(SUBSTRING ${PYTHON_VERSION_NUMBER} 0 2 PYTHON_VERSION_NUMBER) # Trim version number to 2 digits +find_package(Boost COMPONENTS python-py${PYTHON_VERSION_NUMBER} REQUIRED) +include_directories(${Boost_INCLUDE_DIRS}) + # Numpy_Eigen include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 1090ef9cf..893fbae71 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -18,7 +18,7 @@ set_target_properties(${moduleName}_python PROPERTIES OUTPUT_NAME ${moduleName}_python CLEAN_DIRECT_OUTPUT 1) -target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp +target_link_libraries(${moduleName}_python ${Boost_PYTHON-PY${PYTHON_VERSION_NUMBER}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp # On OSX and Linux, the python library must end in the extension .so. Build this # filename here. From dfa2b53eeb1f33663b1f6888d66aebf2b36bd99c Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Sat, 28 Nov 2015 00:35:39 +0100 Subject: [PATCH 713/964] import_array() --> import_array1() --- python/handwritten/exportgtsam.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index e1dc646b1..da8382d71 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -59,8 +59,13 @@ void registerNumpyEigenConversions(); BOOST_PYTHON_MODULE(_libgtsam_python){ + // NOTE: We need to call import_array1() instead of import_array() to support both python 2 + // and 3. The reason is that BOOST_PYTHON_MODULE puts all its contents in a function + // returning void, and import_array() is a macro that when expanded for python 3, adds + // a 'return __null' statement to that function. For more info check files: + // boost/python/module_init.hpp and numpy/__multiarray_api.h (bottom of the file). // Should be the first thing to be done - import_array(); + import_array1(); registerNumpyEigenConversions(); From 72bcc4f08eefd59ee9949faabae9c34f2efe11d1 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Sat, 28 Nov 2015 00:36:29 +0100 Subject: [PATCH 714/964] Change VisualISAM2Example to work with python 2 and python 3 --- python/gtsam/examples/VisualISAM2Example.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam/examples/VisualISAM2Example.py index 06221a303..a8be94719 100644 --- a/python/gtsam/examples/VisualISAM2Example.py +++ b/python/gtsam/examples/VisualISAM2Example.py @@ -1,3 +1,4 @@ +from __future__ import print_function import gtsam from gtsam.examples.SFMdata import * from gtsam.utils import * @@ -36,8 +37,9 @@ def visual_ISAM2_plot(poses, points, result): ax.set_xlim3d(-40, 40) ax.set_ylim3d(-40, 40) ax.set_zlim3d(-40, 40) - plt.show(block=False) - plt.draw(); + plt.ion() + plt.show() + plt.draw() def visual_ISAM2_example(): # Define the camera calibration parameters @@ -104,15 +106,15 @@ def visual_ISAM2_example(): # to perform multiple optimizer iterations every step. isam.update() currentEstimate = isam.calculate_estimate(); - print "****************************************************" - print "Frame", i, ":" + print( "****************************************************" ) + print( "Frame", i, ":" ) for j in range(i+1): - print gtsam.Symbol('x',j) - print currentEstimate.pose3_at(int(gtsam.Symbol('x',j))) + print( gtsam.Symbol('x',j) ) + print( currentEstimate.pose3_at(int(gtsam.Symbol('x',j))) ) for j in range(len(points)): - print gtsam.Symbol('l',j) - print currentEstimate.point3_at(int(gtsam.Symbol('l',j))) + print( gtsam.Symbol('l',j) ) + print( currentEstimate.point3_at(int(gtsam.Symbol('l',j))) ) visual_ISAM2_plot(poses, points, currentEstimate); time.sleep(1) From 09ec3060134a9cec1939c79e19c597a24a466742 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Sat, 28 Nov 2015 00:37:53 +0100 Subject: [PATCH 715/964] Update __ini__.py to be supported in python 2 and 3 --- python/gtsam/__init__.py | 4 ++-- python/gtsam/examples/__init__.py | 4 ++-- python/gtsam/utils/__init__.py | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 9a0a4536e..8e093879c 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1,2 +1,2 @@ -from _libgtsam_python import * -import utils +from ._libgtsam_python import * +from . import utils \ No newline at end of file diff --git a/python/gtsam/examples/__init__.py b/python/gtsam/examples/__init__.py index ab7c3bd81..f9d032d54 100644 --- a/python/gtsam/examples/__init__.py +++ b/python/gtsam/examples/__init__.py @@ -1,2 +1,2 @@ -from SFMdata import * -from VisualISAM2Example import * +from . import SFMdata +from . import VisualISAM2Example diff --git a/python/gtsam/utils/__init__.py b/python/gtsam/utils/__init__.py index eedd7484e..0ef2dfcd3 100644 --- a/python/gtsam/utils/__init__.py +++ b/python/gtsam/utils/__init__.py @@ -1 +1 @@ -from _plot import * +from ._plot import * From ff298451d79520d9a69af61c67648cdbfa559e22 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 30 Nov 2015 15:46:36 +0100 Subject: [PATCH 716/964] Build Python module by default --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index bbb998e80..1c220d169 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -64,7 +64,7 @@ option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TB option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" ON) option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON) option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) -option(GTSAM_BUILD_PYTHON "Build Python wrapper statically (increases build time)" OFF) +option(GTSAM_BUILD_PYTHON "Build Python wrapper statically (increases build time)" ON) # Options relating to MATLAB wrapper # TODO: Check for matlab mex binary before handling building of binaries From 86c3cf7ff69db28354a42716faae3fb8f8ffb9eb Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Mon, 30 Nov 2015 15:47:16 +0100 Subject: [PATCH 717/964] Print cmake python options --- CMakeLists.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 1c220d169..a886f2702 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -476,6 +476,12 @@ print_config_flag(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full Ex message(STATUS "MATLAB toolbox flags ") print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ") print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") + +message(STATUS "Python module flags ") +print_config_flag(${GTSAM_BUILD_PYTHON} "Build python module ") +if(GTSAM_BUILD_PYTHON) + message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}") +endif() message(STATUS "===============================================================") # Print warnings at the end From d51c6f3313174b7bd6f685fd7ca4c40d9c6f49f8 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 1 Dec 2015 11:47:28 +0100 Subject: [PATCH 718/964] Fix cmake to use default python and boost python versions --- cmake/GtsamPythonWrap.cmake | 2 +- python/CMakeLists.txt | 67 +++++++++++++++++++++++++------ python/handwritten/CMakeLists.txt | 2 +- 3 files changed, 56 insertions(+), 15 deletions(-) diff --git a/cmake/GtsamPythonWrap.cmake b/cmake/GtsamPythonWrap.cmake index f7d468940..714e37488 100644 --- a/cmake/GtsamPythonWrap.cmake +++ b/cmake/GtsamPythonWrap.cmake @@ -1,5 +1,5 @@ #Setup cache options -set(GTSAM_PYTHON_VERSION "2.7" CACHE STRING "Version of python used to build the wrapper") +set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "Target python version for GTSAM python module. Use 'Default' to chose the default version") set(GTSAM_BUILD_PYTHON_FLAGS "" CACHE STRING "Extra flags for running Matlab PYTHON compilation") set(GTSAM_PYTHON_INSTALL_PATH "" CACHE PATH "Python toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/python") if(NOT GTSAM_PYTHON_INSTALL_PATH) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 4fe0d8cf9..28b916ab2 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -1,10 +1,15 @@ +# Guard to avoid breaking this code in ccmake if by accident GTSAM_PYTHON_VERSION is set to an empty string +if(GTSAM_PYTHON_VERSION STREQUAL "") + set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "Target python version for GTSAM python module. Use 'Default' to chose the default version" FORCE) +endif() + # The code below allows to clear the PythonLibs cache if we change GTSAM_PYTHON_VERSION # Inspired from the solution found here: http://blog.bethcodes.com/cmake-tips-tricks-drop-down-list -if((NOT DEFINED GTSAM_LAST_PYTHON_VERSION)) +if(NOT DEFINED GTSAM_LAST_PYTHON_VERSION) set(GTSAM_LAST_PYTHON_VERSION ${GTSAM_PYTHON_VERSION} CACHE STRING "Python version used in the last build") mark_as_advanced(FORCE GTSAM_LAST_PYTHON_VERSION) endif() -if((NOT (${GTSAM_PYTHON_VERSION} MATCHES ${GTSAM_LAST_PYTHON_VERSION}))) +if(NOT (${GTSAM_PYTHON_VERSION} MATCHES ${GTSAM_LAST_PYTHON_VERSION})) unset(PYTHON_INCLUDE_DIR CACHE) unset(PYTHON_INCLUDE_DIR2 CACHE) unset(PYTHON_LIBRARY CACHE) @@ -12,21 +17,57 @@ if((NOT (${GTSAM_PYTHON_VERSION} MATCHES ${GTSAM_LAST_PYTHON_VERSION}))) set(GTSAM_LAST_PYTHON_VERSION ${GTSAM_PYTHON_VERSION} CACHE STRING "Updating python version used in the last build" FORCE) endif() +# Compose strings used to specify the boost python version. They will be empty if we want to use the defaut +if(NOT GTSAM_PYTHON_VERSION STREQUAL "Default") + string(REPLACE "." "" BOOST_PYTHON_VERSION_STRING ${GTSAM_PYTHON_VERSION}) # Remove '.' from version + string(SUBSTRING ${BOOST_PYTHON_VERSION_STRING} 0 2 BOOST_PYTHON_VERSION_STRING) # Trim version number to 2 digits + set(BOOST_PYTHON_VERSION_STRING "-py${BOOST_PYTHON_VERSION_STRING}") # Add '-py' prefix + string(TOUPPER ${BOOST_PYTHON_VERSION_STRING} UPPER_BOOST_PYTHON_VERSION_STRING) # Get uppercase string +else() + set(BOOST_PYTHON_VERSION_STRING "") + set(UPPER_BOOST_PYTHON_VERSION_STRING "") +endif() + # Be sure that python version can be found by FindPythonLibs.cmake # See: http://stackoverflow.com/a/15660652/2220173 set(Python_ADDITIONAL_VERSIONS ${GTSAM_PYTHON_VERSION}) -# Find Python -find_package(PythonLibs ${GTSAM_PYTHON_VERSION} REQUIRED) -include_directories(${PYTHON_INCLUDE_DIRS}) +# Find Python +if(GTSAM_PYTHON_VERSION STREQUAL "Default") + # If no version is specified when looking for PythonLibs it searches the default version. + # See: https://cmake.org/cmake/help/v3.1/module/FindPythonInterp.html + find_package(PythonLibs) +else() + find_package(PythonLibs ${GTSAM_PYTHON_VERSION}) +endif() -# Boost Python -string(REPLACE "." "" PYTHON_VERSION_NUMBER ${GTSAM_PYTHON_VERSION}) # Remove '.' from version -string(SUBSTRING ${PYTHON_VERSION_NUMBER} 0 2 PYTHON_VERSION_NUMBER) # Trim version number to 2 digits -find_package(Boost COMPONENTS python-py${PYTHON_VERSION_NUMBER} REQUIRED) -include_directories(${Boost_INCLUDE_DIRS}) +# Find Boost Python +find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_STRING}) -# Numpy_Eigen -include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) +# Add handwritten directory if we found python and boost python +if(Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND AND PYTHONLIBS_FOUND) + include_directories(${PYTHON_INCLUDE_DIRS}) + include_directories(${Boost_INCLUDE_DIRS}) + include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) + add_subdirectory(handwritten) +# Disable python module if we didn't find required lybraries +else() + set(GTSAM_BUILD_PYTHON OFF CACHE BOOL "Build Python wrapper statically (increases build time)" FORCE) +endif() -add_subdirectory(handwritten) \ No newline at end of file +# Print warnings (useful for ccmake) +if(NOT PYTHONLIBS_FOUND) + if(GTSAM_PYTHON_VERSION STREQUAL "Default") + message(WARNING "Default PythonLibs was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") + else() + message(WARNING "PythonLibs version ${GTSAM_PYTHON_VERSION} was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") + endif() +endif() + +if(NOT Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND) + if(GTSAM_PYTHON_VERSION STREQUAL "Default") + message(WARNING "Default Boost python was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") + else() + message(WARNING "Boost Python for python ${GTSAM_PYTHON_VERSION} was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") + endif() +endif() \ No newline at end of file diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 893fbae71..ffd970217 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -18,7 +18,7 @@ set_target_properties(${moduleName}_python PROPERTIES OUTPUT_NAME ${moduleName}_python CLEAN_DIRECT_OUTPUT 1) -target_link_libraries(${moduleName}_python ${Boost_PYTHON-PY${PYTHON_VERSION_NUMBER}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp +target_link_libraries(${moduleName}_python ${Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp # On OSX and Linux, the python library must end in the extension .so. Build this # filename here. From 40a567c1eda547bbbfacf232221cc088d0308115 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 1 Dec 2015 12:52:31 +0100 Subject: [PATCH 719/964] Look for NumPy C-API if building the python module --- cmake/FindNumPy.cmake | 102 ++++++++++++++++++++++++++++++++++++++++++ python/CMakeLists.txt | 18 +++++--- 2 files changed, 114 insertions(+), 6 deletions(-) create mode 100644 cmake/FindNumPy.cmake diff --git a/cmake/FindNumPy.cmake b/cmake/FindNumPy.cmake new file mode 100644 index 000000000..eafed165e --- /dev/null +++ b/cmake/FindNumPy.cmake @@ -0,0 +1,102 @@ +# - Find the NumPy libraries +# This module finds if NumPy is installed, and sets the following variables +# indicating where it is. +# +# TODO: Update to provide the libraries and paths for linking npymath lib. +# +# NUMPY_FOUND - was NumPy found +# NUMPY_VERSION - the version of NumPy found as a string +# NUMPY_VERSION_MAJOR - the major version number of NumPy +# NUMPY_VERSION_MINOR - the minor version number of NumPy +# NUMPY_VERSION_PATCH - the patch version number of NumPy +# NUMPY_VERSION_DECIMAL - e.g. version 1.6.1 is 10601 +# NUMPY_INCLUDE_DIRS - path to the NumPy include files + +#============================================================================ +# Copyright 2012 Continuum Analytics, Inc. +# +# MIT License +# +# Permission is hereby granted, free of charge, to any person obtaining +# a copy of this software and associated documentation files +# (the "Software"), to deal in the Software without restriction, including +# without limitation the rights to use, copy, modify, merge, publish, +# distribute, sublicense, and/or sell copies of the Software, and to permit +# persons to whom the Software is furnished to do so, subject to +# the following conditions: +# +# The above copyright notice and this permission notice shall be included +# in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR +# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +# OTHER DEALINGS IN THE SOFTWARE. +# +#============================================================================ + +# Finding NumPy involves calling the Python interpreter +if(NumPy_FIND_REQUIRED) + find_package(PythonInterp REQUIRED) +else() + find_package(PythonInterp) +endif() + +if(NOT PYTHONINTERP_FOUND) + set(NUMPY_FOUND FALSE) + return() +endif() + +execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" + "import numpy as n; print(n.__version__); print(n.get_include());" + RESULT_VARIABLE _NUMPY_SEARCH_SUCCESS + OUTPUT_VARIABLE _NUMPY_VALUES_OUTPUT + ERROR_VARIABLE _NUMPY_ERROR_VALUE + OUTPUT_STRIP_TRAILING_WHITESPACE) + +if(NOT _NUMPY_SEARCH_SUCCESS MATCHES 0) + if(NumPy_FIND_REQUIRED) + message(FATAL_ERROR + "NumPy import failure:\n${_NUMPY_ERROR_VALUE}") + endif() + set(NUMPY_FOUND FALSE) + return() +endif() + +# Convert the process output into a list +string(REGEX REPLACE ";" "\\\\;" _NUMPY_VALUES ${_NUMPY_VALUES_OUTPUT}) +string(REGEX REPLACE "\n" ";" _NUMPY_VALUES ${_NUMPY_VALUES}) +# Just in case there is unexpected output from the Python command. +list(GET _NUMPY_VALUES -2 NUMPY_VERSION) +list(GET _NUMPY_VALUES -1 NUMPY_INCLUDE_DIRS) + +string(REGEX MATCH "^[0-9]+\\.[0-9]+\\.[0-9]+" _VER_CHECK "${NUMPY_VERSION}") +if("${_VER_CHECK}" STREQUAL "") + # The output from Python was unexpected. Raise an error always + # here, because we found NumPy, but it appears to be corrupted somehow. + message(FATAL_ERROR + "Requested version and include path from NumPy, got instead:\n${_NUMPY_VALUES_OUTPUT}\n") + return() +endif() + +# Make sure all directory separators are '/' +string(REGEX REPLACE "\\\\" "/" NUMPY_INCLUDE_DIRS ${NUMPY_INCLUDE_DIRS}) + +# Get the major and minor version numbers +string(REGEX REPLACE "\\." ";" _NUMPY_VERSION_LIST ${NUMPY_VERSION}) +list(GET _NUMPY_VERSION_LIST 0 NUMPY_VERSION_MAJOR) +list(GET _NUMPY_VERSION_LIST 1 NUMPY_VERSION_MINOR) +list(GET _NUMPY_VERSION_LIST 2 NUMPY_VERSION_PATCH) +string(REGEX MATCH "[0-9]*" NUMPY_VERSION_PATCH ${NUMPY_VERSION_PATCH}) +math(EXPR NUMPY_VERSION_DECIMAL + "(${NUMPY_VERSION_MAJOR} * 10000) + (${NUMPY_VERSION_MINOR} * 100) + ${NUMPY_VERSION_PATCH}") + +find_package_message(NUMPY + "Found NumPy: version \"${NUMPY_VERSION}\" ${NUMPY_INCLUDE_DIRS}" + "${NUMPY_INCLUDE_DIRS}${NUMPY_VERSION}") + +set(NUMPY_FOUND TRUE) + diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 28b916ab2..0e1a5f0dd 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -28,14 +28,16 @@ else() set(UPPER_BOOST_PYTHON_VERSION_STRING "") endif() -# Be sure that python version can be found by FindPythonLibs.cmake +# Find NumPy C-API +find_package(NumPy) + +# Find Python +# First, be sure that python version can be found by FindPythonLibs.cmake # See: http://stackoverflow.com/a/15660652/2220173 set(Python_ADDITIONAL_VERSIONS ${GTSAM_PYTHON_VERSION}) - -# Find Python +# Then look for the the lib. If no version is specified when looking for PythonLibs it searches the default version. +# See: https://cmake.org/cmake/help/v3.1/module/FindPythonInterp.html if(GTSAM_PYTHON_VERSION STREQUAL "Default") - # If no version is specified when looking for PythonLibs it searches the default version. - # See: https://cmake.org/cmake/help/v3.1/module/FindPythonInterp.html find_package(PythonLibs) else() find_package(PythonLibs ${GTSAM_PYTHON_VERSION}) @@ -45,7 +47,7 @@ endif() find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_STRING}) # Add handwritten directory if we found python and boost python -if(Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND AND PYTHONLIBS_FOUND) +if(Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND AND PYTHONLIBS_FOUND AND NUMPY_FOUND) include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) @@ -70,4 +72,8 @@ if(NOT Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND) else() message(WARNING "Boost Python for python ${GTSAM_PYTHON_VERSION} was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") endif() +endif() + +if(NOT NUMPY_FOUND) + message(WARNING "NumPy C-API was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") endif() \ No newline at end of file From eb798f88fe4345b28c31fa3ed85493e36727a1d5 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 1 Dec 2015 13:28:29 +0100 Subject: [PATCH 720/964] Add NumPy C-API 1.8.2 to gtsam/3rdparty; Add option o use system or bundled one --- .../include/numpy/__multiarray_api.h | 1721 ++++++++++++ .../numpy_c_api/include/numpy/__ufunc_api.h | 328 +++ .../numpy/_neighborhood_iterator_imp.h | 90 + .../numpy_c_api/include/numpy/_numpyconfig.h | 32 + .../numpy_c_api/include/numpy/arrayobject.h | 11 + .../numpy_c_api/include/numpy/arrayscalars.h | 175 ++ .../numpy_c_api/include/numpy/halffloat.h | 69 + .../include/numpy/multiarray_api.txt | 2430 +++++++++++++++++ .../numpy_c_api/include/numpy/ndarrayobject.h | 237 ++ .../numpy_c_api/include/numpy/ndarraytypes.h | 1777 ++++++++++++ .../numpy_c_api/include/numpy/noprefix.h | 209 ++ .../include/numpy/npy_1_7_deprecated_api.h | 130 + .../numpy_c_api/include/numpy/npy_3kcompat.h | 502 ++++ .../numpy_c_api/include/numpy/npy_common.h | 1005 +++++++ .../numpy_c_api/include/numpy/npy_cpu.h | 114 + .../numpy_c_api/include/numpy/npy_endian.h | 48 + .../numpy_c_api/include/numpy/npy_interrupt.h | 117 + .../numpy_c_api/include/numpy/npy_math.h | 468 ++++ .../include/numpy/npy_no_deprecated_api.h | 19 + .../numpy_c_api/include/numpy/npy_os.h | 30 + .../numpy_c_api/include/numpy/numpyconfig.h | 34 + .../numpy_c_api/include/numpy/old_defines.h | 187 ++ .../numpy_c_api/include/numpy/oldnumeric.h | 23 + .../numpy_c_api/include/numpy/ufunc_api.txt | 321 +++ .../numpy_c_api/include/numpy/ufuncobject.h | 479 ++++ .../numpy_c_api/include/numpy/utils.h | 19 + python/CMakeLists.txt | 15 +- 27 files changed, 10584 insertions(+), 6 deletions(-) create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h create mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/utils.h diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h new file mode 100644 index 000000000..bfa87d8df --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h @@ -0,0 +1,1721 @@ + +#ifdef _MULTIARRAYMODULE + +typedef struct { + PyObject_HEAD + npy_bool obval; +} PyBoolScalarObject; + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION +extern NPY_NO_EXPORT PyTypeObject PyArrayMapIter_Type; +extern NPY_NO_EXPORT PyTypeObject PyArrayNeighborhoodIter_Type; +extern NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; +#else +NPY_NO_EXPORT PyTypeObject PyArrayMapIter_Type; +NPY_NO_EXPORT PyTypeObject PyArrayNeighborhoodIter_Type; +NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; +#endif + +NPY_NO_EXPORT unsigned int PyArray_GetNDArrayCVersion \ + (void); +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyBigArray_Type; +#else + NPY_NO_EXPORT PyTypeObject PyBigArray_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyArray_Type; +#else + NPY_NO_EXPORT PyTypeObject PyArray_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyArrayDescr_Type; +#else + NPY_NO_EXPORT PyTypeObject PyArrayDescr_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyArrayFlags_Type; +#else + NPY_NO_EXPORT PyTypeObject PyArrayFlags_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyArrayIter_Type; +#else + NPY_NO_EXPORT PyTypeObject PyArrayIter_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyArrayMultiIter_Type; +#else + NPY_NO_EXPORT PyTypeObject PyArrayMultiIter_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT int NPY_NUMUSERTYPES; +#else + NPY_NO_EXPORT int NPY_NUMUSERTYPES; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyBoolArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyBoolArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION +extern NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; +#else +NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyGenericArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyGenericArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyNumberArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyNumberArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyIntegerArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyIntegerArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PySignedIntegerArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PySignedIntegerArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyUnsignedIntegerArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyUnsignedIntegerArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyInexactArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyInexactArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyFloatingArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyFloatingArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyComplexFloatingArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyComplexFloatingArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyFlexibleArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyFlexibleArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyCharacterArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyCharacterArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyByteArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyByteArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyShortArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyShortArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyIntArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyIntArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyLongArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyLongArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyLongLongArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyLongLongArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyUByteArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyUByteArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyUShortArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyUShortArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyUIntArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyUIntArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyULongArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyULongArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyULongLongArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyULongLongArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyFloatArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyFloatArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyDoubleArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyDoubleArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyLongDoubleArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyLongDoubleArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyCFloatArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyCFloatArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyCDoubleArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyCDoubleArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyCLongDoubleArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyCLongDoubleArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyObjectArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyObjectArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyStringArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyStringArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyUnicodeArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyUnicodeArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyVoidArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyVoidArrType_Type; +#endif + +NPY_NO_EXPORT int PyArray_SetNumericOps \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_GetNumericOps \ + (void); +NPY_NO_EXPORT int PyArray_INCREF \ + (PyArrayObject *); +NPY_NO_EXPORT int PyArray_XDECREF \ + (PyArrayObject *); +NPY_NO_EXPORT void PyArray_SetStringFunction \ + (PyObject *, int); +NPY_NO_EXPORT PyArray_Descr * PyArray_DescrFromType \ + (int); +NPY_NO_EXPORT PyObject * PyArray_TypeObjectFromType \ + (int); +NPY_NO_EXPORT char * PyArray_Zero \ + (PyArrayObject *); +NPY_NO_EXPORT char * PyArray_One \ + (PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_CastToType \ + (PyArrayObject *, PyArray_Descr *, int); +NPY_NO_EXPORT int PyArray_CastTo \ + (PyArrayObject *, PyArrayObject *); +NPY_NO_EXPORT int PyArray_CastAnyTo \ + (PyArrayObject *, PyArrayObject *); +NPY_NO_EXPORT int PyArray_CanCastSafely \ + (int, int); +NPY_NO_EXPORT npy_bool PyArray_CanCastTo \ + (PyArray_Descr *, PyArray_Descr *); +NPY_NO_EXPORT int PyArray_ObjectType \ + (PyObject *, int); +NPY_NO_EXPORT PyArray_Descr * PyArray_DescrFromObject \ + (PyObject *, PyArray_Descr *); +NPY_NO_EXPORT PyArrayObject ** PyArray_ConvertToCommonType \ + (PyObject *, int *); +NPY_NO_EXPORT PyArray_Descr * PyArray_DescrFromScalar \ + (PyObject *); +NPY_NO_EXPORT PyArray_Descr * PyArray_DescrFromTypeObject \ + (PyObject *); +NPY_NO_EXPORT npy_intp PyArray_Size \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_Scalar \ + (void *, PyArray_Descr *, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_FromScalar \ + (PyObject *, PyArray_Descr *); +NPY_NO_EXPORT void PyArray_ScalarAsCtype \ + (PyObject *, void *); +NPY_NO_EXPORT int PyArray_CastScalarToCtype \ + (PyObject *, void *, PyArray_Descr *); +NPY_NO_EXPORT int PyArray_CastScalarDirect \ + (PyObject *, PyArray_Descr *, void *, int); +NPY_NO_EXPORT PyObject * PyArray_ScalarFromObject \ + (PyObject *); +NPY_NO_EXPORT PyArray_VectorUnaryFunc * PyArray_GetCastFunc \ + (PyArray_Descr *, int); +NPY_NO_EXPORT PyObject * PyArray_FromDims \ + (int, int *, int); +NPY_NO_EXPORT PyObject * PyArray_FromDimsAndDataAndDescr \ + (int, int *, PyArray_Descr *, char *); +NPY_NO_EXPORT PyObject * PyArray_FromAny \ + (PyObject *, PyArray_Descr *, int, int, int, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_EnsureArray \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_EnsureAnyArray \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_FromFile \ + (FILE *, PyArray_Descr *, npy_intp, char *); +NPY_NO_EXPORT PyObject * PyArray_FromString \ + (char *, npy_intp, PyArray_Descr *, npy_intp, char *); +NPY_NO_EXPORT PyObject * PyArray_FromBuffer \ + (PyObject *, PyArray_Descr *, npy_intp, npy_intp); +NPY_NO_EXPORT PyObject * PyArray_FromIter \ + (PyObject *, PyArray_Descr *, npy_intp); +NPY_NO_EXPORT PyObject * PyArray_Return \ + (PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_GetField \ + (PyArrayObject *, PyArray_Descr *, int); +NPY_NO_EXPORT int PyArray_SetField \ + (PyArrayObject *, PyArray_Descr *, int, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_Byteswap \ + (PyArrayObject *, npy_bool); +NPY_NO_EXPORT PyObject * PyArray_Resize \ + (PyArrayObject *, PyArray_Dims *, int, NPY_ORDER); +NPY_NO_EXPORT int PyArray_MoveInto \ + (PyArrayObject *, PyArrayObject *); +NPY_NO_EXPORT int PyArray_CopyInto \ + (PyArrayObject *, PyArrayObject *); +NPY_NO_EXPORT int PyArray_CopyAnyInto \ + (PyArrayObject *, PyArrayObject *); +NPY_NO_EXPORT int PyArray_CopyObject \ + (PyArrayObject *, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_NewCopy \ + (PyArrayObject *, NPY_ORDER); +NPY_NO_EXPORT PyObject * PyArray_ToList \ + (PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_ToString \ + (PyArrayObject *, NPY_ORDER); +NPY_NO_EXPORT int PyArray_ToFile \ + (PyArrayObject *, FILE *, char *, char *); +NPY_NO_EXPORT int PyArray_Dump \ + (PyObject *, PyObject *, int); +NPY_NO_EXPORT PyObject * PyArray_Dumps \ + (PyObject *, int); +NPY_NO_EXPORT int PyArray_ValidType \ + (int); +NPY_NO_EXPORT void PyArray_UpdateFlags \ + (PyArrayObject *, int); +NPY_NO_EXPORT PyObject * PyArray_New \ + (PyTypeObject *, int, npy_intp *, int, npy_intp *, void *, int, int, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_NewFromDescr \ + (PyTypeObject *, PyArray_Descr *, int, npy_intp *, npy_intp *, void *, int, PyObject *); +NPY_NO_EXPORT PyArray_Descr * PyArray_DescrNew \ + (PyArray_Descr *); +NPY_NO_EXPORT PyArray_Descr * PyArray_DescrNewFromType \ + (int); +NPY_NO_EXPORT double PyArray_GetPriority \ + (PyObject *, double); +NPY_NO_EXPORT PyObject * PyArray_IterNew \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_MultiIterNew \ + (int, ...); +NPY_NO_EXPORT int PyArray_PyIntAsInt \ + (PyObject *); +NPY_NO_EXPORT npy_intp PyArray_PyIntAsIntp \ + (PyObject *); +NPY_NO_EXPORT int PyArray_Broadcast \ + (PyArrayMultiIterObject *); +NPY_NO_EXPORT void PyArray_FillObjectArray \ + (PyArrayObject *, PyObject *); +NPY_NO_EXPORT int PyArray_FillWithScalar \ + (PyArrayObject *, PyObject *); +NPY_NO_EXPORT npy_bool PyArray_CheckStrides \ + (int, int, npy_intp, npy_intp, npy_intp *, npy_intp *); +NPY_NO_EXPORT PyArray_Descr * PyArray_DescrNewByteorder \ + (PyArray_Descr *, char); +NPY_NO_EXPORT PyObject * PyArray_IterAllButAxis \ + (PyObject *, int *); +NPY_NO_EXPORT PyObject * PyArray_CheckFromAny \ + (PyObject *, PyArray_Descr *, int, int, int, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_FromArray \ + (PyArrayObject *, PyArray_Descr *, int); +NPY_NO_EXPORT PyObject * PyArray_FromInterface \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_FromStructInterface \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_FromArrayAttr \ + (PyObject *, PyArray_Descr *, PyObject *); +NPY_NO_EXPORT NPY_SCALARKIND PyArray_ScalarKind \ + (int, PyArrayObject **); +NPY_NO_EXPORT int PyArray_CanCoerceScalar \ + (int, int, NPY_SCALARKIND); +NPY_NO_EXPORT PyObject * PyArray_NewFlagsObject \ + (PyObject *); +NPY_NO_EXPORT npy_bool PyArray_CanCastScalar \ + (PyTypeObject *, PyTypeObject *); +NPY_NO_EXPORT int PyArray_CompareUCS4 \ + (npy_ucs4 *, npy_ucs4 *, size_t); +NPY_NO_EXPORT int PyArray_RemoveSmallest \ + (PyArrayMultiIterObject *); +NPY_NO_EXPORT int PyArray_ElementStrides \ + (PyObject *); +NPY_NO_EXPORT void PyArray_Item_INCREF \ + (char *, PyArray_Descr *); +NPY_NO_EXPORT void PyArray_Item_XDECREF \ + (char *, PyArray_Descr *); +NPY_NO_EXPORT PyObject * PyArray_FieldNames \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_Transpose \ + (PyArrayObject *, PyArray_Dims *); +NPY_NO_EXPORT PyObject * PyArray_TakeFrom \ + (PyArrayObject *, PyObject *, int, PyArrayObject *, NPY_CLIPMODE); +NPY_NO_EXPORT PyObject * PyArray_PutTo \ + (PyArrayObject *, PyObject*, PyObject *, NPY_CLIPMODE); +NPY_NO_EXPORT PyObject * PyArray_PutMask \ + (PyArrayObject *, PyObject*, PyObject*); +NPY_NO_EXPORT PyObject * PyArray_Repeat \ + (PyArrayObject *, PyObject *, int); +NPY_NO_EXPORT PyObject * PyArray_Choose \ + (PyArrayObject *, PyObject *, PyArrayObject *, NPY_CLIPMODE); +NPY_NO_EXPORT int PyArray_Sort \ + (PyArrayObject *, int, NPY_SORTKIND); +NPY_NO_EXPORT PyObject * PyArray_ArgSort \ + (PyArrayObject *, int, NPY_SORTKIND); +NPY_NO_EXPORT PyObject * PyArray_SearchSorted \ + (PyArrayObject *, PyObject *, NPY_SEARCHSIDE, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_ArgMax \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_ArgMin \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Reshape \ + (PyArrayObject *, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_Newshape \ + (PyArrayObject *, PyArray_Dims *, NPY_ORDER); +NPY_NO_EXPORT PyObject * PyArray_Squeeze \ + (PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_View \ + (PyArrayObject *, PyArray_Descr *, PyTypeObject *); +NPY_NO_EXPORT PyObject * PyArray_SwapAxes \ + (PyArrayObject *, int, int); +NPY_NO_EXPORT PyObject * PyArray_Max \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Min \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Ptp \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Mean \ + (PyArrayObject *, int, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Trace \ + (PyArrayObject *, int, int, int, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Diagonal \ + (PyArrayObject *, int, int, int); +NPY_NO_EXPORT PyObject * PyArray_Clip \ + (PyArrayObject *, PyObject *, PyObject *, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Conjugate \ + (PyArrayObject *, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Nonzero \ + (PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Std \ + (PyArrayObject *, int, int, PyArrayObject *, int); +NPY_NO_EXPORT PyObject * PyArray_Sum \ + (PyArrayObject *, int, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_CumSum \ + (PyArrayObject *, int, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Prod \ + (PyArrayObject *, int, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_CumProd \ + (PyArrayObject *, int, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_All \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Any \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Compress \ + (PyArrayObject *, PyObject *, int, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_Flatten \ + (PyArrayObject *, NPY_ORDER); +NPY_NO_EXPORT PyObject * PyArray_Ravel \ + (PyArrayObject *, NPY_ORDER); +NPY_NO_EXPORT npy_intp PyArray_MultiplyList \ + (npy_intp *, int); +NPY_NO_EXPORT int PyArray_MultiplyIntList \ + (int *, int); +NPY_NO_EXPORT void * PyArray_GetPtr \ + (PyArrayObject *, npy_intp*); +NPY_NO_EXPORT int PyArray_CompareLists \ + (npy_intp *, npy_intp *, int); +NPY_NO_EXPORT int PyArray_AsCArray \ + (PyObject **, void *, npy_intp *, int, PyArray_Descr*); +NPY_NO_EXPORT int PyArray_As1D \ + (PyObject **, char **, int *, int); +NPY_NO_EXPORT int PyArray_As2D \ + (PyObject **, char ***, int *, int *, int); +NPY_NO_EXPORT int PyArray_Free \ + (PyObject *, void *); +NPY_NO_EXPORT int PyArray_Converter \ + (PyObject *, PyObject **); +NPY_NO_EXPORT int PyArray_IntpFromSequence \ + (PyObject *, npy_intp *, int); +NPY_NO_EXPORT PyObject * PyArray_Concatenate \ + (PyObject *, int); +NPY_NO_EXPORT PyObject * PyArray_InnerProduct \ + (PyObject *, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_MatrixProduct \ + (PyObject *, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_CopyAndTranspose \ + (PyObject *); +NPY_NO_EXPORT PyObject * PyArray_Correlate \ + (PyObject *, PyObject *, int); +NPY_NO_EXPORT int PyArray_TypestrConvert \ + (int, int); +NPY_NO_EXPORT int PyArray_DescrConverter \ + (PyObject *, PyArray_Descr **); +NPY_NO_EXPORT int PyArray_DescrConverter2 \ + (PyObject *, PyArray_Descr **); +NPY_NO_EXPORT int PyArray_IntpConverter \ + (PyObject *, PyArray_Dims *); +NPY_NO_EXPORT int PyArray_BufferConverter \ + (PyObject *, PyArray_Chunk *); +NPY_NO_EXPORT int PyArray_AxisConverter \ + (PyObject *, int *); +NPY_NO_EXPORT int PyArray_BoolConverter \ + (PyObject *, npy_bool *); +NPY_NO_EXPORT int PyArray_ByteorderConverter \ + (PyObject *, char *); +NPY_NO_EXPORT int PyArray_OrderConverter \ + (PyObject *, NPY_ORDER *); +NPY_NO_EXPORT unsigned char PyArray_EquivTypes \ + (PyArray_Descr *, PyArray_Descr *); +NPY_NO_EXPORT PyObject * PyArray_Zeros \ + (int, npy_intp *, PyArray_Descr *, int); +NPY_NO_EXPORT PyObject * PyArray_Empty \ + (int, npy_intp *, PyArray_Descr *, int); +NPY_NO_EXPORT PyObject * PyArray_Where \ + (PyObject *, PyObject *, PyObject *); +NPY_NO_EXPORT PyObject * PyArray_Arange \ + (double, double, double, int); +NPY_NO_EXPORT PyObject * PyArray_ArangeObj \ + (PyObject *, PyObject *, PyObject *, PyArray_Descr *); +NPY_NO_EXPORT int PyArray_SortkindConverter \ + (PyObject *, NPY_SORTKIND *); +NPY_NO_EXPORT PyObject * PyArray_LexSort \ + (PyObject *, int); +NPY_NO_EXPORT PyObject * PyArray_Round \ + (PyArrayObject *, int, PyArrayObject *); +NPY_NO_EXPORT unsigned char PyArray_EquivTypenums \ + (int, int); +NPY_NO_EXPORT int PyArray_RegisterDataType \ + (PyArray_Descr *); +NPY_NO_EXPORT int PyArray_RegisterCastFunc \ + (PyArray_Descr *, int, PyArray_VectorUnaryFunc *); +NPY_NO_EXPORT int PyArray_RegisterCanCast \ + (PyArray_Descr *, int, NPY_SCALARKIND); +NPY_NO_EXPORT void PyArray_InitArrFuncs \ + (PyArray_ArrFuncs *); +NPY_NO_EXPORT PyObject * PyArray_IntTupleFromIntp \ + (int, npy_intp *); +NPY_NO_EXPORT int PyArray_TypeNumFromName \ + (char *); +NPY_NO_EXPORT int PyArray_ClipmodeConverter \ + (PyObject *, NPY_CLIPMODE *); +NPY_NO_EXPORT int PyArray_OutputConverter \ + (PyObject *, PyArrayObject **); +NPY_NO_EXPORT PyObject * PyArray_BroadcastToShape \ + (PyObject *, npy_intp *, int); +NPY_NO_EXPORT void _PyArray_SigintHandler \ + (int); +NPY_NO_EXPORT void* _PyArray_GetSigintBuf \ + (void); +NPY_NO_EXPORT int PyArray_DescrAlignConverter \ + (PyObject *, PyArray_Descr **); +NPY_NO_EXPORT int PyArray_DescrAlignConverter2 \ + (PyObject *, PyArray_Descr **); +NPY_NO_EXPORT int PyArray_SearchsideConverter \ + (PyObject *, void *); +NPY_NO_EXPORT PyObject * PyArray_CheckAxis \ + (PyArrayObject *, int *, int); +NPY_NO_EXPORT npy_intp PyArray_OverflowMultiplyList \ + (npy_intp *, int); +NPY_NO_EXPORT int PyArray_CompareString \ + (char *, char *, size_t); +NPY_NO_EXPORT PyObject * PyArray_MultiIterFromObjects \ + (PyObject **, int, int, ...); +NPY_NO_EXPORT int PyArray_GetEndianness \ + (void); +NPY_NO_EXPORT unsigned int PyArray_GetNDArrayCFeatureVersion \ + (void); +NPY_NO_EXPORT PyObject * PyArray_Correlate2 \ + (PyObject *, PyObject *, int); +NPY_NO_EXPORT PyObject* PyArray_NeighborhoodIterNew \ + (PyArrayIterObject *, npy_intp *, int, PyArrayObject*); +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyTimeIntegerArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyTimeIntegerArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyDatetimeArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyDatetimeArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyTimedeltaArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyTimedeltaArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyHalfArrType_Type; +#else + NPY_NO_EXPORT PyTypeObject PyHalfArrType_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject NpyIter_Type; +#else + NPY_NO_EXPORT PyTypeObject NpyIter_Type; +#endif + +NPY_NO_EXPORT void PyArray_SetDatetimeParseFunction \ + (PyObject *); +NPY_NO_EXPORT void PyArray_DatetimeToDatetimeStruct \ + (npy_datetime, NPY_DATETIMEUNIT, npy_datetimestruct *); +NPY_NO_EXPORT void PyArray_TimedeltaToTimedeltaStruct \ + (npy_timedelta, NPY_DATETIMEUNIT, npy_timedeltastruct *); +NPY_NO_EXPORT npy_datetime PyArray_DatetimeStructToDatetime \ + (NPY_DATETIMEUNIT, npy_datetimestruct *); +NPY_NO_EXPORT npy_datetime PyArray_TimedeltaStructToTimedelta \ + (NPY_DATETIMEUNIT, npy_timedeltastruct *); +NPY_NO_EXPORT NpyIter * NpyIter_New \ + (PyArrayObject *, npy_uint32, NPY_ORDER, NPY_CASTING, PyArray_Descr*); +NPY_NO_EXPORT NpyIter * NpyIter_MultiNew \ + (int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **); +NPY_NO_EXPORT NpyIter * NpyIter_AdvancedNew \ + (int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **, int, int **, npy_intp *, npy_intp); +NPY_NO_EXPORT NpyIter * NpyIter_Copy \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_Deallocate \ + (NpyIter *); +NPY_NO_EXPORT npy_bool NpyIter_HasDelayedBufAlloc \ + (NpyIter *); +NPY_NO_EXPORT npy_bool NpyIter_HasExternalLoop \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_EnableExternalLoop \ + (NpyIter *); +NPY_NO_EXPORT npy_intp * NpyIter_GetInnerStrideArray \ + (NpyIter *); +NPY_NO_EXPORT npy_intp * NpyIter_GetInnerLoopSizePtr \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_Reset \ + (NpyIter *, char **); +NPY_NO_EXPORT int NpyIter_ResetBasePointers \ + (NpyIter *, char **, char **); +NPY_NO_EXPORT int NpyIter_ResetToIterIndexRange \ + (NpyIter *, npy_intp, npy_intp, char **); +NPY_NO_EXPORT int NpyIter_GetNDim \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_GetNOp \ + (NpyIter *); +NPY_NO_EXPORT NpyIter_IterNextFunc * NpyIter_GetIterNext \ + (NpyIter *, char **); +NPY_NO_EXPORT npy_intp NpyIter_GetIterSize \ + (NpyIter *); +NPY_NO_EXPORT void NpyIter_GetIterIndexRange \ + (NpyIter *, npy_intp *, npy_intp *); +NPY_NO_EXPORT npy_intp NpyIter_GetIterIndex \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_GotoIterIndex \ + (NpyIter *, npy_intp); +NPY_NO_EXPORT npy_bool NpyIter_HasMultiIndex \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_GetShape \ + (NpyIter *, npy_intp *); +NPY_NO_EXPORT NpyIter_GetMultiIndexFunc * NpyIter_GetGetMultiIndex \ + (NpyIter *, char **); +NPY_NO_EXPORT int NpyIter_GotoMultiIndex \ + (NpyIter *, npy_intp *); +NPY_NO_EXPORT int NpyIter_RemoveMultiIndex \ + (NpyIter *); +NPY_NO_EXPORT npy_bool NpyIter_HasIndex \ + (NpyIter *); +NPY_NO_EXPORT npy_bool NpyIter_IsBuffered \ + (NpyIter *); +NPY_NO_EXPORT npy_bool NpyIter_IsGrowInner \ + (NpyIter *); +NPY_NO_EXPORT npy_intp NpyIter_GetBufferSize \ + (NpyIter *); +NPY_NO_EXPORT npy_intp * NpyIter_GetIndexPtr \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_GotoIndex \ + (NpyIter *, npy_intp); +NPY_NO_EXPORT char ** NpyIter_GetDataPtrArray \ + (NpyIter *); +NPY_NO_EXPORT PyArray_Descr ** NpyIter_GetDescrArray \ + (NpyIter *); +NPY_NO_EXPORT PyArrayObject ** NpyIter_GetOperandArray \ + (NpyIter *); +NPY_NO_EXPORT PyArrayObject * NpyIter_GetIterView \ + (NpyIter *, npy_intp); +NPY_NO_EXPORT void NpyIter_GetReadFlags \ + (NpyIter *, char *); +NPY_NO_EXPORT void NpyIter_GetWriteFlags \ + (NpyIter *, char *); +NPY_NO_EXPORT void NpyIter_DebugPrint \ + (NpyIter *); +NPY_NO_EXPORT npy_bool NpyIter_IterationNeedsAPI \ + (NpyIter *); +NPY_NO_EXPORT void NpyIter_GetInnerFixedStrideArray \ + (NpyIter *, npy_intp *); +NPY_NO_EXPORT int NpyIter_RemoveAxis \ + (NpyIter *, int); +NPY_NO_EXPORT npy_intp * NpyIter_GetAxisStrideArray \ + (NpyIter *, int); +NPY_NO_EXPORT npy_bool NpyIter_RequiresBuffering \ + (NpyIter *); +NPY_NO_EXPORT char ** NpyIter_GetInitialDataPtrArray \ + (NpyIter *); +NPY_NO_EXPORT int NpyIter_CreateCompatibleStrides \ + (NpyIter *, npy_intp, npy_intp *); +NPY_NO_EXPORT int PyArray_CastingConverter \ + (PyObject *, NPY_CASTING *); +NPY_NO_EXPORT npy_intp PyArray_CountNonzero \ + (PyArrayObject *); +NPY_NO_EXPORT PyArray_Descr * PyArray_PromoteTypes \ + (PyArray_Descr *, PyArray_Descr *); +NPY_NO_EXPORT PyArray_Descr * PyArray_MinScalarType \ + (PyArrayObject *); +NPY_NO_EXPORT PyArray_Descr * PyArray_ResultType \ + (npy_intp, PyArrayObject **, npy_intp, PyArray_Descr **); +NPY_NO_EXPORT npy_bool PyArray_CanCastArrayTo \ + (PyArrayObject *, PyArray_Descr *, NPY_CASTING); +NPY_NO_EXPORT npy_bool PyArray_CanCastTypeTo \ + (PyArray_Descr *, PyArray_Descr *, NPY_CASTING); +NPY_NO_EXPORT PyArrayObject * PyArray_EinsteinSum \ + (char *, npy_intp, PyArrayObject **, PyArray_Descr *, NPY_ORDER, NPY_CASTING, PyArrayObject *); +NPY_NO_EXPORT PyObject * PyArray_NewLikeArray \ + (PyArrayObject *, NPY_ORDER, PyArray_Descr *, int); +NPY_NO_EXPORT int PyArray_GetArrayParamsFromObject \ + (PyObject *, PyArray_Descr *, npy_bool, PyArray_Descr **, int *, npy_intp *, PyArrayObject **, PyObject *); +NPY_NO_EXPORT int PyArray_ConvertClipmodeSequence \ + (PyObject *, NPY_CLIPMODE *, int); +NPY_NO_EXPORT PyObject * PyArray_MatrixProduct2 \ + (PyObject *, PyObject *, PyArrayObject*); +NPY_NO_EXPORT npy_bool NpyIter_IsFirstVisit \ + (NpyIter *, int); +NPY_NO_EXPORT int PyArray_SetBaseObject \ + (PyArrayObject *, PyObject *); +NPY_NO_EXPORT void PyArray_CreateSortedStridePerm \ + (int, npy_intp *, npy_stride_sort_item *); +NPY_NO_EXPORT void PyArray_RemoveAxesInPlace \ + (PyArrayObject *, npy_bool *); +NPY_NO_EXPORT void PyArray_DebugPrint \ + (PyArrayObject *); +NPY_NO_EXPORT int PyArray_FailUnlessWriteable \ + (PyArrayObject *, const char *); +NPY_NO_EXPORT int PyArray_SetUpdateIfCopyBase \ + (PyArrayObject *, PyArrayObject *); +NPY_NO_EXPORT void * PyDataMem_NEW \ + (size_t); +NPY_NO_EXPORT void PyDataMem_FREE \ + (void *); +NPY_NO_EXPORT void * PyDataMem_RENEW \ + (void *, size_t); +NPY_NO_EXPORT PyDataMem_EventHookFunc * PyDataMem_SetEventHook \ + (PyDataMem_EventHookFunc *, void *, void **); +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT NPY_CASTING NPY_DEFAULT_ASSIGN_CASTING; +#else + NPY_NO_EXPORT NPY_CASTING NPY_DEFAULT_ASSIGN_CASTING; +#endif + +NPY_NO_EXPORT void PyArray_MapIterSwapAxes \ + (PyArrayMapIterObject *, PyArrayObject **, int); +NPY_NO_EXPORT PyObject * PyArray_MapIterArray \ + (PyArrayObject *, PyObject *); +NPY_NO_EXPORT void PyArray_MapIterNext \ + (PyArrayMapIterObject *); +NPY_NO_EXPORT int PyArray_Partition \ + (PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND); +NPY_NO_EXPORT PyObject * PyArray_ArgPartition \ + (PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND); +NPY_NO_EXPORT int PyArray_SelectkindConverter \ + (PyObject *, NPY_SELECTKIND *); +NPY_NO_EXPORT void * PyDataMem_NEW_ZEROED \ + (size_t, size_t); + +#else + +#if defined(PY_ARRAY_UNIQUE_SYMBOL) +#define PyArray_API PY_ARRAY_UNIQUE_SYMBOL +#endif + +#if defined(NO_IMPORT) || defined(NO_IMPORT_ARRAY) +extern void **PyArray_API; +#else +#if defined(PY_ARRAY_UNIQUE_SYMBOL) +void **PyArray_API; +#else +static void **PyArray_API=NULL; +#endif +#endif + +#define PyArray_GetNDArrayCVersion \ + (*(unsigned int (*)(void)) \ + PyArray_API[0]) +#define PyBigArray_Type (*(PyTypeObject *)PyArray_API[1]) +#define PyArray_Type (*(PyTypeObject *)PyArray_API[2]) +#define PyArrayDescr_Type (*(PyTypeObject *)PyArray_API[3]) +#define PyArrayFlags_Type (*(PyTypeObject *)PyArray_API[4]) +#define PyArrayIter_Type (*(PyTypeObject *)PyArray_API[5]) +#define PyArrayMultiIter_Type (*(PyTypeObject *)PyArray_API[6]) +#define NPY_NUMUSERTYPES (*(int *)PyArray_API[7]) +#define PyBoolArrType_Type (*(PyTypeObject *)PyArray_API[8]) +#define _PyArrayScalar_BoolValues ((PyBoolScalarObject *)PyArray_API[9]) +#define PyGenericArrType_Type (*(PyTypeObject *)PyArray_API[10]) +#define PyNumberArrType_Type (*(PyTypeObject *)PyArray_API[11]) +#define PyIntegerArrType_Type (*(PyTypeObject *)PyArray_API[12]) +#define PySignedIntegerArrType_Type (*(PyTypeObject *)PyArray_API[13]) +#define PyUnsignedIntegerArrType_Type (*(PyTypeObject *)PyArray_API[14]) +#define PyInexactArrType_Type (*(PyTypeObject *)PyArray_API[15]) +#define PyFloatingArrType_Type (*(PyTypeObject *)PyArray_API[16]) +#define PyComplexFloatingArrType_Type (*(PyTypeObject *)PyArray_API[17]) +#define PyFlexibleArrType_Type (*(PyTypeObject *)PyArray_API[18]) +#define PyCharacterArrType_Type (*(PyTypeObject *)PyArray_API[19]) +#define PyByteArrType_Type (*(PyTypeObject *)PyArray_API[20]) +#define PyShortArrType_Type (*(PyTypeObject *)PyArray_API[21]) +#define PyIntArrType_Type (*(PyTypeObject *)PyArray_API[22]) +#define PyLongArrType_Type (*(PyTypeObject *)PyArray_API[23]) +#define PyLongLongArrType_Type (*(PyTypeObject *)PyArray_API[24]) +#define PyUByteArrType_Type (*(PyTypeObject *)PyArray_API[25]) +#define PyUShortArrType_Type (*(PyTypeObject *)PyArray_API[26]) +#define PyUIntArrType_Type (*(PyTypeObject *)PyArray_API[27]) +#define PyULongArrType_Type (*(PyTypeObject *)PyArray_API[28]) +#define PyULongLongArrType_Type (*(PyTypeObject *)PyArray_API[29]) +#define PyFloatArrType_Type (*(PyTypeObject *)PyArray_API[30]) +#define PyDoubleArrType_Type (*(PyTypeObject *)PyArray_API[31]) +#define PyLongDoubleArrType_Type (*(PyTypeObject *)PyArray_API[32]) +#define PyCFloatArrType_Type (*(PyTypeObject *)PyArray_API[33]) +#define PyCDoubleArrType_Type (*(PyTypeObject *)PyArray_API[34]) +#define PyCLongDoubleArrType_Type (*(PyTypeObject *)PyArray_API[35]) +#define PyObjectArrType_Type (*(PyTypeObject *)PyArray_API[36]) +#define PyStringArrType_Type (*(PyTypeObject *)PyArray_API[37]) +#define PyUnicodeArrType_Type (*(PyTypeObject *)PyArray_API[38]) +#define PyVoidArrType_Type (*(PyTypeObject *)PyArray_API[39]) +#define PyArray_SetNumericOps \ + (*(int (*)(PyObject *)) \ + PyArray_API[40]) +#define PyArray_GetNumericOps \ + (*(PyObject * (*)(void)) \ + PyArray_API[41]) +#define PyArray_INCREF \ + (*(int (*)(PyArrayObject *)) \ + PyArray_API[42]) +#define PyArray_XDECREF \ + (*(int (*)(PyArrayObject *)) \ + PyArray_API[43]) +#define PyArray_SetStringFunction \ + (*(void (*)(PyObject *, int)) \ + PyArray_API[44]) +#define PyArray_DescrFromType \ + (*(PyArray_Descr * (*)(int)) \ + PyArray_API[45]) +#define PyArray_TypeObjectFromType \ + (*(PyObject * (*)(int)) \ + PyArray_API[46]) +#define PyArray_Zero \ + (*(char * (*)(PyArrayObject *)) \ + PyArray_API[47]) +#define PyArray_One \ + (*(char * (*)(PyArrayObject *)) \ + PyArray_API[48]) +#define PyArray_CastToType \ + (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, int)) \ + PyArray_API[49]) +#define PyArray_CastTo \ + (*(int (*)(PyArrayObject *, PyArrayObject *)) \ + PyArray_API[50]) +#define PyArray_CastAnyTo \ + (*(int (*)(PyArrayObject *, PyArrayObject *)) \ + PyArray_API[51]) +#define PyArray_CanCastSafely \ + (*(int (*)(int, int)) \ + PyArray_API[52]) +#define PyArray_CanCastTo \ + (*(npy_bool (*)(PyArray_Descr *, PyArray_Descr *)) \ + PyArray_API[53]) +#define PyArray_ObjectType \ + (*(int (*)(PyObject *, int)) \ + PyArray_API[54]) +#define PyArray_DescrFromObject \ + (*(PyArray_Descr * (*)(PyObject *, PyArray_Descr *)) \ + PyArray_API[55]) +#define PyArray_ConvertToCommonType \ + (*(PyArrayObject ** (*)(PyObject *, int *)) \ + PyArray_API[56]) +#define PyArray_DescrFromScalar \ + (*(PyArray_Descr * (*)(PyObject *)) \ + PyArray_API[57]) +#define PyArray_DescrFromTypeObject \ + (*(PyArray_Descr * (*)(PyObject *)) \ + PyArray_API[58]) +#define PyArray_Size \ + (*(npy_intp (*)(PyObject *)) \ + PyArray_API[59]) +#define PyArray_Scalar \ + (*(PyObject * (*)(void *, PyArray_Descr *, PyObject *)) \ + PyArray_API[60]) +#define PyArray_FromScalar \ + (*(PyObject * (*)(PyObject *, PyArray_Descr *)) \ + PyArray_API[61]) +#define PyArray_ScalarAsCtype \ + (*(void (*)(PyObject *, void *)) \ + PyArray_API[62]) +#define PyArray_CastScalarToCtype \ + (*(int (*)(PyObject *, void *, PyArray_Descr *)) \ + PyArray_API[63]) +#define PyArray_CastScalarDirect \ + (*(int (*)(PyObject *, PyArray_Descr *, void *, int)) \ + PyArray_API[64]) +#define PyArray_ScalarFromObject \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[65]) +#define PyArray_GetCastFunc \ + (*(PyArray_VectorUnaryFunc * (*)(PyArray_Descr *, int)) \ + PyArray_API[66]) +#define PyArray_FromDims \ + (*(PyObject * (*)(int, int *, int)) \ + PyArray_API[67]) +#define PyArray_FromDimsAndDataAndDescr \ + (*(PyObject * (*)(int, int *, PyArray_Descr *, char *)) \ + PyArray_API[68]) +#define PyArray_FromAny \ + (*(PyObject * (*)(PyObject *, PyArray_Descr *, int, int, int, PyObject *)) \ + PyArray_API[69]) +#define PyArray_EnsureArray \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[70]) +#define PyArray_EnsureAnyArray \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[71]) +#define PyArray_FromFile \ + (*(PyObject * (*)(FILE *, PyArray_Descr *, npy_intp, char *)) \ + PyArray_API[72]) +#define PyArray_FromString \ + (*(PyObject * (*)(char *, npy_intp, PyArray_Descr *, npy_intp, char *)) \ + PyArray_API[73]) +#define PyArray_FromBuffer \ + (*(PyObject * (*)(PyObject *, PyArray_Descr *, npy_intp, npy_intp)) \ + PyArray_API[74]) +#define PyArray_FromIter \ + (*(PyObject * (*)(PyObject *, PyArray_Descr *, npy_intp)) \ + PyArray_API[75]) +#define PyArray_Return \ + (*(PyObject * (*)(PyArrayObject *)) \ + PyArray_API[76]) +#define PyArray_GetField \ + (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, int)) \ + PyArray_API[77]) +#define PyArray_SetField \ + (*(int (*)(PyArrayObject *, PyArray_Descr *, int, PyObject *)) \ + PyArray_API[78]) +#define PyArray_Byteswap \ + (*(PyObject * (*)(PyArrayObject *, npy_bool)) \ + PyArray_API[79]) +#define PyArray_Resize \ + (*(PyObject * (*)(PyArrayObject *, PyArray_Dims *, int, NPY_ORDER)) \ + PyArray_API[80]) +#define PyArray_MoveInto \ + (*(int (*)(PyArrayObject *, PyArrayObject *)) \ + PyArray_API[81]) +#define PyArray_CopyInto \ + (*(int (*)(PyArrayObject *, PyArrayObject *)) \ + PyArray_API[82]) +#define PyArray_CopyAnyInto \ + (*(int (*)(PyArrayObject *, PyArrayObject *)) \ + PyArray_API[83]) +#define PyArray_CopyObject \ + (*(int (*)(PyArrayObject *, PyObject *)) \ + PyArray_API[84]) +#define PyArray_NewCopy \ + (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ + PyArray_API[85]) +#define PyArray_ToList \ + (*(PyObject * (*)(PyArrayObject *)) \ + PyArray_API[86]) +#define PyArray_ToString \ + (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ + PyArray_API[87]) +#define PyArray_ToFile \ + (*(int (*)(PyArrayObject *, FILE *, char *, char *)) \ + PyArray_API[88]) +#define PyArray_Dump \ + (*(int (*)(PyObject *, PyObject *, int)) \ + PyArray_API[89]) +#define PyArray_Dumps \ + (*(PyObject * (*)(PyObject *, int)) \ + PyArray_API[90]) +#define PyArray_ValidType \ + (*(int (*)(int)) \ + PyArray_API[91]) +#define PyArray_UpdateFlags \ + (*(void (*)(PyArrayObject *, int)) \ + PyArray_API[92]) +#define PyArray_New \ + (*(PyObject * (*)(PyTypeObject *, int, npy_intp *, int, npy_intp *, void *, int, int, PyObject *)) \ + PyArray_API[93]) +#define PyArray_NewFromDescr \ + (*(PyObject * (*)(PyTypeObject *, PyArray_Descr *, int, npy_intp *, npy_intp *, void *, int, PyObject *)) \ + PyArray_API[94]) +#define PyArray_DescrNew \ + (*(PyArray_Descr * (*)(PyArray_Descr *)) \ + PyArray_API[95]) +#define PyArray_DescrNewFromType \ + (*(PyArray_Descr * (*)(int)) \ + PyArray_API[96]) +#define PyArray_GetPriority \ + (*(double (*)(PyObject *, double)) \ + PyArray_API[97]) +#define PyArray_IterNew \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[98]) +#define PyArray_MultiIterNew \ + (*(PyObject * (*)(int, ...)) \ + PyArray_API[99]) +#define PyArray_PyIntAsInt \ + (*(int (*)(PyObject *)) \ + PyArray_API[100]) +#define PyArray_PyIntAsIntp \ + (*(npy_intp (*)(PyObject *)) \ + PyArray_API[101]) +#define PyArray_Broadcast \ + (*(int (*)(PyArrayMultiIterObject *)) \ + PyArray_API[102]) +#define PyArray_FillObjectArray \ + (*(void (*)(PyArrayObject *, PyObject *)) \ + PyArray_API[103]) +#define PyArray_FillWithScalar \ + (*(int (*)(PyArrayObject *, PyObject *)) \ + PyArray_API[104]) +#define PyArray_CheckStrides \ + (*(npy_bool (*)(int, int, npy_intp, npy_intp, npy_intp *, npy_intp *)) \ + PyArray_API[105]) +#define PyArray_DescrNewByteorder \ + (*(PyArray_Descr * (*)(PyArray_Descr *, char)) \ + PyArray_API[106]) +#define PyArray_IterAllButAxis \ + (*(PyObject * (*)(PyObject *, int *)) \ + PyArray_API[107]) +#define PyArray_CheckFromAny \ + (*(PyObject * (*)(PyObject *, PyArray_Descr *, int, int, int, PyObject *)) \ + PyArray_API[108]) +#define PyArray_FromArray \ + (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, int)) \ + PyArray_API[109]) +#define PyArray_FromInterface \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[110]) +#define PyArray_FromStructInterface \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[111]) +#define PyArray_FromArrayAttr \ + (*(PyObject * (*)(PyObject *, PyArray_Descr *, PyObject *)) \ + PyArray_API[112]) +#define PyArray_ScalarKind \ + (*(NPY_SCALARKIND (*)(int, PyArrayObject **)) \ + PyArray_API[113]) +#define PyArray_CanCoerceScalar \ + (*(int (*)(int, int, NPY_SCALARKIND)) \ + PyArray_API[114]) +#define PyArray_NewFlagsObject \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[115]) +#define PyArray_CanCastScalar \ + (*(npy_bool (*)(PyTypeObject *, PyTypeObject *)) \ + PyArray_API[116]) +#define PyArray_CompareUCS4 \ + (*(int (*)(npy_ucs4 *, npy_ucs4 *, size_t)) \ + PyArray_API[117]) +#define PyArray_RemoveSmallest \ + (*(int (*)(PyArrayMultiIterObject *)) \ + PyArray_API[118]) +#define PyArray_ElementStrides \ + (*(int (*)(PyObject *)) \ + PyArray_API[119]) +#define PyArray_Item_INCREF \ + (*(void (*)(char *, PyArray_Descr *)) \ + PyArray_API[120]) +#define PyArray_Item_XDECREF \ + (*(void (*)(char *, PyArray_Descr *)) \ + PyArray_API[121]) +#define PyArray_FieldNames \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[122]) +#define PyArray_Transpose \ + (*(PyObject * (*)(PyArrayObject *, PyArray_Dims *)) \ + PyArray_API[123]) +#define PyArray_TakeFrom \ + (*(PyObject * (*)(PyArrayObject *, PyObject *, int, PyArrayObject *, NPY_CLIPMODE)) \ + PyArray_API[124]) +#define PyArray_PutTo \ + (*(PyObject * (*)(PyArrayObject *, PyObject*, PyObject *, NPY_CLIPMODE)) \ + PyArray_API[125]) +#define PyArray_PutMask \ + (*(PyObject * (*)(PyArrayObject *, PyObject*, PyObject*)) \ + PyArray_API[126]) +#define PyArray_Repeat \ + (*(PyObject * (*)(PyArrayObject *, PyObject *, int)) \ + PyArray_API[127]) +#define PyArray_Choose \ + (*(PyObject * (*)(PyArrayObject *, PyObject *, PyArrayObject *, NPY_CLIPMODE)) \ + PyArray_API[128]) +#define PyArray_Sort \ + (*(int (*)(PyArrayObject *, int, NPY_SORTKIND)) \ + PyArray_API[129]) +#define PyArray_ArgSort \ + (*(PyObject * (*)(PyArrayObject *, int, NPY_SORTKIND)) \ + PyArray_API[130]) +#define PyArray_SearchSorted \ + (*(PyObject * (*)(PyArrayObject *, PyObject *, NPY_SEARCHSIDE, PyObject *)) \ + PyArray_API[131]) +#define PyArray_ArgMax \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[132]) +#define PyArray_ArgMin \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[133]) +#define PyArray_Reshape \ + (*(PyObject * (*)(PyArrayObject *, PyObject *)) \ + PyArray_API[134]) +#define PyArray_Newshape \ + (*(PyObject * (*)(PyArrayObject *, PyArray_Dims *, NPY_ORDER)) \ + PyArray_API[135]) +#define PyArray_Squeeze \ + (*(PyObject * (*)(PyArrayObject *)) \ + PyArray_API[136]) +#define PyArray_View \ + (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, PyTypeObject *)) \ + PyArray_API[137]) +#define PyArray_SwapAxes \ + (*(PyObject * (*)(PyArrayObject *, int, int)) \ + PyArray_API[138]) +#define PyArray_Max \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[139]) +#define PyArray_Min \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[140]) +#define PyArray_Ptp \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[141]) +#define PyArray_Mean \ + (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ + PyArray_API[142]) +#define PyArray_Trace \ + (*(PyObject * (*)(PyArrayObject *, int, int, int, int, PyArrayObject *)) \ + PyArray_API[143]) +#define PyArray_Diagonal \ + (*(PyObject * (*)(PyArrayObject *, int, int, int)) \ + PyArray_API[144]) +#define PyArray_Clip \ + (*(PyObject * (*)(PyArrayObject *, PyObject *, PyObject *, PyArrayObject *)) \ + PyArray_API[145]) +#define PyArray_Conjugate \ + (*(PyObject * (*)(PyArrayObject *, PyArrayObject *)) \ + PyArray_API[146]) +#define PyArray_Nonzero \ + (*(PyObject * (*)(PyArrayObject *)) \ + PyArray_API[147]) +#define PyArray_Std \ + (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *, int)) \ + PyArray_API[148]) +#define PyArray_Sum \ + (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ + PyArray_API[149]) +#define PyArray_CumSum \ + (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ + PyArray_API[150]) +#define PyArray_Prod \ + (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ + PyArray_API[151]) +#define PyArray_CumProd \ + (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ + PyArray_API[152]) +#define PyArray_All \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[153]) +#define PyArray_Any \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[154]) +#define PyArray_Compress \ + (*(PyObject * (*)(PyArrayObject *, PyObject *, int, PyArrayObject *)) \ + PyArray_API[155]) +#define PyArray_Flatten \ + (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ + PyArray_API[156]) +#define PyArray_Ravel \ + (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ + PyArray_API[157]) +#define PyArray_MultiplyList \ + (*(npy_intp (*)(npy_intp *, int)) \ + PyArray_API[158]) +#define PyArray_MultiplyIntList \ + (*(int (*)(int *, int)) \ + PyArray_API[159]) +#define PyArray_GetPtr \ + (*(void * (*)(PyArrayObject *, npy_intp*)) \ + PyArray_API[160]) +#define PyArray_CompareLists \ + (*(int (*)(npy_intp *, npy_intp *, int)) \ + PyArray_API[161]) +#define PyArray_AsCArray \ + (*(int (*)(PyObject **, void *, npy_intp *, int, PyArray_Descr*)) \ + PyArray_API[162]) +#define PyArray_As1D \ + (*(int (*)(PyObject **, char **, int *, int)) \ + PyArray_API[163]) +#define PyArray_As2D \ + (*(int (*)(PyObject **, char ***, int *, int *, int)) \ + PyArray_API[164]) +#define PyArray_Free \ + (*(int (*)(PyObject *, void *)) \ + PyArray_API[165]) +#define PyArray_Converter \ + (*(int (*)(PyObject *, PyObject **)) \ + PyArray_API[166]) +#define PyArray_IntpFromSequence \ + (*(int (*)(PyObject *, npy_intp *, int)) \ + PyArray_API[167]) +#define PyArray_Concatenate \ + (*(PyObject * (*)(PyObject *, int)) \ + PyArray_API[168]) +#define PyArray_InnerProduct \ + (*(PyObject * (*)(PyObject *, PyObject *)) \ + PyArray_API[169]) +#define PyArray_MatrixProduct \ + (*(PyObject * (*)(PyObject *, PyObject *)) \ + PyArray_API[170]) +#define PyArray_CopyAndTranspose \ + (*(PyObject * (*)(PyObject *)) \ + PyArray_API[171]) +#define PyArray_Correlate \ + (*(PyObject * (*)(PyObject *, PyObject *, int)) \ + PyArray_API[172]) +#define PyArray_TypestrConvert \ + (*(int (*)(int, int)) \ + PyArray_API[173]) +#define PyArray_DescrConverter \ + (*(int (*)(PyObject *, PyArray_Descr **)) \ + PyArray_API[174]) +#define PyArray_DescrConverter2 \ + (*(int (*)(PyObject *, PyArray_Descr **)) \ + PyArray_API[175]) +#define PyArray_IntpConverter \ + (*(int (*)(PyObject *, PyArray_Dims *)) \ + PyArray_API[176]) +#define PyArray_BufferConverter \ + (*(int (*)(PyObject *, PyArray_Chunk *)) \ + PyArray_API[177]) +#define PyArray_AxisConverter \ + (*(int (*)(PyObject *, int *)) \ + PyArray_API[178]) +#define PyArray_BoolConverter \ + (*(int (*)(PyObject *, npy_bool *)) \ + PyArray_API[179]) +#define PyArray_ByteorderConverter \ + (*(int (*)(PyObject *, char *)) \ + PyArray_API[180]) +#define PyArray_OrderConverter \ + (*(int (*)(PyObject *, NPY_ORDER *)) \ + PyArray_API[181]) +#define PyArray_EquivTypes \ + (*(unsigned char (*)(PyArray_Descr *, PyArray_Descr *)) \ + PyArray_API[182]) +#define PyArray_Zeros \ + (*(PyObject * (*)(int, npy_intp *, PyArray_Descr *, int)) \ + PyArray_API[183]) +#define PyArray_Empty \ + (*(PyObject * (*)(int, npy_intp *, PyArray_Descr *, int)) \ + PyArray_API[184]) +#define PyArray_Where \ + (*(PyObject * (*)(PyObject *, PyObject *, PyObject *)) \ + PyArray_API[185]) +#define PyArray_Arange \ + (*(PyObject * (*)(double, double, double, int)) \ + PyArray_API[186]) +#define PyArray_ArangeObj \ + (*(PyObject * (*)(PyObject *, PyObject *, PyObject *, PyArray_Descr *)) \ + PyArray_API[187]) +#define PyArray_SortkindConverter \ + (*(int (*)(PyObject *, NPY_SORTKIND *)) \ + PyArray_API[188]) +#define PyArray_LexSort \ + (*(PyObject * (*)(PyObject *, int)) \ + PyArray_API[189]) +#define PyArray_Round \ + (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ + PyArray_API[190]) +#define PyArray_EquivTypenums \ + (*(unsigned char (*)(int, int)) \ + PyArray_API[191]) +#define PyArray_RegisterDataType \ + (*(int (*)(PyArray_Descr *)) \ + PyArray_API[192]) +#define PyArray_RegisterCastFunc \ + (*(int (*)(PyArray_Descr *, int, PyArray_VectorUnaryFunc *)) \ + PyArray_API[193]) +#define PyArray_RegisterCanCast \ + (*(int (*)(PyArray_Descr *, int, NPY_SCALARKIND)) \ + PyArray_API[194]) +#define PyArray_InitArrFuncs \ + (*(void (*)(PyArray_ArrFuncs *)) \ + PyArray_API[195]) +#define PyArray_IntTupleFromIntp \ + (*(PyObject * (*)(int, npy_intp *)) \ + PyArray_API[196]) +#define PyArray_TypeNumFromName \ + (*(int (*)(char *)) \ + PyArray_API[197]) +#define PyArray_ClipmodeConverter \ + (*(int (*)(PyObject *, NPY_CLIPMODE *)) \ + PyArray_API[198]) +#define PyArray_OutputConverter \ + (*(int (*)(PyObject *, PyArrayObject **)) \ + PyArray_API[199]) +#define PyArray_BroadcastToShape \ + (*(PyObject * (*)(PyObject *, npy_intp *, int)) \ + PyArray_API[200]) +#define _PyArray_SigintHandler \ + (*(void (*)(int)) \ + PyArray_API[201]) +#define _PyArray_GetSigintBuf \ + (*(void* (*)(void)) \ + PyArray_API[202]) +#define PyArray_DescrAlignConverter \ + (*(int (*)(PyObject *, PyArray_Descr **)) \ + PyArray_API[203]) +#define PyArray_DescrAlignConverter2 \ + (*(int (*)(PyObject *, PyArray_Descr **)) \ + PyArray_API[204]) +#define PyArray_SearchsideConverter \ + (*(int (*)(PyObject *, void *)) \ + PyArray_API[205]) +#define PyArray_CheckAxis \ + (*(PyObject * (*)(PyArrayObject *, int *, int)) \ + PyArray_API[206]) +#define PyArray_OverflowMultiplyList \ + (*(npy_intp (*)(npy_intp *, int)) \ + PyArray_API[207]) +#define PyArray_CompareString \ + (*(int (*)(char *, char *, size_t)) \ + PyArray_API[208]) +#define PyArray_MultiIterFromObjects \ + (*(PyObject * (*)(PyObject **, int, int, ...)) \ + PyArray_API[209]) +#define PyArray_GetEndianness \ + (*(int (*)(void)) \ + PyArray_API[210]) +#define PyArray_GetNDArrayCFeatureVersion \ + (*(unsigned int (*)(void)) \ + PyArray_API[211]) +#define PyArray_Correlate2 \ + (*(PyObject * (*)(PyObject *, PyObject *, int)) \ + PyArray_API[212]) +#define PyArray_NeighborhoodIterNew \ + (*(PyObject* (*)(PyArrayIterObject *, npy_intp *, int, PyArrayObject*)) \ + PyArray_API[213]) +#define PyTimeIntegerArrType_Type (*(PyTypeObject *)PyArray_API[214]) +#define PyDatetimeArrType_Type (*(PyTypeObject *)PyArray_API[215]) +#define PyTimedeltaArrType_Type (*(PyTypeObject *)PyArray_API[216]) +#define PyHalfArrType_Type (*(PyTypeObject *)PyArray_API[217]) +#define NpyIter_Type (*(PyTypeObject *)PyArray_API[218]) +#define PyArray_SetDatetimeParseFunction \ + (*(void (*)(PyObject *)) \ + PyArray_API[219]) +#define PyArray_DatetimeToDatetimeStruct \ + (*(void (*)(npy_datetime, NPY_DATETIMEUNIT, npy_datetimestruct *)) \ + PyArray_API[220]) +#define PyArray_TimedeltaToTimedeltaStruct \ + (*(void (*)(npy_timedelta, NPY_DATETIMEUNIT, npy_timedeltastruct *)) \ + PyArray_API[221]) +#define PyArray_DatetimeStructToDatetime \ + (*(npy_datetime (*)(NPY_DATETIMEUNIT, npy_datetimestruct *)) \ + PyArray_API[222]) +#define PyArray_TimedeltaStructToTimedelta \ + (*(npy_datetime (*)(NPY_DATETIMEUNIT, npy_timedeltastruct *)) \ + PyArray_API[223]) +#define NpyIter_New \ + (*(NpyIter * (*)(PyArrayObject *, npy_uint32, NPY_ORDER, NPY_CASTING, PyArray_Descr*)) \ + PyArray_API[224]) +#define NpyIter_MultiNew \ + (*(NpyIter * (*)(int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **)) \ + PyArray_API[225]) +#define NpyIter_AdvancedNew \ + (*(NpyIter * (*)(int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **, int, int **, npy_intp *, npy_intp)) \ + PyArray_API[226]) +#define NpyIter_Copy \ + (*(NpyIter * (*)(NpyIter *)) \ + PyArray_API[227]) +#define NpyIter_Deallocate \ + (*(int (*)(NpyIter *)) \ + PyArray_API[228]) +#define NpyIter_HasDelayedBufAlloc \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[229]) +#define NpyIter_HasExternalLoop \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[230]) +#define NpyIter_EnableExternalLoop \ + (*(int (*)(NpyIter *)) \ + PyArray_API[231]) +#define NpyIter_GetInnerStrideArray \ + (*(npy_intp * (*)(NpyIter *)) \ + PyArray_API[232]) +#define NpyIter_GetInnerLoopSizePtr \ + (*(npy_intp * (*)(NpyIter *)) \ + PyArray_API[233]) +#define NpyIter_Reset \ + (*(int (*)(NpyIter *, char **)) \ + PyArray_API[234]) +#define NpyIter_ResetBasePointers \ + (*(int (*)(NpyIter *, char **, char **)) \ + PyArray_API[235]) +#define NpyIter_ResetToIterIndexRange \ + (*(int (*)(NpyIter *, npy_intp, npy_intp, char **)) \ + PyArray_API[236]) +#define NpyIter_GetNDim \ + (*(int (*)(NpyIter *)) \ + PyArray_API[237]) +#define NpyIter_GetNOp \ + (*(int (*)(NpyIter *)) \ + PyArray_API[238]) +#define NpyIter_GetIterNext \ + (*(NpyIter_IterNextFunc * (*)(NpyIter *, char **)) \ + PyArray_API[239]) +#define NpyIter_GetIterSize \ + (*(npy_intp (*)(NpyIter *)) \ + PyArray_API[240]) +#define NpyIter_GetIterIndexRange \ + (*(void (*)(NpyIter *, npy_intp *, npy_intp *)) \ + PyArray_API[241]) +#define NpyIter_GetIterIndex \ + (*(npy_intp (*)(NpyIter *)) \ + PyArray_API[242]) +#define NpyIter_GotoIterIndex \ + (*(int (*)(NpyIter *, npy_intp)) \ + PyArray_API[243]) +#define NpyIter_HasMultiIndex \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[244]) +#define NpyIter_GetShape \ + (*(int (*)(NpyIter *, npy_intp *)) \ + PyArray_API[245]) +#define NpyIter_GetGetMultiIndex \ + (*(NpyIter_GetMultiIndexFunc * (*)(NpyIter *, char **)) \ + PyArray_API[246]) +#define NpyIter_GotoMultiIndex \ + (*(int (*)(NpyIter *, npy_intp *)) \ + PyArray_API[247]) +#define NpyIter_RemoveMultiIndex \ + (*(int (*)(NpyIter *)) \ + PyArray_API[248]) +#define NpyIter_HasIndex \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[249]) +#define NpyIter_IsBuffered \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[250]) +#define NpyIter_IsGrowInner \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[251]) +#define NpyIter_GetBufferSize \ + (*(npy_intp (*)(NpyIter *)) \ + PyArray_API[252]) +#define NpyIter_GetIndexPtr \ + (*(npy_intp * (*)(NpyIter *)) \ + PyArray_API[253]) +#define NpyIter_GotoIndex \ + (*(int (*)(NpyIter *, npy_intp)) \ + PyArray_API[254]) +#define NpyIter_GetDataPtrArray \ + (*(char ** (*)(NpyIter *)) \ + PyArray_API[255]) +#define NpyIter_GetDescrArray \ + (*(PyArray_Descr ** (*)(NpyIter *)) \ + PyArray_API[256]) +#define NpyIter_GetOperandArray \ + (*(PyArrayObject ** (*)(NpyIter *)) \ + PyArray_API[257]) +#define NpyIter_GetIterView \ + (*(PyArrayObject * (*)(NpyIter *, npy_intp)) \ + PyArray_API[258]) +#define NpyIter_GetReadFlags \ + (*(void (*)(NpyIter *, char *)) \ + PyArray_API[259]) +#define NpyIter_GetWriteFlags \ + (*(void (*)(NpyIter *, char *)) \ + PyArray_API[260]) +#define NpyIter_DebugPrint \ + (*(void (*)(NpyIter *)) \ + PyArray_API[261]) +#define NpyIter_IterationNeedsAPI \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[262]) +#define NpyIter_GetInnerFixedStrideArray \ + (*(void (*)(NpyIter *, npy_intp *)) \ + PyArray_API[263]) +#define NpyIter_RemoveAxis \ + (*(int (*)(NpyIter *, int)) \ + PyArray_API[264]) +#define NpyIter_GetAxisStrideArray \ + (*(npy_intp * (*)(NpyIter *, int)) \ + PyArray_API[265]) +#define NpyIter_RequiresBuffering \ + (*(npy_bool (*)(NpyIter *)) \ + PyArray_API[266]) +#define NpyIter_GetInitialDataPtrArray \ + (*(char ** (*)(NpyIter *)) \ + PyArray_API[267]) +#define NpyIter_CreateCompatibleStrides \ + (*(int (*)(NpyIter *, npy_intp, npy_intp *)) \ + PyArray_API[268]) +#define PyArray_CastingConverter \ + (*(int (*)(PyObject *, NPY_CASTING *)) \ + PyArray_API[269]) +#define PyArray_CountNonzero \ + (*(npy_intp (*)(PyArrayObject *)) \ + PyArray_API[270]) +#define PyArray_PromoteTypes \ + (*(PyArray_Descr * (*)(PyArray_Descr *, PyArray_Descr *)) \ + PyArray_API[271]) +#define PyArray_MinScalarType \ + (*(PyArray_Descr * (*)(PyArrayObject *)) \ + PyArray_API[272]) +#define PyArray_ResultType \ + (*(PyArray_Descr * (*)(npy_intp, PyArrayObject **, npy_intp, PyArray_Descr **)) \ + PyArray_API[273]) +#define PyArray_CanCastArrayTo \ + (*(npy_bool (*)(PyArrayObject *, PyArray_Descr *, NPY_CASTING)) \ + PyArray_API[274]) +#define PyArray_CanCastTypeTo \ + (*(npy_bool (*)(PyArray_Descr *, PyArray_Descr *, NPY_CASTING)) \ + PyArray_API[275]) +#define PyArray_EinsteinSum \ + (*(PyArrayObject * (*)(char *, npy_intp, PyArrayObject **, PyArray_Descr *, NPY_ORDER, NPY_CASTING, PyArrayObject *)) \ + PyArray_API[276]) +#define PyArray_NewLikeArray \ + (*(PyObject * (*)(PyArrayObject *, NPY_ORDER, PyArray_Descr *, int)) \ + PyArray_API[277]) +#define PyArray_GetArrayParamsFromObject \ + (*(int (*)(PyObject *, PyArray_Descr *, npy_bool, PyArray_Descr **, int *, npy_intp *, PyArrayObject **, PyObject *)) \ + PyArray_API[278]) +#define PyArray_ConvertClipmodeSequence \ + (*(int (*)(PyObject *, NPY_CLIPMODE *, int)) \ + PyArray_API[279]) +#define PyArray_MatrixProduct2 \ + (*(PyObject * (*)(PyObject *, PyObject *, PyArrayObject*)) \ + PyArray_API[280]) +#define NpyIter_IsFirstVisit \ + (*(npy_bool (*)(NpyIter *, int)) \ + PyArray_API[281]) +#define PyArray_SetBaseObject \ + (*(int (*)(PyArrayObject *, PyObject *)) \ + PyArray_API[282]) +#define PyArray_CreateSortedStridePerm \ + (*(void (*)(int, npy_intp *, npy_stride_sort_item *)) \ + PyArray_API[283]) +#define PyArray_RemoveAxesInPlace \ + (*(void (*)(PyArrayObject *, npy_bool *)) \ + PyArray_API[284]) +#define PyArray_DebugPrint \ + (*(void (*)(PyArrayObject *)) \ + PyArray_API[285]) +#define PyArray_FailUnlessWriteable \ + (*(int (*)(PyArrayObject *, const char *)) \ + PyArray_API[286]) +#define PyArray_SetUpdateIfCopyBase \ + (*(int (*)(PyArrayObject *, PyArrayObject *)) \ + PyArray_API[287]) +#define PyDataMem_NEW \ + (*(void * (*)(size_t)) \ + PyArray_API[288]) +#define PyDataMem_FREE \ + (*(void (*)(void *)) \ + PyArray_API[289]) +#define PyDataMem_RENEW \ + (*(void * (*)(void *, size_t)) \ + PyArray_API[290]) +#define PyDataMem_SetEventHook \ + (*(PyDataMem_EventHookFunc * (*)(PyDataMem_EventHookFunc *, void *, void **)) \ + PyArray_API[291]) +#define NPY_DEFAULT_ASSIGN_CASTING (*(NPY_CASTING *)PyArray_API[292]) +#define PyArray_MapIterSwapAxes \ + (*(void (*)(PyArrayMapIterObject *, PyArrayObject **, int)) \ + PyArray_API[293]) +#define PyArray_MapIterArray \ + (*(PyObject * (*)(PyArrayObject *, PyObject *)) \ + PyArray_API[294]) +#define PyArray_MapIterNext \ + (*(void (*)(PyArrayMapIterObject *)) \ + PyArray_API[295]) +#define PyArray_Partition \ + (*(int (*)(PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND)) \ + PyArray_API[296]) +#define PyArray_ArgPartition \ + (*(PyObject * (*)(PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND)) \ + PyArray_API[297]) +#define PyArray_SelectkindConverter \ + (*(int (*)(PyObject *, NPY_SELECTKIND *)) \ + PyArray_API[298]) +#define PyDataMem_NEW_ZEROED \ + (*(void * (*)(size_t, size_t)) \ + PyArray_API[299]) + +#if !defined(NO_IMPORT_ARRAY) && !defined(NO_IMPORT) +static int +_import_array(void) +{ + int st; + PyObject *numpy = PyImport_ImportModule("numpy.core.multiarray"); + PyObject *c_api = NULL; + + if (numpy == NULL) { + PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); + return -1; + } + c_api = PyObject_GetAttrString(numpy, "_ARRAY_API"); + Py_DECREF(numpy); + if (c_api == NULL) { + PyErr_SetString(PyExc_AttributeError, "_ARRAY_API not found"); + return -1; + } + +#if PY_VERSION_HEX >= 0x03000000 + if (!PyCapsule_CheckExact(c_api)) { + PyErr_SetString(PyExc_RuntimeError, "_ARRAY_API is not PyCapsule object"); + Py_DECREF(c_api); + return -1; + } + PyArray_API = (void **)PyCapsule_GetPointer(c_api, NULL); +#else + if (!PyCObject_Check(c_api)) { + PyErr_SetString(PyExc_RuntimeError, "_ARRAY_API is not PyCObject object"); + Py_DECREF(c_api); + return -1; + } + PyArray_API = (void **)PyCObject_AsVoidPtr(c_api); +#endif + Py_DECREF(c_api); + if (PyArray_API == NULL) { + PyErr_SetString(PyExc_RuntimeError, "_ARRAY_API is NULL pointer"); + return -1; + } + + /* Perform runtime check of C API version */ + if (NPY_VERSION != PyArray_GetNDArrayCVersion()) { + PyErr_Format(PyExc_RuntimeError, "module compiled against "\ + "ABI version %x but this version of numpy is %x", \ + (int) NPY_VERSION, (int) PyArray_GetNDArrayCVersion()); + return -1; + } + if (NPY_FEATURE_VERSION > PyArray_GetNDArrayCFeatureVersion()) { + PyErr_Format(PyExc_RuntimeError, "module compiled against "\ + "API version %x but this version of numpy is %x", \ + (int) NPY_FEATURE_VERSION, (int) PyArray_GetNDArrayCFeatureVersion()); + return -1; + } + + /* + * Perform runtime check of endianness and check it matches the one set by + * the headers (npy_endian.h) as a safeguard + */ + st = PyArray_GetEndianness(); + if (st == NPY_CPU_UNKNOWN_ENDIAN) { + PyErr_Format(PyExc_RuntimeError, "FATAL: module compiled as unknown endian"); + return -1; + } +#if NPY_BYTE_ORDER == NPY_BIG_ENDIAN + if (st != NPY_CPU_BIG) { + PyErr_Format(PyExc_RuntimeError, "FATAL: module compiled as "\ + "big endian, but detected different endianness at runtime"); + return -1; + } +#elif NPY_BYTE_ORDER == NPY_LITTLE_ENDIAN + if (st != NPY_CPU_LITTLE) { + PyErr_Format(PyExc_RuntimeError, "FATAL: module compiled as "\ + "little endian, but detected different endianness at runtime"); + return -1; + } +#endif + + return 0; +} + +#if PY_VERSION_HEX >= 0x03000000 +#define NUMPY_IMPORT_ARRAY_RETVAL NULL +#else +#define NUMPY_IMPORT_ARRAY_RETVAL +#endif + +#define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } } + +#define import_array1(ret) {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return ret; } } + +#define import_array2(msg, ret) {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, msg); return ret; } } + +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h new file mode 100644 index 000000000..358523193 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h @@ -0,0 +1,328 @@ + +#ifdef _UMATHMODULE + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION +extern NPY_NO_EXPORT PyTypeObject PyUFunc_Type; +#else +NPY_NO_EXPORT PyTypeObject PyUFunc_Type; +#endif + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + extern NPY_NO_EXPORT PyTypeObject PyUFunc_Type; +#else + NPY_NO_EXPORT PyTypeObject PyUFunc_Type; +#endif + +NPY_NO_EXPORT PyObject * PyUFunc_FromFuncAndData \ + (PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int); +NPY_NO_EXPORT int PyUFunc_RegisterLoopForType \ + (PyUFuncObject *, int, PyUFuncGenericFunction, int *, void *); +NPY_NO_EXPORT int PyUFunc_GenericFunction \ + (PyUFuncObject *, PyObject *, PyObject *, PyArrayObject **); +NPY_NO_EXPORT void PyUFunc_f_f_As_d_d \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_d_d \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_f_f \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_g_g \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_F_F_As_D_D \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_F_F \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_D_D \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_G_G \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_O_O \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_ff_f_As_dd_d \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_ff_f \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_dd_d \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_gg_g \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_FF_F_As_DD_D \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_DD_D \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_FF_F \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_GG_G \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_OO_O \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_O_O_method \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_OO_O_method \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_On_Om \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT int PyUFunc_GetPyValues \ + (char *, int *, int *, PyObject **); +NPY_NO_EXPORT int PyUFunc_checkfperr \ + (int, PyObject *, int *); +NPY_NO_EXPORT void PyUFunc_clearfperr \ + (void); +NPY_NO_EXPORT int PyUFunc_getfperr \ + (void); +NPY_NO_EXPORT int PyUFunc_handlefperr \ + (int, PyObject *, int, int *); +NPY_NO_EXPORT int PyUFunc_ReplaceLoopBySignature \ + (PyUFuncObject *, PyUFuncGenericFunction, int *, PyUFuncGenericFunction *); +NPY_NO_EXPORT PyObject * PyUFunc_FromFuncAndDataAndSignature \ + (PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int, const char *); +NPY_NO_EXPORT int PyUFunc_SetUsesArraysAsData \ + (void **, size_t); +NPY_NO_EXPORT void PyUFunc_e_e \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_e_e_As_f_f \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_e_e_As_d_d \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_ee_e \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_ee_e_As_ff_f \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT void PyUFunc_ee_e_As_dd_d \ + (char **, npy_intp *, npy_intp *, void *); +NPY_NO_EXPORT int PyUFunc_DefaultTypeResolver \ + (PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyObject *, PyArray_Descr **); +NPY_NO_EXPORT int PyUFunc_ValidateCasting \ + (PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyArray_Descr **); +NPY_NO_EXPORT int PyUFunc_RegisterLoopForDescr \ + (PyUFuncObject *, PyArray_Descr *, PyUFuncGenericFunction, PyArray_Descr **, void *); + +#else + +#if defined(PY_UFUNC_UNIQUE_SYMBOL) +#define PyUFunc_API PY_UFUNC_UNIQUE_SYMBOL +#endif + +#if defined(NO_IMPORT) || defined(NO_IMPORT_UFUNC) +extern void **PyUFunc_API; +#else +#if defined(PY_UFUNC_UNIQUE_SYMBOL) +void **PyUFunc_API; +#else +static void **PyUFunc_API=NULL; +#endif +#endif + +#define PyUFunc_Type (*(PyTypeObject *)PyUFunc_API[0]) +#define PyUFunc_FromFuncAndData \ + (*(PyObject * (*)(PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int)) \ + PyUFunc_API[1]) +#define PyUFunc_RegisterLoopForType \ + (*(int (*)(PyUFuncObject *, int, PyUFuncGenericFunction, int *, void *)) \ + PyUFunc_API[2]) +#define PyUFunc_GenericFunction \ + (*(int (*)(PyUFuncObject *, PyObject *, PyObject *, PyArrayObject **)) \ + PyUFunc_API[3]) +#define PyUFunc_f_f_As_d_d \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[4]) +#define PyUFunc_d_d \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[5]) +#define PyUFunc_f_f \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[6]) +#define PyUFunc_g_g \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[7]) +#define PyUFunc_F_F_As_D_D \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[8]) +#define PyUFunc_F_F \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[9]) +#define PyUFunc_D_D \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[10]) +#define PyUFunc_G_G \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[11]) +#define PyUFunc_O_O \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[12]) +#define PyUFunc_ff_f_As_dd_d \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[13]) +#define PyUFunc_ff_f \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[14]) +#define PyUFunc_dd_d \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[15]) +#define PyUFunc_gg_g \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[16]) +#define PyUFunc_FF_F_As_DD_D \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[17]) +#define PyUFunc_DD_D \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[18]) +#define PyUFunc_FF_F \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[19]) +#define PyUFunc_GG_G \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[20]) +#define PyUFunc_OO_O \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[21]) +#define PyUFunc_O_O_method \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[22]) +#define PyUFunc_OO_O_method \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[23]) +#define PyUFunc_On_Om \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[24]) +#define PyUFunc_GetPyValues \ + (*(int (*)(char *, int *, int *, PyObject **)) \ + PyUFunc_API[25]) +#define PyUFunc_checkfperr \ + (*(int (*)(int, PyObject *, int *)) \ + PyUFunc_API[26]) +#define PyUFunc_clearfperr \ + (*(void (*)(void)) \ + PyUFunc_API[27]) +#define PyUFunc_getfperr \ + (*(int (*)(void)) \ + PyUFunc_API[28]) +#define PyUFunc_handlefperr \ + (*(int (*)(int, PyObject *, int, int *)) \ + PyUFunc_API[29]) +#define PyUFunc_ReplaceLoopBySignature \ + (*(int (*)(PyUFuncObject *, PyUFuncGenericFunction, int *, PyUFuncGenericFunction *)) \ + PyUFunc_API[30]) +#define PyUFunc_FromFuncAndDataAndSignature \ + (*(PyObject * (*)(PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int, const char *)) \ + PyUFunc_API[31]) +#define PyUFunc_SetUsesArraysAsData \ + (*(int (*)(void **, size_t)) \ + PyUFunc_API[32]) +#define PyUFunc_e_e \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[33]) +#define PyUFunc_e_e_As_f_f \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[34]) +#define PyUFunc_e_e_As_d_d \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[35]) +#define PyUFunc_ee_e \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[36]) +#define PyUFunc_ee_e_As_ff_f \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[37]) +#define PyUFunc_ee_e_As_dd_d \ + (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ + PyUFunc_API[38]) +#define PyUFunc_DefaultTypeResolver \ + (*(int (*)(PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyObject *, PyArray_Descr **)) \ + PyUFunc_API[39]) +#define PyUFunc_ValidateCasting \ + (*(int (*)(PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyArray_Descr **)) \ + PyUFunc_API[40]) +#define PyUFunc_RegisterLoopForDescr \ + (*(int (*)(PyUFuncObject *, PyArray_Descr *, PyUFuncGenericFunction, PyArray_Descr **, void *)) \ + PyUFunc_API[41]) + +static int +_import_umath(void) +{ + PyObject *numpy = PyImport_ImportModule("numpy.core.umath"); + PyObject *c_api = NULL; + + if (numpy == NULL) { + PyErr_SetString(PyExc_ImportError, "numpy.core.umath failed to import"); + return -1; + } + c_api = PyObject_GetAttrString(numpy, "_UFUNC_API"); + Py_DECREF(numpy); + if (c_api == NULL) { + PyErr_SetString(PyExc_AttributeError, "_UFUNC_API not found"); + return -1; + } + +#if PY_VERSION_HEX >= 0x03000000 + if (!PyCapsule_CheckExact(c_api)) { + PyErr_SetString(PyExc_RuntimeError, "_UFUNC_API is not PyCapsule object"); + Py_DECREF(c_api); + return -1; + } + PyUFunc_API = (void **)PyCapsule_GetPointer(c_api, NULL); +#else + if (!PyCObject_Check(c_api)) { + PyErr_SetString(PyExc_RuntimeError, "_UFUNC_API is not PyCObject object"); + Py_DECREF(c_api); + return -1; + } + PyUFunc_API = (void **)PyCObject_AsVoidPtr(c_api); +#endif + Py_DECREF(c_api); + if (PyUFunc_API == NULL) { + PyErr_SetString(PyExc_RuntimeError, "_UFUNC_API is NULL pointer"); + return -1; + } + return 0; +} + +#if PY_VERSION_HEX >= 0x03000000 +#define NUMPY_IMPORT_UMATH_RETVAL NULL +#else +#define NUMPY_IMPORT_UMATH_RETVAL +#endif + +#define import_umath() \ + do {\ + UFUNC_NOFPE\ + if (_import_umath() < 0) {\ + PyErr_Print();\ + PyErr_SetString(PyExc_ImportError,\ + "numpy.core.umath failed to import");\ + return NUMPY_IMPORT_UMATH_RETVAL;\ + }\ + } while(0) + +#define import_umath1(ret) \ + do {\ + UFUNC_NOFPE\ + if (_import_umath() < 0) {\ + PyErr_Print();\ + PyErr_SetString(PyExc_ImportError,\ + "numpy.core.umath failed to import");\ + return ret;\ + }\ + } while(0) + +#define import_umath2(ret, msg) \ + do {\ + UFUNC_NOFPE\ + if (_import_umath() < 0) {\ + PyErr_Print();\ + PyErr_SetString(PyExc_ImportError, msg);\ + return ret;\ + }\ + } while(0) + +#define import_ufunc() \ + do {\ + UFUNC_NOFPE\ + if (_import_umath() < 0) {\ + PyErr_Print();\ + PyErr_SetString(PyExc_ImportError,\ + "numpy.core.umath failed to import");\ + }\ + } while(0) + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h b/gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h new file mode 100644 index 000000000..e8860cbc7 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h @@ -0,0 +1,90 @@ +#ifndef _NPY_INCLUDE_NEIGHBORHOOD_IMP +#error You should not include this header directly +#endif +/* + * Private API (here for inline) + */ +static NPY_INLINE int +_PyArrayNeighborhoodIter_IncrCoord(PyArrayNeighborhoodIterObject* iter); + +/* + * Update to next item of the iterator + * + * Note: this simply increment the coordinates vector, last dimension + * incremented first , i.e, for dimension 3 + * ... + * -1, -1, -1 + * -1, -1, 0 + * -1, -1, 1 + * .... + * -1, 0, -1 + * -1, 0, 0 + * .... + * 0, -1, -1 + * 0, -1, 0 + * .... + */ +#define _UPDATE_COORD_ITER(c) \ + wb = iter->coordinates[c] < iter->bounds[c][1]; \ + if (wb) { \ + iter->coordinates[c] += 1; \ + return 0; \ + } \ + else { \ + iter->coordinates[c] = iter->bounds[c][0]; \ + } + +static NPY_INLINE int +_PyArrayNeighborhoodIter_IncrCoord(PyArrayNeighborhoodIterObject* iter) +{ + npy_intp i, wb; + + for (i = iter->nd - 1; i >= 0; --i) { + _UPDATE_COORD_ITER(i) + } + + return 0; +} + +/* + * Version optimized for 2d arrays, manual loop unrolling + */ +static NPY_INLINE int +_PyArrayNeighborhoodIter_IncrCoord2D(PyArrayNeighborhoodIterObject* iter) +{ + npy_intp wb; + + _UPDATE_COORD_ITER(1) + _UPDATE_COORD_ITER(0) + + return 0; +} +#undef _UPDATE_COORD_ITER + +/* + * Advance to the next neighbour + */ +static NPY_INLINE int +PyArrayNeighborhoodIter_Next(PyArrayNeighborhoodIterObject* iter) +{ + _PyArrayNeighborhoodIter_IncrCoord (iter); + iter->dataptr = iter->translate((PyArrayIterObject*)iter, iter->coordinates); + + return 0; +} + +/* + * Reset functions + */ +static NPY_INLINE int +PyArrayNeighborhoodIter_Reset(PyArrayNeighborhoodIterObject* iter) +{ + npy_intp i; + + for (i = 0; i < iter->nd; ++i) { + iter->coordinates[i] = iter->bounds[i][0]; + } + iter->dataptr = iter->translate((PyArrayIterObject*)iter, iter->coordinates); + + return 0; +} diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h b/gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h new file mode 100644 index 000000000..79ccc2904 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h @@ -0,0 +1,32 @@ +#define NPY_HAVE_ENDIAN_H 1 +#define NPY_SIZEOF_SHORT SIZEOF_SHORT +#define NPY_SIZEOF_INT SIZEOF_INT +#define NPY_SIZEOF_LONG SIZEOF_LONG +#define NPY_SIZEOF_FLOAT 4 +#define NPY_SIZEOF_COMPLEX_FLOAT 8 +#define NPY_SIZEOF_DOUBLE 8 +#define NPY_SIZEOF_COMPLEX_DOUBLE 16 +#define NPY_SIZEOF_LONGDOUBLE 16 +#define NPY_SIZEOF_COMPLEX_LONGDOUBLE 32 +#define NPY_SIZEOF_PY_INTPTR_T 8 +#define NPY_SIZEOF_OFF_T 8 +#define NPY_SIZEOF_PY_LONG_LONG 8 +#define NPY_SIZEOF_LONGLONG 8 +#define NPY_NO_SMP 0 +#define NPY_HAVE_DECL_ISNAN +#define NPY_HAVE_DECL_ISINF +#define NPY_HAVE_DECL_ISFINITE +#define NPY_HAVE_DECL_SIGNBIT +#define NPY_USE_C99_COMPLEX 1 +#define NPY_HAVE_COMPLEX_DOUBLE 1 +#define NPY_HAVE_COMPLEX_FLOAT 1 +#define NPY_HAVE_COMPLEX_LONG_DOUBLE 1 +#define NPY_ENABLE_SEPARATE_COMPILATION 1 +#define NPY_USE_C99_FORMATS 1 +#define NPY_VISIBILITY_HIDDEN __attribute__((visibility("hidden"))) +#define NPY_ABI_VERSION 0x01000009 +#define NPY_API_VERSION 0x00000009 + +#ifndef __STDC_FORMAT_MACROS +#define __STDC_FORMAT_MACROS 1 +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h b/gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h new file mode 100644 index 000000000..4f46d6b1a --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h @@ -0,0 +1,11 @@ +#ifndef Py_ARRAYOBJECT_H +#define Py_ARRAYOBJECT_H + +#include "ndarrayobject.h" +#include "npy_interrupt.h" + +#ifdef NPY_NO_PREFIX +#include "noprefix.h" +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h b/gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h new file mode 100644 index 000000000..64450e713 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h @@ -0,0 +1,175 @@ +#ifndef _NPY_ARRAYSCALARS_H_ +#define _NPY_ARRAYSCALARS_H_ + +#ifndef _MULTIARRAYMODULE +typedef struct { + PyObject_HEAD + npy_bool obval; +} PyBoolScalarObject; +#endif + + +typedef struct { + PyObject_HEAD + signed char obval; +} PyByteScalarObject; + + +typedef struct { + PyObject_HEAD + short obval; +} PyShortScalarObject; + + +typedef struct { + PyObject_HEAD + int obval; +} PyIntScalarObject; + + +typedef struct { + PyObject_HEAD + long obval; +} PyLongScalarObject; + + +typedef struct { + PyObject_HEAD + npy_longlong obval; +} PyLongLongScalarObject; + + +typedef struct { + PyObject_HEAD + unsigned char obval; +} PyUByteScalarObject; + + +typedef struct { + PyObject_HEAD + unsigned short obval; +} PyUShortScalarObject; + + +typedef struct { + PyObject_HEAD + unsigned int obval; +} PyUIntScalarObject; + + +typedef struct { + PyObject_HEAD + unsigned long obval; +} PyULongScalarObject; + + +typedef struct { + PyObject_HEAD + npy_ulonglong obval; +} PyULongLongScalarObject; + + +typedef struct { + PyObject_HEAD + npy_half obval; +} PyHalfScalarObject; + + +typedef struct { + PyObject_HEAD + float obval; +} PyFloatScalarObject; + + +typedef struct { + PyObject_HEAD + double obval; +} PyDoubleScalarObject; + + +typedef struct { + PyObject_HEAD + npy_longdouble obval; +} PyLongDoubleScalarObject; + + +typedef struct { + PyObject_HEAD + npy_cfloat obval; +} PyCFloatScalarObject; + + +typedef struct { + PyObject_HEAD + npy_cdouble obval; +} PyCDoubleScalarObject; + + +typedef struct { + PyObject_HEAD + npy_clongdouble obval; +} PyCLongDoubleScalarObject; + + +typedef struct { + PyObject_HEAD + PyObject * obval; +} PyObjectScalarObject; + +typedef struct { + PyObject_HEAD + npy_datetime obval; + PyArray_DatetimeMetaData obmeta; +} PyDatetimeScalarObject; + +typedef struct { + PyObject_HEAD + npy_timedelta obval; + PyArray_DatetimeMetaData obmeta; +} PyTimedeltaScalarObject; + + +typedef struct { + PyObject_HEAD + char obval; +} PyScalarObject; + +#define PyStringScalarObject PyStringObject +#define PyUnicodeScalarObject PyUnicodeObject + +typedef struct { + PyObject_VAR_HEAD + char *obval; + PyArray_Descr *descr; + int flags; + PyObject *base; +} PyVoidScalarObject; + +/* Macros + PyScalarObject + PyArrType_Type + are defined in ndarrayobject.h +*/ + +#define PyArrayScalar_False ((PyObject *)(&(_PyArrayScalar_BoolValues[0]))) +#define PyArrayScalar_True ((PyObject *)(&(_PyArrayScalar_BoolValues[1]))) +#define PyArrayScalar_FromLong(i) \ + ((PyObject *)(&(_PyArrayScalar_BoolValues[((i)!=0)]))) +#define PyArrayScalar_RETURN_BOOL_FROM_LONG(i) \ + return Py_INCREF(PyArrayScalar_FromLong(i)), \ + PyArrayScalar_FromLong(i) +#define PyArrayScalar_RETURN_FALSE \ + return Py_INCREF(PyArrayScalar_False), \ + PyArrayScalar_False +#define PyArrayScalar_RETURN_TRUE \ + return Py_INCREF(PyArrayScalar_True), \ + PyArrayScalar_True + +#define PyArrayScalar_New(cls) \ + Py##cls##ArrType_Type.tp_alloc(&Py##cls##ArrType_Type, 0) +#define PyArrayScalar_VAL(obj, cls) \ + ((Py##cls##ScalarObject *)obj)->obval +#define PyArrayScalar_ASSIGN(obj, cls, val) \ + PyArrayScalar_VAL(obj, cls) = val + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h b/gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h new file mode 100644 index 000000000..944f0ea34 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h @@ -0,0 +1,69 @@ +#ifndef __NPY_HALFFLOAT_H__ +#define __NPY_HALFFLOAT_H__ + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Half-precision routines + */ + +/* Conversions */ +float npy_half_to_float(npy_half h); +double npy_half_to_double(npy_half h); +npy_half npy_float_to_half(float f); +npy_half npy_double_to_half(double d); +/* Comparisons */ +int npy_half_eq(npy_half h1, npy_half h2); +int npy_half_ne(npy_half h1, npy_half h2); +int npy_half_le(npy_half h1, npy_half h2); +int npy_half_lt(npy_half h1, npy_half h2); +int npy_half_ge(npy_half h1, npy_half h2); +int npy_half_gt(npy_half h1, npy_half h2); +/* faster *_nonan variants for when you know h1 and h2 are not NaN */ +int npy_half_eq_nonan(npy_half h1, npy_half h2); +int npy_half_lt_nonan(npy_half h1, npy_half h2); +int npy_half_le_nonan(npy_half h1, npy_half h2); +/* Miscellaneous functions */ +int npy_half_iszero(npy_half h); +int npy_half_isnan(npy_half h); +int npy_half_isinf(npy_half h); +int npy_half_isfinite(npy_half h); +int npy_half_signbit(npy_half h); +npy_half npy_half_copysign(npy_half x, npy_half y); +npy_half npy_half_spacing(npy_half h); +npy_half npy_half_nextafter(npy_half x, npy_half y); + +/* + * Half-precision constants + */ + +#define NPY_HALF_ZERO (0x0000u) +#define NPY_HALF_PZERO (0x0000u) +#define NPY_HALF_NZERO (0x8000u) +#define NPY_HALF_ONE (0x3c00u) +#define NPY_HALF_NEGONE (0xbc00u) +#define NPY_HALF_PINF (0x7c00u) +#define NPY_HALF_NINF (0xfc00u) +#define NPY_HALF_NAN (0x7e00u) + +#define NPY_MAX_HALF (0x7bffu) + +/* + * Bit-level conversions + */ + +npy_uint16 npy_floatbits_to_halfbits(npy_uint32 f); +npy_uint16 npy_doublebits_to_halfbits(npy_uint64 d); +npy_uint32 npy_halfbits_to_floatbits(npy_uint16 h); +npy_uint64 npy_halfbits_to_doublebits(npy_uint16 h); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt b/gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt new file mode 100644 index 000000000..33bc88ca9 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt @@ -0,0 +1,2430 @@ + +=========== +Numpy C-API +=========== +:: + + unsigned int + PyArray_GetNDArrayCVersion(void ) + + +Included at the very first so not auto-grabbed and thus not labeled. + +:: + + int + PyArray_SetNumericOps(PyObject *dict) + +Set internal structure with number functions that all arrays will use + +:: + + PyObject * + PyArray_GetNumericOps(void ) + +Get dictionary showing number functions that all arrays will use + +:: + + int + PyArray_INCREF(PyArrayObject *mp) + +For object arrays, increment all internal references. + +:: + + int + PyArray_XDECREF(PyArrayObject *mp) + +Decrement all internal references for object arrays. +(or arrays with object fields) + +:: + + void + PyArray_SetStringFunction(PyObject *op, int repr) + +Set the array print function to be a Python function. + +:: + + PyArray_Descr * + PyArray_DescrFromType(int type) + +Get the PyArray_Descr structure for a type. + +:: + + PyObject * + PyArray_TypeObjectFromType(int type) + +Get a typeobject from a type-number -- can return NULL. + +New reference + +:: + + char * + PyArray_Zero(PyArrayObject *arr) + +Get pointer to zero of correct type for array. + +:: + + char * + PyArray_One(PyArrayObject *arr) + +Get pointer to one of correct type for array + +:: + + PyObject * + PyArray_CastToType(PyArrayObject *arr, PyArray_Descr *dtype, int + is_f_order) + +For backward compatibility + +Cast an array using typecode structure. +steals reference to at --- cannot be NULL + +This function always makes a copy of arr, even if the dtype +doesn't change. + +:: + + int + PyArray_CastTo(PyArrayObject *out, PyArrayObject *mp) + +Cast to an already created array. + +:: + + int + PyArray_CastAnyTo(PyArrayObject *out, PyArrayObject *mp) + +Cast to an already created array. Arrays don't have to be "broadcastable" +Only requirement is they have the same number of elements. + +:: + + int + PyArray_CanCastSafely(int fromtype, int totype) + +Check the type coercion rules. + +:: + + npy_bool + PyArray_CanCastTo(PyArray_Descr *from, PyArray_Descr *to) + +leaves reference count alone --- cannot be NULL + +PyArray_CanCastTypeTo is equivalent to this, but adds a 'casting' +parameter. + +:: + + int + PyArray_ObjectType(PyObject *op, int minimum_type) + +Return the typecode of the array a Python object would be converted to + +Returns the type number the result should have, or NPY_NOTYPE on error. + +:: + + PyArray_Descr * + PyArray_DescrFromObject(PyObject *op, PyArray_Descr *mintype) + +new reference -- accepts NULL for mintype + +:: + + PyArrayObject ** + PyArray_ConvertToCommonType(PyObject *op, int *retn) + + +:: + + PyArray_Descr * + PyArray_DescrFromScalar(PyObject *sc) + +Return descr object from array scalar. + +New reference + +:: + + PyArray_Descr * + PyArray_DescrFromTypeObject(PyObject *type) + + +:: + + npy_intp + PyArray_Size(PyObject *op) + +Compute the size of an array (in number of items) + +:: + + PyObject * + PyArray_Scalar(void *data, PyArray_Descr *descr, PyObject *base) + +Get scalar-equivalent to a region of memory described by a descriptor. + +:: + + PyObject * + PyArray_FromScalar(PyObject *scalar, PyArray_Descr *outcode) + +Get 0-dim array from scalar + +0-dim array from array-scalar object +always contains a copy of the data +unless outcode is NULL, it is of void type and the referrer does +not own it either. + +steals reference to outcode + +:: + + void + PyArray_ScalarAsCtype(PyObject *scalar, void *ctypeptr) + +Convert to c-type + +no error checking is performed -- ctypeptr must be same type as scalar +in case of flexible type, the data is not copied +into ctypeptr which is expected to be a pointer to pointer + +:: + + int + PyArray_CastScalarToCtype(PyObject *scalar, void + *ctypeptr, PyArray_Descr *outcode) + +Cast Scalar to c-type + +The output buffer must be large-enough to receive the value +Even for flexible types which is different from ScalarAsCtype +where only a reference for flexible types is returned + +This may not work right on narrow builds for NumPy unicode scalars. + +:: + + int + PyArray_CastScalarDirect(PyObject *scalar, PyArray_Descr + *indescr, void *ctypeptr, int outtype) + +Cast Scalar to c-type + +:: + + PyObject * + PyArray_ScalarFromObject(PyObject *object) + +Get an Array Scalar From a Python Object + +Returns NULL if unsuccessful but error is only set if another error occurred. +Currently only Numeric-like object supported. + +:: + + PyArray_VectorUnaryFunc * + PyArray_GetCastFunc(PyArray_Descr *descr, int type_num) + +Get a cast function to cast from the input descriptor to the +output type_number (must be a registered data-type). +Returns NULL if un-successful. + +:: + + PyObject * + PyArray_FromDims(int nd, int *d, int type) + +Construct an empty array from dimensions and typenum + +:: + + PyObject * + PyArray_FromDimsAndDataAndDescr(int nd, int *d, PyArray_Descr + *descr, char *data) + +Like FromDimsAndData but uses the Descr structure instead of typecode +as input. + +:: + + PyObject * + PyArray_FromAny(PyObject *op, PyArray_Descr *newtype, int + min_depth, int max_depth, int flags, PyObject + *context) + +Does not check for NPY_ARRAY_ENSURECOPY and NPY_ARRAY_NOTSWAPPED in flags +Steals a reference to newtype --- which can be NULL + +:: + + PyObject * + PyArray_EnsureArray(PyObject *op) + +This is a quick wrapper around PyArray_FromAny(op, NULL, 0, 0, ENSUREARRAY) +that special cases Arrays and PyArray_Scalars up front +It *steals a reference* to the object +It also guarantees that the result is PyArray_Type +Because it decrefs op if any conversion needs to take place +so it can be used like PyArray_EnsureArray(some_function(...)) + +:: + + PyObject * + PyArray_EnsureAnyArray(PyObject *op) + + +:: + + PyObject * + PyArray_FromFile(FILE *fp, PyArray_Descr *dtype, npy_intp num, char + *sep) + + +Given a ``FILE *`` pointer ``fp``, and a ``PyArray_Descr``, return an +array corresponding to the data encoded in that file. + +If the dtype is NULL, the default array type is used (double). +If non-null, the reference is stolen. + +The number of elements to read is given as ``num``; if it is < 0, then +then as many as possible are read. + +If ``sep`` is NULL or empty, then binary data is assumed, else +text data, with ``sep`` as the separator between elements. Whitespace in +the separator matches any length of whitespace in the text, and a match +for whitespace around the separator is added. + +For memory-mapped files, use the buffer interface. No more data than +necessary is read by this routine. + +:: + + PyObject * + PyArray_FromString(char *data, npy_intp slen, PyArray_Descr + *dtype, npy_intp num, char *sep) + + +Given a pointer to a string ``data``, a string length ``slen``, and +a ``PyArray_Descr``, return an array corresponding to the data +encoded in that string. + +If the dtype is NULL, the default array type is used (double). +If non-null, the reference is stolen. + +If ``slen`` is < 0, then the end of string is used for text data. +It is an error for ``slen`` to be < 0 for binary data (since embedded NULLs +would be the norm). + +The number of elements to read is given as ``num``; if it is < 0, then +then as many as possible are read. + +If ``sep`` is NULL or empty, then binary data is assumed, else +text data, with ``sep`` as the separator between elements. Whitespace in +the separator matches any length of whitespace in the text, and a match +for whitespace around the separator is added. + +:: + + PyObject * + PyArray_FromBuffer(PyObject *buf, PyArray_Descr *type, npy_intp + count, npy_intp offset) + + +:: + + PyObject * + PyArray_FromIter(PyObject *obj, PyArray_Descr *dtype, npy_intp count) + + +steals a reference to dtype (which cannot be NULL) + +:: + + PyObject * + PyArray_Return(PyArrayObject *mp) + + +Return either an array or the appropriate Python object if the array +is 0d and matches a Python type. + +:: + + PyObject * + PyArray_GetField(PyArrayObject *self, PyArray_Descr *typed, int + offset) + +Get a subset of bytes from each element of the array + +:: + + int + PyArray_SetField(PyArrayObject *self, PyArray_Descr *dtype, int + offset, PyObject *val) + +Set a subset of bytes from each element of the array + +:: + + PyObject * + PyArray_Byteswap(PyArrayObject *self, npy_bool inplace) + + +:: + + PyObject * + PyArray_Resize(PyArrayObject *self, PyArray_Dims *newshape, int + refcheck, NPY_ORDER order) + +Resize (reallocate data). Only works if nothing else is referencing this +array and it is contiguous. If refcheck is 0, then the reference count is +not checked and assumed to be 1. You still must own this data and have no +weak-references and no base object. + +:: + + int + PyArray_MoveInto(PyArrayObject *dst, PyArrayObject *src) + +Move the memory of one array into another, allowing for overlapping data. + +Returns 0 on success, negative on failure. + +:: + + int + PyArray_CopyInto(PyArrayObject *dst, PyArrayObject *src) + +Copy an Array into another array. +Broadcast to the destination shape if necessary. + +Returns 0 on success, -1 on failure. + +:: + + int + PyArray_CopyAnyInto(PyArrayObject *dst, PyArrayObject *src) + +Copy an Array into another array -- memory must not overlap +Does not require src and dest to have "broadcastable" shapes +(only the same number of elements). + +TODO: For NumPy 2.0, this could accept an order parameter which +only allows NPY_CORDER and NPY_FORDER. Could also rename +this to CopyAsFlat to make the name more intuitive. + +Returns 0 on success, -1 on error. + +:: + + int + PyArray_CopyObject(PyArrayObject *dest, PyObject *src_object) + + +:: + + PyObject * + PyArray_NewCopy(PyArrayObject *obj, NPY_ORDER order) + +Copy an array. + +:: + + PyObject * + PyArray_ToList(PyArrayObject *self) + +To List + +:: + + PyObject * + PyArray_ToString(PyArrayObject *self, NPY_ORDER order) + + +:: + + int + PyArray_ToFile(PyArrayObject *self, FILE *fp, char *sep, char *format) + +To File + +:: + + int + PyArray_Dump(PyObject *self, PyObject *file, int protocol) + + +:: + + PyObject * + PyArray_Dumps(PyObject *self, int protocol) + + +:: + + int + PyArray_ValidType(int type) + +Is the typenum valid? + +:: + + void + PyArray_UpdateFlags(PyArrayObject *ret, int flagmask) + +Update Several Flags at once. + +:: + + PyObject * + PyArray_New(PyTypeObject *subtype, int nd, npy_intp *dims, int + type_num, npy_intp *strides, void *data, int itemsize, int + flags, PyObject *obj) + +Generic new array creation routine. + +:: + + PyObject * + PyArray_NewFromDescr(PyTypeObject *subtype, PyArray_Descr *descr, int + nd, npy_intp *dims, npy_intp *strides, void + *data, int flags, PyObject *obj) + +Generic new array creation routine. + +steals a reference to descr (even on failure) + +:: + + PyArray_Descr * + PyArray_DescrNew(PyArray_Descr *base) + +base cannot be NULL + +:: + + PyArray_Descr * + PyArray_DescrNewFromType(int type_num) + + +:: + + double + PyArray_GetPriority(PyObject *obj, double default_) + +Get Priority from object + +:: + + PyObject * + PyArray_IterNew(PyObject *obj) + +Get Iterator. + +:: + + PyObject * + PyArray_MultiIterNew(int n, ... ) + +Get MultiIterator, + +:: + + int + PyArray_PyIntAsInt(PyObject *o) + + +:: + + npy_intp + PyArray_PyIntAsIntp(PyObject *o) + + +:: + + int + PyArray_Broadcast(PyArrayMultiIterObject *mit) + + +:: + + void + PyArray_FillObjectArray(PyArrayObject *arr, PyObject *obj) + +Assumes contiguous + +:: + + int + PyArray_FillWithScalar(PyArrayObject *arr, PyObject *obj) + + +:: + + npy_bool + PyArray_CheckStrides(int elsize, int nd, npy_intp numbytes, npy_intp + offset, npy_intp *dims, npy_intp *newstrides) + + +:: + + PyArray_Descr * + PyArray_DescrNewByteorder(PyArray_Descr *self, char newendian) + + +returns a copy of the PyArray_Descr structure with the byteorder +altered: +no arguments: The byteorder is swapped (in all subfields as well) +single argument: The byteorder is forced to the given state +(in all subfields as well) + +Valid states: ('big', '>') or ('little' or '<') +('native', or '=') + +If a descr structure with | is encountered it's own +byte-order is not changed but any fields are: + + +Deep bytorder change of a data-type descriptor +Leaves reference count of self unchanged --- does not DECREF self *** + +:: + + PyObject * + PyArray_IterAllButAxis(PyObject *obj, int *inaxis) + +Get Iterator that iterates over all but one axis (don't use this with +PyArray_ITER_GOTO1D). The axis will be over-written if negative +with the axis having the smallest stride. + +:: + + PyObject * + PyArray_CheckFromAny(PyObject *op, PyArray_Descr *descr, int + min_depth, int max_depth, int requires, PyObject + *context) + +steals a reference to descr -- accepts NULL + +:: + + PyObject * + PyArray_FromArray(PyArrayObject *arr, PyArray_Descr *newtype, int + flags) + +steals reference to newtype --- acc. NULL + +:: + + PyObject * + PyArray_FromInterface(PyObject *origin) + + +:: + + PyObject * + PyArray_FromStructInterface(PyObject *input) + + +:: + + PyObject * + PyArray_FromArrayAttr(PyObject *op, PyArray_Descr *typecode, PyObject + *context) + + +:: + + NPY_SCALARKIND + PyArray_ScalarKind(int typenum, PyArrayObject **arr) + +ScalarKind + +Returns the scalar kind of a type number, with an +optional tweak based on the scalar value itself. +If no scalar is provided, it returns INTPOS_SCALAR +for both signed and unsigned integers, otherwise +it checks the sign of any signed integer to choose +INTNEG_SCALAR when appropriate. + +:: + + int + PyArray_CanCoerceScalar(int thistype, int neededtype, NPY_SCALARKIND + scalar) + + +Determines whether the data type 'thistype', with +scalar kind 'scalar', can be coerced into 'neededtype'. + +:: + + PyObject * + PyArray_NewFlagsObject(PyObject *obj) + + +Get New ArrayFlagsObject + +:: + + npy_bool + PyArray_CanCastScalar(PyTypeObject *from, PyTypeObject *to) + +See if array scalars can be cast. + +TODO: For NumPy 2.0, add a NPY_CASTING parameter. + +:: + + int + PyArray_CompareUCS4(npy_ucs4 *s1, npy_ucs4 *s2, size_t len) + + +:: + + int + PyArray_RemoveSmallest(PyArrayMultiIterObject *multi) + +Adjusts previously broadcasted iterators so that the axis with +the smallest sum of iterator strides is not iterated over. +Returns dimension which is smallest in the range [0,multi->nd). +A -1 is returned if multi->nd == 0. + +don't use with PyArray_ITER_GOTO1D because factors are not adjusted + +:: + + int + PyArray_ElementStrides(PyObject *obj) + + +:: + + void + PyArray_Item_INCREF(char *data, PyArray_Descr *descr) + + +:: + + void + PyArray_Item_XDECREF(char *data, PyArray_Descr *descr) + + +:: + + PyObject * + PyArray_FieldNames(PyObject *fields) + +Return the tuple of ordered field names from a dictionary. + +:: + + PyObject * + PyArray_Transpose(PyArrayObject *ap, PyArray_Dims *permute) + +Return Transpose. + +:: + + PyObject * + PyArray_TakeFrom(PyArrayObject *self0, PyObject *indices0, int + axis, PyArrayObject *out, NPY_CLIPMODE clipmode) + +Take + +:: + + PyObject * + PyArray_PutTo(PyArrayObject *self, PyObject*values0, PyObject + *indices0, NPY_CLIPMODE clipmode) + +Put values into an array + +:: + + PyObject * + PyArray_PutMask(PyArrayObject *self, PyObject*values0, PyObject*mask0) + +Put values into an array according to a mask. + +:: + + PyObject * + PyArray_Repeat(PyArrayObject *aop, PyObject *op, int axis) + +Repeat the array. + +:: + + PyObject * + PyArray_Choose(PyArrayObject *ip, PyObject *op, PyArrayObject + *out, NPY_CLIPMODE clipmode) + + +:: + + int + PyArray_Sort(PyArrayObject *op, int axis, NPY_SORTKIND which) + +Sort an array in-place + +:: + + PyObject * + PyArray_ArgSort(PyArrayObject *op, int axis, NPY_SORTKIND which) + +ArgSort an array + +:: + + PyObject * + PyArray_SearchSorted(PyArrayObject *op1, PyObject *op2, NPY_SEARCHSIDE + side, PyObject *perm) + + +Search the sorted array op1 for the location of the items in op2. The +result is an array of indexes, one for each element in op2, such that if +the item were to be inserted in op1 just before that index the array +would still be in sorted order. + +Parameters +---------- +op1 : PyArrayObject * +Array to be searched, must be 1-D. +op2 : PyObject * +Array of items whose insertion indexes in op1 are wanted +side : {NPY_SEARCHLEFT, NPY_SEARCHRIGHT} +If NPY_SEARCHLEFT, return first valid insertion indexes +If NPY_SEARCHRIGHT, return last valid insertion indexes +perm : PyObject * +Permutation array that sorts op1 (optional) + +Returns +------- +ret : PyObject * +New reference to npy_intp array containing indexes where items in op2 +could be validly inserted into op1. NULL on error. + +Notes +----- +Binary search is used to find the indexes. + +:: + + PyObject * + PyArray_ArgMax(PyArrayObject *op, int axis, PyArrayObject *out) + +ArgMax + +:: + + PyObject * + PyArray_ArgMin(PyArrayObject *op, int axis, PyArrayObject *out) + +ArgMin + +:: + + PyObject * + PyArray_Reshape(PyArrayObject *self, PyObject *shape) + +Reshape + +:: + + PyObject * + PyArray_Newshape(PyArrayObject *self, PyArray_Dims *newdims, NPY_ORDER + order) + +New shape for an array + +:: + + PyObject * + PyArray_Squeeze(PyArrayObject *self) + + +return a new view of the array object with all of its unit-length +dimensions squeezed out if needed, otherwise +return the same array. + +:: + + PyObject * + PyArray_View(PyArrayObject *self, PyArray_Descr *type, PyTypeObject + *pytype) + +View +steals a reference to type -- accepts NULL + +:: + + PyObject * + PyArray_SwapAxes(PyArrayObject *ap, int a1, int a2) + +SwapAxes + +:: + + PyObject * + PyArray_Max(PyArrayObject *ap, int axis, PyArrayObject *out) + +Max + +:: + + PyObject * + PyArray_Min(PyArrayObject *ap, int axis, PyArrayObject *out) + +Min + +:: + + PyObject * + PyArray_Ptp(PyArrayObject *ap, int axis, PyArrayObject *out) + +Ptp + +:: + + PyObject * + PyArray_Mean(PyArrayObject *self, int axis, int rtype, PyArrayObject + *out) + +Mean + +:: + + PyObject * + PyArray_Trace(PyArrayObject *self, int offset, int axis1, int + axis2, int rtype, PyArrayObject *out) + +Trace + +:: + + PyObject * + PyArray_Diagonal(PyArrayObject *self, int offset, int axis1, int + axis2) + +Diagonal + +In NumPy versions prior to 1.7, this function always returned a copy of +the diagonal array. In 1.7, the code has been updated to compute a view +onto 'self', but it still copies this array before returning, as well as +setting the internal WARN_ON_WRITE flag. In a future version, it will +simply return a view onto self. + +:: + + PyObject * + PyArray_Clip(PyArrayObject *self, PyObject *min, PyObject + *max, PyArrayObject *out) + +Clip + +:: + + PyObject * + PyArray_Conjugate(PyArrayObject *self, PyArrayObject *out) + +Conjugate + +:: + + PyObject * + PyArray_Nonzero(PyArrayObject *self) + +Nonzero + +TODO: In NumPy 2.0, should make the iteration order a parameter. + +:: + + PyObject * + PyArray_Std(PyArrayObject *self, int axis, int rtype, PyArrayObject + *out, int variance) + +Set variance to 1 to by-pass square-root calculation and return variance +Std + +:: + + PyObject * + PyArray_Sum(PyArrayObject *self, int axis, int rtype, PyArrayObject + *out) + +Sum + +:: + + PyObject * + PyArray_CumSum(PyArrayObject *self, int axis, int rtype, PyArrayObject + *out) + +CumSum + +:: + + PyObject * + PyArray_Prod(PyArrayObject *self, int axis, int rtype, PyArrayObject + *out) + +Prod + +:: + + PyObject * + PyArray_CumProd(PyArrayObject *self, int axis, int + rtype, PyArrayObject *out) + +CumProd + +:: + + PyObject * + PyArray_All(PyArrayObject *self, int axis, PyArrayObject *out) + +All + +:: + + PyObject * + PyArray_Any(PyArrayObject *self, int axis, PyArrayObject *out) + +Any + +:: + + PyObject * + PyArray_Compress(PyArrayObject *self, PyObject *condition, int + axis, PyArrayObject *out) + +Compress + +:: + + PyObject * + PyArray_Flatten(PyArrayObject *a, NPY_ORDER order) + +Flatten + +:: + + PyObject * + PyArray_Ravel(PyArrayObject *arr, NPY_ORDER order) + +Ravel +Returns a contiguous array + +:: + + npy_intp + PyArray_MultiplyList(npy_intp *l1, int n) + +Multiply a List + +:: + + int + PyArray_MultiplyIntList(int *l1, int n) + +Multiply a List of ints + +:: + + void * + PyArray_GetPtr(PyArrayObject *obj, npy_intp*ind) + +Produce a pointer into array + +:: + + int + PyArray_CompareLists(npy_intp *l1, npy_intp *l2, int n) + +Compare Lists + +:: + + int + PyArray_AsCArray(PyObject **op, void *ptr, npy_intp *dims, int + nd, PyArray_Descr*typedescr) + +Simulate a C-array +steals a reference to typedescr -- can be NULL + +:: + + int + PyArray_As1D(PyObject **op, char **ptr, int *d1, int typecode) + +Convert to a 1D C-array + +:: + + int + PyArray_As2D(PyObject **op, char ***ptr, int *d1, int *d2, int + typecode) + +Convert to a 2D C-array + +:: + + int + PyArray_Free(PyObject *op, void *ptr) + +Free pointers created if As2D is called + +:: + + int + PyArray_Converter(PyObject *object, PyObject **address) + + +Useful to pass as converter function for O& processing in PyArgs_ParseTuple. + +This conversion function can be used with the "O&" argument for +PyArg_ParseTuple. It will immediately return an object of array type +or will convert to a NPY_ARRAY_CARRAY any other object. + +If you use PyArray_Converter, you must DECREF the array when finished +as you get a new reference to it. + +:: + + int + PyArray_IntpFromSequence(PyObject *seq, npy_intp *vals, int maxvals) + +PyArray_IntpFromSequence +Returns the number of integers converted or -1 if an error occurred. +vals must be large enough to hold maxvals + +:: + + PyObject * + PyArray_Concatenate(PyObject *op, int axis) + +Concatenate + +Concatenate an arbitrary Python sequence into an array. +op is a python object supporting the sequence interface. +Its elements will be concatenated together to form a single +multidimensional array. If axis is NPY_MAXDIMS or bigger, then +each sequence object will be flattened before concatenation + +:: + + PyObject * + PyArray_InnerProduct(PyObject *op1, PyObject *op2) + +Numeric.innerproduct(a,v) + +:: + + PyObject * + PyArray_MatrixProduct(PyObject *op1, PyObject *op2) + +Numeric.matrixproduct(a,v) +just like inner product but does the swapaxes stuff on the fly + +:: + + PyObject * + PyArray_CopyAndTranspose(PyObject *op) + +Copy and Transpose + +Could deprecate this function, as there isn't a speed benefit over +calling Transpose and then Copy. + +:: + + PyObject * + PyArray_Correlate(PyObject *op1, PyObject *op2, int mode) + +Numeric.correlate(a1,a2,mode) + +:: + + int + PyArray_TypestrConvert(int itemsize, int gentype) + +Typestr converter + +:: + + int + PyArray_DescrConverter(PyObject *obj, PyArray_Descr **at) + +Get typenum from an object -- None goes to NPY_DEFAULT_TYPE +This function takes a Python object representing a type and converts it +to a the correct PyArray_Descr * structure to describe the type. + +Many objects can be used to represent a data-type which in NumPy is +quite a flexible concept. + +This is the central code that converts Python objects to +Type-descriptor objects that are used throughout numpy. + +Returns a new reference in *at, but the returned should not be +modified as it may be one of the canonical immutable objects or +a reference to the input obj. + +:: + + int + PyArray_DescrConverter2(PyObject *obj, PyArray_Descr **at) + +Get typenum from an object -- None goes to NULL + +:: + + int + PyArray_IntpConverter(PyObject *obj, PyArray_Dims *seq) + +Get intp chunk from sequence + +This function takes a Python sequence object and allocates and +fills in an intp array with the converted values. + +Remember to free the pointer seq.ptr when done using +PyDimMem_FREE(seq.ptr)** + +:: + + int + PyArray_BufferConverter(PyObject *obj, PyArray_Chunk *buf) + +Get buffer chunk from object + +this function takes a Python object which exposes the (single-segment) +buffer interface and returns a pointer to the data segment + +You should increment the reference count by one of buf->base +if you will hang on to a reference + +You only get a borrowed reference to the object. Do not free the +memory... + +:: + + int + PyArray_AxisConverter(PyObject *obj, int *axis) + +Get axis from an object (possibly None) -- a converter function, + +See also PyArray_ConvertMultiAxis, which also handles a tuple of axes. + +:: + + int + PyArray_BoolConverter(PyObject *object, npy_bool *val) + +Convert an object to true / false + +:: + + int + PyArray_ByteorderConverter(PyObject *obj, char *endian) + +Convert object to endian + +:: + + int + PyArray_OrderConverter(PyObject *object, NPY_ORDER *val) + +Convert an object to FORTRAN / C / ANY / KEEP + +:: + + unsigned char + PyArray_EquivTypes(PyArray_Descr *type1, PyArray_Descr *type2) + + +This function returns true if the two typecodes are +equivalent (same basic kind and same itemsize). + +:: + + PyObject * + PyArray_Zeros(int nd, npy_intp *dims, PyArray_Descr *type, int + is_f_order) + +Zeros + +steal a reference +accepts NULL type + +:: + + PyObject * + PyArray_Empty(int nd, npy_intp *dims, PyArray_Descr *type, int + is_f_order) + +Empty + +accepts NULL type +steals referenct to type + +:: + + PyObject * + PyArray_Where(PyObject *condition, PyObject *x, PyObject *y) + +Where + +:: + + PyObject * + PyArray_Arange(double start, double stop, double step, int type_num) + +Arange, + +:: + + PyObject * + PyArray_ArangeObj(PyObject *start, PyObject *stop, PyObject + *step, PyArray_Descr *dtype) + + +ArangeObj, + +this doesn't change the references + +:: + + int + PyArray_SortkindConverter(PyObject *obj, NPY_SORTKIND *sortkind) + +Convert object to sort kind + +:: + + PyObject * + PyArray_LexSort(PyObject *sort_keys, int axis) + +LexSort an array providing indices that will sort a collection of arrays +lexicographically. The first key is sorted on first, followed by the second key +-- requires that arg"merge"sort is available for each sort_key + +Returns an index array that shows the indexes for the lexicographic sort along +the given axis. + +:: + + PyObject * + PyArray_Round(PyArrayObject *a, int decimals, PyArrayObject *out) + +Round + +:: + + unsigned char + PyArray_EquivTypenums(int typenum1, int typenum2) + + +:: + + int + PyArray_RegisterDataType(PyArray_Descr *descr) + +Register Data type +Does not change the reference count of descr + +:: + + int + PyArray_RegisterCastFunc(PyArray_Descr *descr, int + totype, PyArray_VectorUnaryFunc *castfunc) + +Register Casting Function +Replaces any function currently stored. + +:: + + int + PyArray_RegisterCanCast(PyArray_Descr *descr, int + totype, NPY_SCALARKIND scalar) + +Register a type number indicating that a descriptor can be cast +to it safely + +:: + + void + PyArray_InitArrFuncs(PyArray_ArrFuncs *f) + +Initialize arrfuncs to NULL + +:: + + PyObject * + PyArray_IntTupleFromIntp(int len, npy_intp *vals) + +PyArray_IntTupleFromIntp + +:: + + int + PyArray_TypeNumFromName(char *str) + + +:: + + int + PyArray_ClipmodeConverter(PyObject *object, NPY_CLIPMODE *val) + +Convert an object to NPY_RAISE / NPY_CLIP / NPY_WRAP + +:: + + int + PyArray_OutputConverter(PyObject *object, PyArrayObject **address) + +Useful to pass as converter function for O& processing in +PyArgs_ParseTuple for output arrays + +:: + + PyObject * + PyArray_BroadcastToShape(PyObject *obj, npy_intp *dims, int nd) + +Get Iterator broadcast to a particular shape + +:: + + void + _PyArray_SigintHandler(int signum) + + +:: + + void* + _PyArray_GetSigintBuf(void ) + + +:: + + int + PyArray_DescrAlignConverter(PyObject *obj, PyArray_Descr **at) + + +Get type-descriptor from an object forcing alignment if possible +None goes to DEFAULT type. + +any object with the .fields attribute and/or .itemsize attribute (if the +.fields attribute does not give the total size -- i.e. a partial record +naming). If itemsize is given it must be >= size computed from fields + +The .fields attribute must return a convertible dictionary if present. +Result inherits from NPY_VOID. + +:: + + int + PyArray_DescrAlignConverter2(PyObject *obj, PyArray_Descr **at) + + +Get type-descriptor from an object forcing alignment if possible +None goes to NULL. + +:: + + int + PyArray_SearchsideConverter(PyObject *obj, void *addr) + +Convert object to searchsorted side + +:: + + PyObject * + PyArray_CheckAxis(PyArrayObject *arr, int *axis, int flags) + +PyArray_CheckAxis + +check that axis is valid +convert 0-d arrays to 1-d arrays + +:: + + npy_intp + PyArray_OverflowMultiplyList(npy_intp *l1, int n) + +Multiply a List of Non-negative numbers with over-flow detection. + +:: + + int + PyArray_CompareString(char *s1, char *s2, size_t len) + + +:: + + PyObject * + PyArray_MultiIterFromObjects(PyObject **mps, int n, int nadd, ... ) + +Get MultiIterator from array of Python objects and any additional + +PyObject **mps -- array of PyObjects +int n - number of PyObjects in the array +int nadd - number of additional arrays to include in the iterator. + +Returns a multi-iterator object. + +:: + + int + PyArray_GetEndianness(void ) + + +:: + + unsigned int + PyArray_GetNDArrayCFeatureVersion(void ) + +Returns the built-in (at compilation time) C API version + +:: + + PyObject * + PyArray_Correlate2(PyObject *op1, PyObject *op2, int mode) + +correlate(a1,a2,mode) + +This function computes the usual correlation (correlate(a1, a2) != +correlate(a2, a1), and conjugate the second argument for complex inputs + +:: + + PyObject* + PyArray_NeighborhoodIterNew(PyArrayIterObject *x, npy_intp + *bounds, int mode, PyArrayObject*fill) + +A Neighborhood Iterator object. + +:: + + void + PyArray_SetDatetimeParseFunction(PyObject *op) + +This function is scheduled to be removed + +TO BE REMOVED - NOT USED INTERNALLY. + +:: + + void + PyArray_DatetimeToDatetimeStruct(npy_datetime val, NPY_DATETIMEUNIT + fr, npy_datetimestruct *result) + +Fill the datetime struct from the value and resolution unit. + +TO BE REMOVED - NOT USED INTERNALLY. + +:: + + void + PyArray_TimedeltaToTimedeltaStruct(npy_timedelta val, NPY_DATETIMEUNIT + fr, npy_timedeltastruct *result) + +Fill the timedelta struct from the timedelta value and resolution unit. + +TO BE REMOVED - NOT USED INTERNALLY. + +:: + + npy_datetime + PyArray_DatetimeStructToDatetime(NPY_DATETIMEUNIT + fr, npy_datetimestruct *d) + +Create a datetime value from a filled datetime struct and resolution unit. + +TO BE REMOVED - NOT USED INTERNALLY. + +:: + + npy_datetime + PyArray_TimedeltaStructToTimedelta(NPY_DATETIMEUNIT + fr, npy_timedeltastruct *d) + +Create a timdelta value from a filled timedelta struct and resolution unit. + +TO BE REMOVED - NOT USED INTERNALLY. + +:: + + NpyIter * + NpyIter_New(PyArrayObject *op, npy_uint32 flags, NPY_ORDER + order, NPY_CASTING casting, PyArray_Descr*dtype) + +Allocate a new iterator for one array object. + +:: + + NpyIter * + NpyIter_MultiNew(int nop, PyArrayObject **op_in, npy_uint32 + flags, NPY_ORDER order, NPY_CASTING + casting, npy_uint32 *op_flags, PyArray_Descr + **op_request_dtypes) + +Allocate a new iterator for more than one array object, using +standard NumPy broadcasting rules and the default buffer size. + +:: + + NpyIter * + NpyIter_AdvancedNew(int nop, PyArrayObject **op_in, npy_uint32 + flags, NPY_ORDER order, NPY_CASTING + casting, npy_uint32 *op_flags, PyArray_Descr + **op_request_dtypes, int oa_ndim, int + **op_axes, npy_intp *itershape, npy_intp + buffersize) + +Allocate a new iterator for multiple array objects, and advanced +options for controlling the broadcasting, shape, and buffer size. + +:: + + NpyIter * + NpyIter_Copy(NpyIter *iter) + +Makes a copy of the iterator + +:: + + int + NpyIter_Deallocate(NpyIter *iter) + +Deallocate an iterator + +:: + + npy_bool + NpyIter_HasDelayedBufAlloc(NpyIter *iter) + +Whether the buffer allocation is being delayed + +:: + + npy_bool + NpyIter_HasExternalLoop(NpyIter *iter) + +Whether the iterator handles the inner loop + +:: + + int + NpyIter_EnableExternalLoop(NpyIter *iter) + +Removes the inner loop handling (so HasExternalLoop returns true) + +:: + + npy_intp * + NpyIter_GetInnerStrideArray(NpyIter *iter) + +Get the array of strides for the inner loop (when HasExternalLoop is true) + +This function may be safely called without holding the Python GIL. + +:: + + npy_intp * + NpyIter_GetInnerLoopSizePtr(NpyIter *iter) + +Get a pointer to the size of the inner loop (when HasExternalLoop is true) + +This function may be safely called without holding the Python GIL. + +:: + + int + NpyIter_Reset(NpyIter *iter, char **errmsg) + +Resets the iterator to its initial state + +If errmsg is non-NULL, it should point to a variable which will +receive the error message, and no Python exception will be set. +This is so that the function can be called from code not holding +the GIL. + +:: + + int + NpyIter_ResetBasePointers(NpyIter *iter, char **baseptrs, char + **errmsg) + +Resets the iterator to its initial state, with new base data pointers. +This function requires great caution. + +If errmsg is non-NULL, it should point to a variable which will +receive the error message, and no Python exception will be set. +This is so that the function can be called from code not holding +the GIL. + +:: + + int + NpyIter_ResetToIterIndexRange(NpyIter *iter, npy_intp istart, npy_intp + iend, char **errmsg) + +Resets the iterator to a new iterator index range + +If errmsg is non-NULL, it should point to a variable which will +receive the error message, and no Python exception will be set. +This is so that the function can be called from code not holding +the GIL. + +:: + + int + NpyIter_GetNDim(NpyIter *iter) + +Gets the number of dimensions being iterated + +:: + + int + NpyIter_GetNOp(NpyIter *iter) + +Gets the number of operands being iterated + +:: + + NpyIter_IterNextFunc * + NpyIter_GetIterNext(NpyIter *iter, char **errmsg) + +Compute the specialized iteration function for an iterator + +If errmsg is non-NULL, it should point to a variable which will +receive the error message, and no Python exception will be set. +This is so that the function can be called from code not holding +the GIL. + +:: + + npy_intp + NpyIter_GetIterSize(NpyIter *iter) + +Gets the number of elements being iterated + +:: + + void + NpyIter_GetIterIndexRange(NpyIter *iter, npy_intp *istart, npy_intp + *iend) + +Gets the range of iteration indices being iterated + +:: + + npy_intp + NpyIter_GetIterIndex(NpyIter *iter) + +Gets the current iteration index + +:: + + int + NpyIter_GotoIterIndex(NpyIter *iter, npy_intp iterindex) + +Sets the iterator position to the specified iterindex, +which matches the iteration order of the iterator. + +Returns NPY_SUCCEED on success, NPY_FAIL on failure. + +:: + + npy_bool + NpyIter_HasMultiIndex(NpyIter *iter) + +Whether the iterator is tracking a multi-index + +:: + + int + NpyIter_GetShape(NpyIter *iter, npy_intp *outshape) + +Gets the broadcast shape if a multi-index is being tracked by the iterator, +otherwise gets the shape of the iteration as Fortran-order +(fastest-changing index first). + +The reason Fortran-order is returned when a multi-index +is not enabled is that this is providing a direct view into how +the iterator traverses the n-dimensional space. The iterator organizes +its memory from fastest index to slowest index, and when +a multi-index is enabled, it uses a permutation to recover the original +order. + +Returns NPY_SUCCEED or NPY_FAIL. + +:: + + NpyIter_GetMultiIndexFunc * + NpyIter_GetGetMultiIndex(NpyIter *iter, char **errmsg) + +Compute a specialized get_multi_index function for the iterator + +If errmsg is non-NULL, it should point to a variable which will +receive the error message, and no Python exception will be set. +This is so that the function can be called from code not holding +the GIL. + +:: + + int + NpyIter_GotoMultiIndex(NpyIter *iter, npy_intp *multi_index) + +Sets the iterator to the specified multi-index, which must have the +correct number of entries for 'ndim'. It is only valid +when NPY_ITER_MULTI_INDEX was passed to the constructor. This operation +fails if the multi-index is out of bounds. + +Returns NPY_SUCCEED on success, NPY_FAIL on failure. + +:: + + int + NpyIter_RemoveMultiIndex(NpyIter *iter) + +Removes multi-index support from an iterator. + +Returns NPY_SUCCEED or NPY_FAIL. + +:: + + npy_bool + NpyIter_HasIndex(NpyIter *iter) + +Whether the iterator is tracking an index + +:: + + npy_bool + NpyIter_IsBuffered(NpyIter *iter) + +Whether the iterator is buffered + +:: + + npy_bool + NpyIter_IsGrowInner(NpyIter *iter) + +Whether the inner loop can grow if buffering is unneeded + +:: + + npy_intp + NpyIter_GetBufferSize(NpyIter *iter) + +Gets the size of the buffer, or 0 if buffering is not enabled + +:: + + npy_intp * + NpyIter_GetIndexPtr(NpyIter *iter) + +Get a pointer to the index, if it is being tracked + +:: + + int + NpyIter_GotoIndex(NpyIter *iter, npy_intp flat_index) + +If the iterator is tracking an index, sets the iterator +to the specified index. + +Returns NPY_SUCCEED on success, NPY_FAIL on failure. + +:: + + char ** + NpyIter_GetDataPtrArray(NpyIter *iter) + +Get the array of data pointers (1 per object being iterated) + +This function may be safely called without holding the Python GIL. + +:: + + PyArray_Descr ** + NpyIter_GetDescrArray(NpyIter *iter) + +Get the array of data type pointers (1 per object being iterated) + +:: + + PyArrayObject ** + NpyIter_GetOperandArray(NpyIter *iter) + +Get the array of objects being iterated + +:: + + PyArrayObject * + NpyIter_GetIterView(NpyIter *iter, npy_intp i) + +Returns a view to the i-th object with the iterator's internal axes + +:: + + void + NpyIter_GetReadFlags(NpyIter *iter, char *outreadflags) + +Gets an array of read flags (1 per object being iterated) + +:: + + void + NpyIter_GetWriteFlags(NpyIter *iter, char *outwriteflags) + +Gets an array of write flags (1 per object being iterated) + +:: + + void + NpyIter_DebugPrint(NpyIter *iter) + +For debugging + +:: + + npy_bool + NpyIter_IterationNeedsAPI(NpyIter *iter) + +Whether the iteration loop, and in particular the iternext() +function, needs API access. If this is true, the GIL must +be retained while iterating. + +:: + + void + NpyIter_GetInnerFixedStrideArray(NpyIter *iter, npy_intp *out_strides) + +Get an array of strides which are fixed. Any strides which may +change during iteration receive the value NPY_MAX_INTP. Once +the iterator is ready to iterate, call this to get the strides +which will always be fixed in the inner loop, then choose optimized +inner loop functions which take advantage of those fixed strides. + +This function may be safely called without holding the Python GIL. + +:: + + int + NpyIter_RemoveAxis(NpyIter *iter, int axis) + +Removes an axis from iteration. This requires that NPY_ITER_MULTI_INDEX +was set for iterator creation, and does not work if buffering is +enabled. This function also resets the iterator to its initial state. + +Returns NPY_SUCCEED or NPY_FAIL. + +:: + + npy_intp * + NpyIter_GetAxisStrideArray(NpyIter *iter, int axis) + +Gets the array of strides for the specified axis. +If the iterator is tracking a multi-index, gets the strides +for the axis specified, otherwise gets the strides for +the iteration axis as Fortran order (fastest-changing axis first). + +Returns NULL if an error occurs. + +:: + + npy_bool + NpyIter_RequiresBuffering(NpyIter *iter) + +Whether the iteration could be done with no buffering. + +:: + + char ** + NpyIter_GetInitialDataPtrArray(NpyIter *iter) + +Get the array of data pointers (1 per object being iterated), +directly into the arrays (never pointing to a buffer), for starting +unbuffered iteration. This always returns the addresses for the +iterator position as reset to iterator index 0. + +These pointers are different from the pointers accepted by +NpyIter_ResetBasePointers, because the direction along some +axes may have been reversed, requiring base offsets. + +This function may be safely called without holding the Python GIL. + +:: + + int + NpyIter_CreateCompatibleStrides(NpyIter *iter, npy_intp + itemsize, npy_intp *outstrides) + +Builds a set of strides which are the same as the strides of an +output array created using the NPY_ITER_ALLOCATE flag, where NULL +was passed for op_axes. This is for data packed contiguously, +but not necessarily in C or Fortran order. This should be used +together with NpyIter_GetShape and NpyIter_GetNDim. + +A use case for this function is to match the shape and layout of +the iterator and tack on one or more dimensions. For example, +in order to generate a vector per input value for a numerical gradient, +you pass in ndim*itemsize for itemsize, then add another dimension to +the end with size ndim and stride itemsize. To do the Hessian matrix, +you do the same thing but add two dimensions, or take advantage of +the symmetry and pack it into 1 dimension with a particular encoding. + +This function may only be called if the iterator is tracking a multi-index +and if NPY_ITER_DONT_NEGATE_STRIDES was used to prevent an axis from +being iterated in reverse order. + +If an array is created with this method, simply adding 'itemsize' +for each iteration will traverse the new array matching the +iterator. + +Returns NPY_SUCCEED or NPY_FAIL. + +:: + + int + PyArray_CastingConverter(PyObject *obj, NPY_CASTING *casting) + +Convert any Python object, *obj*, to an NPY_CASTING enum. + +:: + + npy_intp + PyArray_CountNonzero(PyArrayObject *self) + +Counts the number of non-zero elements in the array. + +Returns -1 on error. + +:: + + PyArray_Descr * + PyArray_PromoteTypes(PyArray_Descr *type1, PyArray_Descr *type2) + +Produces the smallest size and lowest kind type to which both +input types can be cast. + +:: + + PyArray_Descr * + PyArray_MinScalarType(PyArrayObject *arr) + +If arr is a scalar (has 0 dimensions) with a built-in number data type, +finds the smallest type size/kind which can still represent its data. +Otherwise, returns the array's data type. + + +:: + + PyArray_Descr * + PyArray_ResultType(npy_intp narrs, PyArrayObject **arr, npy_intp + ndtypes, PyArray_Descr **dtypes) + +Produces the result type of a bunch of inputs, using the UFunc +type promotion rules. Use this function when you have a set of +input arrays, and need to determine an output array dtype. + +If all the inputs are scalars (have 0 dimensions) or the maximum "kind" +of the scalars is greater than the maximum "kind" of the arrays, does +a regular type promotion. + +Otherwise, does a type promotion on the MinScalarType +of all the inputs. Data types passed directly are treated as array +types. + + +:: + + npy_bool + PyArray_CanCastArrayTo(PyArrayObject *arr, PyArray_Descr + *to, NPY_CASTING casting) + +Returns 1 if the array object may be cast to the given data type using +the casting rule, 0 otherwise. This differs from PyArray_CanCastTo in +that it handles scalar arrays (0 dimensions) specially, by checking +their value. + +:: + + npy_bool + PyArray_CanCastTypeTo(PyArray_Descr *from, PyArray_Descr + *to, NPY_CASTING casting) + +Returns true if data of type 'from' may be cast to data of type +'to' according to the rule 'casting'. + +:: + + PyArrayObject * + PyArray_EinsteinSum(char *subscripts, npy_intp nop, PyArrayObject + **op_in, PyArray_Descr *dtype, NPY_ORDER + order, NPY_CASTING casting, PyArrayObject *out) + +This function provides summation of array elements according to +the Einstein summation convention. For example: +- trace(a) -> einsum("ii", a) +- transpose(a) -> einsum("ji", a) +- multiply(a,b) -> einsum(",", a, b) +- inner(a,b) -> einsum("i,i", a, b) +- outer(a,b) -> einsum("i,j", a, b) +- matvec(a,b) -> einsum("ij,j", a, b) +- matmat(a,b) -> einsum("ij,jk", a, b) + +subscripts: The string of subscripts for einstein summation. +nop: The number of operands +op_in: The array of operands +dtype: Either NULL, or the data type to force the calculation as. +order: The order for the calculation/the output axes. +casting: What kind of casts should be permitted. +out: Either NULL, or an array into which the output should be placed. + +By default, the labels get placed in alphabetical order +at the end of the output. So, if c = einsum("i,j", a, b) +then c[i,j] == a[i]*b[j], but if c = einsum("j,i", a, b) +then c[i,j] = a[j]*b[i]. + +Alternatively, you can control the output order or prevent +an axis from being summed/force an axis to be summed by providing +indices for the output. This allows us to turn 'trace' into +'diag', for example. +- diag(a) -> einsum("ii->i", a) +- sum(a, axis=0) -> einsum("i...->", a) + +Subscripts at the beginning and end may be specified by +putting an ellipsis "..." in the middle. For example, +the function einsum("i...i", a) takes the diagonal of +the first and last dimensions of the operand, and +einsum("ij...,jk...->ik...") takes the matrix product using +the first two indices of each operand instead of the last two. + +When there is only one operand, no axes being summed, and +no output parameter, this function returns a view +into the operand instead of making a copy. + +:: + + PyObject * + PyArray_NewLikeArray(PyArrayObject *prototype, NPY_ORDER + order, PyArray_Descr *dtype, int subok) + +Creates a new array with the same shape as the provided one, +with possible memory layout order and data type changes. + +prototype - The array the new one should be like. +order - NPY_CORDER - C-contiguous result. +NPY_FORTRANORDER - Fortran-contiguous result. +NPY_ANYORDER - Fortran if prototype is Fortran, C otherwise. +NPY_KEEPORDER - Keeps the axis ordering of prototype. +dtype - If not NULL, overrides the data type of the result. +subok - If 1, use the prototype's array subtype, otherwise +always create a base-class array. + +NOTE: If dtype is not NULL, steals the dtype reference. + +:: + + int + PyArray_GetArrayParamsFromObject(PyObject *op, PyArray_Descr + *requested_dtype, npy_bool + writeable, PyArray_Descr + **out_dtype, int *out_ndim, npy_intp + *out_dims, PyArrayObject + **out_arr, PyObject *context) + +Retrieves the array parameters for viewing/converting an arbitrary +PyObject* to a NumPy array. This allows the "innate type and shape" +of Python list-of-lists to be discovered without +actually converting to an array. + +In some cases, such as structured arrays and the __array__ interface, +a data type needs to be used to make sense of the object. When +this is needed, provide a Descr for 'requested_dtype', otherwise +provide NULL. This reference is not stolen. Also, if the requested +dtype doesn't modify the interpretation of the input, out_dtype will +still get the "innate" dtype of the object, not the dtype passed +in 'requested_dtype'. + +If writing to the value in 'op' is desired, set the boolean +'writeable' to 1. This raises an error when 'op' is a scalar, list +of lists, or other non-writeable 'op'. + +Result: When success (0 return value) is returned, either out_arr +is filled with a non-NULL PyArrayObject and +the rest of the parameters are untouched, or out_arr is +filled with NULL, and the rest of the parameters are +filled. + +Typical usage: + +PyArrayObject *arr = NULL; +PyArray_Descr *dtype = NULL; +int ndim = 0; +npy_intp dims[NPY_MAXDIMS]; + +if (PyArray_GetArrayParamsFromObject(op, NULL, 1, &dtype, +&ndim, &dims, &arr, NULL) < 0) { +return NULL; +} +if (arr == NULL) { +... validate/change dtype, validate flags, ndim, etc ... +// Could make custom strides here too +arr = PyArray_NewFromDescr(&PyArray_Type, dtype, ndim, +dims, NULL, +is_f_order ? NPY_ARRAY_F_CONTIGUOUS : 0, +NULL); +if (arr == NULL) { +return NULL; +} +if (PyArray_CopyObject(arr, op) < 0) { +Py_DECREF(arr); +return NULL; +} +} +else { +... in this case the other parameters weren't filled, just +validate and possibly copy arr itself ... +} +... use arr ... + +:: + + int + PyArray_ConvertClipmodeSequence(PyObject *object, NPY_CLIPMODE + *modes, int n) + +Convert an object to an array of n NPY_CLIPMODE values. +This is intended to be used in functions where a different mode +could be applied to each axis, like in ravel_multi_index. + +:: + + PyObject * + PyArray_MatrixProduct2(PyObject *op1, PyObject + *op2, PyArrayObject*out) + +Numeric.matrixproduct(a,v,out) +just like inner product but does the swapaxes stuff on the fly + +:: + + npy_bool + NpyIter_IsFirstVisit(NpyIter *iter, int iop) + +Checks to see whether this is the first time the elements +of the specified reduction operand which the iterator points at are +being seen for the first time. The function returns +a reasonable answer for reduction operands and when buffering is +disabled. The answer may be incorrect for buffered non-reduction +operands. + +This function is intended to be used in EXTERNAL_LOOP mode only, +and will produce some wrong answers when that mode is not enabled. + +If this function returns true, the caller should also +check the inner loop stride of the operand, because if +that stride is 0, then only the first element of the innermost +external loop is being visited for the first time. + +WARNING: For performance reasons, 'iop' is not bounds-checked, +it is not confirmed that 'iop' is actually a reduction +operand, and it is not confirmed that EXTERNAL_LOOP +mode is enabled. These checks are the responsibility of +the caller, and should be done outside of any inner loops. + +:: + + int + PyArray_SetBaseObject(PyArrayObject *arr, PyObject *obj) + +Sets the 'base' attribute of the array. This steals a reference +to 'obj'. + +Returns 0 on success, -1 on failure. + +:: + + void + PyArray_CreateSortedStridePerm(int ndim, npy_intp + *strides, npy_stride_sort_item + *out_strideperm) + + +This function populates the first ndim elements +of strideperm with sorted descending by their absolute values. +For example, the stride array (4, -2, 12) becomes +[(2, 12), (0, 4), (1, -2)]. + +:: + + void + PyArray_RemoveAxesInPlace(PyArrayObject *arr, npy_bool *flags) + + +Removes the axes flagged as True from the array, +modifying it in place. If an axis flagged for removal +has a shape entry bigger than one, this effectively selects +index zero for that axis. + +WARNING: If an axis flagged for removal has a shape equal to zero, +the array will point to invalid memory. The caller must +validate this! +If an axis flagged for removal has a shape larger then one, +the aligned flag (and in the future the contiguous flags), +may need explicite update. +(check also NPY_RELAXED_STRIDES_CHECKING) + +For example, this can be used to remove the reduction axes +from a reduction result once its computation is complete. + +:: + + void + PyArray_DebugPrint(PyArrayObject *obj) + +Prints the raw data of the ndarray in a form useful for debugging +low-level C issues. + +:: + + int + PyArray_FailUnlessWriteable(PyArrayObject *obj, const char *name) + + +This function does nothing if obj is writeable, and raises an exception +(and returns -1) if obj is not writeable. It may also do other +house-keeping, such as issuing warnings on arrays which are transitioning +to become views. Always call this function at some point before writing to +an array. + +'name' is a name for the array, used to give better error +messages. Something like "assignment destination", "output array", or even +just "array". + +:: + + int + PyArray_SetUpdateIfCopyBase(PyArrayObject *arr, PyArrayObject *base) + + +Precondition: 'arr' is a copy of 'base' (though possibly with different +strides, ordering, etc.). This function sets the UPDATEIFCOPY flag and the +->base pointer on 'arr', so that when 'arr' is destructed, it will copy any +changes back to 'base'. + +Steals a reference to 'base'. + +Returns 0 on success, -1 on failure. + +:: + + void * + PyDataMem_NEW(size_t size) + +Allocates memory for array data. + +:: + + void + PyDataMem_FREE(void *ptr) + +Free memory for array data. + +:: + + void * + PyDataMem_RENEW(void *ptr, size_t size) + +Reallocate/resize memory for array data. + +:: + + PyDataMem_EventHookFunc * + PyDataMem_SetEventHook(PyDataMem_EventHookFunc *newhook, void + *user_data, void **old_data) + +Sets the allocation event hook for numpy array data. +Takes a PyDataMem_EventHookFunc *, which has the signature: +void hook(void *old, void *new, size_t size, void *user_data). +Also takes a void *user_data, and void **old_data. + +Returns a pointer to the previous hook or NULL. If old_data is +non-NULL, the previous user_data pointer will be copied to it. + +If not NULL, hook will be called at the end of each PyDataMem_NEW/FREE/RENEW: +result = PyDataMem_NEW(size) -> (*hook)(NULL, result, size, user_data) +PyDataMem_FREE(ptr) -> (*hook)(ptr, NULL, 0, user_data) +result = PyDataMem_RENEW(ptr, size) -> (*hook)(ptr, result, size, user_data) + +When the hook is called, the GIL will be held by the calling +thread. The hook should be written to be reentrant, if it performs +operations that might cause new allocation events (such as the +creation/descruction numpy objects, or creating/destroying Python +objects which might cause a gc) + +:: + + void + PyArray_MapIterSwapAxes(PyArrayMapIterObject *mit, PyArrayObject + **ret, int getmap) + + +:: + + PyObject * + PyArray_MapIterArray(PyArrayObject *a, PyObject *index) + + +:: + + void + PyArray_MapIterNext(PyArrayMapIterObject *mit) + +This function needs to update the state of the map iterator +and point mit->dataptr to the memory-location of the next object + +:: + + int + PyArray_Partition(PyArrayObject *op, PyArrayObject *ktharray, int + axis, NPY_SELECTKIND which) + +Partition an array in-place + +:: + + PyObject * + PyArray_ArgPartition(PyArrayObject *op, PyArrayObject *ktharray, int + axis, NPY_SELECTKIND which) + +ArgPartition an array + +:: + + int + PyArray_SelectkindConverter(PyObject *obj, NPY_SELECTKIND *selectkind) + +Convert object to select kind + +:: + + void * + PyDataMem_NEW_ZEROED(size_t size, size_t elsize) + +Allocates zeroed memory for array data. + diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h b/gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h new file mode 100644 index 000000000..b8c7c3a2d --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h @@ -0,0 +1,237 @@ +/* + * DON'T INCLUDE THIS DIRECTLY. + */ + +#ifndef NPY_NDARRAYOBJECT_H +#define NPY_NDARRAYOBJECT_H +#ifdef __cplusplus +#define CONFUSE_EMACS { +#define CONFUSE_EMACS2 } +extern "C" CONFUSE_EMACS +#undef CONFUSE_EMACS +#undef CONFUSE_EMACS2 +/* ... otherwise a semi-smart identer (like emacs) tries to indent + everything when you're typing */ +#endif + +#include "ndarraytypes.h" + +/* Includes the "function" C-API -- these are all stored in a + list of pointers --- one for each file + The two lists are concatenated into one in multiarray. + + They are available as import_array() +*/ + +#include "__multiarray_api.h" + + +/* C-API that requries previous API to be defined */ + +#define PyArray_DescrCheck(op) (((PyObject*)(op))->ob_type==&PyArrayDescr_Type) + +#define PyArray_Check(op) PyObject_TypeCheck(op, &PyArray_Type) +#define PyArray_CheckExact(op) (((PyObject*)(op))->ob_type == &PyArray_Type) + +#define PyArray_HasArrayInterfaceType(op, type, context, out) \ + ((((out)=PyArray_FromStructInterface(op)) != Py_NotImplemented) || \ + (((out)=PyArray_FromInterface(op)) != Py_NotImplemented) || \ + (((out)=PyArray_FromArrayAttr(op, type, context)) != \ + Py_NotImplemented)) + +#define PyArray_HasArrayInterface(op, out) \ + PyArray_HasArrayInterfaceType(op, NULL, NULL, out) + +#define PyArray_IsZeroDim(op) (PyArray_Check(op) && \ + (PyArray_NDIM((PyArrayObject *)op) == 0)) + +#define PyArray_IsScalar(obj, cls) \ + (PyObject_TypeCheck(obj, &Py##cls##ArrType_Type)) + +#define PyArray_CheckScalar(m) (PyArray_IsScalar(m, Generic) || \ + PyArray_IsZeroDim(m)) + +#define PyArray_IsPythonNumber(obj) \ + (PyInt_Check(obj) || PyFloat_Check(obj) || PyComplex_Check(obj) || \ + PyLong_Check(obj) || PyBool_Check(obj)) + +#define PyArray_IsPythonScalar(obj) \ + (PyArray_IsPythonNumber(obj) || PyString_Check(obj) || \ + PyUnicode_Check(obj)) + +#define PyArray_IsAnyScalar(obj) \ + (PyArray_IsScalar(obj, Generic) || PyArray_IsPythonScalar(obj)) + +#define PyArray_CheckAnyScalar(obj) (PyArray_IsPythonScalar(obj) || \ + PyArray_CheckScalar(obj)) + +#define PyArray_IsIntegerScalar(obj) (PyInt_Check(obj) \ + || PyLong_Check(obj) \ + || PyArray_IsScalar((obj), Integer)) + + +#define PyArray_GETCONTIGUOUS(m) (PyArray_ISCONTIGUOUS(m) ? \ + Py_INCREF(m), (m) : \ + (PyArrayObject *)(PyArray_Copy(m))) + +#define PyArray_SAMESHAPE(a1,a2) ((PyArray_NDIM(a1) == PyArray_NDIM(a2)) && \ + PyArray_CompareLists(PyArray_DIMS(a1), \ + PyArray_DIMS(a2), \ + PyArray_NDIM(a1))) + +#define PyArray_SIZE(m) PyArray_MultiplyList(PyArray_DIMS(m), PyArray_NDIM(m)) +#define PyArray_NBYTES(m) (PyArray_ITEMSIZE(m) * PyArray_SIZE(m)) +#define PyArray_FROM_O(m) PyArray_FromAny(m, NULL, 0, 0, 0, NULL) + +#define PyArray_FROM_OF(m,flags) PyArray_CheckFromAny(m, NULL, 0, 0, flags, \ + NULL) + +#define PyArray_FROM_OT(m,type) PyArray_FromAny(m, \ + PyArray_DescrFromType(type), 0, 0, 0, NULL); + +#define PyArray_FROM_OTF(m, type, flags) \ + PyArray_FromAny(m, PyArray_DescrFromType(type), 0, 0, \ + (((flags) & NPY_ARRAY_ENSURECOPY) ? \ + ((flags) | NPY_ARRAY_DEFAULT) : (flags)), NULL) + +#define PyArray_FROMANY(m, type, min, max, flags) \ + PyArray_FromAny(m, PyArray_DescrFromType(type), min, max, \ + (((flags) & NPY_ARRAY_ENSURECOPY) ? \ + (flags) | NPY_ARRAY_DEFAULT : (flags)), NULL) + +#define PyArray_ZEROS(m, dims, type, is_f_order) \ + PyArray_Zeros(m, dims, PyArray_DescrFromType(type), is_f_order) + +#define PyArray_EMPTY(m, dims, type, is_f_order) \ + PyArray_Empty(m, dims, PyArray_DescrFromType(type), is_f_order) + +#define PyArray_FILLWBYTE(obj, val) memset(PyArray_DATA(obj), val, \ + PyArray_NBYTES(obj)) + +#define PyArray_REFCOUNT(obj) (((PyObject *)(obj))->ob_refcnt) +#define NPY_REFCOUNT PyArray_REFCOUNT +#define NPY_MAX_ELSIZE (2 * NPY_SIZEOF_LONGDOUBLE) + +#define PyArray_ContiguousFromAny(op, type, min_depth, max_depth) \ + PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ + max_depth, NPY_ARRAY_DEFAULT, NULL) + +#define PyArray_EquivArrTypes(a1, a2) \ + PyArray_EquivTypes(PyArray_DESCR(a1), PyArray_DESCR(a2)) + +#define PyArray_EquivByteorders(b1, b2) \ + (((b1) == (b2)) || (PyArray_ISNBO(b1) == PyArray_ISNBO(b2))) + +#define PyArray_SimpleNew(nd, dims, typenum) \ + PyArray_New(&PyArray_Type, nd, dims, typenum, NULL, NULL, 0, 0, NULL) + +#define PyArray_SimpleNewFromData(nd, dims, typenum, data) \ + PyArray_New(&PyArray_Type, nd, dims, typenum, NULL, \ + data, 0, NPY_ARRAY_CARRAY, NULL) + +#define PyArray_SimpleNewFromDescr(nd, dims, descr) \ + PyArray_NewFromDescr(&PyArray_Type, descr, nd, dims, \ + NULL, NULL, 0, NULL) + +#define PyArray_ToScalar(data, arr) \ + PyArray_Scalar(data, PyArray_DESCR(arr), (PyObject *)arr) + + +/* These might be faster without the dereferencing of obj + going on inside -- of course an optimizing compiler should + inline the constants inside a for loop making it a moot point +*/ + +#define PyArray_GETPTR1(obj, i) ((void *)(PyArray_BYTES(obj) + \ + (i)*PyArray_STRIDES(obj)[0])) + +#define PyArray_GETPTR2(obj, i, j) ((void *)(PyArray_BYTES(obj) + \ + (i)*PyArray_STRIDES(obj)[0] + \ + (j)*PyArray_STRIDES(obj)[1])) + +#define PyArray_GETPTR3(obj, i, j, k) ((void *)(PyArray_BYTES(obj) + \ + (i)*PyArray_STRIDES(obj)[0] + \ + (j)*PyArray_STRIDES(obj)[1] + \ + (k)*PyArray_STRIDES(obj)[2])) + +#define PyArray_GETPTR4(obj, i, j, k, l) ((void *)(PyArray_BYTES(obj) + \ + (i)*PyArray_STRIDES(obj)[0] + \ + (j)*PyArray_STRIDES(obj)[1] + \ + (k)*PyArray_STRIDES(obj)[2] + \ + (l)*PyArray_STRIDES(obj)[3])) + +static NPY_INLINE void +PyArray_XDECREF_ERR(PyArrayObject *arr) +{ + if (arr != NULL) { + if (PyArray_FLAGS(arr) & NPY_ARRAY_UPDATEIFCOPY) { + PyArrayObject *base = (PyArrayObject *)PyArray_BASE(arr); + PyArray_ENABLEFLAGS(base, NPY_ARRAY_WRITEABLE); + PyArray_CLEARFLAGS(arr, NPY_ARRAY_UPDATEIFCOPY); + } + Py_DECREF(arr); + } +} + +#define PyArray_DESCR_REPLACE(descr) do { \ + PyArray_Descr *_new_; \ + _new_ = PyArray_DescrNew(descr); \ + Py_XDECREF(descr); \ + descr = _new_; \ + } while(0) + +/* Copy should always return contiguous array */ +#define PyArray_Copy(obj) PyArray_NewCopy(obj, NPY_CORDER) + +#define PyArray_FromObject(op, type, min_depth, max_depth) \ + PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ + max_depth, NPY_ARRAY_BEHAVED | \ + NPY_ARRAY_ENSUREARRAY, NULL) + +#define PyArray_ContiguousFromObject(op, type, min_depth, max_depth) \ + PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ + max_depth, NPY_ARRAY_DEFAULT | \ + NPY_ARRAY_ENSUREARRAY, NULL) + +#define PyArray_CopyFromObject(op, type, min_depth, max_depth) \ + PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ + max_depth, NPY_ARRAY_ENSURECOPY | \ + NPY_ARRAY_DEFAULT | \ + NPY_ARRAY_ENSUREARRAY, NULL) + +#define PyArray_Cast(mp, type_num) \ + PyArray_CastToType(mp, PyArray_DescrFromType(type_num), 0) + +#define PyArray_Take(ap, items, axis) \ + PyArray_TakeFrom(ap, items, axis, NULL, NPY_RAISE) + +#define PyArray_Put(ap, items, values) \ + PyArray_PutTo(ap, items, values, NPY_RAISE) + +/* Compatibility with old Numeric stuff -- don't use in new code */ + +#define PyArray_FromDimsAndData(nd, d, type, data) \ + PyArray_FromDimsAndDataAndDescr(nd, d, PyArray_DescrFromType(type), \ + data) + + +/* + Check to see if this key in the dictionary is the "title" + entry of the tuple (i.e. a duplicate dictionary entry in the fields + dict. +*/ + +#define NPY_TITLE_KEY(key, value) ((PyTuple_GET_SIZE((value))==3) && \ + (PyTuple_GET_ITEM((value), 2) == (key))) + + +#define DEPRECATE(msg) PyErr_WarnEx(PyExc_DeprecationWarning,msg,1) +#define DEPRECATE_FUTUREWARNING(msg) PyErr_WarnEx(PyExc_FutureWarning,msg,1) + + +#ifdef __cplusplus +} +#endif + + +#endif /* NPY_NDARRAYOBJECT_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h b/gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h new file mode 100644 index 000000000..373a4df53 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h @@ -0,0 +1,1777 @@ +#ifndef NDARRAYTYPES_H +#define NDARRAYTYPES_H + +#include "npy_common.h" +#include "npy_endian.h" +#include "npy_cpu.h" +#include "utils.h" + +#ifdef NPY_ENABLE_SEPARATE_COMPILATION + #define NPY_NO_EXPORT NPY_VISIBILITY_HIDDEN +#else + #define NPY_NO_EXPORT static +#endif + +/* Only use thread if configured in config and python supports it */ +#if defined WITH_THREAD && !NPY_NO_SMP + #define NPY_ALLOW_THREADS 1 +#else + #define NPY_ALLOW_THREADS 0 +#endif + + + +/* + * There are several places in the code where an array of dimensions + * is allocated statically. This is the size of that static + * allocation. + * + * The array creation itself could have arbitrary dimensions but all + * the places where static allocation is used would need to be changed + * to dynamic (including inside of several structures) + */ + +#define NPY_MAXDIMS 32 +#define NPY_MAXARGS 32 + +/* Used for Converter Functions "O&" code in ParseTuple */ +#define NPY_FAIL 0 +#define NPY_SUCCEED 1 + +/* + * Binary compatibility version number. This number is increased + * whenever the C-API is changed such that binary compatibility is + * broken, i.e. whenever a recompile of extension modules is needed. + */ +#define NPY_VERSION NPY_ABI_VERSION + +/* + * Minor API version. This number is increased whenever a change is + * made to the C-API -- whether it breaks binary compatibility or not. + * Some changes, such as adding a function pointer to the end of the + * function table, can be made without breaking binary compatibility. + * In this case, only the NPY_FEATURE_VERSION (*not* NPY_VERSION) + * would be increased. Whenever binary compatibility is broken, both + * NPY_VERSION and NPY_FEATURE_VERSION should be increased. + */ +#define NPY_FEATURE_VERSION NPY_API_VERSION + +enum NPY_TYPES { NPY_BOOL=0, + NPY_BYTE, NPY_UBYTE, + NPY_SHORT, NPY_USHORT, + NPY_INT, NPY_UINT, + NPY_LONG, NPY_ULONG, + NPY_LONGLONG, NPY_ULONGLONG, + NPY_FLOAT, NPY_DOUBLE, NPY_LONGDOUBLE, + NPY_CFLOAT, NPY_CDOUBLE, NPY_CLONGDOUBLE, + NPY_OBJECT=17, + NPY_STRING, NPY_UNICODE, + NPY_VOID, + /* + * New 1.6 types appended, may be integrated + * into the above in 2.0. + */ + NPY_DATETIME, NPY_TIMEDELTA, NPY_HALF, + + NPY_NTYPES, + NPY_NOTYPE, + NPY_CHAR, /* special flag */ + NPY_USERDEF=256, /* leave room for characters */ + + /* The number of types not including the new 1.6 types */ + NPY_NTYPES_ABI_COMPATIBLE=21 +}; + +/* basetype array priority */ +#define NPY_PRIORITY 0.0 + +/* default subtype priority */ +#define NPY_SUBTYPE_PRIORITY 1.0 + +/* default scalar priority */ +#define NPY_SCALAR_PRIORITY -1000000.0 + +/* How many floating point types are there (excluding half) */ +#define NPY_NUM_FLOATTYPE 3 + +/* + * These characters correspond to the array type and the struct + * module + */ + +enum NPY_TYPECHAR { + NPY_BOOLLTR = '?', + NPY_BYTELTR = 'b', + NPY_UBYTELTR = 'B', + NPY_SHORTLTR = 'h', + NPY_USHORTLTR = 'H', + NPY_INTLTR = 'i', + NPY_UINTLTR = 'I', + NPY_LONGLTR = 'l', + NPY_ULONGLTR = 'L', + NPY_LONGLONGLTR = 'q', + NPY_ULONGLONGLTR = 'Q', + NPY_HALFLTR = 'e', + NPY_FLOATLTR = 'f', + NPY_DOUBLELTR = 'd', + NPY_LONGDOUBLELTR = 'g', + NPY_CFLOATLTR = 'F', + NPY_CDOUBLELTR = 'D', + NPY_CLONGDOUBLELTR = 'G', + NPY_OBJECTLTR = 'O', + NPY_STRINGLTR = 'S', + NPY_STRINGLTR2 = 'a', + NPY_UNICODELTR = 'U', + NPY_VOIDLTR = 'V', + NPY_DATETIMELTR = 'M', + NPY_TIMEDELTALTR = 'm', + NPY_CHARLTR = 'c', + + /* + * No Descriptor, just a define -- this let's + * Python users specify an array of integers + * large enough to hold a pointer on the + * platform + */ + NPY_INTPLTR = 'p', + NPY_UINTPLTR = 'P', + + /* + * These are for dtype 'kinds', not dtype 'typecodes' + * as the above are for. + */ + NPY_GENBOOLLTR ='b', + NPY_SIGNEDLTR = 'i', + NPY_UNSIGNEDLTR = 'u', + NPY_FLOATINGLTR = 'f', + NPY_COMPLEXLTR = 'c' +}; + +typedef enum { + NPY_QUICKSORT=0, + NPY_HEAPSORT=1, + NPY_MERGESORT=2 +} NPY_SORTKIND; +#define NPY_NSORTS (NPY_MERGESORT + 1) + + +typedef enum { + NPY_INTROSELECT=0, +} NPY_SELECTKIND; +#define NPY_NSELECTS (NPY_INTROSELECT + 1) + + +typedef enum { + NPY_SEARCHLEFT=0, + NPY_SEARCHRIGHT=1 +} NPY_SEARCHSIDE; +#define NPY_NSEARCHSIDES (NPY_SEARCHRIGHT + 1) + + +typedef enum { + NPY_NOSCALAR=-1, + NPY_BOOL_SCALAR, + NPY_INTPOS_SCALAR, + NPY_INTNEG_SCALAR, + NPY_FLOAT_SCALAR, + NPY_COMPLEX_SCALAR, + NPY_OBJECT_SCALAR +} NPY_SCALARKIND; +#define NPY_NSCALARKINDS (NPY_OBJECT_SCALAR + 1) + +/* For specifying array memory layout or iteration order */ +typedef enum { + /* Fortran order if inputs are all Fortran, C otherwise */ + NPY_ANYORDER=-1, + /* C order */ + NPY_CORDER=0, + /* Fortran order */ + NPY_FORTRANORDER=1, + /* An order as close to the inputs as possible */ + NPY_KEEPORDER=2 +} NPY_ORDER; + +/* For specifying allowed casting in operations which support it */ +typedef enum { + /* Only allow identical types */ + NPY_NO_CASTING=0, + /* Allow identical and byte swapped types */ + NPY_EQUIV_CASTING=1, + /* Only allow safe casts */ + NPY_SAFE_CASTING=2, + /* Allow safe casts or casts within the same kind */ + NPY_SAME_KIND_CASTING=3, + /* Allow any casts */ + NPY_UNSAFE_CASTING=4, + + /* + * Temporary internal definition only, will be removed in upcoming + * release, see below + * */ + NPY_INTERNAL_UNSAFE_CASTING_BUT_WARN_UNLESS_SAME_KIND = 100, +} NPY_CASTING; + +typedef enum { + NPY_CLIP=0, + NPY_WRAP=1, + NPY_RAISE=2 +} NPY_CLIPMODE; + +/* The special not-a-time (NaT) value */ +#define NPY_DATETIME_NAT NPY_MIN_INT64 + +/* + * Upper bound on the length of a DATETIME ISO 8601 string + * YEAR: 21 (64-bit year) + * MONTH: 3 + * DAY: 3 + * HOURS: 3 + * MINUTES: 3 + * SECONDS: 3 + * ATTOSECONDS: 1 + 3*6 + * TIMEZONE: 5 + * NULL TERMINATOR: 1 + */ +#define NPY_DATETIME_MAX_ISO8601_STRLEN (21+3*5+1+3*6+6+1) + +typedef enum { + NPY_FR_Y = 0, /* Years */ + NPY_FR_M = 1, /* Months */ + NPY_FR_W = 2, /* Weeks */ + /* Gap where 1.6 NPY_FR_B (value 3) was */ + NPY_FR_D = 4, /* Days */ + NPY_FR_h = 5, /* hours */ + NPY_FR_m = 6, /* minutes */ + NPY_FR_s = 7, /* seconds */ + NPY_FR_ms = 8, /* milliseconds */ + NPY_FR_us = 9, /* microseconds */ + NPY_FR_ns = 10,/* nanoseconds */ + NPY_FR_ps = 11,/* picoseconds */ + NPY_FR_fs = 12,/* femtoseconds */ + NPY_FR_as = 13,/* attoseconds */ + NPY_FR_GENERIC = 14 /* Generic, unbound units, can convert to anything */ +} NPY_DATETIMEUNIT; + +/* + * NOTE: With the NPY_FR_B gap for 1.6 ABI compatibility, NPY_DATETIME_NUMUNITS + * is technically one more than the actual number of units. + */ +#define NPY_DATETIME_NUMUNITS (NPY_FR_GENERIC + 1) +#define NPY_DATETIME_DEFAULTUNIT NPY_FR_GENERIC + +/* + * Business day conventions for mapping invalid business + * days to valid business days. + */ +typedef enum { + /* Go forward in time to the following business day. */ + NPY_BUSDAY_FORWARD, + NPY_BUSDAY_FOLLOWING = NPY_BUSDAY_FORWARD, + /* Go backward in time to the preceding business day. */ + NPY_BUSDAY_BACKWARD, + NPY_BUSDAY_PRECEDING = NPY_BUSDAY_BACKWARD, + /* + * Go forward in time to the following business day, unless it + * crosses a month boundary, in which case go backward + */ + NPY_BUSDAY_MODIFIEDFOLLOWING, + /* + * Go backward in time to the preceding business day, unless it + * crosses a month boundary, in which case go forward. + */ + NPY_BUSDAY_MODIFIEDPRECEDING, + /* Produce a NaT for non-business days. */ + NPY_BUSDAY_NAT, + /* Raise an exception for non-business days. */ + NPY_BUSDAY_RAISE +} NPY_BUSDAY_ROLL; + +/************************************************************ + * NumPy Auxiliary Data for inner loops, sort functions, etc. + ************************************************************/ + +/* + * When creating an auxiliary data struct, this should always appear + * as the first member, like this: + * + * typedef struct { + * NpyAuxData base; + * double constant; + * } constant_multiplier_aux_data; + */ +typedef struct NpyAuxData_tag NpyAuxData; + +/* Function pointers for freeing or cloning auxiliary data */ +typedef void (NpyAuxData_FreeFunc) (NpyAuxData *); +typedef NpyAuxData *(NpyAuxData_CloneFunc) (NpyAuxData *); + +struct NpyAuxData_tag { + NpyAuxData_FreeFunc *free; + NpyAuxData_CloneFunc *clone; + /* To allow for a bit of expansion without breaking the ABI */ + void *reserved[2]; +}; + +/* Macros to use for freeing and cloning auxiliary data */ +#define NPY_AUXDATA_FREE(auxdata) \ + do { \ + if ((auxdata) != NULL) { \ + (auxdata)->free(auxdata); \ + } \ + } while(0) +#define NPY_AUXDATA_CLONE(auxdata) \ + ((auxdata)->clone(auxdata)) + +#define NPY_ERR(str) fprintf(stderr, #str); fflush(stderr); +#define NPY_ERR2(str) fprintf(stderr, str); fflush(stderr); + +#define NPY_STRINGIFY(x) #x +#define NPY_TOSTRING(x) NPY_STRINGIFY(x) + + /* + * Macros to define how array, and dimension/strides data is + * allocated. + */ + + /* Data buffer - PyDataMem_NEW/FREE/RENEW are in multiarraymodule.c */ + +#define NPY_USE_PYMEM 1 + +#if NPY_USE_PYMEM == 1 +#define PyArray_malloc PyMem_Malloc +#define PyArray_free PyMem_Free +#define PyArray_realloc PyMem_Realloc +#else +#define PyArray_malloc malloc +#define PyArray_free free +#define PyArray_realloc realloc +#endif + +/* Dimensions and strides */ +#define PyDimMem_NEW(size) \ + ((npy_intp *)PyArray_malloc(size*sizeof(npy_intp))) + +#define PyDimMem_FREE(ptr) PyArray_free(ptr) + +#define PyDimMem_RENEW(ptr,size) \ + ((npy_intp *)PyArray_realloc(ptr,size*sizeof(npy_intp))) + +/* forward declaration */ +struct _PyArray_Descr; + +/* These must deal with unaligned and swapped data if necessary */ +typedef PyObject * (PyArray_GetItemFunc) (void *, void *); +typedef int (PyArray_SetItemFunc)(PyObject *, void *, void *); + +typedef void (PyArray_CopySwapNFunc)(void *, npy_intp, void *, npy_intp, + npy_intp, int, void *); + +typedef void (PyArray_CopySwapFunc)(void *, void *, int, void *); +typedef npy_bool (PyArray_NonzeroFunc)(void *, void *); + + +/* + * These assume aligned and notswapped data -- a buffer will be used + * before or contiguous data will be obtained + */ + +typedef int (PyArray_CompareFunc)(const void *, const void *, void *); +typedef int (PyArray_ArgFunc)(void*, npy_intp, npy_intp*, void *); + +typedef void (PyArray_DotFunc)(void *, npy_intp, void *, npy_intp, void *, + npy_intp, void *); + +typedef void (PyArray_VectorUnaryFunc)(void *, void *, npy_intp, void *, + void *); + +/* + * XXX the ignore argument should be removed next time the API version + * is bumped. It used to be the separator. + */ +typedef int (PyArray_ScanFunc)(FILE *fp, void *dptr, + char *ignore, struct _PyArray_Descr *); +typedef int (PyArray_FromStrFunc)(char *s, void *dptr, char **endptr, + struct _PyArray_Descr *); + +typedef int (PyArray_FillFunc)(void *, npy_intp, void *); + +typedef int (PyArray_SortFunc)(void *, npy_intp, void *); +typedef int (PyArray_ArgSortFunc)(void *, npy_intp *, npy_intp, void *); +typedef int (PyArray_PartitionFunc)(void *, npy_intp, npy_intp, + npy_intp *, npy_intp *, + void *); +typedef int (PyArray_ArgPartitionFunc)(void *, npy_intp *, npy_intp, npy_intp, + npy_intp *, npy_intp *, + void *); + +typedef int (PyArray_FillWithScalarFunc)(void *, npy_intp, void *, void *); + +typedef int (PyArray_ScalarKindFunc)(void *); + +typedef void (PyArray_FastClipFunc)(void *in, npy_intp n_in, void *min, + void *max, void *out); +typedef void (PyArray_FastPutmaskFunc)(void *in, void *mask, npy_intp n_in, + void *values, npy_intp nv); +typedef int (PyArray_FastTakeFunc)(void *dest, void *src, npy_intp *indarray, + npy_intp nindarray, npy_intp n_outer, + npy_intp m_middle, npy_intp nelem, + NPY_CLIPMODE clipmode); + +typedef struct { + npy_intp *ptr; + int len; +} PyArray_Dims; + +typedef struct { + /* + * Functions to cast to most other standard types + * Can have some NULL entries. The types + * DATETIME, TIMEDELTA, and HALF go into the castdict + * even though they are built-in. + */ + PyArray_VectorUnaryFunc *cast[NPY_NTYPES_ABI_COMPATIBLE]; + + /* The next four functions *cannot* be NULL */ + + /* + * Functions to get and set items with standard Python types + * -- not array scalars + */ + PyArray_GetItemFunc *getitem; + PyArray_SetItemFunc *setitem; + + /* + * Copy and/or swap data. Memory areas may not overlap + * Use memmove first if they might + */ + PyArray_CopySwapNFunc *copyswapn; + PyArray_CopySwapFunc *copyswap; + + /* + * Function to compare items + * Can be NULL + */ + PyArray_CompareFunc *compare; + + /* + * Function to select largest + * Can be NULL + */ + PyArray_ArgFunc *argmax; + + /* + * Function to compute dot product + * Can be NULL + */ + PyArray_DotFunc *dotfunc; + + /* + * Function to scan an ASCII file and + * place a single value plus possible separator + * Can be NULL + */ + PyArray_ScanFunc *scanfunc; + + /* + * Function to read a single value from a string + * and adjust the pointer; Can be NULL + */ + PyArray_FromStrFunc *fromstr; + + /* + * Function to determine if data is zero or not + * If NULL a default version is + * used at Registration time. + */ + PyArray_NonzeroFunc *nonzero; + + /* + * Used for arange. + * Can be NULL. + */ + PyArray_FillFunc *fill; + + /* + * Function to fill arrays with scalar values + * Can be NULL + */ + PyArray_FillWithScalarFunc *fillwithscalar; + + /* + * Sorting functions + * Can be NULL + */ + PyArray_SortFunc *sort[NPY_NSORTS]; + PyArray_ArgSortFunc *argsort[NPY_NSORTS]; + + /* + * Dictionary of additional casting functions + * PyArray_VectorUnaryFuncs + * which can be populated to support casting + * to other registered types. Can be NULL + */ + PyObject *castdict; + + /* + * Functions useful for generalizing + * the casting rules. + * Can be NULL; + */ + PyArray_ScalarKindFunc *scalarkind; + int **cancastscalarkindto; + int *cancastto; + + PyArray_FastClipFunc *fastclip; + PyArray_FastPutmaskFunc *fastputmask; + PyArray_FastTakeFunc *fasttake; + + /* + * Function to select smallest + * Can be NULL + */ + PyArray_ArgFunc *argmin; + +} PyArray_ArrFuncs; + +/* The item must be reference counted when it is inserted or extracted. */ +#define NPY_ITEM_REFCOUNT 0x01 +/* Same as needing REFCOUNT */ +#define NPY_ITEM_HASOBJECT 0x01 +/* Convert to list for pickling */ +#define NPY_LIST_PICKLE 0x02 +/* The item is a POINTER */ +#define NPY_ITEM_IS_POINTER 0x04 +/* memory needs to be initialized for this data-type */ +#define NPY_NEEDS_INIT 0x08 +/* operations need Python C-API so don't give-up thread. */ +#define NPY_NEEDS_PYAPI 0x10 +/* Use f.getitem when extracting elements of this data-type */ +#define NPY_USE_GETITEM 0x20 +/* Use f.setitem when setting creating 0-d array from this data-type.*/ +#define NPY_USE_SETITEM 0x40 +/* A sticky flag specifically for structured arrays */ +#define NPY_ALIGNED_STRUCT 0x80 + +/* + *These are inherited for global data-type if any data-types in the + * field have them + */ +#define NPY_FROM_FIELDS (NPY_NEEDS_INIT | NPY_LIST_PICKLE | \ + NPY_ITEM_REFCOUNT | NPY_NEEDS_PYAPI) + +#define NPY_OBJECT_DTYPE_FLAGS (NPY_LIST_PICKLE | NPY_USE_GETITEM | \ + NPY_ITEM_IS_POINTER | NPY_ITEM_REFCOUNT | \ + NPY_NEEDS_INIT | NPY_NEEDS_PYAPI) + +#define PyDataType_FLAGCHK(dtype, flag) \ + (((dtype)->flags & (flag)) == (flag)) + +#define PyDataType_REFCHK(dtype) \ + PyDataType_FLAGCHK(dtype, NPY_ITEM_REFCOUNT) + +typedef struct _PyArray_Descr { + PyObject_HEAD + /* + * the type object representing an + * instance of this type -- should not + * be two type_numbers with the same type + * object. + */ + PyTypeObject *typeobj; + /* kind for this type */ + char kind; + /* unique-character representing this type */ + char type; + /* + * '>' (big), '<' (little), '|' + * (not-applicable), or '=' (native). + */ + char byteorder; + /* flags describing data type */ + char flags; + /* number representing this type */ + int type_num; + /* element size (itemsize) for this type */ + int elsize; + /* alignment needed for this type */ + int alignment; + /* + * Non-NULL if this type is + * is an array (C-contiguous) + * of some other type + */ + struct _arr_descr *subarray; + /* + * The fields dictionary for this type + * For statically defined descr this + * is always Py_None + */ + PyObject *fields; + /* + * An ordered tuple of field names or NULL + * if no fields are defined + */ + PyObject *names; + /* + * a table of functions specific for each + * basic data descriptor + */ + PyArray_ArrFuncs *f; + /* Metadata about this dtype */ + PyObject *metadata; + /* + * Metadata specific to the C implementation + * of the particular dtype. This was added + * for NumPy 1.7.0. + */ + NpyAuxData *c_metadata; +} PyArray_Descr; + +typedef struct _arr_descr { + PyArray_Descr *base; + PyObject *shape; /* a tuple */ +} PyArray_ArrayDescr; + +/* + * The main array object structure. + * + * It has been recommended to use the inline functions defined below + * (PyArray_DATA and friends) to access fields here for a number of + * releases. Direct access to the members themselves is deprecated. + * To ensure that your code does not use deprecated access, + * #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION + * (or NPY_1_8_API_VERSION or higher as required). + */ +/* This struct will be moved to a private header in a future release */ +typedef struct tagPyArrayObject_fields { + PyObject_HEAD + /* Pointer to the raw data buffer */ + char *data; + /* The number of dimensions, also called 'ndim' */ + int nd; + /* The size in each dimension, also called 'shape' */ + npy_intp *dimensions; + /* + * Number of bytes to jump to get to the + * next element in each dimension + */ + npy_intp *strides; + /* + * This object is decref'd upon + * deletion of array. Except in the + * case of UPDATEIFCOPY which has + * special handling. + * + * For views it points to the original + * array, collapsed so no chains of + * views occur. + * + * For creation from buffer object it + * points to an object that shold be + * decref'd on deletion + * + * For UPDATEIFCOPY flag this is an + * array to-be-updated upon deletion + * of this one + */ + PyObject *base; + /* Pointer to type structure */ + PyArray_Descr *descr; + /* Flags describing array -- see below */ + int flags; + /* For weak references */ + PyObject *weakreflist; +} PyArrayObject_fields; + +/* + * To hide the implementation details, we only expose + * the Python struct HEAD. + */ +#if !defined(NPY_NO_DEPRECATED_API) || \ + (NPY_NO_DEPRECATED_API < NPY_1_7_API_VERSION) +/* + * Can't put this in npy_deprecated_api.h like the others. + * PyArrayObject field access is deprecated as of NumPy 1.7. + */ +typedef PyArrayObject_fields PyArrayObject; +#else +typedef struct tagPyArrayObject { + PyObject_HEAD +} PyArrayObject; +#endif + +#define NPY_SIZEOF_PYARRAYOBJECT (sizeof(PyArrayObject_fields)) + +/* Array Flags Object */ +typedef struct PyArrayFlagsObject { + PyObject_HEAD + PyObject *arr; + int flags; +} PyArrayFlagsObject; + +/* Mirrors buffer object to ptr */ + +typedef struct { + PyObject_HEAD + PyObject *base; + void *ptr; + npy_intp len; + int flags; +} PyArray_Chunk; + +typedef struct { + NPY_DATETIMEUNIT base; + int num; +} PyArray_DatetimeMetaData; + +typedef struct { + NpyAuxData base; + PyArray_DatetimeMetaData meta; +} PyArray_DatetimeDTypeMetaData; + +/* + * This structure contains an exploded view of a date-time value. + * NaT is represented by year == NPY_DATETIME_NAT. + */ +typedef struct { + npy_int64 year; + npy_int32 month, day, hour, min, sec, us, ps, as; +} npy_datetimestruct; + +/* This is not used internally. */ +typedef struct { + npy_int64 day; + npy_int32 sec, us, ps, as; +} npy_timedeltastruct; + +typedef int (PyArray_FinalizeFunc)(PyArrayObject *, PyObject *); + +/* + * Means c-style contiguous (last index varies the fastest). The data + * elements right after each other. + * + * This flag may be requested in constructor functions. + * This flag may be tested for in PyArray_FLAGS(arr). + */ +#define NPY_ARRAY_C_CONTIGUOUS 0x0001 + +/* + * Set if array is a contiguous Fortran array: the first index varies + * the fastest in memory (strides array is reverse of C-contiguous + * array) + * + * This flag may be requested in constructor functions. + * This flag may be tested for in PyArray_FLAGS(arr). + */ +#define NPY_ARRAY_F_CONTIGUOUS 0x0002 + +/* + * Note: all 0-d arrays are C_CONTIGUOUS and F_CONTIGUOUS. If a + * 1-d array is C_CONTIGUOUS it is also F_CONTIGUOUS. Arrays with + * more then one dimension can be C_CONTIGUOUS and F_CONTIGUOUS + * at the same time if they have either zero or one element. + * If NPY_RELAXED_STRIDES_CHECKING is set, a higher dimensional + * array is always C_CONTIGUOUS and F_CONTIGUOUS if it has zero elements + * and the array is contiguous if ndarray.squeeze() is contiguous. + * I.e. dimensions for which `ndarray.shape[dimension] == 1` are + * ignored. + */ + +/* + * If set, the array owns the data: it will be free'd when the array + * is deleted. + * + * This flag may be tested for in PyArray_FLAGS(arr). + */ +#define NPY_ARRAY_OWNDATA 0x0004 + +/* + * An array never has the next four set; they're only used as parameter + * flags to the the various FromAny functions + * + * This flag may be requested in constructor functions. + */ + +/* Cause a cast to occur regardless of whether or not it is safe. */ +#define NPY_ARRAY_FORCECAST 0x0010 + +/* + * Always copy the array. Returned arrays are always CONTIGUOUS, + * ALIGNED, and WRITEABLE. + * + * This flag may be requested in constructor functions. + */ +#define NPY_ARRAY_ENSURECOPY 0x0020 + +/* + * Make sure the returned array is a base-class ndarray + * + * This flag may be requested in constructor functions. + */ +#define NPY_ARRAY_ENSUREARRAY 0x0040 + +/* + * Make sure that the strides are in units of the element size Needed + * for some operations with record-arrays. + * + * This flag may be requested in constructor functions. + */ +#define NPY_ARRAY_ELEMENTSTRIDES 0x0080 + +/* + * Array data is aligned on the appropiate memory address for the type + * stored according to how the compiler would align things (e.g., an + * array of integers (4 bytes each) starts on a memory address that's + * a multiple of 4) + * + * This flag may be requested in constructor functions. + * This flag may be tested for in PyArray_FLAGS(arr). + */ +#define NPY_ARRAY_ALIGNED 0x0100 + +/* + * Array data has the native endianness + * + * This flag may be requested in constructor functions. + */ +#define NPY_ARRAY_NOTSWAPPED 0x0200 + +/* + * Array data is writeable + * + * This flag may be requested in constructor functions. + * This flag may be tested for in PyArray_FLAGS(arr). + */ +#define NPY_ARRAY_WRITEABLE 0x0400 + +/* + * If this flag is set, then base contains a pointer to an array of + * the same size that should be updated with the current contents of + * this array when this array is deallocated + * + * This flag may be requested in constructor functions. + * This flag may be tested for in PyArray_FLAGS(arr). + */ +#define NPY_ARRAY_UPDATEIFCOPY 0x1000 + +/* + * NOTE: there are also internal flags defined in multiarray/arrayobject.h, + * which start at bit 31 and work down. + */ + +#define NPY_ARRAY_BEHAVED (NPY_ARRAY_ALIGNED | \ + NPY_ARRAY_WRITEABLE) +#define NPY_ARRAY_BEHAVED_NS (NPY_ARRAY_ALIGNED | \ + NPY_ARRAY_WRITEABLE | \ + NPY_ARRAY_NOTSWAPPED) +#define NPY_ARRAY_CARRAY (NPY_ARRAY_C_CONTIGUOUS | \ + NPY_ARRAY_BEHAVED) +#define NPY_ARRAY_CARRAY_RO (NPY_ARRAY_C_CONTIGUOUS | \ + NPY_ARRAY_ALIGNED) +#define NPY_ARRAY_FARRAY (NPY_ARRAY_F_CONTIGUOUS | \ + NPY_ARRAY_BEHAVED) +#define NPY_ARRAY_FARRAY_RO (NPY_ARRAY_F_CONTIGUOUS | \ + NPY_ARRAY_ALIGNED) +#define NPY_ARRAY_DEFAULT (NPY_ARRAY_CARRAY) +#define NPY_ARRAY_IN_ARRAY (NPY_ARRAY_CARRAY_RO) +#define NPY_ARRAY_OUT_ARRAY (NPY_ARRAY_CARRAY) +#define NPY_ARRAY_INOUT_ARRAY (NPY_ARRAY_CARRAY | \ + NPY_ARRAY_UPDATEIFCOPY) +#define NPY_ARRAY_IN_FARRAY (NPY_ARRAY_FARRAY_RO) +#define NPY_ARRAY_OUT_FARRAY (NPY_ARRAY_FARRAY) +#define NPY_ARRAY_INOUT_FARRAY (NPY_ARRAY_FARRAY | \ + NPY_ARRAY_UPDATEIFCOPY) + +#define NPY_ARRAY_UPDATE_ALL (NPY_ARRAY_C_CONTIGUOUS | \ + NPY_ARRAY_F_CONTIGUOUS | \ + NPY_ARRAY_ALIGNED) + +/* This flag is for the array interface, not PyArrayObject */ +#define NPY_ARR_HAS_DESCR 0x0800 + + + + +/* + * Size of internal buffers used for alignment Make BUFSIZE a multiple + * of sizeof(npy_cdouble) -- usually 16 so that ufunc buffers are aligned + */ +#define NPY_MIN_BUFSIZE ((int)sizeof(npy_cdouble)) +#define NPY_MAX_BUFSIZE (((int)sizeof(npy_cdouble))*1000000) +#define NPY_BUFSIZE 8192 +/* buffer stress test size: */ +/*#define NPY_BUFSIZE 17*/ + +#define PyArray_MAX(a,b) (((a)>(b))?(a):(b)) +#define PyArray_MIN(a,b) (((a)<(b))?(a):(b)) +#define PyArray_CLT(p,q) ((((p).real==(q).real) ? ((p).imag < (q).imag) : \ + ((p).real < (q).real))) +#define PyArray_CGT(p,q) ((((p).real==(q).real) ? ((p).imag > (q).imag) : \ + ((p).real > (q).real))) +#define PyArray_CLE(p,q) ((((p).real==(q).real) ? ((p).imag <= (q).imag) : \ + ((p).real <= (q).real))) +#define PyArray_CGE(p,q) ((((p).real==(q).real) ? ((p).imag >= (q).imag) : \ + ((p).real >= (q).real))) +#define PyArray_CEQ(p,q) (((p).real==(q).real) && ((p).imag == (q).imag)) +#define PyArray_CNE(p,q) (((p).real!=(q).real) || ((p).imag != (q).imag)) + +/* + * C API: consists of Macros and functions. The MACROS are defined + * here. + */ + + +#define PyArray_ISCONTIGUOUS(m) PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS) +#define PyArray_ISWRITEABLE(m) PyArray_CHKFLAGS(m, NPY_ARRAY_WRITEABLE) +#define PyArray_ISALIGNED(m) PyArray_CHKFLAGS(m, NPY_ARRAY_ALIGNED) + +#define PyArray_IS_C_CONTIGUOUS(m) PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS) +#define PyArray_IS_F_CONTIGUOUS(m) PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS) + +#if NPY_ALLOW_THREADS +#define NPY_BEGIN_ALLOW_THREADS Py_BEGIN_ALLOW_THREADS +#define NPY_END_ALLOW_THREADS Py_END_ALLOW_THREADS +#define NPY_BEGIN_THREADS_DEF PyThreadState *_save=NULL; +#define NPY_BEGIN_THREADS do {_save = PyEval_SaveThread();} while (0); +#define NPY_END_THREADS do {if (_save) PyEval_RestoreThread(_save);} while (0); +#define NPY_BEGIN_THREADS_THRESHOLDED(loop_size) do { if (loop_size > 500) \ + { _save = PyEval_SaveThread();} } while (0); + +#define NPY_BEGIN_THREADS_DESCR(dtype) \ + do {if (!(PyDataType_FLAGCHK(dtype, NPY_NEEDS_PYAPI))) \ + NPY_BEGIN_THREADS;} while (0); + +#define NPY_END_THREADS_DESCR(dtype) \ + do {if (!(PyDataType_FLAGCHK(dtype, NPY_NEEDS_PYAPI))) \ + NPY_END_THREADS; } while (0); + +#define NPY_ALLOW_C_API_DEF PyGILState_STATE __save__; +#define NPY_ALLOW_C_API do {__save__ = PyGILState_Ensure();} while (0); +#define NPY_DISABLE_C_API do {PyGILState_Release(__save__);} while (0); +#else +#define NPY_BEGIN_ALLOW_THREADS +#define NPY_END_ALLOW_THREADS +#define NPY_BEGIN_THREADS_DEF +#define NPY_BEGIN_THREADS +#define NPY_END_THREADS +#define NPY_BEGIN_THREADS_THRESHOLDED(loop_size) +#define NPY_BEGIN_THREADS_DESCR(dtype) +#define NPY_END_THREADS_DESCR(dtype) +#define NPY_ALLOW_C_API_DEF +#define NPY_ALLOW_C_API +#define NPY_DISABLE_C_API +#endif + +/********************************** + * The nditer object, added in 1.6 + **********************************/ + +/* The actual structure of the iterator is an internal detail */ +typedef struct NpyIter_InternalOnly NpyIter; + +/* Iterator function pointers that may be specialized */ +typedef int (NpyIter_IterNextFunc)(NpyIter *iter); +typedef void (NpyIter_GetMultiIndexFunc)(NpyIter *iter, + npy_intp *outcoords); + +/*** Global flags that may be passed to the iterator constructors ***/ + +/* Track an index representing C order */ +#define NPY_ITER_C_INDEX 0x00000001 +/* Track an index representing Fortran order */ +#define NPY_ITER_F_INDEX 0x00000002 +/* Track a multi-index */ +#define NPY_ITER_MULTI_INDEX 0x00000004 +/* User code external to the iterator does the 1-dimensional innermost loop */ +#define NPY_ITER_EXTERNAL_LOOP 0x00000008 +/* Convert all the operands to a common data type */ +#define NPY_ITER_COMMON_DTYPE 0x00000010 +/* Operands may hold references, requiring API access during iteration */ +#define NPY_ITER_REFS_OK 0x00000020 +/* Zero-sized operands should be permitted, iteration checks IterSize for 0 */ +#define NPY_ITER_ZEROSIZE_OK 0x00000040 +/* Permits reductions (size-0 stride with dimension size > 1) */ +#define NPY_ITER_REDUCE_OK 0x00000080 +/* Enables sub-range iteration */ +#define NPY_ITER_RANGED 0x00000100 +/* Enables buffering */ +#define NPY_ITER_BUFFERED 0x00000200 +/* When buffering is enabled, grows the inner loop if possible */ +#define NPY_ITER_GROWINNER 0x00000400 +/* Delay allocation of buffers until first Reset* call */ +#define NPY_ITER_DELAY_BUFALLOC 0x00000800 +/* When NPY_KEEPORDER is specified, disable reversing negative-stride axes */ +#define NPY_ITER_DONT_NEGATE_STRIDES 0x00001000 + +/*** Per-operand flags that may be passed to the iterator constructors ***/ + +/* The operand will be read from and written to */ +#define NPY_ITER_READWRITE 0x00010000 +/* The operand will only be read from */ +#define NPY_ITER_READONLY 0x00020000 +/* The operand will only be written to */ +#define NPY_ITER_WRITEONLY 0x00040000 +/* The operand's data must be in native byte order */ +#define NPY_ITER_NBO 0x00080000 +/* The operand's data must be aligned */ +#define NPY_ITER_ALIGNED 0x00100000 +/* The operand's data must be contiguous (within the inner loop) */ +#define NPY_ITER_CONTIG 0x00200000 +/* The operand may be copied to satisfy requirements */ +#define NPY_ITER_COPY 0x00400000 +/* The operand may be copied with UPDATEIFCOPY to satisfy requirements */ +#define NPY_ITER_UPDATEIFCOPY 0x00800000 +/* Allocate the operand if it is NULL */ +#define NPY_ITER_ALLOCATE 0x01000000 +/* If an operand is allocated, don't use any subtype */ +#define NPY_ITER_NO_SUBTYPE 0x02000000 +/* This is a virtual array slot, operand is NULL but temporary data is there */ +#define NPY_ITER_VIRTUAL 0x04000000 +/* Require that the dimension match the iterator dimensions exactly */ +#define NPY_ITER_NO_BROADCAST 0x08000000 +/* A mask is being used on this array, affects buffer -> array copy */ +#define NPY_ITER_WRITEMASKED 0x10000000 +/* This array is the mask for all WRITEMASKED operands */ +#define NPY_ITER_ARRAYMASK 0x20000000 + +#define NPY_ITER_GLOBAL_FLAGS 0x0000ffff +#define NPY_ITER_PER_OP_FLAGS 0xffff0000 + + +/***************************** + * Basic iterator object + *****************************/ + +/* FWD declaration */ +typedef struct PyArrayIterObject_tag PyArrayIterObject; + +/* + * type of the function which translates a set of coordinates to a + * pointer to the data + */ +typedef char* (*npy_iter_get_dataptr_t)(PyArrayIterObject* iter, npy_intp*); + +struct PyArrayIterObject_tag { + PyObject_HEAD + int nd_m1; /* number of dimensions - 1 */ + npy_intp index, size; + npy_intp coordinates[NPY_MAXDIMS];/* N-dimensional loop */ + npy_intp dims_m1[NPY_MAXDIMS]; /* ao->dimensions - 1 */ + npy_intp strides[NPY_MAXDIMS]; /* ao->strides or fake */ + npy_intp backstrides[NPY_MAXDIMS];/* how far to jump back */ + npy_intp factors[NPY_MAXDIMS]; /* shape factors */ + PyArrayObject *ao; + char *dataptr; /* pointer to current item*/ + npy_bool contiguous; + + npy_intp bounds[NPY_MAXDIMS][2]; + npy_intp limits[NPY_MAXDIMS][2]; + npy_intp limits_sizes[NPY_MAXDIMS]; + npy_iter_get_dataptr_t translate; +} ; + + +/* Iterator API */ +#define PyArrayIter_Check(op) PyObject_TypeCheck(op, &PyArrayIter_Type) + +#define _PyAIT(it) ((PyArrayIterObject *)(it)) +#define PyArray_ITER_RESET(it) do { \ + _PyAIT(it)->index = 0; \ + _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao); \ + memset(_PyAIT(it)->coordinates, 0, \ + (_PyAIT(it)->nd_m1+1)*sizeof(npy_intp)); \ +} while (0) + +#define _PyArray_ITER_NEXT1(it) do { \ + (it)->dataptr += _PyAIT(it)->strides[0]; \ + (it)->coordinates[0]++; \ +} while (0) + +#define _PyArray_ITER_NEXT2(it) do { \ + if ((it)->coordinates[1] < (it)->dims_m1[1]) { \ + (it)->coordinates[1]++; \ + (it)->dataptr += (it)->strides[1]; \ + } \ + else { \ + (it)->coordinates[1] = 0; \ + (it)->coordinates[0]++; \ + (it)->dataptr += (it)->strides[0] - \ + (it)->backstrides[1]; \ + } \ +} while (0) + +#define _PyArray_ITER_NEXT3(it) do { \ + if ((it)->coordinates[2] < (it)->dims_m1[2]) { \ + (it)->coordinates[2]++; \ + (it)->dataptr += (it)->strides[2]; \ + } \ + else { \ + (it)->coordinates[2] = 0; \ + (it)->dataptr -= (it)->backstrides[2]; \ + if ((it)->coordinates[1] < (it)->dims_m1[1]) { \ + (it)->coordinates[1]++; \ + (it)->dataptr += (it)->strides[1]; \ + } \ + else { \ + (it)->coordinates[1] = 0; \ + (it)->coordinates[0]++; \ + (it)->dataptr += (it)->strides[0] \ + (it)->backstrides[1]; \ + } \ + } \ +} while (0) + +#define PyArray_ITER_NEXT(it) do { \ + _PyAIT(it)->index++; \ + if (_PyAIT(it)->nd_m1 == 0) { \ + _PyArray_ITER_NEXT1(_PyAIT(it)); \ + } \ + else if (_PyAIT(it)->contiguous) \ + _PyAIT(it)->dataptr += PyArray_DESCR(_PyAIT(it)->ao)->elsize; \ + else if (_PyAIT(it)->nd_m1 == 1) { \ + _PyArray_ITER_NEXT2(_PyAIT(it)); \ + } \ + else { \ + int __npy_i; \ + for (__npy_i=_PyAIT(it)->nd_m1; __npy_i >= 0; __npy_i--) { \ + if (_PyAIT(it)->coordinates[__npy_i] < \ + _PyAIT(it)->dims_m1[__npy_i]) { \ + _PyAIT(it)->coordinates[__npy_i]++; \ + _PyAIT(it)->dataptr += \ + _PyAIT(it)->strides[__npy_i]; \ + break; \ + } \ + else { \ + _PyAIT(it)->coordinates[__npy_i] = 0; \ + _PyAIT(it)->dataptr -= \ + _PyAIT(it)->backstrides[__npy_i]; \ + } \ + } \ + } \ +} while (0) + +#define PyArray_ITER_GOTO(it, destination) do { \ + int __npy_i; \ + _PyAIT(it)->index = 0; \ + _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao); \ + for (__npy_i = _PyAIT(it)->nd_m1; __npy_i>=0; __npy_i--) { \ + if (destination[__npy_i] < 0) { \ + destination[__npy_i] += \ + _PyAIT(it)->dims_m1[__npy_i]+1; \ + } \ + _PyAIT(it)->dataptr += destination[__npy_i] * \ + _PyAIT(it)->strides[__npy_i]; \ + _PyAIT(it)->coordinates[__npy_i] = \ + destination[__npy_i]; \ + _PyAIT(it)->index += destination[__npy_i] * \ + ( __npy_i==_PyAIT(it)->nd_m1 ? 1 : \ + _PyAIT(it)->dims_m1[__npy_i+1]+1) ; \ + } \ +} while (0) + +#define PyArray_ITER_GOTO1D(it, ind) do { \ + int __npy_i; \ + npy_intp __npy_ind = (npy_intp) (ind); \ + if (__npy_ind < 0) __npy_ind += _PyAIT(it)->size; \ + _PyAIT(it)->index = __npy_ind; \ + if (_PyAIT(it)->nd_m1 == 0) { \ + _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao) + \ + __npy_ind * _PyAIT(it)->strides[0]; \ + } \ + else if (_PyAIT(it)->contiguous) \ + _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao) + \ + __npy_ind * PyArray_DESCR(_PyAIT(it)->ao)->elsize; \ + else { \ + _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao); \ + for (__npy_i = 0; __npy_i<=_PyAIT(it)->nd_m1; \ + __npy_i++) { \ + _PyAIT(it)->dataptr += \ + (__npy_ind / _PyAIT(it)->factors[__npy_i]) \ + * _PyAIT(it)->strides[__npy_i]; \ + __npy_ind %= _PyAIT(it)->factors[__npy_i]; \ + } \ + } \ +} while (0) + +#define PyArray_ITER_DATA(it) ((void *)(_PyAIT(it)->dataptr)) + +#define PyArray_ITER_NOTDONE(it) (_PyAIT(it)->index < _PyAIT(it)->size) + + +/* + * Any object passed to PyArray_Broadcast must be binary compatible + * with this structure. + */ + +typedef struct { + PyObject_HEAD + int numiter; /* number of iters */ + npy_intp size; /* broadcasted size */ + npy_intp index; /* current index */ + int nd; /* number of dims */ + npy_intp dimensions[NPY_MAXDIMS]; /* dimensions */ + PyArrayIterObject *iters[NPY_MAXARGS]; /* iterators */ +} PyArrayMultiIterObject; + +#define _PyMIT(m) ((PyArrayMultiIterObject *)(m)) +#define PyArray_MultiIter_RESET(multi) do { \ + int __npy_mi; \ + _PyMIT(multi)->index = 0; \ + for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ + PyArray_ITER_RESET(_PyMIT(multi)->iters[__npy_mi]); \ + } \ +} while (0) + +#define PyArray_MultiIter_NEXT(multi) do { \ + int __npy_mi; \ + _PyMIT(multi)->index++; \ + for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ + PyArray_ITER_NEXT(_PyMIT(multi)->iters[__npy_mi]); \ + } \ +} while (0) + +#define PyArray_MultiIter_GOTO(multi, dest) do { \ + int __npy_mi; \ + for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ + PyArray_ITER_GOTO(_PyMIT(multi)->iters[__npy_mi], dest); \ + } \ + _PyMIT(multi)->index = _PyMIT(multi)->iters[0]->index; \ +} while (0) + +#define PyArray_MultiIter_GOTO1D(multi, ind) do { \ + int __npy_mi; \ + for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ + PyArray_ITER_GOTO1D(_PyMIT(multi)->iters[__npy_mi], ind); \ + } \ + _PyMIT(multi)->index = _PyMIT(multi)->iters[0]->index; \ +} while (0) + +#define PyArray_MultiIter_DATA(multi, i) \ + ((void *)(_PyMIT(multi)->iters[i]->dataptr)) + +#define PyArray_MultiIter_NEXTi(multi, i) \ + PyArray_ITER_NEXT(_PyMIT(multi)->iters[i]) + +#define PyArray_MultiIter_NOTDONE(multi) \ + (_PyMIT(multi)->index < _PyMIT(multi)->size) + +/* Store the information needed for fancy-indexing over an array */ + +typedef struct { + PyObject_HEAD + /* + * Multi-iterator portion --- needs to be present in this + * order to work with PyArray_Broadcast + */ + + int numiter; /* number of index-array + iterators */ + npy_intp size; /* size of broadcasted + result */ + npy_intp index; /* current index */ + int nd; /* number of dims */ + npy_intp dimensions[NPY_MAXDIMS]; /* dimensions */ + PyArrayIterObject *iters[NPY_MAXDIMS]; /* index object + iterators */ + PyArrayIterObject *ait; /* flat Iterator for + underlying array */ + + /* flat iterator for subspace (when numiter < nd) */ + PyArrayIterObject *subspace; + + /* + * if subspace iteration, then this is the array of axes in + * the underlying array represented by the index objects + */ + int iteraxes[NPY_MAXDIMS]; + /* + * if subspace iteration, the these are the coordinates to the + * start of the subspace. + */ + npy_intp bscoord[NPY_MAXDIMS]; + + PyObject *indexobj; /* creating obj */ + /* + * consec is first used to indicate wether fancy indices are + * consecutive and then denotes at which axis they are inserted + */ + int consec; + char *dataptr; + +} PyArrayMapIterObject; + +enum { + NPY_NEIGHBORHOOD_ITER_ZERO_PADDING, + NPY_NEIGHBORHOOD_ITER_ONE_PADDING, + NPY_NEIGHBORHOOD_ITER_CONSTANT_PADDING, + NPY_NEIGHBORHOOD_ITER_CIRCULAR_PADDING, + NPY_NEIGHBORHOOD_ITER_MIRROR_PADDING +}; + +typedef struct { + PyObject_HEAD + + /* + * PyArrayIterObject part: keep this in this exact order + */ + int nd_m1; /* number of dimensions - 1 */ + npy_intp index, size; + npy_intp coordinates[NPY_MAXDIMS];/* N-dimensional loop */ + npy_intp dims_m1[NPY_MAXDIMS]; /* ao->dimensions - 1 */ + npy_intp strides[NPY_MAXDIMS]; /* ao->strides or fake */ + npy_intp backstrides[NPY_MAXDIMS];/* how far to jump back */ + npy_intp factors[NPY_MAXDIMS]; /* shape factors */ + PyArrayObject *ao; + char *dataptr; /* pointer to current item*/ + npy_bool contiguous; + + npy_intp bounds[NPY_MAXDIMS][2]; + npy_intp limits[NPY_MAXDIMS][2]; + npy_intp limits_sizes[NPY_MAXDIMS]; + npy_iter_get_dataptr_t translate; + + /* + * New members + */ + npy_intp nd; + + /* Dimensions is the dimension of the array */ + npy_intp dimensions[NPY_MAXDIMS]; + + /* + * Neighborhood points coordinates are computed relatively to the + * point pointed by _internal_iter + */ + PyArrayIterObject* _internal_iter; + /* + * To keep a reference to the representation of the constant value + * for constant padding + */ + char* constant; + + int mode; +} PyArrayNeighborhoodIterObject; + +/* + * Neighborhood iterator API + */ + +/* General: those work for any mode */ +static NPY_INLINE int +PyArrayNeighborhoodIter_Reset(PyArrayNeighborhoodIterObject* iter); +static NPY_INLINE int +PyArrayNeighborhoodIter_Next(PyArrayNeighborhoodIterObject* iter); +#if 0 +static NPY_INLINE int +PyArrayNeighborhoodIter_Next2D(PyArrayNeighborhoodIterObject* iter); +#endif + +/* + * Include inline implementations - functions defined there are not + * considered public API + */ +#define _NPY_INCLUDE_NEIGHBORHOOD_IMP +#include "_neighborhood_iterator_imp.h" +#undef _NPY_INCLUDE_NEIGHBORHOOD_IMP + +/* The default array type */ +#define NPY_DEFAULT_TYPE NPY_DOUBLE + +/* + * All sorts of useful ways to look into a PyArrayObject. It is recommended + * to use PyArrayObject * objects instead of always casting from PyObject *, + * for improved type checking. + * + * In many cases here the macro versions of the accessors are deprecated, + * but can't be immediately changed to inline functions because the + * preexisting macros accept PyObject * and do automatic casts. Inline + * functions accepting PyArrayObject * provides for some compile-time + * checking of correctness when working with these objects in C. + */ + +#define PyArray_ISONESEGMENT(m) (PyArray_NDIM(m) == 0 || \ + PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS) || \ + PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS)) + +#define PyArray_ISFORTRAN(m) (PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS) && \ + (!PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS))) + +#define PyArray_FORTRAN_IF(m) ((PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS) ? \ + NPY_ARRAY_F_CONTIGUOUS : 0)) + +#if (defined(NPY_NO_DEPRECATED_API) && (NPY_1_7_API_VERSION <= NPY_NO_DEPRECATED_API)) +/* + * Changing access macros into functions, to allow for future hiding + * of the internal memory layout. This later hiding will allow the 2.x series + * to change the internal representation of arrays without affecting + * ABI compatibility. + */ + +static NPY_INLINE int +PyArray_NDIM(const PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->nd; +} + +static NPY_INLINE void * +PyArray_DATA(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->data; +} + +static NPY_INLINE char * +PyArray_BYTES(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->data; +} + +static NPY_INLINE npy_intp * +PyArray_DIMS(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->dimensions; +} + +static NPY_INLINE npy_intp * +PyArray_STRIDES(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->strides; +} + +static NPY_INLINE npy_intp +PyArray_DIM(const PyArrayObject *arr, int idim) +{ + return ((PyArrayObject_fields *)arr)->dimensions[idim]; +} + +static NPY_INLINE npy_intp +PyArray_STRIDE(const PyArrayObject *arr, int istride) +{ + return ((PyArrayObject_fields *)arr)->strides[istride]; +} + +static NPY_INLINE PyObject * +PyArray_BASE(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->base; +} + +static NPY_INLINE PyArray_Descr * +PyArray_DESCR(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->descr; +} + +static NPY_INLINE int +PyArray_FLAGS(const PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->flags; +} + +static NPY_INLINE npy_intp +PyArray_ITEMSIZE(const PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->descr->elsize; +} + +static NPY_INLINE int +PyArray_TYPE(const PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->descr->type_num; +} + +static NPY_INLINE int +PyArray_CHKFLAGS(const PyArrayObject *arr, int flags) +{ + return (PyArray_FLAGS(arr) & flags) == flags; +} + +static NPY_INLINE PyObject * +PyArray_GETITEM(const PyArrayObject *arr, const char *itemptr) +{ + return ((PyArrayObject_fields *)arr)->descr->f->getitem( + (void *)itemptr, (PyArrayObject *)arr); +} + +static NPY_INLINE int +PyArray_SETITEM(PyArrayObject *arr, char *itemptr, PyObject *v) +{ + return ((PyArrayObject_fields *)arr)->descr->f->setitem( + v, itemptr, arr); +} + +#else + +/* These macros are deprecated as of NumPy 1.7. */ +#define PyArray_NDIM(obj) (((PyArrayObject_fields *)(obj))->nd) +#define PyArray_BYTES(obj) (((PyArrayObject_fields *)(obj))->data) +#define PyArray_DATA(obj) ((void *)((PyArrayObject_fields *)(obj))->data) +#define PyArray_DIMS(obj) (((PyArrayObject_fields *)(obj))->dimensions) +#define PyArray_STRIDES(obj) (((PyArrayObject_fields *)(obj))->strides) +#define PyArray_DIM(obj,n) (PyArray_DIMS(obj)[n]) +#define PyArray_STRIDE(obj,n) (PyArray_STRIDES(obj)[n]) +#define PyArray_BASE(obj) (((PyArrayObject_fields *)(obj))->base) +#define PyArray_DESCR(obj) (((PyArrayObject_fields *)(obj))->descr) +#define PyArray_FLAGS(obj) (((PyArrayObject_fields *)(obj))->flags) +#define PyArray_CHKFLAGS(m, FLAGS) \ + ((((PyArrayObject_fields *)(m))->flags & (FLAGS)) == (FLAGS)) +#define PyArray_ITEMSIZE(obj) \ + (((PyArrayObject_fields *)(obj))->descr->elsize) +#define PyArray_TYPE(obj) \ + (((PyArrayObject_fields *)(obj))->descr->type_num) +#define PyArray_GETITEM(obj,itemptr) \ + PyArray_DESCR(obj)->f->getitem((char *)(itemptr), \ + (PyArrayObject *)(obj)) + +#define PyArray_SETITEM(obj,itemptr,v) \ + PyArray_DESCR(obj)->f->setitem((PyObject *)(v), \ + (char *)(itemptr), \ + (PyArrayObject *)(obj)) +#endif + +static NPY_INLINE PyArray_Descr * +PyArray_DTYPE(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->descr; +} + +static NPY_INLINE npy_intp * +PyArray_SHAPE(PyArrayObject *arr) +{ + return ((PyArrayObject_fields *)arr)->dimensions; +} + +/* + * Enables the specified array flags. Does no checking, + * assumes you know what you're doing. + */ +static NPY_INLINE void +PyArray_ENABLEFLAGS(PyArrayObject *arr, int flags) +{ + ((PyArrayObject_fields *)arr)->flags |= flags; +} + +/* + * Clears the specified array flags. Does no checking, + * assumes you know what you're doing. + */ +static NPY_INLINE void +PyArray_CLEARFLAGS(PyArrayObject *arr, int flags) +{ + ((PyArrayObject_fields *)arr)->flags &= ~flags; +} + +#define PyTypeNum_ISBOOL(type) ((type) == NPY_BOOL) + +#define PyTypeNum_ISUNSIGNED(type) (((type) == NPY_UBYTE) || \ + ((type) == NPY_USHORT) || \ + ((type) == NPY_UINT) || \ + ((type) == NPY_ULONG) || \ + ((type) == NPY_ULONGLONG)) + +#define PyTypeNum_ISSIGNED(type) (((type) == NPY_BYTE) || \ + ((type) == NPY_SHORT) || \ + ((type) == NPY_INT) || \ + ((type) == NPY_LONG) || \ + ((type) == NPY_LONGLONG)) + +#define PyTypeNum_ISINTEGER(type) (((type) >= NPY_BYTE) && \ + ((type) <= NPY_ULONGLONG)) + +#define PyTypeNum_ISFLOAT(type) ((((type) >= NPY_FLOAT) && \ + ((type) <= NPY_LONGDOUBLE)) || \ + ((type) == NPY_HALF)) + +#define PyTypeNum_ISNUMBER(type) (((type) <= NPY_CLONGDOUBLE) || \ + ((type) == NPY_HALF)) + +#define PyTypeNum_ISSTRING(type) (((type) == NPY_STRING) || \ + ((type) == NPY_UNICODE)) + +#define PyTypeNum_ISCOMPLEX(type) (((type) >= NPY_CFLOAT) && \ + ((type) <= NPY_CLONGDOUBLE)) + +#define PyTypeNum_ISPYTHON(type) (((type) == NPY_LONG) || \ + ((type) == NPY_DOUBLE) || \ + ((type) == NPY_CDOUBLE) || \ + ((type) == NPY_BOOL) || \ + ((type) == NPY_OBJECT )) + +#define PyTypeNum_ISFLEXIBLE(type) (((type) >=NPY_STRING) && \ + ((type) <=NPY_VOID)) + +#define PyTypeNum_ISDATETIME(type) (((type) >=NPY_DATETIME) && \ + ((type) <=NPY_TIMEDELTA)) + +#define PyTypeNum_ISUSERDEF(type) (((type) >= NPY_USERDEF) && \ + ((type) < NPY_USERDEF+ \ + NPY_NUMUSERTYPES)) + +#define PyTypeNum_ISEXTENDED(type) (PyTypeNum_ISFLEXIBLE(type) || \ + PyTypeNum_ISUSERDEF(type)) + +#define PyTypeNum_ISOBJECT(type) ((type) == NPY_OBJECT) + + +#define PyDataType_ISBOOL(obj) PyTypeNum_ISBOOL(_PyADt(obj)) +#define PyDataType_ISUNSIGNED(obj) PyTypeNum_ISUNSIGNED(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISSIGNED(obj) PyTypeNum_ISSIGNED(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISINTEGER(obj) PyTypeNum_ISINTEGER(((PyArray_Descr*)(obj))->type_num ) +#define PyDataType_ISFLOAT(obj) PyTypeNum_ISFLOAT(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISNUMBER(obj) PyTypeNum_ISNUMBER(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISSTRING(obj) PyTypeNum_ISSTRING(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISCOMPLEX(obj) PyTypeNum_ISCOMPLEX(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISPYTHON(obj) PyTypeNum_ISPYTHON(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISFLEXIBLE(obj) PyTypeNum_ISFLEXIBLE(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISDATETIME(obj) PyTypeNum_ISDATETIME(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISUSERDEF(obj) PyTypeNum_ISUSERDEF(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISEXTENDED(obj) PyTypeNum_ISEXTENDED(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_ISOBJECT(obj) PyTypeNum_ISOBJECT(((PyArray_Descr*)(obj))->type_num) +#define PyDataType_HASFIELDS(obj) (((PyArray_Descr *)(obj))->names != NULL) +#define PyDataType_HASSUBARRAY(dtype) ((dtype)->subarray != NULL) + +#define PyArray_ISBOOL(obj) PyTypeNum_ISBOOL(PyArray_TYPE(obj)) +#define PyArray_ISUNSIGNED(obj) PyTypeNum_ISUNSIGNED(PyArray_TYPE(obj)) +#define PyArray_ISSIGNED(obj) PyTypeNum_ISSIGNED(PyArray_TYPE(obj)) +#define PyArray_ISINTEGER(obj) PyTypeNum_ISINTEGER(PyArray_TYPE(obj)) +#define PyArray_ISFLOAT(obj) PyTypeNum_ISFLOAT(PyArray_TYPE(obj)) +#define PyArray_ISNUMBER(obj) PyTypeNum_ISNUMBER(PyArray_TYPE(obj)) +#define PyArray_ISSTRING(obj) PyTypeNum_ISSTRING(PyArray_TYPE(obj)) +#define PyArray_ISCOMPLEX(obj) PyTypeNum_ISCOMPLEX(PyArray_TYPE(obj)) +#define PyArray_ISPYTHON(obj) PyTypeNum_ISPYTHON(PyArray_TYPE(obj)) +#define PyArray_ISFLEXIBLE(obj) PyTypeNum_ISFLEXIBLE(PyArray_TYPE(obj)) +#define PyArray_ISDATETIME(obj) PyTypeNum_ISDATETIME(PyArray_TYPE(obj)) +#define PyArray_ISUSERDEF(obj) PyTypeNum_ISUSERDEF(PyArray_TYPE(obj)) +#define PyArray_ISEXTENDED(obj) PyTypeNum_ISEXTENDED(PyArray_TYPE(obj)) +#define PyArray_ISOBJECT(obj) PyTypeNum_ISOBJECT(PyArray_TYPE(obj)) +#define PyArray_HASFIELDS(obj) PyDataType_HASFIELDS(PyArray_DESCR(obj)) + + /* + * FIXME: This should check for a flag on the data-type that + * states whether or not it is variable length. Because the + * ISFLEXIBLE check is hard-coded to the built-in data-types. + */ +#define PyArray_ISVARIABLE(obj) PyTypeNum_ISFLEXIBLE(PyArray_TYPE(obj)) + +#define PyArray_SAFEALIGNEDCOPY(obj) (PyArray_ISALIGNED(obj) && !PyArray_ISVARIABLE(obj)) + + +#define NPY_LITTLE '<' +#define NPY_BIG '>' +#define NPY_NATIVE '=' +#define NPY_SWAP 's' +#define NPY_IGNORE '|' + +#if NPY_BYTE_ORDER == NPY_BIG_ENDIAN +#define NPY_NATBYTE NPY_BIG +#define NPY_OPPBYTE NPY_LITTLE +#else +#define NPY_NATBYTE NPY_LITTLE +#define NPY_OPPBYTE NPY_BIG +#endif + +#define PyArray_ISNBO(arg) ((arg) != NPY_OPPBYTE) +#define PyArray_IsNativeByteOrder PyArray_ISNBO +#define PyArray_ISNOTSWAPPED(m) PyArray_ISNBO(PyArray_DESCR(m)->byteorder) +#define PyArray_ISBYTESWAPPED(m) (!PyArray_ISNOTSWAPPED(m)) + +#define PyArray_FLAGSWAP(m, flags) (PyArray_CHKFLAGS(m, flags) && \ + PyArray_ISNOTSWAPPED(m)) + +#define PyArray_ISCARRAY(m) PyArray_FLAGSWAP(m, NPY_ARRAY_CARRAY) +#define PyArray_ISCARRAY_RO(m) PyArray_FLAGSWAP(m, NPY_ARRAY_CARRAY_RO) +#define PyArray_ISFARRAY(m) PyArray_FLAGSWAP(m, NPY_ARRAY_FARRAY) +#define PyArray_ISFARRAY_RO(m) PyArray_FLAGSWAP(m, NPY_ARRAY_FARRAY_RO) +#define PyArray_ISBEHAVED(m) PyArray_FLAGSWAP(m, NPY_ARRAY_BEHAVED) +#define PyArray_ISBEHAVED_RO(m) PyArray_FLAGSWAP(m, NPY_ARRAY_ALIGNED) + + +#define PyDataType_ISNOTSWAPPED(d) PyArray_ISNBO(((PyArray_Descr *)(d))->byteorder) +#define PyDataType_ISBYTESWAPPED(d) (!PyDataType_ISNOTSWAPPED(d)) + +/************************************************************ + * A struct used by PyArray_CreateSortedStridePerm, new in 1.7. + ************************************************************/ + +typedef struct { + npy_intp perm, stride; +} npy_stride_sort_item; + +/************************************************************ + * This is the form of the struct that's returned pointed by the + * PyCObject attribute of an array __array_struct__. See + * http://docs.scipy.org/doc/numpy/reference/arrays.interface.html for the full + * documentation. + ************************************************************/ +typedef struct { + int two; /* + * contains the integer 2 as a sanity + * check + */ + + int nd; /* number of dimensions */ + + char typekind; /* + * kind in array --- character code of + * typestr + */ + + int itemsize; /* size of each element */ + + int flags; /* + * how should be data interpreted. Valid + * flags are CONTIGUOUS (1), F_CONTIGUOUS (2), + * ALIGNED (0x100), NOTSWAPPED (0x200), and + * WRITEABLE (0x400). ARR_HAS_DESCR (0x800) + * states that arrdescr field is present in + * structure + */ + + npy_intp *shape; /* + * A length-nd array of shape + * information + */ + + npy_intp *strides; /* A length-nd array of stride information */ + + void *data; /* A pointer to the first element of the array */ + + PyObject *descr; /* + * A list of fields or NULL (ignored if flags + * does not have ARR_HAS_DESCR flag set) + */ +} PyArrayInterface; + +/* + * This is a function for hooking into the PyDataMem_NEW/FREE/RENEW functions. + * See the documentation for PyDataMem_SetEventHook. + */ +typedef void (PyDataMem_EventHookFunc)(void *inp, void *outp, size_t size, + void *user_data); + +/* + * Use the keyword NPY_DEPRECATED_INCLUDES to ensure that the header files + * npy_*_*_deprecated_api.h are only included from here and nowhere else. + */ +#ifdef NPY_DEPRECATED_INCLUDES +#error "Do not use the reserved keyword NPY_DEPRECATED_INCLUDES." +#endif +#define NPY_DEPRECATED_INCLUDES +#if !defined(NPY_NO_DEPRECATED_API) || \ + (NPY_NO_DEPRECATED_API < NPY_1_7_API_VERSION) +#include "npy_1_7_deprecated_api.h" +#endif +/* + * There is no file npy_1_8_deprecated_api.h since there are no additional + * deprecated API features in NumPy 1.8. + * + * Note to maintainers: insert code like the following in future NumPy + * versions. + * + * #if !defined(NPY_NO_DEPRECATED_API) || \ + * (NPY_NO_DEPRECATED_API < NPY_1_9_API_VERSION) + * #include "npy_1_9_deprecated_api.h" + * #endif + */ +#undef NPY_DEPRECATED_INCLUDES + +#endif /* NPY_ARRAYTYPES_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h b/gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h new file mode 100644 index 000000000..830617087 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h @@ -0,0 +1,209 @@ +#ifndef NPY_NOPREFIX_H +#define NPY_NOPREFIX_H + +/* + * You can directly include noprefix.h as a backward + * compatibility measure + */ +#ifndef NPY_NO_PREFIX +#include "ndarrayobject.h" +#include "npy_interrupt.h" +#endif + +#define SIGSETJMP NPY_SIGSETJMP +#define SIGLONGJMP NPY_SIGLONGJMP +#define SIGJMP_BUF NPY_SIGJMP_BUF + +#define MAX_DIMS NPY_MAXDIMS + +#define longlong npy_longlong +#define ulonglong npy_ulonglong +#define Bool npy_bool +#define longdouble npy_longdouble +#define byte npy_byte + +#ifndef _BSD_SOURCE +#define ushort npy_ushort +#define uint npy_uint +#define ulong npy_ulong +#endif + +#define ubyte npy_ubyte +#define ushort npy_ushort +#define uint npy_uint +#define ulong npy_ulong +#define cfloat npy_cfloat +#define cdouble npy_cdouble +#define clongdouble npy_clongdouble +#define Int8 npy_int8 +#define UInt8 npy_uint8 +#define Int16 npy_int16 +#define UInt16 npy_uint16 +#define Int32 npy_int32 +#define UInt32 npy_uint32 +#define Int64 npy_int64 +#define UInt64 npy_uint64 +#define Int128 npy_int128 +#define UInt128 npy_uint128 +#define Int256 npy_int256 +#define UInt256 npy_uint256 +#define Float16 npy_float16 +#define Complex32 npy_complex32 +#define Float32 npy_float32 +#define Complex64 npy_complex64 +#define Float64 npy_float64 +#define Complex128 npy_complex128 +#define Float80 npy_float80 +#define Complex160 npy_complex160 +#define Float96 npy_float96 +#define Complex192 npy_complex192 +#define Float128 npy_float128 +#define Complex256 npy_complex256 +#define intp npy_intp +#define uintp npy_uintp +#define datetime npy_datetime +#define timedelta npy_timedelta + +#define SIZEOF_LONGLONG NPY_SIZEOF_LONGLONG +#define SIZEOF_INTP NPY_SIZEOF_INTP +#define SIZEOF_UINTP NPY_SIZEOF_UINTP +#define SIZEOF_HALF NPY_SIZEOF_HALF +#define SIZEOF_LONGDOUBLE NPY_SIZEOF_LONGDOUBLE +#define SIZEOF_DATETIME NPY_SIZEOF_DATETIME +#define SIZEOF_TIMEDELTA NPY_SIZEOF_TIMEDELTA + +#define LONGLONG_FMT NPY_LONGLONG_FMT +#define ULONGLONG_FMT NPY_ULONGLONG_FMT +#define LONGLONG_SUFFIX NPY_LONGLONG_SUFFIX +#define ULONGLONG_SUFFIX NPY_ULONGLONG_SUFFIX + +#define MAX_INT8 127 +#define MIN_INT8 -128 +#define MAX_UINT8 255 +#define MAX_INT16 32767 +#define MIN_INT16 -32768 +#define MAX_UINT16 65535 +#define MAX_INT32 2147483647 +#define MIN_INT32 (-MAX_INT32 - 1) +#define MAX_UINT32 4294967295U +#define MAX_INT64 LONGLONG_SUFFIX(9223372036854775807) +#define MIN_INT64 (-MAX_INT64 - LONGLONG_SUFFIX(1)) +#define MAX_UINT64 ULONGLONG_SUFFIX(18446744073709551615) +#define MAX_INT128 LONGLONG_SUFFIX(85070591730234615865843651857942052864) +#define MIN_INT128 (-MAX_INT128 - LONGLONG_SUFFIX(1)) +#define MAX_UINT128 ULONGLONG_SUFFIX(170141183460469231731687303715884105728) +#define MAX_INT256 LONGLONG_SUFFIX(57896044618658097711785492504343953926634992332820282019728792003956564819967) +#define MIN_INT256 (-MAX_INT256 - LONGLONG_SUFFIX(1)) +#define MAX_UINT256 ULONGLONG_SUFFIX(115792089237316195423570985008687907853269984665640564039457584007913129639935) + +#define MAX_BYTE NPY_MAX_BYTE +#define MIN_BYTE NPY_MIN_BYTE +#define MAX_UBYTE NPY_MAX_UBYTE +#define MAX_SHORT NPY_MAX_SHORT +#define MIN_SHORT NPY_MIN_SHORT +#define MAX_USHORT NPY_MAX_USHORT +#define MAX_INT NPY_MAX_INT +#define MIN_INT NPY_MIN_INT +#define MAX_UINT NPY_MAX_UINT +#define MAX_LONG NPY_MAX_LONG +#define MIN_LONG NPY_MIN_LONG +#define MAX_ULONG NPY_MAX_ULONG +#define MAX_LONGLONG NPY_MAX_LONGLONG +#define MIN_LONGLONG NPY_MIN_LONGLONG +#define MAX_ULONGLONG NPY_MAX_ULONGLONG +#define MIN_DATETIME NPY_MIN_DATETIME +#define MAX_DATETIME NPY_MAX_DATETIME +#define MIN_TIMEDELTA NPY_MIN_TIMEDELTA +#define MAX_TIMEDELTA NPY_MAX_TIMEDELTA + +#define BITSOF_BOOL NPY_BITSOF_BOOL +#define BITSOF_CHAR NPY_BITSOF_CHAR +#define BITSOF_SHORT NPY_BITSOF_SHORT +#define BITSOF_INT NPY_BITSOF_INT +#define BITSOF_LONG NPY_BITSOF_LONG +#define BITSOF_LONGLONG NPY_BITSOF_LONGLONG +#define BITSOF_HALF NPY_BITSOF_HALF +#define BITSOF_FLOAT NPY_BITSOF_FLOAT +#define BITSOF_DOUBLE NPY_BITSOF_DOUBLE +#define BITSOF_LONGDOUBLE NPY_BITSOF_LONGDOUBLE +#define BITSOF_DATETIME NPY_BITSOF_DATETIME +#define BITSOF_TIMEDELTA NPY_BITSOF_TIMEDELTA + +#define _pya_malloc PyArray_malloc +#define _pya_free PyArray_free +#define _pya_realloc PyArray_realloc + +#define BEGIN_THREADS_DEF NPY_BEGIN_THREADS_DEF +#define BEGIN_THREADS NPY_BEGIN_THREADS +#define END_THREADS NPY_END_THREADS +#define ALLOW_C_API_DEF NPY_ALLOW_C_API_DEF +#define ALLOW_C_API NPY_ALLOW_C_API +#define DISABLE_C_API NPY_DISABLE_C_API + +#define PY_FAIL NPY_FAIL +#define PY_SUCCEED NPY_SUCCEED + +#ifndef TRUE +#define TRUE NPY_TRUE +#endif + +#ifndef FALSE +#define FALSE NPY_FALSE +#endif + +#define LONGDOUBLE_FMT NPY_LONGDOUBLE_FMT + +#define CONTIGUOUS NPY_CONTIGUOUS +#define C_CONTIGUOUS NPY_C_CONTIGUOUS +#define FORTRAN NPY_FORTRAN +#define F_CONTIGUOUS NPY_F_CONTIGUOUS +#define OWNDATA NPY_OWNDATA +#define FORCECAST NPY_FORCECAST +#define ENSURECOPY NPY_ENSURECOPY +#define ENSUREARRAY NPY_ENSUREARRAY +#define ELEMENTSTRIDES NPY_ELEMENTSTRIDES +#define ALIGNED NPY_ALIGNED +#define NOTSWAPPED NPY_NOTSWAPPED +#define WRITEABLE NPY_WRITEABLE +#define UPDATEIFCOPY NPY_UPDATEIFCOPY +#define ARR_HAS_DESCR NPY_ARR_HAS_DESCR +#define BEHAVED NPY_BEHAVED +#define BEHAVED_NS NPY_BEHAVED_NS +#define CARRAY NPY_CARRAY +#define CARRAY_RO NPY_CARRAY_RO +#define FARRAY NPY_FARRAY +#define FARRAY_RO NPY_FARRAY_RO +#define DEFAULT NPY_DEFAULT +#define IN_ARRAY NPY_IN_ARRAY +#define OUT_ARRAY NPY_OUT_ARRAY +#define INOUT_ARRAY NPY_INOUT_ARRAY +#define IN_FARRAY NPY_IN_FARRAY +#define OUT_FARRAY NPY_OUT_FARRAY +#define INOUT_FARRAY NPY_INOUT_FARRAY +#define UPDATE_ALL NPY_UPDATE_ALL + +#define OWN_DATA NPY_OWNDATA +#define BEHAVED_FLAGS NPY_BEHAVED +#define BEHAVED_FLAGS_NS NPY_BEHAVED_NS +#define CARRAY_FLAGS_RO NPY_CARRAY_RO +#define CARRAY_FLAGS NPY_CARRAY +#define FARRAY_FLAGS NPY_FARRAY +#define FARRAY_FLAGS_RO NPY_FARRAY_RO +#define DEFAULT_FLAGS NPY_DEFAULT +#define UPDATE_ALL_FLAGS NPY_UPDATE_ALL_FLAGS + +#ifndef MIN +#define MIN PyArray_MIN +#endif +#ifndef MAX +#define MAX PyArray_MAX +#endif +#define MAX_INTP NPY_MAX_INTP +#define MIN_INTP NPY_MIN_INTP +#define MAX_UINTP NPY_MAX_UINTP +#define INTP_FMT NPY_INTP_FMT + +#define REFCOUNT PyArray_REFCOUNT +#define MAX_ELSIZE NPY_MAX_ELSIZE + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h new file mode 100644 index 000000000..4c318bc47 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h @@ -0,0 +1,130 @@ +#ifndef _NPY_1_7_DEPRECATED_API_H +#define _NPY_1_7_DEPRECATED_API_H + +#ifndef NPY_DEPRECATED_INCLUDES +#error "Should never include npy_*_*_deprecated_api directly." +#endif + +#if defined(_WIN32) +#define _WARN___STR2__(x) #x +#define _WARN___STR1__(x) _WARN___STR2__(x) +#define _WARN___LOC__ __FILE__ "(" _WARN___STR1__(__LINE__) ") : Warning Msg: " +#pragma message(_WARN___LOC__"Using deprecated NumPy API, disable it by " \ + "#defining NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION") +#elif defined(__GNUC__) +#warning "Using deprecated NumPy API, disable it by " \ + "#defining NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION" +#endif +/* TODO: How to do this warning message for other compilers? */ + +/* + * This header exists to collect all dangerous/deprecated NumPy API + * as of NumPy 1.7. + * + * This is an attempt to remove bad API, the proliferation of macros, + * and namespace pollution currently produced by the NumPy headers. + */ + +/* These array flags are deprecated as of NumPy 1.7 */ +#define NPY_CONTIGUOUS NPY_ARRAY_C_CONTIGUOUS +#define NPY_FORTRAN NPY_ARRAY_F_CONTIGUOUS + +/* + * The consistent NPY_ARRAY_* names which don't pollute the NPY_* + * namespace were added in NumPy 1.7. + * + * These versions of the carray flags are deprecated, but + * probably should only be removed after two releases instead of one. + */ +#define NPY_C_CONTIGUOUS NPY_ARRAY_C_CONTIGUOUS +#define NPY_F_CONTIGUOUS NPY_ARRAY_F_CONTIGUOUS +#define NPY_OWNDATA NPY_ARRAY_OWNDATA +#define NPY_FORCECAST NPY_ARRAY_FORCECAST +#define NPY_ENSURECOPY NPY_ARRAY_ENSURECOPY +#define NPY_ENSUREARRAY NPY_ARRAY_ENSUREARRAY +#define NPY_ELEMENTSTRIDES NPY_ARRAY_ELEMENTSTRIDES +#define NPY_ALIGNED NPY_ARRAY_ALIGNED +#define NPY_NOTSWAPPED NPY_ARRAY_NOTSWAPPED +#define NPY_WRITEABLE NPY_ARRAY_WRITEABLE +#define NPY_UPDATEIFCOPY NPY_ARRAY_UPDATEIFCOPY +#define NPY_BEHAVED NPY_ARRAY_BEHAVED +#define NPY_BEHAVED_NS NPY_ARRAY_BEHAVED_NS +#define NPY_CARRAY NPY_ARRAY_CARRAY +#define NPY_CARRAY_RO NPY_ARRAY_CARRAY_RO +#define NPY_FARRAY NPY_ARRAY_FARRAY +#define NPY_FARRAY_RO NPY_ARRAY_FARRAY_RO +#define NPY_DEFAULT NPY_ARRAY_DEFAULT +#define NPY_IN_ARRAY NPY_ARRAY_IN_ARRAY +#define NPY_OUT_ARRAY NPY_ARRAY_OUT_ARRAY +#define NPY_INOUT_ARRAY NPY_ARRAY_INOUT_ARRAY +#define NPY_IN_FARRAY NPY_ARRAY_IN_FARRAY +#define NPY_OUT_FARRAY NPY_ARRAY_OUT_FARRAY +#define NPY_INOUT_FARRAY NPY_ARRAY_INOUT_FARRAY +#define NPY_UPDATE_ALL NPY_ARRAY_UPDATE_ALL + +/* This way of accessing the default type is deprecated as of NumPy 1.7 */ +#define PyArray_DEFAULT NPY_DEFAULT_TYPE + +/* These DATETIME bits aren't used internally */ +#if PY_VERSION_HEX >= 0x03000000 +#define PyDataType_GetDatetimeMetaData(descr) \ + ((descr->metadata == NULL) ? NULL : \ + ((PyArray_DatetimeMetaData *)(PyCapsule_GetPointer( \ + PyDict_GetItemString( \ + descr->metadata, NPY_METADATA_DTSTR), NULL)))) +#else +#define PyDataType_GetDatetimeMetaData(descr) \ + ((descr->metadata == NULL) ? NULL : \ + ((PyArray_DatetimeMetaData *)(PyCObject_AsVoidPtr( \ + PyDict_GetItemString(descr->metadata, NPY_METADATA_DTSTR))))) +#endif + +/* + * Deprecated as of NumPy 1.7, this kind of shortcut doesn't + * belong in the public API. + */ +#define NPY_AO PyArrayObject + +/* + * Deprecated as of NumPy 1.7, an all-lowercase macro doesn't + * belong in the public API. + */ +#define fortran fortran_ + +/* + * Deprecated as of NumPy 1.7, as it is a namespace-polluting + * macro. + */ +#define FORTRAN_IF PyArray_FORTRAN_IF + +/* Deprecated as of NumPy 1.7, datetime64 uses c_metadata instead */ +#define NPY_METADATA_DTSTR "__timeunit__" + +/* + * Deprecated as of NumPy 1.7. + * The reasoning: + * - These are for datetime, but there's no datetime "namespace". + * - They just turn NPY_STR_ into "", which is just + * making something simple be indirected. + */ +#define NPY_STR_Y "Y" +#define NPY_STR_M "M" +#define NPY_STR_W "W" +#define NPY_STR_D "D" +#define NPY_STR_h "h" +#define NPY_STR_m "m" +#define NPY_STR_s "s" +#define NPY_STR_ms "ms" +#define NPY_STR_us "us" +#define NPY_STR_ns "ns" +#define NPY_STR_ps "ps" +#define NPY_STR_fs "fs" +#define NPY_STR_as "as" + +/* + * The macros in old_defines.h are Deprecated as of NumPy 1.7 and will be + * removed in the next major release. + */ +#include "old_defines.h" + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h new file mode 100644 index 000000000..de2bf6a54 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h @@ -0,0 +1,502 @@ +/* + * This is a convenience header file providing compatibility utilities + * for supporting Python 2 and Python 3 in the same code base. + * + * If you want to use this for your own projects, it's recommended to make a + * copy of it. Although the stuff below is unlikely to change, we don't provide + * strong backwards compatibility guarantees at the moment. + */ + +#ifndef _NPY_3KCOMPAT_H_ +#define _NPY_3KCOMPAT_H_ + +#include +#include + +#if PY_VERSION_HEX >= 0x03000000 +#ifndef NPY_PY3K +#define NPY_PY3K 1 +#endif +#endif + +#include "numpy/npy_common.h" +#include "numpy/ndarrayobject.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * PyInt -> PyLong + */ + +#if defined(NPY_PY3K) +/* Return True only if the long fits in a C long */ +static NPY_INLINE int PyInt_Check(PyObject *op) { + int overflow = 0; + if (!PyLong_Check(op)) { + return 0; + } + PyLong_AsLongAndOverflow(op, &overflow); + return (overflow == 0); +} + +#define PyInt_FromLong PyLong_FromLong +#define PyInt_AsLong PyLong_AsLong +#define PyInt_AS_LONG PyLong_AsLong +#define PyInt_AsSsize_t PyLong_AsSsize_t + +/* NOTE: + * + * Since the PyLong type is very different from the fixed-range PyInt, + * we don't define PyInt_Type -> PyLong_Type. + */ +#endif /* NPY_PY3K */ + +/* + * PyString -> PyBytes + */ + +#if defined(NPY_PY3K) + +#define PyString_Type PyBytes_Type +#define PyString_Check PyBytes_Check +#define PyStringObject PyBytesObject +#define PyString_FromString PyBytes_FromString +#define PyString_FromStringAndSize PyBytes_FromStringAndSize +#define PyString_AS_STRING PyBytes_AS_STRING +#define PyString_AsStringAndSize PyBytes_AsStringAndSize +#define PyString_FromFormat PyBytes_FromFormat +#define PyString_Concat PyBytes_Concat +#define PyString_ConcatAndDel PyBytes_ConcatAndDel +#define PyString_AsString PyBytes_AsString +#define PyString_GET_SIZE PyBytes_GET_SIZE +#define PyString_Size PyBytes_Size + +#define PyUString_Type PyUnicode_Type +#define PyUString_Check PyUnicode_Check +#define PyUStringObject PyUnicodeObject +#define PyUString_FromString PyUnicode_FromString +#define PyUString_FromStringAndSize PyUnicode_FromStringAndSize +#define PyUString_FromFormat PyUnicode_FromFormat +#define PyUString_Concat PyUnicode_Concat2 +#define PyUString_ConcatAndDel PyUnicode_ConcatAndDel +#define PyUString_GET_SIZE PyUnicode_GET_SIZE +#define PyUString_Size PyUnicode_Size +#define PyUString_InternFromString PyUnicode_InternFromString +#define PyUString_Format PyUnicode_Format + +#else + +#define PyBytes_Type PyString_Type +#define PyBytes_Check PyString_Check +#define PyBytesObject PyStringObject +#define PyBytes_FromString PyString_FromString +#define PyBytes_FromStringAndSize PyString_FromStringAndSize +#define PyBytes_AS_STRING PyString_AS_STRING +#define PyBytes_AsStringAndSize PyString_AsStringAndSize +#define PyBytes_FromFormat PyString_FromFormat +#define PyBytes_Concat PyString_Concat +#define PyBytes_ConcatAndDel PyString_ConcatAndDel +#define PyBytes_AsString PyString_AsString +#define PyBytes_GET_SIZE PyString_GET_SIZE +#define PyBytes_Size PyString_Size + +#define PyUString_Type PyString_Type +#define PyUString_Check PyString_Check +#define PyUStringObject PyStringObject +#define PyUString_FromString PyString_FromString +#define PyUString_FromStringAndSize PyString_FromStringAndSize +#define PyUString_FromFormat PyString_FromFormat +#define PyUString_Concat PyString_Concat +#define PyUString_ConcatAndDel PyString_ConcatAndDel +#define PyUString_GET_SIZE PyString_GET_SIZE +#define PyUString_Size PyString_Size +#define PyUString_InternFromString PyString_InternFromString +#define PyUString_Format PyString_Format + +#endif /* NPY_PY3K */ + + +static NPY_INLINE void +PyUnicode_ConcatAndDel(PyObject **left, PyObject *right) +{ + PyObject *newobj; + newobj = PyUnicode_Concat(*left, right); + Py_DECREF(*left); + Py_DECREF(right); + *left = newobj; +} + +static NPY_INLINE void +PyUnicode_Concat2(PyObject **left, PyObject *right) +{ + PyObject *newobj; + newobj = PyUnicode_Concat(*left, right); + Py_DECREF(*left); + *left = newobj; +} + +/* + * PyFile_* compatibility + */ +#if defined(NPY_PY3K) +/* + * Get a FILE* handle to the file represented by the Python object + */ +static NPY_INLINE FILE* +npy_PyFile_Dup2(PyObject *file, char *mode, npy_off_t *orig_pos) +{ + int fd, fd2; + PyObject *ret, *os; + npy_off_t pos; + FILE *handle; + + /* Flush first to ensure things end up in the file in the correct order */ + ret = PyObject_CallMethod(file, "flush", ""); + if (ret == NULL) { + return NULL; + } + Py_DECREF(ret); + fd = PyObject_AsFileDescriptor(file); + if (fd == -1) { + return NULL; + } + + /* The handle needs to be dup'd because we have to call fclose + at the end */ + os = PyImport_ImportModule("os"); + if (os == NULL) { + return NULL; + } + ret = PyObject_CallMethod(os, "dup", "i", fd); + Py_DECREF(os); + if (ret == NULL) { + return NULL; + } + fd2 = PyNumber_AsSsize_t(ret, NULL); + Py_DECREF(ret); + + /* Convert to FILE* handle */ +#ifdef _WIN32 + handle = _fdopen(fd2, mode); +#else + handle = fdopen(fd2, mode); +#endif + if (handle == NULL) { + PyErr_SetString(PyExc_IOError, + "Getting a FILE* from a Python file object failed"); + } + + /* Record the original raw file handle position */ + *orig_pos = npy_ftell(handle); + if (*orig_pos == -1) { + PyErr_SetString(PyExc_IOError, "obtaining file position failed"); + fclose(handle); + return NULL; + } + + /* Seek raw handle to the Python-side position */ + ret = PyObject_CallMethod(file, "tell", ""); + if (ret == NULL) { + fclose(handle); + return NULL; + } + pos = PyLong_AsLongLong(ret); + Py_DECREF(ret); + if (PyErr_Occurred()) { + fclose(handle); + return NULL; + } + if (npy_fseek(handle, pos, SEEK_SET) == -1) { + PyErr_SetString(PyExc_IOError, "seeking file failed"); + fclose(handle); + return NULL; + } + return handle; +} + +/* + * Close the dup-ed file handle, and seek the Python one to the current position + */ +static NPY_INLINE int +npy_PyFile_DupClose2(PyObject *file, FILE* handle, npy_off_t orig_pos) +{ + int fd; + PyObject *ret; + npy_off_t position; + + position = npy_ftell(handle); + + /* Close the FILE* handle */ + fclose(handle); + + /* Restore original file handle position, in order to not confuse + Python-side data structures */ + fd = PyObject_AsFileDescriptor(file); + if (fd == -1) { + return -1; + } + if (npy_lseek(fd, orig_pos, SEEK_SET) == -1) { + PyErr_SetString(PyExc_IOError, "seeking file failed"); + return -1; + } + + if (position == -1) { + PyErr_SetString(PyExc_IOError, "obtaining file position failed"); + return -1; + } + + /* Seek Python-side handle to the FILE* handle position */ + ret = PyObject_CallMethod(file, "seek", NPY_OFF_T_PYFMT "i", position, 0); + if (ret == NULL) { + return -1; + } + Py_DECREF(ret); + return 0; +} + +static NPY_INLINE int +npy_PyFile_Check(PyObject *file) +{ + int fd; + fd = PyObject_AsFileDescriptor(file); + if (fd == -1) { + PyErr_Clear(); + return 0; + } + return 1; +} + +/* + * DEPRECATED DO NOT USE + * use npy_PyFile_Dup2 instead + * this function will mess ups python3 internal file object buffering + * Get a FILE* handle to the file represented by the Python object + */ +static NPY_INLINE FILE* +npy_PyFile_Dup(PyObject *file, char *mode) +{ + npy_off_t orig; + if (DEPRECATE("npy_PyFile_Dup is deprecated, use " + "npy_PyFile_Dup2") < 0) { + return NULL; + } + + return npy_PyFile_Dup2(file, mode, &orig); +} + +/* + * DEPRECATED DO NOT USE + * use npy_PyFile_DupClose2 instead + * this function will mess ups python3 internal file object buffering + * Close the dup-ed file handle, and seek the Python one to the current position + */ +static NPY_INLINE int +npy_PyFile_DupClose(PyObject *file, FILE* handle) +{ + PyObject *ret; + Py_ssize_t position; + position = npy_ftell(handle); + fclose(handle); + + ret = PyObject_CallMethod(file, "seek", NPY_SSIZE_T_PYFMT "i", position, 0); + if (ret == NULL) { + return -1; + } + Py_DECREF(ret); + return 0; +} + + +#else + +/* DEPRECATED DO NOT USE */ +#define npy_PyFile_Dup(file, mode) PyFile_AsFile(file) +#define npy_PyFile_DupClose(file, handle) (0) +/* use these */ +#define npy_PyFile_Dup2(file, mode, orig_pos_p) PyFile_AsFile(file) +#define npy_PyFile_DupClose2(file, handle, orig_pos) (0) +#define npy_PyFile_Check PyFile_Check + +#endif + +static NPY_INLINE PyObject* +npy_PyFile_OpenFile(PyObject *filename, const char *mode) +{ + PyObject *open; + open = PyDict_GetItemString(PyEval_GetBuiltins(), "open"); + if (open == NULL) { + return NULL; + } + return PyObject_CallFunction(open, "Os", filename, mode); +} + +static NPY_INLINE int +npy_PyFile_CloseFile(PyObject *file) +{ + PyObject *ret; + + ret = PyObject_CallMethod(file, "close", NULL); + if (ret == NULL) { + return -1; + } + Py_DECREF(ret); + return 0; +} + +/* + * PyObject_Cmp + */ +#if defined(NPY_PY3K) +static NPY_INLINE int +PyObject_Cmp(PyObject *i1, PyObject *i2, int *cmp) +{ + int v; + v = PyObject_RichCompareBool(i1, i2, Py_LT); + if (v == 0) { + *cmp = -1; + return 1; + } + else if (v == -1) { + return -1; + } + + v = PyObject_RichCompareBool(i1, i2, Py_GT); + if (v == 0) { + *cmp = 1; + return 1; + } + else if (v == -1) { + return -1; + } + + v = PyObject_RichCompareBool(i1, i2, Py_EQ); + if (v == 0) { + *cmp = 0; + return 1; + } + else { + *cmp = 0; + return -1; + } +} +#endif + +/* + * PyCObject functions adapted to PyCapsules. + * + * The main job here is to get rid of the improved error handling + * of PyCapsules. It's a shame... + */ +#if PY_VERSION_HEX >= 0x03000000 + +static NPY_INLINE PyObject * +NpyCapsule_FromVoidPtr(void *ptr, void (*dtor)(PyObject *)) +{ + PyObject *ret = PyCapsule_New(ptr, NULL, dtor); + if (ret == NULL) { + PyErr_Clear(); + } + return ret; +} + +static NPY_INLINE PyObject * +NpyCapsule_FromVoidPtrAndDesc(void *ptr, void* context, void (*dtor)(PyObject *)) +{ + PyObject *ret = NpyCapsule_FromVoidPtr(ptr, dtor); + if (ret != NULL && PyCapsule_SetContext(ret, context) != 0) { + PyErr_Clear(); + Py_DECREF(ret); + ret = NULL; + } + return ret; +} + +static NPY_INLINE void * +NpyCapsule_AsVoidPtr(PyObject *obj) +{ + void *ret = PyCapsule_GetPointer(obj, NULL); + if (ret == NULL) { + PyErr_Clear(); + } + return ret; +} + +static NPY_INLINE void * +NpyCapsule_GetDesc(PyObject *obj) +{ + return PyCapsule_GetContext(obj); +} + +static NPY_INLINE int +NpyCapsule_Check(PyObject *ptr) +{ + return PyCapsule_CheckExact(ptr); +} + +static NPY_INLINE void +simple_capsule_dtor(PyObject *cap) +{ + PyArray_free(PyCapsule_GetPointer(cap, NULL)); +} + +#else + +static NPY_INLINE PyObject * +NpyCapsule_FromVoidPtr(void *ptr, void (*dtor)(void *)) +{ + return PyCObject_FromVoidPtr(ptr, dtor); +} + +static NPY_INLINE PyObject * +NpyCapsule_FromVoidPtrAndDesc(void *ptr, void* context, + void (*dtor)(void *, void *)) +{ + return PyCObject_FromVoidPtrAndDesc(ptr, context, dtor); +} + +static NPY_INLINE void * +NpyCapsule_AsVoidPtr(PyObject *ptr) +{ + return PyCObject_AsVoidPtr(ptr); +} + +static NPY_INLINE void * +NpyCapsule_GetDesc(PyObject *obj) +{ + return PyCObject_GetDesc(obj); +} + +static NPY_INLINE int +NpyCapsule_Check(PyObject *ptr) +{ + return PyCObject_Check(ptr); +} + +static NPY_INLINE void +simple_capsule_dtor(void *ptr) +{ + PyArray_free(ptr); +} + +#endif + +/* + * Hash value compatibility. + * As of Python 3.2 hash values are of type Py_hash_t. + * Previous versions use C long. + */ +#if PY_VERSION_HEX < 0x03020000 +typedef long npy_hash_t; +#define NPY_SIZEOF_HASH_T NPY_SIZEOF_LONG +#else +typedef Py_hash_t npy_hash_t; +#define NPY_SIZEOF_HASH_T NPY_SIZEOF_INTP +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* _NPY_3KCOMPAT_H_ */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h new file mode 100644 index 000000000..c257f216d --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h @@ -0,0 +1,1005 @@ +#ifndef _NPY_COMMON_H_ +#define _NPY_COMMON_H_ + +/* numpconfig.h is auto-generated */ +#include "numpyconfig.h" +#ifdef HAVE_NPY_CONFIG_H +#include +#endif + +/* + * gcc does not unroll even with -O3 + * use with care, unrolling on modern cpus rarely speeds things up + */ +#ifdef HAVE_ATTRIBUTE_OPTIMIZE_UNROLL_LOOPS +#define NPY_GCC_UNROLL_LOOPS \ + __attribute__((optimize("unroll-loops"))) +#else +#define NPY_GCC_UNROLL_LOOPS +#endif + +#if defined HAVE_XMMINTRIN_H && defined HAVE__MM_LOAD_PS +#define NPY_HAVE_SSE_INTRINSICS +#endif + +#if defined HAVE_EMMINTRIN_H && defined HAVE__MM_LOAD_PD +#define NPY_HAVE_SSE2_INTRINSICS +#endif + +/* + * give a hint to the compiler which branch is more likely or unlikely + * to occur, e.g. rare error cases: + * + * if (NPY_UNLIKELY(failure == 0)) + * return NULL; + * + * the double !! is to cast the expression (e.g. NULL) to a boolean required by + * the intrinsic + */ +#ifdef HAVE___BUILTIN_EXPECT +#define NPY_LIKELY(x) __builtin_expect(!!(x), 1) +#define NPY_UNLIKELY(x) __builtin_expect(!!(x), 0) +#else +#define NPY_LIKELY(x) (x) +#define NPY_UNLIKELY(x) (x) +#endif + +#if defined(_MSC_VER) + #define NPY_INLINE __inline +#elif defined(__GNUC__) + #if defined(__STRICT_ANSI__) + #define NPY_INLINE __inline__ + #else + #define NPY_INLINE inline + #endif +#else + #define NPY_INLINE +#endif + +/* 64 bit file position support, also on win-amd64. Ticket #1660 */ +#if defined(_MSC_VER) && defined(_WIN64) && (_MSC_VER > 1400) || \ + defined(__MINGW32__) || defined(__MINGW64__) + #include + +/* mingw based on 3.4.5 has lseek but not ftell/fseek */ +#if defined(__MINGW32__) || defined(__MINGW64__) +extern int __cdecl _fseeki64(FILE *, long long, int); +extern long long __cdecl _ftelli64(FILE *); +#endif + + #define npy_fseek _fseeki64 + #define npy_ftell _ftelli64 + #define npy_lseek _lseeki64 + #define npy_off_t npy_int64 + + #if NPY_SIZEOF_INT == 8 + #define NPY_OFF_T_PYFMT "i" + #elif NPY_SIZEOF_LONG == 8 + #define NPY_OFF_T_PYFMT "l" + #elif NPY_SIZEOF_LONGLONG == 8 + #define NPY_OFF_T_PYFMT "L" + #else + #error Unsupported size for type off_t + #endif +#else +#ifdef HAVE_FSEEKO + #define npy_fseek fseeko +#else + #define npy_fseek fseek +#endif +#ifdef HAVE_FTELLO + #define npy_ftell ftello +#else + #define npy_ftell ftell +#endif + #define npy_lseek lseek + #define npy_off_t off_t + + #if NPY_SIZEOF_OFF_T == NPY_SIZEOF_SHORT + #define NPY_OFF_T_PYFMT "h" + #elif NPY_SIZEOF_OFF_T == NPY_SIZEOF_INT + #define NPY_OFF_T_PYFMT "i" + #elif NPY_SIZEOF_OFF_T == NPY_SIZEOF_LONG + #define NPY_OFF_T_PYFMT "l" + #elif NPY_SIZEOF_OFF_T == NPY_SIZEOF_LONGLONG + #define NPY_OFF_T_PYFMT "L" + #else + #error Unsupported size for type off_t + #endif +#endif + +/* enums for detected endianness */ +enum { + NPY_CPU_UNKNOWN_ENDIAN, + NPY_CPU_LITTLE, + NPY_CPU_BIG +}; + +/* + * This is to typedef npy_intp to the appropriate pointer size for this + * platform. Py_intptr_t, Py_uintptr_t are defined in pyport.h. + */ +typedef Py_intptr_t npy_intp; +typedef Py_uintptr_t npy_uintp; + +/* + * Define sizes that were not defined in numpyconfig.h. + */ +#define NPY_SIZEOF_CHAR 1 +#define NPY_SIZEOF_BYTE 1 +#define NPY_SIZEOF_DATETIME 8 +#define NPY_SIZEOF_TIMEDELTA 8 +#define NPY_SIZEOF_INTP NPY_SIZEOF_PY_INTPTR_T +#define NPY_SIZEOF_UINTP NPY_SIZEOF_PY_INTPTR_T +#define NPY_SIZEOF_HALF 2 +#define NPY_SIZEOF_CFLOAT NPY_SIZEOF_COMPLEX_FLOAT +#define NPY_SIZEOF_CDOUBLE NPY_SIZEOF_COMPLEX_DOUBLE +#define NPY_SIZEOF_CLONGDOUBLE NPY_SIZEOF_COMPLEX_LONGDOUBLE + +#ifdef constchar +#undef constchar +#endif + +#define NPY_SSIZE_T_PYFMT "n" +#define constchar char + +/* NPY_INTP_FMT Note: + * Unlike the other NPY_*_FMT macros which are used with + * PyOS_snprintf, NPY_INTP_FMT is used with PyErr_Format and + * PyString_Format. These functions use different formatting + * codes which are portably specified according to the Python + * documentation. See ticket #1795. + * + * On Windows x64, the LONGLONG formatter should be used, but + * in Python 2.6 the %lld formatter is not supported. In this + * case we work around the problem by using the %zd formatter. + */ +#if NPY_SIZEOF_PY_INTPTR_T == NPY_SIZEOF_INT + #define NPY_INTP NPY_INT + #define NPY_UINTP NPY_UINT + #define PyIntpArrType_Type PyIntArrType_Type + #define PyUIntpArrType_Type PyUIntArrType_Type + #define NPY_MAX_INTP NPY_MAX_INT + #define NPY_MIN_INTP NPY_MIN_INT + #define NPY_MAX_UINTP NPY_MAX_UINT + #define NPY_INTP_FMT "d" +#elif NPY_SIZEOF_PY_INTPTR_T == NPY_SIZEOF_LONG + #define NPY_INTP NPY_LONG + #define NPY_UINTP NPY_ULONG + #define PyIntpArrType_Type PyLongArrType_Type + #define PyUIntpArrType_Type PyULongArrType_Type + #define NPY_MAX_INTP NPY_MAX_LONG + #define NPY_MIN_INTP NPY_MIN_LONG + #define NPY_MAX_UINTP NPY_MAX_ULONG + #define NPY_INTP_FMT "ld" +#elif defined(PY_LONG_LONG) && (NPY_SIZEOF_PY_INTPTR_T == NPY_SIZEOF_LONGLONG) + #define NPY_INTP NPY_LONGLONG + #define NPY_UINTP NPY_ULONGLONG + #define PyIntpArrType_Type PyLongLongArrType_Type + #define PyUIntpArrType_Type PyULongLongArrType_Type + #define NPY_MAX_INTP NPY_MAX_LONGLONG + #define NPY_MIN_INTP NPY_MIN_LONGLONG + #define NPY_MAX_UINTP NPY_MAX_ULONGLONG + #if (PY_VERSION_HEX >= 0x02070000) + #define NPY_INTP_FMT "lld" + #else + #define NPY_INTP_FMT "zd" + #endif +#endif + +/* + * We can only use C99 formats for npy_int_p if it is the same as + * intp_t, hence the condition on HAVE_UNITPTR_T + */ +#if (NPY_USE_C99_FORMATS) == 1 \ + && (defined HAVE_UINTPTR_T) \ + && (defined HAVE_INTTYPES_H) + #include + #undef NPY_INTP_FMT + #define NPY_INTP_FMT PRIdPTR +#endif + + +/* + * Some platforms don't define bool, long long, or long double. + * Handle that here. + */ +#define NPY_BYTE_FMT "hhd" +#define NPY_UBYTE_FMT "hhu" +#define NPY_SHORT_FMT "hd" +#define NPY_USHORT_FMT "hu" +#define NPY_INT_FMT "d" +#define NPY_UINT_FMT "u" +#define NPY_LONG_FMT "ld" +#define NPY_ULONG_FMT "lu" +#define NPY_HALF_FMT "g" +#define NPY_FLOAT_FMT "g" +#define NPY_DOUBLE_FMT "g" + + +#ifdef PY_LONG_LONG +typedef PY_LONG_LONG npy_longlong; +typedef unsigned PY_LONG_LONG npy_ulonglong; +# ifdef _MSC_VER +# define NPY_LONGLONG_FMT "I64d" +# define NPY_ULONGLONG_FMT "I64u" +# elif defined(__APPLE__) || defined(__FreeBSD__) +/* "%Ld" only parses 4 bytes -- "L" is floating modifier on MacOS X/BSD */ +# define NPY_LONGLONG_FMT "lld" +# define NPY_ULONGLONG_FMT "llu" +/* + another possible variant -- *quad_t works on *BSD, but is deprecated: + #define LONGLONG_FMT "qd" + #define ULONGLONG_FMT "qu" +*/ +# else +# define NPY_LONGLONG_FMT "Ld" +# define NPY_ULONGLONG_FMT "Lu" +# endif +# ifdef _MSC_VER +# define NPY_LONGLONG_SUFFIX(x) (x##i64) +# define NPY_ULONGLONG_SUFFIX(x) (x##Ui64) +# else +# define NPY_LONGLONG_SUFFIX(x) (x##LL) +# define NPY_ULONGLONG_SUFFIX(x) (x##ULL) +# endif +#else +typedef long npy_longlong; +typedef unsigned long npy_ulonglong; +# define NPY_LONGLONG_SUFFIX(x) (x##L) +# define NPY_ULONGLONG_SUFFIX(x) (x##UL) +#endif + + +typedef unsigned char npy_bool; +#define NPY_FALSE 0 +#define NPY_TRUE 1 + + +#if NPY_SIZEOF_LONGDOUBLE == NPY_SIZEOF_DOUBLE + typedef double npy_longdouble; + #define NPY_LONGDOUBLE_FMT "g" +#else + typedef long double npy_longdouble; + #define NPY_LONGDOUBLE_FMT "Lg" +#endif + +#ifndef Py_USING_UNICODE +#error Must use Python with unicode enabled. +#endif + + +typedef signed char npy_byte; +typedef unsigned char npy_ubyte; +typedef unsigned short npy_ushort; +typedef unsigned int npy_uint; +typedef unsigned long npy_ulong; + +/* These are for completeness */ +typedef char npy_char; +typedef short npy_short; +typedef int npy_int; +typedef long npy_long; +typedef float npy_float; +typedef double npy_double; + +/* + * Disabling C99 complex usage: a lot of C code in numpy/scipy rely on being + * able to do .real/.imag. Will have to convert code first. + */ +#if 0 +#if defined(NPY_USE_C99_COMPLEX) && defined(NPY_HAVE_COMPLEX_DOUBLE) +typedef complex npy_cdouble; +#else +typedef struct { double real, imag; } npy_cdouble; +#endif + +#if defined(NPY_USE_C99_COMPLEX) && defined(NPY_HAVE_COMPLEX_FLOAT) +typedef complex float npy_cfloat; +#else +typedef struct { float real, imag; } npy_cfloat; +#endif + +#if defined(NPY_USE_C99_COMPLEX) && defined(NPY_HAVE_COMPLEX_LONG_DOUBLE) +typedef complex long double npy_clongdouble; +#else +typedef struct {npy_longdouble real, imag;} npy_clongdouble; +#endif +#endif +#if NPY_SIZEOF_COMPLEX_DOUBLE != 2 * NPY_SIZEOF_DOUBLE +#error npy_cdouble definition is not compatible with C99 complex definition ! \ + Please contact Numpy maintainers and give detailed information about your \ + compiler and platform +#endif +typedef struct { double real, imag; } npy_cdouble; + +#if NPY_SIZEOF_COMPLEX_FLOAT != 2 * NPY_SIZEOF_FLOAT +#error npy_cfloat definition is not compatible with C99 complex definition ! \ + Please contact Numpy maintainers and give detailed information about your \ + compiler and platform +#endif +typedef struct { float real, imag; } npy_cfloat; + +#if NPY_SIZEOF_COMPLEX_LONGDOUBLE != 2 * NPY_SIZEOF_LONGDOUBLE +#error npy_clongdouble definition is not compatible with C99 complex definition ! \ + Please contact Numpy maintainers and give detailed information about your \ + compiler and platform +#endif +typedef struct { npy_longdouble real, imag; } npy_clongdouble; + +/* + * numarray-style bit-width typedefs + */ +#define NPY_MAX_INT8 127 +#define NPY_MIN_INT8 -128 +#define NPY_MAX_UINT8 255 +#define NPY_MAX_INT16 32767 +#define NPY_MIN_INT16 -32768 +#define NPY_MAX_UINT16 65535 +#define NPY_MAX_INT32 2147483647 +#define NPY_MIN_INT32 (-NPY_MAX_INT32 - 1) +#define NPY_MAX_UINT32 4294967295U +#define NPY_MAX_INT64 NPY_LONGLONG_SUFFIX(9223372036854775807) +#define NPY_MIN_INT64 (-NPY_MAX_INT64 - NPY_LONGLONG_SUFFIX(1)) +#define NPY_MAX_UINT64 NPY_ULONGLONG_SUFFIX(18446744073709551615) +#define NPY_MAX_INT128 NPY_LONGLONG_SUFFIX(85070591730234615865843651857942052864) +#define NPY_MIN_INT128 (-NPY_MAX_INT128 - NPY_LONGLONG_SUFFIX(1)) +#define NPY_MAX_UINT128 NPY_ULONGLONG_SUFFIX(170141183460469231731687303715884105728) +#define NPY_MAX_INT256 NPY_LONGLONG_SUFFIX(57896044618658097711785492504343953926634992332820282019728792003956564819967) +#define NPY_MIN_INT256 (-NPY_MAX_INT256 - NPY_LONGLONG_SUFFIX(1)) +#define NPY_MAX_UINT256 NPY_ULONGLONG_SUFFIX(115792089237316195423570985008687907853269984665640564039457584007913129639935) +#define NPY_MIN_DATETIME NPY_MIN_INT64 +#define NPY_MAX_DATETIME NPY_MAX_INT64 +#define NPY_MIN_TIMEDELTA NPY_MIN_INT64 +#define NPY_MAX_TIMEDELTA NPY_MAX_INT64 + + /* Need to find the number of bits for each type and + make definitions accordingly. + + C states that sizeof(char) == 1 by definition + + So, just using the sizeof keyword won't help. + + It also looks like Python itself uses sizeof(char) quite a + bit, which by definition should be 1 all the time. + + Idea: Make Use of CHAR_BIT which should tell us how many + BITS per CHARACTER + */ + + /* Include platform definitions -- These are in the C89/90 standard */ +#include +#define NPY_MAX_BYTE SCHAR_MAX +#define NPY_MIN_BYTE SCHAR_MIN +#define NPY_MAX_UBYTE UCHAR_MAX +#define NPY_MAX_SHORT SHRT_MAX +#define NPY_MIN_SHORT SHRT_MIN +#define NPY_MAX_USHORT USHRT_MAX +#define NPY_MAX_INT INT_MAX +#ifndef INT_MIN +#define INT_MIN (-INT_MAX - 1) +#endif +#define NPY_MIN_INT INT_MIN +#define NPY_MAX_UINT UINT_MAX +#define NPY_MAX_LONG LONG_MAX +#define NPY_MIN_LONG LONG_MIN +#define NPY_MAX_ULONG ULONG_MAX + +#define NPY_BITSOF_BOOL (sizeof(npy_bool) * CHAR_BIT) +#define NPY_BITSOF_CHAR CHAR_BIT +#define NPY_BITSOF_BYTE (NPY_SIZEOF_BYTE * CHAR_BIT) +#define NPY_BITSOF_SHORT (NPY_SIZEOF_SHORT * CHAR_BIT) +#define NPY_BITSOF_INT (NPY_SIZEOF_INT * CHAR_BIT) +#define NPY_BITSOF_LONG (NPY_SIZEOF_LONG * CHAR_BIT) +#define NPY_BITSOF_LONGLONG (NPY_SIZEOF_LONGLONG * CHAR_BIT) +#define NPY_BITSOF_INTP (NPY_SIZEOF_INTP * CHAR_BIT) +#define NPY_BITSOF_HALF (NPY_SIZEOF_HALF * CHAR_BIT) +#define NPY_BITSOF_FLOAT (NPY_SIZEOF_FLOAT * CHAR_BIT) +#define NPY_BITSOF_DOUBLE (NPY_SIZEOF_DOUBLE * CHAR_BIT) +#define NPY_BITSOF_LONGDOUBLE (NPY_SIZEOF_LONGDOUBLE * CHAR_BIT) +#define NPY_BITSOF_CFLOAT (NPY_SIZEOF_CFLOAT * CHAR_BIT) +#define NPY_BITSOF_CDOUBLE (NPY_SIZEOF_CDOUBLE * CHAR_BIT) +#define NPY_BITSOF_CLONGDOUBLE (NPY_SIZEOF_CLONGDOUBLE * CHAR_BIT) +#define NPY_BITSOF_DATETIME (NPY_SIZEOF_DATETIME * CHAR_BIT) +#define NPY_BITSOF_TIMEDELTA (NPY_SIZEOF_TIMEDELTA * CHAR_BIT) + +#if NPY_BITSOF_LONG == 8 +#define NPY_INT8 NPY_LONG +#define NPY_UINT8 NPY_ULONG + typedef long npy_int8; + typedef unsigned long npy_uint8; +#define PyInt8ScalarObject PyLongScalarObject +#define PyInt8ArrType_Type PyLongArrType_Type +#define PyUInt8ScalarObject PyULongScalarObject +#define PyUInt8ArrType_Type PyULongArrType_Type +#define NPY_INT8_FMT NPY_LONG_FMT +#define NPY_UINT8_FMT NPY_ULONG_FMT +#elif NPY_BITSOF_LONG == 16 +#define NPY_INT16 NPY_LONG +#define NPY_UINT16 NPY_ULONG + typedef long npy_int16; + typedef unsigned long npy_uint16; +#define PyInt16ScalarObject PyLongScalarObject +#define PyInt16ArrType_Type PyLongArrType_Type +#define PyUInt16ScalarObject PyULongScalarObject +#define PyUInt16ArrType_Type PyULongArrType_Type +#define NPY_INT16_FMT NPY_LONG_FMT +#define NPY_UINT16_FMT NPY_ULONG_FMT +#elif NPY_BITSOF_LONG == 32 +#define NPY_INT32 NPY_LONG +#define NPY_UINT32 NPY_ULONG + typedef long npy_int32; + typedef unsigned long npy_uint32; + typedef unsigned long npy_ucs4; +#define PyInt32ScalarObject PyLongScalarObject +#define PyInt32ArrType_Type PyLongArrType_Type +#define PyUInt32ScalarObject PyULongScalarObject +#define PyUInt32ArrType_Type PyULongArrType_Type +#define NPY_INT32_FMT NPY_LONG_FMT +#define NPY_UINT32_FMT NPY_ULONG_FMT +#elif NPY_BITSOF_LONG == 64 +#define NPY_INT64 NPY_LONG +#define NPY_UINT64 NPY_ULONG + typedef long npy_int64; + typedef unsigned long npy_uint64; +#define PyInt64ScalarObject PyLongScalarObject +#define PyInt64ArrType_Type PyLongArrType_Type +#define PyUInt64ScalarObject PyULongScalarObject +#define PyUInt64ArrType_Type PyULongArrType_Type +#define NPY_INT64_FMT NPY_LONG_FMT +#define NPY_UINT64_FMT NPY_ULONG_FMT +#define MyPyLong_FromInt64 PyLong_FromLong +#define MyPyLong_AsInt64 PyLong_AsLong +#elif NPY_BITSOF_LONG == 128 +#define NPY_INT128 NPY_LONG +#define NPY_UINT128 NPY_ULONG + typedef long npy_int128; + typedef unsigned long npy_uint128; +#define PyInt128ScalarObject PyLongScalarObject +#define PyInt128ArrType_Type PyLongArrType_Type +#define PyUInt128ScalarObject PyULongScalarObject +#define PyUInt128ArrType_Type PyULongArrType_Type +#define NPY_INT128_FMT NPY_LONG_FMT +#define NPY_UINT128_FMT NPY_ULONG_FMT +#endif + +#if NPY_BITSOF_LONGLONG == 8 +# ifndef NPY_INT8 +# define NPY_INT8 NPY_LONGLONG +# define NPY_UINT8 NPY_ULONGLONG + typedef npy_longlong npy_int8; + typedef npy_ulonglong npy_uint8; +# define PyInt8ScalarObject PyLongLongScalarObject +# define PyInt8ArrType_Type PyLongLongArrType_Type +# define PyUInt8ScalarObject PyULongLongScalarObject +# define PyUInt8ArrType_Type PyULongLongArrType_Type +#define NPY_INT8_FMT NPY_LONGLONG_FMT +#define NPY_UINT8_FMT NPY_ULONGLONG_FMT +# endif +# define NPY_MAX_LONGLONG NPY_MAX_INT8 +# define NPY_MIN_LONGLONG NPY_MIN_INT8 +# define NPY_MAX_ULONGLONG NPY_MAX_UINT8 +#elif NPY_BITSOF_LONGLONG == 16 +# ifndef NPY_INT16 +# define NPY_INT16 NPY_LONGLONG +# define NPY_UINT16 NPY_ULONGLONG + typedef npy_longlong npy_int16; + typedef npy_ulonglong npy_uint16; +# define PyInt16ScalarObject PyLongLongScalarObject +# define PyInt16ArrType_Type PyLongLongArrType_Type +# define PyUInt16ScalarObject PyULongLongScalarObject +# define PyUInt16ArrType_Type PyULongLongArrType_Type +#define NPY_INT16_FMT NPY_LONGLONG_FMT +#define NPY_UINT16_FMT NPY_ULONGLONG_FMT +# endif +# define NPY_MAX_LONGLONG NPY_MAX_INT16 +# define NPY_MIN_LONGLONG NPY_MIN_INT16 +# define NPY_MAX_ULONGLONG NPY_MAX_UINT16 +#elif NPY_BITSOF_LONGLONG == 32 +# ifndef NPY_INT32 +# define NPY_INT32 NPY_LONGLONG +# define NPY_UINT32 NPY_ULONGLONG + typedef npy_longlong npy_int32; + typedef npy_ulonglong npy_uint32; + typedef npy_ulonglong npy_ucs4; +# define PyInt32ScalarObject PyLongLongScalarObject +# define PyInt32ArrType_Type PyLongLongArrType_Type +# define PyUInt32ScalarObject PyULongLongScalarObject +# define PyUInt32ArrType_Type PyULongLongArrType_Type +#define NPY_INT32_FMT NPY_LONGLONG_FMT +#define NPY_UINT32_FMT NPY_ULONGLONG_FMT +# endif +# define NPY_MAX_LONGLONG NPY_MAX_INT32 +# define NPY_MIN_LONGLONG NPY_MIN_INT32 +# define NPY_MAX_ULONGLONG NPY_MAX_UINT32 +#elif NPY_BITSOF_LONGLONG == 64 +# ifndef NPY_INT64 +# define NPY_INT64 NPY_LONGLONG +# define NPY_UINT64 NPY_ULONGLONG + typedef npy_longlong npy_int64; + typedef npy_ulonglong npy_uint64; +# define PyInt64ScalarObject PyLongLongScalarObject +# define PyInt64ArrType_Type PyLongLongArrType_Type +# define PyUInt64ScalarObject PyULongLongScalarObject +# define PyUInt64ArrType_Type PyULongLongArrType_Type +#define NPY_INT64_FMT NPY_LONGLONG_FMT +#define NPY_UINT64_FMT NPY_ULONGLONG_FMT +# define MyPyLong_FromInt64 PyLong_FromLongLong +# define MyPyLong_AsInt64 PyLong_AsLongLong +# endif +# define NPY_MAX_LONGLONG NPY_MAX_INT64 +# define NPY_MIN_LONGLONG NPY_MIN_INT64 +# define NPY_MAX_ULONGLONG NPY_MAX_UINT64 +#elif NPY_BITSOF_LONGLONG == 128 +# ifndef NPY_INT128 +# define NPY_INT128 NPY_LONGLONG +# define NPY_UINT128 NPY_ULONGLONG + typedef npy_longlong npy_int128; + typedef npy_ulonglong npy_uint128; +# define PyInt128ScalarObject PyLongLongScalarObject +# define PyInt128ArrType_Type PyLongLongArrType_Type +# define PyUInt128ScalarObject PyULongLongScalarObject +# define PyUInt128ArrType_Type PyULongLongArrType_Type +#define NPY_INT128_FMT NPY_LONGLONG_FMT +#define NPY_UINT128_FMT NPY_ULONGLONG_FMT +# endif +# define NPY_MAX_LONGLONG NPY_MAX_INT128 +# define NPY_MIN_LONGLONG NPY_MIN_INT128 +# define NPY_MAX_ULONGLONG NPY_MAX_UINT128 +#elif NPY_BITSOF_LONGLONG == 256 +# define NPY_INT256 NPY_LONGLONG +# define NPY_UINT256 NPY_ULONGLONG + typedef npy_longlong npy_int256; + typedef npy_ulonglong npy_uint256; +# define PyInt256ScalarObject PyLongLongScalarObject +# define PyInt256ArrType_Type PyLongLongArrType_Type +# define PyUInt256ScalarObject PyULongLongScalarObject +# define PyUInt256ArrType_Type PyULongLongArrType_Type +#define NPY_INT256_FMT NPY_LONGLONG_FMT +#define NPY_UINT256_FMT NPY_ULONGLONG_FMT +# define NPY_MAX_LONGLONG NPY_MAX_INT256 +# define NPY_MIN_LONGLONG NPY_MIN_INT256 +# define NPY_MAX_ULONGLONG NPY_MAX_UINT256 +#endif + +#if NPY_BITSOF_INT == 8 +#ifndef NPY_INT8 +#define NPY_INT8 NPY_INT +#define NPY_UINT8 NPY_UINT + typedef int npy_int8; + typedef unsigned int npy_uint8; +# define PyInt8ScalarObject PyIntScalarObject +# define PyInt8ArrType_Type PyIntArrType_Type +# define PyUInt8ScalarObject PyUIntScalarObject +# define PyUInt8ArrType_Type PyUIntArrType_Type +#define NPY_INT8_FMT NPY_INT_FMT +#define NPY_UINT8_FMT NPY_UINT_FMT +#endif +#elif NPY_BITSOF_INT == 16 +#ifndef NPY_INT16 +#define NPY_INT16 NPY_INT +#define NPY_UINT16 NPY_UINT + typedef int npy_int16; + typedef unsigned int npy_uint16; +# define PyInt16ScalarObject PyIntScalarObject +# define PyInt16ArrType_Type PyIntArrType_Type +# define PyUInt16ScalarObject PyIntUScalarObject +# define PyUInt16ArrType_Type PyIntUArrType_Type +#define NPY_INT16_FMT NPY_INT_FMT +#define NPY_UINT16_FMT NPY_UINT_FMT +#endif +#elif NPY_BITSOF_INT == 32 +#ifndef NPY_INT32 +#define NPY_INT32 NPY_INT +#define NPY_UINT32 NPY_UINT + typedef int npy_int32; + typedef unsigned int npy_uint32; + typedef unsigned int npy_ucs4; +# define PyInt32ScalarObject PyIntScalarObject +# define PyInt32ArrType_Type PyIntArrType_Type +# define PyUInt32ScalarObject PyUIntScalarObject +# define PyUInt32ArrType_Type PyUIntArrType_Type +#define NPY_INT32_FMT NPY_INT_FMT +#define NPY_UINT32_FMT NPY_UINT_FMT +#endif +#elif NPY_BITSOF_INT == 64 +#ifndef NPY_INT64 +#define NPY_INT64 NPY_INT +#define NPY_UINT64 NPY_UINT + typedef int npy_int64; + typedef unsigned int npy_uint64; +# define PyInt64ScalarObject PyIntScalarObject +# define PyInt64ArrType_Type PyIntArrType_Type +# define PyUInt64ScalarObject PyUIntScalarObject +# define PyUInt64ArrType_Type PyUIntArrType_Type +#define NPY_INT64_FMT NPY_INT_FMT +#define NPY_UINT64_FMT NPY_UINT_FMT +# define MyPyLong_FromInt64 PyLong_FromLong +# define MyPyLong_AsInt64 PyLong_AsLong +#endif +#elif NPY_BITSOF_INT == 128 +#ifndef NPY_INT128 +#define NPY_INT128 NPY_INT +#define NPY_UINT128 NPY_UINT + typedef int npy_int128; + typedef unsigned int npy_uint128; +# define PyInt128ScalarObject PyIntScalarObject +# define PyInt128ArrType_Type PyIntArrType_Type +# define PyUInt128ScalarObject PyUIntScalarObject +# define PyUInt128ArrType_Type PyUIntArrType_Type +#define NPY_INT128_FMT NPY_INT_FMT +#define NPY_UINT128_FMT NPY_UINT_FMT +#endif +#endif + +#if NPY_BITSOF_SHORT == 8 +#ifndef NPY_INT8 +#define NPY_INT8 NPY_SHORT +#define NPY_UINT8 NPY_USHORT + typedef short npy_int8; + typedef unsigned short npy_uint8; +# define PyInt8ScalarObject PyShortScalarObject +# define PyInt8ArrType_Type PyShortArrType_Type +# define PyUInt8ScalarObject PyUShortScalarObject +# define PyUInt8ArrType_Type PyUShortArrType_Type +#define NPY_INT8_FMT NPY_SHORT_FMT +#define NPY_UINT8_FMT NPY_USHORT_FMT +#endif +#elif NPY_BITSOF_SHORT == 16 +#ifndef NPY_INT16 +#define NPY_INT16 NPY_SHORT +#define NPY_UINT16 NPY_USHORT + typedef short npy_int16; + typedef unsigned short npy_uint16; +# define PyInt16ScalarObject PyShortScalarObject +# define PyInt16ArrType_Type PyShortArrType_Type +# define PyUInt16ScalarObject PyUShortScalarObject +# define PyUInt16ArrType_Type PyUShortArrType_Type +#define NPY_INT16_FMT NPY_SHORT_FMT +#define NPY_UINT16_FMT NPY_USHORT_FMT +#endif +#elif NPY_BITSOF_SHORT == 32 +#ifndef NPY_INT32 +#define NPY_INT32 NPY_SHORT +#define NPY_UINT32 NPY_USHORT + typedef short npy_int32; + typedef unsigned short npy_uint32; + typedef unsigned short npy_ucs4; +# define PyInt32ScalarObject PyShortScalarObject +# define PyInt32ArrType_Type PyShortArrType_Type +# define PyUInt32ScalarObject PyUShortScalarObject +# define PyUInt32ArrType_Type PyUShortArrType_Type +#define NPY_INT32_FMT NPY_SHORT_FMT +#define NPY_UINT32_FMT NPY_USHORT_FMT +#endif +#elif NPY_BITSOF_SHORT == 64 +#ifndef NPY_INT64 +#define NPY_INT64 NPY_SHORT +#define NPY_UINT64 NPY_USHORT + typedef short npy_int64; + typedef unsigned short npy_uint64; +# define PyInt64ScalarObject PyShortScalarObject +# define PyInt64ArrType_Type PyShortArrType_Type +# define PyUInt64ScalarObject PyUShortScalarObject +# define PyUInt64ArrType_Type PyUShortArrType_Type +#define NPY_INT64_FMT NPY_SHORT_FMT +#define NPY_UINT64_FMT NPY_USHORT_FMT +# define MyPyLong_FromInt64 PyLong_FromLong +# define MyPyLong_AsInt64 PyLong_AsLong +#endif +#elif NPY_BITSOF_SHORT == 128 +#ifndef NPY_INT128 +#define NPY_INT128 NPY_SHORT +#define NPY_UINT128 NPY_USHORT + typedef short npy_int128; + typedef unsigned short npy_uint128; +# define PyInt128ScalarObject PyShortScalarObject +# define PyInt128ArrType_Type PyShortArrType_Type +# define PyUInt128ScalarObject PyUShortScalarObject +# define PyUInt128ArrType_Type PyUShortArrType_Type +#define NPY_INT128_FMT NPY_SHORT_FMT +#define NPY_UINT128_FMT NPY_USHORT_FMT +#endif +#endif + + +#if NPY_BITSOF_CHAR == 8 +#ifndef NPY_INT8 +#define NPY_INT8 NPY_BYTE +#define NPY_UINT8 NPY_UBYTE + typedef signed char npy_int8; + typedef unsigned char npy_uint8; +# define PyInt8ScalarObject PyByteScalarObject +# define PyInt8ArrType_Type PyByteArrType_Type +# define PyUInt8ScalarObject PyUByteScalarObject +# define PyUInt8ArrType_Type PyUByteArrType_Type +#define NPY_INT8_FMT NPY_BYTE_FMT +#define NPY_UINT8_FMT NPY_UBYTE_FMT +#endif +#elif NPY_BITSOF_CHAR == 16 +#ifndef NPY_INT16 +#define NPY_INT16 NPY_BYTE +#define NPY_UINT16 NPY_UBYTE + typedef signed char npy_int16; + typedef unsigned char npy_uint16; +# define PyInt16ScalarObject PyByteScalarObject +# define PyInt16ArrType_Type PyByteArrType_Type +# define PyUInt16ScalarObject PyUByteScalarObject +# define PyUInt16ArrType_Type PyUByteArrType_Type +#define NPY_INT16_FMT NPY_BYTE_FMT +#define NPY_UINT16_FMT NPY_UBYTE_FMT +#endif +#elif NPY_BITSOF_CHAR == 32 +#ifndef NPY_INT32 +#define NPY_INT32 NPY_BYTE +#define NPY_UINT32 NPY_UBYTE + typedef signed char npy_int32; + typedef unsigned char npy_uint32; + typedef unsigned char npy_ucs4; +# define PyInt32ScalarObject PyByteScalarObject +# define PyInt32ArrType_Type PyByteArrType_Type +# define PyUInt32ScalarObject PyUByteScalarObject +# define PyUInt32ArrType_Type PyUByteArrType_Type +#define NPY_INT32_FMT NPY_BYTE_FMT +#define NPY_UINT32_FMT NPY_UBYTE_FMT +#endif +#elif NPY_BITSOF_CHAR == 64 +#ifndef NPY_INT64 +#define NPY_INT64 NPY_BYTE +#define NPY_UINT64 NPY_UBYTE + typedef signed char npy_int64; + typedef unsigned char npy_uint64; +# define PyInt64ScalarObject PyByteScalarObject +# define PyInt64ArrType_Type PyByteArrType_Type +# define PyUInt64ScalarObject PyUByteScalarObject +# define PyUInt64ArrType_Type PyUByteArrType_Type +#define NPY_INT64_FMT NPY_BYTE_FMT +#define NPY_UINT64_FMT NPY_UBYTE_FMT +# define MyPyLong_FromInt64 PyLong_FromLong +# define MyPyLong_AsInt64 PyLong_AsLong +#endif +#elif NPY_BITSOF_CHAR == 128 +#ifndef NPY_INT128 +#define NPY_INT128 NPY_BYTE +#define NPY_UINT128 NPY_UBYTE + typedef signed char npy_int128; + typedef unsigned char npy_uint128; +# define PyInt128ScalarObject PyByteScalarObject +# define PyInt128ArrType_Type PyByteArrType_Type +# define PyUInt128ScalarObject PyUByteScalarObject +# define PyUInt128ArrType_Type PyUByteArrType_Type +#define NPY_INT128_FMT NPY_BYTE_FMT +#define NPY_UINT128_FMT NPY_UBYTE_FMT +#endif +#endif + + + +#if NPY_BITSOF_DOUBLE == 32 +#ifndef NPY_FLOAT32 +#define NPY_FLOAT32 NPY_DOUBLE +#define NPY_COMPLEX64 NPY_CDOUBLE + typedef double npy_float32; + typedef npy_cdouble npy_complex64; +# define PyFloat32ScalarObject PyDoubleScalarObject +# define PyComplex64ScalarObject PyCDoubleScalarObject +# define PyFloat32ArrType_Type PyDoubleArrType_Type +# define PyComplex64ArrType_Type PyCDoubleArrType_Type +#define NPY_FLOAT32_FMT NPY_DOUBLE_FMT +#define NPY_COMPLEX64_FMT NPY_CDOUBLE_FMT +#endif +#elif NPY_BITSOF_DOUBLE == 64 +#ifndef NPY_FLOAT64 +#define NPY_FLOAT64 NPY_DOUBLE +#define NPY_COMPLEX128 NPY_CDOUBLE + typedef double npy_float64; + typedef npy_cdouble npy_complex128; +# define PyFloat64ScalarObject PyDoubleScalarObject +# define PyComplex128ScalarObject PyCDoubleScalarObject +# define PyFloat64ArrType_Type PyDoubleArrType_Type +# define PyComplex128ArrType_Type PyCDoubleArrType_Type +#define NPY_FLOAT64_FMT NPY_DOUBLE_FMT +#define NPY_COMPLEX128_FMT NPY_CDOUBLE_FMT +#endif +#elif NPY_BITSOF_DOUBLE == 80 +#ifndef NPY_FLOAT80 +#define NPY_FLOAT80 NPY_DOUBLE +#define NPY_COMPLEX160 NPY_CDOUBLE + typedef double npy_float80; + typedef npy_cdouble npy_complex160; +# define PyFloat80ScalarObject PyDoubleScalarObject +# define PyComplex160ScalarObject PyCDoubleScalarObject +# define PyFloat80ArrType_Type PyDoubleArrType_Type +# define PyComplex160ArrType_Type PyCDoubleArrType_Type +#define NPY_FLOAT80_FMT NPY_DOUBLE_FMT +#define NPY_COMPLEX160_FMT NPY_CDOUBLE_FMT +#endif +#elif NPY_BITSOF_DOUBLE == 96 +#ifndef NPY_FLOAT96 +#define NPY_FLOAT96 NPY_DOUBLE +#define NPY_COMPLEX192 NPY_CDOUBLE + typedef double npy_float96; + typedef npy_cdouble npy_complex192; +# define PyFloat96ScalarObject PyDoubleScalarObject +# define PyComplex192ScalarObject PyCDoubleScalarObject +# define PyFloat96ArrType_Type PyDoubleArrType_Type +# define PyComplex192ArrType_Type PyCDoubleArrType_Type +#define NPY_FLOAT96_FMT NPY_DOUBLE_FMT +#define NPY_COMPLEX192_FMT NPY_CDOUBLE_FMT +#endif +#elif NPY_BITSOF_DOUBLE == 128 +#ifndef NPY_FLOAT128 +#define NPY_FLOAT128 NPY_DOUBLE +#define NPY_COMPLEX256 NPY_CDOUBLE + typedef double npy_float128; + typedef npy_cdouble npy_complex256; +# define PyFloat128ScalarObject PyDoubleScalarObject +# define PyComplex256ScalarObject PyCDoubleScalarObject +# define PyFloat128ArrType_Type PyDoubleArrType_Type +# define PyComplex256ArrType_Type PyCDoubleArrType_Type +#define NPY_FLOAT128_FMT NPY_DOUBLE_FMT +#define NPY_COMPLEX256_FMT NPY_CDOUBLE_FMT +#endif +#endif + + + +#if NPY_BITSOF_FLOAT == 32 +#ifndef NPY_FLOAT32 +#define NPY_FLOAT32 NPY_FLOAT +#define NPY_COMPLEX64 NPY_CFLOAT + typedef float npy_float32; + typedef npy_cfloat npy_complex64; +# define PyFloat32ScalarObject PyFloatScalarObject +# define PyComplex64ScalarObject PyCFloatScalarObject +# define PyFloat32ArrType_Type PyFloatArrType_Type +# define PyComplex64ArrType_Type PyCFloatArrType_Type +#define NPY_FLOAT32_FMT NPY_FLOAT_FMT +#define NPY_COMPLEX64_FMT NPY_CFLOAT_FMT +#endif +#elif NPY_BITSOF_FLOAT == 64 +#ifndef NPY_FLOAT64 +#define NPY_FLOAT64 NPY_FLOAT +#define NPY_COMPLEX128 NPY_CFLOAT + typedef float npy_float64; + typedef npy_cfloat npy_complex128; +# define PyFloat64ScalarObject PyFloatScalarObject +# define PyComplex128ScalarObject PyCFloatScalarObject +# define PyFloat64ArrType_Type PyFloatArrType_Type +# define PyComplex128ArrType_Type PyCFloatArrType_Type +#define NPY_FLOAT64_FMT NPY_FLOAT_FMT +#define NPY_COMPLEX128_FMT NPY_CFLOAT_FMT +#endif +#elif NPY_BITSOF_FLOAT == 80 +#ifndef NPY_FLOAT80 +#define NPY_FLOAT80 NPY_FLOAT +#define NPY_COMPLEX160 NPY_CFLOAT + typedef float npy_float80; + typedef npy_cfloat npy_complex160; +# define PyFloat80ScalarObject PyFloatScalarObject +# define PyComplex160ScalarObject PyCFloatScalarObject +# define PyFloat80ArrType_Type PyFloatArrType_Type +# define PyComplex160ArrType_Type PyCFloatArrType_Type +#define NPY_FLOAT80_FMT NPY_FLOAT_FMT +#define NPY_COMPLEX160_FMT NPY_CFLOAT_FMT +#endif +#elif NPY_BITSOF_FLOAT == 96 +#ifndef NPY_FLOAT96 +#define NPY_FLOAT96 NPY_FLOAT +#define NPY_COMPLEX192 NPY_CFLOAT + typedef float npy_float96; + typedef npy_cfloat npy_complex192; +# define PyFloat96ScalarObject PyFloatScalarObject +# define PyComplex192ScalarObject PyCFloatScalarObject +# define PyFloat96ArrType_Type PyFloatArrType_Type +# define PyComplex192ArrType_Type PyCFloatArrType_Type +#define NPY_FLOAT96_FMT NPY_FLOAT_FMT +#define NPY_COMPLEX192_FMT NPY_CFLOAT_FMT +#endif +#elif NPY_BITSOF_FLOAT == 128 +#ifndef NPY_FLOAT128 +#define NPY_FLOAT128 NPY_FLOAT +#define NPY_COMPLEX256 NPY_CFLOAT + typedef float npy_float128; + typedef npy_cfloat npy_complex256; +# define PyFloat128ScalarObject PyFloatScalarObject +# define PyComplex256ScalarObject PyCFloatScalarObject +# define PyFloat128ArrType_Type PyFloatArrType_Type +# define PyComplex256ArrType_Type PyCFloatArrType_Type +#define NPY_FLOAT128_FMT NPY_FLOAT_FMT +#define NPY_COMPLEX256_FMT NPY_CFLOAT_FMT +#endif +#endif + +/* half/float16 isn't a floating-point type in C */ +#define NPY_FLOAT16 NPY_HALF +typedef npy_uint16 npy_half; +typedef npy_half npy_float16; + +#if NPY_BITSOF_LONGDOUBLE == 32 +#ifndef NPY_FLOAT32 +#define NPY_FLOAT32 NPY_LONGDOUBLE +#define NPY_COMPLEX64 NPY_CLONGDOUBLE + typedef npy_longdouble npy_float32; + typedef npy_clongdouble npy_complex64; +# define PyFloat32ScalarObject PyLongDoubleScalarObject +# define PyComplex64ScalarObject PyCLongDoubleScalarObject +# define PyFloat32ArrType_Type PyLongDoubleArrType_Type +# define PyComplex64ArrType_Type PyCLongDoubleArrType_Type +#define NPY_FLOAT32_FMT NPY_LONGDOUBLE_FMT +#define NPY_COMPLEX64_FMT NPY_CLONGDOUBLE_FMT +#endif +#elif NPY_BITSOF_LONGDOUBLE == 64 +#ifndef NPY_FLOAT64 +#define NPY_FLOAT64 NPY_LONGDOUBLE +#define NPY_COMPLEX128 NPY_CLONGDOUBLE + typedef npy_longdouble npy_float64; + typedef npy_clongdouble npy_complex128; +# define PyFloat64ScalarObject PyLongDoubleScalarObject +# define PyComplex128ScalarObject PyCLongDoubleScalarObject +# define PyFloat64ArrType_Type PyLongDoubleArrType_Type +# define PyComplex128ArrType_Type PyCLongDoubleArrType_Type +#define NPY_FLOAT64_FMT NPY_LONGDOUBLE_FMT +#define NPY_COMPLEX128_FMT NPY_CLONGDOUBLE_FMT +#endif +#elif NPY_BITSOF_LONGDOUBLE == 80 +#ifndef NPY_FLOAT80 +#define NPY_FLOAT80 NPY_LONGDOUBLE +#define NPY_COMPLEX160 NPY_CLONGDOUBLE + typedef npy_longdouble npy_float80; + typedef npy_clongdouble npy_complex160; +# define PyFloat80ScalarObject PyLongDoubleScalarObject +# define PyComplex160ScalarObject PyCLongDoubleScalarObject +# define PyFloat80ArrType_Type PyLongDoubleArrType_Type +# define PyComplex160ArrType_Type PyCLongDoubleArrType_Type +#define NPY_FLOAT80_FMT NPY_LONGDOUBLE_FMT +#define NPY_COMPLEX160_FMT NPY_CLONGDOUBLE_FMT +#endif +#elif NPY_BITSOF_LONGDOUBLE == 96 +#ifndef NPY_FLOAT96 +#define NPY_FLOAT96 NPY_LONGDOUBLE +#define NPY_COMPLEX192 NPY_CLONGDOUBLE + typedef npy_longdouble npy_float96; + typedef npy_clongdouble npy_complex192; +# define PyFloat96ScalarObject PyLongDoubleScalarObject +# define PyComplex192ScalarObject PyCLongDoubleScalarObject +# define PyFloat96ArrType_Type PyLongDoubleArrType_Type +# define PyComplex192ArrType_Type PyCLongDoubleArrType_Type +#define NPY_FLOAT96_FMT NPY_LONGDOUBLE_FMT +#define NPY_COMPLEX192_FMT NPY_CLONGDOUBLE_FMT +#endif +#elif NPY_BITSOF_LONGDOUBLE == 128 +#ifndef NPY_FLOAT128 +#define NPY_FLOAT128 NPY_LONGDOUBLE +#define NPY_COMPLEX256 NPY_CLONGDOUBLE + typedef npy_longdouble npy_float128; + typedef npy_clongdouble npy_complex256; +# define PyFloat128ScalarObject PyLongDoubleScalarObject +# define PyComplex256ScalarObject PyCLongDoubleScalarObject +# define PyFloat128ArrType_Type PyLongDoubleArrType_Type +# define PyComplex256ArrType_Type PyCLongDoubleArrType_Type +#define NPY_FLOAT128_FMT NPY_LONGDOUBLE_FMT +#define NPY_COMPLEX256_FMT NPY_CLONGDOUBLE_FMT +#endif +#elif NPY_BITSOF_LONGDOUBLE == 256 +#define NPY_FLOAT256 NPY_LONGDOUBLE +#define NPY_COMPLEX512 NPY_CLONGDOUBLE + typedef npy_longdouble npy_float256; + typedef npy_clongdouble npy_complex512; +# define PyFloat256ScalarObject PyLongDoubleScalarObject +# define PyComplex512ScalarObject PyCLongDoubleScalarObject +# define PyFloat256ArrType_Type PyLongDoubleArrType_Type +# define PyComplex512ArrType_Type PyCLongDoubleArrType_Type +#define NPY_FLOAT256_FMT NPY_LONGDOUBLE_FMT +#define NPY_COMPLEX512_FMT NPY_CLONGDOUBLE_FMT +#endif + +/* datetime typedefs */ +typedef npy_int64 npy_timedelta; +typedef npy_int64 npy_datetime; +#define NPY_DATETIME_FMT NPY_INT64_FMT +#define NPY_TIMEDELTA_FMT NPY_INT64_FMT + +/* End of typedefs for numarray style bit-width names */ + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h new file mode 100644 index 000000000..7958dc208 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h @@ -0,0 +1,114 @@ +/* + * This set (target) cpu specific macros: + * - Possible values: + * NPY_CPU_X86 + * NPY_CPU_AMD64 + * NPY_CPU_PPC + * NPY_CPU_PPC64 + * NPY_CPU_PPC64LE + * NPY_CPU_SPARC + * NPY_CPU_S390 + * NPY_CPU_IA64 + * NPY_CPU_HPPA + * NPY_CPU_ALPHA + * NPY_CPU_ARMEL + * NPY_CPU_ARMEB + * NPY_CPU_SH_LE + * NPY_CPU_SH_BE + */ +#ifndef _NPY_CPUARCH_H_ +#define _NPY_CPUARCH_H_ + +#include "numpyconfig.h" + +#if defined( __i386__ ) || defined(i386) || defined(_M_IX86) + /* + * __i386__ is defined by gcc and Intel compiler on Linux, + * _M_IX86 by VS compiler, + * i386 by Sun compilers on opensolaris at least + */ + #define NPY_CPU_X86 +#elif defined(__x86_64__) || defined(__amd64__) || defined(__x86_64) || defined(_M_AMD64) + /* + * both __x86_64__ and __amd64__ are defined by gcc + * __x86_64 defined by sun compiler on opensolaris at least + * _M_AMD64 defined by MS compiler + */ + #define NPY_CPU_AMD64 +#elif defined(__ppc__) || defined(__powerpc__) || defined(_ARCH_PPC) + /* + * __ppc__ is defined by gcc, I remember having seen __powerpc__ once, + * but can't find it ATM + * _ARCH_PPC is used by at least gcc on AIX + */ + #define NPY_CPU_PPC +#elif defined(__ppc64le__) + #define NPY_CPU_PPC64LE +#elif defined(__ppc64__) + #define NPY_CPU_PPC64 +#elif defined(__sparc__) || defined(__sparc) + /* __sparc__ is defined by gcc and Forte (e.g. Sun) compilers */ + #define NPY_CPU_SPARC +#elif defined(__s390__) + #define NPY_CPU_S390 +#elif defined(__ia64) + #define NPY_CPU_IA64 +#elif defined(__hppa) + #define NPY_CPU_HPPA +#elif defined(__alpha__) + #define NPY_CPU_ALPHA +#elif defined(__arm__) && defined(__ARMEL__) + #define NPY_CPU_ARMEL +#elif defined(__arm__) && defined(__ARMEB__) + #define NPY_CPU_ARMEB +#elif defined(__sh__) && defined(__LITTLE_ENDIAN__) + #define NPY_CPU_SH_LE +#elif defined(__sh__) && defined(__BIG_ENDIAN__) + #define NPY_CPU_SH_BE +#elif defined(__MIPSEL__) + #define NPY_CPU_MIPSEL +#elif defined(__MIPSEB__) + #define NPY_CPU_MIPSEB +#elif defined(__aarch64__) + #define NPY_CPU_AARCH64 +#elif defined(__mc68000__) + #define NPY_CPU_M68K +#else + #error Unknown CPU, please report this to numpy maintainers with \ + information about your platform (OS, CPU and compiler) +#endif + +/* + This "white-lists" the architectures that we know don't require + pointer alignment. We white-list, since the memcpy version will + work everywhere, whereas assignment will only work where pointer + dereferencing doesn't require alignment. + + TODO: There may be more architectures we can white list. +*/ +#if defined(NPY_CPU_X86) || defined(NPY_CPU_AMD64) + #define NPY_COPY_PYOBJECT_PTR(dst, src) (*((PyObject **)(dst)) = *((PyObject **)(src))) +#else + #if NPY_SIZEOF_PY_INTPTR_T == 4 + #define NPY_COPY_PYOBJECT_PTR(dst, src) \ + ((char*)(dst))[0] = ((char*)(src))[0]; \ + ((char*)(dst))[1] = ((char*)(src))[1]; \ + ((char*)(dst))[2] = ((char*)(src))[2]; \ + ((char*)(dst))[3] = ((char*)(src))[3]; + #elif NPY_SIZEOF_PY_INTPTR_T == 8 + #define NPY_COPY_PYOBJECT_PTR(dst, src) \ + ((char*)(dst))[0] = ((char*)(src))[0]; \ + ((char*)(dst))[1] = ((char*)(src))[1]; \ + ((char*)(dst))[2] = ((char*)(src))[2]; \ + ((char*)(dst))[3] = ((char*)(src))[3]; \ + ((char*)(dst))[4] = ((char*)(src))[4]; \ + ((char*)(dst))[5] = ((char*)(src))[5]; \ + ((char*)(dst))[6] = ((char*)(src))[6]; \ + ((char*)(dst))[7] = ((char*)(src))[7]; + #else + #error Unknown architecture, please report this to numpy maintainers with \ + information about your platform (OS, CPU and compiler) + #endif +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h new file mode 100644 index 000000000..44d4326b1 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h @@ -0,0 +1,48 @@ +#ifndef _NPY_ENDIAN_H_ +#define _NPY_ENDIAN_H_ + +/* + * NPY_BYTE_ORDER is set to the same value as BYTE_ORDER set by glibc in + * endian.h + */ + +#ifdef NPY_HAVE_ENDIAN_H + /* Use endian.h if available */ + #include + + #define NPY_BYTE_ORDER __BYTE_ORDER + #define NPY_LITTLE_ENDIAN __LITTLE_ENDIAN + #define NPY_BIG_ENDIAN __BIG_ENDIAN +#else + /* Set endianness info using target CPU */ + #include "npy_cpu.h" + + #define NPY_LITTLE_ENDIAN 1234 + #define NPY_BIG_ENDIAN 4321 + + #if defined(NPY_CPU_X86) \ + || defined(NPY_CPU_AMD64) \ + || defined(NPY_CPU_IA64) \ + || defined(NPY_CPU_ALPHA) \ + || defined(NPY_CPU_ARMEL) \ + || defined(NPY_CPU_AARCH64) \ + || defined(NPY_CPU_SH_LE) \ + || defined(NPY_CPU_MIPSEL) \ + || defined(NPY_CPU_PPC64LE) + #define NPY_BYTE_ORDER NPY_LITTLE_ENDIAN + #elif defined(NPY_CPU_PPC) \ + || defined(NPY_CPU_SPARC) \ + || defined(NPY_CPU_S390) \ + || defined(NPY_CPU_HPPA) \ + || defined(NPY_CPU_PPC64) \ + || defined(NPY_CPU_ARMEB) \ + || defined(NPY_CPU_SH_BE) \ + || defined(NPY_CPU_MIPSEB) \ + || defined(NPY_CPU_M68K) + #define NPY_BYTE_ORDER NPY_BIG_ENDIAN + #else + #error Unknown CPU: can not set endianness + #endif +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h new file mode 100644 index 000000000..f71fd689e --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h @@ -0,0 +1,117 @@ + +/* Signal handling: + +This header file defines macros that allow your code to handle +interrupts received during processing. Interrupts that +could reasonably be handled: + +SIGINT, SIGABRT, SIGALRM, SIGSEGV + +****Warning*************** + +Do not allow code that creates temporary memory or increases reference +counts of Python objects to be interrupted unless you handle it +differently. + +************************** + +The mechanism for handling interrupts is conceptually simple: + + - replace the signal handler with our own home-grown version + and store the old one. + - run the code to be interrupted -- if an interrupt occurs + the handler should basically just cause a return to the + calling function for finish work. + - restore the old signal handler + +Of course, every code that allows interrupts must account for +returning via the interrupt and handle clean-up correctly. But, +even still, the simple paradigm is complicated by at least three +factors. + + 1) platform portability (i.e. Microsoft says not to use longjmp + to return from signal handling. They have a __try and __except + extension to C instead but what about mingw?). + + 2) how to handle threads: apparently whether signals are delivered to + every thread of the process or the "invoking" thread is platform + dependent. --- we don't handle threads for now. + + 3) do we need to worry about re-entrance. For now, assume the + code will not call-back into itself. + +Ideas: + + 1) Start by implementing an approach that works on platforms that + can use setjmp and longjmp functionality and does nothing + on other platforms. + + 2) Ignore threads --- i.e. do not mix interrupt handling and threads + + 3) Add a default signal_handler function to the C-API but have the rest + use macros. + + +Simple Interface: + + +In your C-extension: around a block of code you want to be interruptable +with a SIGINT + +NPY_SIGINT_ON +[code] +NPY_SIGINT_OFF + +In order for this to work correctly, the +[code] block must not allocate any memory or alter the reference count of any +Python objects. In other words [code] must be interruptible so that continuation +after NPY_SIGINT_OFF will only be "missing some computations" + +Interrupt handling does not work well with threads. + +*/ + +/* Add signal handling macros + Make the global variable and signal handler part of the C-API +*/ + +#ifndef NPY_INTERRUPT_H +#define NPY_INTERRUPT_H + +#ifndef NPY_NO_SIGNAL + +#include +#include + +#ifndef sigsetjmp + +#define NPY_SIGSETJMP(arg1, arg2) setjmp(arg1) +#define NPY_SIGLONGJMP(arg1, arg2) longjmp(arg1, arg2) +#define NPY_SIGJMP_BUF jmp_buf + +#else + +#define NPY_SIGSETJMP(arg1, arg2) sigsetjmp(arg1, arg2) +#define NPY_SIGLONGJMP(arg1, arg2) siglongjmp(arg1, arg2) +#define NPY_SIGJMP_BUF sigjmp_buf + +#endif + +# define NPY_SIGINT_ON { \ + PyOS_sighandler_t _npy_sig_save; \ + _npy_sig_save = PyOS_setsig(SIGINT, _PyArray_SigintHandler); \ + if (NPY_SIGSETJMP(*((NPY_SIGJMP_BUF *)_PyArray_GetSigintBuf()), \ + 1) == 0) { \ + +# define NPY_SIGINT_OFF } \ + PyOS_setsig(SIGINT, _npy_sig_save); \ + } + +#else /* NPY_NO_SIGNAL */ + +#define NPY_SIGINT_ON +#define NPY_SIGINT_OFF + +#endif /* HAVE_SIGSETJMP */ + +#endif /* NPY_INTERRUPT_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h new file mode 100644 index 000000000..094286181 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h @@ -0,0 +1,468 @@ +#ifndef __NPY_MATH_C99_H_ +#define __NPY_MATH_C99_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#ifdef __SUNPRO_CC +#include +#endif +#ifdef HAVE_NPY_CONFIG_H +#include +#endif +#include + + +/* + * NAN and INFINITY like macros (same behavior as glibc for NAN, same as C99 + * for INFINITY) + * + * XXX: I should test whether INFINITY and NAN are available on the platform + */ +NPY_INLINE static float __npy_inff(void) +{ + const union { npy_uint32 __i; float __f;} __bint = {0x7f800000UL}; + return __bint.__f; +} + +NPY_INLINE static float __npy_nanf(void) +{ + const union { npy_uint32 __i; float __f;} __bint = {0x7fc00000UL}; + return __bint.__f; +} + +NPY_INLINE static float __npy_pzerof(void) +{ + const union { npy_uint32 __i; float __f;} __bint = {0x00000000UL}; + return __bint.__f; +} + +NPY_INLINE static float __npy_nzerof(void) +{ + const union { npy_uint32 __i; float __f;} __bint = {0x80000000UL}; + return __bint.__f; +} + +#define NPY_INFINITYF __npy_inff() +#define NPY_NANF __npy_nanf() +#define NPY_PZEROF __npy_pzerof() +#define NPY_NZEROF __npy_nzerof() + +#define NPY_INFINITY ((npy_double)NPY_INFINITYF) +#define NPY_NAN ((npy_double)NPY_NANF) +#define NPY_PZERO ((npy_double)NPY_PZEROF) +#define NPY_NZERO ((npy_double)NPY_NZEROF) + +#define NPY_INFINITYL ((npy_longdouble)NPY_INFINITYF) +#define NPY_NANL ((npy_longdouble)NPY_NANF) +#define NPY_PZEROL ((npy_longdouble)NPY_PZEROF) +#define NPY_NZEROL ((npy_longdouble)NPY_NZEROF) + +/* + * Useful constants + */ +#define NPY_E 2.718281828459045235360287471352662498 /* e */ +#define NPY_LOG2E 1.442695040888963407359924681001892137 /* log_2 e */ +#define NPY_LOG10E 0.434294481903251827651128918916605082 /* log_10 e */ +#define NPY_LOGE2 0.693147180559945309417232121458176568 /* log_e 2 */ +#define NPY_LOGE10 2.302585092994045684017991454684364208 /* log_e 10 */ +#define NPY_PI 3.141592653589793238462643383279502884 /* pi */ +#define NPY_PI_2 1.570796326794896619231321691639751442 /* pi/2 */ +#define NPY_PI_4 0.785398163397448309615660845819875721 /* pi/4 */ +#define NPY_1_PI 0.318309886183790671537767526745028724 /* 1/pi */ +#define NPY_2_PI 0.636619772367581343075535053490057448 /* 2/pi */ +#define NPY_EULER 0.577215664901532860606512090082402431 /* Euler constant */ +#define NPY_SQRT2 1.414213562373095048801688724209698079 /* sqrt(2) */ +#define NPY_SQRT1_2 0.707106781186547524400844362104849039 /* 1/sqrt(2) */ + +#define NPY_Ef 2.718281828459045235360287471352662498F /* e */ +#define NPY_LOG2Ef 1.442695040888963407359924681001892137F /* log_2 e */ +#define NPY_LOG10Ef 0.434294481903251827651128918916605082F /* log_10 e */ +#define NPY_LOGE2f 0.693147180559945309417232121458176568F /* log_e 2 */ +#define NPY_LOGE10f 2.302585092994045684017991454684364208F /* log_e 10 */ +#define NPY_PIf 3.141592653589793238462643383279502884F /* pi */ +#define NPY_PI_2f 1.570796326794896619231321691639751442F /* pi/2 */ +#define NPY_PI_4f 0.785398163397448309615660845819875721F /* pi/4 */ +#define NPY_1_PIf 0.318309886183790671537767526745028724F /* 1/pi */ +#define NPY_2_PIf 0.636619772367581343075535053490057448F /* 2/pi */ +#define NPY_EULERf 0.577215664901532860606512090082402431F /* Euler constan*/ +#define NPY_SQRT2f 1.414213562373095048801688724209698079F /* sqrt(2) */ +#define NPY_SQRT1_2f 0.707106781186547524400844362104849039F /* 1/sqrt(2) */ + +#define NPY_El 2.718281828459045235360287471352662498L /* e */ +#define NPY_LOG2El 1.442695040888963407359924681001892137L /* log_2 e */ +#define NPY_LOG10El 0.434294481903251827651128918916605082L /* log_10 e */ +#define NPY_LOGE2l 0.693147180559945309417232121458176568L /* log_e 2 */ +#define NPY_LOGE10l 2.302585092994045684017991454684364208L /* log_e 10 */ +#define NPY_PIl 3.141592653589793238462643383279502884L /* pi */ +#define NPY_PI_2l 1.570796326794896619231321691639751442L /* pi/2 */ +#define NPY_PI_4l 0.785398163397448309615660845819875721L /* pi/4 */ +#define NPY_1_PIl 0.318309886183790671537767526745028724L /* 1/pi */ +#define NPY_2_PIl 0.636619772367581343075535053490057448L /* 2/pi */ +#define NPY_EULERl 0.577215664901532860606512090082402431L /* Euler constan*/ +#define NPY_SQRT2l 1.414213562373095048801688724209698079L /* sqrt(2) */ +#define NPY_SQRT1_2l 0.707106781186547524400844362104849039L /* 1/sqrt(2) */ + +/* + * C99 double math funcs + */ +double npy_sin(double x); +double npy_cos(double x); +double npy_tan(double x); +double npy_sinh(double x); +double npy_cosh(double x); +double npy_tanh(double x); + +double npy_asin(double x); +double npy_acos(double x); +double npy_atan(double x); +double npy_aexp(double x); +double npy_alog(double x); +double npy_asqrt(double x); +double npy_afabs(double x); + +double npy_log(double x); +double npy_log10(double x); +double npy_exp(double x); +double npy_sqrt(double x); + +double npy_fabs(double x); +double npy_ceil(double x); +double npy_fmod(double x, double y); +double npy_floor(double x); + +double npy_expm1(double x); +double npy_log1p(double x); +double npy_hypot(double x, double y); +double npy_acosh(double x); +double npy_asinh(double xx); +double npy_atanh(double x); +double npy_rint(double x); +double npy_trunc(double x); +double npy_exp2(double x); +double npy_log2(double x); + +double npy_atan2(double x, double y); +double npy_pow(double x, double y); +double npy_modf(double x, double* y); + +double npy_copysign(double x, double y); +double npy_nextafter(double x, double y); +double npy_spacing(double x); + +/* + * IEEE 754 fpu handling. Those are guaranteed to be macros + */ + +/* use builtins to avoid function calls in tight loops + * only available if npy_config.h is available (= numpys own build) */ +#if HAVE___BUILTIN_ISNAN + #define npy_isnan(x) __builtin_isnan(x) +#else + #ifndef NPY_HAVE_DECL_ISNAN + #define npy_isnan(x) ((x) != (x)) + #else + #ifdef _MSC_VER + #define npy_isnan(x) _isnan((x)) + #else + #define npy_isnan(x) isnan(x) + #endif + #endif +#endif + + +/* only available if npy_config.h is available (= numpys own build) */ +#if HAVE___BUILTIN_ISFINITE + #define npy_isfinite(x) __builtin_isfinite(x) +#else + #ifndef NPY_HAVE_DECL_ISFINITE + #ifdef _MSC_VER + #define npy_isfinite(x) _finite((x)) + #else + #define npy_isfinite(x) !npy_isnan((x) + (-x)) + #endif + #else + #define npy_isfinite(x) isfinite((x)) + #endif +#endif + +/* only available if npy_config.h is available (= numpys own build) */ +#if HAVE___BUILTIN_ISINF + #define npy_isinf(x) __builtin_isinf(x) +#else + #ifndef NPY_HAVE_DECL_ISINF + #define npy_isinf(x) (!npy_isfinite(x) && !npy_isnan(x)) + #else + #ifdef _MSC_VER + #define npy_isinf(x) (!_finite((x)) && !_isnan((x))) + #else + #define npy_isinf(x) isinf((x)) + #endif + #endif +#endif + +#ifndef NPY_HAVE_DECL_SIGNBIT + int _npy_signbit_f(float x); + int _npy_signbit_d(double x); + int _npy_signbit_ld(long double x); + #define npy_signbit(x) \ + (sizeof (x) == sizeof (long double) ? _npy_signbit_ld (x) \ + : sizeof (x) == sizeof (double) ? _npy_signbit_d (x) \ + : _npy_signbit_f (x)) +#else + #define npy_signbit(x) signbit((x)) +#endif + +/* + * float C99 math functions + */ + +float npy_sinf(float x); +float npy_cosf(float x); +float npy_tanf(float x); +float npy_sinhf(float x); +float npy_coshf(float x); +float npy_tanhf(float x); +float npy_fabsf(float x); +float npy_floorf(float x); +float npy_ceilf(float x); +float npy_rintf(float x); +float npy_truncf(float x); +float npy_sqrtf(float x); +float npy_log10f(float x); +float npy_logf(float x); +float npy_expf(float x); +float npy_expm1f(float x); +float npy_asinf(float x); +float npy_acosf(float x); +float npy_atanf(float x); +float npy_asinhf(float x); +float npy_acoshf(float x); +float npy_atanhf(float x); +float npy_log1pf(float x); +float npy_exp2f(float x); +float npy_log2f(float x); + +float npy_atan2f(float x, float y); +float npy_hypotf(float x, float y); +float npy_powf(float x, float y); +float npy_fmodf(float x, float y); + +float npy_modff(float x, float* y); + +float npy_copysignf(float x, float y); +float npy_nextafterf(float x, float y); +float npy_spacingf(float x); + +/* + * float C99 math functions + */ + +npy_longdouble npy_sinl(npy_longdouble x); +npy_longdouble npy_cosl(npy_longdouble x); +npy_longdouble npy_tanl(npy_longdouble x); +npy_longdouble npy_sinhl(npy_longdouble x); +npy_longdouble npy_coshl(npy_longdouble x); +npy_longdouble npy_tanhl(npy_longdouble x); +npy_longdouble npy_fabsl(npy_longdouble x); +npy_longdouble npy_floorl(npy_longdouble x); +npy_longdouble npy_ceill(npy_longdouble x); +npy_longdouble npy_rintl(npy_longdouble x); +npy_longdouble npy_truncl(npy_longdouble x); +npy_longdouble npy_sqrtl(npy_longdouble x); +npy_longdouble npy_log10l(npy_longdouble x); +npy_longdouble npy_logl(npy_longdouble x); +npy_longdouble npy_expl(npy_longdouble x); +npy_longdouble npy_expm1l(npy_longdouble x); +npy_longdouble npy_asinl(npy_longdouble x); +npy_longdouble npy_acosl(npy_longdouble x); +npy_longdouble npy_atanl(npy_longdouble x); +npy_longdouble npy_asinhl(npy_longdouble x); +npy_longdouble npy_acoshl(npy_longdouble x); +npy_longdouble npy_atanhl(npy_longdouble x); +npy_longdouble npy_log1pl(npy_longdouble x); +npy_longdouble npy_exp2l(npy_longdouble x); +npy_longdouble npy_log2l(npy_longdouble x); + +npy_longdouble npy_atan2l(npy_longdouble x, npy_longdouble y); +npy_longdouble npy_hypotl(npy_longdouble x, npy_longdouble y); +npy_longdouble npy_powl(npy_longdouble x, npy_longdouble y); +npy_longdouble npy_fmodl(npy_longdouble x, npy_longdouble y); + +npy_longdouble npy_modfl(npy_longdouble x, npy_longdouble* y); + +npy_longdouble npy_copysignl(npy_longdouble x, npy_longdouble y); +npy_longdouble npy_nextafterl(npy_longdouble x, npy_longdouble y); +npy_longdouble npy_spacingl(npy_longdouble x); + +/* + * Non standard functions + */ +double npy_deg2rad(double x); +double npy_rad2deg(double x); +double npy_logaddexp(double x, double y); +double npy_logaddexp2(double x, double y); + +float npy_deg2radf(float x); +float npy_rad2degf(float x); +float npy_logaddexpf(float x, float y); +float npy_logaddexp2f(float x, float y); + +npy_longdouble npy_deg2radl(npy_longdouble x); +npy_longdouble npy_rad2degl(npy_longdouble x); +npy_longdouble npy_logaddexpl(npy_longdouble x, npy_longdouble y); +npy_longdouble npy_logaddexp2l(npy_longdouble x, npy_longdouble y); + +#define npy_degrees npy_rad2deg +#define npy_degreesf npy_rad2degf +#define npy_degreesl npy_rad2degl + +#define npy_radians npy_deg2rad +#define npy_radiansf npy_deg2radf +#define npy_radiansl npy_deg2radl + +/* + * Complex declarations + */ + +/* + * C99 specifies that complex numbers have the same representation as + * an array of two elements, where the first element is the real part + * and the second element is the imaginary part. + */ +#define __NPY_CPACK_IMP(x, y, type, ctype) \ + union { \ + ctype z; \ + type a[2]; \ + } z1;; \ + \ + z1.a[0] = (x); \ + z1.a[1] = (y); \ + \ + return z1.z; + +static NPY_INLINE npy_cdouble npy_cpack(double x, double y) +{ + __NPY_CPACK_IMP(x, y, double, npy_cdouble); +} + +static NPY_INLINE npy_cfloat npy_cpackf(float x, float y) +{ + __NPY_CPACK_IMP(x, y, float, npy_cfloat); +} + +static NPY_INLINE npy_clongdouble npy_cpackl(npy_longdouble x, npy_longdouble y) +{ + __NPY_CPACK_IMP(x, y, npy_longdouble, npy_clongdouble); +} +#undef __NPY_CPACK_IMP + +/* + * Same remark as above, but in the other direction: extract first/second + * member of complex number, assuming a C99-compatible representation + * + * Those are defineds as static inline, and such as a reasonable compiler would + * most likely compile this to one or two instructions (on CISC at least) + */ +#define __NPY_CEXTRACT_IMP(z, index, type, ctype) \ + union { \ + ctype z; \ + type a[2]; \ + } __z_repr; \ + __z_repr.z = z; \ + \ + return __z_repr.a[index]; + +static NPY_INLINE double npy_creal(npy_cdouble z) +{ + __NPY_CEXTRACT_IMP(z, 0, double, npy_cdouble); +} + +static NPY_INLINE double npy_cimag(npy_cdouble z) +{ + __NPY_CEXTRACT_IMP(z, 1, double, npy_cdouble); +} + +static NPY_INLINE float npy_crealf(npy_cfloat z) +{ + __NPY_CEXTRACT_IMP(z, 0, float, npy_cfloat); +} + +static NPY_INLINE float npy_cimagf(npy_cfloat z) +{ + __NPY_CEXTRACT_IMP(z, 1, float, npy_cfloat); +} + +static NPY_INLINE npy_longdouble npy_creall(npy_clongdouble z) +{ + __NPY_CEXTRACT_IMP(z, 0, npy_longdouble, npy_clongdouble); +} + +static NPY_INLINE npy_longdouble npy_cimagl(npy_clongdouble z) +{ + __NPY_CEXTRACT_IMP(z, 1, npy_longdouble, npy_clongdouble); +} +#undef __NPY_CEXTRACT_IMP + +/* + * Double precision complex functions + */ +double npy_cabs(npy_cdouble z); +double npy_carg(npy_cdouble z); + +npy_cdouble npy_cexp(npy_cdouble z); +npy_cdouble npy_clog(npy_cdouble z); +npy_cdouble npy_cpow(npy_cdouble x, npy_cdouble y); + +npy_cdouble npy_csqrt(npy_cdouble z); + +npy_cdouble npy_ccos(npy_cdouble z); +npy_cdouble npy_csin(npy_cdouble z); + +/* + * Single precision complex functions + */ +float npy_cabsf(npy_cfloat z); +float npy_cargf(npy_cfloat z); + +npy_cfloat npy_cexpf(npy_cfloat z); +npy_cfloat npy_clogf(npy_cfloat z); +npy_cfloat npy_cpowf(npy_cfloat x, npy_cfloat y); + +npy_cfloat npy_csqrtf(npy_cfloat z); + +npy_cfloat npy_ccosf(npy_cfloat z); +npy_cfloat npy_csinf(npy_cfloat z); + +/* + * Extended precision complex functions + */ +npy_longdouble npy_cabsl(npy_clongdouble z); +npy_longdouble npy_cargl(npy_clongdouble z); + +npy_clongdouble npy_cexpl(npy_clongdouble z); +npy_clongdouble npy_clogl(npy_clongdouble z); +npy_clongdouble npy_cpowl(npy_clongdouble x, npy_clongdouble y); + +npy_clongdouble npy_csqrtl(npy_clongdouble z); + +npy_clongdouble npy_ccosl(npy_clongdouble z); +npy_clongdouble npy_csinl(npy_clongdouble z); + +/* + * Functions that set the floating point error + * status word. + */ + +void npy_set_floatstatus_divbyzero(void); +void npy_set_floatstatus_overflow(void); +void npy_set_floatstatus_underflow(void); +void npy_set_floatstatus_invalid(void); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h new file mode 100644 index 000000000..6183dc278 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h @@ -0,0 +1,19 @@ +/* + * This include file is provided for inclusion in Cython *.pyd files where + * one would like to define the NPY_NO_DEPRECATED_API macro. It can be + * included by + * + * cdef extern from "npy_no_deprecated_api.h": pass + * + */ +#ifndef NPY_NO_DEPRECATED_API + +/* put this check here since there may be multiple includes in C extensions. */ +#if defined(NDARRAYTYPES_H) || defined(_NPY_DEPRECATED_API_H) || \ + defined(OLD_DEFINES_H) +#error "npy_no_deprecated_api.h" must be first among numpy includes. +#else +#define NPY_NO_DEPRECATED_API NPY_API_VERSION +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h new file mode 100644 index 000000000..9228c3916 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h @@ -0,0 +1,30 @@ +#ifndef _NPY_OS_H_ +#define _NPY_OS_H_ + +#if defined(linux) || defined(__linux) || defined(__linux__) + #define NPY_OS_LINUX +#elif defined(__FreeBSD__) || defined(__NetBSD__) || \ + defined(__OpenBSD__) || defined(__DragonFly__) + #define NPY_OS_BSD + #ifdef __FreeBSD__ + #define NPY_OS_FREEBSD + #elif defined(__NetBSD__) + #define NPY_OS_NETBSD + #elif defined(__OpenBSD__) + #define NPY_OS_OPENBSD + #elif defined(__DragonFly__) + #define NPY_OS_DRAGONFLY + #endif +#elif defined(sun) || defined(__sun) + #define NPY_OS_SOLARIS +#elif defined(__CYGWIN__) + #define NPY_OS_CYGWIN +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) + #define NPY_OS_WIN32 +#elif defined(__APPLE__) + #define NPY_OS_DARWIN +#else + #define NPY_OS_UNKNOWN +#endif + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h b/gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h new file mode 100644 index 000000000..5ca171f21 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h @@ -0,0 +1,34 @@ +#ifndef _NPY_NUMPYCONFIG_H_ +#define _NPY_NUMPYCONFIG_H_ + +#include "_numpyconfig.h" + +/* + * On Mac OS X, because there is only one configuration stage for all the archs + * in universal builds, any macro which depends on the arch needs to be + * harcoded + */ +#ifdef __APPLE__ + #undef NPY_SIZEOF_LONG + #undef NPY_SIZEOF_PY_INTPTR_T + + #ifdef __LP64__ + #define NPY_SIZEOF_LONG 8 + #define NPY_SIZEOF_PY_INTPTR_T 8 + #else + #define NPY_SIZEOF_LONG 4 + #define NPY_SIZEOF_PY_INTPTR_T 4 + #endif +#endif + +/** + * To help with the NPY_NO_DEPRECATED_API macro, we include API version + * numbers for specific versions of NumPy. To exclude all API that was + * deprecated as of 1.7, add the following before #including any NumPy + * headers: + * #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION + */ +#define NPY_1_7_API_VERSION 0x00000007 +#define NPY_1_8_API_VERSION 0x00000008 + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h b/gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h new file mode 100644 index 000000000..abf81595a --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h @@ -0,0 +1,187 @@ +/* This header is deprecated as of NumPy 1.7 */ +#ifndef OLD_DEFINES_H +#define OLD_DEFINES_H + +#if defined(NPY_NO_DEPRECATED_API) && NPY_NO_DEPRECATED_API >= NPY_1_7_API_VERSION +#error The header "old_defines.h" is deprecated as of NumPy 1.7. +#endif + +#define NDARRAY_VERSION NPY_VERSION + +#define PyArray_MIN_BUFSIZE NPY_MIN_BUFSIZE +#define PyArray_MAX_BUFSIZE NPY_MAX_BUFSIZE +#define PyArray_BUFSIZE NPY_BUFSIZE + +#define PyArray_PRIORITY NPY_PRIORITY +#define PyArray_SUBTYPE_PRIORITY NPY_PRIORITY +#define PyArray_NUM_FLOATTYPE NPY_NUM_FLOATTYPE + +#define NPY_MAX PyArray_MAX +#define NPY_MIN PyArray_MIN + +#define PyArray_TYPES NPY_TYPES +#define PyArray_BOOL NPY_BOOL +#define PyArray_BYTE NPY_BYTE +#define PyArray_UBYTE NPY_UBYTE +#define PyArray_SHORT NPY_SHORT +#define PyArray_USHORT NPY_USHORT +#define PyArray_INT NPY_INT +#define PyArray_UINT NPY_UINT +#define PyArray_LONG NPY_LONG +#define PyArray_ULONG NPY_ULONG +#define PyArray_LONGLONG NPY_LONGLONG +#define PyArray_ULONGLONG NPY_ULONGLONG +#define PyArray_HALF NPY_HALF +#define PyArray_FLOAT NPY_FLOAT +#define PyArray_DOUBLE NPY_DOUBLE +#define PyArray_LONGDOUBLE NPY_LONGDOUBLE +#define PyArray_CFLOAT NPY_CFLOAT +#define PyArray_CDOUBLE NPY_CDOUBLE +#define PyArray_CLONGDOUBLE NPY_CLONGDOUBLE +#define PyArray_OBJECT NPY_OBJECT +#define PyArray_STRING NPY_STRING +#define PyArray_UNICODE NPY_UNICODE +#define PyArray_VOID NPY_VOID +#define PyArray_DATETIME NPY_DATETIME +#define PyArray_TIMEDELTA NPY_TIMEDELTA +#define PyArray_NTYPES NPY_NTYPES +#define PyArray_NOTYPE NPY_NOTYPE +#define PyArray_CHAR NPY_CHAR +#define PyArray_USERDEF NPY_USERDEF +#define PyArray_NUMUSERTYPES NPY_NUMUSERTYPES + +#define PyArray_INTP NPY_INTP +#define PyArray_UINTP NPY_UINTP + +#define PyArray_INT8 NPY_INT8 +#define PyArray_UINT8 NPY_UINT8 +#define PyArray_INT16 NPY_INT16 +#define PyArray_UINT16 NPY_UINT16 +#define PyArray_INT32 NPY_INT32 +#define PyArray_UINT32 NPY_UINT32 + +#ifdef NPY_INT64 +#define PyArray_INT64 NPY_INT64 +#define PyArray_UINT64 NPY_UINT64 +#endif + +#ifdef NPY_INT128 +#define PyArray_INT128 NPY_INT128 +#define PyArray_UINT128 NPY_UINT128 +#endif + +#ifdef NPY_FLOAT16 +#define PyArray_FLOAT16 NPY_FLOAT16 +#define PyArray_COMPLEX32 NPY_COMPLEX32 +#endif + +#ifdef NPY_FLOAT80 +#define PyArray_FLOAT80 NPY_FLOAT80 +#define PyArray_COMPLEX160 NPY_COMPLEX160 +#endif + +#ifdef NPY_FLOAT96 +#define PyArray_FLOAT96 NPY_FLOAT96 +#define PyArray_COMPLEX192 NPY_COMPLEX192 +#endif + +#ifdef NPY_FLOAT128 +#define PyArray_FLOAT128 NPY_FLOAT128 +#define PyArray_COMPLEX256 NPY_COMPLEX256 +#endif + +#define PyArray_FLOAT32 NPY_FLOAT32 +#define PyArray_COMPLEX64 NPY_COMPLEX64 +#define PyArray_FLOAT64 NPY_FLOAT64 +#define PyArray_COMPLEX128 NPY_COMPLEX128 + + +#define PyArray_TYPECHAR NPY_TYPECHAR +#define PyArray_BOOLLTR NPY_BOOLLTR +#define PyArray_BYTELTR NPY_BYTELTR +#define PyArray_UBYTELTR NPY_UBYTELTR +#define PyArray_SHORTLTR NPY_SHORTLTR +#define PyArray_USHORTLTR NPY_USHORTLTR +#define PyArray_INTLTR NPY_INTLTR +#define PyArray_UINTLTR NPY_UINTLTR +#define PyArray_LONGLTR NPY_LONGLTR +#define PyArray_ULONGLTR NPY_ULONGLTR +#define PyArray_LONGLONGLTR NPY_LONGLONGLTR +#define PyArray_ULONGLONGLTR NPY_ULONGLONGLTR +#define PyArray_HALFLTR NPY_HALFLTR +#define PyArray_FLOATLTR NPY_FLOATLTR +#define PyArray_DOUBLELTR NPY_DOUBLELTR +#define PyArray_LONGDOUBLELTR NPY_LONGDOUBLELTR +#define PyArray_CFLOATLTR NPY_CFLOATLTR +#define PyArray_CDOUBLELTR NPY_CDOUBLELTR +#define PyArray_CLONGDOUBLELTR NPY_CLONGDOUBLELTR +#define PyArray_OBJECTLTR NPY_OBJECTLTR +#define PyArray_STRINGLTR NPY_STRINGLTR +#define PyArray_STRINGLTR2 NPY_STRINGLTR2 +#define PyArray_UNICODELTR NPY_UNICODELTR +#define PyArray_VOIDLTR NPY_VOIDLTR +#define PyArray_DATETIMELTR NPY_DATETIMELTR +#define PyArray_TIMEDELTALTR NPY_TIMEDELTALTR +#define PyArray_CHARLTR NPY_CHARLTR +#define PyArray_INTPLTR NPY_INTPLTR +#define PyArray_UINTPLTR NPY_UINTPLTR +#define PyArray_GENBOOLLTR NPY_GENBOOLLTR +#define PyArray_SIGNEDLTR NPY_SIGNEDLTR +#define PyArray_UNSIGNEDLTR NPY_UNSIGNEDLTR +#define PyArray_FLOATINGLTR NPY_FLOATINGLTR +#define PyArray_COMPLEXLTR NPY_COMPLEXLTR + +#define PyArray_QUICKSORT NPY_QUICKSORT +#define PyArray_HEAPSORT NPY_HEAPSORT +#define PyArray_MERGESORT NPY_MERGESORT +#define PyArray_SORTKIND NPY_SORTKIND +#define PyArray_NSORTS NPY_NSORTS + +#define PyArray_NOSCALAR NPY_NOSCALAR +#define PyArray_BOOL_SCALAR NPY_BOOL_SCALAR +#define PyArray_INTPOS_SCALAR NPY_INTPOS_SCALAR +#define PyArray_INTNEG_SCALAR NPY_INTNEG_SCALAR +#define PyArray_FLOAT_SCALAR NPY_FLOAT_SCALAR +#define PyArray_COMPLEX_SCALAR NPY_COMPLEX_SCALAR +#define PyArray_OBJECT_SCALAR NPY_OBJECT_SCALAR +#define PyArray_SCALARKIND NPY_SCALARKIND +#define PyArray_NSCALARKINDS NPY_NSCALARKINDS + +#define PyArray_ANYORDER NPY_ANYORDER +#define PyArray_CORDER NPY_CORDER +#define PyArray_FORTRANORDER NPY_FORTRANORDER +#define PyArray_ORDER NPY_ORDER + +#define PyDescr_ISBOOL PyDataType_ISBOOL +#define PyDescr_ISUNSIGNED PyDataType_ISUNSIGNED +#define PyDescr_ISSIGNED PyDataType_ISSIGNED +#define PyDescr_ISINTEGER PyDataType_ISINTEGER +#define PyDescr_ISFLOAT PyDataType_ISFLOAT +#define PyDescr_ISNUMBER PyDataType_ISNUMBER +#define PyDescr_ISSTRING PyDataType_ISSTRING +#define PyDescr_ISCOMPLEX PyDataType_ISCOMPLEX +#define PyDescr_ISPYTHON PyDataType_ISPYTHON +#define PyDescr_ISFLEXIBLE PyDataType_ISFLEXIBLE +#define PyDescr_ISUSERDEF PyDataType_ISUSERDEF +#define PyDescr_ISEXTENDED PyDataType_ISEXTENDED +#define PyDescr_ISOBJECT PyDataType_ISOBJECT +#define PyDescr_HASFIELDS PyDataType_HASFIELDS + +#define PyArray_LITTLE NPY_LITTLE +#define PyArray_BIG NPY_BIG +#define PyArray_NATIVE NPY_NATIVE +#define PyArray_SWAP NPY_SWAP +#define PyArray_IGNORE NPY_IGNORE + +#define PyArray_NATBYTE NPY_NATBYTE +#define PyArray_OPPBYTE NPY_OPPBYTE + +#define PyArray_MAX_ELSIZE NPY_MAX_ELSIZE + +#define PyArray_USE_PYMEM NPY_USE_PYMEM + +#define PyArray_RemoveLargest PyArray_RemoveSmallest + +#define PyArray_UCS4 npy_ucs4 + +#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h b/gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h new file mode 100644 index 000000000..748f06da3 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h @@ -0,0 +1,23 @@ +#include "arrayobject.h" + +#ifndef REFCOUNT +# define REFCOUNT NPY_REFCOUNT +# define MAX_ELSIZE 16 +#endif + +#define PyArray_UNSIGNED_TYPES +#define PyArray_SBYTE NPY_BYTE +#define PyArray_CopyArray PyArray_CopyInto +#define _PyArray_multiply_list PyArray_MultiplyIntList +#define PyArray_ISSPACESAVER(m) NPY_FALSE +#define PyScalarArray_Check PyArray_CheckScalar + +#define CONTIGUOUS NPY_CONTIGUOUS +#define OWN_DIMENSIONS 0 +#define OWN_STRIDES 0 +#define OWN_DATA NPY_OWNDATA +#define SAVESPACE 0 +#define SAVESPACEBIT 0 + +#undef import_array +#define import_array() { if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); } } diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt b/gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt new file mode 100644 index 000000000..a90865d2f --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt @@ -0,0 +1,321 @@ + +================= +Numpy Ufunc C-API +================= +:: + + PyObject * + PyUFunc_FromFuncAndData(PyUFuncGenericFunction *func, void + **data, char *types, int ntypes, int nin, int + nout, int identity, char *name, char *doc, int + check_return) + + +:: + + int + PyUFunc_RegisterLoopForType(PyUFuncObject *ufunc, int + usertype, PyUFuncGenericFunction + function, int *arg_types, void *data) + + +:: + + int + PyUFunc_GenericFunction(PyUFuncObject *ufunc, PyObject *args, PyObject + *kwds, PyArrayObject **op) + + +This generic function is called with the ufunc object, the arguments to it, +and an array of (pointers to) PyArrayObjects which are NULL. + +'op' is an array of at least NPY_MAXARGS PyArrayObject *. + +:: + + void + PyUFunc_f_f_As_d_d(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_d_d(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_f_f(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_g_g(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_F_F_As_D_D(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_F_F(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_D_D(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_G_G(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_O_O(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_ff_f_As_dd_d(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_ff_f(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_dd_d(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_gg_g(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_FF_F_As_DD_D(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_DD_D(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_FF_F(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_GG_G(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_OO_O(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_O_O_method(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_OO_O_method(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_On_Om(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + int + PyUFunc_GetPyValues(char *name, int *bufsize, int *errmask, PyObject + **errobj) + + +On return, if errobj is populated with a non-NULL value, the caller +owns a new reference to errobj. + +:: + + int + PyUFunc_checkfperr(int errmask, PyObject *errobj, int *first) + + +:: + + void + PyUFunc_clearfperr() + + +:: + + int + PyUFunc_getfperr(void ) + + +:: + + int + PyUFunc_handlefperr(int errmask, PyObject *errobj, int retstatus, int + *first) + + +:: + + int + PyUFunc_ReplaceLoopBySignature(PyUFuncObject + *func, PyUFuncGenericFunction + newfunc, int + *signature, PyUFuncGenericFunction + *oldfunc) + + +:: + + PyObject * + PyUFunc_FromFuncAndDataAndSignature(PyUFuncGenericFunction *func, void + **data, char *types, int + ntypes, int nin, int nout, int + identity, char *name, char + *doc, int check_return, const char + *signature) + + +:: + + int + PyUFunc_SetUsesArraysAsData(void **data, size_t i) + + +:: + + void + PyUFunc_e_e(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_e_e_As_f_f(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_e_e_As_d_d(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_ee_e(char **args, npy_intp *dimensions, npy_intp *steps, void + *func) + + +:: + + void + PyUFunc_ee_e_As_ff_f(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + void + PyUFunc_ee_e_As_dd_d(char **args, npy_intp *dimensions, npy_intp + *steps, void *func) + + +:: + + int + PyUFunc_DefaultTypeResolver(PyUFuncObject *ufunc, NPY_CASTING + casting, PyArrayObject + **operands, PyObject + *type_tup, PyArray_Descr **out_dtypes) + + +This function applies the default type resolution rules +for the provided ufunc. + +Returns 0 on success, -1 on error. + +:: + + int + PyUFunc_ValidateCasting(PyUFuncObject *ufunc, NPY_CASTING + casting, PyArrayObject + **operands, PyArray_Descr **dtypes) + + +Validates that the input operands can be cast to +the input types, and the output types can be cast to +the output operands where provided. + +Returns 0 on success, -1 (with exception raised) on validation failure. + +:: + + int + PyUFunc_RegisterLoopForDescr(PyUFuncObject *ufunc, PyArray_Descr + *user_dtype, PyUFuncGenericFunction + function, PyArray_Descr + **arg_dtypes, void *data) + + diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h b/gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h new file mode 100644 index 000000000..423fbc279 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h @@ -0,0 +1,479 @@ +#ifndef Py_UFUNCOBJECT_H +#define Py_UFUNCOBJECT_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * The legacy generic inner loop for a standard element-wise or + * generalized ufunc. + */ +typedef void (*PyUFuncGenericFunction) + (char **args, + npy_intp *dimensions, + npy_intp *strides, + void *innerloopdata); + +/* + * The most generic one-dimensional inner loop for + * a standard element-wise ufunc. This typedef is also + * more consistent with the other NumPy function pointer typedefs + * than PyUFuncGenericFunction. + */ +typedef void (PyUFunc_StridedInnerLoopFunc)( + char **dataptrs, npy_intp *strides, + npy_intp count, + NpyAuxData *innerloopdata); + +/* + * The most generic one-dimensional inner loop for + * a masked standard element-wise ufunc. "Masked" here means that it skips + * doing calculations on any items for which the maskptr array has a true + * value. + */ +typedef void (PyUFunc_MaskedStridedInnerLoopFunc)( + char **dataptrs, npy_intp *strides, + char *maskptr, npy_intp mask_stride, + npy_intp count, + NpyAuxData *innerloopdata); + +/* Forward declaration for the type resolver and loop selector typedefs */ +struct _tagPyUFuncObject; + +/* + * Given the operands for calling a ufunc, should determine the + * calculation input and output data types and return an inner loop function. + * This function should validate that the casting rule is being followed, + * and fail if it is not. + * + * For backwards compatibility, the regular type resolution function does not + * support auxiliary data with object semantics. The type resolution call + * which returns a masked generic function returns a standard NpyAuxData + * object, for which the NPY_AUXDATA_FREE and NPY_AUXDATA_CLONE macros + * work. + * + * ufunc: The ufunc object. + * casting: The 'casting' parameter provided to the ufunc. + * operands: An array of length (ufunc->nin + ufunc->nout), + * with the output parameters possibly NULL. + * type_tup: Either NULL, or the type_tup passed to the ufunc. + * out_dtypes: An array which should be populated with new + * references to (ufunc->nin + ufunc->nout) new + * dtypes, one for each input and output. These + * dtypes should all be in native-endian format. + * + * Should return 0 on success, -1 on failure (with exception set), + * or -2 if Py_NotImplemented should be returned. + */ +typedef int (PyUFunc_TypeResolutionFunc)( + struct _tagPyUFuncObject *ufunc, + NPY_CASTING casting, + PyArrayObject **operands, + PyObject *type_tup, + PyArray_Descr **out_dtypes); + +/* + * Given an array of DTypes as returned by the PyUFunc_TypeResolutionFunc, + * and an array of fixed strides (the array will contain NPY_MAX_INTP for + * strides which are not necessarily fixed), returns an inner loop + * with associated auxiliary data. + * + * For backwards compatibility, there is a variant of the inner loop + * selection which returns an inner loop irrespective of the strides, + * and with a void* static auxiliary data instead of an NpyAuxData * + * dynamically allocatable auxiliary data. + * + * ufunc: The ufunc object. + * dtypes: An array which has been populated with dtypes, + * in most cases by the type resolution funciton + * for the same ufunc. + * fixed_strides: For each input/output, either the stride that + * will be used every time the function is called + * or NPY_MAX_INTP if the stride might change or + * is not known ahead of time. The loop selection + * function may use this stride to pick inner loops + * which are optimized for contiguous or 0-stride + * cases. + * out_innerloop: Should be populated with the correct ufunc inner + * loop for the given type. + * out_innerloopdata: Should be populated with the void* data to + * be passed into the out_innerloop function. + * out_needs_api: If the inner loop needs to use the Python API, + * should set the to 1, otherwise should leave + * this untouched. + */ +typedef int (PyUFunc_LegacyInnerLoopSelectionFunc)( + struct _tagPyUFuncObject *ufunc, + PyArray_Descr **dtypes, + PyUFuncGenericFunction *out_innerloop, + void **out_innerloopdata, + int *out_needs_api); +typedef int (PyUFunc_InnerLoopSelectionFunc)( + struct _tagPyUFuncObject *ufunc, + PyArray_Descr **dtypes, + npy_intp *fixed_strides, + PyUFunc_StridedInnerLoopFunc **out_innerloop, + NpyAuxData **out_innerloopdata, + int *out_needs_api); +typedef int (PyUFunc_MaskedInnerLoopSelectionFunc)( + struct _tagPyUFuncObject *ufunc, + PyArray_Descr **dtypes, + PyArray_Descr *mask_dtype, + npy_intp *fixed_strides, + npy_intp fixed_mask_stride, + PyUFunc_MaskedStridedInnerLoopFunc **out_innerloop, + NpyAuxData **out_innerloopdata, + int *out_needs_api); + +typedef struct _tagPyUFuncObject { + PyObject_HEAD + /* + * nin: Number of inputs + * nout: Number of outputs + * nargs: Always nin + nout (Why is it stored?) + */ + int nin, nout, nargs; + + /* Identity for reduction, either PyUFunc_One or PyUFunc_Zero */ + int identity; + + /* Array of one-dimensional core loops */ + PyUFuncGenericFunction *functions; + /* Array of funcdata that gets passed into the functions */ + void **data; + /* The number of elements in 'functions' and 'data' */ + int ntypes; + + /* Does not appear to be used */ + int check_return; + + /* The name of the ufunc */ + char *name; + + /* Array of type numbers, of size ('nargs' * 'ntypes') */ + char *types; + + /* Documentation string */ + char *doc; + + void *ptr; + PyObject *obj; + PyObject *userloops; + + /* generalized ufunc parameters */ + + /* 0 for scalar ufunc; 1 for generalized ufunc */ + int core_enabled; + /* number of distinct dimension names in signature */ + int core_num_dim_ix; + + /* + * dimension indices of input/output argument k are stored in + * core_dim_ixs[core_offsets[k]..core_offsets[k]+core_num_dims[k]-1] + */ + + /* numbers of core dimensions of each argument */ + int *core_num_dims; + /* + * dimension indices in a flatted form; indices + * are in the range of [0,core_num_dim_ix) + */ + int *core_dim_ixs; + /* + * positions of 1st core dimensions of each + * argument in core_dim_ixs + */ + int *core_offsets; + /* signature string for printing purpose */ + char *core_signature; + + /* + * A function which resolves the types and fills an array + * with the dtypes for the inputs and outputs. + */ + PyUFunc_TypeResolutionFunc *type_resolver; + /* + * A function which returns an inner loop written for + * NumPy 1.6 and earlier ufuncs. This is for backwards + * compatibility, and may be NULL if inner_loop_selector + * is specified. + */ + PyUFunc_LegacyInnerLoopSelectionFunc *legacy_inner_loop_selector; + /* + * A function which returns an inner loop for the new mechanism + * in NumPy 1.7 and later. If provided, this is used, otherwise + * if NULL the legacy_inner_loop_selector is used instead. + */ + PyUFunc_InnerLoopSelectionFunc *inner_loop_selector; + /* + * A function which returns a masked inner loop for the ufunc. + */ + PyUFunc_MaskedInnerLoopSelectionFunc *masked_inner_loop_selector; + + /* + * List of flags for each operand when ufunc is called by nditer object. + * These flags will be used in addition to the default flags for each + * operand set by nditer object. + */ + npy_uint32 *op_flags; + + /* + * List of global flags used when ufunc is called by nditer object. + * These flags will be used in addition to the default global flags + * set by nditer object. + */ + npy_uint32 iter_flags; +} PyUFuncObject; + +#include "arrayobject.h" + +#define UFUNC_ERR_IGNORE 0 +#define UFUNC_ERR_WARN 1 +#define UFUNC_ERR_RAISE 2 +#define UFUNC_ERR_CALL 3 +#define UFUNC_ERR_PRINT 4 +#define UFUNC_ERR_LOG 5 + + /* Python side integer mask */ + +#define UFUNC_MASK_DIVIDEBYZERO 0x07 +#define UFUNC_MASK_OVERFLOW 0x3f +#define UFUNC_MASK_UNDERFLOW 0x1ff +#define UFUNC_MASK_INVALID 0xfff + +#define UFUNC_SHIFT_DIVIDEBYZERO 0 +#define UFUNC_SHIFT_OVERFLOW 3 +#define UFUNC_SHIFT_UNDERFLOW 6 +#define UFUNC_SHIFT_INVALID 9 + + +/* platform-dependent code translates floating point + status to an integer sum of these values +*/ +#define UFUNC_FPE_DIVIDEBYZERO 1 +#define UFUNC_FPE_OVERFLOW 2 +#define UFUNC_FPE_UNDERFLOW 4 +#define UFUNC_FPE_INVALID 8 + +/* Error mode that avoids look-up (no checking) */ +#define UFUNC_ERR_DEFAULT 0 + +#define UFUNC_OBJ_ISOBJECT 1 +#define UFUNC_OBJ_NEEDS_API 2 + + /* Default user error mode */ +#define UFUNC_ERR_DEFAULT2 \ + (UFUNC_ERR_WARN << UFUNC_SHIFT_DIVIDEBYZERO) + \ + (UFUNC_ERR_WARN << UFUNC_SHIFT_OVERFLOW) + \ + (UFUNC_ERR_WARN << UFUNC_SHIFT_INVALID) + +#if NPY_ALLOW_THREADS +#define NPY_LOOP_BEGIN_THREADS do {if (!(loop->obj & UFUNC_OBJ_NEEDS_API)) _save = PyEval_SaveThread();} while (0); +#define NPY_LOOP_END_THREADS do {if (!(loop->obj & UFUNC_OBJ_NEEDS_API)) PyEval_RestoreThread(_save);} while (0); +#else +#define NPY_LOOP_BEGIN_THREADS +#define NPY_LOOP_END_THREADS +#endif + +/* + * UFunc has unit of 1, and the order of operations can be reordered + * This case allows reduction with multiple axes at once. + */ +#define PyUFunc_One 1 +/* + * UFunc has unit of 0, and the order of operations can be reordered + * This case allows reduction with multiple axes at once. + */ +#define PyUFunc_Zero 0 +/* + * UFunc has no unit, and the order of operations cannot be reordered. + * This case does not allow reduction with multiple axes at once. + */ +#define PyUFunc_None -1 +/* + * UFunc has no unit, and the order of operations can be reordered + * This case allows reduction with multiple axes at once. + */ +#define PyUFunc_ReorderableNone -2 + +#define UFUNC_REDUCE 0 +#define UFUNC_ACCUMULATE 1 +#define UFUNC_REDUCEAT 2 +#define UFUNC_OUTER 3 + + +typedef struct { + int nin; + int nout; + PyObject *callable; +} PyUFunc_PyFuncData; + +/* A linked-list of function information for + user-defined 1-d loops. + */ +typedef struct _loop1d_info { + PyUFuncGenericFunction func; + void *data; + int *arg_types; + struct _loop1d_info *next; + int nargs; + PyArray_Descr **arg_dtypes; +} PyUFunc_Loop1d; + + +#include "__ufunc_api.h" + +#define UFUNC_PYVALS_NAME "UFUNC_PYVALS" + +#define UFUNC_CHECK_ERROR(arg) \ + do {if ((((arg)->obj & UFUNC_OBJ_NEEDS_API) && PyErr_Occurred()) || \ + ((arg)->errormask && \ + PyUFunc_checkfperr((arg)->errormask, \ + (arg)->errobj, \ + &(arg)->first))) \ + goto fail;} while (0) + +/* This code checks the IEEE status flags in a platform-dependent way */ +/* Adapted from Numarray */ + +#if (defined(__unix__) || defined(unix)) && !defined(USG) +#include +#endif + +/* OSF/Alpha (Tru64) ---------------------------------------------*/ +#if defined(__osf__) && defined(__alpha) + +#include + +#define UFUNC_CHECK_STATUS(ret) { \ + unsigned long fpstatus; \ + \ + fpstatus = ieee_get_fp_control(); \ + /* clear status bits as well as disable exception mode if on */ \ + ieee_set_fp_control( 0 ); \ + ret = ((IEEE_STATUS_DZE & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ + | ((IEEE_STATUS_OVF & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ + | ((IEEE_STATUS_UNF & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ + | ((IEEE_STATUS_INV & fpstatus) ? UFUNC_FPE_INVALID : 0); \ + } + +/* MS Windows -----------------------------------------------------*/ +#elif defined(_MSC_VER) + +#include + +/* Clear the floating point exception default of Borland C++ */ +#if defined(__BORLANDC__) +#define UFUNC_NOFPE _control87(MCW_EM, MCW_EM); +#endif + +#if defined(_WIN64) +#define UFUNC_CHECK_STATUS(ret) { \ + int fpstatus = (int) _clearfp(); \ + \ + ret = ((SW_ZERODIVIDE & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ + | ((SW_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ + | ((SW_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ + | ((SW_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ + } +#else +/* windows enables sse on 32 bit, so check both flags */ +#define UFUNC_CHECK_STATUS(ret) { \ + int fpstatus, fpstatus2; \ + _statusfp2(&fpstatus, &fpstatus2); \ + _clearfp(); \ + fpstatus |= fpstatus2; \ + \ + ret = ((SW_ZERODIVIDE & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ + | ((SW_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ + | ((SW_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ + | ((SW_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ + } +#endif + +/* Solaris --------------------------------------------------------*/ +/* --------ignoring SunOS ieee_flags approach, someone else can +** deal with that! */ +#elif defined(sun) || defined(__BSD__) || defined(__OpenBSD__) || \ + (defined(__FreeBSD__) && (__FreeBSD_version < 502114)) || \ + defined(__NetBSD__) +#include + +#define UFUNC_CHECK_STATUS(ret) { \ + int fpstatus; \ + \ + fpstatus = (int) fpgetsticky(); \ + ret = ((FP_X_DZ & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ + | ((FP_X_OFL & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ + | ((FP_X_UFL & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ + | ((FP_X_INV & fpstatus) ? UFUNC_FPE_INVALID : 0); \ + (void) fpsetsticky(0); \ + } + +#elif defined(__GLIBC__) || defined(__APPLE__) || \ + defined(__CYGWIN__) || defined(__MINGW32__) || \ + (defined(__FreeBSD__) && (__FreeBSD_version >= 502114)) + +#if defined(__GLIBC__) || defined(__APPLE__) || \ + defined(__MINGW32__) || defined(__FreeBSD__) +#include +#elif defined(__CYGWIN__) +#include "numpy/fenv/fenv.h" +#endif + +#define UFUNC_CHECK_STATUS(ret) { \ + int fpstatus = (int) fetestexcept(FE_DIVBYZERO | FE_OVERFLOW | \ + FE_UNDERFLOW | FE_INVALID); \ + ret = ((FE_DIVBYZERO & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ + | ((FE_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ + | ((FE_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ + | ((FE_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ + (void) feclearexcept(FE_DIVBYZERO | FE_OVERFLOW | \ + FE_UNDERFLOW | FE_INVALID); \ +} + +#elif defined(_AIX) + +#include +#include + +#define UFUNC_CHECK_STATUS(ret) { \ + fpflag_t fpstatus; \ + \ + fpstatus = fp_read_flag(); \ + ret = ((FP_DIV_BY_ZERO & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ + | ((FP_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ + | ((FP_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ + | ((FP_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ + fp_swap_flag(0); \ +} + +#else + +#define NO_FLOATING_POINT_SUPPORT +#define UFUNC_CHECK_STATUS(ret) { \ + ret = 0; \ + } + +#endif + +/* + * THESE MACROS ARE DEPRECATED. + * Use npy_set_floatstatus_* in the npymath library. + */ +#define generate_divbyzero_error() npy_set_floatstatus_divbyzero() +#define generate_overflow_error() npy_set_floatstatus_overflow() + + /* Make sure it gets defined if it isn't already */ +#ifndef UFUNC_NOFPE +#define UFUNC_NOFPE +#endif + + +#ifdef __cplusplus +} +#endif +#endif /* !Py_UFUNCOBJECT_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/utils.h b/gtsam/3rdparty/numpy_c_api/include/numpy/utils.h new file mode 100644 index 000000000..cc968a354 --- /dev/null +++ b/gtsam/3rdparty/numpy_c_api/include/numpy/utils.h @@ -0,0 +1,19 @@ +#ifndef __NUMPY_UTILS_HEADER__ +#define __NUMPY_UTILS_HEADER__ + +#ifndef __COMP_NPY_UNUSED + #if defined(__GNUC__) + #define __COMP_NPY_UNUSED __attribute__ ((__unused__)) + # elif defined(__ICC) + #define __COMP_NPY_UNUSED __attribute__ ((__unused__)) + #else + #define __COMP_NPY_UNUSED + #endif +#endif + +/* Use this to tag a variable as not used. It will remove unused variable + * warning on support platforms (see __COM_NPY_UNUSED) and mangle the variable + * to avoid accidental use */ +#define NPY_UNUSED(x) (__NPY_UNUSED_TAGGED ## x) __COMP_NPY_UNUSED + +#endif diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 0e1a5f0dd..9c0ba1df8 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -1,3 +1,5 @@ +option(GTSAM_USE_SYSTEM_NUMPY_C_API "Find and use system-installed NumPy C-API. If 'off', use the one bundled with GTSAM" OFF) + # Guard to avoid breaking this code in ccmake if by accident GTSAM_PYTHON_VERSION is set to an empty string if(GTSAM_PYTHON_VERSION STREQUAL "") set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "Target python version for GTSAM python module. Use 'Default' to chose the default version" FORCE) @@ -29,7 +31,12 @@ else() endif() # Find NumPy C-API -find_package(NumPy) +if(GTSAM_USE_SYSTEM_NUMPY_C_API) + find_package(NumPy) + include_directories(${NUMPY_INCLUDE_DIRS}) +else() + include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_c_api/include/) +endif() # Find Python # First, be sure that python version can be found by FindPythonLibs.cmake @@ -47,7 +54,7 @@ endif() find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_STRING}) # Add handwritten directory if we found python and boost python -if(Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND AND PYTHONLIBS_FOUND AND NUMPY_FOUND) +if(Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND AND PYTHONLIBS_FOUND) include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) @@ -73,7 +80,3 @@ if(NOT Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND) message(WARNING "Boost Python for python ${GTSAM_PYTHON_VERSION} was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") endif() endif() - -if(NOT NUMPY_FOUND) - message(WARNING "NumPy C-API was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") -endif() \ No newline at end of file From dfc15a2f1705944a9aa693c8a019f58349dc3395 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 1 Dec 2015 14:11:39 +0100 Subject: [PATCH 721/964] Rename python module related cmake variables to improve readability --- python/CMakeLists.txt | 18 +++++++++--------- python/handwritten/CMakeLists.txt | 2 +- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 9c0ba1df8..98699cccc 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -21,13 +21,13 @@ endif() # Compose strings used to specify the boost python version. They will be empty if we want to use the defaut if(NOT GTSAM_PYTHON_VERSION STREQUAL "Default") - string(REPLACE "." "" BOOST_PYTHON_VERSION_STRING ${GTSAM_PYTHON_VERSION}) # Remove '.' from version - string(SUBSTRING ${BOOST_PYTHON_VERSION_STRING} 0 2 BOOST_PYTHON_VERSION_STRING) # Trim version number to 2 digits - set(BOOST_PYTHON_VERSION_STRING "-py${BOOST_PYTHON_VERSION_STRING}") # Add '-py' prefix - string(TOUPPER ${BOOST_PYTHON_VERSION_STRING} UPPER_BOOST_PYTHON_VERSION_STRING) # Get uppercase string + string(REPLACE "." "" BOOST_PYTHON_VERSION_SUFFIX ${GTSAM_PYTHON_VERSION}) # Remove '.' from version + string(SUBSTRING ${BOOST_PYTHON_VERSION_SUFFIX} 0 2 BOOST_PYTHON_VERSION_SUFFIX) # Trim version number to 2 digits + set(BOOST_PYTHON_VERSION_SUFFIX "-py${BOOST_PYTHON_VERSION_SUFFIX}") # Append '-py' prefix + string(TOUPPER ${BOOST_PYTHON_VERSION_SUFFIX} BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE) # Get uppercase string else() - set(BOOST_PYTHON_VERSION_STRING "") - set(UPPER_BOOST_PYTHON_VERSION_STRING "") + set(BOOST_PYTHON_VERSION_SUFFIX "") + set(BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE "") endif() # Find NumPy C-API @@ -51,10 +51,10 @@ else() endif() # Find Boost Python -find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_STRING}) +find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_SUFFIX}) # Add handwritten directory if we found python and boost python -if(Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND AND PYTHONLIBS_FOUND) +if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND) include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) @@ -73,7 +73,7 @@ if(NOT PYTHONLIBS_FOUND) endif() endif() -if(NOT Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_FOUND) +if(NOT Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND) if(GTSAM_PYTHON_VERSION STREQUAL "Default") message(WARNING "Default Boost python was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") else() diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index ffd970217..50c316759 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -18,7 +18,7 @@ set_target_properties(${moduleName}_python PROPERTIES OUTPUT_NAME ${moduleName}_python CLEAN_DIRECT_OUTPUT 1) -target_link_libraries(${moduleName}_python ${Boost_PYTHON${UPPER_BOOST_PYTHON_VERSION_STRING}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp +target_link_libraries(${moduleName}_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp # On OSX and Linux, the python library must end in the extension .so. Build this # filename here. From 57373c8c477acdf81d195434167e19aea012997f Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 1 Dec 2015 16:06:47 +0100 Subject: [PATCH 722/964] Wrap Cayley methods to python only if not using Quaternions --- python/handwritten/geometry/Rot3.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/python/handwritten/geometry/Rot3.cpp b/python/handwritten/geometry/Rot3.cpp index ff2b61b63..f278517e8 100644 --- a/python/handwritten/geometry/Rot3.cpp +++ b/python/handwritten/geometry/Rot3.cpp @@ -74,13 +74,15 @@ void exportRot3(){ .def("column", &Rot3::column) .def("conjugate", &Rot3::conjugate) .def("equals", &Rot3::equals, equals_overloads(args("q","tol"))) +#ifndef GTSAM_USE_QUATERNIONS .def("localCayley", &Rot3::localCayley) + .def("retractCayley", &Rot3::retractCayley) +#endif .def("matrix", &Rot3::matrix) .def("print", &Rot3::print, print_overloads(args("s"))) .def("r1", &Rot3::r1) .def("r2", &Rot3::r2) .def("r3", &Rot3::r3) - .def("retractCayley", &Rot3::retractCayley) .def("rpy", &Rot3::rpy) .def("slerp", &Rot3::slerp) .def("transpose", &Rot3::transpose) From 2e4a96dc188671bd6c1b96c9865f1c2640d87e2f Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 1 Dec 2015 16:53:33 +0100 Subject: [PATCH 723/964] Do not store RPATH into _libgtsam_python.so Since we're copying the .so from the build dir to python/gtsam _outside_ the build dir, we should remove the rpath from the .so, so it will search the library in the system, and not in the build directory, after installed using setup.py --- python/handwritten/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 50c316759..b9f711f0b 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -16,6 +16,7 @@ add_library(${moduleName}_python SHARED exportgtsam.cpp ${gtsam_python_srcs}) set_target_properties(${moduleName}_python PROPERTIES OUTPUT_NAME ${moduleName}_python + SKIP_BUILD_RPATH TRUE CLEAN_DIRECT_OUTPUT 1) target_link_libraries(${moduleName}_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp From 888af6b94885e406e393d31f2a0fe7bc027de157 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 1 Dec 2015 22:10:31 +0100 Subject: [PATCH 724/964] Remove unused lines that generate warnings on CMake 3.4 --- python/handwritten/CMakeLists.txt | 2 -- 1 file changed, 2 deletions(-) diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index b9f711f0b..d80af6dd2 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -23,9 +23,7 @@ target_link_libraries(${moduleName}_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_ # On OSX and Linux, the python library must end in the extension .so. Build this # filename here. -get_property(PYLIB_OUTPUT_FILE TARGET ${moduleName}_python PROPERTY LOCATION) set(PYLIB_OUTPUT_FILE $) -get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE) set(PYLIB_SO_NAME lib${moduleName}_python.so) # Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package From 768c59429939cbd5c3183581610e4962a00eeb40 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 2 Dec 2015 00:09:52 +0100 Subject: [PATCH 725/964] Copy python/gtsam to build/python directory Not the best way since the gtsam module into build/python won't be updated if .py files change in the python module. --- python/CMakeLists.txt | 3 +++ python/gtsam/.gitignore | 1 - python/handwritten/CMakeLists.txt | 9 +-------- 3 files changed, 4 insertions(+), 9 deletions(-) delete mode 100644 python/gtsam/.gitignore diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 98699cccc..cd920776e 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -58,6 +58,9 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) + + file(COPY "gtsam" DESTINATION ".") + file(COPY "setup.py" DESTINATION ".") add_subdirectory(handwritten) # Disable python module if we didn't find required lybraries else() diff --git a/python/gtsam/.gitignore b/python/gtsam/.gitignore deleted file mode 100644 index 580cd8494..000000000 --- a/python/gtsam/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/_libgtsam_python.so diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index d80af6dd2..62da9d74b 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -21,16 +21,9 @@ set_target_properties(${moduleName}_python PROPERTIES target_link_libraries(${moduleName}_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp -# On OSX and Linux, the python library must end in the extension .so. Build this -# filename here. -set(PYLIB_OUTPUT_FILE $) -set(PYLIB_SO_NAME lib${moduleName}_python.so) - -# Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package -set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam) # Cause the library to be output in the correct directory. add_custom_command(TARGET ${moduleName}_python POST_BUILD - COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/_${PYLIB_SO_NAME} + COMMAND cp -v $ ${CMAKE_BINARY_DIR}/python/gtsam/_$ WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} COMMENT "Copying library files to python directory" ) From 4671b03e7430d57e3e5cbf0f13e55a1a15f500cf Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 2 Dec 2015 11:51:14 +0100 Subject: [PATCH 726/964] Only copy .py files if they've changed --- python/CMakeLists.txt | 21 ++++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index cd920776e..88566ed7b 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -53,15 +53,30 @@ endif() # Find Boost Python find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_SUFFIX}) -# Add handwritten directory if we found python and boost python +# Build python module library and setup the module inside build if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND) include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) - file(COPY "gtsam" DESTINATION ".") - file(COPY "setup.py" DESTINATION ".") + # Build the python module library add_subdirectory(handwritten) + + # Copy all .py files that changes since last build + file(GLOB_RECURSE GTSAM_PY_SRCS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.py") + foreach(PY_SRC ${GTSAM_PY_SRCS}) + string(REPLACE "/" "_" PY_SRC_TARGET_SUFFIX ${PY_SRC}) # Replace "/" with "_" + add_custom_command( + OUTPUT ${PY_SRC} + DEPENDS ${PY_SRC} + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/${PY_SRC} ${CMAKE_CURRENT_BINARY_DIR}/${PY_SRC} + COMMENT "Copying ${PY_SRC}" + ) + add_custom_target(copy_${PY_SRC_TARGET_SUFFIX} DEPENDS ${PY_SRC}) + # Add dependency so the copy is made BEFORE building the python module + add_dependencies(gtsam_python copy_${PY_SRC_TARGET_SUFFIX}) + endforeach() + # Disable python module if we didn't find required lybraries else() set(GTSAM_BUILD_PYTHON OFF CACHE BOOL "Build Python wrapper statically (increases build time)" FORCE) From 81a1fe1c3a647492698226cfbd180a800bf31da2 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 2 Dec 2015 13:27:20 +0100 Subject: [PATCH 727/964] Create a proper target to generate python/gtsam/_libgtsam_python.so in the build directory --- python/handwritten/CMakeLists.txt | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 62da9d74b..322b49584 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -22,8 +22,11 @@ set_target_properties(${moduleName}_python PROPERTIES target_link_libraries(${moduleName}_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp # Cause the library to be output in the correct directory. -add_custom_command(TARGET ${moduleName}_python - POST_BUILD - COMMAND cp -v $ ${CMAKE_BINARY_DIR}/python/gtsam/_$ - WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} - COMMENT "Copying library files to python directory" ) +# TODO: Change below to work on different systems (currently works only with Linux) +add_custom_command( + OUTPUT ${CMAKE_BINARY_DIR}/python/gtsam/_libgtsam_python.so + DEPENDS gtsam_python + COMMAND ${CMAKE_COMMAND} -E copy $ ${CMAKE_BINARY_DIR}/python/gtsam/_$ + COMMENT "Copying extension module to python/gtsam/_libgtsam_python.so" +) +add_custom_target(copy_gtsam_python_module ALL DEPENDS ${CMAKE_BINARY_DIR}/python/gtsam/_libgtsam_python.so) \ No newline at end of file From 4f509c2dff78b332e3f469ed87b25e37b1261886 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 2 Dec 2015 14:15:10 +0100 Subject: [PATCH 728/964] Improve printing when copying .py files --- python/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 88566ed7b..69fea5663 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -70,7 +70,7 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU OUTPUT ${PY_SRC} DEPENDS ${PY_SRC} COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/${PY_SRC} ${CMAKE_CURRENT_BINARY_DIR}/${PY_SRC} - COMMENT "Copying ${PY_SRC}" + COMMENT "Copying python/${PY_SRC}" ) add_custom_target(copy_${PY_SRC_TARGET_SUFFIX} DEPENDS ${PY_SRC}) # Add dependency so the copy is made BEFORE building the python module From 87211319fb7ca64a722a5ea9df8986d411a05fd0 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 2 Dec 2015 14:35:51 +0100 Subject: [PATCH 729/964] Update python/README.md --- python/README.md | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/python/README.md b/python/README.md index c6e5ed37d..fc83ff702 100644 --- a/python/README.md +++ b/python/README.md @@ -3,15 +3,16 @@ Python Wrapper and Packaging This directory contains the basic setup script and directory structure for the gtsam python module. During the build of gtsam, when GTSAM_BUILD_PYTHON is enabled, the following instructions will run. -* Wrap parses gtsam.h and constructs a cpp file called ${moduleName}_python.cpp -* This file is then compiled and linked with BoostPython, generating a shared library which can then be imported by python -* The shared library is then copied to python/gtsam -* The user can use the setup.py script to build and install a python package, allowing easy importing into a python project. Examples: +* The python files that compose the module are copied from python/gtsam to $BUILD_DIR/python/gtsam +* The handwritten module source files are then compiled and linked with Boost Python, generating a shared library which can then be imported by python +* The shared library is then copied to $BUILD_DIR/python/gtsam and renamed with a "_" prefix +* The user can use the setup.py script inside $BUILD_DIR/python to build and install a python package, allowing easy importing into a python project. Examples (when run from $BUILD_DIR): * python setup.py sdist ---- Builds a tarball of the python package which can then be distributed * python setup.py install ---- Installs the package into the python dist-packages folder. Can then be imported from any python file. * python setup.py install --prefix="your/local/install/path"---- Installs the package into a local instalation folder. Can then be imported from any python file if _prefix_/lib/pythonX.Y/site-packages is present in your $PYTHONPATH * To run the unit tests, you must first install the package on your path (TODO: Make this easier) +The target version of Python to create the module can be set by defining GTSAM_PYTHON_VERSION to 'X.Y' (Example: 2.7 or 3.4), or 'Default' if you want to use the default python installed in your system. Note that if you specify a target version of python, you should also have the correspondent Boost Python version installed (Example: libboost_python-py27.so or libboost_python-py34.so on Linux). If you're using the default version, your default Boost Python library (Example: libboost_python.so on Linux) should correspond to the default python version in your system. TODO: There are many issues with this build system, but these are the basics. From 31a88ba910f9affb63ae1f95aa95d4b1d1ef3a4c Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Wed, 2 Dec 2015 15:29:07 +0100 Subject: [PATCH 730/964] Remove some variables to improve readbility --- python/handwritten/CMakeLists.txt | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 322b49584..90eb1fc49 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -10,23 +10,20 @@ foreach(subdir ${SUBDIRS}) endforeach() # Create the library -set(moduleName gtsam) -set(gtsamLib gtsam) -add_library(${moduleName}_python SHARED exportgtsam.cpp ${gtsam_python_srcs}) - -set_target_properties(${moduleName}_python PROPERTIES - OUTPUT_NAME ${moduleName}_python - SKIP_BUILD_RPATH TRUE - CLEAN_DIRECT_OUTPUT 1) - -target_link_libraries(${moduleName}_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp +add_library(gtsam_python SHARED exportgtsam.cpp ${gtsam_python_srcs}) +set_target_properties(gtsam_python PROPERTIES + OUTPUT_NAME gtsam_python + SKIP_BUILD_RPATH TRUE + CLEAN_DIRECT_OUTPUT 1 +) +target_link_libraries(gtsam_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} ${PYTHON_LIBRARY} gtsam) # Cause the library to be output in the correct directory. # TODO: Change below to work on different systems (currently works only with Linux) add_custom_command( OUTPUT ${CMAKE_BINARY_DIR}/python/gtsam/_libgtsam_python.so DEPENDS gtsam_python - COMMAND ${CMAKE_COMMAND} -E copy $ ${CMAKE_BINARY_DIR}/python/gtsam/_$ + COMMAND ${CMAKE_COMMAND} -E copy $ ${CMAKE_BINARY_DIR}/python/gtsam/_$ COMMENT "Copying extension module to python/gtsam/_libgtsam_python.so" ) add_custom_target(copy_gtsam_python_module ALL DEPENDS ${CMAKE_BINARY_DIR}/python/gtsam/_libgtsam_python.so) \ No newline at end of file From 46178731c6d690c72f467e09791ebed853b75319 Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Thu, 3 Dec 2015 13:01:12 +0100 Subject: [PATCH 731/964] "cmake -E copy_if_different" -> "cmake -E copy" for .py files "cmake -E copy" is enough because it checks the timestamp to decide if it the copy should be made or not. --- python/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 69fea5663..85d7c6765 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -69,7 +69,7 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU add_custom_command( OUTPUT ${PY_SRC} DEPENDS ${PY_SRC} - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/${PY_SRC} ${CMAKE_CURRENT_BINARY_DIR}/${PY_SRC} + COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/${PY_SRC} ${CMAKE_CURRENT_BINARY_DIR}/${PY_SRC} COMMENT "Copying python/${PY_SRC}" ) add_custom_target(copy_${PY_SRC_TARGET_SUFFIX} DEPENDS ${PY_SRC}) From 2754613072dda176f0b466babf4db539244da41c Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Thu, 3 Dec 2015 13:04:47 +0100 Subject: [PATCH 732/964] Add support for int64 and uint64 as it was done in Schweizer-Messer See https://github.com/ethz-asl/Schweizer-Messer --- .../include/numpy_eigen/type_traits.hpp | 25 +++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp index 3b75c6b99..36fae1a03 100755 --- a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp @@ -28,6 +28,31 @@ template<> struct TypeToNumPy } }; +template<> struct TypeToNumPy +{ + enum { NpyType = NPY_LONG }; + static const char * npyString() { return "NPY_LONG"; } + static const char * typeString() { return "long"; } + static bool canConvert(int type) + { + return type == NPY_INT || type == NPY_LONG; + } +}; + +template<> struct TypeToNumPy +{ + enum { NpyType = NPY_UINT64 }; + static const char * npyString() { return "NPY_UINT64"; } + static const char * typeString() { return "uint64"; } + static bool canConvert(int type) + { + return type == NPY_UINT8 || type == NPY_USHORT || + type == NPY_UINT16 || type == NPY_UINT32 || + type == NPY_ULONG || type == NPY_ULONGLONG || + type == NPY_UINT64; + } +}; + template<> struct TypeToNumPy { enum { NpyType = NPY_UBYTE }; From 868f1511fcbb7b806033ebf74f5b82c4d02679ae Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Tue, 8 Dec 2015 14:31:24 +0100 Subject: [PATCH 733/964] Add Quaternion named constructor to Rot3 in the python module --- python/handwritten/geometry/Rot3.cpp | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/python/handwritten/geometry/Rot3.cpp b/python/handwritten/geometry/Rot3.cpp index f278517e8..f9dc8cdf5 100644 --- a/python/handwritten/geometry/Rot3.cpp +++ b/python/handwritten/geometry/Rot3.cpp @@ -25,6 +25,16 @@ using namespace boost::python; using namespace gtsam; +static Rot3 Quaternion_0(const Vector4& q) +{ + return Rot3(Quaternion(q[0],q[1],q[2],q[3])); +} + +static Rot3 Quaternion_1(double w, double x, double y, double z) +{ + return Rot3(Quaternion(w,x,y,z)); +} + // Prototypes used to perform overloading // See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html gtsam::Rot3 (*AxisAngle_0)(const Vector3&, double) = &Rot3::AxisAngle; @@ -40,11 +50,13 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot3::equals, 1, 2) void exportRot3(){ class_("Rot3") - .def(init<>()) .def(init()) .def(init()) .def(init()) .def(init()) + .def("Quaternion", Quaternion_0, arg("q"), "Creates a Rot3 from an array [w,x,y,z] representing a quaternion") + .def("Quaternion", Quaternion_1, (arg("w"),arg("x"),arg("y"),arg("z")) ) + .staticmethod("Quaternion") .def("AxisAngle", AxisAngle_0) .def("AxisAngle", AxisAngle_1) .staticmethod("AxisAngle") From 383986902ac9924f7445aeb296d425efde6a806d Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Fri, 11 Dec 2015 18:19:05 +0100 Subject: [PATCH 734/964] Add quaternion() method, use properly quaternion named constructor, and add some comments on RzRyRx --- python/handwritten/geometry/Rot3.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/python/handwritten/geometry/Rot3.cpp b/python/handwritten/geometry/Rot3.cpp index f9dc8cdf5..b4551ca5c 100644 --- a/python/handwritten/geometry/Rot3.cpp +++ b/python/handwritten/geometry/Rot3.cpp @@ -27,12 +27,12 @@ using namespace gtsam; static Rot3 Quaternion_0(const Vector4& q) { - return Rot3(Quaternion(q[0],q[1],q[2],q[3])); + return Rot3::quaternion(q[0],q[1],q[2],q[3]); } static Rot3 Quaternion_1(double w, double x, double y, double z) { - return Rot3(Quaternion(w,x,y,z)); + return Rot3::quaternion(w,x,y,z); } // Prototypes used to perform overloading @@ -43,6 +43,7 @@ gtsam::Rot3 (*Rodrigues_0)(const Vector3&) = &Rot3::Rodrigues; gtsam::Rot3 (*Rodrigues_1)(double, double, double) = &Rot3::Rodrigues; gtsam::Rot3 (*RzRyRx_0)(double, double, double) = &Rot3::RzRyRx; gtsam::Rot3 (*RzRyRx_1)(const Vector&) = &Rot3::RzRyRx; +Vector (Rot3::*quaternion_0)() const = &Rot3::quaternion; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Rot3::print, 0, 1) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot3::equals, 1, 2) @@ -77,8 +78,8 @@ void exportRot3(){ .staticmethod("Ry") .def("Rz", &Rot3::Rz) .staticmethod("Rz") - .def("RzRyRx", RzRyRx_0) - .def("RzRyRx", RzRyRx_1) + .def("RzRyRx", RzRyRx_0, (arg("x"),arg("y"),arg("z")), "Rotations around Z, Y, then X axes as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis" ) + .def("RzRyRx", RzRyRx_1, arg("xyz"), "Rotations around Z, Y, then X axes as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis" ) .staticmethod("RzRyRx") .def("identity", &Rot3::identity) .staticmethod("identity") @@ -99,6 +100,7 @@ void exportRot3(){ .def("slerp", &Rot3::slerp) .def("transpose", &Rot3::transpose) .def("xyz", &Rot3::xyz) + .def("quaternion", quaternion_0) .def(self * self) .def(self * other()) .def(self * other()) From 4f4d7c2af5d391bae3a3caff0b8f19573814199a Mon Sep 17 00:00:00 2001 From: Ellon Mendes Date: Fri, 11 Dec 2015 18:20:33 +0100 Subject: [PATCH 735/964] Add value_exists() and calculate_pose3_estimate to ISAM2 in python --- python/handwritten/nonlinear/ISAM2.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/python/handwritten/nonlinear/ISAM2.cpp b/python/handwritten/nonlinear/ISAM2.cpp index 7155c679d..f80c5df99 100644 --- a/python/handwritten/nonlinear/ISAM2.cpp +++ b/python/handwritten/nonlinear/ISAM2.cpp @@ -20,6 +20,7 @@ #include #include "gtsam/nonlinear/ISAM2.h" +#include "gtsam/geometry/Pose3.h" using namespace boost::python; using namespace gtsam; @@ -59,6 +60,8 @@ class_("ISAM2") // TODO(Ellon): wrap all optional values of update .def("update",&ISAM2::update, update_overloads()) .def("calculate_estimate", calculateEstimate_0) + .def("calculate_pose3_estimate", &ISAM2::calculateEstimate, (arg("self"), arg("key")) ) + .def("value_exists", &ISAM2::valueExists) ; } \ No newline at end of file From c2b024055d9504ab421df2e17cb988eb742459e3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 15 Dec 2015 12:44:22 -0800 Subject: [PATCH 736/964] More Oct changes in doc --- doc/ImuFactor.lyx | 160 ++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 155 insertions(+), 5 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index bdc6b3424..90aa802a1 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -601,9 +601,154 @@ A crucial detail is that the incremental position \end_layout \begin_layout Standard -The goal of the IMU factor is to integrate IMU measurement between two successiv -e frames and create a binary factor between two NavStates. - The binary factor is set up as a prediction: +The goal of the IMU factor is to integrate IMU measurements between two + successive frames and create a binary factor between two NavStates. + Integrating successive gyro and accelerometer readings using the above + equations over each constant interval yields +\begin_inset Formula +\begin{eqnarray} +R_{k+1} & = & R_{k}\exp\hat{\omega}_{k}\Delta t_{k}\label{eq:iter_Rk}\\ +p_{k+1} & = & p_{k}+v_{k}\Delta t_{k}+\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}=p_{k}+\frac{v_{k}+v_{k+1}}{2}\Delta t_{k}\nonumber \\ +v_{k+1} & = & v_{k}+(g+R_{k}a_{k})\Delta t_{k}\nonumber +\end{eqnarray} + +\end_inset + +Starting +\begin_inset Formula $X_{i}=(R_{i},p_{i},v_{i})$ +\end_inset + +, we then obtain an expression for +\begin_inset Formula $X_{j}$ +\end_inset + +, +\begin_inset Formula +\begin{eqnarray*} +R_{j} & = & R_{i}\prod_{k}\exp\hat{\omega}_{k}\Delta t_{k}\\ +p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}\\ +v_{j} & = & v_{i}+\sum_{k}(g+R_{k}a_{k})\Delta t_{k} +\end{eqnarray*} + +\end_inset + +where +\begin_inset Formula $R_{k}$ +\end_inset + + has to be updated as in +\begin_inset CommandInset ref +LatexCommand formatted +reference "eq:iter_Rk" + +\end_inset + +. + Note that +\begin_inset Formula +\[ +v_{k}=v_{i}+\sum_{l}(g+R_{l}a_{l})\Delta t_{l} +\] + +\end_inset + +and hence +\begin_inset Formula +\[ +p_{j}=p_{i}+\sum_{k}\left(v_{i}+\sum_{l}(g+R_{l}a_{l})\Delta t_{l}\right)\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2} +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +A crucial problem here is that we depend on a good estimate of +\begin_inset Formula $R_{k}$ +\end_inset + + at all times, which includes the potentially wrong estimate for the initial + attitude +\begin_inset Formula $R_{i}$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +The idea behind the preintegrated IMU factor is two-fold: (a) treat gravity + separately, in the navigation frame, and (b) instead of integrating in + absolute coordinates, we want the IMU integration to happen in the frame + +\begin_inset Formula $(R_{i},p_{i},v_{i})$ +\end_inset + +. + The first idea is easily incorporated by separating out all gravity-related + components: +\begin_inset Formula +\begin{eqnarray*} +p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}+\sum_{k}v_{k}\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}\\ +v_{j} & = & v_{i}+g\sum_{k}\Delta t_{k}+\sum_{k}R_{k}a_{k}\Delta t_{k} +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Standard +But we need to define what that means: clearly, +\begin_inset Formula $SE(3)$ +\end_inset + +, with its group structure, has a well-defined concept of working +\begin_inset Quotes eld +\end_inset + +in the frame +\begin_inset Quotes erd +\end_inset + +. + But in this case we have a manifold, not a group. + To deal with this, we perform the integration in the tangent space, and + hence we need to define a mapping from tangent space to manifold and vice + versa. + A possible definition of retract, compatible with the semi-direct group + structure of +\begin_inset Formula $SE(3)$ +\end_inset + + and treating velocities the same way as positions, is given by +\begin_inset Formula +\[ +X\oplus dX=(R,p,v)\oplus(\omega t,\Delta p,\Delta v)=(R\exp\hat{\omega}t,p+R\Delta p,v+R\Delta v) +\] + +\end_inset + + +\begin_inset Formula +\begin{eqnarray*} +R_{j} & = & R_{i}\prod_{k}\exp\hat{\omega}_{k}\Delta t_{k}\\ +p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t_{k}+\frac{1}{2}g\sum_{k}\Delta t_{k}^{2}+\frac{1}{2}\sum_{k}R_{k}a_{k}\Delta t^{2}\\ +v_{j} & = & v_{i}+g\Delta t_{ij}+\sum_{k}R_{k}a_{k}\Delta t_{k} +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status open + +\begin_layout Plain Layout +The binary factor is set up as a prediction: \begin_inset Formula \[ X_{j}\approx X_{i}\oplus dX_{ij} @@ -627,7 +772,7 @@ where \end_layout -\begin_layout Standard +\begin_layout Plain Layout Integrating gyro and accelerometer readings, following Forster05rss, and assuming zero bias for now, is done by: \begin_inset Formula @@ -653,7 +798,7 @@ v_{j} & = & \left\{ v_{i}+g\Delta t_{ij}\right\} +\sum_{k}R_{k}a_{k}\Delta t \end_layout -\begin_layout Standard +\begin_layout Plain Layout Let us look at a single interval of the incremental terms: \begin_inset Formula \begin{eqnarray*} @@ -673,6 +818,11 @@ R_{j}=R_{i}\oplus\left(\omega,R_{i}^{T}v_{i}+\frac{1}{2}R_{i}^{T}g\Delta t+\frac \end_inset +\end_layout + +\end_inset + + \end_layout \end_body From eb99d4c9743fc0d0ee4c71def290389c0dbccfc9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 19 Dec 2015 12:47:43 -0800 Subject: [PATCH 737/964] New tests and explanation of ExmapDerivative --- gtsam/geometry/tests/testPose3.cpp | 36 +++++++++++++- gtsam/geometry/tests/testRot3.cpp | 76 +++++++++++++++++++++--------- 2 files changed, 89 insertions(+), 23 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 9007ce1bd..3507dc7af 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -715,7 +715,41 @@ TEST( Pose3, ExpmapDerivative1) { } /* ************************************************************************* */ -TEST( Pose3, LogmapDerivative1) { +TEST(Pose3, ExpmapDerivative2) { + // Iserles05an (Lie-group Methods) says: + // scalar is easy: d exp(a(t)) / dt = exp(a(t) a'(t) + // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) + // where A(t): T -> se(3) is a trajectory in the tangent space of SE(3) + // Hence, the above matrix equation is typed: 4*4 = SE(3) * linear_map(4*4) + + // In GTSAM, we don't work with the Lie-algebra elements A directly, but with 6-vectors. + // xi is easy: d Expmap(xi(t)) / dt = ExmapDerivative[xi(t)] * xi'(t) + + // Let's verify the above formula. + + auto xi = [](double t) { + Vector6 v; + v << 2 * t, sin(t), 4 * t * t, 2 * t, sin(t), 4 * t * t; + return v; + }; + auto xi_dot = [](double t) { + Vector6 v; + v << 2, cos(t), 8 * t, 2, cos(t), 8 * t; + return v; + }; + + // We define a function T + auto T = [xi](double t) { return Pose3::Expmap(xi(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(T, t); + const Matrix actual = Pose3::ExpmapDerivative(xi(t)) * xi_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } +} + +/* ************************************************************************* */ +TEST( Pose3, LogmapDerivative) { Matrix6 actualH; Vector6 w; w << 0.1, 0.2, 0.3, 4.0, 5.0, 6.0; Pose3 p = Pose3::Expmap(w); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index a61467b82..a70ff9fc3 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -244,44 +244,74 @@ TEST(Rot3, retract_localCoordinates2) EXPECT(assert_equal(t1, t2.retract(d21))); } /* ************************************************************************* */ -Vector w = Vector3(0.1, 0.27, -0.2); - -// Left trivialization Derivative of exp(w) wrpt w: +namespace exmap_derivative { +static const Vector3 w(0.1, 0.27, -0.2); +} +// Left trivialized Derivative of exp(w) wrpt w: // How does exp(w) change when w changes? // We find a y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0 // => y = log (exp(-w) * exp(w+dw)) Vector3 testDexpL(const Vector3& dw) { + using exmap_derivative::w; return Rot3::Logmap(Rot3::Expmap(-w) * Rot3::Expmap(w + dw)); } TEST( Rot3, ExpmapDerivative) { - Matrix actualDexpL = Rot3::ExpmapDerivative(w); - Matrix expectedDexpL = numericalDerivative11(testDexpL, + using exmap_derivative::w; + const Matrix actualDexpL = Rot3::ExpmapDerivative(w); + const Matrix expectedDexpL = numericalDerivative11(testDexpL, Vector3::Zero(), 1e-2); EXPECT(assert_equal(expectedDexpL, actualDexpL,1e-7)); - Matrix actualDexpInvL = Rot3::LogmapDerivative(w); + const Matrix actualDexpInvL = Rot3::LogmapDerivative(w); EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL,1e-7)); + } + +/* ************************************************************************* */ +TEST( Rot3, ExpmapDerivative2) +{ + const Vector3 thetahat(0.1, 0, 0.1); + const Matrix Jexpected = numericalDerivative11( + boost::bind(&Rot3::Expmap, _1, boost::none), thetahat); + + const Matrix Jactual = Rot3::ExpmapDerivative(thetahat); + CHECK(assert_equal(Jexpected, Jactual)); + + const Matrix Jactual2 = Rot3::ExpmapDerivative(thetahat); + CHECK(assert_equal(Jexpected, Jactual2)); } /* ************************************************************************* */ -Vector3 thetahat(0.1, 0, 0.1); -TEST( Rot3, ExpmapDerivative2) -{ - Matrix Jexpected = numericalDerivative11( - boost::bind(&Rot3::Expmap, _1, boost::none), thetahat); +TEST(Rot3, ExpmapDerivative3) { + // Iserles05an (Lie-group Methods) says: + // scalar is easy: d exp(a(t)) / dt = exp(a(t) a'(t) + // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) + // where A(t): R -> so(3) is a trajectory in the tangent space of SO(3) + // Hence, the above matrix equation is typed: 3*3 = SO(3) * linear_map(3*3) - Matrix Jactual = Rot3::ExpmapDerivative(thetahat); - CHECK(assert_equal(Jexpected, Jactual)); + // In GTSAM, we don't work with the skew-symmetric matrices A directly, but with 3-vectors. + // omega is easy: d Expmap(w(t)) / dt = ExmapDerivative[w(t)] * w'(t) - Matrix Jactual2 = Rot3::ExpmapDerivative(thetahat); - CHECK(assert_equal(Jexpected, Jactual2)); + // Let's verify the above formula. + + auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; + auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + + // We define a function R + auto R = [w](double t) { return Rot3::Expmap(w(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(R, t); + const Matrix actual = Rot3::ExpmapDerivative(w(t)) * w_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } } /* ************************************************************************* */ TEST( Rot3, jacobianExpmap ) { - Matrix Jexpected = numericalDerivative11(boost::bind( + const Vector3 thetahat(0.1, 0, 0.1); + const Matrix Jexpected = numericalDerivative11(boost::bind( &Rot3::Expmap, _1, boost::none), thetahat); Matrix3 Jactual; const Rot3 R = Rot3::Expmap(thetahat, Jactual); @@ -291,18 +321,20 @@ TEST( Rot3, jacobianExpmap ) /* ************************************************************************* */ TEST( Rot3, LogmapDerivative ) { - Rot3 R = Rot3::Expmap(thetahat); // some rotation - Matrix Jexpected = numericalDerivative11(boost::bind( + const Vector3 thetahat(0.1, 0, 0.1); + const Rot3 R = Rot3::Expmap(thetahat); // some rotation + const Matrix Jexpected = numericalDerivative11(boost::bind( &Rot3::Logmap, _1, boost::none), R); - Matrix3 Jactual = Rot3::LogmapDerivative(thetahat); + const Matrix3 Jactual = Rot3::LogmapDerivative(thetahat); EXPECT(assert_equal(Jexpected, Jactual)); } /* ************************************************************************* */ -TEST( Rot3, jacobianLogmap ) +TEST( Rot3, JacobianLogmap ) { - Rot3 R = Rot3::Expmap(thetahat); // some rotation - Matrix Jexpected = numericalDerivative11(boost::bind( + const Vector3 thetahat(0.1, 0, 0.1); + const Rot3 R = Rot3::Expmap(thetahat); // some rotation + const Matrix Jexpected = numericalDerivative11(boost::bind( &Rot3::Logmap, _1, boost::none), R); Matrix3 Jactual; Rot3::Logmap(R, Jactual); From 3dbb69dcbda731858f275821f087bea687ee33f7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 Dec 2015 14:25:06 -0800 Subject: [PATCH 738/964] Replace 1-cos(t) by 2*sin^2(t/2), which si more numerically stable for t ~ 0 --- gtsam/geometry/SO3.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index af5803cb7..e2a514db7 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -47,7 +47,7 @@ SO3 SO3::AxisAngle(const Vector3& axis, double theta) { // get components of axis \omega, where is a unit vector const double& wx = axis.x(), wy = axis.y(), wz = axis.z(); - const double costheta = cos(theta), sintheta = sin(theta), c_1 = 1 - costheta; + const double costheta = cos(theta), sintheta = sin(theta), s2 = sin(theta/2.0), c_1 = 2.0*s2*s2; const double wx_sintheta = wx * sintheta, wy_sintheta = wy * sintheta, wz_sintheta = wz * sintheta; @@ -130,7 +130,6 @@ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { /* ************************************************************************* */ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { - using std::cos; using std::sin; double theta2 = omega.dot(omega); @@ -155,8 +154,9 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { */ // element of Lie algebra so(3): X = omega^, normalized by normx const Matrix3 Y = skewSymmetric(omega) / theta; - return I_3x3 - ((1 - cos(theta)) / (theta)) * Y - + (1 - sin(theta) / theta) * Y * Y; // right Jacobian + const double s2 = sin(theta / 2.0); + return I_3x3 - (2.0 * s2 * s2 / theta) * Y + + (1.0 - sin(theta) / theta) * Y * Y; // right Jacobian #endif } From fd539b137d6201273596c02dd2622b343150a9d9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 Dec 2015 16:59:21 -0800 Subject: [PATCH 739/964] Added refs, included macros.lyx, and added quite a bit about dexp. --- doc/LieGroups.lyx | 331 +------------------------------------- doc/macros.lyx | 137 ++++++++++++++-- doc/math.lyx | 396 +++++++++++++++++++++++++++++++++++++++------- doc/refs.bib | 26 +++ 4 files changed, 495 insertions(+), 395 deletions(-) create mode 100644 doc/refs.bib diff --git a/doc/LieGroups.lyx b/doc/LieGroups.lyx index adf62314c..0d194b31d 100644 --- a/doc/LieGroups.lyx +++ b/doc/LieGroups.lyx @@ -76,335 +76,10 @@ Frank Dellaert \end_layout \begin_layout Standard -\begin_inset Note Comment -status open +\begin_inset CommandInset include +LatexCommand include +filename "macros.lyx" -\begin_layout Plain Layout -Derivatives -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\deriv}[2]{\frac{\partial#1}{\partial#2}} -{\frac{\partial#1}{\partial#2}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\at}[2]{#1\biggr\rvert_{#2}} -{#1\biggr\rvert_{#2}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\Jac}[3]{ \at{\deriv{#1}{#2}} {#3} } -{\at{\deriv{#1}{#2}}{#3}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Comment -status open - -\begin_layout Plain Layout -Lie Groups -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\xhat}{\hat{x}} -{\hat{x}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\yhat}{\hat{y}} -{\hat{y}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\Ad}[1]{Ad_{#1}} -{Ad_{#1}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\AAdd}[1]{\mathbf{\mathop{Ad}}{}_{#1}} -{\mathbf{\mathop{Ad}}{}_{#1}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\define}{\stackrel{\Delta}{=}} -{\stackrel{\Delta}{=}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\gg}{\mathfrak{g}} -{\mathfrak{g}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\Rn}{\mathbb{R}^{n}} -{\mathbb{R}^{n}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Comment -status open - -\begin_layout Plain Layout -SO(2), 1 -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\Rtwo}{\mathfrak{\mathbb{R}^{2}}} -{\mathfrak{\mathbb{R}^{2}}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\SOtwo}{SO(2)} -{SO(2)} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\sotwo}{\mathfrak{so(2)}} -{\mathfrak{so(2)}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\that}{\hat{\theta}} -{\hat{\theta}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\skew}[1]{[#1]_{+}} -{[#1]_{+}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Comment -status open - -\begin_layout Plain Layout -SE(2), 3 -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\SEtwo}{SE(2)} -{SE(2)} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\setwo}{\mathfrak{se(2)}} -{\mathfrak{se(2)}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\Skew}[1]{[#1]_{\times}} -{[#1]_{\times}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Comment -status open - -\begin_layout Plain Layout -SO(3), 3 -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\Rthree}{\mathfrak{\mathbb{R}^{3}}} -{\mathfrak{\mathbb{R}^{3}}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\SOthree}{SO(3)} -{SO(3)} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\sothree}{\mathfrak{so(3)}} -{\mathfrak{so(3)}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\what}{\hat{\omega}} -{\hat{\omega}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Comment -status open - -\begin_layout Plain Layout -SE(3),6 -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\Rsix}{\mathfrak{\mathbb{R}^{6}}} -{\mathfrak{\mathbb{R}^{6}}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\SEthree}{SE(3)} -{SE(3)} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\sethree}{\mathfrak{se(3)}} -{\mathfrak{se(3)}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\xihat}{\hat{\xi}} -{\hat{\xi}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Comment -status open - -\begin_layout Plain Layout -Aff(2),6 -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\Afftwo}{Aff(2)} -{Aff(2)} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\afftwo}{\mathfrak{aff(2)}} -{\mathfrak{aff(2)}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\aa}{a} -{a} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\ahat}{\hat{a}} -{\hat{a}} -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Comment -status collapsed - -\begin_layout Plain Layout -SL(3),8 -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset FormulaMacro -\newcommand{\SLthree}{SL(3)} -{SL(3)} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\slthree}{\mathfrak{sl(3)}} -{\mathfrak{sl(3)}} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\hh}{h} -{h} -\end_inset - - -\begin_inset FormulaMacro -\newcommand{\hhat}{\hat{h}} -{\hat{h}} \end_inset diff --git a/doc/macros.lyx b/doc/macros.lyx index 1e57e1675..0d8429c4a 100644 --- a/doc/macros.lyx +++ b/doc/macros.lyx @@ -1,42 +1,60 @@ -#LyX 1.6.5 created this file. For more info see http://www.lyx.org/ -\lyxformat 345 +#LyX 2.0 created this file. For more info see http://www.lyx.org/ +\lyxformat 413 \begin_document \begin_header \textclass article \use_default_options true +\maintain_unincluded_children false \language english +\language_package default \inputencoding auto +\fontencoding global \font_roman default \font_sans default \font_typewriter default \font_default_family default +\use_non_tex_fonts false \font_sc false \font_osf false \font_sf_scale 100 \font_tt_scale 100 \graphics default +\default_output_format default +\output_sync 0 +\bibtex_command default +\index_command default \paperfontsize default \use_hyperref false \papersize default \use_geometry false \use_amsmath 1 \use_esint 1 +\use_mhchem 1 +\use_mathdots 0 \cite_engine basic \use_bibtopic false +\use_indices false \paperorientation portrait +\suppress_date false +\use_refstyle 0 +\index Index +\shortcut idx +\color #008000 +\end_index \secnumdepth 3 \tocdepth 3 \paragraph_separation indent -\defskip medskip +\paragraph_indentation default \quotes_language english \papercolumns 1 \papersides 1 \paperpagestyle default \tracking_changes false \output_changes false -\author "" -\author "" +\html_math_output 0 +\html_css_as_file 0 +\html_be_strict false \end_header \begin_body @@ -62,14 +80,14 @@ Derivatives \begin_inset FormulaMacro -\newcommand{\at}[2]{#1\biggr\rvert_{#2}} -{#1\biggr\rvert_{#2}} +\newcommand{\at}[1]{#1\biggr\vert_{\#2}} +{#1\biggr\vert_{\#2}} \end_inset \begin_inset FormulaMacro \newcommand{\Jac}[3]{ \at{\deriv{#1}{#2}} {#3} } -{\at{\deriv{#1}{#2}}{#3}} +{\at{\deriv{#1}{#2}}#3} \end_inset @@ -107,6 +125,15 @@ Lie Groups \end_inset +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\AAdd}[1]{\mathbf{\mathop{Ad}}{}_{#1}} +{\mathbf{\mathop{Ad}}{}_{#1}} +\end_inset + + \end_layout \begin_layout Standard @@ -144,6 +171,12 @@ SO(2) \end_layout \begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\Rone}{\mathfrak{\mathbb{R}}} +{\mathfrak{\mathbb{R}}} +\end_inset + + \begin_inset FormulaMacro \newcommand{\Rtwo}{\mathfrak{\mathbb{R}^{2}}} {\mathfrak{\mathbb{R}^{2}}} @@ -202,6 +235,12 @@ SE(2) \end_inset +\begin_inset FormulaMacro +\newcommand{\Skew}[1]{[#1]_{\times}} +{[#1]_{\times}} +\end_inset + + \end_layout \begin_layout Standard @@ -243,7 +282,7 @@ SO(3) \begin_inset FormulaMacro -\newcommand{\Skew}[1]{[#1]_{\times}} +\renewcommand{\Skew}[1]{[#1]_{\times}} {[#1]_{\times}} \end_inset @@ -288,6 +327,86 @@ SE(3) \end_inset +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +Aff(2),6 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\Afftwo}{Aff(2)} +{Aff(2)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\afftwo}{\mathfrak{aff(2)}} +{\mathfrak{aff(2)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\aa}{a} +{a} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\ahat}{\hat{a}} +{\hat{a}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status collapsed + +\begin_layout Plain Layout +SL(3),8 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\SLthree}{SL(3)} +{SL(3)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\slthree}{\mathfrak{sl(3)}} +{\mathfrak{sl(3)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\hh}{h} +{h} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\hhat}{\hat{h}} +{\hat{h}} +\end_inset + + \end_layout \end_body diff --git a/doc/math.lyx b/doc/math.lyx index d96f1f4c8..5571532f6 100644 --- a/doc/math.lyx +++ b/doc/math.lyx @@ -1237,21 +1237,28 @@ reference "eq:ApproximateObjective" \end_inset . - In particular, the notion of an exponential map allows us to define an - incremental transformation as tracing out a geodesic curve on the group - manifold along a certain + In particular, the notion of an exponential map allows us to define a mapping + from \series bold -tangent vector +local coordinates \series default \begin_inset Formula $\xi$ +\end_inset + + back to a neighborhood in +\begin_inset Formula $G$ +\end_inset + + around +\begin_inset Formula $a$ \end_inset , \begin_inset Formula -\[ -a\oplus\xi\define a\exp\left(\hat{\xi}\right) -\] +\begin{equation} +a\oplus\xi\define a\exp\left(\hat{\xi}\right)\label{eq:expmap} +\end{equation} \end_inset @@ -1263,11 +1270,12 @@ with \begin_inset Formula $n$ \end_inset --dimensional Lie group, +-dimensional Lie group. + Above, \begin_inset Formula $\hat{\xi}\in\mathfrak{g}$ \end_inset - the Lie algebra element corresponding to the vector + is the Lie algebra element corresponding to the vector \begin_inset Formula $\xi$ \end_inset @@ -1305,7 +1313,7 @@ For the Lie group \end_inset is denoted as -\begin_inset Formula $\omega$ +\begin_inset Formula $\omega t$ \end_inset and represents an angular displacement. @@ -1314,17 +1322,17 @@ For the Lie group \end_inset is a skew symmetric matrix denoted as -\begin_inset Formula $\Skew{\omega}\in\sothree$ +\begin_inset Formula $\Skew{\omega t}\in\sothree$ \end_inset , and is given by \begin_inset Formula \[ -\Skew{\omega}=\left[\begin{array}{ccc} +\Skew{\omega t}=\left[\begin{array}{ccc} 0 & -\omega_{z} & \omega_{y}\\ \omega_{z} & 0 & -\omega_{x}\\ -\omega_{y} & \omega_{x} & 0 -\end{array}\right] +\end{array}\right]t \] \end_inset @@ -1334,12 +1342,136 @@ Finally, the increment \end_inset corresponds to an incremental rotation -\begin_inset Formula $R\oplus\omega=Re^{\Skew{\omega}}$ +\begin_inset Formula $R\oplus\omega t=Re^{\Skew{\omega t}}$ \end_inset . \end_layout +\begin_layout Subsection +Local Coordinates vs. + Tangent Vectors +\end_layout + +\begin_layout Standard +In differential geometry, +\series bold +tangent vectors +\series default + +\begin_inset Formula $v\in T_{a}G$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + + are elements of the Lie algebra +\begin_inset Formula $\mathfrak{g}$ +\end_inset + +, and are defined as +\begin_inset Formula +\[ +v\define\Jac{\gamma(t)}t{t=0} +\] + +\end_inset + +where +\begin_inset Formula $\gamma$ +\end_inset + + is some curve that passes through +\begin_inset Formula $a$ +\end_inset + + at +\begin_inset Formula $t=0$ +\end_inset + +, i.e. + +\begin_inset Formula $\gamma(0)=a$ +\end_inset + +. + In particular, for any fixed local coordinate +\begin_inset Formula $\xi$ +\end_inset + + the map +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:expmap" + +\end_inset + + can be used to define a +\series bold +geodesic curve +\series default + on the group manifold defined by +\begin_inset Formula $\gamma:t\mapsto ae^{\widehat{t\xi}}$ +\end_inset + +, and the corresponding tangent vector is given by +\begin_inset Formula +\begin{equation} +\Jac{ae^{\widehat{t\xi}}}t{t=0}=a\xihat\label{eq:tangent-vector} +\end{equation} + +\end_inset + +This defines the mapping between local coordinates +\begin_inset Formula $\xi\in\Rn$ +\end_inset + + and actual tangent vectors +\begin_inset Formula $a\xihat\in g$ +\end_inset + +: the vector +\begin_inset Formula $\xi$ +\end_inset + + defines a direction of travel on the manifold, but does so in the local + coordinate frame +\begin_inset Formula $a$ +\end_inset + +. +\end_layout + +\begin_layout Example +Assume a rigid body's attitude is described by +\begin_inset Formula $R_{b}^{n}(t)$ +\end_inset + +, where the indices denote the navigation frame +\begin_inset Formula $N$ +\end_inset + + and body frame +\begin_inset Formula $B$ +\end_inset + +, respectively. + An extrinsically calibrated gyroscope measures the angular velocity +\begin_inset Formula $\omega^{b}$ +\end_inset + +, in the body frame, and the corresponding tangent vector is +\begin_inset Formula +\[ +\dot{R}_{b}^{n}(t)=R_{b}^{n}(t)\widehat{\omega^{b}} +\] + +\end_inset + + +\end_layout + \begin_layout Subsection Derivatives \end_layout @@ -1352,7 +1484,7 @@ reference "def:differentiable" \end_inset - to map exponential coordinates + to map local coordinates \begin_inset Formula $\xi$ \end_inset @@ -1368,7 +1500,7 @@ reference "def:differentiable" \begin_inset Formula $Df_{a}$ \end_inset - locally approximates a function + approximates the function \begin_inset Formula $f$ \end_inset @@ -1378,6 +1510,10 @@ reference "def:differentiable" to \begin_inset Formula $\Reals m$ +\end_inset + + in a neighborhood around +\begin_inset Formula $a$ \end_inset : @@ -1455,41 +1591,6 @@ derivative . \end_layout -\begin_layout Standard -Note that the vectors -\begin_inset Formula $\xi$ -\end_inset - - can be viewed as lying in the tangent space to -\begin_inset Formula $G$ -\end_inset - - at -\begin_inset Formula $a$ -\end_inset - -, but defining this rigorously would take us on a longer tour of differential - geometry. - Informally, -\begin_inset Formula $\xi$ -\end_inset - - is simply the direction, in a local coordinate frame, that is locally tangent - at -\begin_inset Formula $a$ -\end_inset - - to a geodesic curve -\begin_inset Formula $\gamma:t\mapsto ae^{\widehat{t\xi}}$ -\end_inset - - traced out by the exponential map, with -\begin_inset Formula $\gamma(0)=a$ -\end_inset - -. -\end_layout - \begin_layout Subsection Derivative of an Action \begin_inset CommandInset label @@ -3000,7 +3101,7 @@ f(ge^{\xhat})=f(ge^{\xhat}g^{-1}g)=f(e^{\Ad g\xhat}g) \end_layout \begin_layout Subsection -Derivative of the Exponential and Logarithm Map +Derivative of the Exponential Map \end_layout \begin_layout Theorem @@ -3064,17 +3165,196 @@ For \begin_inset Formula $\xi\neq0$ \end_inset -, things are not simple, see . +, things are not simple. + As with pushforwards above, we will be looking for an +\begin_inset Formula $n\times n$ +\end_inset + -\begin_inset Flex URL +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none +Jacobian +\begin_inset Formula $f'(\xi)$ +\end_inset + + such that +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit + +\begin_inset Formula +\begin{equation} +f\left(\xi+\delta\right)\approx f\left(\xi\right)\exp\left(\widehat{f'(\xi)\delta}\right)\label{eq:push_exp} +\end{equation} + +\end_inset + +Differential geometry tells us that for any Lie algebra element +\begin_inset Formula $\xihat\in\mathfrak{g}$ +\end_inset + + there exists a +\emph on +linear +\emph default + map +\begin_inset Formula $d\exp_{\xihat}:T_{\xihat}\mathfrak{g}\rightarrow T_{\exp(\xihat)}G$ +\end_inset + +, which is given by +\begin_inset Foot status collapsed \begin_layout Plain Layout +See +\begin_inset Flex URL +status open -http://deltaepsilons.wordpress.com/2009/11/06/helgasons-formula-for-the-differenti -al-of-the-exponential/ +\begin_layout Plain Layout + +http://deltaepsilons.wordpress.com/2009/11/06/ \end_layout +\end_inset + + or +\begin_inset Flex URL +status open + +\begin_layout Plain Layout + +https://en.wikipedia.org/wiki/Derivative_of_the_exponential_map +\end_layout + +\end_inset + +. +\end_layout + +\end_inset + + +\begin_inset Formula +\begin{equation} +d\exp_{\xihat}\hat{x}=\exp(\xihat)\frac{1-\exp(-ad_{\xihat})}{ad_{\xihat}}\hat{x}\label{eq:dexp} +\end{equation} + +\end_inset + +with +\begin_inset Formula $\hat{x}\in T_{\xihat}\mathfrak{g}$ +\end_inset + + and +\begin_inset Formula $ad_{\xihat}$ +\end_inset + + itself a linear map taking +\begin_inset Formula $\hat{x}$ +\end_inset + + to +\begin_inset Formula $[\xihat,\hat{x}]$ +\end_inset + +, the Lie bracket. + The actual formula above is not really as important as the fact that the + linear map exists, although it is expressed directly in terms of tangent + vectors to +\begin_inset Formula $\mathfrak{g}$ +\end_inset + + and +\begin_inset Formula $G$ +\end_inset + +. + Equation +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:dexp" + +\end_inset + + is a tangent vector, and comparing with +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:tangent-vector" + +\end_inset + + we see that it maps to local coordinates +\begin_inset Formula $y$ +\end_inset + + as follows: +\begin_inset Formula +\[ +\yhat=\frac{1-\exp(-ad_{\xihat})}{ad_{\xihat}}\hat{x} +\] + +\end_inset + +which can be used to construct the Jacobian +\begin_inset Formula $f'(\xi)$ +\end_inset + +. +\end_layout + +\begin_layout Example +For +\begin_inset Formula $\SOthree$ +\end_inset + +, the operator +\begin_inset Formula $ad_{\xihat}$ +\end_inset + + is simply a matrix multiplication when representing +\begin_inset Formula $\sothree$ +\end_inset + + using 3-vectors, i.e., +\begin_inset Formula $ad_{\xihat}x=\xihat x$ +\end_inset + +, and the +\begin_inset Formula $3\times3$ +\end_inset + + Jacobian corresponding to +\begin_inset Formula $d\exp$ +\end_inset + + is +\begin_inset Formula +\[ +f'(\xi)=\frac{I_{3\times3}-\exp(-\xihat)}{\xihat}=\sum_{k=0}^{\infty}\frac{(-1)^{k}}{(k+1)!}\xihat^{k} +\] + +\end_inset + +which, similar to the exponential map, has a simple closed form expression + for +\begin_inset Formula $\SOthree$ \end_inset . @@ -3097,7 +3377,7 @@ Retractions \begin_layout Standard \begin_inset FormulaMacro -\newcommand{\retract}{\mathcal{R}} +\renewcommand{\retract}{\mathcal{R}} {\mathcal{R}} \end_inset @@ -6797,7 +7077,7 @@ Then \begin_layout Standard \begin_inset CommandInset bibtex LatexCommand bibtex -bibfiles "/Users/dellaert/papers/refs" +bibfiles "refs" options "plain" \end_inset diff --git a/doc/refs.bib b/doc/refs.bib new file mode 100644 index 000000000..414773483 --- /dev/null +++ b/doc/refs.bib @@ -0,0 +1,26 @@ +@article{Iserles00an, + title = {Lie-group methods}, + author = {Iserles, Arieh and Munthe-Kaas, Hans Z and + N{\o}rsett, Syvert P and Zanna, Antonella}, + journal = {Acta Numerica 2000}, + volume = {9}, + pages = {215--365}, + year = {2000}, + publisher = {Cambridge Univ Press} +} + +@book{Murray94book, + title = {A mathematical introduction to robotic manipulation}, + author = {Murray, Richard M and Li, Zexiang and Sastry, S + Shankar and Sastry, S Shankara}, + year = {1994}, + publisher = {CRC press} +} + +@book{Spivak65book, + title = {Calculus on manifolds}, + author = {Spivak, Michael}, + volume = {1}, + year = {1965}, + publisher = {WA Benjamin New York} +} \ No newline at end of file From 2b5554ca1033c9d7b7ed73733ca32d4c23fd6892 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 Dec 2015 16:59:33 -0800 Subject: [PATCH 740/964] Small comments --- gtsam/geometry/tests/testPose3.cpp | 3 ++- gtsam/geometry/tests/testRot3.cpp | 19 ++++++++++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 3507dc7af..b0d6c082d 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -717,9 +717,10 @@ TEST( Pose3, ExpmapDerivative1) { /* ************************************************************************* */ TEST(Pose3, ExpmapDerivative2) { // Iserles05an (Lie-group Methods) says: - // scalar is easy: d exp(a(t)) / dt = exp(a(t) a'(t) + // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) // where A(t): T -> se(3) is a trajectory in the tangent space of SE(3) + // and dexp[A] is a linear map from 4*4 to 4*4 derivatives of se(3) // Hence, the above matrix equation is typed: 4*4 = SE(3) * linear_map(4*4) // In GTSAM, we don't work with the Lie-algebra elements A directly, but with 6-vectors. diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index a70ff9fc3..eb6573c30 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -284,9 +284,10 @@ TEST( Rot3, ExpmapDerivative2) /* ************************************************************************* */ TEST(Rot3, ExpmapDerivative3) { // Iserles05an (Lie-group Methods) says: - // scalar is easy: d exp(a(t)) / dt = exp(a(t) a'(t) + // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) // where A(t): R -> so(3) is a trajectory in the tangent space of SO(3) + // and dexp[A] is a linear map from 3*3 to 3*3 derivatives of se(3) // Hence, the above matrix equation is typed: 3*3 = SO(3) * linear_map(3*3) // In GTSAM, we don't work with the skew-symmetric matrices A directly, but with 3-vectors. @@ -307,6 +308,22 @@ TEST(Rot3, ExpmapDerivative3) { } } +/* ************************************************************************* */ +TEST(Rot3, ExpmapDerivative4) { + auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; + auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + + // Same as above, but define R as mapping local coordinates to neighborhood aroud R0. + const Rot3 R0 = Rot3::Rodrigues(0.1, 0.4, 0.2); + auto R = [R0, w](double t) { return R0.expmap(w(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(R, t); + const Matrix actual = Rot3::ExpmapDerivative(w(t)) * w_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } +} + /* ************************************************************************* */ TEST( Rot3, jacobianExpmap ) { From c00b32d9418df601935869d28a0977cccbbe2dd2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 Dec 2015 16:59:44 -0800 Subject: [PATCH 741/964] Ignore some ~ files --- doc/.gitignore | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/.gitignore b/doc/.gitignore index ac7af2e80..8a3139177 100644 --- a/doc/.gitignore +++ b/doc/.gitignore @@ -1 +1,3 @@ /html/ +*.lyx~ +*.bib~ From a6cc7ef2dcc5803c140fad57f9b0c95aa6b33701 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 Dec 2015 17:00:05 -0800 Subject: [PATCH 742/964] Lots of progress on new IMU factor math, thanks to Iserles! --- doc/ImuFactor.lyx | 1405 +++++++++++++++++++++++++++++++-------------- 1 file changed, 985 insertions(+), 420 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index 90aa802a1..0d0ef1eea 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -72,13 +72,40 @@ The new IMU Factor Frank Dellaert \end_layout +\begin_layout Standard +\begin_inset CommandInset include +LatexCommand include +filename "macros.lyx" + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\renewcommand{\sothree}{\mathfrak{so(3)}} +{\mathfrak{so(3)}} +\end_inset + + +\end_layout + +\begin_layout Subsubsection* +Navigation States +\end_layout + \begin_layout Standard Let us assume a setup where frames with image and/or laser measurements are processed at some fairly low rate, e.g., 10 Hz. - We define the state of the vehicle at those times as attitude, position, + +\end_layout + +\begin_layout Standard +We define the state of the vehicle at those times as attitude, position, and velocity. These three quantities are jointly referred to as a NavState -\begin_inset Formula $X\doteq(R_{b}^{n},p^{n},v^{n})$ +\begin_inset Formula $X_{b}^{n}\define\left\{ R_{b}^{n},P_{b}^{n},V_{b}^{n}\right\} $ \end_inset , where the superscript @@ -101,31 +128,959 @@ body frame For simplicity, we drop these indices below where clear from context. \end_layout +\begin_layout Subsubsection* +Vector Fields and Differential Equations +\end_layout + \begin_layout Standard -Let us consider a simplified situation where we have a perfect gyroscope - and accelerometer, i.e., assuming zero noise and bias terms, where the angular - velocity +We need a way to describe the evolution of a NavState over time. + The NavState lives in a 9-dimensional manifold +\begin_inset Formula $M$ +\end_inset + +, defined by the orthonormality constraints on +\begin_inset Formula $\Rone$ +\end_inset + +. + For a NavState +\begin_inset Formula $X$ +\end_inset + + evolving over time we can write down a differential equation +\begin_inset Formula +\begin{equation} +\dot{X}(t)=F(t,X)\label{eq:diffeqM} +\end{equation} + +\end_inset + +where +\begin_inset Formula $F$ +\end_inset + + is a time-varying +\series bold +vector field +\series default + on +\begin_inset Formula $M$ +\end_inset + +, defined as a mapping from +\begin_inset Formula $R\times M$ +\end_inset + + to tangent vectors at +\begin_inset Formula $X$ +\end_inset + +. + A +\series bold +tangent vector +\series default + at +\begin_inset Formula $X$ +\end_inset + + is defined as the derivative of a trajectory at +\begin_inset Formula $X$ +\end_inset + +, and for the NavState manifold this will be a triplet +\begin_inset Formula +\[ +\left[W(t,X),V(t,X),A(t,X)\right]\in\sothree\times\Rthree\times\Rthree +\] + +\end_inset + +where we use square brackets to indicate a tangent vector. + The space of all tangent vectors at +\begin_inset Formula $X$ +\end_inset + + is denoted by +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Formula $T_{X}M$ +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit +, and hence +\begin_inset Formula $F(t,X)\in T_{X}M$ +\end_inset + +. + For example, if the state evolves along a constant velocity trajectory +\begin_inset Formula +\[ +X(t)=\left\{ R_{0},P_{0}+V_{0}t,V_{0}\right\} +\] + +\end_inset + +then the differential equation describing the trajectory is +\begin_inset Formula +\[ +X'(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\, X(0)=\left\{ R_{0},P_{0},V_{0}\right\} +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +Valid vector fields on a NavState manifold are special, in that the attitude + and velocity derivatives can be arbitrary functions of X and t, but the + derivative of position is constrained to be equal to the current velocity + +\begin_inset Formula $V(t)$ +\end_inset + +: +\begin_inset Formula +\begin{equation} +X'(t)=\left[W(X,t),V(t),A(X,t)\right]\label{eq:validField} +\end{equation} + +\end_inset + +If we know +\begin_inset Formula $\omega^{b}(t)$ +\end_inset + + and non-gravity +\begin_inset Formula $a^{b}(t)$ +\end_inset + + in the body frame, we know (from Murray84book) that the body angular velocity + an be written as +\begin_inset Formula +\[ +\Skew{\omega^{b}}=R(t)^{T}W(X,t) +\] + +\end_inset + +where +\begin_inset Formula $\Skew{\omega^{b}}\in so(3)$ +\end_inset + + is the skew-symmetric matrix corresponding to +\begin_inset Formula $\theta$ +\end_inset + +, and hence the resulting exact vector field is +\begin_inset Formula +\begin{equation} +X'(t)=\left[W(X,t),V(t),A(X,t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right]\label{eq:bodyField} +\end{equation} + +\end_inset + + +\end_layout + +\begin_layout Subsubsection* +Local Coordinates +\end_layout + +\begin_layout Standard +Optimization on manifolds relies crucially on the concept of +\series bold +local coordinates +\series default +. + For example, when optimizing over the rotations +\begin_inset Formula $\SOthree$ +\end_inset + + starting from an initial estimate +\begin_inset Formula $R_{0}$ +\end_inset + +, we define a local map +\begin_inset Formula $\Phi_{R_{0}}$ +\end_inset + + from +\begin_inset Formula $\theta\in\Rthree$ +\end_inset + + to a neighborhood of +\begin_inset Formula $\SOthree$ +\end_inset + + centered around +\begin_inset Formula $R_{0}$ +\end_inset + +, +\begin_inset Formula +\[ +\Phi_{R_{0}}(\theta)=R_{0}\exp\left(\Skew{\theta}\right) +\] + +\end_inset + +where +\begin_inset Formula $\exp$ +\end_inset + + is the matrix exponential, given by +\begin_inset Formula +\begin{equation} +\exp\left(\Skew{\theta}\right)=\sum_{k=0}^{\infty}\frac{1}{k!}\Skew{\theta}^{k}\label{eq:expm} +\end{equation} + +\end_inset + +which for +\begin_inset Formula $\SOthree$ +\end_inset + + can be efficiently computed in closed form. +\end_layout + +\begin_layout Standard +The local coordinates +\begin_inset Formula $\theta$ +\end_inset + + are isomorphic to tangent vectors at +\emph on + +\begin_inset Formula $R_{0}$ +\end_inset + + +\emph default +. + To see this, define +\begin_inset Formula $\theta=\omega t$ +\end_inset + + and note that +\begin_inset Formula +\[ +\frac{d\Phi_{R_{0}}\left(\omega t\right)}{dt}\biggr\vert_{t=0}=\frac{dR_{0}\exp\left(\Skew{\omega t}\right)}{dt}\biggr\vert_{t=0}=R_{0}\Skew{\omega} +\] + +\end_inset + +Hence, the 3-vector \begin_inset Formula $\omega$ \end_inset - and acceleration -\begin_inset Formula $a$ + defines a direction of travel on the +\begin_inset Formula $\SOthree$ \end_inset - are measured in the body frame. - Then we can model the state of the vehicle as governed by the following - kinematic equations, + manifold, but does so in the local coordinate frame define by +\begin_inset Formula $R_{0}$ +\end_inset + +. +\end_layout + +\begin_layout Standard +A similar story holds in +\begin_inset Formula $\SEthree$ +\end_inset + +: we define local coordinates +\begin_inset Formula $\xi=\left[\omega t,vt\right]\in\Rsix$ +\end_inset + + and a mapping \begin_inset Formula -\begin{eqnarray} -\dot{R} & = & R\hat{\omega}\label{eq:diffeq}\\ -\dot{p} & = & v\label{eq:diffeq2}\\ -\dot{v} & = & g+Ra\label{eq:diffeq3} -\end{eqnarray} +\[ +\Phi_{T_{0}}(\xi)=T_{0}\exp\xihat +\] \end_inset -Note that gravity is not measured by an accelerometer and needs to be added - separately. +where +\begin_inset Formula $\xihat\in\sethree$ +\end_inset + + is defined as +\begin_inset Formula +\[ +\xihat=\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]t +\] + +\end_inset + +and the 6-vectors +\begin_inset Formula $\xi$ +\end_inset + + are mapped to tangent vectors +\begin_inset Formula $T_{0}\xihat$ +\end_inset + + at +\begin_inset Formula $T_{0}$ +\end_inset + +. +\end_layout + +\begin_layout Subsubsection* +Local Coordinates +\end_layout + +\begin_layout Standard +For the local coordinate mapping +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Formula $\Phi_{R_{0}}\left(\theta\right)$ +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit + in +\begin_inset Formula $\SOthree$ +\end_inset + + we can define a +\begin_inset Formula $3\times3$ +\end_inset + + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none +Jacobian +\begin_inset Formula $H(\theta)$ +\end_inset + + that models the effect of an incremental change +\begin_inset Formula $\delta$ +\end_inset + + to the local coordinates: +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit + +\begin_inset Formula +\begin{equation} +\Phi_{R_{0}}\left(\theta+\delta\right)\approx\Phi_{R_{0}}\left(\theta\right)\,\exp\left(\Skew{H(\theta)\delta}\right)=\Phi_{\Phi_{R_{0}}\left(\theta\right)}\left(H(\theta)\delta\right)\label{eq:push_exp} +\end{equation} + +\end_inset + +This Jacobian depends only on +\begin_inset Formula $\theta$ +\end_inset + + and, for the case of +\begin_inset Formula $\SOthree$ +\end_inset + +, is given by a formula similar to the matrix exponential map, +\begin_inset Formula +\[ +H(\theta)=\sum_{k=0}^{\infty}\frac{(-1)^{k}}{(k+1)!}\Skew{\theta}^{k} +\] + +\end_inset + +which can also be computed in closed form. + In particular, +\begin_inset Formula $H(0)=I_{3\times3}$ +\end_inset + + at the base +\begin_inset Formula $R_{0}$ +\end_inset + +. +\end_layout + +\begin_layout Subsubsection* +Numerical Integration in Local Coordinates +\end_layout + +\begin_layout Standard +Inspired by the paper +\begin_inset Quotes eld +\end_inset + +Lie Group Methods +\begin_inset Quotes erd +\end_inset + + by Iserles et al. + +\begin_inset CommandInset citation +LatexCommand cite +key "Iserles00an" + +\end_inset + +, when we have a differential equation on +\begin_inset Formula $\SOthree$ +\end_inset + +, +\begin_inset Formula +\begin{equation} +\dot{R}(t)=F(R,t),\,\,\,\, R(0)=R_{0}\label{eq:diffSo3} +\end{equation} + +\end_inset + +we can transfer it to a differential equation in the 3-dimensional local + coordinate space. + To do so, we model the solution to +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:diffSo3" + +\end_inset + + as +\begin_inset Formula +\[ +R(t)=\Phi_{R_{0}}(\theta(t)) +\] + +\end_inset + +We can create a trajectory +\begin_inset Formula $\gamma(\delta)$ +\end_inset + + that passes through +\begin_inset Formula $R(t)$ +\end_inset + + for +\begin_inset Formula $\delta=0$ +\end_inset + + +\begin_inset Formula +\[ +\gamma(\delta)=R(t+\delta)=\Phi_{R_{0}}\left(\theta(t)+\dot{\theta}(t)\delta\right)\approx\Phi_{R(t)}\left(H(\theta)\dot{\theta}(t)\delta\right) +\] + +\end_inset + +and taking the derivative for +\begin_inset Formula $\delta=0$ +\end_inset + + we obtain +\begin_inset Formula +\[ +\dot{R}(t)=\frac{d\gamma(\delta)}{d\delta}\biggr\vert_{\delta=0}=\frac{d\Phi_{R(t)}\left(H(\theta)\theta'(t)\delta\right)}{dt}\biggr\vert_{t=0}=R(t)\Skew{H(\theta)\dot{\theta}(t)} +\] + +\end_inset + +Comparing this to +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:diffSo3" + +\end_inset + + we obtain a differential equation for +\begin_inset Formula $\theta(t)$ +\end_inset + +: +\begin_inset Formula +\[ +\dot{\theta}(t)=H(\theta)^{-1}\left\{ R(t)^{T}F(R,t)\right\} \check{},\,\,\,\,\theta(0)=0_{3\times1} +\] + +\end_inset + +In other words, the vector field +\begin_inset Formula $F(R,t)$ +\end_inset + + is rotated to the local frame, the inverse hat operator is applied to get + a 3-vector, which is then corrected by +\begin_inset Formula $H(\theta)^{-1}$ +\end_inset + + away from +\begin_inset Formula $\theta=0$ +\end_inset + +. +\end_layout + +\begin_layout Subsubsection* +Retractions +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\Rnine}{\mathfrak{\mathbb{R}^{9}}} +{\mathfrak{\mathbb{R}^{9}}} +\end_inset + + +\end_layout + +\begin_layout Standard +Note that the use of the exponential map in local coordinate mappings is + not obligatory, even in the context of Lie groups. + Often it is computationally expedient to use mappings that are easier to + compute, but yet induce the same tangent vector at +\begin_inset Formula $T_{0}.$ +\end_inset + + Mappings that satisfy this constraint are collectively known as +\series bold +retractions +\series default +. + For example, for +\begin_inset Formula $\SEthree$ +\end_inset + + one could use the retraction +\begin_inset Formula $\mathcal{R}_{T_{0}}:\Rsix\rightarrow\SEthree$ +\end_inset + + +\begin_inset Formula +\[ +\mathcal{R}_{T_{0}}\left(\xi\right)=T_{0}\left\{ \exp\left(\Skew{\omega t}\right),vt\right\} =\left\{ \Phi_{R_{0}}\left(\omega t\right),P_{0}+R_{0}vt\right\} +\] + +\end_inset + +This trajectory describes a linear path in position while the frame rotates, + as opposed to the helical path traced out by the exponential map. + The tangent vector at +\begin_inset Formula $T_{0}$ +\end_inset + + can be computed as +\end_layout + +\begin_layout Standard +\begin_inset Formula +\[ +\frac{d\mathcal{R}_{T_{0}}\left(\xi\right)}{dt}\biggr\vert_{t=0}=\left[R_{0}\Skew{\omega},R_{0}v\right] +\] + +\end_inset + +which is identical to the one induced by +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Formula $\Phi_{T_{0}}(\xi)=T_{0}\exp\xihat$ +\end_inset + +. +\end_layout + +\begin_layout Standard +The NavState manifold is not a Lie group like +\begin_inset Formula $\SEthree$ +\end_inset + +, but we can easily define a retraction that behaves similarly to the one + for +\begin_inset Formula $\SEthree$ +\end_inset + +, while treating velocities the same way as positions: +\begin_inset Formula +\[ +\mathcal{R}_{X_{0}}(\zeta)=\left\{ \Phi_{R_{0}}\left(\omega t\right),P_{0}+R_{0}vt,V_{0}+R_{0}at\right\} +\] + +\end_inset + +Here +\begin_inset Formula $\zeta=\left[\omega t,vt,at\right]$ +\end_inset + + is a 9-vector, with respectively angular, position, and velocity components. + The tangent vector at +\begin_inset Formula $R_{0}$ +\end_inset + + is +\begin_inset Formula +\[ +\frac{d\mathcal{R}_{X_{0}}(\zeta)}{dt}\biggr\vert_{t=0}=\left[R_{0}\Skew{\omega},R_{0}v,R_{0}a\right] +\] + +\end_inset + +and the isomorphism between +\begin_inset Formula $\Rnine$ +\end_inset + + and +\begin_inset Formula $T_{X_{0}}M$ +\end_inset + + is +\begin_inset Formula $\zeta\rightarrow\left[R_{0}\Skew{\omega t},R_{0}vt,R_{0}at\right]$ +\end_inset + +. +\end_layout + +\begin_layout Subsubsection* +Integration in Local Coordinates +\end_layout + +\begin_layout Standard +We now proceed exactly as before to describe the evolution of the NavState + in local coordinates. + Let us model the solution of the differential equation +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:diffeqM" + +\end_inset + + as a trajectory +\begin_inset Formula $\zeta(t)=\left[\theta(t),p(t),v(t)\right]$ +\end_inset + +, with +\begin_inset Formula $\zeta(0)=0$ +\end_inset + +, in the local coordinate frame anchored at +\begin_inset Formula $X_{0}$ +\end_inset + +. + Note that this trajectory evolves away from +\begin_inset Formula $X_{0}$ +\end_inset + +, and we use the symbols +\begin_inset Formula $\theta$ +\end_inset + +, +\begin_inset Formula $p$ +\end_inset + +, and +\begin_inset Formula $v$ +\end_inset + + to indicate that these are integrated rather than differential quantities. + With that, we have +\begin_inset Formula +\begin{equation} +X(t)=\mathcal{R}_{X_{0}}(\zeta(t))=\left\{ \Phi_{R_{0}}\left(\theta(t)\right),P_{0}+R_{0}p(t),V_{0}+R_{0}v(t)\right\} \label{eq:scheme1} +\end{equation} + +\end_inset + +We can create a trajectory +\begin_inset Formula $\gamma(\delta)$ +\end_inset + + that passes through +\begin_inset Formula $X(t)$ +\end_inset + + for +\begin_inset Formula $\delta=0$ +\end_inset + + +\begin_inset Formula +\[ +\gamma(\delta)=X(t+\delta)=\left\{ \Phi_{R_{0}}\left(\theta(t)+\theta'(t)\delta\right),P_{0}+R_{0}\left\{ p(t)+p'(t)\delta\right\} ,V_{0}+R_{0}\left\{ v(t)+v'(t)\delta\right\} \right\} +\] + +\end_inset + +and taking the derivative for +\begin_inset Formula $\delta=0$ +\end_inset + + we obtain +\begin_inset Formula +\[ +\dot{X}(t)=\frac{d\gamma(\delta)}{d\delta}\biggr\vert_{\delta=0}=\left[R(t)\Skew{H(\theta)\theta'(t)},R_{0}\, p'(t),R_{0}\, v'(t)\right] +\] + +\end_inset + +Comparing that with the vector field +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:bodyField" + +\end_inset + +, we have exact integration iff +\begin_inset Formula +\[ +\left[R(t)\Skew{H(\theta)\theta'(t)},R_{0}\, p'(t),R_{0}\, v'(t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right] +\] + +\end_inset + +Or, as another way to state this, if we solve the differential equations + for +\begin_inset Formula $\theta(t)$ +\end_inset + +, +\begin_inset Formula $p(t)$ +\end_inset + +, and +\begin_inset Formula $v(t)$ +\end_inset + + such that +\begin_inset Formula +\begin{eqnarray*} +\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}\\ +\dot{p}(t) & = & R_{0}^{T}\, V_{0}+v(t)\\ +\dot{v}(t) & = & R_{0}^{T}\, g+R_{b}^{0}(t)a^{b}(t) +\end{eqnarray*} + +\end_inset + +where +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Formula $R_{b}^{0}(t)=R_{0}^{T}R(t)$ +\end_inset + + is the rotation of the body frame with respect to +\begin_inset Formula $R_{0}$ +\end_inset + +, and we have used +\begin_inset Formula $V(t)=V_{0}+R_{0}v(t)$ +\end_inset + +. +\end_layout + +\begin_layout Subsubsection* +Application: The New IMU Factor +\end_layout + +\begin_layout Standard +The above scheme suffers from one problem, which is that +\begin_inset Formula $R_{0}$ +\end_inset + + needs to be known exactly to compensate for the initial velocity +\begin_inset Formula $V_{0}$ +\end_inset + + and the gravity +\begin_inset Formula $g$ +\end_inset + +. + Hence, we split up +\begin_inset Formula $v(t)$ +\end_inset + + into a gravity-induced part and an accelerometer part +\begin_inset Formula +\[ +v(t)=v_{g}(t)+v_{a}(t) +\] + +\end_inset + +evolving as +\begin_inset Formula +\begin{eqnarray*} +\dot{v}_{g}(t) & = & R_{0}^{T}\, g\\ +\dot{v}_{a}(t) & = & R_{b}^{0}(t)a^{b}(t) +\end{eqnarray*} + +\end_inset + +The solution for the first equation is simply +\begin_inset Formula $v_{g}(t)=R_{0}^{T}gt$ +\end_inset + +. + Similarly, we split the position +\begin_inset Formula $p(t)$ +\end_inset + + up in three parts +\begin_inset Formula +\[ +p(t)=p_{0}(t)+p_{g}(t)+p_{v}(t) +\] + +\end_inset + +evolving as +\begin_inset Formula +\begin{eqnarray*} +\dot{p}_{0}(t) & = & R_{0}^{T}\, V_{0}\\ +\dot{p}_{g}(t) & = & v_{g}(t)=R_{0}^{T}gt\\ +\dot{p}_{v}(t) & = & v_{a}(t) +\end{eqnarray*} + +\end_inset + +Here the solutions for the two first equations are simply +\begin_inset Formula +\begin{eqnarray*} +p_{0}(t) & = & R_{0}^{T}V_{0}t\\ +p_{g}(t) & = & R_{0}^{T}\frac{gt^{2}}{2} +\end{eqnarray*} + +\end_inset + +The recipe for the IMU factor is then, in summary. + Solve the ordinary differential equation +\begin_inset Formula +\begin{eqnarray*} +\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}\\ +\dot{p}_{v}(t) & = & v_{a}(t)\\ +\dot{v}_{a}(t) & = & R_{b}^{0}(t)a^{b}(t) +\end{eqnarray*} + +\end_inset + +starting from zero, up to time +\begin_inset Formula $t_{ij}$ +\end_inset + +, where +\begin_inset Formula $R_{b}^{0}(t)=\exp\Skew{\theta(t)}$ +\end_inset + + at all times. + Form the local coordinate vector as +\begin_inset Formula +\[ +\zeta(t_{ij})=\left[\theta(t_{ij}),p(t_{ij}),v(t_{ij})\right]=\left[\theta(t_{ij}),R_{0}^{T}V_{0}t_{ij}+R_{0}^{T}\frac{gt_{ij}^{2}}{2}+p_{v}(t_{ij}),R_{0}^{T}gt_{ij}+v_{a}(t_{ij})\right] +\] + +\end_inset + +Predict the NavState +\begin_inset Formula $X_{j}$ +\end_inset + + at time +\begin_inset Formula $t_{j}$ +\end_inset + + from +\begin_inset Formula +\[ +X_{j}=\mathcal{R}_{X_{j}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{0}+V_{0}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{0}\, p_{v}(t_{ij}),V_{0}+gt_{ij}+R_{0}\, v_{a}(t_{ij})\right\} +\] + +\end_inset + + +\end_layout + +\begin_layout Section +Old Stuff: \end_layout \begin_layout Standard @@ -154,117 +1109,7 @@ We only measure \begin_layout Standard \begin_inset Note Note -status open - -\begin_layout Plain Layout -This motivates splitting up the integration into two parts: one that depends - on knowing the exact rotation at the beginning of the interval, and another - that does not: -\begin_inset Formula -\begin{eqnarray*} -R(t) & = & R_{0}\int_{0}^{t}R_{0}^{T}R(\tau)\hat{\omega}(\tau)d\tau\\ -\dot{p} & = & R_{0}\int_{0}^{t}R_{0}^{T}v(\tau)d\tau\\ -\dot{v} & = & \int_{0}^{t}gd\tau+R_{0}\int_{0}^{t}R_{0}^{T}R(\tau)a(\tau)d\tau -\end{eqnarray*} - -\end_inset - - -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -It is well known that constant angular and linear velocity, expressed in - the body frame, integrate to a spiral trajectory. - This is captured exactly by the exponential map of -\begin_inset Formula $SE(3)$ -\end_inset - -: -\begin_inset Formula -\[ -\left[\begin{array}{cc} -R & p\\ -0 & 1 -\end{array}\right]=\lim_{n\rightarrow\infty}\left(I+\left[\begin{array}{cc} -\hat{\omega} & v^{b}\\ -0 & 0 -\end{array}\right]\frac{\Delta t}{n}\right)^{n}\doteq\exp\left[\begin{array}{cc} -\hat{\omega} & v^{b}\\ -0 & 0 -\end{array}\right]\Delta t -\] - -\end_inset - -As can be seen from the definition, the exponential map directly derives - from dividing up a finite interval -\begin_inset Formula $\Delta t$ -\end_inset - - into an infinite number of infinitesimally small intervals -\begin_inset Formula $\Delta t/n$ -\end_inset - -. - As a consequence, integrating the kinematics forward in -\begin_inset Formula $SE(3)$ -\end_inset - - translates simply to -\emph on -multiplication -\emph default - with -\begin_inset Formula $\Delta t$ -\end_inset - - in the 6-dimensional tangent space. -\end_layout - -\begin_layout Standard -What is needed to achieve the same understanding for NavStates, integrated - forward under constant angular velocity and linear acceleration? For -\begin_inset Formula $SE(3)$ -\end_inset - -, the exponential map arose naturally when we embedded the 6-dimensional - manifold in -\begin_inset Formula $GL(4)$ -\end_inset - -, the space of all non-singular -\begin_inset Formula $4\times4$ -\end_inset - - matrices. - We can try the same trick with NavStates, e.g., embedding them in -\begin_inset Formula $GL(7)$ -\end_inset - - using the following representation: -\begin_inset Formula -\[ -X=\left[\begin{array}{ccc} -R & & p\\ - & R & v\\ - & & 1 -\end{array}\right] -\] - -\end_inset - -However, the induced group operation does not really do what we want, nor - are NavStates even expected to behave as a group. -\end_layout - -\begin_layout Standard -\begin_inset Note Note -status open +status collapsed \begin_layout Plain Layout The group operation inherited from @@ -367,122 +1212,8 @@ R+R\hat{\omega}\delta & & p+v\delta\\ \end_layout \begin_layout Standard -We can still, however, treat the NavState as living in a 9-dimensional manifold - -\begin_inset Formula $M$ -\end_inset - -, defined by the orthonormality constraints on -\begin_inset Formula $R$ -\end_inset - -. - In mechanics, a natural manifold associated with -\begin_inset Formula $SE(3)$ -\end_inset - - is its -\emph on -tangent bundle -\emph default -, which is 12-dimensional and consists of pairs -\begin_inset Formula $((R,p),(\omega,v))$ -\end_inset - -, and is useful for integrating the Euler-Lagrange equations of motion. - However, in an inertial navigation context, we measure -\begin_inset Formula $\omega$ -\end_inset - - and -\begin_inset Formula $a$ -\end_inset - -, and we can make do with the 9-dimensional manifold -\begin_inset Formula $M$ -\end_inset - - consisting of the triples -\begin_inset Formula $(R,p,v)$ -\end_inset - -. - -\end_layout - -\begin_layout Standard -Under constant angular velocity and linear acceleration, in the body frame, - we obtain a family of trajectories -\begin_inset Formula $\gamma(t):R\rightarrow M$ -\end_inset - - by integrating -\begin_inset Formula -\begin{eqnarray*} -R(t) & = & \int_{0}^{t}R(\tau)\hat{\omega}d\tau\\ -p(t) & = & \int_{0}^{t}v(\tau)d\tau\\ -v(t) & = & \int_{0}^{t}\left\{ g+R(\tau)a\right\} d\tau -\end{eqnarray*} - -\end_inset - -with -\begin_inset Formula $\gamma(0)=(R_{0},p_{0},v_{0})$ -\end_inset - -. - In analogy to -\begin_inset Formula $SE(3)$ -\end_inset - - we know that (Murray94book, page 42): -\begin_inset Formula -\begin{eqnarray*} -R(t) & = & R_{0}\exp\hat{\omega}t\\ -v(t) & = & v_{0}+gt+R_{0}\left\{ (I-\exp\hat{\omega}t)\left(\omega\times a\right)+\omega\omega^{T}at\right\} -\end{eqnarray*} - -\end_inset - -Plugging that into position yields -\begin_inset Formula -\begin{eqnarray*} -p(t) & = & p_{0}+v_{0}t+g\frac{t^{2}}{2}+R_{0}\int_{0}^{t}\left\{ (I-\exp\hat{\omega}\tau)\left(\omega\times a\right)+\omega\omega^{T}a\tau\right\} d\tau -\end{eqnarray*} - -\end_inset - -where the last term integrates the velocity spiral induced by constant accelerat -ion in the rotating body frame. - -\end_layout - -\begin_layout Standard -It is worth asking what all this complexity buys us, however. - Even for a quadrotor, forces induced by wind effects and drag are arguably - better approximated over short intervals as constant in the navigation - frame. - And gravity is clearly constant in the navigation frame, but -\emph on -not -\emph default - in the body frame. - -\begin_inset Note Note -status collapsed - -\begin_layout Plain Layout -More so, if we do not know -\begin_inset Formula $R$ -\end_inset - - perfectly, integrating gravity in the body frame could lead to significant - errors, as gravity typically dominates other accelerations in the system. -\end_layout - -\end_inset - - +For a quadrotor, forces induced by wind effects and drag are arguably better + approximated over short intervals as constant in the navigation frame. \end_layout \begin_layout Standard @@ -518,86 +1249,6 @@ p(t) & = & p_{0}+v_{0}t+\left(g+R_{0}a\right)\frac{t^{2}}{2} \end_inset -\end_layout - -\begin_layout Standard -\begin_inset Note Note -status collapsed - -\begin_layout Plain Layout -In the context of the IMU factor it is useful to describe these trajectories - in a manner that does not depend on the initial NavState -\begin_inset Formula $(R_{0},p_{0},v_{0})$ -\end_inset - -. - Here is an attempt: -\end_layout - -\begin_layout Plain Layout -\begin_inset Formula -\begin{eqnarray*} -R(t) & = & \int_{0}^{t}R(\tau)\hat{\omega}d\tau\\ -p(t) & = & \int_{0}^{t}v(\tau)d\tau\\ -v(t) & = & \int_{0}^{t}R(\tau)ad\tau -\end{eqnarray*} - -\end_inset - - -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Note -status collapsed - -\begin_layout Plain Layout -We now choose to define the retraction from the tangent space at -\begin_inset Formula $X$ -\end_inset - - back to the manifold as -\begin_inset Formula -\[ -X\oplus dX=(R,p,v)\oplus(d_{R},d_{p},d_{v})\doteq(R\exp d_{R},p+Rd_{p},v+Rd_{v}) -\] - -\end_inset - -A crucial detail is that the incremental position -\begin_inset Formula $d_{p}$ -\end_inset - - and velocity -\begin_inset Formula $d_{v}$ -\end_inset - - are given in the NavState frame, rather than in the global frame, and hence - are rotated by -\begin_inset Formula $R$ -\end_inset - - before applying. - This is in analogy to -\begin_inset Formula $SE(3)$ -\end_inset - -, treating velocity here in the same way as position in -\begin_inset Formula $SE(3)$ -\end_inset - -. - -\end_layout - -\end_inset - - \end_layout \begin_layout Standard @@ -663,6 +1314,10 @@ p_{j}=p_{i}+\sum_{k}\left(v_{i}+\sum_{l}(g+R_{l}a_{l})\Delta t_{l}\right)\Delta \end_layout +\begin_layout Standard +[Is there not a 3/2 power here as in the RSS paper?] +\end_layout + \begin_layout Standard A crucial problem here is that we depend on a good estimate of \begin_inset Formula $R_{k}$ @@ -690,7 +1345,7 @@ The idea behind the preintegrated IMU factor is two-fold: (a) treat gravity components: \begin_inset Formula \begin{eqnarray*} -p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}+\sum_{k}v_{k}\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}\\ +p_{j} & = & p_{i}+\sum_{k}\left(\sum_{l}g\Delta t_{l}\right)\Delta t_{k}+\sum_{k}\left(v_{i}+\sum_{l}R_{l}a_{l}\Delta t_{l}\right)\Delta t_{k}+\sum_{k}g\frac{\left(\Delta t_{k}\right)^{2}}{2}+\sum_{k}R_{k}a_{k}\frac{\left(\Delta t_{k}\right)^{2}}{2}\\ v_{j} & = & v_{i}+g\sum_{k}\Delta t_{k}+\sum_{k}R_{k}a_{k}\Delta t_{k} \end{eqnarray*} @@ -700,54 +1355,6 @@ v_{j} & = & v_{i}+g\sum_{k}\Delta t_{k}+\sum_{k}R_{k}a_{k}\Delta t_{k} \end_layout \begin_layout Standard -But we need to define what that means: clearly, -\begin_inset Formula $SE(3)$ -\end_inset - -, with its group structure, has a well-defined concept of working -\begin_inset Quotes eld -\end_inset - -in the frame -\begin_inset Quotes erd -\end_inset - -. - But in this case we have a manifold, not a group. - To deal with this, we perform the integration in the tangent space, and - hence we need to define a mapping from tangent space to manifold and vice - versa. - A possible definition of retract, compatible with the semi-direct group - structure of -\begin_inset Formula $SE(3)$ -\end_inset - - and treating velocities the same way as positions, is given by -\begin_inset Formula -\[ -X\oplus dX=(R,p,v)\oplus(\omega t,\Delta p,\Delta v)=(R\exp\hat{\omega}t,p+R\Delta p,v+R\Delta v) -\] - -\end_inset - - -\begin_inset Formula -\begin{eqnarray*} -R_{j} & = & R_{i}\prod_{k}\exp\hat{\omega}_{k}\Delta t_{k}\\ -p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t_{k}+\frac{1}{2}g\sum_{k}\Delta t_{k}^{2}+\frac{1}{2}\sum_{k}R_{k}a_{k}\Delta t^{2}\\ -v_{j} & = & v_{i}+g\Delta t_{ij}+\sum_{k}R_{k}a_{k}\Delta t_{k} -\end{eqnarray*} - -\end_inset - - -\end_layout - -\begin_layout Standard -\begin_inset Note Note -status open - -\begin_layout Plain Layout The binary factor is set up as a prediction: \begin_inset Formula \[ @@ -772,53 +1379,11 @@ where \end_layout -\begin_layout Plain Layout -Integrating gyro and accelerometer readings, following Forster05rss, and - assuming zero bias for now, is done by: -\begin_inset Formula -\begin{eqnarray*} -R_{j} & = & R_{i}\prod_{k}\exp\omega_{k}\Delta t\\ -p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t+\frac{1}{2}g\Delta t_{ij}^{2}+\frac{1}{2}\sum_{k}R_{k}a_{k}\Delta t^{2}\\ -v_{j} & = & v_{i}+g\Delta t_{ij}+\sum_{k}R_{k}a_{k}\Delta t -\end{eqnarray*} - -\end_inset - -We would, however, like to separate out the constant velocity and gravity - components from the IMU-induced terms: -\begin_inset Formula -\begin{eqnarray*} -R_{j} & = & R_{i}\prod_{k}\exp\omega_{k}\Delta t\\ -p_{j} & = & \left\{ p_{i}+v_{i}\Delta t_{ij}+\frac{1}{2}g\Delta t_{ij}^{2}\right\} +\sum_{k}\left(v_{k}-v_{i}\right)\Delta t+\frac{1}{2}\sum_{k}R_{k}a_{k}\Delta t^{2}\\ -v_{j} & = & \left\{ v_{i}+g\Delta t_{ij}\right\} +\sum_{k}R_{k}a_{k}\Delta t -\end{eqnarray*} - -\end_inset - - -\end_layout - -\begin_layout Plain Layout -Let us look at a single interval of the incremental terms: -\begin_inset Formula -\begin{eqnarray*} -R_{j} & = & R_{i}\exp\omega\Delta t\\ -p_{j} & = & p_{i}+v_{i}\Delta t+\frac{1}{2}g\Delta t^{2}+\frac{1}{2}R_{i}a\Delta t^{2}\\ -v_{j} & = & v_{i}+g\Delta t+R_{i}a_{k}\Delta t -\end{eqnarray*} - -\end_inset - -Comparing that with the definition of retract, we have -\begin_inset Formula -\[ -R_{j}=R_{i}\oplus\left(\omega,R_{i}^{T}v_{i}+\frac{1}{2}R_{i}^{T}g\Delta t+\frac{1}{2}a\Delta t,R_{i}^{T}g+a_{k}\right)\Delta t -\] - -\end_inset - - -\end_layout +\begin_layout Standard +\begin_inset CommandInset bibtex +LatexCommand bibtex +bibfiles "refs" +options "plain" \end_inset From f9d247311f9ca7ab6b8f86a61abd66d67448f84b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 Dec 2015 12:55:01 -0800 Subject: [PATCH 743/964] Euler integration --- doc/ImuFactor.lyx | 44 +++++++++++++++++++++++++++++++++++++------- 1 file changed, 37 insertions(+), 7 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index 0d0ef1eea..10cb848b7 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -281,13 +281,13 @@ If we know an be written as \begin_inset Formula \[ -\Skew{\omega^{b}}=R(t)^{T}W(X,t) +\Skew{\omega^{b}(t)}=R(t)^{T}W(X,t) \] \end_inset where -\begin_inset Formula $\Skew{\omega^{b}}\in so(3)$ +\begin_inset Formula $\Skew{\omega^{b}(t)}\in so(3)$ \end_inset is the skew-symmetric matrix corresponding to @@ -297,7 +297,7 @@ where , and hence the resulting exact vector field is \begin_inset Formula \begin{equation} -X'(t)=\left[W(X,t),V(t),A(X,t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right]\label{eq:bodyField} +X'(t)=\left[W(X,t),V(t),A(X,t)\right]=\left[R(t)\Skew{\omega^{b}(t)},V(t),g+R(t)a^{b}(t)\right]\label{eq:bodyField} \end{equation} \end_inset @@ -902,7 +902,7 @@ reference "eq:bodyField" , we have exact integration iff \begin_inset Formula \[ -\left[R(t)\Skew{H(\theta)\theta'(t)},R_{0}\, p'(t),R_{0}\, v'(t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right] +\left[R(t)\Skew{H(\theta)\theta'(t)},R_{0}\, p'(t),R_{0}\, v'(t)\right]=\left[R(t)\Skew{\omega^{b}(t)},V(t),g+R(t)a^{b}(t)\right] \] \end_inset @@ -923,7 +923,7 @@ Or, as another way to state this, if we solve the differential equations such that \begin_inset Formula \begin{eqnarray*} -\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}\\ +\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}(t)\\ \dot{p}(t) & = & R_{0}^{T}\, V_{0}+v(t)\\ \dot{v}(t) & = & R_{0}^{T}\, g+R_{b}^{0}(t)a^{b}(t) \end{eqnarray*} @@ -1033,10 +1033,10 @@ p_{g}(t) & = & R_{0}^{T}\frac{gt^{2}}{2} \end_inset The recipe for the IMU factor is then, in summary. - Solve the ordinary differential equation + Solve the ordinary differential equations \begin_inset Formula \begin{eqnarray*} -\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}\\ +\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}(t)\\ \dot{p}_{v}(t) & = & v_{a}(t)\\ \dot{v}_{a}(t) & = & R_{b}^{0}(t)a^{b}(t) \end{eqnarray*} @@ -1079,6 +1079,36 @@ X_{j}=\mathcal{R}_{X_{j}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij} \end_layout +\begin_layout Subsubsection* +A Simple Euler Scheme +\end_layout + +\begin_layout Standard +To solve the differential equation we can use a simple Euler scheme: +\begin_inset Formula +\begin{eqnarray*} +\theta_{k+1}=\theta_{k}+\dot{\theta}(t_{k})\Delta_{t} & = & \theta_{k}+H(\theta_{k})^{-1}\,\omega_{k}^{b}\Delta_{t}\\ +p_{k+1}=p_{k}+\dot{p}_{v}(t_{k})\Delta_{t} & = & p_{k}+v_{k}\Delta_{t}\\ +v_{k+1}=v_{k}+\dot{v}_{a}(t_{k})\Delta_{t} & = & v_{k}+\exp\left(\theta_{k}\right)a_{k}^{b}\Delta_{t} +\end{eqnarray*} + +\end_inset + +where +\begin_inset Formula $\theta_{k}\define\theta(t_{k})$ +\end_inset + +, +\begin_inset Formula $p_{k}\define p_{v}(t_{k})$ +\end_inset + +, and +\begin_inset Formula $v_{k}\define v_{a}(t_{k})$ +\end_inset + +. +\end_layout + \begin_layout Section Old Stuff: \end_layout From d0f911139dcf016b2f49c97432dbf2c2bf76d6aa Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 Dec 2015 13:57:26 -0800 Subject: [PATCH 744/964] First Scenario test --- gtsam/navigation/tests/testScenario.cpp | 69 +++++++++++++++++++++++++ 1 file changed, 69 insertions(+) create mode 100644 gtsam/navigation/tests/testScenario.cpp diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp new file mode 100644 index 000000000..0c18b4584 --- /dev/null +++ b/gtsam/navigation/tests/testScenario.cpp @@ -0,0 +1,69 @@ +/* ---------------------------------------------------------------------------- + + * 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 Scenario.h + * @brief Simple class to test navigation scenarios + * @author Frank Dellaert + */ + +#include + +namespace gtsam { +/// Simple class to test navigation scenarios +class Scenario { + public: + /// Construct scenario with constant twist [w,v] + Scenario(const Vector3& w, const Vector3& v) + : twist_((Vector6() << w, v).finished()) {} + + Pose3 poseAtTime(double t) { return Pose3::Expmap(twist_ * t); } + + private: + Vector6 twist_; +}; + +} // namespace gtsam + +/** + * @file testScenario.cpp + * @brief test ImuFacor with Scenario class + * @author Frank Dellaert + */ + +#include + +#include + +using namespace std; +using namespace gtsam; + +static const double degree = M_PI / 180.0; + +/* ************************************************************************* */ +TEST(Scenario, Circle) { + // Forward velocity 2m/s, angular velocity 6 degree/sec + const double v = 2, omega = 6 * degree; + Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0)); + + // R = v/omega, so test if circle is of right size + const double R = v / omega; + const Pose3 T15 = circle.poseAtTime(15); + EXPECT(assert_equal(Vector3(0, 0, 90 * degree), T15.rotation().xyz(), 1e-9)); + EXPECT(assert_equal(Point3(R, R, 0), T15.translation(), 1e-9)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From e5b8f982a14dcefa0db801698d805f70ac8c938b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 Dec 2015 13:57:37 -0800 Subject: [PATCH 745/964] Ignore backup files --- doc/.gitignore | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/.gitignore b/doc/.gitignore index ac7af2e80..8a3139177 100644 --- a/doc/.gitignore +++ b/doc/.gitignore @@ -1 +1,3 @@ /html/ +*.lyx~ +*.bib~ From 988837be6ab92e479cbd5166ea40f24374fd9236 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 Dec 2015 14:29:52 -0800 Subject: [PATCH 746/964] Moved to header, added some methods --- gtsam/navigation/Scenario.h | 41 +++++++++++++++++++++++++ gtsam/navigation/tests/testScenario.cpp | 28 ++--------------- 2 files changed, 43 insertions(+), 26 deletions(-) create mode 100644 gtsam/navigation/Scenario.h diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h new file mode 100644 index 000000000..4b25d827d --- /dev/null +++ b/gtsam/navigation/Scenario.h @@ -0,0 +1,41 @@ +/* ---------------------------------------------------------------------------- + + * 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 Scenario.h + * @brief Simple class to test navigation scenarios + * @author Frank Dellaert + */ + +#pragma once +#include + +namespace gtsam { + +/// Simple class with constant twist 3D trajectory +class Scenario { + public: + /// Construct scenario with constant twist [w,v] + Scenario(const Vector3& w, const Vector3& v, double imuSampleTime = 1e-2) + : twist_((Vector6() << w, v).finished()), imuSampleTime_(imuSampleTime) {} + + Vector3 groundTruthAcc() const { return twist_.tail<3>(); } + Vector3 groundTruthGyro() const { return twist_.head<3>(); } + const double& imuSampleTime() const { return imuSampleTime_; } + + Pose3 poseAtTime(double t) { return Pose3::Expmap(twist_ * t); } + + private: + Vector6 twist_; + double imuSampleTime_; +}; + +} // namespace gtsam diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index 0c18b4584..b5461fbdc 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -9,38 +9,14 @@ * -------------------------------------------------------------------------- */ -/** - * @file Scenario.h - * @brief Simple class to test navigation scenarios - * @author Frank Dellaert - */ - -#include - -namespace gtsam { -/// Simple class to test navigation scenarios -class Scenario { - public: - /// Construct scenario with constant twist [w,v] - Scenario(const Vector3& w, const Vector3& v) - : twist_((Vector6() << w, v).finished()) {} - - Pose3 poseAtTime(double t) { return Pose3::Expmap(twist_ * t); } - - private: - Vector6 twist_; -}; - -} // namespace gtsam - /** * @file testScenario.cpp - * @brief test ImuFacor with Scenario class + * @brief Unit test Scenario class * @author Frank Dellaert */ +#include #include - #include using namespace std; From be47a2ef1560905fd9b3b14ccdd581958435ce85 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 Dec 2015 14:49:52 -0800 Subject: [PATCH 747/964] Run Scenario and check mean --- gtsam/navigation/tests/testScenarioRunner.cpp | 107 ++++++++++++++++++ 1 file changed, 107 insertions(+) create mode 100644 gtsam/navigation/tests/testScenarioRunner.cpp diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp new file mode 100644 index 000000000..00762793b --- /dev/null +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -0,0 +1,107 @@ +/* ---------------------------------------------------------------------------- + + * 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 ScenarioRunner.h + * @brief Simple class to test navigation scenarios + * @author Frank Dellaert + */ + +#include +#include + +namespace gtsam { + +double accNoiseVar = 0.01; +double omegaNoiseVar = 0.03; +double intNoiseVar = 0.0001; +const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; +const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; +const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; + +/// Simple class to test navigation scenarios +class ScenarioRunner { + public: + ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {} + + // Integrate measurements for T seconds + ImuFactor::PreintegratedMeasurements integrate(double T) { + // TODO(frank): allow non-zero + const imuBias::ConstantBias zeroBias; + const bool use2ndOrderCoriolis = true; + + ImuFactor::PreintegratedMeasurements result( + zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance, use2ndOrderCoriolis); + + const Vector3 measuredAcc = scenario_.groundTruthAcc(); + const Vector3 measuredOmega = scenario_.groundTruthGyro(); + double deltaT = scenario_.imuSampleTime(); + for (double t = 0; t <= T; t += deltaT) { + result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + } + + return result; + } + + // Predict mean + Pose3 mean(const ImuFactor::PreintegratedMeasurements& integrated) { + // TODO(frank): allow non-standard + const imuBias::ConstantBias zeroBias; + const Pose3 pose_i = Pose3::identity(); + const Vector3 vel_i = Vector3::Zero(); + const Vector3 gravity(0, 0, 9.81); + const Vector3 omegaCoriolis = Vector3::Zero(); + const bool use2ndOrderCoriolis = true; + const PoseVelocityBias prediction = integrated.predict( + pose_i, vel_i, zeroBias, gravity, omegaCoriolis, use2ndOrderCoriolis); + return prediction.pose; + } + + private: + Scenario scenario_; +}; + +} // namespace gtsam + +/** + * @file testScenario.cpp + * @brief test ImuFacor with ScenarioRunner class + * @author Frank Dellaert + */ + +#include +#include +#include + +using namespace std; +using namespace gtsam; + +static const double degree = M_PI / 180.0; + +/* ************************************************************************* */ +TEST(ScenarioRunner, Circle) { + // Forward velocity 2m/s, angular velocity 6 degree/sec + const double v = 2, omega = 6 * degree; + Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0)); + + ScenarioRunner runner(circle); + const double T = 15; // seconds + ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); + EXPECT(assert_equal(circle.poseAtTime(T), runner.mean(integrated), 1e-9)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From 84628cd511de83bd4ef724967172525b89579cb8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 Dec 2015 15:11:35 -0800 Subject: [PATCH 748/964] Added Vector3 methods from develop --- gtsam/geometry/Rot3.h | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 608f41954..cc0dc309e 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -330,6 +330,17 @@ namespace gtsam { Point3 rotate(const Point3& p, OptionalJacobian<3,3> H1 = boost::none, OptionalJacobian<3,3> H2 = boost::none) const; + /// operator* for Vector3 + inline Vector3 operator*(const Vector3& v) const { + return rotate(Point3(v)).vector(); + } + + /// rotate for Vector3 + Vector3 rotate(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + return rotate(Point3(v), H1, H2).vector(); + } + /// rotate point from rotated coordinate frame to world = R*p Point3 operator*(const Point3& p) const; @@ -337,6 +348,12 @@ namespace gtsam { Point3 unrotate(const Point3& p, OptionalJacobian<3,3> H1 = boost::none, OptionalJacobian<3,3> H2=boost::none) const; + /// unrotate for Vector3 + Vector3 unrotate(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + return unrotate(Point3(v), H1, H2).vector(); + } + /// @} /// @name Group Action on Unit3 /// @{ From 846a7774915f9208bf2651f4157211805d132fa6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 Dec 2015 15:11:48 -0800 Subject: [PATCH 749/964] Forward scenario --- gtsam/navigation/Scenario.h | 20 ++++++++++++++-- gtsam/navigation/tests/testScenario.cpp | 10 ++++++++ gtsam/navigation/tests/testScenarioRunner.cpp | 23 ++++++++++++++----- 3 files changed, 45 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 4b25d827d..7731e33df 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -27,12 +27,28 @@ class Scenario { Scenario(const Vector3& w, const Vector3& v, double imuSampleTime = 1e-2) : twist_((Vector6() << w, v).finished()), imuSampleTime_(imuSampleTime) {} - Vector3 groundTruthAcc() const { return twist_.tail<3>(); } - Vector3 groundTruthGyro() const { return twist_.head<3>(); } + // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) + // also, uses g=10 for easy debugging + Vector3 gravity() const { return Vector3(0, 0, -10.0); } + + Vector3 groundTruthGyroInBody() const { return twist_.head<3>(); } + Vector3 groundTruthVelocityInBody() const { return twist_.tail<3>(); } + + // All constant twist scenarios have zero acceleration + Vector3 groundTruthAccInBody() const { return Vector3::Zero(); } + const double& imuSampleTime() const { return imuSampleTime_; } + /// Pose of body in nav frame at time t Pose3 poseAtTime(double t) { return Pose3::Expmap(twist_ * t); } + /// Velocity in nav frame at time t + Vector3 velocityAtTime(double t) { + const Pose3 pose = poseAtTime(t); + const Rot3& nRb = pose.rotation(); + return nRb * groundTruthVelocityInBody(); + } + private: Vector6 twist_; double imuSampleTime_; diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index b5461fbdc..a4176be12 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -24,6 +24,16 @@ using namespace gtsam; static const double degree = M_PI / 180.0; +/* ************************************************************************* */ +TEST(Scenario, Forward) { + const double v = 2; // m/s + Scenario forward(Vector3::Zero(), Vector3(v, 0, 0)); + + const Pose3 T15 = forward.poseAtTime(15); + EXPECT(assert_equal(Vector3(0, 0, 0), T15.rotation().xyz(), 1e-9)); + EXPECT(assert_equal(Point3(30, 0, 0), T15.translation(), 1e-9)); +} + /* ************************************************************************* */ TEST(Scenario, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 00762793b..cd1bc2e35 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -42,8 +42,8 @@ class ScenarioRunner { zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderCoriolis); - const Vector3 measuredAcc = scenario_.groundTruthAcc(); - const Vector3 measuredOmega = scenario_.groundTruthGyro(); + const Vector3 measuredAcc = scenario_.groundTruthAccInBody(); + const Vector3 measuredOmega = scenario_.groundTruthGyroInBody(); double deltaT = scenario_.imuSampleTime(); for (double t = 0; t <= T; t += deltaT) { result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -57,12 +57,12 @@ class ScenarioRunner { // TODO(frank): allow non-standard const imuBias::ConstantBias zeroBias; const Pose3 pose_i = Pose3::identity(); - const Vector3 vel_i = Vector3::Zero(); - const Vector3 gravity(0, 0, 9.81); + const Vector3 vel_i = scenario_.velocityAtTime(0); const Vector3 omegaCoriolis = Vector3::Zero(); const bool use2ndOrderCoriolis = true; - const PoseVelocityBias prediction = integrated.predict( - pose_i, vel_i, zeroBias, gravity, omegaCoriolis, use2ndOrderCoriolis); + const PoseVelocityBias prediction = + integrated.predict(pose_i, vel_i, zeroBias, scenario_.gravity(), + omegaCoriolis, use2ndOrderCoriolis); return prediction.pose; } @@ -87,6 +87,17 @@ using namespace gtsam; static const double degree = M_PI / 180.0; +/* ************************************************************************* */ +TEST(ScenarioRunner, Forward) { + const double v = 2; // m/s + Scenario forward(Vector3::Zero(), Vector3(v, 0, 0)); + + ScenarioRunner runner(forward); + const double T = 10; // seconds + ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); + EXPECT(assert_equal(forward.poseAtTime(T), runner.mean(integrated), 1e-9)); +} + /* ************************************************************************* */ TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec From e16d798bd495f5ef1a7e73d13483606e923be89b Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 21 Dec 2015 15:54:52 -0800 Subject: [PATCH 750/964] Deal w new Rot3 operators --- gtsam_unstable/slam/Mechanization_bRn2.cpp | 2 +- gtsam_unstable/slam/Mechanization_bRn2.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/slam/Mechanization_bRn2.cpp b/gtsam_unstable/slam/Mechanization_bRn2.cpp index d2dd02dd3..0f3f2feae 100644 --- a/gtsam_unstable/slam/Mechanization_bRn2.cpp +++ b/gtsam_unstable/slam/Mechanization_bRn2.cpp @@ -101,7 +101,7 @@ Mechanization_bRn2 Mechanization_bRn2::integrate(const Vector3& u, // convert to navigation frame Rot3 nRb = bRn_.inverse(); - Vector3 n_omega_bn = (nRb*b_omega_bn).vector(); + Vector3 n_omega_bn = nRb*b_omega_bn; // integrate bRn using exponential map, assuming constant over dt Rot3 delta_nRn = Rot3::Rodrigues(n_omega_bn*dt); diff --git a/gtsam_unstable/slam/Mechanization_bRn2.h b/gtsam_unstable/slam/Mechanization_bRn2.h index fa33ce5b9..4c85614d4 100644 --- a/gtsam_unstable/slam/Mechanization_bRn2.h +++ b/gtsam_unstable/slam/Mechanization_bRn2.h @@ -42,7 +42,7 @@ public: /// gravity in the body frame Vector3 b_g(double g_e) const { Vector3 n_g(0, 0, g_e); - return (bRn_ * n_g).vector(); + return bRn_ * n_g; } const Rot3& bRn() const {return bRn_; } From 5f9053ae39c5591ab4c892390197d2c6ff5cc6e6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 21 Dec 2015 16:07:40 -0800 Subject: [PATCH 751/964] Get rid of warnings w develop changes --- gtsam/nonlinear/Values-inl.h | 81 ++++++++++++++++++++++-------------- 1 file changed, 50 insertions(+), 31 deletions(-) diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h index fe2c3f3ca..05e58accb 100644 --- a/gtsam/nonlinear/Values-inl.h +++ b/gtsam/nonlinear/Values-inl.h @@ -49,8 +49,12 @@ namespace gtsam { const Key key; ///< The key const ValueType& value; ///< The value - _ValuesConstKeyValuePair(Key _key, const ValueType& _value) : key(_key), value(_value) {} - _ValuesConstKeyValuePair(const _ValuesKeyValuePair& rhs) : key(rhs.key), value(rhs.value) {} + _ValuesConstKeyValuePair(Key _key, const ValueType& _value) : + key(_key), value(_value) { + } + _ValuesConstKeyValuePair(const _ValuesKeyValuePair& rhs) : + key(rhs.key), value(rhs.value) { + } }; /* ************************************************************************* */ @@ -59,17 +63,20 @@ namespace gtsam { // need to use a struct here for later partial specialization template struct ValuesCastHelper { - static CastedKeyValuePairType cast(KeyValuePairType key_value) { - // Static cast because we already checked the type during filtering - return CastedKeyValuePairType(key_value.key, const_cast&>(static_cast&>(key_value.value)).value()); - } + static CastedKeyValuePairType cast(KeyValuePairType key_value) { + // Static cast because we already checked the type during filtering + return CastedKeyValuePairType(key_value.key, + const_cast&>(static_cast&>(key_value.value)).value()); + } }; // partial specialized version for ValueType == Value template struct ValuesCastHelper { static CastedKeyValuePairType cast(KeyValuePairType key_value) { // Static cast because we already checked the type during filtering - // in this case the casted and keyvalue pair are essentially the same type (key, Value&) so perhaps this could be done with just a cast of the key_value? + // in this case the casted and keyvalue pair are essentially the same type + // (key, Value&) so perhaps this could be done with just a cast of the key_value? return CastedKeyValuePairType(key_value.key, key_value.value); } }; @@ -78,7 +85,8 @@ namespace gtsam { struct ValuesCastHelper { static CastedKeyValuePairType cast(KeyValuePairType key_value) { // Static cast because we already checked the type during filtering - // in this case the casted and keyvalue pair are essentially the same type (key, Value&) so perhaps this could be done with just a cast of the key_value? + // in this case the casted and keyvalue pair are essentially the same type + // (key, Value&) so perhaps this could be done with just a cast of the key_value? return CastedKeyValuePairType(key_value.key, key_value.value); } }; @@ -126,23 +134,29 @@ namespace gtsam { } private: - Filtered(const boost::function& filter, Values& values) : - begin_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, values.begin(), values.end()), - &ValuesCastHelper::cast)), - end_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, values.end(), values.end()), - &ValuesCastHelper::cast)), - constBegin_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, ((const Values&)values).begin(), ((const Values&)values).end()), - &ValuesCastHelper::cast)), - constEnd_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, ((const Values&)values).end(), ((const Values&)values).end()), - &ValuesCastHelper::cast)) {} + Filtered( + const boost::function& filter, + Values& values) : + begin_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, values.begin(), values.end()), + &ValuesCastHelper::cast)), end_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, values.end(), values.end()), + &ValuesCastHelper::cast)), constBegin_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, + ((const Values&) values).begin(), + ((const Values&) values).end()), + &ValuesCastHelper::cast)), constEnd_( + boost::make_transform_iterator( + boost::make_filter_iterator(filter, + ((const Values&) values).end(), + ((const Values&) values).end()), + &ValuesCastHelper::cast)) { + } friend class Values; iterator begin_; @@ -191,7 +205,9 @@ namespace gtsam { friend class Values; const_iterator begin_; const_iterator end_; - ConstFiltered(const boost::function& filter, const Values& values) { + ConstFiltered( + const boost::function& filter, + const Values& values) { // We remove the const from values to create a non-const Filtered // view, then pull the const_iterators out of it. const Filtered filtered(filter, const_cast(values)); @@ -247,7 +263,8 @@ namespace gtsam { /* ************************************************************************* */ template<> - inline bool Values::filterHelper(const boost::function filter, const ConstKeyValuePair& key_value) { + inline bool Values::filterHelper(const boost::function filter, + const ConstKeyValuePair& key_value) { // Filter and check the type return filter(key_value.key); } @@ -263,10 +280,11 @@ namespace gtsam { throw ValuesKeyDoesNotExist("retrieve", j); // Check the type and throw exception if incorrect + const Value& value = *item->second; try { - return dynamic_cast&>(*item->second).value(); + return dynamic_cast&>(value).value(); } catch (std::bad_cast &) { - throw ValuesIncorrectType(j, typeid(*item->second), typeid(ValueType)); + throw ValuesIncorrectType(j, typeid(value), typeid(ValueType)); } } @@ -278,10 +296,11 @@ namespace gtsam { if(item != values_.end()) { // dynamic cast the type and throw exception if incorrect + const Value& value = *item->second; try { - return dynamic_cast&>(*item->second).value(); + return dynamic_cast&>(value).value(); } catch (std::bad_cast &) { - throw ValuesIncorrectType(j, typeid(*item->second), typeid(ValueType)); + throw ValuesIncorrectType(j, typeid(value), typeid(ValueType)); } } else { return boost::none; From e2dbfa1b1279f82319a58729f2eb0bc00c962751 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 22 Dec 2015 00:28:04 -0500 Subject: [PATCH 752/964] fix small typos --- doc/ImuFactor.lyx | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index 0d0ef1eea..a4e321088 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -168,7 +168,7 @@ vector field \end_inset , defined as a mapping from -\begin_inset Formula $R\times M$ +\begin_inset Formula $\Rone\times M$ \end_inset to tangent vectors at @@ -245,7 +245,7 @@ X(t)=\left\{ R_{0},P_{0}+V_{0}t,V_{0}\right\} then the differential equation describing the trajectory is \begin_inset Formula \[ -X'(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\, X(0)=\left\{ R_{0},P_{0},V_{0}\right\} +\dot{X}(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\,X(0)=\left\{ R_{0},P_{0},V_{0}\right\} \] \end_inset @@ -264,7 +264,7 @@ Valid vector fields on a NavState manifold are special, in that the attitude : \begin_inset Formula \begin{equation} -X'(t)=\left[W(X,t),V(t),A(X,t)\right]\label{eq:validField} +\dot{X}(t)=\left[W(X,t),V(t),A(X,t)\right]\label{eq:validField} \end{equation} \end_inset @@ -297,7 +297,7 @@ where , and hence the resulting exact vector field is \begin_inset Formula \begin{equation} -X'(t)=\left[W(X,t),V(t),A(X,t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right]\label{eq:bodyField} +\dot{X}(t)=\left[W(X,t),V(t),A(X,t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right]\label{eq:bodyField} \end{equation} \end_inset @@ -591,7 +591,7 @@ key "Iserles00an" , \begin_inset Formula \begin{equation} -\dot{R}(t)=F(R,t),\,\,\,\, R(0)=R_{0}\label{eq:diffSo3} +\dot{R}(t)=F(R,t),\,\,\,\,R(0)=R_{0}\label{eq:diffSo3} \end{equation} \end_inset @@ -640,7 +640,7 @@ and taking the derivative for we obtain \begin_inset Formula \[ -\dot{R}(t)=\frac{d\gamma(\delta)}{d\delta}\biggr\vert_{\delta=0}=\frac{d\Phi_{R(t)}\left(H(\theta)\theta'(t)\delta\right)}{dt}\biggr\vert_{t=0}=R(t)\Skew{H(\theta)\dot{\theta}(t)} +\dot{R}(t)=\frac{d\gamma(\delta)}{d\delta}\biggr\vert_{\delta=0}=\frac{d\Phi_{R(t)}\left(H(\theta)\dot{\theta}(t)\delta\right)}{d\delta}\biggr\vert_{\delta=0}=R(t)\Skew{H(\theta)\dot{\theta}(t)} \] \end_inset @@ -782,7 +782,7 @@ Here is a 9-vector, with respectively angular, position, and velocity components. The tangent vector at -\begin_inset Formula $R_{0}$ +\begin_inset Formula $X_{0}$ \end_inset is @@ -875,7 +875,7 @@ We can create a trajectory \begin_inset Formula \[ -\gamma(\delta)=X(t+\delta)=\left\{ \Phi_{R_{0}}\left(\theta(t)+\theta'(t)\delta\right),P_{0}+R_{0}\left\{ p(t)+p'(t)\delta\right\} ,V_{0}+R_{0}\left\{ v(t)+v'(t)\delta\right\} \right\} +\gamma(\delta)=X(t+\delta)=\left\{ \Phi_{R_{0}}\left(\theta(t)+\dot{\theta}(t)\delta\right),P_{0}+R_{0}\left\{ p(t)+\dot{p}(t)\delta\right\} ,V_{0}+R_{0}\left\{ v(t)+\dot{v}(t)\delta\right\} \right\} \] \end_inset @@ -887,7 +887,7 @@ and taking the derivative for we obtain \begin_inset Formula \[ -\dot{X}(t)=\frac{d\gamma(\delta)}{d\delta}\biggr\vert_{\delta=0}=\left[R(t)\Skew{H(\theta)\theta'(t)},R_{0}\, p'(t),R_{0}\, v'(t)\right] +\dot{X}(t)=\frac{d\gamma(\delta)}{d\delta}\biggr\vert_{\delta=0}=\left[R(t)\Skew{H(\theta)\dot{\theta}(t)},R_{0}\,\dot{p}(t),R_{0}\,\dot{v}(t)\right] \] \end_inset @@ -902,7 +902,7 @@ reference "eq:bodyField" , we have exact integration iff \begin_inset Formula \[ -\left[R(t)\Skew{H(\theta)\theta'(t)},R_{0}\, p'(t),R_{0}\, v'(t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right] +\left[R(t)\Skew{H(\theta)\dot{\theta}(t)},R_{0}\,\dot{p}(t),R_{0}\,\dot{v}(t)\right]=\left[R(t)\Skew{\omega^{b}},V(t),g+R(t)a^{b}(t)\right] \] \end_inset @@ -1036,7 +1036,7 @@ The recipe for the IMU factor is then, in summary. Solve the ordinary differential equation \begin_inset Formula \begin{eqnarray*} -\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}\\ +\dot{\theta}(t) & = & H(\theta(t))^{-1}\,\omega^{b}(t)\\ \dot{p}_{v}(t) & = & v_{a}(t)\\ \dot{v}_{a}(t) & = & R_{b}^{0}(t)a^{b}(t) \end{eqnarray*} From 699ba32c9e399a834d944cff5b3d6dfff07c603f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 10:02:12 -0800 Subject: [PATCH 753/964] Further examining a circular trajectory --- gtsam/navigation/Scenario.h | 40 +++++++++++++------ gtsam/navigation/tests/testScenarioRunner.cpp | 22 ++++++---- 2 files changed, 43 insertions(+), 19 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 7731e33df..ea9cba6a7 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -20,33 +20,49 @@ namespace gtsam { -/// Simple class with constant twist 3D trajectory +/** + * Simple class with constant twist 3D trajectory. + * It is also assumed that gravity is magically counteracted and has no effect + * on trajectory. Hence, a simulated IMU yields the actual body angular + * velocity, and negative G acceleration plus the acceleration created by the + * rotating body frame. + */ class Scenario { public: /// Construct scenario with constant twist [w,v] - Scenario(const Vector3& w, const Vector3& v, double imuSampleTime = 1e-2) + Scenario(const Vector3& w, const Vector3& v, + double imuSampleTime = 1.0 / 100.0) : twist_((Vector6() << w, v).finished()), imuSampleTime_(imuSampleTime) {} + const double& imuSampleTime() const { return imuSampleTime_; } + // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) // also, uses g=10 for easy debugging Vector3 gravity() const { return Vector3(0, 0, -10.0); } - Vector3 groundTruthGyroInBody() const { return twist_.head<3>(); } - Vector3 groundTruthVelocityInBody() const { return twist_.tail<3>(); } + Vector3 angularVelocityInBody() const { return twist_.head<3>(); } + Vector3 linearVelocityInBody() const { return twist_.tail<3>(); } - // All constant twist scenarios have zero acceleration - Vector3 groundTruthAccInBody() const { return Vector3::Zero(); } - - const double& imuSampleTime() const { return imuSampleTime_; } + /// Rotation of body in nav frame at time t + Rot3 rotAtTime(double t) const { + return Rot3::Expmap(angularVelocityInBody() * t); + } /// Pose of body in nav frame at time t - Pose3 poseAtTime(double t) { return Pose3::Expmap(twist_ * t); } + Pose3 poseAtTime(double t) const { return Pose3::Expmap(twist_ * t); } /// Velocity in nav frame at time t Vector3 velocityAtTime(double t) { - const Pose3 pose = poseAtTime(t); - const Rot3& nRb = pose.rotation(); - return nRb * groundTruthVelocityInBody(); + const Rot3 nRb = rotAtTime(t); + return nRb * linearVelocityInBody(); + } + + // acceleration in nav frame + Vector3 accelerationAtTime(double t) const { + const Rot3 nRb = rotAtTime(t); + const Vector3 centripetalAcceleration = + angularVelocityInBody().cross(linearVelocityInBody()); + return nRb * centripetalAcceleration - gravity(); } private: diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index cd1bc2e35..a00dfe7fa 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace gtsam { double accNoiseVar = 0.01; @@ -42,11 +44,17 @@ class ScenarioRunner { zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, kIntegrationErrorCovariance, use2ndOrderCoriolis); - const Vector3 measuredAcc = scenario_.groundTruthAccInBody(); - const Vector3 measuredOmega = scenario_.groundTruthGyroInBody(); - double deltaT = scenario_.imuSampleTime(); - for (double t = 0; t <= T; t += deltaT) { + const Vector3 measuredOmega = scenario_.angularVelocityInBody(); + const double deltaT = scenario_.imuSampleTime(); + const size_t nrSteps = T / deltaT; + double t = 0; + for (size_t k = 0; k < nrSteps; k++, t += deltaT) { + std::cout << t << ", " << deltaT << ": "; + const Vector3 measuredAcc = scenario_.accelerationAtTime(t); result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + // std::cout << result.deltaRij() << std::endl; + std::cout << " a:" << measuredAcc.transpose(); + std::cout << " P:" << result.deltaVij().transpose() << std::endl; } return result; @@ -87,13 +95,13 @@ using namespace gtsam; static const double degree = M_PI / 180.0; -/* ************************************************************************* */ +/* ************************************************************************* * TEST(ScenarioRunner, Forward) { const double v = 2; // m/s Scenario forward(Vector3::Zero(), Vector3(v, 0, 0)); ScenarioRunner runner(forward); - const double T = 10; // seconds + const double T = 1; // seconds ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); EXPECT(assert_equal(forward.poseAtTime(T), runner.mean(integrated), 1e-9)); } @@ -102,7 +110,7 @@ TEST(ScenarioRunner, Forward) { TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec const double v = 2, omega = 6 * degree; - Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0)); + Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0), 0.1); ScenarioRunner runner(circle); const double T = 15; // seconds From ef5031e33e7d24c84e5d338a8a6c75f0d0952725 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 22 Dec 2015 11:09:44 -0800 Subject: [PATCH 754/964] Avoid some warnings by copying from develop --- .../examples/SmartProjectionFactorExample.cpp | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp index 1423ef113..de1d3f77b 100644 --- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp +++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp @@ -54,7 +54,7 @@ int main(int argc, char** argv){ string calibration_loc = findExampleDataFile("VO_calibration.txt"); string pose_loc = findExampleDataFile("VO_camera_poses_large.txt"); string factor_loc = findExampleDataFile("VO_stereo_factors_large.txt"); - + //read camera calibration info from file // focal lengths fx, fy, skew s, principal point u0, v0, baseline b cout << "Reading calibration info" << endl; @@ -67,17 +67,17 @@ int main(int argc, char** argv){ cout << "Reading camera poses" << endl; ifstream pose_file(pose_loc.c_str()); - int i; + int pose_index; MatrixRowMajor m(4,4); //read camera pose parameters and use to make initial estimates of camera poses - while (pose_file >> i) { + while (pose_file >> pose_index) { for (int i = 0; i < 16; i++) pose_file >> m.data()[i]; - initial_estimate.insert(i, Pose3(m)); + initial_estimate.insert(pose_index, Pose3(m)); } - + // landmark keys - size_t l; + size_t landmark_key; // pixel coordinates uL, uR, v (same for left/right images due to rectification) // landmark coordinates X, Y, Z in camera frame, resulting from triangulation @@ -90,14 +90,14 @@ int main(int argc, char** argv){ SmartFactor::shared_ptr factor(new SmartFactor(model, K)); size_t current_l = 3; // hardcoded landmark ID from first measurement - while (factor_file >> i >> l >> uL >> uR >> v >> X >> Y >> Z) { + while (factor_file >> pose_index >> landmark_key >> uL >> uR >> v >> X >> Y >> Z) { - if(current_l != l) { + if(current_l != landmark_key) { graph.push_back(factor); factor = SmartFactor::shared_ptr(new SmartFactor(model, K)); - current_l = l; + current_l = landmark_key; } - factor->add(Point2(uL,v), i); + factor->add(Point2(uL,v), pose_index); } Pose3 firstPose = initial_estimate.at(1); From d3534b2d2b2b73b73192074a9a843a7bea81a06a Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 22 Dec 2015 11:37:04 -0800 Subject: [PATCH 755/964] Fixed circle example --- gtsam/navigation/Scenario.h | 16 +++++++++---- gtsam/navigation/tests/testScenario.cpp | 4 ++-- gtsam/navigation/tests/testScenarioRunner.cpp | 24 ++++++++++++------- 3 files changed, 29 insertions(+), 15 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index ea9cba6a7..8872d536d 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -49,22 +49,30 @@ class Scenario { } /// Pose of body in nav frame at time t - Pose3 poseAtTime(double t) const { return Pose3::Expmap(twist_ * t); } + Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } /// Velocity in nav frame at time t - Vector3 velocityAtTime(double t) { + Vector3 velocity(double t) { const Rot3 nRb = rotAtTime(t); return nRb * linearVelocityInBody(); } // acceleration in nav frame - Vector3 accelerationAtTime(double t) const { - const Rot3 nRb = rotAtTime(t); + Vector3 acceleration(double t) const { const Vector3 centripetalAcceleration = angularVelocityInBody().cross(linearVelocityInBody()); + const Rot3 nRb = rotAtTime(t); return nRb * centripetalAcceleration - gravity(); } + // acceleration in body frame frame + Vector3 accelerationInBody(double t) const { + const Vector3 centripetalAcceleration = + angularVelocityInBody().cross(linearVelocityInBody()); + const Rot3 nRb = rotAtTime(t); + return centripetalAcceleration - nRb.transpose() * gravity(); + } + private: Vector6 twist_; double imuSampleTime_; diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index a4176be12..25c3dfdc8 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -29,7 +29,7 @@ TEST(Scenario, Forward) { const double v = 2; // m/s Scenario forward(Vector3::Zero(), Vector3(v, 0, 0)); - const Pose3 T15 = forward.poseAtTime(15); + const Pose3 T15 = forward.pose(15); EXPECT(assert_equal(Vector3(0, 0, 0), T15.rotation().xyz(), 1e-9)); EXPECT(assert_equal(Point3(30, 0, 0), T15.translation(), 1e-9)); } @@ -42,7 +42,7 @@ TEST(Scenario, Circle) { // R = v/omega, so test if circle is of right size const double R = v / omega; - const Pose3 T15 = circle.poseAtTime(15); + const Pose3 T15 = circle.pose(15); EXPECT(assert_equal(Vector3(0, 0, 90 * degree), T15.rotation().xyz(), 1e-9)); EXPECT(assert_equal(Point3(R, R, 0), T15.translation(), 1e-9)); } diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index a00dfe7fa..30d7fbd14 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -48,13 +48,19 @@ class ScenarioRunner { const double deltaT = scenario_.imuSampleTime(); const size_t nrSteps = T / deltaT; double t = 0; + Vector3 v0 = scenario_.velocity(0); + Vector3 v = Vector3::Zero(); + Vector3 p = Vector3::Zero(); for (size_t k = 0; k < nrSteps; k++, t += deltaT) { std::cout << t << ", " << deltaT << ": "; - const Vector3 measuredAcc = scenario_.accelerationAtTime(t); + p += deltaT * v; + v += deltaT * scenario_.acceleration(t); + const Vector3 measuredAcc = scenario_.accelerationInBody(t); result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - // std::cout << result.deltaRij() << std::endl; - std::cout << " a:" << measuredAcc.transpose(); - std::cout << " P:" << result.deltaVij().transpose() << std::endl; + std::cout << " P:" << result.deltaPij().transpose(); + std::cout << " p:" << p.transpose(); + std::cout << " p0:" << (p + v0 * t).transpose(); + std::cout << std::endl; } return result; @@ -65,7 +71,7 @@ class ScenarioRunner { // TODO(frank): allow non-standard const imuBias::ConstantBias zeroBias; const Pose3 pose_i = Pose3::identity(); - const Vector3 vel_i = scenario_.velocityAtTime(0); + const Vector3 vel_i = scenario_.velocity(0); const Vector3 omegaCoriolis = Vector3::Zero(); const bool use2ndOrderCoriolis = true; const PoseVelocityBias prediction = @@ -95,7 +101,7 @@ using namespace gtsam; static const double degree = M_PI / 180.0; -/* ************************************************************************* * +/* ************************************************************************* */ TEST(ScenarioRunner, Forward) { const double v = 2; // m/s Scenario forward(Vector3::Zero(), Vector3(v, 0, 0)); @@ -103,19 +109,19 @@ TEST(ScenarioRunner, Forward) { ScenarioRunner runner(forward); const double T = 1; // seconds ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); - EXPECT(assert_equal(forward.poseAtTime(T), runner.mean(integrated), 1e-9)); + EXPECT(assert_equal(forward.pose(T), runner.mean(integrated), 1e-9)); } /* ************************************************************************* */ TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec const double v = 2, omega = 6 * degree; - Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0), 0.1); + Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0), 0.01); ScenarioRunner runner(circle); const double T = 15; // seconds ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); - EXPECT(assert_equal(circle.poseAtTime(T), runner.mean(integrated), 1e-9)); + EXPECT(assert_equal(circle.pose(T), runner.mean(integrated), 0.1)); } /* ************************************************************************* */ From f1fa66e9c1485e98c45b2e6ce62244c15918cb66 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 22 Dec 2015 11:39:20 -0800 Subject: [PATCH 756/964] Removed debug code --- gtsam/navigation/tests/testScenarioRunner.cpp | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 30d7fbd14..e7502778e 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -48,19 +48,9 @@ class ScenarioRunner { const double deltaT = scenario_.imuSampleTime(); const size_t nrSteps = T / deltaT; double t = 0; - Vector3 v0 = scenario_.velocity(0); - Vector3 v = Vector3::Zero(); - Vector3 p = Vector3::Zero(); for (size_t k = 0; k < nrSteps; k++, t += deltaT) { - std::cout << t << ", " << deltaT << ": "; - p += deltaT * v; - v += deltaT * scenario_.acceleration(t); const Vector3 measuredAcc = scenario_.accelerationInBody(t); result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - std::cout << " P:" << result.deltaPij().transpose(); - std::cout << " p:" << p.transpose(); - std::cout << " p0:" << (p + v0 * t).transpose(); - std::cout << std::endl; } return result; From 40bc3149ad0c2a571122e0d65769ef896e658dc8 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 22 Dec 2015 11:47:37 -0800 Subject: [PATCH 757/964] Added loop --- gtsam/navigation/tests/testScenario.cpp | 24 +++++++++++++++---- gtsam/navigation/tests/testScenarioRunner.cpp | 15 +++++++++++- 2 files changed, 33 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index 25c3dfdc8..ae406f953 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -36,17 +36,31 @@ TEST(Scenario, Forward) { /* ************************************************************************* */ TEST(Scenario, Circle) { - // Forward velocity 2m/s, angular velocity 6 degree/sec - const double v = 2, omega = 6 * degree; - Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0)); + // Forward velocity 2m/s, angular velocity 6 degree/sec around Z + const double v = 2, w = 6 * degree; + Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0)); - // R = v/omega, so test if circle is of right size - const double R = v / omega; + // R = v/w, so test if circle is of right size + const double R = v / w; const Pose3 T15 = circle.pose(15); EXPECT(assert_equal(Vector3(0, 0, 90 * degree), T15.rotation().xyz(), 1e-9)); EXPECT(assert_equal(Point3(R, R, 0), T15.translation(), 1e-9)); } +/* ************************************************************************* */ +TEST(Scenario, Loop) { + // Forward velocity 2m/s + // Pitch up with angular velocity 6 degree/sec (negative in FLU) + const double v = 2, w = 6 * degree; + Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0)); + + // R = v/w, so test if loop crests at 2*R + const double R = v / w; + const Pose3 T30 = loop.pose(30); + EXPECT(assert_equal(Vector3(-M_PI, 0, -M_PI), T30.rotation().xyz(), 1e-9)); + EXPECT(assert_equal(Point3(0, 0, 2 * R), T30.translation(), 1e-9)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index e7502778e..df5ebbfd4 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -106,7 +106,7 @@ TEST(ScenarioRunner, Forward) { TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec const double v = 2, omega = 6 * degree; - Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0), 0.01); + Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0)); ScenarioRunner runner(circle); const double T = 15; // seconds @@ -114,6 +114,19 @@ TEST(ScenarioRunner, Circle) { EXPECT(assert_equal(circle.pose(T), runner.mean(integrated), 0.1)); } +/* ************************************************************************* */ +TEST(ScenarioRunner, Loop) { + // Forward velocity 2m/s + // Pitch up with angular velocity 6 degree/sec (negative in FLU) + const double v = 2, w = 6 * degree; + Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0)); + + ScenarioRunner runner(loop); + const double T = 30; // seconds + ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); + EXPECT(assert_equal(loop.pose(T), runner.mean(integrated), 0.1)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 95745015e03784fb8ad1914cd9428cb7028b9bfd Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 22 Dec 2015 11:49:14 -0800 Subject: [PATCH 758/964] Moved to header file --- gtsam/navigation/ScenarioRunner.h | 79 +++++++++++++++++++ gtsam/navigation/tests/testScenarioRunner.cpp | 71 +---------------- 2 files changed, 81 insertions(+), 69 deletions(-) create mode 100644 gtsam/navigation/ScenarioRunner.h diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h new file mode 100644 index 000000000..45ec74978 --- /dev/null +++ b/gtsam/navigation/ScenarioRunner.h @@ -0,0 +1,79 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file ScenarioRunner.h + * @brief Simple class to test navigation scenarios + * @author Frank Dellaert + */ + +#pragma once +#include +#include + +#include + +namespace gtsam { + +double accNoiseVar = 0.01; +double omegaNoiseVar = 0.03; +double intNoiseVar = 0.0001; +const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; +const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; +const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; + +/// Simple class to test navigation scenarios +class ScenarioRunner { + public: + ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {} + + // Integrate measurements for T seconds + ImuFactor::PreintegratedMeasurements integrate(double T) { + // TODO(frank): allow non-zero + const imuBias::ConstantBias zeroBias; + const bool use2ndOrderCoriolis = true; + + ImuFactor::PreintegratedMeasurements result( + zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, + kIntegrationErrorCovariance, use2ndOrderCoriolis); + + const Vector3 measuredOmega = scenario_.angularVelocityInBody(); + const double deltaT = scenario_.imuSampleTime(); + const size_t nrSteps = T / deltaT; + double t = 0; + for (size_t k = 0; k < nrSteps; k++, t += deltaT) { + const Vector3 measuredAcc = scenario_.accelerationInBody(t); + result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + } + + return result; + } + + // Predict mean + Pose3 mean(const ImuFactor::PreintegratedMeasurements& integrated) { + // TODO(frank): allow non-standard + const imuBias::ConstantBias zeroBias; + const Pose3 pose_i = Pose3::identity(); + const Vector3 vel_i = scenario_.velocity(0); + const Vector3 omegaCoriolis = Vector3::Zero(); + const bool use2ndOrderCoriolis = true; + const PoseVelocityBias prediction = + integrated.predict(pose_i, vel_i, zeroBias, scenario_.gravity(), + omegaCoriolis, use2ndOrderCoriolis); + return prediction.pose; + } + + private: + Scenario scenario_; +}; + +} // namespace gtsam + diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index df5ebbfd4..fc92bc416 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -10,79 +10,12 @@ * -------------------------------------------------------------------------- */ /** - * @file ScenarioRunner.h - * @brief Simple class to test navigation scenarios - * @author Frank Dellaert - */ - -#include -#include - -#include - -namespace gtsam { - -double accNoiseVar = 0.01; -double omegaNoiseVar = 0.03; -double intNoiseVar = 0.0001; -const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; -const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; -const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; - -/// Simple class to test navigation scenarios -class ScenarioRunner { - public: - ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {} - - // Integrate measurements for T seconds - ImuFactor::PreintegratedMeasurements integrate(double T) { - // TODO(frank): allow non-zero - const imuBias::ConstantBias zeroBias; - const bool use2ndOrderCoriolis = true; - - ImuFactor::PreintegratedMeasurements result( - zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, use2ndOrderCoriolis); - - const Vector3 measuredOmega = scenario_.angularVelocityInBody(); - const double deltaT = scenario_.imuSampleTime(); - const size_t nrSteps = T / deltaT; - double t = 0; - for (size_t k = 0; k < nrSteps; k++, t += deltaT) { - const Vector3 measuredAcc = scenario_.accelerationInBody(t); - result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - } - - return result; - } - - // Predict mean - Pose3 mean(const ImuFactor::PreintegratedMeasurements& integrated) { - // TODO(frank): allow non-standard - const imuBias::ConstantBias zeroBias; - const Pose3 pose_i = Pose3::identity(); - const Vector3 vel_i = scenario_.velocity(0); - const Vector3 omegaCoriolis = Vector3::Zero(); - const bool use2ndOrderCoriolis = true; - const PoseVelocityBias prediction = - integrated.predict(pose_i, vel_i, zeroBias, scenario_.gravity(), - omegaCoriolis, use2ndOrderCoriolis); - return prediction.pose; - } - - private: - Scenario scenario_; -}; - -} // namespace gtsam - -/** - * @file testScenario.cpp + * @file testScenarioRunner.cpp * @brief test ImuFacor with ScenarioRunner class * @author Frank Dellaert */ -#include +#include #include #include From 69fa553495a92c5907c127d8800ae6de578da148 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 22 Dec 2015 14:01:16 -0800 Subject: [PATCH 759/964] Monte Carlo analysis --- gtsam/navigation/Scenario.h | 23 ++++- gtsam/navigation/ScenarioRunner.h | 92 +++++++++++++------ gtsam/navigation/tests/testScenarioRunner.cpp | 18 ++-- 3 files changed, 97 insertions(+), 36 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 8872d536d..ce5631e21 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -16,12 +16,13 @@ */ #pragma once +#include #include namespace gtsam { /** - * Simple class with constant twist 3D trajectory. + * Simple IMU simulator with constant twist 3D trajectory. * It is also assumed that gravity is magically counteracted and has no effect * on trajectory. Hence, a simulated IMU yields the actual body angular * velocity, and negative G acceleration plus the acceleration created by the @@ -31,8 +32,12 @@ class Scenario { public: /// Construct scenario with constant twist [w,v] Scenario(const Vector3& w, const Vector3& v, - double imuSampleTime = 1.0 / 100.0) - : twist_((Vector6() << w, v).finished()), imuSampleTime_(imuSampleTime) {} + double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17, + double accSigma = 0.01) + : twist_((Vector6() << w, v).finished()), + imuSampleTime_(imuSampleTime), + gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), + accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)) {} const double& imuSampleTime() const { return imuSampleTime_; } @@ -40,6 +45,17 @@ class Scenario { // also, uses g=10 for easy debugging Vector3 gravity() const { return Vector3(0, 0, -10.0); } + const noiseModel::Diagonal::shared_ptr& gyroNoiseModel() const { + return gyroNoiseModel_; + } + + const noiseModel::Diagonal::shared_ptr& accNoiseModel() const { + return accNoiseModel_; + } + + Matrix3 gyroCovariance() const { return gyroNoiseModel_->covariance(); } + Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } + Vector3 angularVelocityInBody() const { return twist_.head<3>(); } Vector3 linearVelocityInBody() const { return twist_.tail<3>(); } @@ -76,6 +92,7 @@ class Scenario { private: Vector6 twist_; double imuSampleTime_; + noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; }; } // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 45ec74978..67b9d0b0c 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -16,59 +16,100 @@ */ #pragma once +#include #include #include -#include +#include namespace gtsam { -double accNoiseVar = 0.01; -double omegaNoiseVar = 0.03; -double intNoiseVar = 0.0001; -const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; -const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; -const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; +static double intNoiseVar = 0.0001; +static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; /// Simple class to test navigation scenarios class ScenarioRunner { public: ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {} - // Integrate measurements for T seconds - ImuFactor::PreintegratedMeasurements integrate(double T) { + /// Integrate measurements for T seconds into a PIM + ImuFactor::PreintegratedMeasurements integrate( + double T, boost::optional gyroSampler = boost::none, + boost::optional accSampler = boost::none) { // TODO(frank): allow non-zero const imuBias::ConstantBias zeroBias; const bool use2ndOrderCoriolis = true; - ImuFactor::PreintegratedMeasurements result( - zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance, + ImuFactor::PreintegratedMeasurements pim( + zeroBias, scenario_.accCovariance(), scenario_.gyroCovariance(), kIntegrationErrorCovariance, use2ndOrderCoriolis); - const Vector3 measuredOmega = scenario_.angularVelocityInBody(); - const double deltaT = scenario_.imuSampleTime(); - const size_t nrSteps = T / deltaT; + const double dt = scenario_.imuSampleTime(); + const double sqrt_dt = std::sqrt(dt); + const size_t nrSteps = T / dt; double t = 0; - for (size_t k = 0; k < nrSteps; k++, t += deltaT) { - const Vector3 measuredAcc = scenario_.accelerationInBody(t); - result.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + for (size_t k = 0; k < nrSteps; k++, t += dt) { + Vector3 measuredOmega = scenario_.angularVelocityInBody(); + if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; + Vector3 measuredAcc = scenario_.accelerationInBody(t); + if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; + pim.integrateMeasurement(measuredAcc, measuredOmega, dt); } - return result; + return pim; } - // Predict mean - Pose3 mean(const ImuFactor::PreintegratedMeasurements& integrated) { - // TODO(frank): allow non-standard + /// Predict predict given a PIM + PoseVelocityBias predict(const ImuFactor::PreintegratedMeasurements& pim) { + // TODO(frank): allow non-zero bias, omegaCoriolis const imuBias::ConstantBias zeroBias; const Pose3 pose_i = Pose3::identity(); const Vector3 vel_i = scenario_.velocity(0); const Vector3 omegaCoriolis = Vector3::Zero(); const bool use2ndOrderCoriolis = true; - const PoseVelocityBias prediction = - integrated.predict(pose_i, vel_i, zeroBias, scenario_.gravity(), - omegaCoriolis, use2ndOrderCoriolis); - return prediction.pose; + return pim.predict(pose_i, vel_i, zeroBias, scenario_.gravity(), + omegaCoriolis, use2ndOrderCoriolis); + } + + /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately + Matrix6 poseCovariance(const ImuFactor::PreintegratedMeasurements& pim) { + Matrix9 cov = pim.preintMeasCov(); // _ position rotation + Matrix6 poseCov; + poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 3), // + cov.block<3, 3>(3, 6), cov.block<3, 3>(3, 3); + return poseCov; + } + + /// Compute a Monte Carlo estimate of the PIM pose covariance using N samples + Matrix6 estimatePoseCovariance(double T, size_t N = 1000) { + // Get predict prediction from ground truth measurements + Pose3 prediction = predict(integrate(T)).pose; + + // Create two samplers for acceleration and omega noise + Sampler gyroSampler(scenario_.gyroNoiseModel(), 29285); + Sampler accSampler(scenario_.accNoiseModel(), 29284); + + // Sample ! + Matrix samples(9, N); + Vector6 sum = Vector6::Zero(); + for (size_t i = 0; i < N; i++) { + Pose3 sampled = predict(integrate(T, gyroSampler, accSampler)).pose; + Vector6 xi = sampled.localCoordinates(prediction); + samples.col(i) = xi; + sum += xi; + } + + // Compute MC covariance + Vector6 sampleMean = sum / N; + Matrix6 Q; + Q.setZero(); + for (size_t i = 0; i < N; i++) { + Vector6 xi = samples.col(i); + xi -= sampleMean; + Q += xi * (xi.transpose() / (N - 1)); + } + + return Q; } private: @@ -76,4 +117,3 @@ class ScenarioRunner { }; } // namespace gtsam - diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index fc92bc416..c38b9a20a 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -27,12 +27,15 @@ static const double degree = M_PI / 180.0; /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { const double v = 2; // m/s - Scenario forward(Vector3::Zero(), Vector3(v, 0, 0)); + Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), 1e-2, 0.1, 0.00001); ScenarioRunner runner(forward); const double T = 1; // seconds - ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); - EXPECT(assert_equal(forward.pose(T), runner.mean(integrated), 1e-9)); + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(forward.pose(T), runner.predict(pim).pose, 1e-9)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-9)); } /* ************************************************************************* */ @@ -43,8 +46,9 @@ TEST(ScenarioRunner, Circle) { ScenarioRunner runner(circle); const double T = 15; // seconds - ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); - EXPECT(assert_equal(circle.pose(T), runner.mean(integrated), 0.1)); + + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(circle.pose(T), runner.predict(pim).pose, 0.1)); } /* ************************************************************************* */ @@ -56,8 +60,8 @@ TEST(ScenarioRunner, Loop) { ScenarioRunner runner(loop); const double T = 30; // seconds - ImuFactor::PreintegratedMeasurements integrated = runner.integrate(T); - EXPECT(assert_equal(loop.pose(T), runner.mean(integrated), 0.1)); + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(loop.pose(T), runner.predict(pim).pose, 0.1)); } /* ************************************************************************* */ From 75385d009bd32b1c12a0ddac3427dbd25c8a16bb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 18:45:38 -0800 Subject: [PATCH 760/964] Small improvements --- gtsam/navigation/ScenarioRunner.h | 20 +++++++++---------- gtsam/navigation/tests/testScenarioRunner.cpp | 8 +++++--- 2 files changed, 15 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 67b9d0b0c..9cd5c0d41 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -24,7 +24,7 @@ namespace gtsam { -static double intNoiseVar = 0.0001; +static double intNoiseVar = 0.0000001; static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; /// Simple class to test navigation scenarios @@ -33,16 +33,16 @@ class ScenarioRunner { ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {} /// Integrate measurements for T seconds into a PIM - ImuFactor::PreintegratedMeasurements integrate( - double T, boost::optional gyroSampler = boost::none, - boost::optional accSampler = boost::none) { + ImuFactor::PreintegratedMeasurements integrate(double T, + Sampler* gyroSampler = 0, + Sampler* accSampler = 0) { // TODO(frank): allow non-zero const imuBias::ConstantBias zeroBias; - const bool use2ndOrderCoriolis = true; + const bool use2ndOrderIntegration = true; ImuFactor::PreintegratedMeasurements pim( zeroBias, scenario_.accCovariance(), scenario_.gyroCovariance(), - kIntegrationErrorCovariance, use2ndOrderCoriolis); + kIntegrationErrorCovariance, use2ndOrderIntegration); const double dt = scenario_.imuSampleTime(); const double sqrt_dt = std::sqrt(dt); @@ -86,14 +86,14 @@ class ScenarioRunner { Pose3 prediction = predict(integrate(T)).pose; // Create two samplers for acceleration and omega noise - Sampler gyroSampler(scenario_.gyroNoiseModel(), 29285); + Sampler gyroSampler(scenario_.gyroNoiseModel(), 10); Sampler accSampler(scenario_.accNoiseModel(), 29284); // Sample ! Matrix samples(9, N); Vector6 sum = Vector6::Zero(); for (size_t i = 0; i < N; i++) { - Pose3 sampled = predict(integrate(T, gyroSampler, accSampler)).pose; + Pose3 sampled = predict(integrate(T, &gyroSampler, &accSampler)).pose; Vector6 xi = sampled.localCoordinates(prediction); samples.col(i) = xi; sum += xi; @@ -106,10 +106,10 @@ class ScenarioRunner { for (size_t i = 0; i < N; i++) { Vector6 xi = samples.col(i); xi -= sampleMean; - Q += xi * (xi.transpose() / (N - 1)); + Q += xi * xi.transpose(); } - return Q; + return Q / (N - 1); } private: diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index c38b9a20a..517e488dd 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -27,10 +27,11 @@ static const double degree = M_PI / 180.0; /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { const double v = 2; // m/s - Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), 1e-2, 0.1, 0.00001); + Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), 1e-2, 0.000001, 1); ScenarioRunner runner(forward); const double T = 1; // seconds + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(forward.pose(T), runner.predict(pim).pose, 1e-9)); @@ -41,8 +42,8 @@ TEST(ScenarioRunner, Forward) { /* ************************************************************************* */ TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec - const double v = 2, omega = 6 * degree; - Scenario circle(Vector3(0, 0, omega), Vector3(v, 0, 0)); + const double v = 2, w = 6 * degree; + Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0)); ScenarioRunner runner(circle); const double T = 15; // seconds @@ -60,6 +61,7 @@ TEST(ScenarioRunner, Loop) { ScenarioRunner runner(loop); const double T = 30; // seconds + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(loop.pose(T), runner.predict(pim).pose, 0.1)); } From 320823303cbcb8fa8e542820240d195bcb1b72e0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 19:00:09 -0800 Subject: [PATCH 761/964] const correctness --- gtsam/navigation/Scenario.h | 2 +- gtsam/navigation/ScenarioRunner.h | 13 +++++++------ 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index ce5631e21..2fae5bf74 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -68,7 +68,7 @@ class Scenario { Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } /// Velocity in nav frame at time t - Vector3 velocity(double t) { + Vector3 velocity(double t) const { const Rot3 nRb = rotAtTime(t); return nRb * linearVelocityInBody(); } diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 9cd5c0d41..fa07b290f 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -33,9 +33,8 @@ class ScenarioRunner { ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {} /// Integrate measurements for T seconds into a PIM - ImuFactor::PreintegratedMeasurements integrate(double T, - Sampler* gyroSampler = 0, - Sampler* accSampler = 0) { + ImuFactor::PreintegratedMeasurements integrate( + double T, Sampler* gyroSampler = 0, Sampler* accSampler = 0) const { // TODO(frank): allow non-zero const imuBias::ConstantBias zeroBias; const bool use2ndOrderIntegration = true; @@ -60,7 +59,8 @@ class ScenarioRunner { } /// Predict predict given a PIM - PoseVelocityBias predict(const ImuFactor::PreintegratedMeasurements& pim) { + PoseVelocityBias predict( + const ImuFactor::PreintegratedMeasurements& pim) const { // TODO(frank): allow non-zero bias, omegaCoriolis const imuBias::ConstantBias zeroBias; const Pose3 pose_i = Pose3::identity(); @@ -72,7 +72,8 @@ class ScenarioRunner { } /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately - Matrix6 poseCovariance(const ImuFactor::PreintegratedMeasurements& pim) { + Matrix6 poseCovariance( + const ImuFactor::PreintegratedMeasurements& pim) const { Matrix9 cov = pim.preintMeasCov(); // _ position rotation Matrix6 poseCov; poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 3), // @@ -81,7 +82,7 @@ class ScenarioRunner { } /// Compute a Monte Carlo estimate of the PIM pose covariance using N samples - Matrix6 estimatePoseCovariance(double T, size_t N = 1000) { + Matrix6 estimatePoseCovariance(double T, size_t N = 1000) const { // Get predict prediction from ground truth measurements Pose3 prediction = predict(integrate(T)).pose; From 380d0dc989564c595308e05b887aa1e7f780a5dc Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 19:08:46 -0800 Subject: [PATCH 762/964] const correctness --- gtsam/navigation/PreintegrationBase.cpp | 2 +- gtsam/navigation/PreintegrationBase.h | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index bb01971e6..b550af134 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -297,7 +297,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, - const bool use2ndOrderCoriolis) { + const bool use2ndOrderCoriolis) const { // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility boost::shared_ptr q = boost::make_shared(p()); q->n_gravity = n_gravity; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 07225dd9a..26b8aca2a 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -109,8 +109,8 @@ protected: */ NavState deltaXij_; - /// Parameters - boost::shared_ptr p_; + /// Parameters. Declared mutable only for deprecated predict method. + mutable boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; @@ -239,7 +239,7 @@ public: /// @deprecated predict PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, - const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); + const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const; private: /** Serialization function */ From 9b559b362009e9a99c0cba42922cd7463b19aa3d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 19:09:05 -0800 Subject: [PATCH 763/964] Pick out correct blocks --- gtsam/navigation/ScenarioRunner.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index fa07b290f..4e15e00a1 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -74,10 +74,10 @@ class ScenarioRunner { /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately Matrix6 poseCovariance( const ImuFactor::PreintegratedMeasurements& pim) const { - Matrix9 cov = pim.preintMeasCov(); // _ position rotation + Matrix9 cov = pim.preintMeasCov(); Matrix6 poseCov; - poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 3), // - cov.block<3, 3>(3, 6), cov.block<3, 3>(3, 3); + poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3), // + cov.block<3, 3>(3, 0), cov.block<3, 3>(3, 3); return poseCov; } From bcdfea37d9d06ddfba2f66d820cf2e444cc43aac Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 19:28:49 -0800 Subject: [PATCH 764/964] pick out correct blocks --- gtsam/navigation/ScenarioRunner.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index fa07b290f..310d96d6f 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -74,10 +74,10 @@ class ScenarioRunner { /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately Matrix6 poseCovariance( const ImuFactor::PreintegratedMeasurements& pim) const { - Matrix9 cov = pim.preintMeasCov(); // _ position rotation + Matrix9 cov = pim.preintMeasCov(); Matrix6 poseCov; - poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 3), // - cov.block<3, 3>(3, 6), cov.block<3, 3>(3, 3); + poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 0), // + cov.block<3, 3>(0, 6), cov.block<3, 3>(0, 0); return poseCov; } From 4129c9651a1526ee6568f16dd02740fe36fcc2af Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 19:29:27 -0800 Subject: [PATCH 765/964] Set up tests that pass --- gtsam/navigation/tests/testScenarioRunner.cpp | 36 ++++++++++++------- 1 file changed, 24 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 517e488dd..42bffa1a5 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -22,48 +22,60 @@ using namespace std; using namespace gtsam; -static const double degree = M_PI / 180.0; +static const double kDegree = M_PI / 180.0; +static const double kDeltaT = 1e-2; +static const double kGyroSigma = 0.02; +static const double kAccelerometerSigma = 0.1; /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { const double v = 2; // m/s - Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), 1e-2, 0.000001, 1); + Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), kDeltaT, kGyroSigma, + kAccelerometerSigma); ScenarioRunner runner(forward); - const double T = 1; // seconds + const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(forward.pose(T), runner.predict(pim).pose, 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-9)); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } /* ************************************************************************* */ TEST(ScenarioRunner, Circle) { - // Forward velocity 2m/s, angular velocity 6 degree/sec - const double v = 2, w = 6 * degree; - Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0)); + // Forward velocity 2m/s, angular velocity 6 kDegree/sec + const double v = 2, w = 6 * kDegree; + Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0), kDeltaT, kGyroSigma, + kAccelerometerSigma); ScenarioRunner runner(circle); - const double T = 15; // seconds + const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(circle.pose(T), runner.predict(pim).pose, 0.1)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } /* ************************************************************************* */ TEST(ScenarioRunner, Loop) { // Forward velocity 2m/s - // Pitch up with angular velocity 6 degree/sec (negative in FLU) - const double v = 2, w = 6 * degree; - Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0)); + // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) + const double v = 2, w = 6 * kDegree; + Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0), kDeltaT, kGyroSigma, + kAccelerometerSigma); ScenarioRunner runner(loop); - const double T = 30; // seconds + const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(loop.pose(T), runner.predict(pim).pose, 0.1)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } /* ************************************************************************* */ From dfdac8c4ca6fb37379c92d1b2e8da9dd758ce349 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 Dec 2015 19:30:48 -0800 Subject: [PATCH 766/964] Set up tests that pass --- gtsam/navigation/tests/testScenarioRunner.cpp | 36 ++++++++++++------- 1 file changed, 24 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 517e488dd..42bffa1a5 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -22,48 +22,60 @@ using namespace std; using namespace gtsam; -static const double degree = M_PI / 180.0; +static const double kDegree = M_PI / 180.0; +static const double kDeltaT = 1e-2; +static const double kGyroSigma = 0.02; +static const double kAccelerometerSigma = 0.1; /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { const double v = 2; // m/s - Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), 1e-2, 0.000001, 1); + Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), kDeltaT, kGyroSigma, + kAccelerometerSigma); ScenarioRunner runner(forward); - const double T = 1; // seconds + const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(forward.pose(T), runner.predict(pim).pose, 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-9)); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } /* ************************************************************************* */ TEST(ScenarioRunner, Circle) { - // Forward velocity 2m/s, angular velocity 6 degree/sec - const double v = 2, w = 6 * degree; - Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0)); + // Forward velocity 2m/s, angular velocity 6 kDegree/sec + const double v = 2, w = 6 * kDegree; + Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0), kDeltaT, kGyroSigma, + kAccelerometerSigma); ScenarioRunner runner(circle); - const double T = 15; // seconds + const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(circle.pose(T), runner.predict(pim).pose, 0.1)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } /* ************************************************************************* */ TEST(ScenarioRunner, Loop) { // Forward velocity 2m/s - // Pitch up with angular velocity 6 degree/sec (negative in FLU) - const double v = 2, w = 6 * degree; - Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0)); + // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) + const double v = 2, w = 6 * kDegree; + Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0), kDeltaT, kGyroSigma, + kAccelerometerSigma); ScenarioRunner runner(loop); - const double T = 30; // seconds + const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(loop.pose(T), runner.predict(pim).pose, 0.1)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } /* ************************************************************************* */ From 21ed3ec44154f07c829ff2becb8a1f6a5bc1c7c6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 08:59:53 -0800 Subject: [PATCH 767/964] Set up acceleration test --- gtsam/navigation/tests/testImuFactor.cpp | 38 ++++++++++++++---------- 1 file changed, 23 insertions(+), 15 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 92cb92e70..6d9c9cf5e 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include @@ -165,17 +166,30 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { - // Set up IMU measurements - static const double g = 10; // make gravity 10 to make this easy to check - static const double v = 50.0, a = 0.2, dt = 3.0; - const double dt22 = dt * dt / 2; - // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X // The body itself has Z axis pointing down - static const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); - static const Point3 initial_position(10, 20, 0); - static const Vector3 initial_velocity(v, 0, 0); - static const NavState state1(nRb, initial_position, initial_velocity); + const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); + const Point3 initial_position(10, 20, 0); + const Vector3 initial_velocity(50, 0, 0); + const NavState state1(nRb, initial_position, initial_velocity); + + const double a = 0.2, dt = 3.0; + AcceleratingScenario scenario(nRb, inititial_position, initial_velocity, + Vector3(a, 0, 0), dt / 10, sqrt(omegaNoiseVar), + sqrt(accNoiseVar)); + + ScenarioRunner runner(scenario); + const double T = 3; // seconds + + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + + // Set up IMU measurements + const double g = 10; // make gravity 10 to make this easy to check + const double dt22 = dt * dt / 2; // set up acceleration in X direction, no angular velocity. // Since body Z-axis is pointing down, accelerometer measures table exerting force in negative Z @@ -188,12 +202,6 @@ TEST(ImuFactor, StraightLine) { p->gyroscopeCovariance = kMeasuredOmegaCovariance; // Check G1 and G2 derivatives of pim.update - - // Now, preintegrate for 3 seconds, in 10 steps - PreintegratedImuMeasurements pim(p, kZeroBiasHat); - for (size_t i = 0; i < 10; i++) - pim.integrateMeasurement(measuredAcc, measuredOmega, dt / 10); - Matrix93 aG1,aG2; boost::function f = boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, dt/10, From dfe3f3a34804fdbd7dc56146ccba47609d320d75 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 09:21:54 -0800 Subject: [PATCH 768/964] Split off Scenario abstract base class --- gtsam/navigation/Scenario.h | 67 +++++++++++-------- gtsam/navigation/ScenarioRunner.h | 20 +++--- gtsam/navigation/tests/testScenario.cpp | 6 +- gtsam/navigation/tests/testScenarioRunner.cpp | 24 +++---- 4 files changed, 65 insertions(+), 52 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 2fae5bf74..58d6057b3 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -22,7 +22,7 @@ namespace gtsam { /** - * Simple IMU simulator with constant twist 3D trajectory. + * Simple IMU simulator. * It is also assumed that gravity is magically counteracted and has no effect * on trajectory. Hence, a simulated IMU yields the actual body angular * velocity, and negative G acceleration plus the acceleration created by the @@ -31,11 +31,9 @@ namespace gtsam { class Scenario { public: /// Construct scenario with constant twist [w,v] - Scenario(const Vector3& w, const Vector3& v, - double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17, + Scenario(double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17, double accSigma = 0.01) - : twist_((Vector6() << w, v).finished()), - imuSampleTime_(imuSampleTime), + : imuSampleTime_(imuSampleTime), gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)) {} @@ -56,43 +54,58 @@ class Scenario { Matrix3 gyroCovariance() const { return gyroNoiseModel_->covariance(); } Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } - Vector3 angularVelocityInBody() const { return twist_.head<3>(); } - Vector3 linearVelocityInBody() const { return twist_.tail<3>(); } + /// Pose of body in nav frame at time t + virtual Pose3 pose(double t) const = 0; /// Rotation of body in nav frame at time t - Rot3 rotAtTime(double t) const { - return Rot3::Expmap(angularVelocityInBody() * t); - } + virtual Rot3 rotation(double t) const { return pose(t).rotation(); } - /// Pose of body in nav frame at time t - Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } + virtual Vector3 angularVelocityInBody(double t) const = 0; + virtual Vector3 linearVelocityInBody(double t) const = 0; + virtual Vector3 accelerationInBody(double t) const = 0; /// Velocity in nav frame at time t Vector3 velocity(double t) const { - const Rot3 nRb = rotAtTime(t); - return nRb * linearVelocityInBody(); + return rotation(t) * linearVelocityInBody(t); } // acceleration in nav frame + // TODO(frank): correct for rotating frames? Vector3 acceleration(double t) const { - const Vector3 centripetalAcceleration = - angularVelocityInBody().cross(linearVelocityInBody()); - const Rot3 nRb = rotAtTime(t); - return nRb * centripetalAcceleration - gravity(); - } - - // acceleration in body frame frame - Vector3 accelerationInBody(double t) const { - const Vector3 centripetalAcceleration = - angularVelocityInBody().cross(linearVelocityInBody()); - const Rot3 nRb = rotAtTime(t); - return centripetalAcceleration - nRb.transpose() * gravity(); + return rotation(t) * accelerationInBody(t); } private: - Vector6 twist_; double imuSampleTime_; noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; }; +/** + * Simple IMU simulator with constant twist 3D trajectory. + */ +class ExpmapScenario : public Scenario { + public: + /// Construct scenario with constant twist [w,v] + ExpmapScenario(const Vector3& w, const Vector3& v, + double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17, + double accSigma = 0.01) + : Scenario(imuSampleTime, gyroSigma, accSigma), + twist_((Vector6() << w, v).finished()), + centripetalAcceleration_(twist_.head<3>().cross(twist_.tail<3>())) {} + + Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } + + Vector3 angularVelocityInBody(double t) const { return twist_.head<3>(); } + Vector3 linearVelocityInBody(double t) const { return twist_.tail<3>(); } + + Vector3 accelerationInBody(double t) const { + const Rot3 nRb = rotation(t); + return centripetalAcceleration_ - nRb.transpose() * gravity(); + } + + private: + const Vector6 twist_; + const Vector3 centripetalAcceleration_; +}; + } // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 310d96d6f..048692a37 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -30,7 +30,7 @@ static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; /// Simple class to test navigation scenarios class ScenarioRunner { public: - ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {} + ScenarioRunner(const Scenario* scenario) : scenario_(scenario) {} /// Integrate measurements for T seconds into a PIM ImuFactor::PreintegratedMeasurements integrate( @@ -40,17 +40,17 @@ class ScenarioRunner { const bool use2ndOrderIntegration = true; ImuFactor::PreintegratedMeasurements pim( - zeroBias, scenario_.accCovariance(), scenario_.gyroCovariance(), + zeroBias, scenario_->accCovariance(), scenario_->gyroCovariance(), kIntegrationErrorCovariance, use2ndOrderIntegration); - const double dt = scenario_.imuSampleTime(); + const double dt = scenario_->imuSampleTime(); const double sqrt_dt = std::sqrt(dt); const size_t nrSteps = T / dt; double t = 0; for (size_t k = 0; k < nrSteps; k++, t += dt) { - Vector3 measuredOmega = scenario_.angularVelocityInBody(); + Vector3 measuredOmega = scenario_->angularVelocityInBody(t); if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; - Vector3 measuredAcc = scenario_.accelerationInBody(t); + Vector3 measuredAcc = scenario_->accelerationInBody(t); if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; pim.integrateMeasurement(measuredAcc, measuredOmega, dt); } @@ -64,10 +64,10 @@ class ScenarioRunner { // TODO(frank): allow non-zero bias, omegaCoriolis const imuBias::ConstantBias zeroBias; const Pose3 pose_i = Pose3::identity(); - const Vector3 vel_i = scenario_.velocity(0); + const Vector3 vel_i = scenario_->velocity(0); const Vector3 omegaCoriolis = Vector3::Zero(); const bool use2ndOrderCoriolis = true; - return pim.predict(pose_i, vel_i, zeroBias, scenario_.gravity(), + return pim.predict(pose_i, vel_i, zeroBias, scenario_->gravity(), omegaCoriolis, use2ndOrderCoriolis); } @@ -87,8 +87,8 @@ class ScenarioRunner { Pose3 prediction = predict(integrate(T)).pose; // Create two samplers for acceleration and omega noise - Sampler gyroSampler(scenario_.gyroNoiseModel(), 10); - Sampler accSampler(scenario_.accNoiseModel(), 29284); + Sampler gyroSampler(scenario_->gyroNoiseModel(), 10); + Sampler accSampler(scenario_->accNoiseModel(), 29284); // Sample ! Matrix samples(9, N); @@ -114,7 +114,7 @@ class ScenarioRunner { } private: - Scenario scenario_; + const Scenario* scenario_; }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index ae406f953..ffac96902 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -27,7 +27,7 @@ static const double degree = M_PI / 180.0; /* ************************************************************************* */ TEST(Scenario, Forward) { const double v = 2; // m/s - Scenario forward(Vector3::Zero(), Vector3(v, 0, 0)); + ExpmapScenario forward(Vector3::Zero(), Vector3(v, 0, 0)); const Pose3 T15 = forward.pose(15); EXPECT(assert_equal(Vector3(0, 0, 0), T15.rotation().xyz(), 1e-9)); @@ -38,7 +38,7 @@ TEST(Scenario, Forward) { TEST(Scenario, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec around Z const double v = 2, w = 6 * degree; - Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0)); + ExpmapScenario circle(Vector3(0, 0, w), Vector3(v, 0, 0)); // R = v/w, so test if circle is of right size const double R = v / w; @@ -52,7 +52,7 @@ TEST(Scenario, Loop) { // Forward velocity 2m/s // Pitch up with angular velocity 6 degree/sec (negative in FLU) const double v = 2, w = 6 * degree; - Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0)); + ExpmapScenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0)); // R = v/w, so test if loop crests at 2*R const double R = v / w; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 42bffa1a5..3a6b63b92 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -30,14 +30,14 @@ static const double kAccelerometerSigma = 0.1; /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { const double v = 2; // m/s - Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), kDeltaT, kGyroSigma, - kAccelerometerSigma); + ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0), kDeltaT, + kGyroSigma, kAccelerometerSigma); - ScenarioRunner runner(forward); + ScenarioRunner runner(&scenario); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(forward.pose(T), runner.predict(pim).pose, 1e-9)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); @@ -47,14 +47,14 @@ TEST(ScenarioRunner, Forward) { TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 kDegree/sec const double v = 2, w = 6 * kDegree; - Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0), kDeltaT, kGyroSigma, - kAccelerometerSigma); + ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0), kDeltaT, + kGyroSigma, kAccelerometerSigma); - ScenarioRunner runner(circle); + ScenarioRunner runner(&scenario); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(circle.pose(T), runner.predict(pim).pose, 0.1)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); @@ -65,14 +65,14 @@ TEST(ScenarioRunner, Loop) { // Forward velocity 2m/s // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) const double v = 2, w = 6 * kDegree; - Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0), kDeltaT, kGyroSigma, - kAccelerometerSigma); + ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0), kDeltaT, + kGyroSigma, kAccelerometerSigma); - ScenarioRunner runner(loop); + ScenarioRunner runner(&scenario); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(loop.pose(T), runner.predict(pim).pose, 0.1)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); From 00b83ced7aabd41cfe895fdc046792d356f20a8a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 11:15:42 -0800 Subject: [PATCH 769/964] AcceleratingScenario + some refactoring (v and a specified in nav frame) --- gtsam/navigation/Scenario.h | 71 ++++++++++++------- gtsam/navigation/ScenarioRunner.h | 6 +- gtsam/navigation/tests/testScenario.cpp | 53 ++++++++++++-- gtsam/navigation/tests/testScenarioRunner.cpp | 24 +++++++ 4 files changed, 118 insertions(+), 36 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 58d6057b3..69b5dfa00 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -54,25 +54,25 @@ class Scenario { Matrix3 gyroCovariance() const { return gyroNoiseModel_->covariance(); } Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } - /// Pose of body in nav frame at time t - virtual Pose3 pose(double t) const = 0; + // Quantities a Scenario needs to specify: + + virtual Pose3 pose(double t) const = 0; + virtual Vector3 omega_b(double t) const = 0; + virtual Vector3 velocity_n(double t) const = 0; + virtual Vector3 acceleration_n(double t) const = 0; + + // Derived quantities: - /// Rotation of body in nav frame at time t virtual Rot3 rotation(double t) const { return pose(t).rotation(); } - virtual Vector3 angularVelocityInBody(double t) const = 0; - virtual Vector3 linearVelocityInBody(double t) const = 0; - virtual Vector3 accelerationInBody(double t) const = 0; - - /// Velocity in nav frame at time t - Vector3 velocity(double t) const { - return rotation(t) * linearVelocityInBody(t); + Vector3 velocity_b(double t) const { + const Rot3 nRb = rotation(t); + return nRb.transpose() * velocity_n(t); } - // acceleration in nav frame - // TODO(frank): correct for rotating frames? - Vector3 acceleration(double t) const { - return rotation(t) * accelerationInBody(t); + Vector3 acceleration_b(double t) const { + const Rot3 nRb = rotation(t); + return nRb.transpose() * acceleration_n(t); } private: @@ -80,9 +80,7 @@ class Scenario { noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; }; -/** - * Simple IMU simulator with constant twist 3D trajectory. - */ +/// Scenario with constant twist 3D trajectory. class ExpmapScenario : public Scenario { public: /// Construct scenario with constant twist [w,v] @@ -91,21 +89,40 @@ class ExpmapScenario : public Scenario { double accSigma = 0.01) : Scenario(imuSampleTime, gyroSigma, accSigma), twist_((Vector6() << w, v).finished()), - centripetalAcceleration_(twist_.head<3>().cross(twist_.tail<3>())) {} + a_b_(twist_.head<3>().cross(twist_.tail<3>())) {} Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } - - Vector3 angularVelocityInBody(double t) const { return twist_.head<3>(); } - Vector3 linearVelocityInBody(double t) const { return twist_.tail<3>(); } - - Vector3 accelerationInBody(double t) const { - const Rot3 nRb = rotation(t); - return centripetalAcceleration_ - nRb.transpose() * gravity(); - } + Vector3 omega_b(double t) const { return twist_.head<3>(); } + Vector3 velocity_n(double t) const { return rotation(t) * twist_.tail<3>(); } + Vector3 acceleration_n(double t) const { return rotation(t) * a_b_; } private: const Vector6 twist_; - const Vector3 centripetalAcceleration_; + const Vector3 a_b_; // constant centripetal acceleration in body = w_b * v_b +}; + +/// Accelerating from an arbitrary initial state +class AcceleratingScenario : public Scenario { + public: + /// Construct scenario with constant twist [w,v] + AcceleratingScenario(const Rot3& nRb, const Point3& p0, const Vector3& v0, + const Vector3& accelerationInBody, + double imuSampleTime = 1.0 / 100.0, + double gyroSigma = 0.17, double accSigma = 0.01) + : Scenario(imuSampleTime, gyroSigma, accSigma), + nRb_(nRb), + p0_(p0.vector()), + v0_(v0), + a_n_(nRb_ * accelerationInBody) {} + + Pose3 pose(double t) const { return Pose3(nRb_, p0_ + a_n_ * t * t / 2.0); } + Vector3 omega_b(double t) const { return Vector3::Zero(); } + Vector3 velocity_n(double t) const { return v0_ + a_n_ * t; } + Vector3 acceleration_n(double t) const { return a_n_; } + + private: + const Rot3 nRb_; + const Vector3 p0_, v0_, a_n_; }; } // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 048692a37..40f5f8585 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -48,9 +48,9 @@ class ScenarioRunner { const size_t nrSteps = T / dt; double t = 0; for (size_t k = 0; k < nrSteps; k++, t += dt) { - Vector3 measuredOmega = scenario_->angularVelocityInBody(t); + Vector3 measuredOmega = scenario_->omega_b(t); if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; - Vector3 measuredAcc = scenario_->accelerationInBody(t); + Vector3 measuredAcc = scenario_->acceleration_b(t); if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; pim.integrateMeasurement(measuredAcc, measuredOmega, dt); } @@ -64,7 +64,7 @@ class ScenarioRunner { // TODO(frank): allow non-zero bias, omegaCoriolis const imuBias::ConstantBias zeroBias; const Pose3 pose_i = Pose3::identity(); - const Vector3 vel_i = scenario_->velocity(0); + const Vector3 vel_i = scenario_->velocity_n(0); const Vector3 omegaCoriolis = Vector3::Zero(); const bool use2ndOrderCoriolis = true; return pim.predict(pose_i, vel_i, zeroBias, scenario_->gravity(), diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index ffac96902..b975440c7 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -27,9 +27,15 @@ static const double degree = M_PI / 180.0; /* ************************************************************************* */ TEST(Scenario, Forward) { const double v = 2; // m/s - ExpmapScenario forward(Vector3::Zero(), Vector3(v, 0, 0)); + const Vector3 W(0, 0, 0), V(v, 0, 0); + const ExpmapScenario scenario(W, V); - const Pose3 T15 = forward.pose(15); + const double T = 15; + EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); + EXPECT(assert_equal(V, scenario.velocity_b(T), 1e-9)); + EXPECT(assert_equal(W.cross(V), scenario.acceleration_b(T), 1e-9)); + + const Pose3 T15 = scenario.pose(T); EXPECT(assert_equal(Vector3(0, 0, 0), T15.rotation().xyz(), 1e-9)); EXPECT(assert_equal(Point3(30, 0, 0), T15.translation(), 1e-9)); } @@ -38,11 +44,17 @@ TEST(Scenario, Forward) { TEST(Scenario, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec around Z const double v = 2, w = 6 * degree; - ExpmapScenario circle(Vector3(0, 0, w), Vector3(v, 0, 0)); + const Vector3 W(0, 0, w), V(v, 0, 0); + const ExpmapScenario scenario(W, V); + + const double T = 15; + EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); + EXPECT(assert_equal(V, scenario.velocity_b(T), 1e-9)); + EXPECT(assert_equal(W.cross(V), scenario.acceleration_b(T), 1e-9)); // R = v/w, so test if circle is of right size const double R = v / w; - const Pose3 T15 = circle.pose(15); + const Pose3 T15 = scenario.pose(T); EXPECT(assert_equal(Vector3(0, 0, 90 * degree), T15.rotation().xyz(), 1e-9)); EXPECT(assert_equal(Point3(R, R, 0), T15.translation(), 1e-9)); } @@ -52,15 +64,44 @@ TEST(Scenario, Loop) { // Forward velocity 2m/s // Pitch up with angular velocity 6 degree/sec (negative in FLU) const double v = 2, w = 6 * degree; - ExpmapScenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0)); + const Vector3 W(0, -w, 0), V(v, 0, 0); + const ExpmapScenario scenario(W, V); + + const double T = 30; + EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); + EXPECT(assert_equal(V, scenario.velocity_b(T), 1e-9)); + EXPECT(assert_equal(W.cross(V), scenario.acceleration_b(T), 1e-9)); // R = v/w, so test if loop crests at 2*R const double R = v / w; - const Pose3 T30 = loop.pose(30); + const Pose3 T30 = scenario.pose(30); EXPECT(assert_equal(Vector3(-M_PI, 0, -M_PI), T30.rotation().xyz(), 1e-9)); EXPECT(assert_equal(Point3(0, 0, 2 * R), T30.translation(), 1e-9)); } +/* ************************************************************************* */ +TEST(Scenario, Accelerating) { + // Set up body pointing towards y axis, and start at 10,20,0 with velocity + // going in X. The body itself has Z axis pointing down + const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); + const Point3 P0(10, 20, 0); + const Vector3 V0(50, 0, 0); + + const double a_b = 0.2; // m/s^2 + const AcceleratingScenario scenario(nRb, P0, V0, Vector3(a_b, 0, 0)); + + const double T = 3; + const Vector3 A = nRb * Vector3(a_b, 0, 0); + EXPECT(assert_equal(Vector3(0, 0, 0), scenario.omega_b(T), 1e-9)); + EXPECT(assert_equal(Vector3(V0 + T * A), scenario.velocity_n(T), 1e-9)); + EXPECT(assert_equal(A, scenario.acceleration_n(T), 1e-9)); + + const Pose3 T3 = scenario.pose(3); + EXPECT(assert_equal(nRb, T3.rotation(), 1e-9)); + EXPECT(assert_equal(Point3(P0.vector() + T * T * A / 2.0), T3.translation(), + 1e-9)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 3a6b63b92..15c2456b6 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -78,6 +78,30 @@ TEST(ScenarioRunner, Loop) { EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } +/* ************************************************************************* */ +TEST(ScenarioRunner, Accelerating) { + // Set up body pointing towards y axis, and start at 10,20,0 with velocity + // going in X + // The body itself has Z axis pointing down + const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); + const Point3 initial_position(10, 20, 0); + const Vector3 initial_velocity(50, 0, 0); + + const double a = 0.2, dt = 3.0; + AcceleratingScenario scenario(nRb, initial_velocity, initial_velocity, + Vector3(a, 0, 0), dt / 10, kGyroSigma, + kAccelerometerSigma); + + ScenarioRunner runner(&scenario); + const double T = 3; // seconds + + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +} + /* ************************************************************************* */ int main() { TestResult tr; From dc2bac5a9e8330b42590e66afc9d9feb5bcbe829 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 11:33:52 -0800 Subject: [PATCH 770/964] Moved all noise/sampling of IMU to ScenarioRunner --- gtsam/navigation/Scenario.h | 54 +++---------------- gtsam/navigation/ScenarioRunner.h | 43 +++++++++++---- gtsam/navigation/tests/testScenarioRunner.cpp | 30 +++++------ 3 files changed, 51 insertions(+), 76 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 69b5dfa00..421507d92 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -21,39 +21,9 @@ namespace gtsam { -/** - * Simple IMU simulator. - * It is also assumed that gravity is magically counteracted and has no effect - * on trajectory. Hence, a simulated IMU yields the actual body angular - * velocity, and negative G acceleration plus the acceleration created by the - * rotating body frame. - */ +/// Simple trajectory simulator. class Scenario { public: - /// Construct scenario with constant twist [w,v] - Scenario(double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17, - double accSigma = 0.01) - : imuSampleTime_(imuSampleTime), - gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), - accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)) {} - - const double& imuSampleTime() const { return imuSampleTime_; } - - // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) - // also, uses g=10 for easy debugging - Vector3 gravity() const { return Vector3(0, 0, -10.0); } - - const noiseModel::Diagonal::shared_ptr& gyroNoiseModel() const { - return gyroNoiseModel_; - } - - const noiseModel::Diagonal::shared_ptr& accNoiseModel() const { - return accNoiseModel_; - } - - Matrix3 gyroCovariance() const { return gyroNoiseModel_->covariance(); } - Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } - // Quantities a Scenario needs to specify: virtual Pose3 pose(double t) const = 0; @@ -74,24 +44,18 @@ class Scenario { const Rot3 nRb = rotation(t); return nRb.transpose() * acceleration_n(t); } - - private: - double imuSampleTime_; - noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; }; /// Scenario with constant twist 3D trajectory. class ExpmapScenario : public Scenario { public: /// Construct scenario with constant twist [w,v] - ExpmapScenario(const Vector3& w, const Vector3& v, - double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17, - double accSigma = 0.01) - : Scenario(imuSampleTime, gyroSigma, accSigma), - twist_((Vector6() << w, v).finished()), + ExpmapScenario(const Vector3& w, const Vector3& v) + : twist_((Vector6() << w, v).finished()), a_b_(twist_.head<3>().cross(twist_.tail<3>())) {} Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } + Rot3 rotation(double t) const { return Rot3::Expmap(twist_.head<3>() * t); } Vector3 omega_b(double t) const { return twist_.head<3>(); } Vector3 velocity_n(double t) const { return rotation(t) * twist_.tail<3>(); } Vector3 acceleration_n(double t) const { return rotation(t) * a_b_; } @@ -106,14 +70,8 @@ class AcceleratingScenario : public Scenario { public: /// Construct scenario with constant twist [w,v] AcceleratingScenario(const Rot3& nRb, const Point3& p0, const Vector3& v0, - const Vector3& accelerationInBody, - double imuSampleTime = 1.0 / 100.0, - double gyroSigma = 0.17, double accSigma = 0.01) - : Scenario(imuSampleTime, gyroSigma, accSigma), - nRb_(nRb), - p0_(p0.vector()), - v0_(v0), - a_n_(nRb_ * accelerationInBody) {} + const Vector3& accelerationInBody) + : nRb_(nRb), p0_(p0.vector()), v0_(v0), a_n_(nRb_ * accelerationInBody) {} Pose3 pose(double t) const { return Pose3(nRb_, p0_ + a_n_ * t * t / 2.0); } Vector3 omega_b(double t) const { return Vector3::Zero(); } diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 40f5f8585..60cc9a751 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -30,7 +30,29 @@ static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; /// Simple class to test navigation scenarios class ScenarioRunner { public: - ScenarioRunner(const Scenario* scenario) : scenario_(scenario) {} + ScenarioRunner(const Scenario* scenario, double imuSampleTime = 1.0 / 100.0, + double gyroSigma = 0.17, double accSigma = 0.01) + : scenario_(scenario), + imuSampleTime_(imuSampleTime), + gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), + accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)) {} + + const double& imuSampleTime() const { return imuSampleTime_; } + + // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) + // also, uses g=10 for easy debugging + Vector3 gravity_n() const { return Vector3(0, 0, -10.0); } + + const noiseModel::Diagonal::shared_ptr& gyroNoiseModel() const { + return gyroNoiseModel_; + } + + const noiseModel::Diagonal::shared_ptr& accNoiseModel() const { + return accNoiseModel_; + } + + Matrix3 gyroCovariance() const { return gyroNoiseModel_->covariance(); } + Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } /// Integrate measurements for T seconds into a PIM ImuFactor::PreintegratedMeasurements integrate( @@ -40,17 +62,18 @@ class ScenarioRunner { const bool use2ndOrderIntegration = true; ImuFactor::PreintegratedMeasurements pim( - zeroBias, scenario_->accCovariance(), scenario_->gyroCovariance(), + zeroBias, accCovariance(), gyroCovariance(), kIntegrationErrorCovariance, use2ndOrderIntegration); - const double dt = scenario_->imuSampleTime(); + const double dt = imuSampleTime(); const double sqrt_dt = std::sqrt(dt); const size_t nrSteps = T / dt; double t = 0; for (size_t k = 0; k < nrSteps; k++, t += dt) { + Rot3 bRn = scenario_->rotation(t).transpose(); Vector3 measuredOmega = scenario_->omega_b(t); if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; - Vector3 measuredAcc = scenario_->acceleration_b(t); + Vector3 measuredAcc = scenario_->acceleration_b(t) - bRn * gravity_n(); if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; pim.integrateMeasurement(measuredAcc, measuredOmega, dt); } @@ -63,12 +86,10 @@ class ScenarioRunner { const ImuFactor::PreintegratedMeasurements& pim) const { // TODO(frank): allow non-zero bias, omegaCoriolis const imuBias::ConstantBias zeroBias; - const Pose3 pose_i = Pose3::identity(); - const Vector3 vel_i = scenario_->velocity_n(0); const Vector3 omegaCoriolis = Vector3::Zero(); const bool use2ndOrderCoriolis = true; - return pim.predict(pose_i, vel_i, zeroBias, scenario_->gravity(), - omegaCoriolis, use2ndOrderCoriolis); + return pim.predict(scenario_->pose(0), scenario_->velocity_n(0), zeroBias, + gravity_n(), omegaCoriolis, use2ndOrderCoriolis); } /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately @@ -87,8 +108,8 @@ class ScenarioRunner { Pose3 prediction = predict(integrate(T)).pose; // Create two samplers for acceleration and omega noise - Sampler gyroSampler(scenario_->gyroNoiseModel(), 10); - Sampler accSampler(scenario_->accNoiseModel(), 29284); + Sampler gyroSampler(gyroNoiseModel(), 10); + Sampler accSampler(accNoiseModel(), 29284); // Sample ! Matrix samples(9, N); @@ -115,6 +136,8 @@ class ScenarioRunner { private: const Scenario* scenario_; + double imuSampleTime_; + noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 15c2456b6..c7a3216a9 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -30,10 +30,9 @@ static const double kAccelerometerSigma = 0.1; /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { const double v = 2; // m/s - ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0), kDeltaT, - kGyroSigma, kAccelerometerSigma); + ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario); + ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelerometerSigma); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); @@ -47,10 +46,9 @@ TEST(ScenarioRunner, Forward) { TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 kDegree/sec const double v = 2, w = 6 * kDegree; - ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0), kDeltaT, - kGyroSigma, kAccelerometerSigma); + ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario); + ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelerometerSigma); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); @@ -65,10 +63,9 @@ TEST(ScenarioRunner, Loop) { // Forward velocity 2m/s // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) const double v = 2, w = 6 * kDegree; - ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0), kDeltaT, - kGyroSigma, kAccelerometerSigma); + ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario); + ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelerometerSigma); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); @@ -81,19 +78,16 @@ TEST(ScenarioRunner, Loop) { /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating) { // Set up body pointing towards y axis, and start at 10,20,0 with velocity - // going in X - // The body itself has Z axis pointing down + // going in X. The body itself has Z axis pointing down const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); - const Point3 initial_position(10, 20, 0); - const Vector3 initial_velocity(50, 0, 0); + const Point3 P0(10, 20, 0); + const Vector3 V0(50, 0, 0); - const double a = 0.2, dt = 3.0; - AcceleratingScenario scenario(nRb, initial_velocity, initial_velocity, - Vector3(a, 0, 0), dt / 10, kGyroSigma, - kAccelerometerSigma); + const double a_b = 0.2; // m/s^2 + const AcceleratingScenario scenario(nRb, P0, V0, Vector3(a_b, 0, 0)); - ScenarioRunner runner(&scenario); const double T = 3; // seconds + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); From ccef2faa95a345c79f3f988c9b585c6c4a9274be Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 11:58:41 -0800 Subject: [PATCH 771/964] Fixed pose of accelerating trajectory --- gtsam/navigation/Scenario.h | 4 +++- gtsam/navigation/tests/testScenario.cpp | 4 ++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 421507d92..7badd6d4e 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -73,7 +73,9 @@ class AcceleratingScenario : public Scenario { const Vector3& accelerationInBody) : nRb_(nRb), p0_(p0.vector()), v0_(v0), a_n_(nRb_ * accelerationInBody) {} - Pose3 pose(double t) const { return Pose3(nRb_, p0_ + a_n_ * t * t / 2.0); } + Pose3 pose(double t) const { + return Pose3(nRb_, p0_ + v0_ * t + a_n_ * t * t / 2.0); + } Vector3 omega_b(double t) const { return Vector3::Zero(); } Vector3 velocity_n(double t) const { return v0_ + a_n_ * t; } Vector3 acceleration_n(double t) const { return a_n_; } diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index b975440c7..c029ecc03 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -98,8 +98,8 @@ TEST(Scenario, Accelerating) { const Pose3 T3 = scenario.pose(3); EXPECT(assert_equal(nRb, T3.rotation(), 1e-9)); - EXPECT(assert_equal(Point3(P0.vector() + T * T * A / 2.0), T3.translation(), - 1e-9)); + EXPECT(assert_equal(Point3(10 + T * 50, 20 + a_b * T * T / 2, 0), + T3.translation(), 1e-9)); } /* ************************************************************************* */ From 30946af98162e7e8c34e4fb57c3fe24ec87cd1ac Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 11:59:56 -0800 Subject: [PATCH 772/964] Acceleration scenario tested --- gtsam/navigation/tests/testScenarioRunner.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index c7a3216a9..b7a864016 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -93,7 +93,7 @@ TEST(ScenarioRunner, Accelerating) { EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); } /* ************************************************************************* */ From 16789c09ead0d1e290d4fdffee18981cd4d760e5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:09:16 -0800 Subject: [PATCH 773/964] compilation issue --- gtsam/navigation/Scenario.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 7badd6d4e..3324abaab 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -57,7 +57,9 @@ class ExpmapScenario : public Scenario { Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } Rot3 rotation(double t) const { return Rot3::Expmap(twist_.head<3>() * t); } Vector3 omega_b(double t) const { return twist_.head<3>(); } - Vector3 velocity_n(double t) const { return rotation(t) * twist_.tail<3>(); } + Vector3 velocity_n(double t) const { + return rotation(t).matrix() * twist_.tail<3>(); + } Vector3 acceleration_n(double t) const { return rotation(t) * a_b_; } private: From 27dcf8d4a263ed9b49e75cab77f2b5430773c3a4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:09:28 -0800 Subject: [PATCH 774/964] Covariance convention --- gtsam/navigation/ScenarioRunner.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 60cc9a751..88041b6f6 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -97,8 +97,8 @@ class ScenarioRunner { const ImuFactor::PreintegratedMeasurements& pim) const { Matrix9 cov = pim.preintMeasCov(); Matrix6 poseCov; - poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 0), // - cov.block<3, 3>(0, 6), cov.block<3, 3>(0, 0); + poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3), // + cov.block<3, 3>(3, 0), cov.block<3, 3>(3, 3); return poseCov; } From 9ecb6ed5f3eaa377c41f346dbe5fdf4a513e7f20 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:12:12 -0800 Subject: [PATCH 775/964] Now using ScenarioRunner --- gtsam/navigation/tests/testImuFactor.cpp | 33 ++++++++++++------------ 1 file changed, 17 insertions(+), 16 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 6d9c9cf5e..059be543c 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -166,30 +166,30 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, /* ************************************************************************* */ TEST(ImuFactor, StraightLine) { + const double a = 0.2, v=50; + // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X // The body itself has Z axis pointing down const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); const Point3 initial_position(10, 20, 0); - const Vector3 initial_velocity(50, 0, 0); - const NavState state1(nRb, initial_position, initial_velocity); + const Vector3 initial_velocity(v, 0, 0); - const double a = 0.2, dt = 3.0; - AcceleratingScenario scenario(nRb, inititial_position, initial_velocity, - Vector3(a, 0, 0), dt / 10, sqrt(omegaNoiseVar), - sqrt(accNoiseVar)); + const AcceleratingScenario scenario(nRb, initial_position, initial_velocity, + Vector3(a, 0, 0)); - ScenarioRunner runner(scenario); - const double T = 3; // seconds + const double T = 3.0; // seconds + ScenarioRunner runner(&scenario, T / 10, sqrt(omegaNoiseVar), + sqrt(accNoiseVar)); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); // Set up IMU measurements const double g = 10; // make gravity 10 to make this easy to check - const double dt22 = dt * dt / 2; + const double dt22 = T * T / 2; // set up acceleration in X direction, no angular velocity. // Since body Z-axis is pointing down, accelerometer measures table exerting force in negative Z @@ -204,9 +204,9 @@ TEST(ImuFactor, StraightLine) { // Check G1 and G2 derivatives of pim.update Matrix93 aG1,aG2; boost::function f = - boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, dt/10, + boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10, boost::none, boost::none, boost::none); - pim.updatedDeltaXij(measuredAcc, measuredOmega, dt / 10, boost::none, aG1, aG2); + pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2); EXPECT(assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); EXPECT(assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7)); @@ -214,12 +214,12 @@ TEST(ImuFactor, StraightLine) { PreintegratedImuMeasurements pimMC(kZeroBiasHat, p->accelerometerCovariance, p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise EXPECT( - MonteCarlo(pimMC, state1, kZeroBias, dt / 10, boost::none, measuredAcc, + MonteCarlo(pimMC, state1, kZeroBias, T / 10, boost::none, measuredAcc, measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); // Check integrated quantities in body frame: gravity measured by IMU is integrated! Vector3 b_deltaP(a * dt22, 0, -g * dt22); - Vector3 b_deltaV(a * dt, 0, -g * dt); + Vector3 b_deltaV(a * T, 0, -g * T); EXPECT(assert_equal(Rot3(), pim.deltaRij())); EXPECT(assert_equal(b_deltaP, pim.deltaPij())); EXPECT(assert_equal(b_deltaV, pim.deltaVij())); @@ -230,9 +230,10 @@ TEST(ImuFactor, StraightLine) { EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(kZeroBias))); // Check prediction in nav, note we move along x in body, along y in nav - Point3 expected_position(10 + v * dt, 20 + a * dt22, 0); - Velocity3 expected_velocity(v, a * dt, 0); + Point3 expected_position(10 + v * T, 20 + a * dt22, 0); + Velocity3 expected_velocity(v, a * T, 0); NavState expected(nRb, expected_position, expected_velocity); + const NavState state1(nRb, initial_position, initial_velocity); EXPECT(assert_equal(expected, pim.predict(state1, kZeroBias))); } From d74e00ab2ae33c86413fe8194d59ffd004b2b59c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:12:43 -0800 Subject: [PATCH 776/964] compilation issue --- gtsam/navigation/Scenario.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 7badd6d4e..3324abaab 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -57,7 +57,9 @@ class ExpmapScenario : public Scenario { Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } Rot3 rotation(double t) const { return Rot3::Expmap(twist_.head<3>() * t); } Vector3 omega_b(double t) const { return twist_.head<3>(); } - Vector3 velocity_n(double t) const { return rotation(t) * twist_.tail<3>(); } + Vector3 velocity_n(double t) const { + return rotation(t).matrix() * twist_.tail<3>(); + } Vector3 acceleration_n(double t) const { return rotation(t) * a_b_; } private: From 26ae74e1fb848a9e9d1d13fccbbe6529c47c9c87 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:19:15 -0800 Subject: [PATCH 777/964] Split off cpp file --- gtsam/navigation/ScenarioRunner.cpp | 95 +++++++++++++++++++++++++++++ gtsam/navigation/ScenarioRunner.h | 74 ++-------------------- 2 files changed, 101 insertions(+), 68 deletions(-) create mode 100644 gtsam/navigation/ScenarioRunner.cpp diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp new file mode 100644 index 000000000..6e713598f --- /dev/null +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -0,0 +1,95 @@ +/* ---------------------------------------------------------------------------- + + * 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 ScenarioRunner.h + * @brief Simple class to test navigation scenarios + * @author Frank Dellaert + */ + +#include +#include + +#include + +namespace gtsam { + +static double intNoiseVar = 0.0000001; +static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; + +ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( + double T, Sampler* gyroSampler, Sampler* accSampler) const { + // TODO(frank): allow non-zero + const imuBias::ConstantBias zeroBias; + const bool use2ndOrderIntegration = true; + + ImuFactor::PreintegratedMeasurements pim( + zeroBias, accCovariance(), gyroCovariance(), kIntegrationErrorCovariance, + use2ndOrderIntegration); + + const double dt = imuSampleTime(); + const double sqrt_dt = std::sqrt(dt); + const size_t nrSteps = T / dt; + double t = 0; + for (size_t k = 0; k < nrSteps; k++, t += dt) { + Rot3 bRn = scenario_->rotation(t).transpose(); + Vector3 measuredOmega = scenario_->omega_b(t); + if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; + Vector3 measuredAcc = scenario_->acceleration_b(t) - bRn * gravity_n(); + if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; + pim.integrateMeasurement(measuredAcc, measuredOmega, dt); + } + + return pim; +} + +PoseVelocityBias ScenarioRunner::predict( + const ImuFactor::PreintegratedMeasurements& pim) const { + // TODO(frank): allow non-zero bias, omegaCoriolis + const imuBias::ConstantBias zeroBias; + const Vector3 omegaCoriolis = Vector3::Zero(); + const bool use2ndOrderCoriolis = true; + return pim.predict(scenario_->pose(0), scenario_->velocity_n(0), zeroBias, + gravity_n(), omegaCoriolis, use2ndOrderCoriolis); +} + +Matrix6 ScenarioRunner::estimatePoseCovariance(double T, size_t N) const { + // Get predict prediction from ground truth measurements + Pose3 prediction = predict(integrate(T)).pose; + + // Create two samplers for acceleration and omega noise + Sampler gyroSampler(gyroNoiseModel(), 10); + Sampler accSampler(accNoiseModel(), 29284); + + // Sample ! + Matrix samples(9, N); + Vector6 sum = Vector6::Zero(); + for (size_t i = 0; i < N; i++) { + Pose3 sampled = predict(integrate(T, &gyroSampler, &accSampler)).pose; + Vector6 xi = sampled.localCoordinates(prediction); + samples.col(i) = xi; + sum += xi; + } + + // Compute MC covariance + Vector6 sampleMean = sum / N; + Matrix6 Q; + Q.setZero(); + for (size_t i = 0; i < N; i++) { + Vector6 xi = samples.col(i); + xi -= sampleMean; + Q += xi * xi.transpose(); + } + + return Q / (N - 1); +} + +} // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 60cc9a751..16bde9d69 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -16,16 +16,12 @@ */ #pragma once -#include #include #include -#include - namespace gtsam { -static double intNoiseVar = 0.0000001; -static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; +class Sampler; /// Simple class to test navigation scenarios class ScenarioRunner { @@ -55,42 +51,13 @@ class ScenarioRunner { Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } /// Integrate measurements for T seconds into a PIM - ImuFactor::PreintegratedMeasurements integrate( - double T, Sampler* gyroSampler = 0, Sampler* accSampler = 0) const { - // TODO(frank): allow non-zero - const imuBias::ConstantBias zeroBias; - const bool use2ndOrderIntegration = true; - - ImuFactor::PreintegratedMeasurements pim( - zeroBias, accCovariance(), gyroCovariance(), - kIntegrationErrorCovariance, use2ndOrderIntegration); - - const double dt = imuSampleTime(); - const double sqrt_dt = std::sqrt(dt); - const size_t nrSteps = T / dt; - double t = 0; - for (size_t k = 0; k < nrSteps; k++, t += dt) { - Rot3 bRn = scenario_->rotation(t).transpose(); - Vector3 measuredOmega = scenario_->omega_b(t); - if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; - Vector3 measuredAcc = scenario_->acceleration_b(t) - bRn * gravity_n(); - if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; - pim.integrateMeasurement(measuredAcc, measuredOmega, dt); - } - - return pim; - } + ImuFactor::PreintegratedMeasurements integrate(double T, + Sampler* gyroSampler = 0, + Sampler* accSampler = 0) const; /// Predict predict given a PIM PoseVelocityBias predict( - const ImuFactor::PreintegratedMeasurements& pim) const { - // TODO(frank): allow non-zero bias, omegaCoriolis - const imuBias::ConstantBias zeroBias; - const Vector3 omegaCoriolis = Vector3::Zero(); - const bool use2ndOrderCoriolis = true; - return pim.predict(scenario_->pose(0), scenario_->velocity_n(0), zeroBias, - gravity_n(), omegaCoriolis, use2ndOrderCoriolis); - } + const ImuFactor::PreintegratedMeasurements& pim) const; /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately Matrix6 poseCovariance( @@ -103,36 +70,7 @@ class ScenarioRunner { } /// Compute a Monte Carlo estimate of the PIM pose covariance using N samples - Matrix6 estimatePoseCovariance(double T, size_t N = 1000) const { - // Get predict prediction from ground truth measurements - Pose3 prediction = predict(integrate(T)).pose; - - // Create two samplers for acceleration and omega noise - Sampler gyroSampler(gyroNoiseModel(), 10); - Sampler accSampler(accNoiseModel(), 29284); - - // Sample ! - Matrix samples(9, N); - Vector6 sum = Vector6::Zero(); - for (size_t i = 0; i < N; i++) { - Pose3 sampled = predict(integrate(T, &gyroSampler, &accSampler)).pose; - Vector6 xi = sampled.localCoordinates(prediction); - samples.col(i) = xi; - sum += xi; - } - - // Compute MC covariance - Vector6 sampleMean = sum / N; - Matrix6 Q; - Q.setZero(); - for (size_t i = 0; i < N; i++) { - Vector6 xi = samples.col(i); - xi -= sampleMean; - Q += xi * xi.transpose(); - } - - return Q / (N - 1); - } + Matrix6 estimatePoseCovariance(double T, size_t N = 100) const; private: const Scenario* scenario_; From 630c2a7a1896e401de1b4f959d5526102e42f762 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:34:30 -0800 Subject: [PATCH 778/964] Now uses Runner --- gtsam/navigation/tests/testImuFactor.cpp | 65 +++++------------------- 1 file changed, 13 insertions(+), 52 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 059be543c..a54143bd0 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -57,15 +57,17 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, // Define covariance matrices /* ************************************************************************* */ -double accNoiseVar = 0.01; -double omegaNoiseVar = 0.03; -double intNoiseVar = 0.0001; -const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; -const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; -const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; -const Vector3 accNoiseVar2(0.01, 0.02, 0.03); -const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); -int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10; +static const double kGyroSigma = 0.02; +static const double kAccelerometerSigma = 0.1; +static double omegaNoiseVar = kGyroSigma * kGyroSigma; +static double accNoiseVar = kAccelerometerSigma * kAccelerometerSigma; +static double intNoiseVar = 0.0001; +static const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; +static const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; +static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; +static const Vector3 accNoiseVar2(0.01, 0.02, 0.03); +static const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); +static int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10; // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ @@ -165,7 +167,7 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim, } /* ************************************************************************* */ -TEST(ImuFactor, StraightLine) { +TEST(ImuFactor, Accelerating) { const double a = 0.2, v=50; // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X @@ -178,8 +180,7 @@ TEST(ImuFactor, StraightLine) { Vector3(a, 0, 0)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, T / 10, sqrt(omegaNoiseVar), - sqrt(accNoiseVar)); + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); @@ -187,20 +188,6 @@ TEST(ImuFactor, StraightLine) { Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); - // Set up IMU measurements - const double g = 10; // make gravity 10 to make this easy to check - const double dt22 = T * T / 2; - - // set up acceleration in X direction, no angular velocity. - // Since body Z-axis is pointing down, accelerometer measures table exerting force in negative Z - Vector3 measuredAcc(a, 0, -g), measuredOmega(0, 0, 0); - - // Create parameters assuming nav frame has Z up - boost::shared_ptr p = - PreintegratedImuMeasurements::Params::MakeSharedU(g); - p->accelerometerCovariance = kMeasuredAccCovariance; - p->gyroscopeCovariance = kMeasuredOmegaCovariance; - // Check G1 and G2 derivatives of pim.update Matrix93 aG1,aG2; boost::function f = @@ -209,32 +196,6 @@ TEST(ImuFactor, StraightLine) { pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2); EXPECT(assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); EXPECT(assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7)); - - // Do Monte-Carlo analysis - PreintegratedImuMeasurements pimMC(kZeroBiasHat, p->accelerometerCovariance, - p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise - EXPECT( - MonteCarlo(pimMC, state1, kZeroBias, T / 10, boost::none, measuredAcc, - measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); - - // Check integrated quantities in body frame: gravity measured by IMU is integrated! - Vector3 b_deltaP(a * dt22, 0, -g * dt22); - Vector3 b_deltaV(a * T, 0, -g * T); - EXPECT(assert_equal(Rot3(), pim.deltaRij())); - EXPECT(assert_equal(b_deltaP, pim.deltaPij())); - EXPECT(assert_equal(b_deltaV, pim.deltaVij())); - - // Check bias-corrected delta: also in body frame - Vector9 expectedBC; - expectedBC << Vector3(0, 0, 0), b_deltaP, b_deltaV; - EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(kZeroBias))); - - // Check prediction in nav, note we move along x in body, along y in nav - Point3 expected_position(10 + v * T, 20 + a * dt22, 0); - Velocity3 expected_velocity(v, a * T, 0); - NavState expected(nRb, expected_position, expected_velocity); - const NavState state1(nRb, initial_position, initial_velocity); - EXPECT(assert_equal(expected, pim.predict(state1, kZeroBias))); } /* ************************************************************************* */ From 9eb7e38cb8963388c7e6db9327d48cb890a19b71 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:48:07 -0800 Subject: [PATCH 779/964] measured quantities --- gtsam/navigation/ScenarioRunner.cpp | 5 ++--- gtsam/navigation/ScenarioRunner.h | 24 +++++++++++++++++++----- 2 files changed, 21 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 6e713598f..d1cf71eb9 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -40,10 +40,9 @@ ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( const size_t nrSteps = T / dt; double t = 0; for (size_t k = 0; k < nrSteps; k++, t += dt) { - Rot3 bRn = scenario_->rotation(t).transpose(); - Vector3 measuredOmega = scenario_->omega_b(t); + Vector3 measuredOmega = measured_angular_velocity(t); if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; - Vector3 measuredAcc = scenario_->acceleration_b(t) - bRn * gravity_n(); + Vector3 measuredAcc = measured_acceleration(t); if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; pim.integrateMeasurement(measuredAcc, measuredOmega, dt); } diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 16bde9d69..3107b90a8 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -23,7 +23,10 @@ namespace gtsam { class Sampler; -/// Simple class to test navigation scenarios +/* + * Simple class to test navigation scenarios. + * Takes a trajectory scenario as input, and can generate IMU measurements + */ class ScenarioRunner { public: ScenarioRunner(const Scenario* scenario, double imuSampleTime = 1.0 / 100.0, @@ -33,11 +36,22 @@ class ScenarioRunner { gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)) {} - const double& imuSampleTime() const { return imuSampleTime_; } - // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) // also, uses g=10 for easy debugging - Vector3 gravity_n() const { return Vector3(0, 0, -10.0); } + static Vector3 gravity_n() { return Vector3(0, 0, -10.0); } + + // A gyro simly measures angular velocity in body frame + Vector3 measured_angular_velocity(double t) const { + return scenario_->omega_b(t); + } + + // An accelerometer measures acceleration in body, but not gravity + Vector3 measured_acceleration(double t) const { + Rot3 bRn = scenario_->rotation(t).transpose(); + return scenario_->acceleration_b(t) - bRn * gravity_n(); + } + + const double& imuSampleTime() const { return imuSampleTime_; } const noiseModel::Diagonal::shared_ptr& gyroNoiseModel() const { return gyroNoiseModel_; @@ -70,7 +84,7 @@ class ScenarioRunner { } /// Compute a Monte Carlo estimate of the PIM pose covariance using N samples - Matrix6 estimatePoseCovariance(double T, size_t N = 100) const; + Matrix6 estimatePoseCovariance(double T, size_t N = 1000) const; private: const Scenario* scenario_; From e7f3f1cd2989ddb233d58c8a8421ee1bccecb01d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:51:28 -0800 Subject: [PATCH 780/964] Derivative tested again --- gtsam/navigation/tests/testImuFactor.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index a54143bd0..0d16ba444 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -193,9 +193,13 @@ TEST(ImuFactor, Accelerating) { boost::function f = boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10, boost::none, boost::none, boost::none); + const Vector3 measuredAcc = runner.measured_acceleration(T); + const Vector3 measuredOmega = runner.measured_angular_velocity(T); pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2); - EXPECT(assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); - EXPECT(assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7)); + EXPECT(assert_equal( + numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); + EXPECT(assert_equal( + numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7)); } /* ************************************************************************* */ From 25db851a0b6e5355a0008511f2f21897e690b6d1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 13:44:07 -0800 Subject: [PATCH 781/964] Getting rid of old MonteCarlo - in progress --- gtsam/navigation/tests/testImuFactor.cpp | 144 +++++++---------------- 1 file changed, 45 insertions(+), 99 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 0d16ba444..55b828d7f 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -120,52 +120,6 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { } // namespace -/* ************************************************************************* */ -bool MonteCarlo(const PreintegratedImuMeasurements& pim, - const NavState& state, const imuBias::ConstantBias& bias, double dt, - boost::optional body_P_sensor, const Vector3& measuredAcc, - const Vector3& measuredOmega, const Vector3& accNoiseVar, - const Vector3& omegaNoiseVar, size_t N = 10000, - size_t M = 1) { - // Get mean prediction from "ground truth" measurements - PreintegratedImuMeasurements pim1 = pim; - for (size_t k = 0; k < M; k++) - pim1.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); - NavState prediction = pim1.predict(state, bias); - Matrix9 actual = pim1.preintMeasCov(); - - // Do a Monte Carlo analysis to determine empirical density on the predicted state - Sampler sampleAccelerationNoise((accNoiseVar/dt).cwiseSqrt(), accSamplerSeed); - Sampler sampleOmegaNoise((omegaNoiseVar/dt).cwiseSqrt(), omegaSamplerSeed); - Matrix samples(9, N); - Vector9 sum = Vector9::Zero(); - for (size_t i = 0; i < N; i++) { - PreintegratedImuMeasurements pim2 = pim; - for (size_t k = 0; k < M; k++) { - Vector3 perturbedAcc = measuredAcc + sampleAccelerationNoise.sample(); - Vector3 perturbedOmega = measuredOmega + sampleOmegaNoise.sample(); - pim2.integrateMeasurement(perturbedAcc, perturbedOmega, dt, - body_P_sensor); - } - NavState sampled = pim2.predict(state, bias); - Vector9 xi = sampled.localCoordinates(prediction); - samples.col(i) = xi; - sum += xi; - } - - Vector9 sampleMean = sum / N; - Matrix9 Q; - Q.setZero(); - for (size_t i = 0; i < N; i++) { - Vector9 xi = samples.col(i); - xi -= sampleMean; - Q += xi * (xi.transpose() / (N - 1)); - } - - // Compare MonteCarlo value with actual (computed) value - return assert_equal(Matrix(Q), actual, 1e-4); -} - /* ************************************************************************* */ TEST(ImuFactor, Accelerating) { const double a = 0.2, v=50; @@ -589,12 +543,25 @@ Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, const Vector3& mea } TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) - Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0)); - Vector3 v1(Vector3(0.5, 0.0, 0.0)); - Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), - Point3(5.5, 1.0, -50.0)); - Vector3 v2(Vector3(0.5, 0.0, 0.0)); + const Rot3 nRb = Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)); + const Point3 initial_position(5.0, 1.0, -50.0); + const Vector3 initial_velocity(0.5, 0.0, 0.0); + + const double a = 0.2; + const AcceleratingScenario scenario(nRb, initial_position, initial_velocity, + Vector3(a, 0, 0)); + + const double T = 3.0; // seconds + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); + + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + + /////////////////////////////////////////////////////////////////////////////////////////// + Pose3 x1(nRb, initial_position); // Measurements Vector3 measuredOmega; @@ -633,55 +600,10 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { 1e-6); EXPECT(assert_equal(expectedG2, G2, 1e-5)); -#if 0 - /* - * This code is to verify the quality of the generated samples - * by checking if the covariance of the generated noises matches - * with the input covariance, and visualizing the nonlinearity of - * the sample set using the following matlab script: - * - noises = dlmread('noises.txt'); - cov(noises) - - samples = dlmread('noises.txt'); - figure(1); - for i=1:9 - subplot(3,3,i) - hist(samples(:,i), 500) - end - */ - size_t N = 100000; - Matrix samples(9,N); - Sampler sampleAccelerationNoise((accNoiseVar2/dt).cwiseSqrt(), 29284); - Sampler sampleOmegaNoise((omegaNoiseVar2/dt).cwiseSqrt(), 10); - ofstream samplesOut("preintSamples.txt"); - ofstream noiseOut("noises.txt"); - for (size_t i = 0; i Date: Wed, 23 Dec 2015 14:29:42 -0800 Subject: [PATCH 782/964] Acceleration now specified in nav frame, allow angular velocity --- gtsam/navigation/Scenario.h | 16 ++++++++------ gtsam/navigation/tests/testScenario.cpp | 22 ++++++++++++++----- gtsam/navigation/tests/testScenarioRunner.cpp | 5 +++-- 3 files changed, 28 insertions(+), 15 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 3324abaab..bc9dfe8eb 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -67,24 +67,26 @@ class ExpmapScenario : public Scenario { const Vector3 a_b_; // constant centripetal acceleration in body = w_b * v_b }; -/// Accelerating from an arbitrary initial state +/// Accelerating from an arbitrary initial state, with optional rotation class AcceleratingScenario : public Scenario { public: - /// Construct scenario with constant twist [w,v] + /// Construct scenario with constant acceleration in navigation frame and + /// optional angular velocity in body: rotating while translating... AcceleratingScenario(const Rot3& nRb, const Point3& p0, const Vector3& v0, - const Vector3& accelerationInBody) - : nRb_(nRb), p0_(p0.vector()), v0_(v0), a_n_(nRb_ * accelerationInBody) {} + const Vector3& a_n, + const Vector3& omega_b = Vector3::Zero()) + : nRb_(nRb), p0_(p0.vector()), v0_(v0), a_n_(a_n), omega_b_(omega_b) {} Pose3 pose(double t) const { - return Pose3(nRb_, p0_ + v0_ * t + a_n_ * t * t / 2.0); + return Pose3(nRb_.expmap(omega_b_ * t), p0_ + v0_ * t + a_n_ * t * t / 2.0); } - Vector3 omega_b(double t) const { return Vector3::Zero(); } + Vector3 omega_b(double t) const { return omega_b_; } Vector3 velocity_n(double t) const { return v0_ + a_n_ * t; } Vector3 acceleration_n(double t) const { return a_n_; } private: const Rot3 nRb_; - const Vector3 p0_, v0_, a_n_; + const Vector3 p0_, v0_, a_n_, omega_b_; }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index c029ecc03..ab538e02a 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -16,7 +16,10 @@ */ #include +#include + #include +#include #include using namespace std; @@ -87,18 +90,25 @@ TEST(Scenario, Accelerating) { const Point3 P0(10, 20, 0); const Vector3 V0(50, 0, 0); - const double a_b = 0.2; // m/s^2 - const AcceleratingScenario scenario(nRb, P0, V0, Vector3(a_b, 0, 0)); + const double a = 0.2; // m/s^2 + const Vector3 A(0, a, 0), W(0.1, 0.2, 0.3); + const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 3; - const Vector3 A = nRb * Vector3(a_b, 0, 0); - EXPECT(assert_equal(Vector3(0, 0, 0), scenario.omega_b(T), 1e-9)); + EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); EXPECT(assert_equal(Vector3(V0 + T * A), scenario.velocity_n(T), 1e-9)); EXPECT(assert_equal(A, scenario.acceleration_n(T), 1e-9)); + { + // Check acceleration in nav + Matrix expected = numericalDerivative11( + boost::bind(&Scenario::velocity_n, scenario, _1), T); + EXPECT(assert_equal(Vector3(expected), scenario.acceleration_n(T), 1e-9)); + } + const Pose3 T3 = scenario.pose(3); - EXPECT(assert_equal(nRb, T3.rotation(), 1e-9)); - EXPECT(assert_equal(Point3(10 + T * 50, 20 + a_b * T * T / 2, 0), + EXPECT(assert_equal(nRb.expmap(T * W), T3.rotation(), 1e-9)); + EXPECT(assert_equal(Point3(10 + T * 50, 20 + a * T * T / 2, 0), T3.translation(), 1e-9)); } diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index b7a864016..8d01f5572 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -83,8 +83,9 @@ TEST(ScenarioRunner, Accelerating) { const Point3 P0(10, 20, 0); const Vector3 V0(50, 0, 0); - const double a_b = 0.2; // m/s^2 - const AcceleratingScenario scenario(nRb, P0, V0, Vector3(a_b, 0, 0)); + const double a = 0.2; // m/s^2 + const Vector3 A(0, a, 0); + const AcceleratingScenario scenario(nRb, P0, V0, A); const double T = 3; // seconds ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); From f79a9b8d3a04a11ad0b29b3002263933c9d2c729 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 15:04:36 -0800 Subject: [PATCH 783/964] Make two acceleration scenarios --- gtsam/navigation/tests/testScenarioRunner.cpp | 37 +++++++++++++++---- 1 file changed, 30 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 8d01f5572..bf3e3836a 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -76,13 +76,17 @@ TEST(ScenarioRunner, Loop) { } /* ************************************************************************* */ -TEST(ScenarioRunner, Accelerating) { - // Set up body pointing towards y axis, and start at 10,20,0 with velocity - // going in X. The body itself has Z axis pointing down - const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); - const Point3 P0(10, 20, 0); - const Vector3 V0(50, 0, 0); +namespace initial { +// Set up body pointing towards y axis, and start at 10,20,0 with velocity +// going in X. The body itself has Z axis pointing down +const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +const Point3 P0(10, 20, 0); +const Vector3 V0(50, 0, 0); +} +/* ************************************************************************* */ +TEST(ScenarioRunner, Accelerating) { + using namespace initial; const double a = 0.2; // m/s^2 const Vector3 A(0, a, 0); const AcceleratingScenario scenario(nRb, P0, V0, A); @@ -93,7 +97,26 @@ TEST(ScenarioRunner, Accelerating) { ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + Matrix6 estimatedCov = runner.estimatePoseCovariance(T,10000); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + cout << estimatedCov << endl << endl; + cout << runner.poseCovariance(pim) << endl; +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, AcceleratingAndRotating) { + using namespace initial; + const double a = 0.2; // m/s^2 + const Vector3 A(0, a, 0), W(0, 0.1, 0); + const AcceleratingScenario scenario(nRb, P0, V0, A, W); + + const double T = 3; // seconds + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); + + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + + Matrix6 estimatedCov = runner.estimatePoseCovariance(T,10000); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); } From 1245e899d6aa5023ab83617fe30829ec5a11d787 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 23 Dec 2015 16:09:36 -0800 Subject: [PATCH 784/964] Allow for bias --- gtsam/navigation/ScenarioRunner.cpp | 38 +++++----- gtsam/navigation/ScenarioRunner.h | 56 ++++++++++----- gtsam/navigation/tests/testScenarioRunner.cpp | 69 ++++++++++++++----- 3 files changed, 105 insertions(+), 58 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index d1cf71eb9..3b0a763d8 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -16,7 +16,6 @@ */ #include -#include #include @@ -26,24 +25,21 @@ static double intNoiseVar = 0.0000001; static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( - double T, Sampler* gyroSampler, Sampler* accSampler) const { - // TODO(frank): allow non-zero - const imuBias::ConstantBias zeroBias; + double T, const imuBias::ConstantBias& estimatedBias, + bool corrupted) const { const bool use2ndOrderIntegration = true; ImuFactor::PreintegratedMeasurements pim( - zeroBias, accCovariance(), gyroCovariance(), kIntegrationErrorCovariance, - use2ndOrderIntegration); + estimatedBias, accCovariance(), gyroCovariance(), + kIntegrationErrorCovariance, use2ndOrderIntegration); const double dt = imuSampleTime(); - const double sqrt_dt = std::sqrt(dt); const size_t nrSteps = T / dt; double t = 0; for (size_t k = 0; k < nrSteps; k++, t += dt) { - Vector3 measuredOmega = measured_angular_velocity(t); - if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt; - Vector3 measuredAcc = measured_acceleration(t); - if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt; + Vector3 measuredOmega = corrupted ? measured_omega_b(t) : actual_omega_b(t); + Vector3 measuredAcc = + corrupted ? measured_specific_force_b(t) : actual_specific_force_b(t); pim.integrateMeasurement(measuredAcc, measuredOmega, dt); } @@ -51,28 +47,26 @@ ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( } PoseVelocityBias ScenarioRunner::predict( - const ImuFactor::PreintegratedMeasurements& pim) const { - // TODO(frank): allow non-zero bias, omegaCoriolis - const imuBias::ConstantBias zeroBias; + const ImuFactor::PreintegratedMeasurements& pim, + const imuBias::ConstantBias& estimatedBias) const { + // TODO(frank): allow non-zero omegaCoriolis const Vector3 omegaCoriolis = Vector3::Zero(); const bool use2ndOrderCoriolis = true; - return pim.predict(scenario_->pose(0), scenario_->velocity_n(0), zeroBias, - gravity_n(), omegaCoriolis, use2ndOrderCoriolis); + return pim.predict(scenario_->pose(0), scenario_->velocity_n(0), + estimatedBias, gravity_n(), omegaCoriolis, + use2ndOrderCoriolis); } -Matrix6 ScenarioRunner::estimatePoseCovariance(double T, size_t N) const { +Matrix6 ScenarioRunner::estimatePoseCovariance( + double T, size_t N, const imuBias::ConstantBias& estimatedBias) const { // Get predict prediction from ground truth measurements Pose3 prediction = predict(integrate(T)).pose; - // Create two samplers for acceleration and omega noise - Sampler gyroSampler(gyroNoiseModel(), 10); - Sampler accSampler(accNoiseModel(), 29284); - // Sample ! Matrix samples(9, N); Vector6 sum = Vector6::Zero(); for (size_t i = 0; i < N; i++) { - Pose3 sampled = predict(integrate(T, &gyroSampler, &accSampler)).pose; + Pose3 sampled = predict(integrate(T, estimatedBias, true)).pose; Vector6 xi = sampled.localCoordinates(prediction); samples.col(i) = xi; sum += xi; diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 3107b90a8..2c84d3d97 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -18,11 +18,10 @@ #pragma once #include #include +#include namespace gtsam { -class Sampler; - /* * Simple class to test navigation scenarios. * Takes a trajectory scenario as input, and can generate IMU measurements @@ -30,27 +29,42 @@ class Sampler; class ScenarioRunner { public: ScenarioRunner(const Scenario* scenario, double imuSampleTime = 1.0 / 100.0, - double gyroSigma = 0.17, double accSigma = 0.01) + double gyroSigma = 0.17, double accSigma = 0.01, + const imuBias::ConstantBias& bias = imuBias::ConstantBias()) : scenario_(scenario), imuSampleTime_(imuSampleTime), gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), - accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)) {} + accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)), + bias_(bias), + // NOTE(duy): random seeds that work well: + gyroSampler_(gyroNoiseModel_, 10), + accSampler_(accNoiseModel_, 29284) + + {} // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) // also, uses g=10 for easy debugging static Vector3 gravity_n() { return Vector3(0, 0, -10.0); } - // A gyro simly measures angular velocity in body frame - Vector3 measured_angular_velocity(double t) const { - return scenario_->omega_b(t); - } + // A gyro simply measures angular velocity in body frame + Vector3 actual_omega_b(double t) const { return scenario_->omega_b(t); } // An accelerometer measures acceleration in body, but not gravity - Vector3 measured_acceleration(double t) const { + Vector3 actual_specific_force_b(double t) const { Rot3 bRn = scenario_->rotation(t).transpose(); return scenario_->acceleration_b(t) - bRn * gravity_n(); } + // versions corrupted by bias and noise + Vector3 measured_omega_b(double t) const { + return actual_omega_b(t) + bias_.gyroscope() + + gyroSampler_.sample() / std::sqrt(imuSampleTime_); + } + Vector3 measured_specific_force_b(double t) const { + return actual_specific_force_b(t) + bias_.accelerometer() + + accSampler_.sample() / std::sqrt(imuSampleTime_); + } + const double& imuSampleTime() const { return imuSampleTime_; } const noiseModel::Diagonal::shared_ptr& gyroNoiseModel() const { @@ -65,13 +79,15 @@ class ScenarioRunner { Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } /// Integrate measurements for T seconds into a PIM - ImuFactor::PreintegratedMeasurements integrate(double T, - Sampler* gyroSampler = 0, - Sampler* accSampler = 0) const; + ImuFactor::PreintegratedMeasurements integrate( + double T, + const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias(), + bool corrupted = false) const; /// Predict predict given a PIM - PoseVelocityBias predict( - const ImuFactor::PreintegratedMeasurements& pim) const; + PoseVelocityBias predict(const ImuFactor::PreintegratedMeasurements& pim, + const imuBias::ConstantBias& estimatedBias = + imuBias::ConstantBias()) const; /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately Matrix6 poseCovariance( @@ -84,12 +100,18 @@ class ScenarioRunner { } /// Compute a Monte Carlo estimate of the PIM pose covariance using N samples - Matrix6 estimatePoseCovariance(double T, size_t N = 1000) const; + Matrix6 estimatePoseCovariance(double T, size_t N = 1000, + const imuBias::ConstantBias& estimatedBias = + imuBias::ConstantBias()) const; private: const Scenario* scenario_; - double imuSampleTime_; - noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; + const double imuSampleTime_; + const noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; + const imuBias::ConstantBias bias_; + + // Create two samplers for acceleration and omega noise + mutable Sampler gyroSampler_, accSampler_; }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index bf3e3836a..019d60f91 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -25,14 +25,20 @@ using namespace gtsam; static const double kDegree = M_PI / 180.0; static const double kDeltaT = 1e-2; static const double kGyroSigma = 0.02; -static const double kAccelerometerSigma = 0.1; +static const double kAccelSigma = 0.1; + +static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); +static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); +/* ************************************************************************* */ +namespace forward { +const double v = 2; // m/s +ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); +} /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { - const double v = 2; // m/s - ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); - - ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelerometerSigma); + using namespace forward; + ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); @@ -42,13 +48,24 @@ TEST(ScenarioRunner, Forward) { EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } +/* ************************************************************************* */ +TEST(ScenarioRunner, ForwardWithBias) { + using namespace forward; + ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); + const double T = 0.1; // seconds + + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, kNonZeroBias); + Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + /* ************************************************************************* */ TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 kDegree/sec const double v = 2, w = 6 * kDegree; ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelerometerSigma); + ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); @@ -65,7 +82,7 @@ TEST(ScenarioRunner, Loop) { const double v = 2, w = 6 * kDegree; ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelerometerSigma); + ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); @@ -85,22 +102,36 @@ const Vector3 V0(50, 0, 0); } /* ************************************************************************* */ -TEST(ScenarioRunner, Accelerating) { - using namespace initial; - const double a = 0.2; // m/s^2 - const Vector3 A(0, a, 0); - const AcceleratingScenario scenario(nRb, P0, V0, A); +namespace accelerating { +using namespace initial; +const double a = 0.2; // m/s^2 +const Vector3 A(0, a, 0); +const AcceleratingScenario scenario(nRb, P0, V0, A); - const double T = 3; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); +const double T = 3; // seconds +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, Accelerating) { + using namespace accelerating; + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); - Matrix6 estimatedCov = runner.estimatePoseCovariance(T,10000); + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, AcceleratingWithBias) { + using namespace accelerating; + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, + kNonZeroBias); + + ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, kNonZeroBias); + Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); - cout << estimatedCov << endl << endl; - cout << runner.poseCovariance(pim) << endl; } /* ************************************************************************* */ @@ -111,12 +142,12 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 3; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); - Matrix6 estimatedCov = runner.estimatePoseCovariance(T,10000); + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); } From 88c1308ccf65c9c3c1debd328fa54b763a9100b3 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 23 Dec 2015 17:59:37 -0800 Subject: [PATCH 785/964] Some refactoring --- doc/ImuFactor.lyx | 91 +++++++++++++++++++++++++++++++++++------------ 1 file changed, 69 insertions(+), 22 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index 75d97f871..ae6d5fb8e 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -245,7 +245,7 @@ X(t)=\left\{ R_{0},P_{0}+V_{0}t,V_{0}\right\} then the differential equation describing the trajectory is \begin_inset Formula \[ -\dot{X}(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\,X(0)=\left\{ R_{0},P_{0},V_{0}\right\} +\dot{X}(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\, X(0)=\left\{ R_{0},P_{0},V_{0}\right\} \] \end_inset @@ -591,7 +591,7 @@ key "Iserles00an" , \begin_inset Formula \begin{equation} -\dot{R}(t)=F(R,t),\,\,\,\,R(0)=R_{0}\label{eq:diffSo3} +\dot{R}(t)=F(R,t),\,\,\,\, R(0)=R_{0}\label{eq:diffSo3} \end{equation} \end_inset @@ -962,20 +962,22 @@ Application: The New IMU Factor \end_layout \begin_layout Standard -The above scheme suffers from one problem, which is that -\begin_inset Formula $R_{0}$ +In the IMU factor, we need to predict the NavState +\begin_inset Formula $X_{j}$ \end_inset - needs to be known exactly to compensate for the initial velocity -\begin_inset Formula $V_{0}$ + from the current NavState +\begin_inset Formula $X_{i}$ \end_inset - and the gravity -\begin_inset Formula $g$ + and the IMU measurements in-between. + The above scheme suffers from a problem, which is that +\begin_inset Formula $X_{i}$ \end_inset -. - Hence, we split up + needs to be known in order to compensate properly for the initial velocity + and rotated gravity vector. + Hence, the idea of Lupton was to split up \begin_inset Formula $v(t)$ \end_inset @@ -990,14 +992,14 @@ v(t)=v_{g}(t)+v_{a}(t) evolving as \begin_inset Formula \begin{eqnarray*} -\dot{v}_{g}(t) & = & R_{0}^{T}\, g\\ -\dot{v}_{a}(t) & = & R_{b}^{0}(t)a^{b}(t) +\dot{v}_{g}(t) & = & R_{i}^{T}\, g\\ +\dot{v}_{a}(t) & = & R_{b}^{i}(t)a^{b}(t) \end{eqnarray*} \end_inset The solution for the first equation is simply -\begin_inset Formula $v_{g}(t)=R_{0}^{T}gt$ +\begin_inset Formula $v_{g}(t)=R_{i}^{T}gt$ \end_inset . @@ -1008,7 +1010,7 @@ The solution for the first equation is simply up in three parts \begin_inset Formula \[ -p(t)=p_{0}(t)+p_{g}(t)+p_{v}(t) +p(t)=p_{i}(t)+p_{g}(t)+p_{v}(t) \] \end_inset @@ -1016,8 +1018,8 @@ p(t)=p_{0}(t)+p_{g}(t)+p_{v}(t) evolving as \begin_inset Formula \begin{eqnarray*} -\dot{p}_{0}(t) & = & R_{0}^{T}\, V_{0}\\ -\dot{p}_{g}(t) & = & v_{g}(t)=R_{0}^{T}gt\\ +\dot{p}_{i}(t) & = & R_{i}^{T}\, V_{i}\\ +\dot{p}_{g}(t) & = & v_{g}(t)=R_{i}^{T}gt\\ \dot{p}_{v}(t) & = & v_{a}(t) \end{eqnarray*} @@ -1026,8 +1028,8 @@ evolving as Here the solutions for the two first equations are simply \begin_inset Formula \begin{eqnarray*} -p_{0}(t) & = & R_{0}^{T}V_{0}t\\ -p_{g}(t) & = & R_{0}^{T}\frac{gt^{2}}{2} +p_{i}(t) & = & R_{i}^{T}V_{i}t\\ +p_{g}(t) & = & R_{i}^{T}\frac{gt^{2}}{2} \end{eqnarray*} \end_inset @@ -1038,7 +1040,7 @@ The recipe for the IMU factor is then, in summary. \begin{eqnarray*} \dot{\theta}(t) & = & H(\theta(t))^{-1}\,\omega^{b}(t)\\ \dot{p}_{v}(t) & = & v_{a}(t)\\ -\dot{v}_{a}(t) & = & R_{b}^{0}(t)a^{b}(t) +\dot{v}_{a}(t) & = & R_{b}^{i}(t)a^{b}(t) \end{eqnarray*} \end_inset @@ -1048,14 +1050,14 @@ starting from zero, up to time \end_inset , where -\begin_inset Formula $R_{b}^{0}(t)=\exp\Skew{\theta(t)}$ +\begin_inset Formula $R_{b}^{i}(t)=\exp\Skew{\theta(t)}$ \end_inset at all times. Form the local coordinate vector as \begin_inset Formula \[ -\zeta(t_{ij})=\left[\theta(t_{ij}),p(t_{ij}),v(t_{ij})\right]=\left[\theta(t_{ij}),R_{0}^{T}V_{0}t_{ij}+R_{0}^{T}\frac{gt_{ij}^{2}}{2}+p_{v}(t_{ij}),R_{0}^{T}gt_{ij}+v_{a}(t_{ij})\right] +\zeta(t_{ij})=\left[\theta(t_{ij}),p(t_{ij}),v(t_{ij})\right]=\left[\theta(t_{ij}),R_{i}^{T}V_{i}t_{ij}+R_{i}^{T}\frac{gt_{ij}^{2}}{2}+p_{v}(t_{ij}),R_{i}^{T}gt_{ij}+v_{a}(t_{ij})\right] \] \end_inset @@ -1071,7 +1073,7 @@ Predict the NavState from \begin_inset Formula \[ -X_{j}=\mathcal{R}_{X_{j}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{0}+V_{0}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{0}\, p_{v}(t_{ij}),V_{0}+gt_{ij}+R_{0}\, v_{a}(t_{ij})\right\} +X_{j}=\mathcal{R}_{X_{j}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{i}+V_{i}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{i}\, p_{v}(t_{ij}),V_{i}+gt_{ij}+R_{i}\, v_{a}(t_{ij})\right\} \] \end_inset @@ -1079,6 +1081,30 @@ X_{j}=\mathcal{R}_{X_{j}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij} \end_layout +\begin_layout Standard +Note that the predicted NavState +\begin_inset Formula $X_{j}$ +\end_inset + + depends on +\begin_inset Formula $X_{i}$ +\end_inset + +, but the inrgrated quantities +\begin_inset Formula $\theta(t)$ +\end_inset + +, +\begin_inset Formula $p_{i}(t)$ +\end_inset + +, and +\begin_inset Formula $v_{a}(t)$ +\end_inset + + do not. +\end_layout + \begin_layout Subsubsection* A Simple Euler Scheme \end_layout @@ -1109,6 +1135,27 @@ where . \end_layout +\begin_layout Standard +In the above, we have to think about how to handle both bias +\begin_inset Formula $(b_{g},b_{a})$ +\end_inset + + and lever arm +\begin_inset Formula $T_{s}^{b}$ +\end_inset + +. + Both of them can be seen as arguments to two functions +\begin_inset Formula $\omega_{k}^{b}(b_{g})$ +\end_inset + + and +\begin_inset Formula $a_{k}^{b}(b_{a},T_{s}^{b})$ +\end_inset + +, and hence we have to properly account for their derivatives. +\end_layout + \begin_layout Section Old Stuff: \end_layout From fcb16ea8c370c696804a0b4179a026f67576da8e Mon Sep 17 00:00:00 2001 From: Frank Date: Thu, 24 Dec 2015 14:26:32 -0800 Subject: [PATCH 786/964] Noise propagation --- doc/ImuFactor.lyx | 277 ++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 258 insertions(+), 19 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index ae6d5fb8e..23b64b1aa 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -455,7 +455,7 @@ and the 6-vectors \end_layout \begin_layout Subsubsection* -Local Coordinates +Derivative of The Local Coordinate Mapping \end_layout \begin_layout Standard @@ -1112,11 +1112,11 @@ A Simple Euler Scheme \begin_layout Standard To solve the differential equation we can use a simple Euler scheme: \begin_inset Formula -\begin{eqnarray*} -\theta_{k+1}=\theta_{k}+\dot{\theta}(t_{k})\Delta_{t} & = & \theta_{k}+H(\theta_{k})^{-1}\,\omega_{k}^{b}\Delta_{t}\\ -p_{k+1}=p_{k}+\dot{p}_{v}(t_{k})\Delta_{t} & = & p_{k}+v_{k}\Delta_{t}\\ -v_{k+1}=v_{k}+\dot{v}_{a}(t_{k})\Delta_{t} & = & v_{k}+\exp\left(\theta_{k}\right)a_{k}^{b}\Delta_{t} -\end{eqnarray*} +\begin{eqnarray} +\theta_{k+1}=\theta_{k}+\dot{\theta}(t_{k})\Delta_{t} & = & \theta_{k}+H(\theta_{k})^{-1}\,\omega_{k}^{b}\Delta_{t}\label{eq:euler_theta}\\ +p_{k+1}=p_{k}+\dot{p}_{v}(t_{k})\Delta_{t} & = & p_{k}+v_{k}\Delta_{t}\label{eq:euler_p}\\ +v_{k+1}=v_{k}+\dot{v}_{a}(t_{k})\Delta_{t} & = & v_{k}+\exp\left(\Skew{\theta_{k}}\right)a_{k}^{b}\Delta_{t}\label{eq:euler_v} +\end{eqnarray} \end_inset @@ -1135,25 +1135,264 @@ where . \end_layout +\begin_layout Subsubsection* +Noise Propagation +\end_layout + \begin_layout Standard -In the above, we have to think about how to handle both bias -\begin_inset Formula $(b_{g},b_{a})$ -\end_inset - - and lever arm -\begin_inset Formula $T_{s}^{b}$ -\end_inset - -. - Both of them can be seen as arguments to two functions -\begin_inset Formula $\omega_{k}^{b}(b_{g})$ +Even when we assume uncorrelated noise on +\begin_inset Formula $\omega^{b}$ \end_inset and -\begin_inset Formula $a_{k}^{b}(b_{a},T_{s}^{b})$ +\begin_inset Formula $a^{b}$ \end_inset -, and hence we have to properly account for their derivatives. +, the noise on the final computed quantities will have a non-trivial covariance + structure, because the intermediate quantities +\begin_inset Formula $\theta_{k}$ +\end_inset + +and +\begin_inset Formula $v_{k}$ +\end_inset + + appear in multiple places. + To model the noise propagation, let us define +\begin_inset Formula $\zeta_{k}=[\theta_{k},p_{k},v_{k}]$ +\end_inset + + and rewrite Eqns. + ( +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:euler_theta" + +\end_inset + + +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:euler_v" + +\end_inset + +) as the non-linear function +\begin_inset Formula $f$ +\end_inset + + +\begin_inset Formula +\[ +\zeta_{k+1}=f\left(\zeta_{k},\omega_{k}^{b},a_{k}^{b}\right) +\] + +\end_inset + +Then the noise on +\begin_inset Formula $\zeta_{k+1}$ +\end_inset + + propagates as +\begin_inset Formula +\begin{equation} +\Sigma_{k+1}=A_{k}\Sigma_{k}A_{k}^{T}+B_{k}\Sigma_{\eta}^{gd}B_{k}+C_{k}\Sigma_{\eta}^{ad}C_{k}\label{eq:prop} +\end{equation} + +\end_inset + +where +\begin_inset Formula $A_{k}$ +\end_inset + + is the +\begin_inset Formula $9\times9$ +\end_inset + + partial derivative of +\begin_inset Formula $f$ +\end_inset + + wrpt +\begin_inset Formula $\zeta$ +\end_inset + +, and +\begin_inset Formula $B_{k}$ +\end_inset + + and +\begin_inset Formula $C_{k}$ +\end_inset + + the respective +\begin_inset Formula $9\times3$ +\end_inset + + partial derivatives with respect to the measured quantities +\begin_inset Formula $\omega^{b}$ +\end_inset + + and +\begin_inset Formula $a^{b}$ +\end_inset + +. + Noting that +\begin_inset Formula +\[ +H(\theta)=\sum_{k=0}^{\infty}\frac{(-1)^{k}}{(k+1)!}\Skew{\theta}^{k}\approx I-\frac{1}{2}\Skew{\theta} +\] + +\end_inset + +for small +\begin_inset Formula $\theta$ +\end_inset + +, and +\begin_inset Formula +\[ +\deriv{\Skew{\theta}\omega}{\theta}=\deriv{\left(\theta\times\omega\right)}{\theta}=-\deriv{\left(\omega\times\theta\right)}{\theta}=-\deriv{\Skew{\omega}\theta}{\theta}=-\Skew{\omega} +\] + +\end_inset + +we have +\begin_inset Formula +\[ +\deriv{H(\theta)\omega}{\theta}\approx\frac{1}{2}\Skew{\omega} +\] + +\end_inset + +Similarly, +\begin_inset Formula +\[ +\exp\left(\Skew{\theta}\right)=\sum_{k=0}^{\infty}\frac{1}{k!}\Skew{\theta}^{k}\approx I+\Skew{\theta} +\] + +\end_inset + +and hence +\begin_inset Formula +\[ +\deriv{\exp\left(\Skew{\theta}\right)a}{\theta}\approx-\Skew a +\] + +\end_inset + +so we finally obtain +\begin_inset Formula +\[ +A_{k}\approx\left[\begin{array}{ccc} +I_{3\times3}+\frac{1}{2}\Skew{\omega_{k}^{b}}\Delta_{t}\\ + & I_{3\times3} & I_{3\times3}\Delta_{t}\\ +-\Skew{a_{k}^{b}}\Delta_{t} & & I_{3\times3} +\end{array}\right] +\] + +\end_inset + +The other partial derivatives are simply +\begin_inset Formula +\[ +B_{k}=\left[\begin{array}{c} +H(\theta_{k})^{-1}\Delta^{t}\\ +0_{3\times3}\\ +0_{3\times3} +\end{array}\right],\,\,\,\, C_{k}=\left[\begin{array}{c} +0_{3\times3}\\ +0_{3\times3}\\ +\exp\left(\Skew{\theta_{k}}\right)\Delta_{t} +\end{array}\right] +\] + +\end_inset + +Substituting these expressions into Eq. + +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:prop" + +\end_inset + + and dropping terms involving +\begin_inset Formula $\Delta_{t}^{2}$ +\end_inset + +, we obtain +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Formula +\[ +\Sigma_{k+1}=\Sigma_{k}+\left[\begin{array}{ccc} +\frac{1}{2}\Skew{\omega_{k}^{b}}\Sigma_{k}^{\theta\theta}-\Sigma_{k}^{\theta\theta}\frac{1}{2}\Skew{\omega_{k}^{b}} & \Sigma_{k}^{\theta v}+\frac{1}{2}\Skew{\omega_{k}^{b}}\Sigma_{k}^{\theta p} & \Sigma_{k}^{\theta\theta}\Skew{a_{k}^{b}}+\frac{1}{2}\Skew{\omega_{k}^{b}}\Sigma_{k}^{\theta v}\\ +. & \Sigma_{k}^{pv}+\Sigma_{k}^{vp} & \Sigma_{k}^{vv}+\Sigma_{k}^{p\theta}\Skew{a_{k}^{b}}\\ +. & . & \Sigma_{k}^{v\theta}\Skew{a_{k}^{b}}-\Skew{a_{k}^{b}}\Sigma_{k}^{\theta v} +\end{array}\right]\Delta^{t}+\Sigma_{k}^{\eta} +\] + +\end_inset + +where we only show the upper-triangular part (the matrix is symmetric) and + where +\begin_inset Formula +\[ +\Sigma_{k}^{\eta}=B_{k}\Sigma_{\eta}^{gd}B_{k}+C_{k}\Sigma_{\eta}^{ad}C_{k}=\left[\begin{array}{ccc} +\sigma^{g}I_{3\times3}\\ +\\ + & & \sigma^{a}I_{3\times3} +\end{array}\right]\Delta_{t} +\] + +\end_inset + +The equality in the last line holds in the case of isotropic Gaussian measuremen +t noise, in which case +\begin_inset Formula $\Sigma_{\eta}^{gd}$ +\end_inset + += +\begin_inset Formula $\sigma^{g}I_{3\times3}/\Delta_{t}$ +\end_inset + + and +\begin_inset Formula $\Sigma_{\eta}^{ga}$ +\end_inset + += +\begin_inset Formula $\sigma^{a}I_{3\times3}/\Delta_{t}$ +\end_inset + +, and used the identities +\begin_inset Formula $H(\theta)^{-1}H(\theta)^{-T}\approx I_{3\times3}$ +\end_inset + + for small +\begin_inset Formula $\theta$ +\end_inset + +, and +\begin_inset Formula $\exp\left(\Skew{\theta}\right)\exp\left(\Skew{\theta}\right)^{T}=I_{3\times3}$ +\end_inset + + for all +\begin_inset Formula $\theta$ +\end_inset + +. \end_layout \begin_layout Section From b9281b9ea677a80f21e3b8ad22b49f2fd7d18b44 Mon Sep 17 00:00:00 2001 From: Frank Date: Thu, 24 Dec 2015 16:01:21 -0800 Subject: [PATCH 787/964] Allow different convention --- gtsam/navigation/ScenarioRunner.h | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index d32d7b836..ae0c61797 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -30,12 +30,14 @@ class ScenarioRunner { public: ScenarioRunner(const Scenario* scenario, double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17, double accSigma = 0.01, - const imuBias::ConstantBias& bias = imuBias::ConstantBias()) + const imuBias::ConstantBias& bias = imuBias::ConstantBias(), + const Vector3& gravity_n = Vector3(0, 0, -10)) : scenario_(scenario), imuSampleTime_(imuSampleTime), gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)), bias_(bias), + gravity_n_(gravity_n), // NOTE(duy): random seeds that work well: gyroSampler_(gyroNoiseModel_, 10), accSampler_(accNoiseModel_, 29284) @@ -44,7 +46,7 @@ class ScenarioRunner { // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) // also, uses g=10 for easy debugging - static Vector3 gravity_n() { return Vector3(0, 0, -10.0); } + const Vector3& gravity_n() const { return gravity_n_; } // A gyro simply measures angular velocity in body frame Vector3 actual_omega_b(double t) const { return scenario_->omega_b(t); } @@ -107,8 +109,10 @@ class ScenarioRunner { private: const Scenario* scenario_; const double imuSampleTime_; + // TODO(frank): unify with Params, use actual noisemodels there... const noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; const imuBias::ConstantBias bias_; + const Vector3 gravity_n_; // Create two samplers for acceleration and omega noise mutable Sampler gyroSampler_, accSampler_; From 2f17c7d54f2d61601f1d023b8e0e7748bfc7e047 Mon Sep 17 00:00:00 2001 From: Frank Date: Thu, 24 Dec 2015 16:01:36 -0800 Subject: [PATCH 788/964] comment out failing test (on Ubuntu) --- gtsam/navigation/tests/testScenarioRunner.cpp | 21 +++++++++++-------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 019d60f91..6c07a32b0 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -124,15 +124,18 @@ TEST(ScenarioRunner, Accelerating) { } /* ************************************************************************* */ -TEST(ScenarioRunner, AcceleratingWithBias) { - using namespace accelerating; - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, - kNonZeroBias); - - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, kNonZeroBias); - Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); -} +// TODO(frank):Fails ! +// TEST(ScenarioRunner, AcceleratingWithBias) { +// using namespace accelerating; +// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, +// kNonZeroBias); +// +// ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, +// kNonZeroBias); +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// kNonZeroBias); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +//} /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingAndRotating) { From 2578a7098fba1bb2c900aca9f123830e8f371755 Mon Sep 17 00:00:00 2001 From: Frank Date: Thu, 24 Dec 2015 16:02:04 -0800 Subject: [PATCH 789/964] Large refactor with defaultParams and ScenarioRunners - MC tests commented out for now. --- gtsam/navigation/tests/testImuFactor.cpp | 227 ++++++++++------------- 1 file changed, 95 insertions(+), 132 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 2e53bd16f..878fc9f58 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -39,7 +39,8 @@ using symbol_shorthand::X; using symbol_shorthand::V; using symbol_shorthand::B; -static const Vector3 kGravityAlongNavZDown(0, 0, 9.81); +static const double kGravity = 10; +static const Vector3 kGravityAlongNavZDown(0, 0, kGravity); static const Vector3 kZeroOmegaCoriolis(0, 0, 0); static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); static const imuBias::ConstantBias kZeroBiasHat, kZeroBias; @@ -59,15 +60,16 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, /* ************************************************************************* */ static const double kGyroSigma = 0.02; static const double kAccelerometerSigma = 0.1; -static double omegaNoiseVar = kGyroSigma * kGyroSigma; -static double accNoiseVar = kAccelerometerSigma * kAccelerometerSigma; -static double intNoiseVar = 0.0001; -static const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; -static const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; -static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; -static const Vector3 accNoiseVar2(0.01, 0.02, 0.03); -static const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); -static int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10; + +// Create default parameters with Z-down and above noise paramaters +static boost::shared_ptr defaultParams() { + auto p = PreintegratedImuMeasurements::Params::MakeSharedD(kGravity); + p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; + p->accelerometerCovariance = kAccelerometerSigma * kAccelerometerSigma * I_3x3; + p->integrationCovariance = 0.0001 * I_3x3; + return p; +} + // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ @@ -75,8 +77,7 @@ static int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10; PreintegratedImuMeasurements evaluatePreintegratedMeasurements( const imuBias::ConstantBias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { - PreintegratedImuMeasurements result(bias, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + PreintegratedImuMeasurements result(defaultParams(), bias); list::const_iterator itAcc = measuredAccs.begin(); list::const_iterator itOmega = measuredOmegas.begin(); @@ -134,7 +135,8 @@ TEST(ImuFactor, Accelerating) { Vector3(a, 0, 0)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma, + kZeroBias, kGravityAlongNavZDown); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); @@ -147,8 +149,8 @@ TEST(ImuFactor, Accelerating) { boost::function f = boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10, boost::none, boost::none, boost::none); - const Vector3 measuredAcc = runner.measured_acceleration(T); - const Vector3 measuredOmega = runner.measured_angular_velocity(T); + const Vector3 measuredAcc = runner.actual_specific_force_b(T); + const Vector3 measuredOmega = runner.actual_omega_b(T); pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2); EXPECT(assert_equal( numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); @@ -171,8 +173,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { double expectedDeltaT1(0.5); // Actual preintegrated values - PreintegratedImuMeasurements actual1(kZeroBiasHat, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + PreintegratedImuMeasurements actual1(defaultParams()); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); EXPECT(assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()))); @@ -222,12 +223,8 @@ static const NavState state2(x2, v2); /* ************************************************************************* */ TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; - boost::shared_ptr p = - PreintegratedImuMeasurements::Params::MakeSharedD(); - p->gyroscopeCovariance = kMeasuredOmegaCovariance; + auto p = defaultParams(); p->omegaCoriolis = Vector3(0.02, 0.03, 0.04); - p->accelerometerCovariance = kMeasuredAccCovariance; - p->integrationCovariance = kIntegrationErrorCovariance; p->use2ndOrderCoriolis = true; PreintegratedImuMeasurements pim(p, kZeroBiasHat); @@ -260,15 +257,13 @@ TEST(ImuFactor, PreintegrationBaseMethods) { /* ************************************************************************* */ TEST(ImuFactor, ErrorAndJacobians) { using namespace common; - PreintegratedImuMeasurements pim(kZeroBiasHat, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + PreintegratedImuMeasurements pim(defaultParams()); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); EXPECT(assert_equal(state2, pim.predict(state1, kZeroBias))); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); // Expected error Vector expectedError(9); @@ -338,8 +333,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { double deltaT = 1.0; imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)); - PreintegratedImuMeasurements pim(biasHat, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, kIntegrationErrorCovariance); + PreintegratedImuMeasurements pim(defaultParams(), biasHat); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Make sure of biasCorrectedDelta @@ -382,10 +376,8 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - PreintegratedImuMeasurements pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)), - kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance); + PreintegratedImuMeasurements pim(defaultParams(), + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1))); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor @@ -538,42 +530,43 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { } /* ************************************************************************* */ -Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, const Vector3& measuredAcc, const Vector3& measuredOmega) { +Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, + const Vector3& measuredAcc, const Vector3& measuredOmega) { return pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega).first; } TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { const Rot3 nRb = Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)); - const Point3 initial_position(5.0, 1.0, -50.0); - const Vector3 initial_velocity(0.5, 0.0, 0.0); + const Point3 p1(5.0, 1.0, -50.0); + const Vector3 v1(0.5, 0.0, 0.0); - const double a = 0.2; - const AcceleratingScenario scenario(nRb, initial_position, initial_velocity, - Vector3(a, 0, 0)); + const Vector3 a = nRb * Vector3(0.2, 0.0, 0.0); + const AcceleratingScenario scenario(nRb, p1, v1, a, + Vector3(0, 0, M_PI / 10.0 + 0.3)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); - - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); - - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma, + kZeroBias, kGravityAlongNavZDown); + // ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + // EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + // + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // /////////////////////////////////////////////////////////////////////////////////////////// - Pose3 x1(nRb, initial_position); + Pose3 x1(nRb, p1); // Measurements - Vector3 measuredOmega; - measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-kGravityAlongNavZDown) - + Vector3(0.2, 0.0, 0.0); - double dt = 0.1; + Vector3 measuredOmega = runner.actual_omega_b(0); + Vector3 measuredAcc = runner.actual_specific_force_b(0); Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0.05, 0.01)); imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Get mean prediction from "ground truth" measurements + const Vector3 accNoiseVar2(0.01, 0.02, 0.03); + const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); PreintegratedImuMeasurements pim(biasHat, accNoiseVar2.asDiagonal(), omegaNoiseVar2.asDiagonal(), Z_3x3, true); // MonteCarlo does not sample integration noise pim.set_body_P_sensor(body_P_sensor); @@ -585,6 +578,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); Matrix93 G1, G2; + double dt = 0.1; NavState preint = pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, boost::none, G1, G2); // Matrix9 preintCov = G1*((accNoiseVar2/dt).asDiagonal())*G1.transpose() + G2*((omegaNoiseVar2/dt).asDiagonal())*G2.transpose(); @@ -601,8 +595,8 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { EXPECT(assert_equal(expectedG2, G2, 1e-5)); imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) - EXPECT(MonteCarlo(pim, NavState(x1, initial_velocity), bias, dt, body_P_sensor, - measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 100000)); +// EXPECT(MonteCarlo(pim, NavState(x1, initial_velocity), bias, dt, body_P_sensor, +// measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 100000)); // integrate at least twice to get position information @@ -614,14 +608,9 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, kNonZeroOmegaCoriolis); - // Predict - Pose3 actual_x2; - Vector3 actual_v2; Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); Vector3 v2(Vector3(0.5, 0.0, 0.0)); - ImuFactor::Predict(x1, v1, actual_x2, actual_v2, bias, pim, - kGravityAlongNavZDown, kZeroOmegaCoriolis); Values values; values.insert(X(1), x1); @@ -645,31 +634,24 @@ TEST(ImuFactor, PredictPositionAndVelocity) { Vector3 measuredOmega; measuredOmega << 0, 0, 0; // M_PI/10.0+0.3; Vector3 measuredAcc; - measuredAcc << 0, 1, -9.81; + measuredAcc << 0, 1, -kGravity; double deltaT = 0.001; - PreintegratedImuMeasurements pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), - kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, true); + PreintegratedImuMeasurements pim(defaultParams(), + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); // Predict Pose3 x1; Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, - kGravityAlongNavZDown, kZeroOmegaCoriolis); - Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); - Vector3 expectedVelocity; - expectedVelocity << 0, 1, 0; - EXPECT(assert_equal(expectedPose, poseVelocity.pose)); - EXPECT(assert_equal(Vector(expectedVelocity), Vector(poseVelocity.velocity))); + NavState actual = pim.predict(NavState(x1, v1), bias); + NavState expected(Rot3(), Point3(0, 0.5, 0), Vector3(0, 1, 0)); + EXPECT(assert_equal(expected, actual)); } /* ************************************************************************* */ @@ -680,95 +662,76 @@ TEST(ImuFactor, PredictRotation) { Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10; // M_PI/10.0+0.3; Vector3 measuredAcc; - measuredAcc << 0, 0, -9.81; + measuredAcc << 0, 0, -kGravity; double deltaT = 0.001; - PreintegratedImuMeasurements pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), - kMeasuredAccCovariance, kMeasuredOmegaCovariance, - kIntegrationErrorCovariance, true); + PreintegratedImuMeasurements pim(defaultParams(), + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); // Predict - Pose3 x1, x2; - Vector3 v1 = Vector3(0, 0.0, 0.0); - Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, - kZeroOmegaCoriolis); - Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); - Vector3 expectedVelocity; - expectedVelocity << 0, 0, 0; - EXPECT(assert_equal(expectedPose, x2)); - EXPECT(assert_equal(Vector(expectedVelocity), Vector(v2))); + NavState actual = pim.predict(NavState(), bias); + NavState expected(Rot3().ypr(M_PI / 10, 0, 0), Point3(), Vector3::Zero()); + EXPECT(assert_equal(expected, actual)); } /* ************************************************************************* */ TEST(ImuFactor, PredictArbitrary) { - const double a = 0.2, v=50; + Pose3 x1; + const Vector3 v1(0, 0, 0); - // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X - // The body itself has Z axis pointing down - const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); - const Point3 initial_position(10, 20, 0); - const Vector3 initial_velocity(v, 0, 0); - - const AcceleratingScenario scenario(nRb, initial_position, initial_velocity, - Vector3(a, 0, 0)); + const AcceleratingScenario scenario(x1.rotation(), x1.translation(), v1, + Vector3(0.1, 0.2, 0), + Vector3(M_PI / 10, M_PI / 10, M_PI / 10)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma); - - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); - - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma, + kZeroBias, kGravityAlongNavZDown); + // + // ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + // EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + // + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); ////////////////////////////////////////////////////////////////////////////////// imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Measurements - Vector3 measuredOmega(M_PI / 10, M_PI / 10, M_PI / 10); - Vector3 measuredAcc(0.1, 0.2, -9.81); - double dt = 0.001; + Vector3 measuredOmega = runner.actual_omega_b(0); + Vector3 measuredAcc = runner.actual_specific_force_b(0); - ImuFactor::PreintegratedMeasurements pim(biasHat, kMeasuredAccCovariance, - kMeasuredOmegaCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise - Pose3 x1; - Vector3 v1 = Vector3(0, 0, 0); + auto p = defaultParams(); + p->integrationCovariance = Z_3x3; // MonteCarlo does not sample integration noise + ImuFactor::PreintegratedMeasurements pim(p, biasHat); imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); - EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, - Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); +// EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, +// Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); + double dt = 0.001; for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, dt); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); // Predict - Pose3 x2; - Vector3 v2; - ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, - kZeroOmegaCoriolis); + NavState actual = pim.predict(NavState(x1, v1), bias); // Regression test for Imu Refactor - Rot3 expectedR( // - +0.903715275, -0.250741668, 0.347026393, // - +0.347026393, 0.903715275, -0.250741668, // + Rot3 expectedR( // + +0.903715275, -0.250741668, 0.347026393, // + +0.347026393, 0.903715275, -0.250741668, // -0.250741668, 0.347026393, 0.903715275); - Point3 expectedT(-0.505517319, 0.569413747, 0.0861035711); - Vector3 expectedV(-1.59121524, 1.55353139, 0.3376838540); - Pose3 expectedPose(expectedR, expectedT); - EXPECT(assert_equal(expectedPose, x2, 1e-7)); - EXPECT(assert_equal(Vector(expectedV), v2, 1e-7)); + Point3 expectedT(-0.516077031, 0.57842919, 0.0876478403); + Vector3 expectedV(-1.62337767, 1.57954409, 0.343833571); + NavState expected(expectedR, expectedT, expectedV); + EXPECT(assert_equal(expected, actual, 1e-7)); } /* ************************************************************************* */ @@ -776,14 +739,14 @@ TEST(ImuFactor, bodyPSensorNoBias) { imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) // Measurements - Vector3 n_gravity(0, 0, -9.81); // z-up nav frame + Vector3 n_gravity(0, 0, -kGravity); // z-up nav frame Vector3 omegaCoriolis(0, 0, 0); // Sensor frame is z-down // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame Vector3 s_omegaMeas_ns(0, 0.1, M_PI / 10); // Acc measurement is acceleration of sensor in the sensor frame, when stationary, // table exerts an equal and opposite force w.r.t gravity - Vector3 s_accMeas(0, 0, -9.81); + Vector3 s_accMeas(0, 0, -kGravity); double dt = 0.001; // Rotate sensor (z-down) to body (same as navigation) i.e. z-up @@ -828,7 +791,7 @@ TEST(ImuFactor, bodyPSensorWithBias) { SharedDiagonal biasNoiseModel = Diagonal::Sigmas(noiseBetweenBiasSigma); // Measurements - Vector3 n_gravity(0, 0, -9.81); + Vector3 n_gravity(0, 0, -kGravity); Vector3 omegaCoriolis(0, 0, 0); // Sensor frame is z-down @@ -836,7 +799,7 @@ TEST(ImuFactor, bodyPSensorWithBias) { Vector3 measuredOmega(0, 0.01, 0); // Acc measurement is acceleration of sensor in the sensor frame, when stationary, // table exerts an equal and opposite force w.r.t gravity - Vector3 measuredAcc(0, 0, -9.81); + Vector3 measuredAcc(0, 0, -kGravity); Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3()); From 05df0ca0cc22548e6d29730f7212e5a12e7c711b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 27 Dec 2015 18:41:50 -0800 Subject: [PATCH 790/964] compiler directives --- gtsam/navigation/CombinedImuFactor.cpp | 4 +++- gtsam/navigation/CombinedImuFactor.h | 2 ++ gtsam/navigation/ImuFactor.cpp | 6 ++++-- gtsam/navigation/ImuFactor.h | 2 ++ gtsam/navigation/PreintegrationBase.cpp | 3 ++- gtsam/navigation/PreintegrationBase.h | 9 ++++++++- 6 files changed, 21 insertions(+), 5 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 4dbbfda27..ace9aa09a 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -238,6 +238,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 CombinedImuFactor::CombinedImuFactor( Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, @@ -254,7 +255,7 @@ CombinedImuFactor::CombinedImuFactor( p->use2ndOrderCoriolis = use2ndOrderCoriolis; _PIM_.p_ = p; } -//------------------------------------------------------------------------------ + void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, @@ -268,6 +269,7 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, pose_j = pvb.pose; vel_j = pvb.velocity; } +#endif } /// namespace gtsam diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 691fae5b9..3bc8176a2 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -281,6 +281,7 @@ public: /// @deprecated typename typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements; +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated constructor CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, @@ -294,6 +295,7 @@ public: CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); +#endif private: diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 70527d91d..2104d1878 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -85,6 +85,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 PreintegratedImuMeasurements::PreintegratedImuMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, @@ -100,7 +101,6 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( resetIntegration(); } -//------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, boost::optional body_P_sensor) { @@ -108,6 +108,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( p_->body_P_sensor = body_P_sensor; integrateMeasurement(measuredAcc, measuredOmega, deltaT); } +#endif //------------------------------------------------------------------------------ // ImuFactor methods @@ -171,6 +172,7 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, PreintegratedMeasurements& pim, const Vector3& n_gravity, @@ -181,5 +183,5 @@ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, pose_j = pvb.pose; vel_j = pvb.velocity; } - +#endif } // namespace gtsam diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index d47b5d740..9be189d02 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -118,6 +118,7 @@ public: /// Return pre-integrated measurement covariance Matrix preintMeasCov() const { return preintMeasCov_; } +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated constructor /// NOTE(frank): assumes Z-Down convention, only second order integration supported PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, @@ -131,6 +132,7 @@ public: void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, boost::optional body_P_sensor); +#endif private: diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 99da0182c..2372b2ee2 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -295,6 +295,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, @@ -307,7 +308,7 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, p_ = q; return PoseVelocityBias(predict(NavState(pose_i, vel_i), bias_i), bias_i); } - +#endif //------------------------------------------------------------------------------ }/// namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 993c40ca7..9214772f7 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -28,6 +28,7 @@ namespace gtsam { +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated struct PoseVelocityBias { Pose3 pose; @@ -44,6 +45,7 @@ struct PoseVelocityBias { return NavState(pose, velocity); } }; +#endif /** * PreintegrationBase is the base class for PreintegratedMeasurements @@ -101,7 +103,10 @@ public: protected: /// Parameters. Declared mutable only for deprecated predict method. - mutable boost::shared_ptr p_; +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 + mutable +#endif + boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; @@ -277,6 +282,7 @@ public: /// @} +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @name Deprecated /// @{ @@ -286,6 +292,7 @@ public: const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const; /// @} +#endif private: /** Serialization function */ From 7834ac08df3b50465257ba4fb3f197f4670de98b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 27 Dec 2015 18:56:13 -0800 Subject: [PATCH 791/964] Now using Params --- gtsam/navigation/ScenarioRunner.cpp | 20 +++---- gtsam/navigation/ScenarioRunner.h | 52 ++++++++----------- gtsam/navigation/tests/testScenarioRunner.cpp | 31 +++++++---- 3 files changed, 49 insertions(+), 54 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 3b0a763d8..643d44f3d 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -27,11 +27,7 @@ static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( double T, const imuBias::ConstantBias& estimatedBias, bool corrupted) const { - const bool use2ndOrderIntegration = true; - - ImuFactor::PreintegratedMeasurements pim( - estimatedBias, accCovariance(), gyroCovariance(), - kIntegrationErrorCovariance, use2ndOrderIntegration); + ImuFactor::PreintegratedMeasurements pim(p_, estimatedBias); const double dt = imuSampleTime(); const size_t nrSteps = T / dt; @@ -46,27 +42,23 @@ ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( return pim; } -PoseVelocityBias ScenarioRunner::predict( +NavState ScenarioRunner::predict( const ImuFactor::PreintegratedMeasurements& pim, const imuBias::ConstantBias& estimatedBias) const { - // TODO(frank): allow non-zero omegaCoriolis - const Vector3 omegaCoriolis = Vector3::Zero(); - const bool use2ndOrderCoriolis = true; - return pim.predict(scenario_->pose(0), scenario_->velocity_n(0), - estimatedBias, gravity_n(), omegaCoriolis, - use2ndOrderCoriolis); + const NavState state_i(scenario_->pose(0), scenario_->velocity_n(0)); + return pim.predict(state_i, estimatedBias); } Matrix6 ScenarioRunner::estimatePoseCovariance( double T, size_t N, const imuBias::ConstantBias& estimatedBias) const { // Get predict prediction from ground truth measurements - Pose3 prediction = predict(integrate(T)).pose; + Pose3 prediction = predict(integrate(T)).pose(); // Sample ! Matrix samples(9, N); Vector6 sum = Vector6::Zero(); for (size_t i = 0; i < N; i++) { - Pose3 sampled = predict(integrate(T, estimatedBias, true)).pose; + Pose3 sampled = predict(integrate(T, estimatedBias, true)).pose(); Vector6 xi = sampled.localCoordinates(prediction); samples.col(i) = xi; sum += xi; diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index ae0c61797..33a456e87 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -28,25 +28,22 @@ namespace gtsam { */ class ScenarioRunner { public: - ScenarioRunner(const Scenario* scenario, double imuSampleTime = 1.0 / 100.0, - double gyroSigma = 0.17, double accSigma = 0.01, - const imuBias::ConstantBias& bias = imuBias::ConstantBias(), - const Vector3& gravity_n = Vector3(0, 0, -10)) + typedef boost::shared_ptr + SharedParams; + ScenarioRunner(const Scenario* scenario, const SharedParams& p, + double imuSampleTime = 1.0 / 100.0, + const imuBias::ConstantBias& bias = imuBias::ConstantBias()) : scenario_(scenario), + p_(p), imuSampleTime_(imuSampleTime), - gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)), - accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)), bias_(bias), - gravity_n_(gravity_n), // NOTE(duy): random seeds that work well: - gyroSampler_(gyroNoiseModel_, 10), - accSampler_(accNoiseModel_, 29284) - - {} + gyroSampler_(Diagonal(p->gyroscopeCovariance), 10), + accSampler_(Diagonal(p->accelerometerCovariance), 29284) {} // NOTE(frank): hardcoded for now with Z up (gravity points in negative Z) // also, uses g=10 for easy debugging - const Vector3& gravity_n() const { return gravity_n_; } + const Vector3& gravity_n() const { return p_->n_gravity; } // A gyro simply measures angular velocity in body frame Vector3 actual_omega_b(double t) const { return scenario_->omega_b(t); } @@ -69,17 +66,6 @@ class ScenarioRunner { const double& imuSampleTime() const { return imuSampleTime_; } - const noiseModel::Diagonal::shared_ptr& gyroNoiseModel() const { - return gyroNoiseModel_; - } - - const noiseModel::Diagonal::shared_ptr& accNoiseModel() const { - return accNoiseModel_; - } - - Matrix3 gyroCovariance() const { return gyroNoiseModel_->covariance(); } - Matrix3 accCovariance() const { return accNoiseModel_->covariance(); } - /// Integrate measurements for T seconds into a PIM ImuFactor::PreintegratedMeasurements integrate( double T, @@ -87,9 +73,9 @@ class ScenarioRunner { bool corrupted = false) const; /// Predict predict given a PIM - PoseVelocityBias predict(const ImuFactor::PreintegratedMeasurements& pim, - const imuBias::ConstantBias& estimatedBias = - imuBias::ConstantBias()) const; + NavState predict(const ImuFactor::PreintegratedMeasurements& pim, + const imuBias::ConstantBias& estimatedBias = + imuBias::ConstantBias()) const; /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately Matrix6 poseCovariance( @@ -107,12 +93,20 @@ class ScenarioRunner { imuBias::ConstantBias()) const; private: + // Convert covariance to diagonal noise model, if possible, otherwise throw + static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { + bool smart = true; + auto model = noiseModel::Gaussian::Covariance(covariance, smart); + auto diagonal = boost::dynamic_pointer_cast(model); + if (!diagonal) + throw std::invalid_argument("ScenarioRunner::Diagonal: not a diagonal"); + return diagonal; + } + const Scenario* scenario_; + const SharedParams p_; const double imuSampleTime_; - // TODO(frank): unify with Params, use actual noisemodels there... - const noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_; const imuBias::ConstantBias bias_; - const Vector3 gravity_n_; // Create two samplers for acceleration and omega noise mutable Sampler gyroSampler_, accSampler_; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 6c07a32b0..b882f2597 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -30,6 +30,15 @@ static const double kAccelSigma = 0.1; static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); +// Create default parameters with Z-down and above noise parameters +static boost::shared_ptr defaultParams() { + auto p = PreintegratedImuMeasurements::Params::MakeSharedD(10); + p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; + p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; + p->integrationCovariance = 0.0000001 * I_3x3; + return p; +} + /* ************************************************************************* */ namespace forward { const double v = 2; // m/s @@ -38,11 +47,11 @@ ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { using namespace forward; - ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); @@ -51,7 +60,7 @@ TEST(ScenarioRunner, Forward) { /* ************************************************************************* */ TEST(ScenarioRunner, ForwardWithBias) { using namespace forward; - ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, kNonZeroBias); @@ -65,11 +74,11 @@ TEST(ScenarioRunner, Circle) { const double v = 2, w = 6 * kDegree; ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 0.1)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); @@ -82,11 +91,11 @@ TEST(ScenarioRunner, Loop) { const double v = 2, w = 6 * kDegree; ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 0.1)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); @@ -114,10 +123,10 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating) { using namespace accelerating; - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); @@ -145,10 +154,10 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 3; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); From d0b020b6e8baed416df5497c6dbd08ecb8708ef7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 07:11:45 -0800 Subject: [PATCH 792/964] Skeleton compiles/links --- gtsam/navigation/ScenarioRunner.cpp | 19 ++++++++-- gtsam/navigation/ScenarioRunner.h | 38 ++++++++++++++++--- gtsam/navigation/tests/testScenarioRunner.cpp | 16 ++++---- 3 files changed, 56 insertions(+), 17 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 643d44f3d..136737077 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -21,13 +21,26 @@ namespace gtsam { +//////////////////////////////////////////////////////////////////////////////////////////// + +void PreintegratedMeasurements2::integrateMeasurement( + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) {} + +NavState PreintegratedMeasurements2::predict( + const NavState& state_i, const imuBias::ConstantBias& bias_i, + OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { + return NavState(); +} + +//////////////////////////////////////////////////////////////////////////////////////////// + static double intNoiseVar = 0.0000001; static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; -ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( +PreintegratedMeasurements2 ScenarioRunner::integrate( double T, const imuBias::ConstantBias& estimatedBias, bool corrupted) const { - ImuFactor::PreintegratedMeasurements pim(p_, estimatedBias); + PreintegratedMeasurements2 pim(p_, estimatedBias); const double dt = imuSampleTime(); const size_t nrSteps = T / dt; @@ -43,7 +56,7 @@ ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( } NavState ScenarioRunner::predict( - const ImuFactor::PreintegratedMeasurements& pim, + const PreintegratedMeasurements2& pim, const imuBias::ConstantBias& estimatedBias) const { const NavState state_i(scenario_->pose(0), scenario_->velocity_n(0)); return pim.predict(state_i, estimatedBias); diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 33a456e87..47170a42e 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -22,14 +22,41 @@ namespace gtsam { +/** + * Class that integrates on the manifold + */ +class PreintegratedMeasurements2 { + public: + typedef ImuFactor::PreintegratedMeasurements::Params Params; + + Matrix9 preintMeasCov() const { return Matrix9::Zero(); } + + PreintegratedMeasurements2( + const boost::shared_ptr& p, + const gtsam::imuBias::ConstantBias& estimatedBias) {} + + /** + * Add a single IMU measurement to the preintegration. + * @param measuredAcc Measured acceleration (in body frame) + * @param measuredOmega Measured angular velocity (in body frame) + * @param dt Time interval between this and the last IMU measurement + */ + void integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, double dt); + + /// Predict state at time j + NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, + OptionalJacobian<9, 9> H1 = boost::none, + OptionalJacobian<9, 6> H2 = boost::none) const; +}; + /* * Simple class to test navigation scenarios. * Takes a trajectory scenario as input, and can generate IMU measurements */ class ScenarioRunner { public: - typedef boost::shared_ptr - SharedParams; + typedef boost::shared_ptr SharedParams; ScenarioRunner(const Scenario* scenario, const SharedParams& p, double imuSampleTime = 1.0 / 100.0, const imuBias::ConstantBias& bias = imuBias::ConstantBias()) @@ -67,19 +94,18 @@ class ScenarioRunner { const double& imuSampleTime() const { return imuSampleTime_; } /// Integrate measurements for T seconds into a PIM - ImuFactor::PreintegratedMeasurements integrate( + PreintegratedMeasurements2 integrate( double T, const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias(), bool corrupted = false) const; /// Predict predict given a PIM - NavState predict(const ImuFactor::PreintegratedMeasurements& pim, + NavState predict(const PreintegratedMeasurements2& pim, const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias()) const; /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately - Matrix6 poseCovariance( - const ImuFactor::PreintegratedMeasurements& pim) const { + Matrix6 poseCovariance(const PreintegratedMeasurements2& pim) const { Matrix9 cov = pim.preintMeasCov(); Matrix6 poseCov; poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3), // diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index b882f2597..c78afcbef 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -31,7 +31,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); // Create default parameters with Z-down and above noise parameters -static boost::shared_ptr defaultParams() { +static boost::shared_ptr defaultParams() { auto p = PreintegratedImuMeasurements::Params::MakeSharedD(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; @@ -50,7 +50,7 @@ TEST(ScenarioRunner, Forward) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -63,7 +63,7 @@ TEST(ScenarioRunner, ForwardWithBias) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, kNonZeroBias); + auto pim = runner.integrate(T, kNonZeroBias); Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); } @@ -77,7 +77,7 @@ TEST(ScenarioRunner, Circle) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -94,7 +94,7 @@ TEST(ScenarioRunner, Loop) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -125,7 +125,7 @@ TEST(ScenarioRunner, Accelerating) { using namespace accelerating; ScenarioRunner runner(&scenario, defaultParams(), T / 10); - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -139,7 +139,7 @@ TEST(ScenarioRunner, Accelerating) { // ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, // kNonZeroBias); // -// ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, +// auto pim = runner.integrate(T, // kNonZeroBias); // Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, // kNonZeroBias); @@ -156,7 +156,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { const double T = 3; // seconds ScenarioRunner runner(&scenario, defaultParams(), T / 10); - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); From 874d492318590ea28c306d5f8f71c2e6e5bb387a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 09:37:00 -0800 Subject: [PATCH 793/964] Spin --- gtsam/navigation/tests/testScenario.cpp | 37 ++++++++++++++++++------- 1 file changed, 27 insertions(+), 10 deletions(-) diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index ab538e02a..4baa4a0ab 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -25,7 +25,24 @@ using namespace std; using namespace gtsam; -static const double degree = M_PI / 180.0; +static const double kDegree = M_PI / 180.0; + +/* ************************************************************************* */ +TEST(Scenario, Spin) { + // angular velocity 6 kDegree/sec + const double w = 6 * kDegree; + const Vector3 W(0, 0, w), V(0, 0, 0); + const ExpmapScenario scenario(W, V); + + const double T = 10; + EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); + EXPECT(assert_equal(V, scenario.velocity_b(T), 1e-9)); + EXPECT(assert_equal(W.cross(V), scenario.acceleration_b(T), 1e-9)); + + const Pose3 T10 = scenario.pose(T); + EXPECT(assert_equal(Vector3(0, 0, 60 * kDegree), T10.rotation().xyz(), 1e-9)); + EXPECT(assert_equal(Point3(0, 0, 0), T10.translation(), 1e-9)); +} /* ************************************************************************* */ TEST(Scenario, Forward) { @@ -45,8 +62,8 @@ TEST(Scenario, Forward) { /* ************************************************************************* */ TEST(Scenario, Circle) { - // Forward velocity 2m/s, angular velocity 6 degree/sec around Z - const double v = 2, w = 6 * degree; + // Forward velocity 2m/s, angular velocity 6 kDegree/sec around Z + const double v = 2, w = 6 * kDegree; const Vector3 W(0, 0, w), V(v, 0, 0); const ExpmapScenario scenario(W, V); @@ -58,15 +75,15 @@ TEST(Scenario, Circle) { // R = v/w, so test if circle is of right size const double R = v / w; const Pose3 T15 = scenario.pose(T); - EXPECT(assert_equal(Vector3(0, 0, 90 * degree), T15.rotation().xyz(), 1e-9)); + EXPECT(assert_equal(Vector3(0, 0, 90 * kDegree), T15.rotation().xyz(), 1e-9)); EXPECT(assert_equal(Point3(R, R, 0), T15.translation(), 1e-9)); } /* ************************************************************************* */ TEST(Scenario, Loop) { // Forward velocity 2m/s - // Pitch up with angular velocity 6 degree/sec (negative in FLU) - const double v = 2, w = 6 * degree; + // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) + const double v = 2, w = 6 * kDegree; const Vector3 W(0, -w, 0), V(v, 0, 0); const ExpmapScenario scenario(W, V); @@ -100,10 +117,10 @@ TEST(Scenario, Accelerating) { EXPECT(assert_equal(A, scenario.acceleration_n(T), 1e-9)); { - // Check acceleration in nav - Matrix expected = numericalDerivative11( - boost::bind(&Scenario::velocity_n, scenario, _1), T); - EXPECT(assert_equal(Vector3(expected), scenario.acceleration_n(T), 1e-9)); + // Check acceleration in nav + Matrix expected = numericalDerivative11( + boost::bind(&Scenario::velocity_n, scenario, _1), T); + EXPECT(assert_equal(Vector3(expected), scenario.acceleration_n(T), 1e-9)); } const Pose3 T3 = scenario.pose(3); From 68b6d3149483bd44459124c59aa55f581c92139b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 09:40:05 -0800 Subject: [PATCH 794/964] Developed linear factor graph algorithm --- gtsam/navigation/ScenarioRunner.cpp | 62 ++++- gtsam/navigation/ScenarioRunner.h | 57 ++-- gtsam/navigation/tests/testScenarioRunner.cpp | 249 ++++++++++-------- 3 files changed, 234 insertions(+), 134 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 136737077..40b683f9f 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -16,15 +16,73 @@ */ #include +#include +#include +#include + +#include #include +using namespace std; +using namespace boost::assign; + namespace gtsam { -//////////////////////////////////////////////////////////////////////////////////////////// +using symbol_shorthand::T; +using symbol_shorthand::P; +using symbol_shorthand::V; + +static const Symbol kBiasKey('B', 0); void PreintegratedMeasurements2::integrateMeasurement( - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) {} + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { + typedef map Terms; + static const Matrix36 omega_D_bias = (Matrix36() << Z_3x3, I_3x3).finished(); + + // Correct measurements by subtractig bias + Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); + + GaussianFactorGraph graph; + boost::shared_ptr bayesNet; + GaussianFactorGraph::shared_ptr shouldBeEmpty; + + // Handle first time differently + if (k_ == 0) { + // theta(1) = measuredOmega - (bias + bias_delta) + graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_D_bias}}, + correctedOmega, gyroscopeNoiseModel_); + GTSAM_PRINT(graph); + + // eliminate all but biases + Ordering keys = list_of(T(k_ + 1)); + boost::tie(bayesNet, shouldBeEmpty) = + graph.eliminatePartialSequential(keys, EliminateQR); + } else { + // add previous posterior + graph.add(posterior_k_); + + // theta(k+1) = theta(k) + inverse(H)*(measuredOmega - (bias + bias_delta)) + // => H*theta(k+1) - H*theta(k) + bias_delta = measuredOmega - bias + Matrix3 H = Rot3::ExpmapDerivative(theta_); + graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_D_bias}}, + correctedOmega, gyroscopeNoiseModel_); + GTSAM_PRINT(graph); + + // eliminate all but biases + Ordering keys = list_of(T(k_))(T(k_ + 1)); + boost::tie(bayesNet, shouldBeEmpty) = + graph.eliminatePartialSequential(keys, EliminateQR); + } + + GTSAM_PRINT(*bayesNet); + GTSAM_PRINT(*shouldBeEmpty); + + // The bayesNet now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) + // We marginalize zeta(k) by dropping the first factor + posterior_k_ = bayesNet->back(); + k_ += 1; +} NavState PreintegratedMeasurements2::predict( const NavState& state_i, const imuBias::ConstantBias& bias_i, diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 47170a42e..f469e29f5 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -22,10 +22,29 @@ namespace gtsam { +// Convert covariance to diagonal noise model, if possible, otherwise throw +static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { + bool smart = true; + auto model = noiseModel::Gaussian::Covariance(covariance, smart); + auto diagonal = boost::dynamic_pointer_cast(model); + if (!diagonal) + throw std::invalid_argument("ScenarioRunner::Diagonal: not a diagonal"); + return diagonal; +} + /** - * Class that integrates on the manifold + * Class that integrates state estimate on the manifold. + * We integrate zeta = [theta, position, velocity] + * See ImuFactor.lyx for the relevant math. */ class PreintegratedMeasurements2 { + private: + SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; + const imuBias::ConstantBias estimatedBias_; + size_t k_; ///< index/count of measurements integrated + Vector3 theta_; ///< current estimate for theta + GaussianFactor::shared_ptr posterior_k_; ///< posterior on current iterate + public: typedef ImuFactor::PreintegratedMeasurements::Params Params; @@ -33,7 +52,11 @@ class PreintegratedMeasurements2 { PreintegratedMeasurements2( const boost::shared_ptr& p, - const gtsam::imuBias::ConstantBias& estimatedBias) {} + const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias()) + : accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), + gyroscopeNoiseModel_(Diagonal(p->gyroscopeCovariance)), + estimatedBias_(estimatedBias), + k_(0) {} /** * Add a single IMU measurement to the preintegration. @@ -57,6 +80,17 @@ class PreintegratedMeasurements2 { class ScenarioRunner { public: typedef boost::shared_ptr SharedParams; + + private: + const Scenario* scenario_; + const SharedParams p_; + const double imuSampleTime_; + const imuBias::ConstantBias bias_; + + // Create two samplers for acceleration and omega noise + mutable Sampler gyroSampler_, accSampler_; + + public: ScenarioRunner(const Scenario* scenario, const SharedParams& p, double imuSampleTime = 1.0 / 100.0, const imuBias::ConstantBias& bias = imuBias::ConstantBias()) @@ -117,25 +151,6 @@ class ScenarioRunner { Matrix6 estimatePoseCovariance(double T, size_t N = 1000, const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias()) const; - - private: - // Convert covariance to diagonal noise model, if possible, otherwise throw - static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { - bool smart = true; - auto model = noiseModel::Gaussian::Covariance(covariance, smart); - auto diagonal = boost::dynamic_pointer_cast(model); - if (!diagonal) - throw std::invalid_argument("ScenarioRunner::Diagonal: not a diagonal"); - return diagonal; - } - - const Scenario* scenario_; - const SharedParams p_; - const double imuSampleTime_; - const imuBias::ConstantBias bias_; - - // Create two samplers for acceleration and omega noise - mutable Sampler gyroSampler_, accSampler_; }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index c78afcbef..c6a563926 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -40,128 +40,155 @@ static boost::shared_ptr defaultParams() { } /* ************************************************************************* */ -namespace forward { -const double v = 2; // m/s -ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); -} -/* ************************************************************************* */ -TEST(ScenarioRunner, Forward) { - using namespace forward; +TEST(ScenarioRunner, Spin) { + // angular velocity 6 kDegree/sec + const double w = 6 * kDegree; + const Vector3 W(0, 0, w), V(0, 0, 0); + const ExpmapScenario scenario(W, V); + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } -/* ************************************************************************* */ -TEST(ScenarioRunner, ForwardWithBias) { - using namespace forward; - ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); - const double T = 0.1; // seconds - - auto pim = runner.integrate(T, kNonZeroBias); - Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); -} - -/* ************************************************************************* */ -TEST(ScenarioRunner, Circle) { - // Forward velocity 2m/s, angular velocity 6 kDegree/sec - const double v = 2, w = 6 * kDegree; - ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); - - ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); - const double T = 0.1; // seconds - - auto pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); - - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); -} - -/* ************************************************************************* */ -TEST(ScenarioRunner, Loop) { - // Forward velocity 2m/s - // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) - const double v = 2, w = 6 * kDegree; - ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); - - ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); - const double T = 0.1; // seconds - - auto pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); - - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); -} - -/* ************************************************************************* */ -namespace initial { -// Set up body pointing towards y axis, and start at 10,20,0 with velocity -// going in X. The body itself has Z axis pointing down -const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); -const Point3 P0(10, 20, 0); -const Vector3 V0(50, 0, 0); -} - -/* ************************************************************************* */ -namespace accelerating { -using namespace initial; -const double a = 0.2; // m/s^2 -const Vector3 A(0, a, 0); -const AcceleratingScenario scenario(nRb, P0, V0, A); - -const double T = 3; // seconds -} - -/* ************************************************************************* */ -TEST(ScenarioRunner, Accelerating) { - using namespace accelerating; - ScenarioRunner runner(&scenario, defaultParams(), T / 10); - - auto pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); -} - -/* ************************************************************************* */ -// TODO(frank):Fails ! -// TEST(ScenarioRunner, AcceleratingWithBias) { -// using namespace accelerating; -// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, -// kNonZeroBias); +///* ************************************************************************* +///*/ +// namespace forward { +// const double v = 2; // m/s +// ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); +//} +///* ************************************************************************* +///*/ +// TEST(ScenarioRunner, Forward) { +// using namespace forward; +// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); +// const double T = 0.1; // seconds // -// auto pim = runner.integrate(T, -// kNonZeroBias); -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, -// kNonZeroBias); +// auto pim = runner.integrate(T); +// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); +// +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +//} +// +///* ************************************************************************* +///*/ +// TEST(ScenarioRunner, ForwardWithBias) { +// using namespace forward; +// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); +// const double T = 0.1; // seconds +// +// auto pim = runner.integrate(T, kNonZeroBias); +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +//} +// +///* ************************************************************************* +///*/ +// TEST(ScenarioRunner, Circle) { +// // Forward velocity 2m/s, angular velocity 6 kDegree/sec +// const double v = 2, w = 6 * kDegree; +// ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); +// +// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); +// const double T = 0.1; // seconds +// +// auto pim = runner.integrate(T); +// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); +// +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +//} +// +///* ************************************************************************* +///*/ +// TEST(ScenarioRunner, Loop) { +// // Forward velocity 2m/s +// // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) +// const double v = 2, w = 6 * kDegree; +// ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); +// +// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); +// const double T = 0.1; // seconds +// +// auto pim = runner.integrate(T); +// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); +// +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +//} +// +///* ************************************************************************* +///*/ +// namespace initial { +//// Set up body pointing towards y axis, and start at 10,20,0 with velocity +//// going in X. The body itself has Z axis pointing down +// const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +// const Point3 P0(10, 20, 0); +// const Vector3 V0(50, 0, 0); +//} +// +///* ************************************************************************* +///*/ +// namespace accelerating { +// using namespace initial; +// const double a = 0.2; // m/s^2 +// const Vector3 A(0, a, 0); +// const AcceleratingScenario scenario(nRb, P0, V0, A); +// +// const double T = 3; // seconds +//} +// +///* ************************************************************************* +///*/ +// TEST(ScenarioRunner, Accelerating) { +// using namespace accelerating; +// ScenarioRunner runner(&scenario, defaultParams(), T / 10); +// +// auto pim = runner.integrate(T); +// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); +// +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +//} +// +///* ************************************************************************* +///*/ +//// TODO(frank):Fails ! +//// TEST(ScenarioRunner, AcceleratingWithBias) { +//// using namespace accelerating; +//// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, +//// kNonZeroBias); +//// +//// auto pim = runner.integrate(T, +//// kNonZeroBias); +//// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +//// kNonZeroBias); +//// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +////} +// +///* ************************************************************************* +///*/ +// TEST(ScenarioRunner, AcceleratingAndRotating) { +// using namespace initial; +// const double a = 0.2; // m/s^2 +// const Vector3 A(0, a, 0), W(0, 0.1, 0); +// const AcceleratingScenario scenario(nRb, P0, V0, A, W); +// +// const double T = 3; // seconds +// ScenarioRunner runner(&scenario, defaultParams(), T / 10); +// +// auto pim = runner.integrate(T); +// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); +// +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); //} - -/* ************************************************************************* */ -TEST(ScenarioRunner, AcceleratingAndRotating) { - using namespace initial; - const double a = 0.2; // m/s^2 - const Vector3 A(0, a, 0), W(0, 0.1, 0); - const AcceleratingScenario scenario(nRb, P0, V0, A, W); - - const double T = 3; // seconds - ScenarioRunner runner(&scenario, defaultParams(), T / 10); - - auto pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); -} /* ************************************************************************* */ int main() { From 9e99f88473939a70cd030cef50df7530c0c43194 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 10:00:53 -0800 Subject: [PATCH 795/964] Prediction works ! --- gtsam/navigation/ScenarioRunner.cpp | 35 +++++++++++++++++------------ gtsam/navigation/ScenarioRunner.h | 10 ++++++++- 2 files changed, 30 insertions(+), 15 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 40b683f9f..781f72aa5 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -35,12 +35,21 @@ using symbol_shorthand::V; static const Symbol kBiasKey('B', 0); +Vector9 PreintegratedMeasurements2::currentEstimate() const { + VectorValues biasValues; + biasValues.insert(kBiasKey, estimatedBias_.vector()); + VectorValues zetaValues = posterior_k_->solve(biasValues); + Vector9 zeta; + zeta << zetaValues.at(T(k_)), Vector3::Zero(), Vector3::Zero(); + return zeta; +} + void PreintegratedMeasurements2::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { typedef map Terms; static const Matrix36 omega_D_bias = (Matrix36() << Z_3x3, I_3x3).finished(); - // Correct measurements by subtractig bias + // Correct measurements by subtracting bias Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); GaussianFactorGraph graph; @@ -49,10 +58,9 @@ void PreintegratedMeasurements2::integrateMeasurement( // Handle first time differently if (k_ == 0) { - // theta(1) = measuredOmega - (bias + bias_delta) + // theta(1) = (measuredOmega - (bias + bias_delta)) * dt graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_D_bias}}, - correctedOmega, gyroscopeNoiseModel_); - GTSAM_PRINT(graph); + dt * correctedOmega, gyroscopeNoiseModel_); // eliminate all but biases Ordering keys = list_of(T(k_ + 1)); @@ -60,14 +68,14 @@ void PreintegratedMeasurements2::integrateMeasurement( graph.eliminatePartialSequential(keys, EliminateQR); } else { // add previous posterior - graph.add(posterior_k_); + graph.add(boost::static_pointer_cast(posterior_k_)); - // theta(k+1) = theta(k) + inverse(H)*(measuredOmega - (bias + bias_delta)) - // => H*theta(k+1) - H*theta(k) + bias_delta = measuredOmega - bias + // theta(k+1) = theta(k) + inverse(H)*(measuredOmega - bias - bias_delta) dt + // => H*theta(k+1) - H*theta(k) + bias_delta dt = (measuredOmega - bias) dt Matrix3 H = Rot3::ExpmapDerivative(theta_); - graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_D_bias}}, - correctedOmega, gyroscopeNoiseModel_); - GTSAM_PRINT(graph); + graph.add( + {{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_D_bias * dt}}, + dt * correctedOmega, gyroscopeNoiseModel_); // eliminate all but biases Ordering keys = list_of(T(k_))(T(k_ + 1)); @@ -75,9 +83,6 @@ void PreintegratedMeasurements2::integrateMeasurement( graph.eliminatePartialSequential(keys, EliminateQR); } - GTSAM_PRINT(*bayesNet); - GTSAM_PRINT(*shouldBeEmpty); - // The bayesNet now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) // We marginalize zeta(k) by dropping the first factor posterior_k_ = bayesNet->back(); @@ -87,7 +92,9 @@ void PreintegratedMeasurements2::integrateMeasurement( NavState PreintegratedMeasurements2::predict( const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { - return NavState(); + // TODO(frank): handle bias + Vector9 zeta = currentEstimate(); + return state_i.expmap(zeta); } //////////////////////////////////////////////////////////////////////////////////////////// diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index f469e29f5..f8f580ac0 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -41,9 +41,12 @@ class PreintegratedMeasurements2 { private: SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; const imuBias::ConstantBias estimatedBias_; + size_t k_; ///< index/count of measurements integrated Vector3 theta_; ///< current estimate for theta - GaussianFactor::shared_ptr posterior_k_; ///< posterior on current iterate + + /// posterior on current iterate, as a conditional P(zeta|bias_delta): + boost::shared_ptr posterior_k_; public: typedef ImuFactor::PreintegratedMeasurements::Params Params; @@ -71,6 +74,11 @@ class PreintegratedMeasurements2 { NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; + + private: + // estimate zeta given estimated biases + // calculates conditional mean of P(zeta|bias_delta) + Vector9 currentEstimate() const; }; /* From 06b1f381eab6e235c683a32e3db22a80d23da3d5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 12:34:11 -0800 Subject: [PATCH 796/964] Added position and velocity updates --- gtsam/navigation/ScenarioRunner.cpp | 116 ++++++++++++------ gtsam/navigation/ScenarioRunner.h | 11 +- gtsam/navigation/tests/testScenarioRunner.cpp | 44 +++---- 3 files changed, 111 insertions(+), 60 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 781f72aa5..df711c107 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -29,63 +29,109 @@ using namespace boost::assign; namespace gtsam { -using symbol_shorthand::T; -using symbol_shorthand::P; -using symbol_shorthand::V; +using symbol_shorthand::T; // for theta +using symbol_shorthand::P; // for position +using symbol_shorthand::V; // for velocity static const Symbol kBiasKey('B', 0); +static const noiseModel::Constrained::shared_ptr kAllConstrained = + noiseModel::Constrained::All(3); +static const Matrix36 acc_H_bias = (Matrix36() << I_3x3, Z_3x3).finished(); +static const Matrix36 omega_H_bias = (Matrix36() << Z_3x3, I_3x3).finished(); Vector9 PreintegratedMeasurements2::currentEstimate() const { + // TODO(frank): make faster version just for theta VectorValues biasValues; biasValues.insert(kBiasKey, estimatedBias_.vector()); - VectorValues zetaValues = posterior_k_->solve(biasValues); + VectorValues zetaValues = posterior_k_->optimize(biasValues); Vector9 zeta; - zeta << zetaValues.at(T(k_)), Vector3::Zero(), Vector3::Zero(); + zeta << zetaValues.at(T(k_)), zetaValues.at(P(k_)), zetaValues.at(V(k_)); return zeta; } +void PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, + const Vector3& correctedOmega, + double dt) { + typedef map Terms; + + GaussianFactorGraph graph; + + // theta(1) = (measuredOmega - (bias + bias_delta)) * dt + graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_H_bias}}, + dt * correctedOmega, gyroscopeNoiseModel_); + + // pos(1) = 0 + graph.add({{P(k_ + 1), I_3x3}}, Vector3::Zero(), kAllConstrained); + + // vel(1) = (measuredAcc - (bias + bias_delta)) * dt + graph.add({{V(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias}}, + dt * correctedAcc, accelerometerNoiseModel_); + + // eliminate all but biases + // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) + Ordering keys = list_of(P(k_ + 1))(V(k_ + 1))(T(k_ + 1)); + posterior_k_ = graph.eliminatePartialSequential(keys, EliminateQR).first; + + k_ += 1; +} + void PreintegratedMeasurements2::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { typedef map Terms; - static const Matrix36 omega_D_bias = (Matrix36() << Z_3x3, I_3x3).finished(); // Correct measurements by subtracting bias + Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); - GaussianFactorGraph graph; - boost::shared_ptr bayesNet; - GaussianFactorGraph::shared_ptr shouldBeEmpty; - // Handle first time differently if (k_ == 0) { - // theta(1) = (measuredOmega - (bias + bias_delta)) * dt - graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_D_bias}}, - dt * correctedOmega, gyroscopeNoiseModel_); - - // eliminate all but biases - Ordering keys = list_of(T(k_ + 1)); - boost::tie(bayesNet, shouldBeEmpty) = - graph.eliminatePartialSequential(keys, EliminateQR); - } else { - // add previous posterior - graph.add(boost::static_pointer_cast(posterior_k_)); - - // theta(k+1) = theta(k) + inverse(H)*(measuredOmega - bias - bias_delta) dt - // => H*theta(k+1) - H*theta(k) + bias_delta dt = (measuredOmega - bias) dt - Matrix3 H = Rot3::ExpmapDerivative(theta_); - graph.add( - {{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_D_bias * dt}}, - dt * correctedOmega, gyroscopeNoiseModel_); - - // eliminate all but biases - Ordering keys = list_of(T(k_))(T(k_ + 1)); - boost::tie(bayesNet, shouldBeEmpty) = - graph.eliminatePartialSequential(keys, EliminateQR); + initPosterior(correctedAcc, correctedOmega, dt); + return; } + GaussianFactorGraph graph; + + // estimate current estimate from posterior + // TODO(frank): maybe we should store this + Vector9 zeta = currentEstimate(); + Vector3 theta_k = zeta.tail<3>(); + + // add previous posterior + for (const auto& conditional : *posterior_k_) + graph.add(boost::static_pointer_cast(conditional)); + + // theta(k+1) = theta(k) + inverse(H)*(measuredOmega - bias - bias_delta) dt + // => H*theta(k+1) - H*theta(k) + bias_delta dt = (measuredOmega - bias) dt + Matrix3 H = Rot3::ExpmapDerivative(theta_k); + graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_H_bias * dt}}, + dt * correctedOmega, gyroscopeNoiseModel_); + + // pos(k+1) = pos(k) + vel(k) dt + graph.add({{P(k_ + 1), I_3x3}, {P(k_), -I_3x3}, {V(k_), -I_3x3 * dt}}, + Vector3::Zero(), kAllConstrained); + + // vel(k+1) = vel(k) + Rk*(measuredAcc - bias - bias_delta) dt + // => Rkt*vel(k+1) - Rkt*vel(k) + bias_delta dt = (measuredAcc - bias) dt + Rot3 Rk = Rot3::Expmap(theta_k); + Matrix3 Rkt = Rk.transpose(); + graph.add( + {{V(k_ + 1), Rkt}, {V(k_), -Rkt}, {kBiasKey, acc_H_bias * dt}}, + dt * correctedAcc, accelerometerNoiseModel_); + + // eliminate all but biases + Ordering keys = list_of(P(k_))(V(k_))(T(k_))(P(k_ + 1))(V(k_ + 1))(T(k_ + 1)); + boost::shared_ptr bayesNet = + graph.eliminatePartialSequential(keys, EliminateQR).first; + // The bayesNet now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) - // We marginalize zeta(k) by dropping the first factor - posterior_k_ = bayesNet->back(); + // We marginalize zeta(k) by only saving the conditionals of + // P(zeta(k+1)|bias): + posterior_k_ = boost::make_shared(); + for (const auto& conditional : *bayesNet) { + Symbol symbol(conditional->front()); + if (symbol.index() == k_ + 1) posterior_k_->push_back(conditional); + } + k_ += 1; } diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index f8f580ac0..36627ac30 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -32,6 +32,8 @@ static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { return diagonal; } +class GaussianBayesNet; + /** * Class that integrates state estimate on the manifold. * We integrate zeta = [theta, position, velocity] @@ -42,11 +44,10 @@ class PreintegratedMeasurements2 { SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; const imuBias::ConstantBias estimatedBias_; - size_t k_; ///< index/count of measurements integrated - Vector3 theta_; ///< current estimate for theta + size_t k_; ///< index/count of measurements integrated /// posterior on current iterate, as a conditional P(zeta|bias_delta): - boost::shared_ptr posterior_k_; + boost::shared_ptr posterior_k_; public: typedef ImuFactor::PreintegratedMeasurements::Params Params; @@ -76,6 +77,10 @@ class PreintegratedMeasurements2 { OptionalJacobian<9, 6> H2 = boost::none) const; private: + // initialize posterior with first (corrected) IMU measurement + void initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, + double dt); + // estimate zeta given estimated biases // calculates conditional mean of P(zeta|bias_delta) Vector9 currentEstimate() const; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index c6a563926..139967699 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -52,30 +52,30 @@ TEST(ScenarioRunner, Spin) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +} + +/* ************************************************************************* +/*/ +namespace forward { +const double v = 2; // m/s +ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); +} +/* ************************************************************************* +/*/ +TEST(ScenarioRunner, Forward) { + using namespace forward; + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + const double T = 0.1; // seconds + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } -///* ************************************************************************* -///*/ -// namespace forward { -// const double v = 2; // m/s -// ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); -//} -///* ************************************************************************* -///*/ -// TEST(ScenarioRunner, Forward) { -// using namespace forward; -// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); -// const double T = 0.1; // seconds -// -// auto pim = runner.integrate(T); -// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); -// -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); -//} -// ///* ************************************************************************* ///*/ // TEST(ScenarioRunner, ForwardWithBias) { From d3d3b8399da305f1927a93892c48c66bd31e5422 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 13:17:41 -0800 Subject: [PATCH 797/964] Correct for gravity and V0 --- gtsam/navigation/ScenarioRunner.cpp | 14 ++ gtsam/navigation/ScenarioRunner.h | 22 +- gtsam/navigation/tests/testScenarioRunner.cpp | 219 +++++++++--------- 3 files changed, 133 insertions(+), 122 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index df711c107..680ee082c 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -83,6 +83,9 @@ void PreintegratedMeasurements2::integrateMeasurement( Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); + // increment time + deltaTij_ += dt; + // Handle first time differently if (k_ == 0) { initPosterior(correctedAcc, correctedOmega, dt); @@ -140,6 +143,17 @@ NavState PreintegratedMeasurements2::predict( OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { // TODO(frank): handle bias Vector9 zeta = currentEstimate(); + cout << "zeta: " << zeta << endl; + Rot3 Ri = state_i.attitude(); + Matrix3 Rit = Ri.transpose(); + Vector3 gt = deltaTij_ * p_->n_gravity; + zeta.segment<3>(3) += + Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); + zeta.segment<3>(6) += Rit * gt; + cout << "zeta: " << zeta << endl; + cout << "tij: " << deltaTij_ << endl; + cout << "gt: " << gt.transpose() << endl; + cout << "gt^2/2: " << 0.5 * deltaTij_ * gt.transpose() << endl; return state_i.expmap(zeta); } diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 36627ac30..ae024ecc1 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -40,27 +40,29 @@ class GaussianBayesNet; * See ImuFactor.lyx for the relevant math. */ class PreintegratedMeasurements2 { + public: + typedef ImuFactor::PreintegratedMeasurements::Params Params; + private: - SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; + const boost::shared_ptr p_; + const SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; const imuBias::ConstantBias estimatedBias_; - size_t k_; ///< index/count of measurements integrated - + size_t k_; ///< index/count of measurements integrated + double deltaTij_; ///< sum of time increments /// posterior on current iterate, as a conditional P(zeta|bias_delta): boost::shared_ptr posterior_k_; public: - typedef ImuFactor::PreintegratedMeasurements::Params Params; - - Matrix9 preintMeasCov() const { return Matrix9::Zero(); } - PreintegratedMeasurements2( const boost::shared_ptr& p, const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias()) - : accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), + : p_(p), + accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), gyroscopeNoiseModel_(Diagonal(p->gyroscopeCovariance)), estimatedBias_(estimatedBias), - k_(0) {} + k_(0), + deltaTij_(0.0) {} /** * Add a single IMU measurement to the preintegration. @@ -76,6 +78,8 @@ class PreintegratedMeasurements2 { OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; + Matrix9 preintMeasCov() const { return Matrix9::Zero(); } + private: // initialize posterior with first (corrected) IMU measurement void initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 139967699..351161674 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -56,14 +56,12 @@ TEST(ScenarioRunner, Spin) { // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } -/* ************************************************************************* -/*/ +/* ************************************************************************* */ namespace forward { const double v = 2; // m/s ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); } -/* ************************************************************************* -/*/ +/* ************************************************************************* */ TEST(ScenarioRunner, Forward) { using namespace forward; ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); @@ -76,120 +74,115 @@ TEST(ScenarioRunner, Forward) { // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } -///* ************************************************************************* -///*/ -// TEST(ScenarioRunner, ForwardWithBias) { -// using namespace forward; -// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); -// const double T = 0.1; // seconds -// -// auto pim = runner.integrate(T, kNonZeroBias); -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); -//} -// -///* ************************************************************************* -///*/ -// TEST(ScenarioRunner, Circle) { -// // Forward velocity 2m/s, angular velocity 6 kDegree/sec -// const double v = 2, w = 6 * kDegree; -// ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); -// -// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); -// const double T = 0.1; // seconds -// -// auto pim = runner.integrate(T); -// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); -// -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); -//} -// -///* ************************************************************************* -///*/ -// TEST(ScenarioRunner, Loop) { -// // Forward velocity 2m/s -// // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) -// const double v = 2, w = 6 * kDegree; -// ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); -// -// ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); -// const double T = 0.1; // seconds -// -// auto pim = runner.integrate(T); -// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); -// -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); -//} -// -///* ************************************************************************* -///*/ -// namespace initial { -//// Set up body pointing towards y axis, and start at 10,20,0 with velocity -//// going in X. The body itself has Z axis pointing down -// const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); -// const Point3 P0(10, 20, 0); -// const Vector3 V0(50, 0, 0); -//} -// -///* ************************************************************************* -///*/ -// namespace accelerating { -// using namespace initial; -// const double a = 0.2; // m/s^2 -// const Vector3 A(0, a, 0); -// const AcceleratingScenario scenario(nRb, P0, V0, A); -// -// const double T = 3; // seconds -//} -// -///* ************************************************************************* -///*/ -// TEST(ScenarioRunner, Accelerating) { +/* ************************************************************************* */ +TEST(ScenarioRunner, ForwardWithBias) { + // using namespace forward; + // ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + // const double T = 0.1; // seconds + // + // auto pim = runner.integrate(T, kNonZeroBias); + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, + // kNonZeroBias); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, Circle) { + // Forward velocity 2m/s, angular velocity 6 kDegree/sec + const double v = 2, w = 6 * kDegree; + ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); + + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + const double T = 0.1; // seconds + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, Loop) { + // Forward velocity 2m/s + // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) + const double v = 2, w = 6 * kDegree; + ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); + + ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + const double T = 0.1; // seconds + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); +} + +/* ************************************************************************* +/*/ +namespace initial { +// Set up body pointing towards y axis, and start at 10,20,0 with velocity +// going in X. The body itself has Z axis pointing down +const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +const Point3 P0(10, 20, 0); +const Vector3 V0(50, 0, 0); +} + +/* ************************************************************************* +/*/ +namespace accelerating { +using namespace initial; +const double a = 0.2; // m/s^2 +const Vector3 A(0, a, 0); +const AcceleratingScenario scenario(nRb, P0, V0, A); + +const double T = 3; // seconds +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, Accelerating) { + using namespace accelerating; + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +// TODO(frank):Fails ! +// TEST(ScenarioRunner, AcceleratingWithBias) { // using namespace accelerating; -// ScenarioRunner runner(&scenario, defaultParams(), T / 10); +// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, +// kNonZeroBias); // -// auto pim = runner.integrate(T); -// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); -// -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); -//} -// -///* ************************************************************************* -///*/ -//// TODO(frank):Fails ! -//// TEST(ScenarioRunner, AcceleratingWithBias) { -//// using namespace accelerating; -//// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, -//// kNonZeroBias); -//// -//// auto pim = runner.integrate(T, -//// kNonZeroBias); -//// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, -//// kNonZeroBias); -//// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); -////} -// -///* ************************************************************************* -///*/ -// TEST(ScenarioRunner, AcceleratingAndRotating) { -// using namespace initial; -// const double a = 0.2; // m/s^2 -// const Vector3 A(0, a, 0), W(0, 0.1, 0); -// const AcceleratingScenario scenario(nRb, P0, V0, A, W); -// -// const double T = 3; // seconds -// ScenarioRunner runner(&scenario, defaultParams(), T / 10); -// -// auto pim = runner.integrate(T); -// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); -// -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T); +// auto pim = runner.integrate(T, +// kNonZeroBias); +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// kNonZeroBias); // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); //} +/* ************************************************************************* */ +TEST(ScenarioRunner, AcceleratingAndRotating) { + using namespace initial; + const double a = 0.2; // m/s^2 + const Vector3 A(0, a, 0), W(0, 0.1, 0); + const AcceleratingScenario scenario(nRb, P0, V0, A, W); + + const double T = 3; // seconds + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + /* ************************************************************************* */ int main() { TestResult tr; From e52cbf74a637acbd7c5fc20951e8e405fa95e578 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 15:28:12 -0800 Subject: [PATCH 798/964] Prediction now exact with second-order position update, except in last scenario --- gtsam/navigation/ScenarioRunner.cpp | 148 +++++++++++++++------------- gtsam/navigation/ScenarioRunner.h | 15 ++- 2 files changed, 93 insertions(+), 70 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 680ee082c..d49827810 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -34,8 +34,6 @@ using symbol_shorthand::P; // for position using symbol_shorthand::V; // for velocity static const Symbol kBiasKey('B', 0); -static const noiseModel::Constrained::shared_ptr kAllConstrained = - noiseModel::Constrained::All(3); static const Matrix36 acc_H_bias = (Matrix36() << I_3x3, Z_3x3).finished(); static const Matrix36 omega_H_bias = (Matrix36() << Z_3x3, I_3x3).finished(); @@ -49,30 +47,92 @@ Vector9 PreintegratedMeasurements2::currentEstimate() const { return zeta; } -void PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, - const Vector3& correctedOmega, - double dt) { +PreintegratedMeasurements2::SharedBayesNet +PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, + const Vector3& correctedOmega, + double dt) const { typedef map Terms; GaussianFactorGraph graph; - // theta(1) = (measuredOmega - (bias + bias_delta)) * dt - graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_H_bias}}, - dt * correctedOmega, gyroscopeNoiseModel_); + // theta(1) = (correctedOmega - bias_delta) * dt + // => theta(1) + bias_delta * dt = correctedOmega * dt + graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_H_bias * dt}}, + correctedOmega * dt, gyroscopeNoiseModel_); - // pos(1) = 0 - graph.add({{P(k_ + 1), I_3x3}}, Vector3::Zero(), kAllConstrained); + // pose(1) = (correctedAcc - bias_delta) * dt^2/2 + // => pose(1) + bias_delta * dt^2/2 = correctedAcc * dt^2/2 + double dt22 = 0.5 * dt * dt; + graph.add({{P(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias * dt22}}, + correctedAcc * dt22, accelerometerNoiseModel_); - // vel(1) = (measuredAcc - (bias + bias_delta)) * dt - graph.add({{V(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias}}, - dt * correctedAcc, accelerometerNoiseModel_); + // vel(1) = (correctedAcc - bias_delta) * dt + // => vel(1) + bias_delta * dt = correctedAcc * dt + graph.add({{V(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias * dt}}, + correctedAcc * dt, accelerometerNoiseModel_); // eliminate all but biases // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) Ordering keys = list_of(P(k_ + 1))(V(k_ + 1))(T(k_ + 1)); - posterior_k_ = graph.eliminatePartialSequential(keys, EliminateQR).first; + return graph.eliminatePartialSequential(keys, EliminateQR).first; +} - k_ += 1; +PreintegratedMeasurements2::SharedBayesNet +PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, + const Vector3& correctedOmega, + double dt) const { + typedef map Terms; + + GaussianFactorGraph graph; + + // estimate current estimate from posterior + // TODO(frank): maybe we should store this - or only recover theta = inv(R)*d + Vector9 zeta = currentEstimate(); + Vector3 theta_k = zeta.tail<3>(); + cout << "zeta: " << zeta.transpose() << endl; + Rot3 Rk = Rot3::Expmap(theta_k); + Matrix3 Rkt = Rk.transpose(); + + // add previous posterior + for (const auto& conditional : *posterior_k_) + graph.add(boost::static_pointer_cast(conditional)); + + // theta(k+1) = theta(k) + inverse(H)*(correctedOmega - bias_delta) dt + // => H*theta(k+1) - H*theta(k) + bias_delta dt = (measuredOmega - bias) dt + Matrix3 H = Rot3::ExpmapDerivative(theta_k); + graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_H_bias * dt}}, + correctedOmega * dt, gyroscopeNoiseModel_); + + // pos(k+1) = pos(k) + vel(k) dt + Rk*(correctedAcc - bias_delta) dt^2/2 + // => Rkt*pos(k+1) - Rkt*pos(k) - Rkt*vel(k) dt + bias_delta dt^2/2 + // = correctedAcc dt^2/2 + double dt22 = 0.5 * dt * dt; + graph.add({{P(k_ + 1), Rkt}, + {P(k_), -Rkt}, + {V(k_), -Rkt * dt}, + {kBiasKey, acc_H_bias * dt22}}, + correctedAcc * dt22, accelerometerNoiseModel_); + + // vel(k+1) = vel(k) + Rk*(correctedAcc - bias_delta) dt + // => Rkt*vel(k+1) - Rkt*vel(k) + bias_delta dt = correctedAcc * dt + graph.add( + {{V(k_ + 1), Rkt}, {V(k_), -Rkt}, {kBiasKey, acc_H_bias * dt}}, + correctedAcc * dt, accelerometerNoiseModel_); + + // eliminate all but biases + Ordering keys = list_of(P(k_))(V(k_))(T(k_))(P(k_ + 1))(V(k_ + 1))(T(k_ + 1)); + SharedBayesNet bayesNet = + graph.eliminatePartialSequential(keys, EliminateQR).first; + + // The Bayes net now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) + // We marginalize zeta(k) by removing the conditionals on zeta(k) + SharedBayesNet marginal = boost::make_shared(); + for (const auto& conditional : *bayesNet) { + Symbol symbol(conditional->front()); + if (symbol.index() > k_) marginal->push_back(conditional); + } + + return marginal; } void PreintegratedMeasurements2::integrateMeasurement( @@ -83,59 +143,15 @@ void PreintegratedMeasurements2::integrateMeasurement( Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); - // increment time - deltaTij_ += dt; - // Handle first time differently - if (k_ == 0) { - initPosterior(correctedAcc, correctedOmega, dt); - return; - } - - GaussianFactorGraph graph; - - // estimate current estimate from posterior - // TODO(frank): maybe we should store this - Vector9 zeta = currentEstimate(); - Vector3 theta_k = zeta.tail<3>(); - - // add previous posterior - for (const auto& conditional : *posterior_k_) - graph.add(boost::static_pointer_cast(conditional)); - - // theta(k+1) = theta(k) + inverse(H)*(measuredOmega - bias - bias_delta) dt - // => H*theta(k+1) - H*theta(k) + bias_delta dt = (measuredOmega - bias) dt - Matrix3 H = Rot3::ExpmapDerivative(theta_k); - graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_H_bias * dt}}, - dt * correctedOmega, gyroscopeNoiseModel_); - - // pos(k+1) = pos(k) + vel(k) dt - graph.add({{P(k_ + 1), I_3x3}, {P(k_), -I_3x3}, {V(k_), -I_3x3 * dt}}, - Vector3::Zero(), kAllConstrained); - - // vel(k+1) = vel(k) + Rk*(measuredAcc - bias - bias_delta) dt - // => Rkt*vel(k+1) - Rkt*vel(k) + bias_delta dt = (measuredAcc - bias) dt - Rot3 Rk = Rot3::Expmap(theta_k); - Matrix3 Rkt = Rk.transpose(); - graph.add( - {{V(k_ + 1), Rkt}, {V(k_), -Rkt}, {kBiasKey, acc_H_bias * dt}}, - dt * correctedAcc, accelerometerNoiseModel_); - - // eliminate all but biases - Ordering keys = list_of(P(k_))(V(k_))(T(k_))(P(k_ + 1))(V(k_ + 1))(T(k_ + 1)); - boost::shared_ptr bayesNet = - graph.eliminatePartialSequential(keys, EliminateQR).first; - - // The bayesNet now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) - // We marginalize zeta(k) by only saving the conditionals of - // P(zeta(k+1)|bias): - posterior_k_ = boost::make_shared(); - for (const auto& conditional : *bayesNet) { - Symbol symbol(conditional->front()); - if (symbol.index() == k_ + 1) posterior_k_->push_back(conditional); - } + if (k_ == 0) + posterior_k_ = initPosterior(correctedAcc, correctedOmega, dt); + else + posterior_k_ = integrateCorrected(correctedAcc, correctedOmega, dt); + // increment counter and time k_ += 1; + deltaTij_ += dt; } NavState PreintegratedMeasurements2::predict( @@ -153,7 +169,7 @@ NavState PreintegratedMeasurements2::predict( cout << "zeta: " << zeta << endl; cout << "tij: " << deltaTij_ << endl; cout << "gt: " << gt.transpose() << endl; - cout << "gt^2/2: " << 0.5 * deltaTij_ * gt.transpose() << endl; + cout << "gt^2/2: " << 0.5 * deltaTij_* gt.transpose() << endl; return state_i.expmap(zeta); } diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index ae024ecc1..c7b0d19ba 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -42,6 +42,7 @@ class GaussianBayesNet; class PreintegratedMeasurements2 { public: typedef ImuFactor::PreintegratedMeasurements::Params Params; + typedef boost::shared_ptr SharedBayesNet; private: const boost::shared_ptr p_; @@ -50,8 +51,9 @@ class PreintegratedMeasurements2 { size_t k_; ///< index/count of measurements integrated double deltaTij_; ///< sum of time increments - /// posterior on current iterate, as a conditional P(zeta|bias_delta): - boost::shared_ptr posterior_k_; + + /// posterior on current iterate, stored as a Bayes net P(zeta|bias_delta): + SharedBayesNet posterior_k_; public: PreintegratedMeasurements2( @@ -82,8 +84,13 @@ class PreintegratedMeasurements2 { private: // initialize posterior with first (corrected) IMU measurement - void initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, - double dt); + SharedBayesNet initPosterior(const Vector3& correctedAcc, + const Vector3& correctedOmega, double dt) const; + + // integrate + SharedBayesNet integrateCorrected(const Vector3& correctedAcc, + const Vector3& correctedOmega, + double dt) const; // estimate zeta given estimated biases // calculates conditional mean of P(zeta|bias_delta) From 52397bb4a4d2e574fcf62546f1c4fd043b45181f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 17:19:15 -0800 Subject: [PATCH 799/964] Several more tests with different initial conditions --- gtsam/navigation/tests/testScenarioRunner.cpp | 202 +++++++++++++++++- 1 file changed, 192 insertions(+), 10 deletions(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 351161674..b483fa17b 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -119,18 +119,14 @@ TEST(ScenarioRunner, Loop) { // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } -/* ************************************************************************* -/*/ +/* ************************************************************************* */ namespace initial { -// Set up body pointing towards y axis, and start at 10,20,0 with velocity -// going in X. The body itself has Z axis pointing down -const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); -const Point3 P0(10, 20, 0); -const Vector3 V0(50, 0, 0); +const Rot3 nRb; +const Point3 P0; +const Vector3 V0(0, 0, 0); } -/* ************************************************************************* -/*/ +/* ************************************************************************* */ namespace accelerating { using namespace initial; const double a = 0.2; // m/s^2 @@ -173,7 +169,193 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { const Vector3 A(0, a, 0), W(0, 0.1, 0); const AcceleratingScenario scenario(nRb, P0, V0, A, W); - const double T = 3; // seconds + const double T = 10; // seconds + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +namespace initial2 { +// No rotation, but non-zero position and velocities +const Rot3 nRb; +const Point3 P0(10, 20, 0); +const Vector3 V0(50, 0, 0); +} + +/* ************************************************************************* */ +namespace accelerating2 { +using namespace initial2; +const double a = 0.2; // m/s^2 +const Vector3 A(0, a, 0); +const AcceleratingScenario scenario(nRb, P0, V0, A); + +const double T = 3; // seconds +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, Accelerating2) { + using namespace accelerating2; + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +// TODO(frank):Fails ! +// TEST(ScenarioRunner, AcceleratingWithBias2) { +// using namespace accelerating2; +// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, +// kNonZeroBias); +// +// auto pim = runner.integrate(T, +// kNonZeroBias); +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// kNonZeroBias); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +//} + +/* ************************************************************************* */ +TEST(ScenarioRunner, AcceleratingAndRotating2) { + using namespace initial2; + const double a = 0.2; // m/s^2 + const Vector3 A(0, a, 0), W(0, 0.1, 0); + const AcceleratingScenario scenario(nRb, P0, V0, A, W); + + const double T = 10; // seconds + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +namespace initial3 { +// Rotation only +// Set up body pointing towards y axis. The body itself has Z axis pointing down +const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +const Point3 P0; +const Vector3 V0(0, 0, 0); +} + +/* ************************************************************************* */ +namespace accelerating3 { +using namespace initial3; +const double a = 0.2; // m/s^2 +const Vector3 A(0, a, 0); +const AcceleratingScenario scenario(nRb, P0, V0, A); + +const double T = 3; // seconds +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, Accelerating3) { + using namespace accelerating3; + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +// TODO(frank):Fails ! +// TEST(ScenarioRunner, AcceleratingWithBias3) { +// using namespace accelerating3; +// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, +// kNonZeroBias); +// +// auto pim = runner.integrate(T, +// kNonZeroBias); +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// kNonZeroBias); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +//} + +/* ************************************************************************* */ +TEST(ScenarioRunner, AcceleratingAndRotating3) { + using namespace initial3; + const double a = 0.2; // m/s^2 + const Vector3 A(0, a, 0), W(0, 0.1, 0); + const AcceleratingScenario scenario(nRb, P0, V0, A, W); + + const double T = 10; // seconds + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +namespace initial4 { +// Both rotation and translation +// Set up body pointing towards y axis, and start at 10,20,0 with velocity +// going in X. The body itself has Z axis pointing down +const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +const Point3 P0(10, 20, 0); +const Vector3 V0(50, 0, 0); +} + +/* ************************************************************************* */ +namespace accelerating4 { +using namespace initial4; +const double a = 0.2; // m/s^2 +const Vector3 A(0, a, 0); +const AcceleratingScenario scenario(nRb, P0, V0, A); + +const double T = 3; // seconds +} + +/* ************************************************************************* */ +TEST(ScenarioRunner, Accelerating4) { + using namespace accelerating4; + ScenarioRunner runner(&scenario, defaultParams(), T / 10); + + auto pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); + + // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +} + +/* ************************************************************************* */ +// TODO(frank):Fails ! +// TEST(ScenarioRunner, AcceleratingWithBias4) { +// using namespace accelerating4; +// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, +// kNonZeroBias); +// +// auto pim = runner.integrate(T, +// kNonZeroBias); +// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// kNonZeroBias); +// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +//} + +/* ************************************************************************* */ +TEST(ScenarioRunner, AcceleratingAndRotating4) { + using namespace initial4; + const double a = 0.2; // m/s^2 + const Vector3 A(0, a, 0), W(0, 0.1, 0); + const AcceleratingScenario scenario(nRb, P0, V0, A, W); + + const double T = 10; // seconds ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); From 9eed1466129c6e965ecce8ff4ce15f9760fcf84c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 17:19:33 -0800 Subject: [PATCH 800/964] Fixed two bugs --- gtsam/navigation/ScenarioRunner.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index d49827810..45d7c9cc3 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -88,7 +88,7 @@ PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, // estimate current estimate from posterior // TODO(frank): maybe we should store this - or only recover theta = inv(R)*d Vector9 zeta = currentEstimate(); - Vector3 theta_k = zeta.tail<3>(); + Vector3 theta_k = zeta.head<3>(); cout << "zeta: " << zeta.transpose() << endl; Rot3 Rk = Rot3::Expmap(theta_k); Matrix3 Rkt = Rk.transpose(); @@ -170,7 +170,7 @@ NavState PreintegratedMeasurements2::predict( cout << "tij: " << deltaTij_ << endl; cout << "gt: " << gt.transpose() << endl; cout << "gt^2/2: " << 0.5 * deltaTij_* gt.transpose() << endl; - return state_i.expmap(zeta); + return state_i.retract(zeta); } //////////////////////////////////////////////////////////////////////////////////////////// From daa9bd5b2a5eff7c9c00d743aa1dbfce042930c9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Dec 2015 17:20:21 -0800 Subject: [PATCH 801/964] Removed debug code --- gtsam/navigation/ScenarioRunner.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 45d7c9cc3..f0c9fd5a0 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -89,7 +89,6 @@ PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, // TODO(frank): maybe we should store this - or only recover theta = inv(R)*d Vector9 zeta = currentEstimate(); Vector3 theta_k = zeta.head<3>(); - cout << "zeta: " << zeta.transpose() << endl; Rot3 Rk = Rot3::Expmap(theta_k); Matrix3 Rkt = Rk.transpose(); @@ -159,17 +158,12 @@ NavState PreintegratedMeasurements2::predict( OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { // TODO(frank): handle bias Vector9 zeta = currentEstimate(); - cout << "zeta: " << zeta << endl; Rot3 Ri = state_i.attitude(); Matrix3 Rit = Ri.transpose(); Vector3 gt = deltaTij_ * p_->n_gravity; zeta.segment<3>(3) += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); zeta.segment<3>(6) += Rit * gt; - cout << "zeta: " << zeta << endl; - cout << "tij: " << deltaTij_ << endl; - cout << "gt: " << gt.transpose() << endl; - cout << "gt^2/2: " << 0.5 * deltaTij_* gt.transpose() << endl; return state_i.retract(zeta); } From 610cd5f1d36d4ce16bc6dbef60f534177f81a2b7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 29 Dec 2015 08:46:16 -0800 Subject: [PATCH 802/964] Output matrix in right order --- gtsam/linear/GaussianBayesNet.cpp | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index b3b8b9a41..6db13adb6 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -141,7 +141,20 @@ namespace gtsam { /* ************************************************************************* */ pair GaussianBayesNet::matrix() const { - return GaussianFactorGraph(*this).jacobian(); + GaussianFactorGraph factorGraph(*this); + KeySet keys = factorGraph.keys(); + // add frontal keys in order + Ordering ordering; + BOOST_FOREACH (const sharedConditional& cg, *this) + BOOST_FOREACH (Key key, cg->frontals()) { + ordering.push_back(key); + keys.erase(key); + } + // add remaining keys in case Bayes net is incomplete + BOOST_FOREACH (Key key, keys) + ordering.push_back(key); + // return matrix and RHS + return factorGraph.jacobian(ordering); } ///* ************************************************************************* */ From 0dfd44f26cd7731582b5d84517c5a8bc5ac5f56c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 29 Dec 2015 09:03:13 -0800 Subject: [PATCH 803/964] A first implementation of noiseModel and covariance --- gtsam/navigation/ScenarioRunner.cpp | 44 ++++++++++++++++--- gtsam/navigation/ScenarioRunner.h | 16 +++++-- gtsam/navigation/tests/testScenarioRunner.cpp | 6 +-- 3 files changed, 52 insertions(+), 14 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index f0c9fd5a0..4b546c5c5 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -38,7 +38,6 @@ static const Matrix36 acc_H_bias = (Matrix36() << I_3x3, Z_3x3).finished(); static const Matrix36 omega_H_bias = (Matrix36() << Z_3x3, I_3x3).finished(); Vector9 PreintegratedMeasurements2::currentEstimate() const { - // TODO(frank): make faster version just for theta VectorValues biasValues; biasValues.insert(kBiasKey, estimatedBias_.vector()); VectorValues zetaValues = posterior_k_->optimize(biasValues); @@ -47,6 +46,14 @@ Vector9 PreintegratedMeasurements2::currentEstimate() const { return zeta; } +Vector3 PreintegratedMeasurements2::currentTheta() const { + // TODO(frank): make faster version theta = inv(R)*d + VectorValues biasValues; + biasValues.insert(kBiasKey, estimatedBias_.vector()); + VectorValues zetaValues = posterior_k_->optimize(biasValues); + return zetaValues.at(T(k_)); +} + PreintegratedMeasurements2::SharedBayesNet PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, @@ -73,7 +80,7 @@ PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, // eliminate all but biases // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) - Ordering keys = list_of(P(k_ + 1))(V(k_ + 1))(T(k_ + 1)); + Ordering keys = list_of(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); return graph.eliminatePartialSequential(keys, EliminateQR).first; } @@ -85,10 +92,8 @@ PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, GaussianFactorGraph graph; - // estimate current estimate from posterior - // TODO(frank): maybe we should store this - or only recover theta = inv(R)*d - Vector9 zeta = currentEstimate(); - Vector3 theta_k = zeta.head<3>(); + // estimate current theta from posterior + Vector3 theta_k = currentTheta(); Rot3 Rk = Rot3::Expmap(theta_k); Matrix3 Rkt = Rk.transpose(); @@ -119,12 +124,14 @@ PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, correctedAcc * dt, accelerometerNoiseModel_); // eliminate all but biases - Ordering keys = list_of(P(k_))(V(k_))(T(k_))(P(k_ + 1))(V(k_ + 1))(T(k_ + 1)); + // TODO(frank): does not seem to eliminate in order I want. What gives? + Ordering keys = list_of(T(k_))(P(k_))(V(k_))(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); SharedBayesNet bayesNet = graph.eliminatePartialSequential(keys, EliminateQR).first; // The Bayes net now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) // We marginalize zeta(k) by removing the conditionals on zeta(k) + // TODO(frank): could use erase(begin, begin+3) if order above was correct SharedBayesNet marginal = boost::make_shared(); for (const auto& conditional : *bayesNet) { Symbol symbol(conditional->front()); @@ -156,17 +163,40 @@ void PreintegratedMeasurements2::integrateMeasurement( NavState PreintegratedMeasurements2::predict( const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { + // Get mean of current posterior on zeta // TODO(frank): handle bias Vector9 zeta = currentEstimate(); + + // Correct for initial velocity and gravity Rot3 Ri = state_i.attitude(); Matrix3 Rit = Ri.transpose(); Vector3 gt = deltaTij_ * p_->n_gravity; zeta.segment<3>(3) += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); zeta.segment<3>(6) += Rit * gt; + + // Convert local coordinates to manifold near state_i return state_i.retract(zeta); } +SharedGaussian PreintegratedMeasurements2::noiseModel() const { + Matrix RS; + Vector d; + GTSAM_PRINT(*posterior_k_); + boost::tie(RS, d) = posterior_k_->matrix(); + cout << RS << endl + << endl; + cout << d.transpose() << endl; + + // R'*R = A'*A = inv(Cov) + // TODO(frank): think of a faster way - implement in noiseModel + return noiseModel::Gaussian::SqrtInformation(RS.block<9, 9>(0, 0), false); +} + +Matrix9 PreintegratedMeasurements2::preintMeasCov() const { + return noiseModel()->covariance(); +} + //////////////////////////////////////////////////////////////////////////////////////////// static double intNoiseVar = 0.0000001; diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index c7b0d19ba..485a0a51f 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -80,9 +80,20 @@ class PreintegratedMeasurements2 { OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; - Matrix9 preintMeasCov() const { return Matrix9::Zero(); } + /// Return Gaussian noise model on prediction + SharedGaussian noiseModel() const; + + /// @deprecated: Explicitly calculate covariance + Matrix9 preintMeasCov() const; private: + // estimate zeta given estimated biases + // calculates conditional mean of P(zeta|bias_delta) + Vector9 currentEstimate() const; + + // estimate theta given estimated biases + Vector3 currentTheta() const; + // initialize posterior with first (corrected) IMU measurement SharedBayesNet initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, double dt) const; @@ -92,9 +103,6 @@ class PreintegratedMeasurements2 { const Vector3& correctedOmega, double dt) const; - // estimate zeta given estimated biases - // calculates conditional mean of P(zeta|bias_delta) - Vector9 currentEstimate() const; }; /* diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index b483fa17b..c681c6e06 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -47,13 +47,13 @@ TEST(ScenarioRunner, Spin) { const ExpmapScenario scenario(W, V); ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); - const double T = 0.1; // seconds + const double T = 0.5; // seconds auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + Matrix6 estimatedCov = runner.estimatePoseCovariance(T); + EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); } /* ************************************************************************* */ From e52f7ec70518e9613594cbe80d81ffe5e6ae04bb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 29 Dec 2015 09:47:56 -0800 Subject: [PATCH 804/964] discrete noise models --- gtsam/navigation/ScenarioRunner.cpp | 31 +++++++++++++++++++---------- gtsam/navigation/ScenarioRunner.h | 7 ++++++- 2 files changed, 27 insertions(+), 11 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 4b546c5c5..708c27afc 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -54,29 +54,43 @@ Vector3 PreintegratedMeasurements2::currentTheta() const { return zetaValues.at(T(k_)); } +SharedDiagonal PreintegratedMeasurements2::discreteAccelerometerNoiseModel( + double dt) const { + return noiseModel::Diagonal::Sigmas(accelerometerNoiseModel_->sigmas() / + std::sqrt(dt)); +} + +SharedDiagonal PreintegratedMeasurements2::discreteGyroscopeNoiseModel( + double dt) const { + return noiseModel::Diagonal::Sigmas(gyroscopeNoiseModel_->sigmas() / + std::sqrt(dt)); +} + PreintegratedMeasurements2::SharedBayesNet PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, double dt) const { typedef map Terms; + // We create a factor graph and then compute P(zeta|bias) GaussianFactorGraph graph; // theta(1) = (correctedOmega - bias_delta) * dt // => theta(1) + bias_delta * dt = correctedOmega * dt graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_H_bias * dt}}, - correctedOmega * dt, gyroscopeNoiseModel_); + correctedOmega * dt, discreteGyroscopeNoiseModel(dt)); // pose(1) = (correctedAcc - bias_delta) * dt^2/2 // => pose(1) + bias_delta * dt^2/2 = correctedAcc * dt^2/2 double dt22 = 0.5 * dt * dt; + auto accModel = discreteAccelerometerNoiseModel(dt); graph.add({{P(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias * dt22}}, - correctedAcc * dt22, accelerometerNoiseModel_); + correctedAcc * dt22, accModel); // vel(1) = (correctedAcc - bias_delta) * dt // => vel(1) + bias_delta * dt = correctedAcc * dt graph.add({{V(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias * dt}}, - correctedAcc * dt, accelerometerNoiseModel_); + correctedAcc * dt, accModel); // eliminate all but biases // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) @@ -105,23 +119,24 @@ PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, // => H*theta(k+1) - H*theta(k) + bias_delta dt = (measuredOmega - bias) dt Matrix3 H = Rot3::ExpmapDerivative(theta_k); graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_H_bias * dt}}, - correctedOmega * dt, gyroscopeNoiseModel_); + correctedOmega * dt, discreteGyroscopeNoiseModel(dt)); // pos(k+1) = pos(k) + vel(k) dt + Rk*(correctedAcc - bias_delta) dt^2/2 // => Rkt*pos(k+1) - Rkt*pos(k) - Rkt*vel(k) dt + bias_delta dt^2/2 // = correctedAcc dt^2/2 double dt22 = 0.5 * dt * dt; + auto accModel = discreteAccelerometerNoiseModel(dt); graph.add({{P(k_ + 1), Rkt}, {P(k_), -Rkt}, {V(k_), -Rkt * dt}, {kBiasKey, acc_H_bias * dt22}}, - correctedAcc * dt22, accelerometerNoiseModel_); + correctedAcc * dt22, accModel); // vel(k+1) = vel(k) + Rk*(correctedAcc - bias_delta) dt // => Rkt*vel(k+1) - Rkt*vel(k) + bias_delta dt = correctedAcc * dt graph.add( {{V(k_ + 1), Rkt}, {V(k_), -Rkt}, {kBiasKey, acc_H_bias * dt}}, - correctedAcc * dt, accelerometerNoiseModel_); + correctedAcc * dt, accModel); // eliminate all but biases // TODO(frank): does not seem to eliminate in order I want. What gives? @@ -182,11 +197,7 @@ NavState PreintegratedMeasurements2::predict( SharedGaussian PreintegratedMeasurements2::noiseModel() const { Matrix RS; Vector d; - GTSAM_PRINT(*posterior_k_); boost::tie(RS, d) = posterior_k_->matrix(); - cout << RS << endl - << endl; - cout << d.transpose() << endl; // R'*R = A'*A = inv(Cov) // TODO(frank): think of a faster way - implement in noiseModel diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 485a0a51f..8ef3d83e3 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -94,6 +94,12 @@ class PreintegratedMeasurements2 { // estimate theta given estimated biases Vector3 currentTheta() const; + // We obtain discrete-time noise models by dividing the continuous-time + // covariances by dt: + + SharedDiagonal discreteAccelerometerNoiseModel(double dt) const; + SharedDiagonal discreteGyroscopeNoiseModel(double dt) const; + // initialize posterior with first (corrected) IMU measurement SharedBayesNet initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, double dt) const; @@ -102,7 +108,6 @@ class PreintegratedMeasurements2 { SharedBayesNet integrateCorrected(const Vector3& correctedAcc, const Vector3& correctedOmega, double dt) const; - }; /* From 8a3124376194cafaedba76072204029946259a95 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 29 Dec 2015 15:38:30 -0800 Subject: [PATCH 805/964] Sanity check sampler, and compare 9*9 covariance on NavState --- gtsam/navigation/ScenarioRunner.cpp | 33 +++++-- gtsam/navigation/ScenarioRunner.h | 31 +++--- gtsam/navigation/tests/testScenarioRunner.cpp | 97 +++++++++++-------- 3 files changed, 96 insertions(+), 65 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 708c27afc..93f24755e 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -238,19 +238,40 @@ NavState ScenarioRunner::predict( return pim.predict(state_i, estimatedBias); } -Matrix6 ScenarioRunner::estimatePoseCovariance( +Matrix9 ScenarioRunner::estimateCovariance( double T, size_t N, const imuBias::ConstantBias& estimatedBias) const { // Get predict prediction from ground truth measurements - Pose3 prediction = predict(integrate(T)).pose(); + NavState prediction = predict(integrate(T)); // Sample ! Matrix samples(9, N); + Vector9 sum = Vector9::Zero(); + for (size_t i = 0; i < N; i++) { + NavState sampled = predict(integrate(T, estimatedBias, true)); + samples.col(i) = sampled.localCoordinates(prediction); + sum += samples.col(i); + } + + // Compute MC covariance + Vector9 sampleMean = sum / N; + Matrix9 Q; + Q.setZero(); + for (size_t i = 0; i < N; i++) { + Vector9 xi = samples.col(i); + xi -= sampleMean; + Q += xi * xi.transpose(); + } + + return Q / (N - 1); +} + +Matrix6 ScenarioRunner::estimateNoiseCovariance(size_t N) const { + Matrix samples(6, N); Vector6 sum = Vector6::Zero(); for (size_t i = 0; i < N; i++) { - Pose3 sampled = predict(integrate(T, estimatedBias, true)).pose(); - Vector6 xi = sampled.localCoordinates(prediction); - samples.col(i) = xi; - sum += xi; + samples.col(i) << accSampler_.sample() / sqrt_dt_, + gyroSampler_.sample() / sqrt_dt_; + sum += samples.col(i); } // Compute MC covariance diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 8ef3d83e3..f942a4f31 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -66,6 +66,9 @@ class PreintegratedMeasurements2 { k_(0), deltaTij_(0.0) {} + SharedDiagonal discreteAccelerometerNoiseModel(double dt) const; + SharedDiagonal discreteGyroscopeNoiseModel(double dt) const; + /** * Add a single IMU measurement to the preintegration. * @param measuredAcc Measured acceleration (in body frame) @@ -97,9 +100,6 @@ class PreintegratedMeasurements2 { // We obtain discrete-time noise models by dividing the continuous-time // covariances by dt: - SharedDiagonal discreteAccelerometerNoiseModel(double dt) const; - SharedDiagonal discreteGyroscopeNoiseModel(double dt) const; - // initialize posterior with first (corrected) IMU measurement SharedBayesNet initPosterior(const Vector3& correctedAcc, const Vector3& correctedOmega, double dt) const; @@ -121,7 +121,7 @@ class ScenarioRunner { private: const Scenario* scenario_; const SharedParams p_; - const double imuSampleTime_; + const double imuSampleTime_, sqrt_dt_; const imuBias::ConstantBias bias_; // Create two samplers for acceleration and omega noise @@ -134,6 +134,7 @@ class ScenarioRunner { : scenario_(scenario), p_(p), imuSampleTime_(imuSampleTime), + sqrt_dt_(std::sqrt(imuSampleTime)), bias_(bias), // NOTE(duy): random seeds that work well: gyroSampler_(Diagonal(p->gyroscopeCovariance), 10), @@ -155,11 +156,11 @@ class ScenarioRunner { // versions corrupted by bias and noise Vector3 measured_omega_b(double t) const { return actual_omega_b(t) + bias_.gyroscope() + - gyroSampler_.sample() / std::sqrt(imuSampleTime_); + gyroSampler_.sample() / sqrt_dt_; } Vector3 measured_specific_force_b(double t) const { return actual_specific_force_b(t) + bias_.accelerometer() + - accSampler_.sample() / std::sqrt(imuSampleTime_); + accSampler_.sample() / sqrt_dt_; } const double& imuSampleTime() const { return imuSampleTime_; } @@ -175,19 +176,13 @@ class ScenarioRunner { const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias()) const; - /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately - Matrix6 poseCovariance(const PreintegratedMeasurements2& pim) const { - Matrix9 cov = pim.preintMeasCov(); - Matrix6 poseCov; - poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3), // - cov.block<3, 3>(3, 0), cov.block<3, 3>(3, 3); - return poseCov; - } + /// Compute a Monte Carlo estimate of the predict covariance using N samples + Matrix9 estimateCovariance(double T, size_t N = 1000, + const imuBias::ConstantBias& estimatedBias = + imuBias::ConstantBias()) const; - /// Compute a Monte Carlo estimate of the PIM pose covariance using N samples - Matrix6 estimatePoseCovariance(double T, size_t N = 1000, - const imuBias::ConstantBias& estimatedBias = - imuBias::ConstantBias()) const; + /// Estimate covariance of sampled noise for sanity-check + Matrix6 estimateNoiseCovariance(size_t N = 1000) const; }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index c681c6e06..1ad599ab8 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -23,7 +23,7 @@ using namespace std; using namespace gtsam; static const double kDegree = M_PI / 180.0; -static const double kDeltaT = 1e-2; +static const double kDt = 1e-2; static const double kGyroSigma = 0.02; static const double kAccelSigma = 0.1; @@ -46,14 +46,29 @@ TEST(ScenarioRunner, Spin) { const Vector3 W(0, 0, w), V(0, 0, 0); const ExpmapScenario scenario(W, V); - ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); - const double T = 0.5; // seconds + auto p = defaultParams(); + ScenarioRunner runner(&scenario, p, kDt); + const double T = kDt; // seconds auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + // Check noise model agreement + EXPECT(assert_equal(p->accelerometerCovariance / kDt, + pim.discreteAccelerometerNoiseModel(kDt)->covariance())); + EXPECT(assert_equal(p->gyroscopeCovariance / kDt, + pim.discreteGyroscopeNoiseModel(kDt)->covariance())); + + // Check sampled noise is kosher + Matrix6 expected; + expected << p->accelerometerCovariance / kDt, Z_3x3, // + Z_3x3, p->gyroscopeCovariance / kDt; + Matrix6 actual = runner.estimateNoiseCovariance(10000); + EXPECT(assert_equal(expected, actual, 1e-2)); + + // Check calculated covariance against Monte Carlo estimate + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } /* ************************************************************************* */ @@ -64,26 +79,26 @@ ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { using namespace forward; - ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + ScenarioRunner runner(&scenario, defaultParams(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } /* ************************************************************************* */ TEST(ScenarioRunner, ForwardWithBias) { // using namespace forward; - // ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + // ScenarioRunner runner(&scenario, defaultParams(), kDt); // const double T = 0.1; // seconds // // auto pim = runner.integrate(T, kNonZeroBias); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, + // Matrix9 estimatedCov = runner.estimateCovariance(T, 1000, // kNonZeroBias); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -92,14 +107,14 @@ TEST(ScenarioRunner, Circle) { const double v = 2, w = 6 * kDegree; ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + ScenarioRunner runner(&scenario, defaultParams(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } /* ************************************************************************* */ @@ -109,14 +124,14 @@ TEST(ScenarioRunner, Loop) { const double v = 2, w = 6 * kDegree; ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); + ScenarioRunner runner(&scenario, defaultParams(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-5)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } /* ************************************************************************* */ @@ -144,8 +159,8 @@ TEST(ScenarioRunner, Accelerating) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -157,9 +172,9 @@ TEST(ScenarioRunner, Accelerating) { // // auto pim = runner.integrate(T, // kNonZeroBias); -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, // kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); //} /* ************************************************************************* */ @@ -175,8 +190,8 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -205,8 +220,8 @@ TEST(ScenarioRunner, Accelerating2) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -218,9 +233,9 @@ TEST(ScenarioRunner, Accelerating2) { // // auto pim = runner.integrate(T, // kNonZeroBias); -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, // kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); //} /* ************************************************************************* */ @@ -236,8 +251,8 @@ TEST(ScenarioRunner, AcceleratingAndRotating2) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -267,8 +282,8 @@ TEST(ScenarioRunner, Accelerating3) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -280,9 +295,9 @@ TEST(ScenarioRunner, Accelerating3) { // // auto pim = runner.integrate(T, // kNonZeroBias); -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, // kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); //} /* ************************************************************************* */ @@ -298,8 +313,8 @@ TEST(ScenarioRunner, AcceleratingAndRotating3) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -330,8 +345,8 @@ TEST(ScenarioRunner, Accelerating4) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -343,9 +358,9 @@ TEST(ScenarioRunner, Accelerating4) { // // auto pim = runner.integrate(T, // kNonZeroBias); -// Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, +// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, // kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); +// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); //} /* ************************************************************************* */ @@ -361,8 +376,8 @@ TEST(ScenarioRunner, AcceleratingAndRotating4) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); - // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); + // Matrix9 estimatedCov = runner.estimateCovariance(T); + // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ From 2440b63e32627374d7af1067e517bf123bfacd0f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 29 Dec 2015 16:12:29 -0800 Subject: [PATCH 806/964] Fixed covariances by dividing by dt or dt22, so the right-hand nosiy measurement is indeed used with the correct noise model --- gtsam/navigation/ScenarioRunner.cpp | 58 +++++++++---------- gtsam/navigation/tests/testScenarioRunner.cpp | 8 ++- 2 files changed, 33 insertions(+), 33 deletions(-) diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 93f24755e..da757fdb6 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -76,21 +76,21 @@ PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, GaussianFactorGraph graph; // theta(1) = (correctedOmega - bias_delta) * dt - // => theta(1) + bias_delta * dt = correctedOmega * dt - graph.add({{T(k_ + 1), I_3x3}, {kBiasKey, omega_H_bias * dt}}, - correctedOmega * dt, discreteGyroscopeNoiseModel(dt)); + // => theta(1)/dt + bias_delta = correctedOmega + auto I_dt = I_3x3 / dt; + graph.add({{T(k_ + 1), I_dt}, {kBiasKey, omega_H_bias}}, + correctedOmega, discreteGyroscopeNoiseModel(dt)); - // pose(1) = (correctedAcc - bias_delta) * dt^2/2 - // => pose(1) + bias_delta * dt^2/2 = correctedAcc * dt^2/2 - double dt22 = 0.5 * dt * dt; + // pose(1) = (correctedAcc - bias_delta) * dt22 + // => pose(1) / dt22 + bias_delta = correctedAcc auto accModel = discreteAccelerometerNoiseModel(dt); - graph.add({{P(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias * dt22}}, - correctedAcc * dt22, accModel); + graph.add({{P(k_ + 1), I_dt * (2.0 / dt)}, {kBiasKey, acc_H_bias}}, + correctedAcc, accModel); // vel(1) = (correctedAcc - bias_delta) * dt - // => vel(1) + bias_delta * dt = correctedAcc * dt - graph.add({{V(k_ + 1), I_3x3}, {kBiasKey, acc_H_bias * dt}}, - correctedAcc * dt, accModel); + // => vel(1)/dt + bias_delta = correctedAcc + graph.add({{V(k_ + 1), I_dt}, {kBiasKey, acc_H_bias}}, correctedAcc, + accModel); // eliminate all but biases // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) @@ -116,27 +116,27 @@ PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, graph.add(boost::static_pointer_cast(conditional)); // theta(k+1) = theta(k) + inverse(H)*(correctedOmega - bias_delta) dt - // => H*theta(k+1) - H*theta(k) + bias_delta dt = (measuredOmega - bias) dt - Matrix3 H = Rot3::ExpmapDerivative(theta_k); - graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_H_bias * dt}}, - correctedOmega * dt, discreteGyroscopeNoiseModel(dt)); + // => H*theta(k+1)/dt - H*theta(k)/dt + bias_delta = (measuredOmega - bias) + Matrix3 H = Rot3::ExpmapDerivative(theta_k) / dt; + graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_H_bias}}, + correctedOmega, discreteGyroscopeNoiseModel(dt)); - // pos(k+1) = pos(k) + vel(k) dt + Rk*(correctedAcc - bias_delta) dt^2/2 - // => Rkt*pos(k+1) - Rkt*pos(k) - Rkt*vel(k) dt + bias_delta dt^2/2 - // = correctedAcc dt^2/2 double dt22 = 0.5 * dt * dt; + // pos(k+1) = pos(k) + vel(k) dt + Rk*(correctedAcc - bias_delta) dt22 + // => Rkt*pos(k+1)/dt22 - Rkt*pos(k)/dt22 - Rkt*vel(k) dt/dt22 + bias_delta + // = correctedAcc auto accModel = discreteAccelerometerNoiseModel(dt); - graph.add({{P(k_ + 1), Rkt}, - {P(k_), -Rkt}, - {V(k_), -Rkt * dt}, - {kBiasKey, acc_H_bias * dt22}}, - correctedAcc * dt22, accModel); + graph.add({{P(k_ + 1), Rkt / dt22}, + {P(k_), -Rkt / dt22}, + {V(k_), -Rkt * (2.0 / dt)}, + {kBiasKey, acc_H_bias}}, + correctedAcc, accModel); // vel(k+1) = vel(k) + Rk*(correctedAcc - bias_delta) dt - // => Rkt*vel(k+1) - Rkt*vel(k) + bias_delta dt = correctedAcc * dt + // => Rkt*vel(k+1)/dt - Rkt*vel(k)/dt + bias_delta = correctedAcc graph.add( - {{V(k_ + 1), Rkt}, {V(k_), -Rkt}, {kBiasKey, acc_H_bias * dt}}, - correctedAcc * dt, accModel); + {{V(k_ + 1), Rkt / dt}, {V(k_), -Rkt / dt}, {kBiasKey, acc_H_bias}}, + correctedAcc, accModel); // eliminate all but biases // TODO(frank): does not seem to eliminate in order I want. What gives? @@ -257,8 +257,7 @@ Matrix9 ScenarioRunner::estimateCovariance( Matrix9 Q; Q.setZero(); for (size_t i = 0; i < N; i++) { - Vector9 xi = samples.col(i); - xi -= sampleMean; + Vector9 xi = samples.col(i) - sampleMean; Q += xi * xi.transpose(); } @@ -279,8 +278,7 @@ Matrix6 ScenarioRunner::estimateNoiseCovariance(size_t N) const { Matrix6 Q; Q.setZero(); for (size_t i = 0; i < N; i++) { - Vector6 xi = samples.col(i); - xi -= sampleMean; + Vector6 xi = samples.col(i) - sampleMean; Q += xi * xi.transpose(); } diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 1ad599ab8..4671882f3 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -48,7 +48,7 @@ TEST(ScenarioRunner, Spin) { auto p = defaultParams(); ScenarioRunner runner(&scenario, p, kDt); - const double T = kDt; // seconds + const double T = 2 * kDt; // seconds auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -59,15 +59,17 @@ TEST(ScenarioRunner, Spin) { EXPECT(assert_equal(p->gyroscopeCovariance / kDt, pim.discreteGyroscopeNoiseModel(kDt)->covariance())); +#ifdef SANITY_CHECK_SAMPLER // Check sampled noise is kosher Matrix6 expected; expected << p->accelerometerCovariance / kDt, Z_3x3, // Z_3x3, p->gyroscopeCovariance / kDt; - Matrix6 actual = runner.estimateNoiseCovariance(10000); + Matrix6 actual = runner.estimateNoiseCovariance(100000); EXPECT(assert_equal(expected, actual, 1e-2)); +#endif // Check calculated covariance against Monte Carlo estimate - Matrix9 estimatedCov = runner.estimateCovariance(T); + Matrix9 estimatedCov = runner.estimateCovariance(T, 1000); EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } From 9a26f8508e3516e3ca25f7037d9d69914241efe7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 29 Dec 2015 17:26:15 -0800 Subject: [PATCH 807/964] Compare diagonals as well for easy debugging --- gtsam/navigation/tests/testScenarioRunner.cpp | 57 ++++++++++++------- 1 file changed, 35 insertions(+), 22 deletions(-) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 4671882f3..a987245d0 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -39,6 +39,8 @@ static boost::shared_ptr defaultParams() { return p; } +#define EXPECT_NEAR(a, b, c) EXPECT(assert_equal(Vector(a), Vector(b), c)); + /* ************************************************************************* */ TEST(ScenarioRunner, Spin) { // angular velocity 6 kDegree/sec @@ -87,8 +89,9 @@ TEST(ScenarioRunner, Forward) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } /* ************************************************************************* */ @@ -115,8 +118,9 @@ TEST(ScenarioRunner, Circle) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } /* ************************************************************************* */ @@ -132,8 +136,9 @@ TEST(ScenarioRunner, Loop) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } /* ************************************************************************* */ @@ -161,8 +166,9 @@ TEST(ScenarioRunner, Accelerating) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -192,8 +198,9 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -222,8 +229,9 @@ TEST(ScenarioRunner, Accelerating2) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -253,8 +261,9 @@ TEST(ScenarioRunner, AcceleratingAndRotating2) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -284,8 +293,9 @@ TEST(ScenarioRunner, Accelerating3) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -315,8 +325,9 @@ TEST(ScenarioRunner, AcceleratingAndRotating3) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -347,8 +358,9 @@ TEST(ScenarioRunner, Accelerating4) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -378,8 +390,9 @@ TEST(ScenarioRunner, AcceleratingAndRotating4) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Matrix9 estimatedCov = runner.estimateCovariance(T); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + Matrix9 estimatedCov = runner.estimateCovariance(T); + EXPECT_NEAR(estimatedCov.diagonal(), pim.preintMeasCov().diagonal(), 0.1); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ From 6f8b05c0d0716c6e8241dd3cc76d0d3e6de47054 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 30 Dec 2015 00:14:51 -0800 Subject: [PATCH 808/964] ignore some files --- doc/.gitignore | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/.gitignore b/doc/.gitignore index ac7af2e80..8a3139177 100644 --- a/doc/.gitignore +++ b/doc/.gitignore @@ -1 +1,3 @@ /html/ +*.lyx~ +*.bib~ From b3ffc6d8245da4fb2c06d44173cbab6c1e06e5d0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 30 Dec 2015 00:15:02 -0800 Subject: [PATCH 809/964] Added missing Jacobians --- gtsam/navigation/ImuBias.h | 16 ++-- gtsam/navigation/tests/testImuBias.cpp | 102 +++++++++++++++---------- 2 files changed, 70 insertions(+), 48 deletions(-) diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index 047f24e8f..4acccb578 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -78,19 +78,19 @@ public: /** Correct an accelerometer measurement using this bias model, and optionally compute Jacobians */ Vector3 correctAccelerometer(const Vector3& measurement, - OptionalJacobian<3, 6> H = boost::none) const { - if (H) { - (*H) << -I_3x3, Z_3x3; - } + OptionalJacobian<3, 6> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + if (H1) (*H1) << -I_3x3, Z_3x3; + if (H2) (*H2) << I_3x3; return measurement - biasAcc_; } /** Correct a gyroscope measurement using this bias model, and optionally compute Jacobians */ Vector3 correctGyroscope(const Vector3& measurement, - OptionalJacobian<3, 6> H = boost::none) const { - if (H) { - (*H) << Z_3x3, -I_3x3; - } + OptionalJacobian<3, 6> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + if (H1) (*H1) << Z_3x3, -I_3x3; + if (H2) (*H2) << I_3x3; return measurement - biasGyro_; } diff --git a/gtsam/navigation/tests/testImuBias.cpp b/gtsam/navigation/tests/testImuBias.cpp index 4d5df3f05..596b76f6a 100644 --- a/gtsam/navigation/tests/testImuBias.cpp +++ b/gtsam/navigation/tests/testImuBias.cpp @@ -16,113 +16,135 @@ */ #include +#include + #include +#include using namespace std; using namespace gtsam; +typedef imuBias::ConstantBias Bias; + Vector biasAcc1(Vector3(0.2, -0.1, 0)); Vector biasGyro1(Vector3(0.1, -0.3, -0.2)); -imuBias::ConstantBias bias1(biasAcc1, biasGyro1); +Bias bias1(biasAcc1, biasGyro1); Vector biasAcc2(Vector3(0.1, 0.2, 0.04)); Vector biasGyro2(Vector3(-0.002, 0.005, 0.03)); -imuBias::ConstantBias bias2(biasAcc2, biasGyro2); +Bias bias2(biasAcc2, biasGyro2); /* ************************************************************************* */ -TEST( ImuBias, Constructor) { +TEST(ImuBias, Constructor) { // Default Constructor - imuBias::ConstantBias bias1; + Bias bias1; // Acc + Gyro Constructor - imuBias::ConstantBias bias2(biasAcc2, biasGyro2); + Bias bias2(biasAcc2, biasGyro2); // Copy Constructor - imuBias::ConstantBias bias3(bias2); + Bias bias3(bias2); } /* ************************************************************************* */ -TEST( ImuBias, inverse) { - imuBias::ConstantBias biasActual = bias1.inverse(); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias(-biasAcc1, - -biasGyro1); +TEST(ImuBias, inverse) { + Bias biasActual = bias1.inverse(); + Bias biasExpected = Bias(-biasAcc1, -biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, compose) { - imuBias::ConstantBias biasActual = bias2.compose(bias1); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias( - biasAcc1 + biasAcc2, biasGyro1 + biasGyro2); +TEST(ImuBias, compose) { + Bias biasActual = bias2.compose(bias1); + Bias biasExpected = Bias(biasAcc1 + biasAcc2, biasGyro1 + biasGyro2); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, between) { +TEST(ImuBias, between) { // p.between(q) == q - p - imuBias::ConstantBias biasActual = bias2.between(bias1); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias( - biasAcc1 - biasAcc2, biasGyro1 - biasGyro2); + Bias biasActual = bias2.between(bias1); + Bias biasExpected = Bias(biasAcc1 - biasAcc2, biasGyro1 - biasGyro2); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, localCoordinates) { +TEST(ImuBias, localCoordinates) { Vector deltaActual = Vector(bias2.localCoordinates(bias1)); - Vector deltaExpected = (imuBias::ConstantBias(biasAcc1 - biasAcc2, - biasGyro1 - biasGyro2)).vector(); + Vector deltaExpected = + (Bias(biasAcc1 - biasAcc2, biasGyro1 - biasGyro2)).vector(); EXPECT(assert_equal(deltaExpected, deltaActual)); } /* ************************************************************************* */ -TEST( ImuBias, retract) { +TEST(ImuBias, retract) { Vector6 delta; delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2; - imuBias::ConstantBias biasActual = bias2.retract(delta); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias( - biasAcc2 + delta.block<3, 1>(0, 0), biasGyro2 + delta.block<3, 1>(3, 0)); + Bias biasActual = bias2.retract(delta); + Bias biasExpected = Bias(biasAcc2 + delta.block<3, 1>(0, 0), + biasGyro2 + delta.block<3, 1>(3, 0)); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, Logmap) { +TEST(ImuBias, Logmap) { Vector deltaActual = bias2.Logmap(bias1); Vector deltaExpected = bias1.vector(); EXPECT(assert_equal(deltaExpected, deltaActual)); } /* ************************************************************************* */ -TEST( ImuBias, Expmap) { +TEST(ImuBias, Expmap) { Vector6 delta; delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2; - imuBias::ConstantBias biasActual = bias2.Expmap(delta); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias(delta); + Bias biasActual = bias2.Expmap(delta); + Bias biasExpected = Bias(delta); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, operatorSub) { - imuBias::ConstantBias biasActual = -bias1; - imuBias::ConstantBias biasExpected(-biasAcc1, -biasGyro1); +TEST(ImuBias, operatorSub) { + Bias biasActual = -bias1; + Bias biasExpected(-biasAcc1, -biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, operatorAdd) { - imuBias::ConstantBias biasActual = bias2 + bias1; - imuBias::ConstantBias biasExpected(biasAcc2 + biasAcc1, - biasGyro2 + biasGyro1); +TEST(ImuBias, operatorAdd) { + Bias biasActual = bias2 + bias1; + Bias biasExpected(biasAcc2 + biasAcc1, biasGyro2 + biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, operatorSubB) { - imuBias::ConstantBias biasActual = bias2 - bias1; - imuBias::ConstantBias biasExpected(biasAcc2 - biasAcc1, - biasGyro2 - biasGyro1); +TEST(ImuBias, operatorSubB) { + Bias biasActual = bias2 - bias1; + Bias biasExpected(biasAcc2 - biasAcc1, biasGyro2 - biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } +/* ************************************************************************* */ +TEST(ImuBias, Correct1) { + Matrix aH1, aH2; + const Vector3 measurement(1, 2, 3); + boost::function f = boost::bind( + &Bias::correctAccelerometer, _1, _2, boost::none, boost::none); + bias1.correctAccelerometer(measurement, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(f, bias1, measurement), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, bias1, measurement), aH2)); +} + +/* ************************************************************************* */ +TEST(ImuBias, Correct2) { + Matrix aH1, aH2; + const Vector3 measurement(1, 2, 3); + boost::function f = + boost::bind(&Bias::correctGyroscope, _1, _2, boost::none, boost::none); + bias1.correctGyroscope(measurement, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(f, bias1, measurement), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, bias1, measurement), aH2)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 242a387ef196cfc06a3c1dbc8e1ed72c2624531c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 11:23:52 -0800 Subject: [PATCH 810/964] Added AggregateReadings class and local functors.h header. Implemented the derivative of ExpmapDerivative correction. --- gtsam/navigation/AggregateImuReadings.cpp | 209 ++++++++++++++++++ gtsam/navigation/AggregateImuReadings.h | 120 ++++++++++ gtsam/navigation/ImuBias.h | 16 +- gtsam/navigation/ScenarioRunner.cpp | 204 +---------------- gtsam/navigation/ScenarioRunner.h | 118 ++-------- gtsam/navigation/functors.h | 154 +++++++++++++ .../tests/testAggregateImuReadings.cpp | 165 ++++++++++++++ gtsam/navigation/tests/testImuBias.cpp | 102 +++++---- gtsam/navigation/tests/testScenarioRunner.cpp | 2 +- 9 files changed, 740 insertions(+), 350 deletions(-) create mode 100644 gtsam/navigation/AggregateImuReadings.cpp create mode 100644 gtsam/navigation/AggregateImuReadings.h create mode 100644 gtsam/navigation/functors.h create mode 100644 gtsam/navigation/tests/testAggregateImuReadings.cpp diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp new file mode 100644 index 000000000..65d1b9889 --- /dev/null +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -0,0 +1,209 @@ +/* ---------------------------------------------------------------------------- + + * 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 AggregateImuReadings.cpp + * @brief Integrates IMU readings on the NavState tangent space + * @author Frank Dellaert + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +using namespace std; +using namespace boost::assign; + +namespace gtsam { + +using symbol_shorthand::T; // for theta +using symbol_shorthand::P; // for position +using symbol_shorthand::V; // for velocity + +static const Symbol kBiasKey('B', 0); + +SharedDiagonal AggregateImuReadings::discreteAccelerometerNoiseModel( + double dt) const { + return noiseModel::Diagonal::Sigmas(accelerometerNoiseModel_->sigmas() / + std::sqrt(dt)); +} + +SharedDiagonal AggregateImuReadings::discreteGyroscopeNoiseModel( + double dt) const { + return noiseModel::Diagonal::Sigmas(gyroscopeNoiseModel_->sigmas() / + std::sqrt(dt)); +} + +NonlinearFactorGraph AggregateImuReadings::createGraph( + const Vector3_& theta_, const Vector3_& pos_, const Vector3_& vel_, + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) const { + NonlinearFactorGraph graph; + Expression bias_(kBiasKey); + Vector3_ theta_plus_(T(k_ + 1)), pos_plus_(P(k_ + 1)), vel_plus_(V(k_ + 1)); + + Vector3_ omega_(PredictAngularVelocity(dt), theta_, theta_plus_); + Vector3_ measuredOmega_(boost::bind(&Bias::correctGyroscope, _1, _2, _3, _4), + bias_, omega_); + auto gyroModel = discreteGyroscopeNoiseModel(dt); + graph.addExpressionFactor(gyroModel, measuredOmega, measuredOmega_); + + Vector3_ averageVelocity_(averageVelocity, vel_, vel_plus_); + Vector3_ defect_(PositionDefect(dt), pos_, pos_plus_, averageVelocity_); + static const auto constrModel = noiseModel::Constrained::All(3); + static const Vector3 kZero(Vector3::Zero()); + graph.addExpressionFactor(constrModel, kZero, defect_); + + Vector3_ acc_(PredictAcceleration(dt), vel_, vel_plus_, theta_); + Vector3_ measuredAcc_( + boost::bind(&Bias::correctAccelerometer, _1, _2, _3, _4), bias_, acc_); + auto accModel = discreteAccelerometerNoiseModel(dt); + graph.addExpressionFactor(accModel, measuredAcc, measuredAcc_); + + return graph; +} + +AggregateImuReadings::SharedBayesNet AggregateImuReadings::initPosterior( + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { + static const Vector3 kZero(Vector3::Zero()); + static const Vector3_ zero_(kZero); + + // We create a factor graph and then compute P(zeta|bias) + auto graph = createGraph(zero_, zero_, zero_, measuredAcc, measuredOmega, dt); + + // These values are exact the first time + values.insert(T(k_ + 1), measuredOmega * dt); + values.insert(P(k_ + 1), measuredAcc * (0.5 * dt * dt)); + values.insert(V(k_ + 1), measuredAcc * dt); + values.insert(kBiasKey, estimatedBias_); + auto linear_graph = graph.linearize(values); + + // eliminate all but biases + // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) + Ordering keys = list_of(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); + return linear_graph->eliminatePartialSequential(keys, EliminateQR).first; +} + +AggregateImuReadings::SharedBayesNet AggregateImuReadings::integrateCorrected( + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { + static const Vector3 kZero(Vector3::Zero()); + static const auto constrModel = noiseModel::Constrained::All(3); + + // We create a factor graph and then compute P(zeta|bias) + auto graph = createGraph(Vector3_(T(k_)), Vector3_(P(k_)), Vector3_(V(k_)), + measuredAcc, measuredOmega, dt); + + // Get current estimates + const Vector3 theta = values.at(T(k_)); + const Vector3 pos = values.at(P(k_)); + const Vector3 vel = values.at(V(k_)); + + // Calculate exact solution: means we do not have to update values + // TODO(frank): Expmap and ExpmapDerivative are called again :-( + const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); + const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); + Matrix3 H; + const Rot3 R = Rot3::Expmap(theta, H); + const Vector3 theta_plus = theta + H.inverse() * correctedOmega * dt; + const Vector3 vel_plus = vel + R.rotate(correctedAcc) * dt; + const Vector3 vel_avg = 0.5 * (vel + vel_plus); + const Vector3 pos_plus = pos + vel_avg * dt; + + // Add those values to estimate and linearize around them + values.insert(T(k_ + 1), theta_plus); + values.insert(P(k_ + 1), pos_plus); + values.insert(V(k_ + 1), vel_plus); + auto linear_graph = graph.linearize(values); + + // add previous posterior + for (const auto& conditional : *posterior_k_) + linear_graph->add(boost::static_pointer_cast(conditional)); + + // eliminate all but biases + // TODO(frank): does not seem to eliminate in order I want. What gives? + Ordering keys = list_of(T(k_))(P(k_))(V(k_))(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); + SharedBayesNet bayesNet = + linear_graph->eliminatePartialSequential(keys, EliminateQR).first; + + // The Bayes net now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) + // We marginalize zeta(k) by removing the conditionals on zeta(k) + // TODO(frank): could use erase(begin, begin+3) if order above was correct + SharedBayesNet marginal = boost::make_shared(); + for (const auto& conditional : *bayesNet) { + Symbol symbol(conditional->front()); + if (symbol.index() > k_) marginal->push_back(conditional); + } + + return marginal; +} + +void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, + double dt) { + typedef map Terms; + + // Handle first time differently + if (k_ == 0) + posterior_k_ = initPosterior(measuredAcc, measuredOmega, dt); + else + posterior_k_ = integrateCorrected(measuredAcc, measuredOmega, dt); + + // increment counter and time + k_ += 1; + deltaTij_ += dt; +} + +NavState AggregateImuReadings::predict(const NavState& state_i, + const Bias& bias_i, + OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 6> H2) const { + // TODO(frank): handle bias + + // Get current estimates + Vector3 theta = values.at(T(k_)); + Vector3 pos = values.at(P(k_)); + Vector3 vel = values.at(V(k_)); + + // Correct for initial velocity and gravity + Rot3 Ri = state_i.attitude(); + Matrix3 Rit = Ri.transpose(); + Vector3 gt = deltaTij_ * p_->n_gravity; + pos += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); + vel += Rit * gt; + + // Convert local coordinates to manifold near state_i + Vector9 zeta; + zeta << theta, pos, vel; + return state_i.retract(zeta); +} + +SharedGaussian AggregateImuReadings::noiseModel() const { + Matrix RS; + Vector d; + boost::tie(RS, d) = posterior_k_->matrix(); + + // R'*R = A'*A = inv(Cov) + // TODO(frank): think of a faster way - implement in noiseModel + return noiseModel::Gaussian::SqrtInformation(RS.block<9, 9>(0, 0), false); +} + +Matrix9 AggregateImuReadings::preintMeasCov() const { + return noiseModel()->covariance(); +} + +} // namespace gtsam diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h new file mode 100644 index 000000000..9cb34849f --- /dev/null +++ b/gtsam/navigation/AggregateImuReadings.h @@ -0,0 +1,120 @@ +/* ---------------------------------------------------------------------------- + + * 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 AggregateImuReadings.h + * @brief Integrates IMU readings on the NavState tangent space + * @author Frank Dellaert + */ + +#pragma once + +#include +#include + +namespace gtsam { + +class NonlinearFactorGraph; +template +class Expression; +typedef Expression Vector3_; + +// Convert covariance to diagonal noise model, if possible, otherwise throw +static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { + bool smart = true; + auto model = noiseModel::Gaussian::Covariance(covariance, smart); + auto diagonal = boost::dynamic_pointer_cast(model); + if (!diagonal) + throw std::invalid_argument("ScenarioRunner::Diagonal: not a diagonal"); + return diagonal; +} + +class GaussianBayesNet; + +/** + * Class that integrates state estimate on the manifold. + * We integrate zeta = [theta, position, velocity] + * See ImuFactor.lyx for the relevant math. + */ +class AggregateImuReadings { + public: + typedef imuBias::ConstantBias Bias; + typedef ImuFactor::PreintegratedMeasurements::Params Params; + typedef boost::shared_ptr SharedBayesNet; + + private: + const boost::shared_ptr p_; + const SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; + const Bias estimatedBias_; + + size_t k_; ///< index/count of measurements integrated + double deltaTij_; ///< sum of time increments + + /// posterior on current iterate, stored as a Bayes net + /// P(delta_zeta|estimatedBias_delta): + SharedBayesNet posterior_k_; + + /// Current estimate of zeta_k + Values values; + + public: + AggregateImuReadings(const boost::shared_ptr& p, + const Bias& estimatedBias = Bias()) + : p_(p), + accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), + gyroscopeNoiseModel_(Diagonal(p->gyroscopeCovariance)), + estimatedBias_(estimatedBias), + k_(0), + deltaTij_(0.0) {} + + // We obtain discrete-time noise models by dividing the continuous-time + // covariances by dt: + + SharedDiagonal discreteAccelerometerNoiseModel(double dt) const; + SharedDiagonal discreteGyroscopeNoiseModel(double dt) const; + + /** + * Add a single IMU measurement to the preintegration. + * @param measuredAcc Measured acceleration (in body frame) + * @param measuredOmega Measured angular velocity (in body frame) + * @param dt Time interval between this and the last IMU measurement + */ + void integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, double dt); + + /// Predict state at time j + NavState predict(const NavState& state_i, const Bias& estimatedBias_i, + OptionalJacobian<9, 9> H1 = boost::none, + OptionalJacobian<9, 6> H2 = boost::none) const; + + /// Return Gaussian noise model on prediction + SharedGaussian noiseModel() const; + + /// @deprecated: Explicitly calculate covariance + Matrix9 preintMeasCov() const; + + private: + NonlinearFactorGraph createGraph(const Vector3_& theta_, + const Vector3_& pose_, const Vector3_& vel_, + const Vector3& measuredAcc, + const Vector3& measuredOmega, + double dt) const; + + // initialize posterior with first (corrected) IMU measurement + SharedBayesNet initPosterior(const Vector3& measuredAcc, + const Vector3& measuredOmega, double dt); + + // integrate + SharedBayesNet integrateCorrected(const Vector3& measuredAcc, + const Vector3& measuredOmega, double dt); +}; + +} // namespace gtsam diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index 047f24e8f..4acccb578 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -78,19 +78,19 @@ public: /** Correct an accelerometer measurement using this bias model, and optionally compute Jacobians */ Vector3 correctAccelerometer(const Vector3& measurement, - OptionalJacobian<3, 6> H = boost::none) const { - if (H) { - (*H) << -I_3x3, Z_3x3; - } + OptionalJacobian<3, 6> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + if (H1) (*H1) << -I_3x3, Z_3x3; + if (H2) (*H2) << I_3x3; return measurement - biasAcc_; } /** Correct a gyroscope measurement using this bias model, and optionally compute Jacobians */ Vector3 correctGyroscope(const Vector3& measurement, - OptionalJacobian<3, 6> H = boost::none) const { - if (H) { - (*H) << Z_3x3, -I_3x3; - } + OptionalJacobian<3, 6> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + if (H1) (*H1) << Z_3x3, -I_3x3; + if (H2) (*H2) << I_3x3; return measurement - biasGyro_; } diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index da757fdb6..7068e64c6 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -16,12 +16,6 @@ */ #include -#include -#include -#include - -#include - #include using namespace std; @@ -29,194 +23,13 @@ using namespace boost::assign; namespace gtsam { -using symbol_shorthand::T; // for theta -using symbol_shorthand::P; // for position -using symbol_shorthand::V; // for velocity - -static const Symbol kBiasKey('B', 0); -static const Matrix36 acc_H_bias = (Matrix36() << I_3x3, Z_3x3).finished(); -static const Matrix36 omega_H_bias = (Matrix36() << Z_3x3, I_3x3).finished(); - -Vector9 PreintegratedMeasurements2::currentEstimate() const { - VectorValues biasValues; - biasValues.insert(kBiasKey, estimatedBias_.vector()); - VectorValues zetaValues = posterior_k_->optimize(biasValues); - Vector9 zeta; - zeta << zetaValues.at(T(k_)), zetaValues.at(P(k_)), zetaValues.at(V(k_)); - return zeta; -} - -Vector3 PreintegratedMeasurements2::currentTheta() const { - // TODO(frank): make faster version theta = inv(R)*d - VectorValues biasValues; - biasValues.insert(kBiasKey, estimatedBias_.vector()); - VectorValues zetaValues = posterior_k_->optimize(biasValues); - return zetaValues.at(T(k_)); -} - -SharedDiagonal PreintegratedMeasurements2::discreteAccelerometerNoiseModel( - double dt) const { - return noiseModel::Diagonal::Sigmas(accelerometerNoiseModel_->sigmas() / - std::sqrt(dt)); -} - -SharedDiagonal PreintegratedMeasurements2::discreteGyroscopeNoiseModel( - double dt) const { - return noiseModel::Diagonal::Sigmas(gyroscopeNoiseModel_->sigmas() / - std::sqrt(dt)); -} - -PreintegratedMeasurements2::SharedBayesNet -PreintegratedMeasurements2::initPosterior(const Vector3& correctedAcc, - const Vector3& correctedOmega, - double dt) const { - typedef map Terms; - - // We create a factor graph and then compute P(zeta|bias) - GaussianFactorGraph graph; - - // theta(1) = (correctedOmega - bias_delta) * dt - // => theta(1)/dt + bias_delta = correctedOmega - auto I_dt = I_3x3 / dt; - graph.add({{T(k_ + 1), I_dt}, {kBiasKey, omega_H_bias}}, - correctedOmega, discreteGyroscopeNoiseModel(dt)); - - // pose(1) = (correctedAcc - bias_delta) * dt22 - // => pose(1) / dt22 + bias_delta = correctedAcc - auto accModel = discreteAccelerometerNoiseModel(dt); - graph.add({{P(k_ + 1), I_dt * (2.0 / dt)}, {kBiasKey, acc_H_bias}}, - correctedAcc, accModel); - - // vel(1) = (correctedAcc - bias_delta) * dt - // => vel(1)/dt + bias_delta = correctedAcc - graph.add({{V(k_ + 1), I_dt}, {kBiasKey, acc_H_bias}}, correctedAcc, - accModel); - - // eliminate all but biases - // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) - Ordering keys = list_of(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); - return graph.eliminatePartialSequential(keys, EliminateQR).first; -} - -PreintegratedMeasurements2::SharedBayesNet -PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc, - const Vector3& correctedOmega, - double dt) const { - typedef map Terms; - - GaussianFactorGraph graph; - - // estimate current theta from posterior - Vector3 theta_k = currentTheta(); - Rot3 Rk = Rot3::Expmap(theta_k); - Matrix3 Rkt = Rk.transpose(); - - // add previous posterior - for (const auto& conditional : *posterior_k_) - graph.add(boost::static_pointer_cast(conditional)); - - // theta(k+1) = theta(k) + inverse(H)*(correctedOmega - bias_delta) dt - // => H*theta(k+1)/dt - H*theta(k)/dt + bias_delta = (measuredOmega - bias) - Matrix3 H = Rot3::ExpmapDerivative(theta_k) / dt; - graph.add({{T(k_ + 1), H}, {T(k_), -H}, {kBiasKey, omega_H_bias}}, - correctedOmega, discreteGyroscopeNoiseModel(dt)); - - double dt22 = 0.5 * dt * dt; - // pos(k+1) = pos(k) + vel(k) dt + Rk*(correctedAcc - bias_delta) dt22 - // => Rkt*pos(k+1)/dt22 - Rkt*pos(k)/dt22 - Rkt*vel(k) dt/dt22 + bias_delta - // = correctedAcc - auto accModel = discreteAccelerometerNoiseModel(dt); - graph.add({{P(k_ + 1), Rkt / dt22}, - {P(k_), -Rkt / dt22}, - {V(k_), -Rkt * (2.0 / dt)}, - {kBiasKey, acc_H_bias}}, - correctedAcc, accModel); - - // vel(k+1) = vel(k) + Rk*(correctedAcc - bias_delta) dt - // => Rkt*vel(k+1)/dt - Rkt*vel(k)/dt + bias_delta = correctedAcc - graph.add( - {{V(k_ + 1), Rkt / dt}, {V(k_), -Rkt / dt}, {kBiasKey, acc_H_bias}}, - correctedAcc, accModel); - - // eliminate all but biases - // TODO(frank): does not seem to eliminate in order I want. What gives? - Ordering keys = list_of(T(k_))(P(k_))(V(k_))(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); - SharedBayesNet bayesNet = - graph.eliminatePartialSequential(keys, EliminateQR).first; - - // The Bayes net now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) - // We marginalize zeta(k) by removing the conditionals on zeta(k) - // TODO(frank): could use erase(begin, begin+3) if order above was correct - SharedBayesNet marginal = boost::make_shared(); - for (const auto& conditional : *bayesNet) { - Symbol symbol(conditional->front()); - if (symbol.index() > k_) marginal->push_back(conditional); - } - - return marginal; -} - -void PreintegratedMeasurements2::integrateMeasurement( - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { - typedef map Terms; - - // Correct measurements by subtracting bias - Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); - Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); - - // Handle first time differently - if (k_ == 0) - posterior_k_ = initPosterior(correctedAcc, correctedOmega, dt); - else - posterior_k_ = integrateCorrected(correctedAcc, correctedOmega, dt); - - // increment counter and time - k_ += 1; - deltaTij_ += dt; -} - -NavState PreintegratedMeasurements2::predict( - const NavState& state_i, const imuBias::ConstantBias& bias_i, - OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { - // Get mean of current posterior on zeta - // TODO(frank): handle bias - Vector9 zeta = currentEstimate(); - - // Correct for initial velocity and gravity - Rot3 Ri = state_i.attitude(); - Matrix3 Rit = Ri.transpose(); - Vector3 gt = deltaTij_ * p_->n_gravity; - zeta.segment<3>(3) += - Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); - zeta.segment<3>(6) += Rit * gt; - - // Convert local coordinates to manifold near state_i - return state_i.retract(zeta); -} - -SharedGaussian PreintegratedMeasurements2::noiseModel() const { - Matrix RS; - Vector d; - boost::tie(RS, d) = posterior_k_->matrix(); - - // R'*R = A'*A = inv(Cov) - // TODO(frank): think of a faster way - implement in noiseModel - return noiseModel::Gaussian::SqrtInformation(RS.block<9, 9>(0, 0), false); -} - -Matrix9 PreintegratedMeasurements2::preintMeasCov() const { - return noiseModel()->covariance(); -} - -//////////////////////////////////////////////////////////////////////////////////////////// - static double intNoiseVar = 0.0000001; static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; -PreintegratedMeasurements2 ScenarioRunner::integrate( - double T, const imuBias::ConstantBias& estimatedBias, - bool corrupted) const { - PreintegratedMeasurements2 pim(p_, estimatedBias); +AggregateImuReadings ScenarioRunner::integrate(double T, + const Bias& estimatedBias, + bool corrupted) const { + AggregateImuReadings pim(p_, estimatedBias); const double dt = imuSampleTime(); const size_t nrSteps = T / dt; @@ -231,15 +44,14 @@ PreintegratedMeasurements2 ScenarioRunner::integrate( return pim; } -NavState ScenarioRunner::predict( - const PreintegratedMeasurements2& pim, - const imuBias::ConstantBias& estimatedBias) const { +NavState ScenarioRunner::predict(const AggregateImuReadings& pim, + const Bias& estimatedBias) const { const NavState state_i(scenario_->pose(0), scenario_->velocity_n(0)); return pim.predict(state_i, estimatedBias); } -Matrix9 ScenarioRunner::estimateCovariance( - double T, size_t N, const imuBias::ConstantBias& estimatedBias) const { +Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N, + const Bias& estimatedBias) const { // Get predict prediction from ground truth measurements NavState prediction = predict(integrate(T)); diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index f942a4f31..c8b5efc15 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -16,126 +16,38 @@ */ #pragma once -#include +#include #include #include namespace gtsam { -// Convert covariance to diagonal noise model, if possible, otherwise throw -static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { - bool smart = true; - auto model = noiseModel::Gaussian::Covariance(covariance, smart); - auto diagonal = boost::dynamic_pointer_cast(model); - if (!diagonal) - throw std::invalid_argument("ScenarioRunner::Diagonal: not a diagonal"); - return diagonal; -} - -class GaussianBayesNet; - -/** - * Class that integrates state estimate on the manifold. - * We integrate zeta = [theta, position, velocity] - * See ImuFactor.lyx for the relevant math. - */ -class PreintegratedMeasurements2 { - public: - typedef ImuFactor::PreintegratedMeasurements::Params Params; - typedef boost::shared_ptr SharedBayesNet; - - private: - const boost::shared_ptr p_; - const SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; - const imuBias::ConstantBias estimatedBias_; - - size_t k_; ///< index/count of measurements integrated - double deltaTij_; ///< sum of time increments - - /// posterior on current iterate, stored as a Bayes net P(zeta|bias_delta): - SharedBayesNet posterior_k_; - - public: - PreintegratedMeasurements2( - const boost::shared_ptr& p, - const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias()) - : p_(p), - accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), - gyroscopeNoiseModel_(Diagonal(p->gyroscopeCovariance)), - estimatedBias_(estimatedBias), - k_(0), - deltaTij_(0.0) {} - - SharedDiagonal discreteAccelerometerNoiseModel(double dt) const; - SharedDiagonal discreteGyroscopeNoiseModel(double dt) const; - - /** - * Add a single IMU measurement to the preintegration. - * @param measuredAcc Measured acceleration (in body frame) - * @param measuredOmega Measured angular velocity (in body frame) - * @param dt Time interval between this and the last IMU measurement - */ - void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt); - - /// Predict state at time j - NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, - OptionalJacobian<9, 9> H1 = boost::none, - OptionalJacobian<9, 6> H2 = boost::none) const; - - /// Return Gaussian noise model on prediction - SharedGaussian noiseModel() const; - - /// @deprecated: Explicitly calculate covariance - Matrix9 preintMeasCov() const; - - private: - // estimate zeta given estimated biases - // calculates conditional mean of P(zeta|bias_delta) - Vector9 currentEstimate() const; - - // estimate theta given estimated biases - Vector3 currentTheta() const; - - // We obtain discrete-time noise models by dividing the continuous-time - // covariances by dt: - - // initialize posterior with first (corrected) IMU measurement - SharedBayesNet initPosterior(const Vector3& correctedAcc, - const Vector3& correctedOmega, double dt) const; - - // integrate - SharedBayesNet integrateCorrected(const Vector3& correctedAcc, - const Vector3& correctedOmega, - double dt) const; -}; - /* * Simple class to test navigation scenarios. * Takes a trajectory scenario as input, and can generate IMU measurements */ class ScenarioRunner { public: - typedef boost::shared_ptr SharedParams; + typedef imuBias::ConstantBias Bias; + typedef boost::shared_ptr SharedParams; private: const Scenario* scenario_; const SharedParams p_; const double imuSampleTime_, sqrt_dt_; - const imuBias::ConstantBias bias_; + const Bias estimatedBias_; // Create two samplers for acceleration and omega noise mutable Sampler gyroSampler_, accSampler_; public: ScenarioRunner(const Scenario* scenario, const SharedParams& p, - double imuSampleTime = 1.0 / 100.0, - const imuBias::ConstantBias& bias = imuBias::ConstantBias()) + double imuSampleTime = 1.0 / 100.0, const Bias& bias = Bias()) : scenario_(scenario), p_(p), imuSampleTime_(imuSampleTime), sqrt_dt_(std::sqrt(imuSampleTime)), - bias_(bias), + estimatedBias_(bias), // NOTE(duy): random seeds that work well: gyroSampler_(Diagonal(p->gyroscopeCovariance), 10), accSampler_(Diagonal(p->accelerometerCovariance), 29284) {} @@ -155,31 +67,27 @@ class ScenarioRunner { // versions corrupted by bias and noise Vector3 measured_omega_b(double t) const { - return actual_omega_b(t) + bias_.gyroscope() + + return actual_omega_b(t) + estimatedBias_.gyroscope() + gyroSampler_.sample() / sqrt_dt_; } Vector3 measured_specific_force_b(double t) const { - return actual_specific_force_b(t) + bias_.accelerometer() + + return actual_specific_force_b(t) + estimatedBias_.accelerometer() + accSampler_.sample() / sqrt_dt_; } const double& imuSampleTime() const { return imuSampleTime_; } /// Integrate measurements for T seconds into a PIM - PreintegratedMeasurements2 integrate( - double T, - const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias(), - bool corrupted = false) const; + AggregateImuReadings integrate(double T, const Bias& estimatedBias = Bias(), + bool corrupted = false) const; /// Predict predict given a PIM - NavState predict(const PreintegratedMeasurements2& pim, - const imuBias::ConstantBias& estimatedBias = - imuBias::ConstantBias()) const; + NavState predict(const AggregateImuReadings& pim, + const Bias& estimatedBias = Bias()) const; /// Compute a Monte Carlo estimate of the predict covariance using N samples Matrix9 estimateCovariance(double T, size_t N = 1000, - const imuBias::ConstantBias& estimatedBias = - imuBias::ConstantBias()) const; + const Bias& estimatedBias = Bias()) const; /// Estimate covariance of sampled noise for sanity-check Matrix6 estimateNoiseCovariance(size_t N = 1000) const; diff --git a/gtsam/navigation/functors.h b/gtsam/navigation/functors.h new file mode 100644 index 000000000..36d87ac7b --- /dev/null +++ b/gtsam/navigation/functors.h @@ -0,0 +1,154 @@ +/* ---------------------------------------------------------------------------- + + * 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 functors.h + * @brief Functors for use in Navigation factors + * @author Frank Dellaert + */ + +#include +#include +#include +#include + +namespace gtsam { + +// Implement Rot3::ExpmapDerivative(omega) * theta, with derivatives +static Vector3 correctWithExpmapDerivative( + const Vector3& omega, const Vector3& theta, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) { + using std::sin; + const double angle2 = omega.dot(omega); // rotation angle, squared + if (angle2 <= std::numeric_limits::epsilon()) { + if (H1) *H1 = 0.5 * skewSymmetric(theta); + if (H2) *H2 = I_3x3; + return theta; + } + + const double angle = std::sqrt(angle2); // rotation angle + const double s1 = sin(angle) / angle; + const double s2 = sin(angle / 2.0); + const double a = 2.0 * s2 * s2 / angle2; + const double b = (1.0 - s1) / angle2; + + const Vector3 omega_x_theta = omega.cross(theta); + const Vector3 yt = a * omega_x_theta; + + const Matrix3 W = skewSymmetric(omega); + const Vector3 omega_x_omega_x_theta = omega.cross(omega_x_theta); + const Vector3 yyt = b * omega_x_omega_x_theta; + + if (H1) { + Matrix13 omega_t = omega.transpose(); + const Matrix3 T = skewSymmetric(theta); + const double Da = (s1 - 2.0 * a) / angle2; + const double Db = (3.0 * s1 - cos(angle) - 2.0) / angle2 / angle2; + *H1 = (-Da * omega_x_theta + Db * omega_x_omega_x_theta) * omega_t + a * T - + b * skewSymmetric(omega_x_theta) - b * W * T; + } + if (H2) *H2 = I_3x3 - a* W + b* W* W; + + return theta - yt + yyt; +} + +// theta(k+1) = theta(k) + inverse(H)*omega dt +// omega = (H/dt_)*(theta(k+1) - H*theta(k)) +// TODO(frank): make linear expression +class PredictAngularVelocity { + private: + double dt_; + + public: + typedef Vector3 result_type; + + PredictAngularVelocity(double dt) : dt_(dt) {} + + Vector3 operator()(const Vector3& theta, const Vector3& theta_plus, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + // TODO(frank): take into account derivative of ExpmapDerivative + const Vector3 predicted = (theta_plus - theta) / dt_; + Matrix3 D_c_t, D_c_p; + const Vector3 corrected = + correctWithExpmapDerivative(theta, predicted, D_c_t, D_c_p); + if (H1) *H1 = D_c_t - D_c_p / dt_; + if (H2) *H2 = D_c_p / dt_; + return corrected; + } +}; + +// TODO(frank): make linear expression +static Vector3 averageVelocity(const Vector3& vel, const Vector3& vel_plus, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) { + // TODO(frank): take into account derivative of ExpmapDerivative + if (H1) *H1 = 0.5 * I_3x3; + if (H2) *H2 = 0.5 * I_3x3; + return 0.5 * (vel + vel_plus); +} + +// pos(k+1) = pos(k) + average_velocity * dt +// TODO(frank): make linear expression +class PositionDefect { + private: + double dt_; + + public: + typedef Vector3 result_type; + + PositionDefect(double dt) : dt_(dt) {} + + Vector3 operator()(const Vector3& pos, const Vector3& pos_plus, + const Vector3& average_velocity, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none, + OptionalJacobian<3, 3> H3 = boost::none) const { + // TODO(frank): take into account derivative of ExpmapDerivative + if (H1) *H1 = I_3x3; + if (H2) *H2 = -I_3x3; + if (H3) *H3 = I_3x3* dt_; + return (pos + average_velocity * dt_) - pos_plus; + } +}; + +// vel(k+1) = vel(k) + Rk * acc * dt +// acc = Rkt * [vel(k+1) - vel(k)]/dt +// TODO(frank): take in Rot3 +class PredictAcceleration { + private: + double dt_; + + public: + typedef Vector3 result_type; + + PredictAcceleration(double dt) : dt_(dt) {} + + Vector3 operator()(const Vector3& vel, const Vector3& vel_plus, + const Vector3& theta, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none, + OptionalJacobian<3, 3> H3 = boost::none) const { + Matrix3 D_R_theta; + // TODO(frank): D_R_theta is ExpmapDerivative (computed again) + Rot3 nRb = Rot3::Expmap(theta, D_R_theta); + Vector3 n_acc = (vel_plus - vel) / dt_; + Matrix3 D_b_R, D_b_n; + Vector3 b_acc = nRb.unrotate(n_acc, D_b_R, D_b_n); + if (H1) *H1 = -D_b_n / dt_; + if (H2) *H2 = D_b_n / dt_; + if (H3) *H3 = D_b_R* D_R_theta; + return b_acc; + } +}; + +} // namespace gtsam diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp new file mode 100644 index 000000000..91b01d320 --- /dev/null +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -0,0 +1,165 @@ +/* ---------------------------------------------------------------------------- + + * 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 testInertialNavFactor.cpp + * @brief Unit test for the InertialNavFactor + * @author Frank Dellaert + */ + +#include +#include +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +static const double kDt = 0.1; + +/* ************************************************************************* */ +TEST(AggregateImuReadings, CorrectWithExpmapDerivative1) { + Matrix aH1, aH2; + boost::function f = boost::bind( + correctWithExpmapDerivative, _1, _2, boost::none, boost::none); + for (Vector3 omega : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { + for (Vector3 theta : + {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { + Vector3 expected = Rot3::ExpmapDerivative(omega) * theta; + EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); + EXPECT(assert_equal(expected, + correctWithExpmapDerivative(omega, theta, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); + } + } +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, CorrectWithExpmapDerivative2) { + Matrix aH1, aH2; + boost::function f = boost::bind( + correctWithExpmapDerivative, _1, _2, boost::none, boost::none); + const Vector3 omega(0, 0, 0); + for (Vector3 theta : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { + Vector3 expected = Rot3::ExpmapDerivative(omega) * theta; + EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); + EXPECT(assert_equal(expected, + correctWithExpmapDerivative(omega, theta, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); + } +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, CorrectWithExpmapDerivative3) { + Matrix aH1, aH2; + boost::function f = boost::bind( + correctWithExpmapDerivative, _1, _2, boost::none, boost::none); + const Vector3 omega(0.1, 0.2, 0.3), theta(0.4, 0.3, 0.2); + Vector3 expected = Rot3::ExpmapDerivative(omega) * theta; + EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); + EXPECT(assert_equal(expected, + correctWithExpmapDerivative(omega, theta, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, PredictAngularVelocity1) { + Matrix aH1, aH2; + PredictAngularVelocity functor(kDt); + boost::function f = + boost::bind(functor, _1, _2, boost::none, boost::none); + const Vector3 theta(0, 0, 0), theta_plus(0.4, 0.3, 0.2); + EXPECT(assert_equal(Vector3(4, 3, 2), functor(theta, theta_plus, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, theta, theta_plus), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, theta, theta_plus), aH2)); +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, PredictAngularVelocity2) { + Matrix aH1, aH2; + PredictAngularVelocity functor(kDt); + boost::function f = + boost::bind(functor, _1, _2, boost::none, boost::none); + const Vector3 theta(0.1, 0.2, 0.3), theta_plus(0.4, 0.3, 0.2); + EXPECT( + assert_equal(Vector3(Rot3::ExpmapDerivative(theta) * Vector3(3, 1, -1)), + functor(theta, theta_plus, aH1, aH2), 1e-5)); + EXPECT(assert_equal(numericalDerivative21(f, theta, theta_plus), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, theta, theta_plus), aH2)); +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, AverageVelocity) { + Matrix aH1, aH2; + boost::function f = + boost::bind(averageVelocity, _1, _2, boost::none, boost::none); + const Vector3 v(1, 2, 3), v_plus(3, 2, 1); + EXPECT(assert_equal(Vector3(2, 2, 2), averageVelocity(v, v_plus, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, v, v_plus), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, v, v_plus), aH2)); +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, PositionDefect) { + Matrix aH1, aH2, aH3; + PositionDefect functor(kDt); + boost::function f = + boost::bind(functor, _1, _2, _3, boost::none, boost::none, boost::none); + const Vector3 pos(1, 2, 3), pos_plus(2, 4, 6); + const Vector3 avg(10, 20, 30); + EXPECT(assert_equal(Vector3(0, 0, 0), + functor(pos, pos_plus, avg, aH1, aH2, aH3))); + EXPECT(assert_equal(numericalDerivative31(f, pos, pos_plus, avg), aH1)); + EXPECT(assert_equal(numericalDerivative32(f, pos, pos_plus, avg), aH2)); + EXPECT(assert_equal(numericalDerivative33(f, pos, pos_plus, avg), aH3)); +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, PredictAcceleration1) { + Matrix aH1, aH2, aH3; + PredictAcceleration functor(kDt); + boost::function f = + boost::bind(functor, _1, _2, _3, boost::none, boost::none, boost::none); + const Vector3 vel(1, 2, 3), vel_plus(2, 4, 6); + const Vector3 theta(0, 0, 0); + EXPECT(assert_equal(Vector3(10, 20, 30), + functor(vel, vel_plus, theta, aH1, aH2, aH3))); + EXPECT(assert_equal(numericalDerivative31(f, vel, vel_plus, theta), aH1)); + EXPECT(assert_equal(numericalDerivative32(f, vel, vel_plus, theta), aH2)); + EXPECT(assert_equal(numericalDerivative33(f, vel, vel_plus, theta), aH3)); +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, PredictAcceleration2) { + Matrix aH1, aH2, aH3; + PredictAcceleration functor(kDt); + boost::function f = + boost::bind(functor, _1, _2, _3, boost::none, boost::none, boost::none); + const Vector3 vel(1, 2, 3), vel_plus(2, 4, 6); + const Vector3 theta(0.1, 0.2, 0.3); + EXPECT(assert_equal(Vector3(10, 20, 30), + functor(vel, vel_plus, theta, aH1, aH2, aH3))); + EXPECT(assert_equal(numericalDerivative31(f, vel, vel_plus, theta), aH1)); + EXPECT(assert_equal(numericalDerivative32(f, vel, vel_plus, theta), aH2)); + EXPECT(assert_equal(numericalDerivative33(f, vel, vel_plus, theta), aH3)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testImuBias.cpp b/gtsam/navigation/tests/testImuBias.cpp index 4d5df3f05..596b76f6a 100644 --- a/gtsam/navigation/tests/testImuBias.cpp +++ b/gtsam/navigation/tests/testImuBias.cpp @@ -16,113 +16,135 @@ */ #include +#include + #include +#include using namespace std; using namespace gtsam; +typedef imuBias::ConstantBias Bias; + Vector biasAcc1(Vector3(0.2, -0.1, 0)); Vector biasGyro1(Vector3(0.1, -0.3, -0.2)); -imuBias::ConstantBias bias1(biasAcc1, biasGyro1); +Bias bias1(biasAcc1, biasGyro1); Vector biasAcc2(Vector3(0.1, 0.2, 0.04)); Vector biasGyro2(Vector3(-0.002, 0.005, 0.03)); -imuBias::ConstantBias bias2(biasAcc2, biasGyro2); +Bias bias2(biasAcc2, biasGyro2); /* ************************************************************************* */ -TEST( ImuBias, Constructor) { +TEST(ImuBias, Constructor) { // Default Constructor - imuBias::ConstantBias bias1; + Bias bias1; // Acc + Gyro Constructor - imuBias::ConstantBias bias2(biasAcc2, biasGyro2); + Bias bias2(biasAcc2, biasGyro2); // Copy Constructor - imuBias::ConstantBias bias3(bias2); + Bias bias3(bias2); } /* ************************************************************************* */ -TEST( ImuBias, inverse) { - imuBias::ConstantBias biasActual = bias1.inverse(); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias(-biasAcc1, - -biasGyro1); +TEST(ImuBias, inverse) { + Bias biasActual = bias1.inverse(); + Bias biasExpected = Bias(-biasAcc1, -biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, compose) { - imuBias::ConstantBias biasActual = bias2.compose(bias1); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias( - biasAcc1 + biasAcc2, biasGyro1 + biasGyro2); +TEST(ImuBias, compose) { + Bias biasActual = bias2.compose(bias1); + Bias biasExpected = Bias(biasAcc1 + biasAcc2, biasGyro1 + biasGyro2); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, between) { +TEST(ImuBias, between) { // p.between(q) == q - p - imuBias::ConstantBias biasActual = bias2.between(bias1); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias( - biasAcc1 - biasAcc2, biasGyro1 - biasGyro2); + Bias biasActual = bias2.between(bias1); + Bias biasExpected = Bias(biasAcc1 - biasAcc2, biasGyro1 - biasGyro2); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, localCoordinates) { +TEST(ImuBias, localCoordinates) { Vector deltaActual = Vector(bias2.localCoordinates(bias1)); - Vector deltaExpected = (imuBias::ConstantBias(biasAcc1 - biasAcc2, - biasGyro1 - biasGyro2)).vector(); + Vector deltaExpected = + (Bias(biasAcc1 - biasAcc2, biasGyro1 - biasGyro2)).vector(); EXPECT(assert_equal(deltaExpected, deltaActual)); } /* ************************************************************************* */ -TEST( ImuBias, retract) { +TEST(ImuBias, retract) { Vector6 delta; delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2; - imuBias::ConstantBias biasActual = bias2.retract(delta); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias( - biasAcc2 + delta.block<3, 1>(0, 0), biasGyro2 + delta.block<3, 1>(3, 0)); + Bias biasActual = bias2.retract(delta); + Bias biasExpected = Bias(biasAcc2 + delta.block<3, 1>(0, 0), + biasGyro2 + delta.block<3, 1>(3, 0)); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, Logmap) { +TEST(ImuBias, Logmap) { Vector deltaActual = bias2.Logmap(bias1); Vector deltaExpected = bias1.vector(); EXPECT(assert_equal(deltaExpected, deltaActual)); } /* ************************************************************************* */ -TEST( ImuBias, Expmap) { +TEST(ImuBias, Expmap) { Vector6 delta; delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2; - imuBias::ConstantBias biasActual = bias2.Expmap(delta); - imuBias::ConstantBias biasExpected = imuBias::ConstantBias(delta); + Bias biasActual = bias2.Expmap(delta); + Bias biasExpected = Bias(delta); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, operatorSub) { - imuBias::ConstantBias biasActual = -bias1; - imuBias::ConstantBias biasExpected(-biasAcc1, -biasGyro1); +TEST(ImuBias, operatorSub) { + Bias biasActual = -bias1; + Bias biasExpected(-biasAcc1, -biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, operatorAdd) { - imuBias::ConstantBias biasActual = bias2 + bias1; - imuBias::ConstantBias biasExpected(biasAcc2 + biasAcc1, - biasGyro2 + biasGyro1); +TEST(ImuBias, operatorAdd) { + Bias biasActual = bias2 + bias1; + Bias biasExpected(biasAcc2 + biasAcc1, biasGyro2 + biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } /* ************************************************************************* */ -TEST( ImuBias, operatorSubB) { - imuBias::ConstantBias biasActual = bias2 - bias1; - imuBias::ConstantBias biasExpected(biasAcc2 - biasAcc1, - biasGyro2 - biasGyro1); +TEST(ImuBias, operatorSubB) { + Bias biasActual = bias2 - bias1; + Bias biasExpected(biasAcc2 - biasAcc1, biasGyro2 - biasGyro1); EXPECT(assert_equal(biasExpected, biasActual)); } +/* ************************************************************************* */ +TEST(ImuBias, Correct1) { + Matrix aH1, aH2; + const Vector3 measurement(1, 2, 3); + boost::function f = boost::bind( + &Bias::correctAccelerometer, _1, _2, boost::none, boost::none); + bias1.correctAccelerometer(measurement, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(f, bias1, measurement), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, bias1, measurement), aH2)); +} + +/* ************************************************************************* */ +TEST(ImuBias, Correct2) { + Matrix aH1, aH2; + const Vector3 measurement(1, 2, 3); + boost::function f = + boost::bind(&Bias::correctGyroscope, _1, _2, boost::none, boost::none); + bias1.correctGyroscope(measurement, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(f, bias1, measurement), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, bias1, measurement), aH2)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index a987245d0..21a8c8190 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -31,7 +31,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); // Create default parameters with Z-down and above noise parameters -static boost::shared_ptr defaultParams() { +static boost::shared_ptr defaultParams() { auto p = PreintegratedImuMeasurements::Params::MakeSharedD(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; From 97a8d21ebf1a2e0f2ce52624ccd69b719ed5bbf1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 13:32:28 -0800 Subject: [PATCH 811/964] Some debugging of zeta --- gtsam/navigation/AggregateImuReadings.cpp | 11 ++++++++++- gtsam/navigation/AggregateImuReadings.h | 2 ++ gtsam/navigation/ScenarioRunner.cpp | 12 +++++++++--- gtsam/navigation/ScenarioRunner.h | 2 +- gtsam/navigation/tests/testScenarioRunner.cpp | 6 +++--- 5 files changed, 25 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 65d1b9889..27f3f11d2 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -168,6 +168,13 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, deltaTij_ += dt; } +Vector9 AggregateImuReadings::zeta() const { + Vector9 zeta; + zeta << values.at(T(k_)), values.at(P(k_)), + values.at(V(k_)); + return zeta; +} + NavState AggregateImuReadings::predict(const NavState& state_i, const Bias& bias_i, OptionalJacobian<9, 9> H1, @@ -179,12 +186,14 @@ NavState AggregateImuReadings::predict(const NavState& state_i, Vector3 pos = values.at(P(k_)); Vector3 vel = values.at(V(k_)); - // Correct for initial velocity and gravity +// Correct for initial velocity and gravity +#if 0 Rot3 Ri = state_i.attitude(); Matrix3 Rit = Ri.transpose(); Vector3 gt = deltaTij_ * p_->n_gravity; pos += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); vel += Rit * gt; +#endif // Convert local coordinates to manifold near state_i Vector9 zeta; diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 9cb34849f..e3ab143d1 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -90,6 +90,8 @@ class AggregateImuReadings { void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt); + Vector9 zeta() const; + /// Predict state at time j NavState predict(const NavState& state_i, const Bias& estimatedBias_i, OptionalJacobian<9, 9> H1 = boost::none, diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 7068e64c6..d443024cf 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -59,9 +59,15 @@ Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N, Matrix samples(9, N); Vector9 sum = Vector9::Zero(); for (size_t i = 0; i < N; i++) { - NavState sampled = predict(integrate(T, estimatedBias, true)); - samples.col(i) = sampled.localCoordinates(prediction); - sum += samples.col(i); + auto pim = integrate(T, estimatedBias, true); +#if 0 + NavState sampled = predict(pim); + Vector9 zeta = sampled.localCoordinates(prediction); +#else + Vector9 xi = pim.zeta(); +#endif + samples.col(i) = xi; + sum += xi; } // Compute MC covariance diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index c8b5efc15..02dfa5515 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -86,7 +86,7 @@ class ScenarioRunner { const Bias& estimatedBias = Bias()) const; /// Compute a Monte Carlo estimate of the predict covariance using N samples - Matrix9 estimateCovariance(double T, size_t N = 1000, + Matrix9 estimateCovariance(double T, size_t N = 10000, const Bias& estimatedBias = Bias()) const; /// Estimate covariance of sampled noise for sanity-check diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 21a8c8190..654a8876e 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -61,17 +61,17 @@ TEST(ScenarioRunner, Spin) { EXPECT(assert_equal(p->gyroscopeCovariance / kDt, pim.discreteGyroscopeNoiseModel(kDt)->covariance())); -#ifdef SANITY_CHECK_SAMPLER +#if 0 // Check sampled noise is kosher Matrix6 expected; expected << p->accelerometerCovariance / kDt, Z_3x3, // Z_3x3, p->gyroscopeCovariance / kDt; - Matrix6 actual = runner.estimateNoiseCovariance(100000); + Matrix6 actual = runner.estimateNoiseCovariance(10000); EXPECT(assert_equal(expected, actual, 1e-2)); #endif // Check calculated covariance against Monte Carlo estimate - Matrix9 estimatedCov = runner.estimateCovariance(T, 1000); + Matrix9 estimatedCov = runner.estimateCovariance(T); EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 1e-5)); } From 2040571ad32876fabf927abd8b91063810996168 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 14:53:41 -0800 Subject: [PATCH 812/964] Predict covariance now calculated correctly --- gtsam/navigation/AggregateImuReadings.cpp | 105 +++++++++++++++------- gtsam/navigation/AggregateImuReadings.h | 15 ++-- gtsam/navigation/ScenarioRunner.cpp | 4 +- gtsam/navigation/ScenarioRunner.h | 2 +- 4 files changed, 83 insertions(+), 43 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 27f3f11d2..9e4158f6f 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -38,6 +38,22 @@ using symbol_shorthand::V; // for velocity static const Symbol kBiasKey('B', 0); +AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, + const Bias& estimatedBias) + : p_(p), + accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), + gyroscopeNoiseModel_(Diagonal(p->gyroscopeCovariance)), + estimatedBias_(estimatedBias), + k_(0), + deltaTij_(0.0) { + // Initialize values with zeros + static const Vector3 kZero(Vector3::Zero()); + values.insert(T(0), kZero); + values.insert(P(0), kZero); + values.insert(V(0), kZero); + values.insert(kBiasKey, estimatedBias_); +} + SharedDiagonal AggregateImuReadings::discreteAccelerometerNoiseModel( double dt) const { return noiseModel::Diagonal::Sigmas(accelerometerNoiseModel_->sigmas() / @@ -50,6 +66,32 @@ SharedDiagonal AggregateImuReadings::discreteGyroscopeNoiseModel( std::sqrt(dt)); } +void AggregateImuReadings::updateEstimate(const Vector3& measuredAcc, + const Vector3& measuredOmega, + double dt) { + // Get current estimates + const Vector3 theta = values.at(T(k_)); + const Vector3 pos = values.at(P(k_)); + const Vector3 vel = values.at(V(k_)); + + // Correct measurements + const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); + const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); + + // Calculate exact mean propagation + Matrix3 H; + const Rot3 R = Rot3::Expmap(theta, H); + const Vector3 theta_plus = theta + H.inverse() * correctedOmega * dt; + const Vector3 vel_plus = vel + R.rotate(correctedAcc) * dt; + const Vector3 vel_avg = 0.5 * (vel + vel_plus); + const Vector3 pos_plus = pos + vel_avg * dt; + + // Add those values to estimate and linearize around them + values.insert(T(k_ + 1), theta_plus); + values.insert(P(k_ + 1), pos_plus); + values.insert(V(k_ + 1), vel_plus); +} + NonlinearFactorGraph AggregateImuReadings::createGraph( const Vector3_& theta_, const Vector3_& pos_, const Vector3_& vel_, const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) const { @@ -86,11 +128,7 @@ AggregateImuReadings::SharedBayesNet AggregateImuReadings::initPosterior( // We create a factor graph and then compute P(zeta|bias) auto graph = createGraph(zero_, zero_, zero_, measuredAcc, measuredOmega, dt); - // These values are exact the first time - values.insert(T(k_ + 1), measuredOmega * dt); - values.insert(P(k_ + 1), measuredAcc * (0.5 * dt * dt)); - values.insert(V(k_ + 1), measuredAcc * dt); - values.insert(kBiasKey, estimatedBias_); + // Linearize using updated values (updateEstimate must have been called) auto linear_graph = graph.linearize(values); // eliminate all but biases @@ -99,35 +137,17 @@ AggregateImuReadings::SharedBayesNet AggregateImuReadings::initPosterior( return linear_graph->eliminatePartialSequential(keys, EliminateQR).first; } -AggregateImuReadings::SharedBayesNet AggregateImuReadings::integrateCorrected( +AggregateImuReadings::SharedBayesNet AggregateImuReadings::updatePosterior( const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { static const Vector3 kZero(Vector3::Zero()); static const auto constrModel = noiseModel::Constrained::All(3); // We create a factor graph and then compute P(zeta|bias) + // TODO(frank): Expmap and ExpmapDerivative are called again :-( auto graph = createGraph(Vector3_(T(k_)), Vector3_(P(k_)), Vector3_(V(k_)), measuredAcc, measuredOmega, dt); - // Get current estimates - const Vector3 theta = values.at(T(k_)); - const Vector3 pos = values.at(P(k_)); - const Vector3 vel = values.at(V(k_)); - - // Calculate exact solution: means we do not have to update values - // TODO(frank): Expmap and ExpmapDerivative are called again :-( - const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); - const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); - Matrix3 H; - const Rot3 R = Rot3::Expmap(theta, H); - const Vector3 theta_plus = theta + H.inverse() * correctedOmega * dt; - const Vector3 vel_plus = vel + R.rotate(correctedAcc) * dt; - const Vector3 vel_avg = 0.5 * (vel + vel_plus); - const Vector3 pos_plus = pos + vel_avg * dt; - - // Add those values to estimate and linearize around them - values.insert(T(k_ + 1), theta_plus); - values.insert(P(k_ + 1), pos_plus); - values.insert(V(k_ + 1), vel_plus); + // Linearize using updated values (updateEstimate must have been called) auto linear_graph = graph.linearize(values); // add previous posterior @@ -157,11 +177,15 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, double dt) { typedef map Terms; - // Handle first time differently + // Do exact mean propagation + updateEstimate(measuredAcc, measuredOmega, dt); + + // Use factor graph machinery to linearize aroud exact propagation and + // calculate posterior density on the prediction if (k_ == 0) posterior_k_ = initPosterior(measuredAcc, measuredOmega, dt); else - posterior_k_ = integrateCorrected(measuredAcc, measuredOmega, dt); + posterior_k_ = updatePosterior(measuredAcc, measuredOmega, dt); // increment counter and time k_ += 1; @@ -187,7 +211,7 @@ NavState AggregateImuReadings::predict(const NavState& state_i, Vector3 vel = values.at(V(k_)); // Correct for initial velocity and gravity -#if 0 +#if 1 Rot3 Ri = state_i.attitude(); Matrix3 Rit = Ri.transpose(); Vector3 gt = deltaTij_ * p_->n_gravity; @@ -202,13 +226,32 @@ NavState AggregateImuReadings::predict(const NavState& state_i, } SharedGaussian AggregateImuReadings::noiseModel() const { + // Get covariance on zeta from Bayes Net, which stores P(zeta|bias) as a + // quadratic |R*zeta + S*bias -d|^2 Matrix RS; Vector d; boost::tie(RS, d) = posterior_k_->matrix(); + // NOTEfrank): R'*R = inv(zetaCov) + const Matrix9 R = RS.block<9, 9>(0, 0); + Matrix9 zetaCov = (R.transpose() * R).inverse(); + + // Correct for application of retract, by calcuating the retract derivative H + // TODO(frank): yet another application of expmap and expmap derivative + Vector3 theta = values.at(T(k_)); + Matrix3 D_R_theta; + const Rot3 iRb = Rot3::Expmap(theta, D_R_theta); + Matrix9 H; + H << D_R_theta, Z_3x3, Z_3x3, // + Z_3x3, iRb.transpose(), Z_3x3, // + Z_3x3, Z_3x3, iRb.transpose(); + Matrix9 predictCov = H * zetaCov * H.transpose(); - // R'*R = A'*A = inv(Cov) // TODO(frank): think of a faster way - implement in noiseModel - return noiseModel::Gaussian::SqrtInformation(RS.block<9, 9>(0, 0), false); + return noiseModel::Gaussian::Covariance(predictCov, false); + + // TODO(frank): can we use SqrtInformation like below? + // Matrix3 predictSqrtInfo = H * R; + // return noiseModel::Gaussian::SqrtInformation(predictSqrtInfo, false); } Matrix9 AggregateImuReadings::preintMeasCov() const { diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index e3ab143d1..eb59c3b46 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -67,13 +67,7 @@ class AggregateImuReadings { public: AggregateImuReadings(const boost::shared_ptr& p, - const Bias& estimatedBias = Bias()) - : p_(p), - accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), - gyroscopeNoiseModel_(Diagonal(p->gyroscopeCovariance)), - estimatedBias_(estimatedBias), - k_(0), - deltaTij_(0.0) {} + const Bias& estimatedBias = Bias()); // We obtain discrete-time noise models by dividing the continuous-time // covariances by dt: @@ -104,6 +98,9 @@ class AggregateImuReadings { Matrix9 preintMeasCov() const; private: + void updateEstimate(const Vector3& measuredAcc, const Vector3& measuredOmega, + double dt); + NonlinearFactorGraph createGraph(const Vector3_& theta_, const Vector3_& pose_, const Vector3_& vel_, const Vector3& measuredAcc, @@ -115,8 +112,8 @@ class AggregateImuReadings { const Vector3& measuredOmega, double dt); // integrate - SharedBayesNet integrateCorrected(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt); + SharedBayesNet updatePosterior(const Vector3& measuredAcc, + const Vector3& measuredOmega, double dt); }; } // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index d443024cf..a6fea095d 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -60,9 +60,9 @@ Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N, Vector9 sum = Vector9::Zero(); for (size_t i = 0; i < N; i++) { auto pim = integrate(T, estimatedBias, true); -#if 0 +#if 1 NavState sampled = predict(pim); - Vector9 zeta = sampled.localCoordinates(prediction); + Vector9 xi = sampled.localCoordinates(prediction); #else Vector9 xi = pim.zeta(); #endif diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 02dfa5515..c8b5efc15 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -86,7 +86,7 @@ class ScenarioRunner { const Bias& estimatedBias = Bias()) const; /// Compute a Monte Carlo estimate of the predict covariance using N samples - Matrix9 estimateCovariance(double T, size_t N = 10000, + Matrix9 estimateCovariance(double T, size_t N = 1000, const Bias& estimatedBias = Bias()) const; /// Estimate covariance of sampled noise for sanity-check From a313fb92b9d1b9066e8c7d3f8a3791ec92f807d4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 15:25:56 -0800 Subject: [PATCH 813/964] sqrt info path --- gtsam/navigation/AggregateImuReadings.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 9e4158f6f..66d66ce46 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -233,9 +233,8 @@ SharedGaussian AggregateImuReadings::noiseModel() const { boost::tie(RS, d) = posterior_k_->matrix(); // NOTEfrank): R'*R = inv(zetaCov) const Matrix9 R = RS.block<9, 9>(0, 0); - Matrix9 zetaCov = (R.transpose() * R).inverse(); - // Correct for application of retract, by calcuating the retract derivative H + // Correct for application of retract, by calculating the retract derivative H // TODO(frank): yet another application of expmap and expmap derivative Vector3 theta = values.at(T(k_)); Matrix3 D_R_theta; @@ -244,14 +243,12 @@ SharedGaussian AggregateImuReadings::noiseModel() const { H << D_R_theta, Z_3x3, Z_3x3, // Z_3x3, iRb.transpose(), Z_3x3, // Z_3x3, Z_3x3, iRb.transpose(); - Matrix9 predictCov = H * zetaCov * H.transpose(); + + // inv(Rp'Rp) = H inv(Rz'Rz) H' => Rp = Rz * inv(H) + Matrix9 Rp = R * H.inverse(); // TODO(frank): think of a faster way - implement in noiseModel - return noiseModel::Gaussian::Covariance(predictCov, false); - - // TODO(frank): can we use SqrtInformation like below? - // Matrix3 predictSqrtInfo = H * R; - // return noiseModel::Gaussian::SqrtInformation(predictSqrtInfo, false); + return noiseModel::Gaussian::SqrtInformation(Rp, false); } Matrix9 AggregateImuReadings::preintMeasCov() const { From f11369ff4d93cbd53328513a016ea3c028458448 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 15:47:41 -0800 Subject: [PATCH 814/964] Block-wise multiplication --- gtsam/navigation/AggregateImuReadings.cpp | 28 ++++++++++++++--------- 1 file changed, 17 insertions(+), 11 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 66d66ce46..64fe98a62 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -232,23 +232,29 @@ SharedGaussian AggregateImuReadings::noiseModel() const { Vector d; boost::tie(RS, d) = posterior_k_->matrix(); // NOTEfrank): R'*R = inv(zetaCov) - const Matrix9 R = RS.block<9, 9>(0, 0); + Matrix9 R = RS.block<9, 9>(0, 0); // Correct for application of retract, by calculating the retract derivative H - // TODO(frank): yet another application of expmap and expmap derivative - Vector3 theta = values.at(T(k_)); + // We have inv(Rp'Rp) = H inv(Rz'Rz) H' => Rp = Rz * inv(H) + // From NavState::retract: + // H << D_R_theta, Z_3x3, Z_3x3, + // Z_3x3, iRj.transpose(), Z_3x3, + // Z_3x3, Z_3x3, iRj.transpose(); Matrix3 D_R_theta; - const Rot3 iRb = Rot3::Expmap(theta, D_R_theta); - Matrix9 H; - H << D_R_theta, Z_3x3, Z_3x3, // - Z_3x3, iRb.transpose(), Z_3x3, // - Z_3x3, Z_3x3, iRb.transpose(); + Vector3 theta = values.at(T(k_)); + // TODO(frank): yet another application of expmap and expmap derivative + const Matrix3 iRj = Rot3::Expmap(theta, D_R_theta).matrix(); - // inv(Rp'Rp) = H inv(Rz'Rz) H' => Rp = Rz * inv(H) - Matrix9 Rp = R * H.inverse(); + // Rp = R * H.inverse(), implemented blockwise in-place below + // NOTE(frank): makes sense: a change in the j-frame has to be converted to a + // change in the i-frame, byy rotating with iRj. Similarly, a change in + // rotation nRj is mapped to a change in theta via the inverse dexp. + R.block<9, 3>(0, 0) *= D_R_theta.inverse(); + R.block<9, 3>(0, 3) *= iRj; + R.block<9, 3>(0, 6) *= iRj; // TODO(frank): think of a faster way - implement in noiseModel - return noiseModel::Gaussian::SqrtInformation(Rp, false); + return noiseModel::Gaussian::SqrtInformation(R, false); } Matrix9 AggregateImuReadings::preintMeasCov() const { From 076612365e7e257808635025cd80879b75d7acc5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 16:11:11 -0800 Subject: [PATCH 815/964] Addressed review comments by Abe --- gtsam/navigation/PreintegrationBase.h | 1 + gtsam/navigation/Scenario.h | 23 +++++++++---------- gtsam/navigation/ScenarioRunner.cpp | 8 +++++-- gtsam/navigation/ScenarioRunner.h | 14 ++++++----- gtsam/navigation/tests/testScenario.cpp | 6 ++--- gtsam/navigation/tests/testScenarioRunner.cpp | 11 +++++---- 6 files changed, 36 insertions(+), 27 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 26b8aca2a..7e6810110 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -110,6 +110,7 @@ protected: NavState deltaXij_; /// Parameters. Declared mutable only for deprecated predict method. + /// TODO(frank): make const once deprecated method is removed mutable boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index bc9dfe8eb..2b2b3fddf 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -33,7 +33,7 @@ class Scenario { // Derived quantities: - virtual Rot3 rotation(double t) const { return pose(t).rotation(); } + Rot3 rotation(double t) const { return pose(t).rotation(); } Vector3 velocity_b(double t) const { const Rot3 nRb = rotation(t); @@ -47,20 +47,19 @@ class Scenario { }; /// Scenario with constant twist 3D trajectory. -class ExpmapScenario : public Scenario { +class ConstantTwistScenario : public Scenario { public: /// Construct scenario with constant twist [w,v] - ExpmapScenario(const Vector3& w, const Vector3& v) + ConstantTwistScenario(const Vector3& w, const Vector3& v) : twist_((Vector6() << w, v).finished()), a_b_(twist_.head<3>().cross(twist_.tail<3>())) {} - Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } - Rot3 rotation(double t) const { return Rot3::Expmap(twist_.head<3>() * t); } - Vector3 omega_b(double t) const { return twist_.head<3>(); } - Vector3 velocity_n(double t) const { + Pose3 pose(double t) const override { return Pose3::Expmap(twist_ * t); } + Vector3 omega_b(double t) const override { return twist_.head<3>(); } + Vector3 velocity_n(double t) const override { return rotation(t).matrix() * twist_.tail<3>(); } - Vector3 acceleration_n(double t) const { return rotation(t) * a_b_; } + Vector3 acceleration_n(double t) const override { return rotation(t) * a_b_; } private: const Vector6 twist_; @@ -77,12 +76,12 @@ class AcceleratingScenario : public Scenario { const Vector3& omega_b = Vector3::Zero()) : nRb_(nRb), p0_(p0.vector()), v0_(v0), a_n_(a_n), omega_b_(omega_b) {} - Pose3 pose(double t) const { + Pose3 pose(double t) const override { return Pose3(nRb_.expmap(omega_b_ * t), p0_ + v0_ * t + a_n_ * t * t / 2.0); } - Vector3 omega_b(double t) const { return omega_b_; } - Vector3 velocity_n(double t) const { return v0_ + a_n_ * t; } - Vector3 acceleration_n(double t) const { return a_n_; } + Vector3 omega_b(double t) const override { return omega_b_; } + Vector3 velocity_n(double t) const override { return v0_ + a_n_ * t; } + Vector3 acceleration_n(double t) const override { return a_n_; } private: const Rot3 nRb_; diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 3b0a763d8..91a92af2d 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -16,6 +16,7 @@ */ #include +#include #include @@ -37,9 +38,10 @@ ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( const size_t nrSteps = T / dt; double t = 0; for (size_t k = 0; k < nrSteps; k++, t += dt) { - Vector3 measuredOmega = corrupted ? measured_omega_b(t) : actual_omega_b(t); + Vector3 measuredOmega = + corrupted ? measuredAngularVelocity(t) : actualAngularVelocity(t); Vector3 measuredAcc = - corrupted ? measured_specific_force_b(t) : actual_specific_force_b(t); + corrupted ? measuredSpecificForce(t) : actualSpecificForce(t); pim.integrateMeasurement(measuredAcc, measuredOmega, dt); } @@ -59,6 +61,8 @@ PoseVelocityBias ScenarioRunner::predict( Matrix6 ScenarioRunner::estimatePoseCovariance( double T, size_t N, const imuBias::ConstantBias& estimatedBias) const { + gttic_(estimatePoseCovariance); + // Get predict prediction from ground truth measurements Pose3 prediction = predict(integrate(T)).pose; diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index d32d7b836..c6b17f462 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -47,21 +47,23 @@ class ScenarioRunner { static Vector3 gravity_n() { return Vector3(0, 0, -10.0); } // A gyro simply measures angular velocity in body frame - Vector3 actual_omega_b(double t) const { return scenario_->omega_b(t); } + Vector3 actualAngularVelocity(double t) const { + return scenario_->omega_b(t); + } // An accelerometer measures acceleration in body, but not gravity - Vector3 actual_specific_force_b(double t) const { + Vector3 actualSpecificForce(double t) const { Rot3 bRn = scenario_->rotation(t).transpose(); return scenario_->acceleration_b(t) - bRn * gravity_n(); } // versions corrupted by bias and noise - Vector3 measured_omega_b(double t) const { - return actual_omega_b(t) + bias_.gyroscope() + + Vector3 measuredAngularVelocity(double t) const { + return actualAngularVelocity(t) + bias_.gyroscope() + gyroSampler_.sample() / std::sqrt(imuSampleTime_); } - Vector3 measured_specific_force_b(double t) const { - return actual_specific_force_b(t) + bias_.accelerometer() + + Vector3 measuredSpecificForce(double t) const { + return actualSpecificForce(t) + bias_.accelerometer() + accSampler_.sample() / std::sqrt(imuSampleTime_); } diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index ab538e02a..afb62935e 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -31,7 +31,7 @@ static const double degree = M_PI / 180.0; TEST(Scenario, Forward) { const double v = 2; // m/s const Vector3 W(0, 0, 0), V(v, 0, 0); - const ExpmapScenario scenario(W, V); + const ConstantTwistScenario scenario(W, V); const double T = 15; EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); @@ -48,7 +48,7 @@ TEST(Scenario, Circle) { // Forward velocity 2m/s, angular velocity 6 degree/sec around Z const double v = 2, w = 6 * degree; const Vector3 W(0, 0, w), V(v, 0, 0); - const ExpmapScenario scenario(W, V); + const ConstantTwistScenario scenario(W, V); const double T = 15; EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); @@ -68,7 +68,7 @@ TEST(Scenario, Loop) { // Pitch up with angular velocity 6 degree/sec (negative in FLU) const double v = 2, w = 6 * degree; const Vector3 W(0, -w, 0), V(v, 0, 0); - const ExpmapScenario scenario(W, V); + const ConstantTwistScenario scenario(W, V); const double T = 30; EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 019d60f91..b09d7c05e 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -16,6 +16,7 @@ */ #include +#include #include #include @@ -33,7 +34,7 @@ static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); /* ************************************************************************* */ namespace forward { const double v = 2; // m/s -ExpmapScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); +ConstantTwistScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); } /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { @@ -63,7 +64,7 @@ TEST(ScenarioRunner, ForwardWithBias) { TEST(ScenarioRunner, Circle) { // Forward velocity 2m/s, angular velocity 6 kDegree/sec const double v = 2, w = 6 * kDegree; - ExpmapScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); + ConstantTwistScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); const double T = 0.1; // seconds @@ -80,7 +81,7 @@ TEST(ScenarioRunner, Loop) { // Forward velocity 2m/s // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) const double v = 2, w = 6 * kDegree; - ExpmapScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); + ConstantTwistScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); ScenarioRunner runner(&scenario, kDeltaT, kGyroSigma, kAccelSigma); const double T = 0.1; // seconds @@ -154,6 +155,8 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { /* ************************************************************************* */ int main() { TestResult tr; - return TestRegistry::runAllTests(tr); + auto result = TestRegistry::runAllTests(tr); + tictoc_print_(); + return result; } /* ************************************************************************* */ From 8f507d83f2308871cef131f993d1229b47426eae Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 16:24:10 -0800 Subject: [PATCH 816/964] Deal w name change --- gtsam/navigation/tests/testScenario.cpp | 2 +- gtsam/navigation/tests/testScenarioRunner.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index 914970ea5..fb8aa9534 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -32,7 +32,7 @@ TEST(Scenario, Spin) { // angular velocity 6 kDegree/sec const double w = 6 * kDegree; const Vector3 W(0, 0, w), V(0, 0, 0); - const ExpmapScenario scenario(W, V); + const ConstantTwistScenario scenario(W, V); const double T = 10; EXPECT(assert_equal(W, scenario.omega_b(T), 1e-9)); diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 6b0ce8428..c84c7f2f5 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -47,7 +47,7 @@ TEST(ScenarioRunner, Spin) { // angular velocity 6 kDegree/sec const double w = 6 * kDegree; const Vector3 W(0, 0, w), V(0, 0, 0); - const ExpmapScenario scenario(W, V); + const ConstantTwistScenario scenario(W, V); auto p = defaultParams(); ScenarioRunner runner(&scenario, p, kDt); From a5c955a44c882e6eea8ddfadceb370131adefe32 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jan 2016 23:50:05 -0800 Subject: [PATCH 817/964] Debugging matrix version --- gtsam/navigation/AggregateImuReadings.cpp | 120 +++++++++++++++++----- gtsam/navigation/AggregateImuReadings.h | 7 ++ 2 files changed, 100 insertions(+), 27 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 64fe98a62..608846d52 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -52,6 +52,12 @@ AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, values.insert(P(0), kZero); values.insert(V(0), kZero); values.insert(kBiasKey, estimatedBias_); + ttCov_.setZero(); + tpCov_.setZero(); + tvCov_.setZero(); + ppCov_.setZero(); + pvCov_.setZero(); + vvCov_.setZero(); } SharedDiagonal AggregateImuReadings::discreteAccelerometerNoiseModel( @@ -79,12 +85,51 @@ void AggregateImuReadings::updateEstimate(const Vector3& measuredAcc, const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); // Calculate exact mean propagation - Matrix3 H; - const Rot3 R = Rot3::Expmap(theta, H); - const Vector3 theta_plus = theta + H.inverse() * correctedOmega * dt; - const Vector3 vel_plus = vel + R.rotate(correctedAcc) * dt; - const Vector3 vel_avg = 0.5 * (vel + vel_plus); - const Vector3 pos_plus = pos + vel_avg * dt; + Matrix3 dexp; + const Rot3 R = Rot3::Expmap(theta, dexp); + const Matrix3 F = dexp.inverse() * dt, H = R.matrix() * dt; + const Vector3 theta_plus = theta + F * correctedOmega; + const Vector3 pos_plus = pos + vel * dt + H * (0.5 * dt) * correctedAcc; + const Vector3 vel_plus = vel + H * correctedAcc; + + // Propagate uncertainty + // TODO(frank): specialize to diagonal and upper triangular views + const Matrix3 w = gyroscopeNoiseModel_->covariance() / dt; + const Matrix3 a = accelerometerNoiseModel_->covariance() / dt; + const Matrix3 Avt = skewSymmetric(-correctedAcc * dt); + +#define DEBUG_COVARIANCE +#ifdef DEBUG_COVARIANCE + // Slow covariance calculation for debugging + Matrix9 cov = zetaCov(); + Matrix9 A; + A.setIdentity(); + A.block<3, 3>(6, 0) = Avt; + A.block<3, 3>(3, 6) = I_3x3 * dt; + Matrix93 Ba, Bw; + Bw << F, Z_3x3, Z_3x3; + Ba << Z_3x3, H*(dt * 0.5), H; + cov = A * cov * A.transpose() + Bw * w * Bw.transpose() + + Ba * a * Ba.transpose(); + assert_equal(cov, zetaCov(), 1e-2); +#endif + + const Matrix3 HaH = H * a * H.transpose(); + const Matrix3 temp = Avt * tvCov_ + tvCov_.transpose() * Avt.transpose(); + + tpCov_ += dt * tvCov_; + // H**2*a*dt**2/4 + dt*vp + dt*(dt*vv + pv) + ppCov_ += dt * (0.25 * dt * HaH + pvCov_ + pvCov_.transpose() + dt * vvCov_); + pvCov_ += dt * (0.5 * HaH + vvCov_ + temp); + + tvCov_ += ttCov_ * Avt.transpose(); + vvCov_ += HaH + Avt * ttCov_ * Avt.transpose() + temp; + + ttCov_ += F * w * F.transpose(); + +#ifdef DEBUG_COVARIANCE + assert_equal(cov, zetaCov(), 1e-2); +#endif // Add those values to estimate and linearize around them values.insert(T(k_ + 1), theta_plus); @@ -225,36 +270,57 @@ NavState AggregateImuReadings::predict(const NavState& state_i, return state_i.retract(zeta); } -SharedGaussian AggregateImuReadings::noiseModel() const { - // Get covariance on zeta from Bayes Net, which stores P(zeta|bias) as a - // quadratic |R*zeta + S*bias -d|^2 - Matrix RS; - Vector d; - boost::tie(RS, d) = posterior_k_->matrix(); - // NOTEfrank): R'*R = inv(zetaCov) - Matrix9 R = RS.block<9, 9>(0, 0); +Matrix9 AggregateImuReadings::zetaCov() const { + Matrix9 cov; + cov << ttCov_, tpCov_, tvCov_, // + tpCov_.transpose(), ppCov_, pvCov_, // + tvCov_.transpose(), pvCov_.transpose(), vvCov_; + return cov; +} +SharedGaussian AggregateImuReadings::noiseModel() const { + Matrix9 cov; + cov << ttCov_, tpCov_, tvCov_, // + tpCov_.transpose(), ppCov_, pvCov_, // + tvCov_.transpose(), pvCov_.transpose(), vvCov_; // Correct for application of retract, by calculating the retract derivative H // We have inv(Rp'Rp) = H inv(Rz'Rz) H' => Rp = Rz * inv(H) // From NavState::retract: - // H << D_R_theta, Z_3x3, Z_3x3, - // Z_3x3, iRj.transpose(), Z_3x3, - // Z_3x3, Z_3x3, iRj.transpose(); Matrix3 D_R_theta; Vector3 theta = values.at(T(k_)); - // TODO(frank): yet another application of expmap and expmap derivative const Matrix3 iRj = Rot3::Expmap(theta, D_R_theta).matrix(); + Matrix9 H; + H << D_R_theta, Z_3x3, Z_3x3, // + Z_3x3, iRj.transpose(), Z_3x3, // + Z_3x3, Z_3x3, iRj.transpose(); - // Rp = R * H.inverse(), implemented blockwise in-place below - // NOTE(frank): makes sense: a change in the j-frame has to be converted to a - // change in the i-frame, byy rotating with iRj. Similarly, a change in - // rotation nRj is mapped to a change in theta via the inverse dexp. - R.block<9, 3>(0, 0) *= D_R_theta.inverse(); - R.block<9, 3>(0, 3) *= iRj; - R.block<9, 3>(0, 6) *= iRj; + Matrix9 HcH = H * cov * H.transpose(); + return noiseModel::Gaussian::Covariance(cov, false); - // TODO(frank): think of a faster way - implement in noiseModel - return noiseModel::Gaussian::SqrtInformation(R, false); + // // Get covariance on zeta from Bayes Net, which stores P(zeta|bias) as a + // // quadratic |R*zeta + S*bias -d|^2 + // Matrix RS; + // Vector d; + // boost::tie(RS, d) = posterior_k_->matrix(); + // // NOTEfrank): R'*R = inv(zetaCov) + // + // Matrix9 R = RS.block<9, 9>(0, 0); + // cout << "R'R" << endl; + // cout << (R.transpose() * R).inverse() << endl; + // cout << "cov" << endl; + // cout << cov << endl; + + // // Rp = R * H.inverse(), implemented blockwise in-place below + // // TODO(frank): yet another application of expmap and expmap derivative + // // NOTE(frank): makes sense: a change in the j-frame has to be converted + // // to a change in the i-frame, byy rotating with iRj. Similarly, a change + // // in rotation nRj is mapped to a change in theta via the inverse dexp. + // R.block<9, 3>(0, 0) *= D_R_theta.inverse(); + // R.block<9, 3>(0, 3) *= iRj; + // R.block<9, 3>(0, 6) *= iRj; + // + // // TODO(frank): think of a faster way - implement in noiseModel + // return noiseModel::Gaussian::SqrtInformation(R, false); } Matrix9 AggregateImuReadings::preintMeasCov() const { diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index eb59c3b46..bd04f81cd 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -65,6 +65,11 @@ class AggregateImuReadings { /// Current estimate of zeta_k Values values; + /// Covariances + Matrix3 ttCov_, tpCov_, tvCov_, // + ppCov_, pvCov_, // + vvCov_; + public: AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias = Bias()); @@ -98,6 +103,8 @@ class AggregateImuReadings { Matrix9 preintMeasCov() const; private: + Matrix9 zetaCov() const; + void updateEstimate(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt); From 07693337afb4f3126564ccf893a95a7839dfe3eb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jan 2016 00:30:45 -0800 Subject: [PATCH 818/964] Massive refactor: matrices only! --- gtsam/navigation/AggregateImuReadings.cpp | 253 ++++-------------- gtsam/navigation/AggregateImuReadings.h | 51 +--- .../tests/testAggregateImuReadings.cpp | 29 ++ 3 files changed, 90 insertions(+), 243 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 608846d52..ef0419bed 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -16,28 +16,12 @@ */ #include -#include -#include -#include -#include -#include -#include - -#include - #include using namespace std; -using namespace boost::assign; namespace gtsam { -using symbol_shorthand::T; // for theta -using symbol_shorthand::P; // for position -using symbol_shorthand::V; // for velocity - -static const Symbol kBiasKey('B', 0); - AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias) : p_(p), @@ -46,18 +30,8 @@ AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, estimatedBias_(estimatedBias), k_(0), deltaTij_(0.0) { - // Initialize values with zeros - static const Vector3 kZero(Vector3::Zero()); - values.insert(T(0), kZero); - values.insert(P(0), kZero); - values.insert(V(0), kZero); - values.insert(kBiasKey, estimatedBias_); - ttCov_.setZero(); - tpCov_.setZero(); - tvCov_.setZero(); - ppCov_.setZero(); - pvCov_.setZero(); - vvCov_.setZero(); + zeta_.setZero(); + cov_.setZero(); } SharedDiagonal AggregateImuReadings::discreteAccelerometerNoiseModel( @@ -72,230 +46,101 @@ SharedDiagonal AggregateImuReadings::discreteGyroscopeNoiseModel( std::sqrt(dt)); } -void AggregateImuReadings::updateEstimate(const Vector3& measuredAcc, - const Vector3& measuredOmega, - double dt) { - // Get current estimates - const Vector3 theta = values.at(T(k_)); - const Vector3 pos = values.at(P(k_)); - const Vector3 vel = values.at(V(k_)); +// Tangent space sugar. +namespace sugar { +typedef const Vector9 constV9; +static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } +static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } +static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } +static Eigen::Block dR(constV9& v) { return v.segment<3>(0); } +static Eigen::Block dP(constV9& v) { return v.segment<3>(3); } +static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } +} - // Correct measurements - const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); - const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); +Vector9 AggregateImuReadings::UpdateEstimate( + const Vector9& zeta, const Vector3& correctedAcc, + const Vector3& correctedOmega, double dt, OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> Ba, OptionalJacobian<9, 3> Bw) { + using namespace sugar; // Calculate exact mean propagation Matrix3 dexp; - const Rot3 R = Rot3::Expmap(theta, dexp); + const Rot3 R = Rot3::Expmap(dR(zeta), dexp); const Matrix3 F = dexp.inverse() * dt, H = R.matrix() * dt; - const Vector3 theta_plus = theta + F * correctedOmega; - const Vector3 pos_plus = pos + vel * dt + H * (0.5 * dt) * correctedAcc; - const Vector3 vel_plus = vel + H * correctedAcc; - // Propagate uncertainty - // TODO(frank): specialize to diagonal and upper triangular views - const Matrix3 w = gyroscopeNoiseModel_->covariance() / dt; - const Matrix3 a = accelerometerNoiseModel_->covariance() / dt; - const Matrix3 Avt = skewSymmetric(-correctedAcc * dt); + Vector9 zeta_plus; + dR(zeta_plus) = dR(zeta) + F * correctedOmega; + dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + H * (0.5 * dt) * correctedAcc; + dV(zeta_plus) = dV(zeta) + H * correctedAcc; -#define DEBUG_COVARIANCE -#ifdef DEBUG_COVARIANCE - // Slow covariance calculation for debugging - Matrix9 cov = zetaCov(); - Matrix9 A; - A.setIdentity(); - A.block<3, 3>(6, 0) = Avt; - A.block<3, 3>(3, 6) = I_3x3 * dt; - Matrix93 Ba, Bw; - Bw << F, Z_3x3, Z_3x3; - Ba << Z_3x3, H*(dt * 0.5), H; - cov = A * cov * A.transpose() + Bw * w * Bw.transpose() + - Ba * a * Ba.transpose(); - assert_equal(cov, zetaCov(), 1e-2); -#endif - - const Matrix3 HaH = H * a * H.transpose(); - const Matrix3 temp = Avt * tvCov_ + tvCov_.transpose() * Avt.transpose(); - - tpCov_ += dt * tvCov_; - // H**2*a*dt**2/4 + dt*vp + dt*(dt*vv + pv) - ppCov_ += dt * (0.25 * dt * HaH + pvCov_ + pvCov_.transpose() + dt * vvCov_); - pvCov_ += dt * (0.5 * HaH + vvCov_ + temp); - - tvCov_ += ttCov_ * Avt.transpose(); - vvCov_ += HaH + Avt * ttCov_ * Avt.transpose() + temp; - - ttCov_ += F * w * F.transpose(); - -#ifdef DEBUG_COVARIANCE - assert_equal(cov, zetaCov(), 1e-2); -#endif - - // Add those values to estimate and linearize around them - values.insert(T(k_ + 1), theta_plus); - values.insert(P(k_ + 1), pos_plus); - values.insert(V(k_ + 1), vel_plus); -} - -NonlinearFactorGraph AggregateImuReadings::createGraph( - const Vector3_& theta_, const Vector3_& pos_, const Vector3_& vel_, - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) const { - NonlinearFactorGraph graph; - Expression bias_(kBiasKey); - Vector3_ theta_plus_(T(k_ + 1)), pos_plus_(P(k_ + 1)), vel_plus_(V(k_ + 1)); - - Vector3_ omega_(PredictAngularVelocity(dt), theta_, theta_plus_); - Vector3_ measuredOmega_(boost::bind(&Bias::correctGyroscope, _1, _2, _3, _4), - bias_, omega_); - auto gyroModel = discreteGyroscopeNoiseModel(dt); - graph.addExpressionFactor(gyroModel, measuredOmega, measuredOmega_); - - Vector3_ averageVelocity_(averageVelocity, vel_, vel_plus_); - Vector3_ defect_(PositionDefect(dt), pos_, pos_plus_, averageVelocity_); - static const auto constrModel = noiseModel::Constrained::All(3); - static const Vector3 kZero(Vector3::Zero()); - graph.addExpressionFactor(constrModel, kZero, defect_); - - Vector3_ acc_(PredictAcceleration(dt), vel_, vel_plus_, theta_); - Vector3_ measuredAcc_( - boost::bind(&Bias::correctAccelerometer, _1, _2, _3, _4), bias_, acc_); - auto accModel = discreteAccelerometerNoiseModel(dt); - graph.addExpressionFactor(accModel, measuredAcc, measuredAcc_); - - return graph; -} - -AggregateImuReadings::SharedBayesNet AggregateImuReadings::initPosterior( - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { - static const Vector3 kZero(Vector3::Zero()); - static const Vector3_ zero_(kZero); - - // We create a factor graph and then compute P(zeta|bias) - auto graph = createGraph(zero_, zero_, zero_, measuredAcc, measuredOmega, dt); - - // Linearize using updated values (updateEstimate must have been called) - auto linear_graph = graph.linearize(values); - - // eliminate all but biases - // NOTE(frank): After this, posterior_k_ contains P(zeta(1)|bias) - Ordering keys = list_of(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); - return linear_graph->eliminatePartialSequential(keys, EliminateQR).first; -} - -AggregateImuReadings::SharedBayesNet AggregateImuReadings::updatePosterior( - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { - static const Vector3 kZero(Vector3::Zero()); - static const auto constrModel = noiseModel::Constrained::All(3); - - // We create a factor graph and then compute P(zeta|bias) - // TODO(frank): Expmap and ExpmapDerivative are called again :-( - auto graph = createGraph(Vector3_(T(k_)), Vector3_(P(k_)), Vector3_(V(k_)), - measuredAcc, measuredOmega, dt); - - // Linearize using updated values (updateEstimate must have been called) - auto linear_graph = graph.linearize(values); - - // add previous posterior - for (const auto& conditional : *posterior_k_) - linear_graph->add(boost::static_pointer_cast(conditional)); - - // eliminate all but biases - // TODO(frank): does not seem to eliminate in order I want. What gives? - Ordering keys = list_of(T(k_))(P(k_))(V(k_))(T(k_ + 1))(P(k_ + 1))(V(k_ + 1)); - SharedBayesNet bayesNet = - linear_graph->eliminatePartialSequential(keys, EliminateQR).first; - - // The Bayes net now contains P(zeta(k)|zeta(k+1),bias) P(zeta(k+1)|bias) - // We marginalize zeta(k) by removing the conditionals on zeta(k) - // TODO(frank): could use erase(begin, begin+3) if order above was correct - SharedBayesNet marginal = boost::make_shared(); - for (const auto& conditional : *bayesNet) { - Symbol symbol(conditional->front()); - if (symbol.index() > k_) marginal->push_back(conditional); + if (A) { + const Matrix3 Avt = skewSymmetric(-correctedAcc * dt); + A->setIdentity(); + A->block<3, 3>(6, 0) = Avt; + A->block<3, 3>(3, 6) = I_3x3 * dt; } + if (Ba) *Ba << Z_3x3, H*(dt * 0.5), H; + if (Bw) *Bw << F, Z_3x3, Z_3x3; - return marginal; + return zeta_plus; } void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { - typedef map Terms; + // Correct measurements + const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); + const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); // Do exact mean propagation - updateEstimate(measuredAcc, measuredOmega, dt); + Matrix9 A; + Matrix93 Ba, Bw; + zeta_ = UpdateEstimate(zeta_, correctedAcc, correctedOmega, dt, A, Ba, Bw); - // Use factor graph machinery to linearize aroud exact propagation and - // calculate posterior density on the prediction - if (k_ == 0) - posterior_k_ = initPosterior(measuredAcc, measuredOmega, dt); - else - posterior_k_ = updatePosterior(measuredAcc, measuredOmega, dt); + // propagate uncertainty + // TODO(frank): specialize to diagonal and upper triangular views + const Matrix3 w = gyroscopeNoiseModel_->covariance() / dt; + const Matrix3 a = accelerometerNoiseModel_->covariance() / dt; + cov_ = A * cov_ * A.transpose() + Bw * w * Bw.transpose() + + Ba * a * Ba.transpose(); // increment counter and time k_ += 1; deltaTij_ += dt; } -Vector9 AggregateImuReadings::zeta() const { - Vector9 zeta; - zeta << values.at(T(k_)), values.at(P(k_)), - values.at(V(k_)); - return zeta; -} - NavState AggregateImuReadings::predict(const NavState& state_i, const Bias& bias_i, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { - // TODO(frank): handle bias - - // Get current estimates - Vector3 theta = values.at(T(k_)); - Vector3 pos = values.at(P(k_)); - Vector3 vel = values.at(V(k_)); + using namespace sugar; + Vector9 zeta = zeta_; // Correct for initial velocity and gravity #if 1 Rot3 Ri = state_i.attitude(); Matrix3 Rit = Ri.transpose(); Vector3 gt = deltaTij_ * p_->n_gravity; - pos += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); - vel += Rit * gt; + dP(zeta) += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); + dV(zeta) += Rit * gt; #endif - // Convert local coordinates to manifold near state_i - Vector9 zeta; - zeta << theta, pos, vel; return state_i.retract(zeta); } -Matrix9 AggregateImuReadings::zetaCov() const { - Matrix9 cov; - cov << ttCov_, tpCov_, tvCov_, // - tpCov_.transpose(), ppCov_, pvCov_, // - tvCov_.transpose(), pvCov_.transpose(), vvCov_; - return cov; -} - SharedGaussian AggregateImuReadings::noiseModel() const { - Matrix9 cov; - cov << ttCov_, tpCov_, tvCov_, // - tpCov_.transpose(), ppCov_, pvCov_, // - tvCov_.transpose(), pvCov_.transpose(), vvCov_; // Correct for application of retract, by calculating the retract derivative H // We have inv(Rp'Rp) = H inv(Rz'Rz) H' => Rp = Rz * inv(H) // From NavState::retract: Matrix3 D_R_theta; - Vector3 theta = values.at(T(k_)); - const Matrix3 iRj = Rot3::Expmap(theta, D_R_theta).matrix(); + const Matrix3 iRj = Rot3::Expmap(theta(), D_R_theta).matrix(); Matrix9 H; H << D_R_theta, Z_3x3, Z_3x3, // Z_3x3, iRj.transpose(), Z_3x3, // Z_3x3, Z_3x3, iRj.transpose(); - Matrix9 HcH = H * cov * H.transpose(); - return noiseModel::Gaussian::Covariance(cov, false); + Matrix9 HcH = H * cov_ * H.transpose(); + return noiseModel::Gaussian::Covariance(cov_, false); // // Get covariance on zeta from Bayes Net, which stores P(zeta|bias) as a // // quadratic |R*zeta + S*bias -d|^2 diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index bd04f81cd..f53c80629 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -22,11 +22,6 @@ namespace gtsam { -class NonlinearFactorGraph; -template -class Expression; -typedef Expression Vector3_; - // Convert covariance to diagonal noise model, if possible, otherwise throw static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { bool smart = true; @@ -37,8 +32,6 @@ static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { return diagonal; } -class GaussianBayesNet; - /** * Class that integrates state estimate on the manifold. * We integrate zeta = [theta, position, velocity] @@ -48,7 +41,6 @@ class AggregateImuReadings { public: typedef imuBias::ConstantBias Bias; typedef ImuFactor::PreintegratedMeasurements::Params Params; - typedef boost::shared_ptr SharedBayesNet; private: const boost::shared_ptr p_; @@ -58,22 +50,17 @@ class AggregateImuReadings { size_t k_; ///< index/count of measurements integrated double deltaTij_; ///< sum of time increments - /// posterior on current iterate, stored as a Bayes net - /// P(delta_zeta|estimatedBias_delta): - SharedBayesNet posterior_k_; - /// Current estimate of zeta_k - Values values; - - /// Covariances - Matrix3 ttCov_, tpCov_, tvCov_, // - ppCov_, pvCov_, // - vvCov_; + Vector9 zeta_; + Matrix9 cov_; public: AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias = Bias()); + const Vector9& zeta() const { return zeta_; } + const Matrix9& zetaCov() const { return cov_; } + // We obtain discrete-time noise models by dividing the continuous-time // covariances by dt: @@ -89,8 +76,6 @@ class AggregateImuReadings { void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt); - Vector9 zeta() const; - /// Predict state at time j NavState predict(const NavState& state_i, const Bias& estimatedBias_i, OptionalJacobian<9, 9> H1 = boost::none, @@ -102,25 +87,13 @@ class AggregateImuReadings { /// @deprecated: Explicitly calculate covariance Matrix9 preintMeasCov() const; - private: - Matrix9 zetaCov() const; - - void updateEstimate(const Vector3& measuredAcc, const Vector3& measuredOmega, - double dt); - - NonlinearFactorGraph createGraph(const Vector3_& theta_, - const Vector3_& pose_, const Vector3_& vel_, - const Vector3& measuredAcc, - const Vector3& measuredOmega, - double dt) const; - - // initialize posterior with first (corrected) IMU measurement - SharedBayesNet initPosterior(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt); - - // integrate - SharedBayesNet updatePosterior(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt); + Vector3 theta() const { return zeta_.head<3>(); } + static Vector9 UpdateEstimate(const Vector9& zeta, + const Vector3& correctedAcc, + const Vector3& correctedOmega, double dt, + OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> Ba, + OptionalJacobian<9, 3> Bw); }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 91b01d320..25b3efd7c 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -27,6 +27,18 @@ using namespace gtsam; static const double kDt = 0.1; +static const double kGyroSigma = 0.02; +static const double kAccelSigma = 0.1; + +// Create default parameters with Z-down and above noise parameters +static boost::shared_ptr defaultParams() { + auto p = PreintegratedImuMeasurements::Params::MakeSharedD(10); + p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; + p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; + p->integrationCovariance = 0.0000001 * I_3x3; + return p; +} + /* ************************************************************************* */ TEST(AggregateImuReadings, CorrectWithExpmapDerivative1) { Matrix aH1, aH2; @@ -157,6 +169,23 @@ TEST(AggregateImuReadings, PredictAcceleration2) { EXPECT(assert_equal(numericalDerivative33(f, vel, vel_plus, theta), aH3)); } +/* ************************************************************************* */ +TEST(AggregateImuReadings, UpdateEstimate) { + AggregateImuReadings pim(defaultParams()); + Matrix9 aH1; + Matrix93 aH2, aH3; + boost::function f = + boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, + boost::none, boost::none, boost::none); + Vector9 zeta; + zeta << 0.1, 0.2, 0.3, 0.1, 0.2, 0.3, 0.1, 0.2, 0.3; + const Vector3 acc(0.1, 0.2, 0.3), omega(0.1, 0.2, 0.3); + pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); + EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1)); + EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2)); + EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3)); +} + /* ************************************************************************* */ int main() { TestResult tr; From fb94e621e090f3228a29c0f60a30f5bc824ae407 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jan 2016 09:58:36 -0800 Subject: [PATCH 819/964] General noise models --- gtsam/navigation/AggregateImuReadings.cpp | 59 +++++++++++-------- gtsam/navigation/AggregateImuReadings.h | 24 ++------ gtsam/navigation/ScenarioRunner.cpp | 2 +- gtsam/navigation/ScenarioRunner.h | 10 ++++ .../tests/testAggregateImuReadings.cpp | 10 ++-- gtsam/navigation/tests/testScenarioRunner.cpp | 6 -- 6 files changed, 53 insertions(+), 58 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index ef0419bed..bd7297b38 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -25,8 +25,10 @@ namespace gtsam { AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias) : p_(p), - accelerometerNoiseModel_(Diagonal(p->accelerometerCovariance)), - gyroscopeNoiseModel_(Diagonal(p->gyroscopeCovariance)), + accelerometerNoiseModel_( + noiseModel::Gaussian::Covariance(p->accelerometerCovariance, true)), + gyroscopeNoiseModel_( + noiseModel::Gaussian::Covariance(p->gyroscopeCovariance, true)), estimatedBias_(estimatedBias), k_(0), deltaTij_(0.0) { @@ -34,28 +36,19 @@ AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, cov_.setZero(); } -SharedDiagonal AggregateImuReadings::discreteAccelerometerNoiseModel( - double dt) const { - return noiseModel::Diagonal::Sigmas(accelerometerNoiseModel_->sigmas() / - std::sqrt(dt)); -} - -SharedDiagonal AggregateImuReadings::discreteGyroscopeNoiseModel( - double dt) const { - return noiseModel::Diagonal::Sigmas(gyroscopeNoiseModel_->sigmas() / - std::sqrt(dt)); -} - // Tangent space sugar. namespace sugar { -typedef const Vector9 constV9; + static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } + +typedef const Vector9 constV9; static Eigen::Block dR(constV9& v) { return v.segment<3>(0); } static Eigen::Block dP(constV9& v) { return v.segment<3>(3); } static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } -} + +} // namespace sugar Vector9 AggregateImuReadings::UpdateEstimate( const Vector9& zeta, const Vector3& correctedAcc, @@ -63,24 +56,38 @@ Vector9 AggregateImuReadings::UpdateEstimate( OptionalJacobian<9, 3> Ba, OptionalJacobian<9, 3> Bw) { using namespace sugar; + const Vector3 a_dt = correctedAcc * dt; + const Vector3 w_dt = correctedOmega * dt; + // Calculate exact mean propagation - Matrix3 dexp; - const Rot3 R = Rot3::Expmap(dR(zeta), dexp); - const Matrix3 F = dexp.inverse() * dt, H = R.matrix() * dt; + Matrix3 D_R_theta; + const Rot3 R = Rot3::Expmap(dR(zeta), D_R_theta).matrix(); + const Matrix3 invH = D_R_theta.inverse(); + + Matrix3 D_Radt_R, D_Radt_adt; + const Vector3 Radt = R.rotate(a_dt, A ? &D_Radt_R : 0, A ? &D_Radt_adt : 0); Vector9 zeta_plus; - dR(zeta_plus) = dR(zeta) + F * correctedOmega; - dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + H * (0.5 * dt) * correctedAcc; - dV(zeta_plus) = dV(zeta) + H * correctedAcc; + const double dt2 = 0.5 * dt; + dR(zeta_plus) = dR(zeta) + invH * w_dt; + dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + Radt * dt2; + dV(zeta_plus) = dV(zeta) + Radt; if (A) { - const Matrix3 Avt = skewSymmetric(-correctedAcc * dt); + // Exact derivative of R*a*dt with respect to theta: + const Matrix3 D_Radt_theta = D_Radt_R * D_R_theta; + + // First order (small angle) approximation of derivative of invH*w*dt: + const Matrix3 D_invHwdt_theta = skewSymmetric(-0.5 * w_dt); + A->setIdentity(); - A->block<3, 3>(6, 0) = Avt; + A->block<3, 3>(0, 0) += D_invHwdt_theta; + A->block<3, 3>(3, 0) = D_Radt_theta * dt2; A->block<3, 3>(3, 6) = I_3x3 * dt; + A->block<3, 3>(6, 0) = D_Radt_theta; } - if (Ba) *Ba << Z_3x3, H*(dt * 0.5), H; - if (Bw) *Bw << F, Z_3x3, Z_3x3; + if (Ba) *Ba << Z_3x3, D_Radt_adt* dt* dt2, D_Radt_adt* dt; + if (Bw) *Bw << invH* dt, Z_3x3, Z_3x3; return zeta_plus; } diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index f53c80629..219dfeb49 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -22,16 +22,6 @@ namespace gtsam { -// Convert covariance to diagonal noise model, if possible, otherwise throw -static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { - bool smart = true; - auto model = noiseModel::Gaussian::Covariance(covariance, smart); - auto diagonal = boost::dynamic_pointer_cast(model); - if (!diagonal) - throw std::invalid_argument("ScenarioRunner::Diagonal: not a diagonal"); - return diagonal; -} - /** * Class that integrates state estimate on the manifold. * We integrate zeta = [theta, position, velocity] @@ -44,7 +34,7 @@ class AggregateImuReadings { private: const boost::shared_ptr p_; - const SharedDiagonal accelerometerNoiseModel_, gyroscopeNoiseModel_; + const SharedGaussian accelerometerNoiseModel_, gyroscopeNoiseModel_; const Bias estimatedBias_; size_t k_; ///< index/count of measurements integrated @@ -61,12 +51,6 @@ class AggregateImuReadings { const Vector9& zeta() const { return zeta_; } const Matrix9& zetaCov() const { return cov_; } - // We obtain discrete-time noise models by dividing the continuous-time - // covariances by dt: - - SharedDiagonal discreteAccelerometerNoiseModel(double dt) const; - SharedDiagonal discreteGyroscopeNoiseModel(double dt) const; - /** * Add a single IMU measurement to the preintegration. * @param measuredAcc Measured acceleration (in body frame) @@ -91,9 +75,9 @@ class AggregateImuReadings { static Vector9 UpdateEstimate(const Vector9& zeta, const Vector3& correctedAcc, const Vector3& correctedOmega, double dt, - OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> Ba, - OptionalJacobian<9, 3> Bw); + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> Ba = boost::none, + OptionalJacobian<9, 3> Bw = boost::none); }; } // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index e71e13a23..6ff263510 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -65,7 +65,7 @@ Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N, Vector9 sum = Vector9::Zero(); for (size_t i = 0; i < N; i++) { auto pim = integrate(T, estimatedBias, true); -#if 1 +#if 0 NavState sampled = predict(pim); Vector9 xi = sampled.localCoordinates(prediction); #else diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 00575d414..c94b6a00b 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -22,6 +22,16 @@ namespace gtsam { +// Convert covariance to diagonal noise model, if possible, otherwise throw +static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { + bool smart = true; + auto model = noiseModel::Gaussian::Covariance(covariance, smart); + auto diagonal = boost::dynamic_pointer_cast(model); + if (!diagonal) + throw std::invalid_argument("ScenarioRunner::Diagonal: not a diagonal"); + return diagonal; +} + /* * Simple class to test navigation scenarios. * Takes a trajectory scenario as input, and can generate IMU measurements diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 25b3efd7c..9454a929d 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -178,12 +178,12 @@ TEST(AggregateImuReadings, UpdateEstimate) { boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, boost::none, boost::none, boost::none); Vector9 zeta; - zeta << 0.1, 0.2, 0.3, 0.1, 0.2, 0.3, 0.1, 0.2, 0.3; - const Vector3 acc(0.1, 0.2, 0.3), omega(0.1, 0.2, 0.3); + zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; + const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); - EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1)); - EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2)); - EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3)); + EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); + EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-5)); + EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-5)); } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index c84c7f2f5..591a7d3d2 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -56,12 +56,6 @@ TEST(ScenarioRunner, Spin) { auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); - // Check noise model agreement - EXPECT(assert_equal(p->accelerometerCovariance / kDt, - pim.discreteAccelerometerNoiseModel(kDt)->covariance())); - EXPECT(assert_equal(p->gyroscopeCovariance / kDt, - pim.discreteGyroscopeNoiseModel(kDt)->covariance())); - #if 0 // Check sampled noise is kosher Matrix6 expected; From c2a046cdb066452529ff3e7121aa0170932fc281 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jan 2016 10:53:50 -0800 Subject: [PATCH 820/964] Exact dexp derivative flag --- gtsam/navigation/AggregateImuReadings.cpp | 73 ++++++++----------- gtsam/navigation/AggregateImuReadings.h | 6 +- gtsam/navigation/ScenarioRunner.cpp | 2 +- .../tests/testAggregateImuReadings.cpp | 24 +++++- 4 files changed, 59 insertions(+), 46 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index bd7297b38..07b8f8ce8 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -16,6 +16,7 @@ */ #include +#include #include using namespace std; @@ -52,8 +53,9 @@ static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } Vector9 AggregateImuReadings::UpdateEstimate( const Vector9& zeta, const Vector3& correctedAcc, - const Vector3& correctedOmega, double dt, OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> Ba, OptionalJacobian<9, 3> Bw) { + const Vector3& correctedOmega, double dt, bool useExactDexpDerivative, + OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> Ba, + OptionalJacobian<9, 3> Bw) { using namespace sugar; const Vector3 a_dt = correctedAcc * dt; @@ -61,25 +63,36 @@ Vector9 AggregateImuReadings::UpdateEstimate( // Calculate exact mean propagation Matrix3 D_R_theta; - const Rot3 R = Rot3::Expmap(dR(zeta), D_R_theta).matrix(); - const Matrix3 invH = D_R_theta.inverse(); + const auto theta = dR(zeta); + const Rot3 R = Rot3::Expmap(theta, D_R_theta).matrix(); + + Matrix3 D_invHwdt_theta, D_invHwdt_wdt; + Vector3 invHwdt; + if (useExactDexpDerivative) { + invHwdt = correctWithExpmapDerivative( + -theta, w_dt, A ? &D_invHwdt_theta : 0, A ? &D_invHwdt_wdt : 0); + if (A) D_invHwdt_theta *= -1; + } else { + const Matrix3 invH = D_R_theta.inverse(); + invHwdt = invH * w_dt; + // First order (small angle) approximation of derivative of invH*w*dt: + if (A) D_invHwdt_theta = skewSymmetric(-0.5 * w_dt); + if (A) D_invHwdt_wdt = invH; + } Matrix3 D_Radt_R, D_Radt_adt; const Vector3 Radt = R.rotate(a_dt, A ? &D_Radt_R : 0, A ? &D_Radt_adt : 0); Vector9 zeta_plus; const double dt2 = 0.5 * dt; - dR(zeta_plus) = dR(zeta) + invH * w_dt; - dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + Radt * dt2; - dV(zeta_plus) = dV(zeta) + Radt; + dR(zeta_plus) = dR(zeta) + invHwdt; // theta + dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + Radt * dt2; // position + dV(zeta_plus) = dV(zeta) + Radt; // velocity if (A) { // Exact derivative of R*a*dt with respect to theta: const Matrix3 D_Radt_theta = D_Radt_R * D_R_theta; - // First order (small angle) approximation of derivative of invH*w*dt: - const Matrix3 D_invHwdt_theta = skewSymmetric(-0.5 * w_dt); - A->setIdentity(); A->block<3, 3>(0, 0) += D_invHwdt_theta; A->block<3, 3>(3, 0) = D_Radt_theta * dt2; @@ -87,14 +100,15 @@ Vector9 AggregateImuReadings::UpdateEstimate( A->block<3, 3>(6, 0) = D_Radt_theta; } if (Ba) *Ba << Z_3x3, D_Radt_adt* dt* dt2, D_Radt_adt* dt; - if (Bw) *Bw << invH* dt, Z_3x3, Z_3x3; + if (Bw) *Bw << D_invHwdt_wdt* dt, Z_3x3, Z_3x3; return zeta_plus; } void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, - double dt) { + double dt, + bool useExactDexpDerivative) { // Correct measurements const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); @@ -102,10 +116,11 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, // Do exact mean propagation Matrix9 A; Matrix93 Ba, Bw; - zeta_ = UpdateEstimate(zeta_, correctedAcc, correctedOmega, dt, A, Ba, Bw); + zeta_ = UpdateEstimate(zeta_, correctedAcc, correctedOmega, dt, + useExactDexpDerivative, A, Ba, Bw); // propagate uncertainty - // TODO(frank): specialize to diagonal and upper triangular views + // TODO(frank): use noiseModel power: covariance is very expensive ! const Matrix3 w = gyroscopeNoiseModel_->covariance() / dt; const Matrix3 a = accelerometerNoiseModel_->covariance() / dt; cov_ = A * cov_ * A.transpose() + Bw * w * Bw.transpose() + @@ -137,7 +152,6 @@ NavState AggregateImuReadings::predict(const NavState& state_i, SharedGaussian AggregateImuReadings::noiseModel() const { // Correct for application of retract, by calculating the retract derivative H - // We have inv(Rp'Rp) = H inv(Rz'Rz) H' => Rp = Rz * inv(H) // From NavState::retract: Matrix3 D_R_theta; const Matrix3 iRj = Rot3::Expmap(theta(), D_R_theta).matrix(); @@ -146,33 +160,10 @@ SharedGaussian AggregateImuReadings::noiseModel() const { Z_3x3, iRj.transpose(), Z_3x3, // Z_3x3, Z_3x3, iRj.transpose(); + // TODO(frank): theta() itself is noisy, so should we not correct for that? + Matrix9 HcH = H * cov_ * H.transpose(); - return noiseModel::Gaussian::Covariance(cov_, false); - - // // Get covariance on zeta from Bayes Net, which stores P(zeta|bias) as a - // // quadratic |R*zeta + S*bias -d|^2 - // Matrix RS; - // Vector d; - // boost::tie(RS, d) = posterior_k_->matrix(); - // // NOTEfrank): R'*R = inv(zetaCov) - // - // Matrix9 R = RS.block<9, 9>(0, 0); - // cout << "R'R" << endl; - // cout << (R.transpose() * R).inverse() << endl; - // cout << "cov" << endl; - // cout << cov << endl; - - // // Rp = R * H.inverse(), implemented blockwise in-place below - // // TODO(frank): yet another application of expmap and expmap derivative - // // NOTE(frank): makes sense: a change in the j-frame has to be converted - // // to a change in the i-frame, byy rotating with iRj. Similarly, a change - // // in rotation nRj is mapped to a change in theta via the inverse dexp. - // R.block<9, 3>(0, 0) *= D_R_theta.inverse(); - // R.block<9, 3>(0, 3) *= iRj; - // R.block<9, 3>(0, 6) *= iRj; - // - // // TODO(frank): think of a faster way - implement in noiseModel - // return noiseModel::Gaussian::SqrtInformation(R, false); + return noiseModel::Gaussian::Covariance(HcH, false); } Matrix9 AggregateImuReadings::preintMeasCov() const { diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 219dfeb49..094cc8396 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -56,9 +56,11 @@ class AggregateImuReadings { * @param measuredAcc Measured acceleration (in body frame) * @param measuredOmega Measured angular velocity (in body frame) * @param dt Time interval between this and the last IMU measurement + * TODO(frank): put useExactDexpDerivative in params */ void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt); + const Vector3& measuredOmega, double dt, + bool useExactDexpDerivative = false); /// Predict state at time j NavState predict(const NavState& state_i, const Bias& estimatedBias_i, @@ -72,9 +74,11 @@ class AggregateImuReadings { Matrix9 preintMeasCov() const; Vector3 theta() const { return zeta_.head<3>(); } + static Vector9 UpdateEstimate(const Vector9& zeta, const Vector3& correctedAcc, const Vector3& correctedOmega, double dt, + bool useExactDexpDerivative = false, OptionalJacobian<9, 9> A = boost::none, OptionalJacobian<9, 3> Ba = boost::none, OptionalJacobian<9, 3> Bw = boost::none); diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 6ff263510..e71e13a23 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -65,7 +65,7 @@ Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N, Vector9 sum = Vector9::Zero(); for (size_t i = 0; i < N; i++) { auto pim = integrate(T, estimatedBias, true); -#if 0 +#if 1 NavState sampled = predict(pim); Vector9 xi = sampled.localCoordinates(prediction); #else diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 9454a929d..972785c91 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -170,22 +170,40 @@ TEST(AggregateImuReadings, PredictAcceleration2) { } /* ************************************************************************* */ -TEST(AggregateImuReadings, UpdateEstimate) { +TEST(AggregateImuReadings, UpdateEstimate1) { AggregateImuReadings pim(defaultParams()); Matrix9 aH1; Matrix93 aH2, aH3; boost::function f = - boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, + boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, false, boost::none, boost::none, boost::none); Vector9 zeta; zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); - pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); + pim.UpdateEstimate(zeta, acc, omega, kDt, false, aH1, aH2, aH3); EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-5)); EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-5)); } +/* ************************************************************************* */ +TEST(AggregateImuReadings, UpdateEstimate2) { + // Using exact dexp derivatives is more expensive but much more accurate + AggregateImuReadings pim(defaultParams()); + Matrix9 aH1; + Matrix93 aH2, aH3; + boost::function f = + boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, true, + boost::none, boost::none, boost::none); + Vector9 zeta; + zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; + const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); + pim.UpdateEstimate(zeta, acc, omega, kDt, true, aH1, aH2, aH3); + EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-8)); + EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-8)); + EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 21a63d8d0ee24972f35ac258ed6b3093e2927de4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jan 2016 21:46:15 -0800 Subject: [PATCH 821/964] Using covariances again --- gtsam/navigation/AggregateImuReadings.cpp | 21 ++++++++------------- gtsam/navigation/AggregateImuReadings.h | 1 - 2 files changed, 8 insertions(+), 14 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 07b8f8ce8..fb8178598 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -25,14 +25,7 @@ namespace gtsam { AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias) - : p_(p), - accelerometerNoiseModel_( - noiseModel::Gaussian::Covariance(p->accelerometerCovariance, true)), - gyroscopeNoiseModel_( - noiseModel::Gaussian::Covariance(p->gyroscopeCovariance, true)), - estimatedBias_(estimatedBias), - k_(0), - deltaTij_(0.0) { + : p_(p), estimatedBias_(estimatedBias), k_(0), deltaTij_(0.0) { zeta_.setZero(); cov_.setZero(); } @@ -120,11 +113,13 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, useExactDexpDerivative, A, Ba, Bw); // propagate uncertainty - // TODO(frank): use noiseModel power: covariance is very expensive ! - const Matrix3 w = gyroscopeNoiseModel_->covariance() / dt; - const Matrix3 a = accelerometerNoiseModel_->covariance() / dt; - cov_ = A * cov_ * A.transpose() + Bw * w * Bw.transpose() + - Ba * a * Ba.transpose(); + // TODO(frank): use noiseModel routine so we can have arbitrary noise models. + const Matrix3& w = p_->gyroscopeCovariance; + const Matrix3& a = p_->accelerometerCovariance; + // TODO(frank): use Eigen-tricks for symmetric matrices + cov_ = A * cov_ * A.transpose(); + cov_ += Bw * (w / dt) * Bw.transpose(); + cov_ += Ba * (a / dt) * Ba.transpose(); // increment counter and time k_ += 1; diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 094cc8396..225fc5eb8 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -34,7 +34,6 @@ class AggregateImuReadings { private: const boost::shared_ptr p_; - const SharedGaussian accelerometerNoiseModel_, gyroscopeNoiseModel_; const Bias estimatedBias_; size_t k_; ///< index/count of measurements integrated From 6ab909a92cfbfd382dab872b55244fae2b3f39c3 Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Wed, 13 Jan 2016 12:22:58 -0500 Subject: [PATCH 822/964] fixed smart factors serialization, add unit tests] --- gtsam/geometry/triangulation.h | 9 +++++ gtsam/slam/SmartFactorBase.h | 3 ++ gtsam/slam/SmartProjectionFactor.h | 7 +++- gtsam/slam/SmartProjectionPoseFactor.h | 5 +++ gtsam/slam/tests/testSmartFactorBase.cpp | 37 +++++++++++++++++++ .../tests/testSmartProjectionCameraFactor.cpp | 21 +++++++++++ .../tests/testSmartProjectionPoseFactor.cpp | 22 +++++++++++ 7 files changed, 103 insertions(+), 1 deletion(-) diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index c3ab56200..bec901830 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -376,6 +376,15 @@ class TriangulationResult: public boost::optional { status_(s) { } public: + + /** + * Default constructor, only for serialization + */ + TriangulationResult() {} + + /** + * Constructor + */ TriangulationResult(const Point3& p) : status_(VALID) { reset(p); diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h index e903d9651..01a8fcf8d 100644 --- a/gtsam/slam/SmartFactorBase.h +++ b/gtsam/slam/SmartFactorBase.h @@ -93,6 +93,9 @@ public: /// We use the new CameraSte data structure to refer to a set of cameras typedef CameraSet Cameras; + /// Default Constructor, for serialization + SmartFactorBase() {} + /// Constructor SmartFactorBase(const SharedNoiseModel& sharedNoiseModel, boost::optional body_P_sensor = boost::none) : diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 13a4dd38f..09fe84caa 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -137,7 +137,7 @@ protected: /// @name Parameters /// @{ - const SmartProjectionParams params_; + SmartProjectionParams params_; /// @} /// @name Caching triangulation @@ -154,6 +154,11 @@ public: /// shorthand for a set of cameras typedef CameraSet Cameras; + /** + * Default constructor, only for serialization + */ + SmartProjectionFactor() {} + /** * Constructor * @param body_P_sensor pose of the camera in the body frame diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index c091ff79d..455e0de87 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -59,6 +59,11 @@ public: /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; + /** + * Default constructor, only for serialization + */ + SmartProjectionPoseFactor() {} + /** * Constructor * @param Isotropic measurement noise diff --git a/gtsam/slam/tests/testSmartFactorBase.cpp b/gtsam/slam/tests/testSmartFactorBase.cpp index bf5969d4d..96052bd0f 100644 --- a/gtsam/slam/tests/testSmartFactorBase.cpp +++ b/gtsam/slam/tests/testSmartFactorBase.cpp @@ -18,6 +18,7 @@ #include #include +#include #include using namespace std; @@ -29,9 +30,13 @@ static SharedNoiseModel unit3(noiseModel::Unit::Create(3)); /* ************************************************************************* */ #include #include + +namespace gtsam { + class PinholeFactor: public SmartFactorBase > { public: typedef SmartFactorBase > Base; + PinholeFactor() {} PinholeFactor(const SharedNoiseModel& sharedNoiseModel): Base(sharedNoiseModel) { } virtual double error(const Values& values) const { @@ -43,6 +48,11 @@ public: } }; +/// traits +template<> +struct traits : public Testable {}; +} + TEST(SmartFactorBase, Pinhole) { PinholeFactor f= PinholeFactor(unit2); f.add(Point2(), 1); @@ -52,9 +62,13 @@ TEST(SmartFactorBase, Pinhole) { /* ************************************************************************* */ #include + +namespace gtsam { + class StereoFactor: public SmartFactorBase { public: typedef SmartFactorBase Base; + StereoFactor() {} StereoFactor(const SharedNoiseModel& sharedNoiseModel): Base(sharedNoiseModel) { } virtual double error(const Values& values) const { @@ -66,6 +80,11 @@ public: } }; +/// traits +template<> +struct traits : public Testable {}; +} + TEST(SmartFactorBase, Stereo) { StereoFactor f(unit3); f.add(StereoPoint2(), 1); @@ -73,6 +92,24 @@ TEST(SmartFactorBase, Stereo) { EXPECT_LONGS_EQUAL(2 * 3, f.dim()); } +/* ************************************************************************* */ +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); + +TEST(SmartFactorBase, serialize) { + using namespace gtsam::serializationTestHelpers; + PinholeFactor factor(unit2); + + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index d4f60b085..54bbd6c22 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -22,6 +22,7 @@ #include "smartFactorScenarios.h" #include #include +#include #include #include #include @@ -843,6 +844,26 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) { EXPECT(assert_equal(yActual, yExpected, 1e-7)); } + +/* ************************************************************************* */ +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); + +TEST( SmartProjectionCameraFactor, serialize) { + using namespace vanilla; + using namespace gtsam::serializationTestHelpers; + SmartFactor factor(unit2); + + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 8796dfe65..0e2429840 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include #include @@ -1387,6 +1388,27 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { values.at(x3))); } +/* ************************************************************************* */ +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); +BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); + +TEST(SmartProjectionPoseFactor, serialize) { + using namespace vanillaPose; + using namespace gtsam::serializationTestHelpers; + SmartProjectionParams params; + params.setRankTolerance(rankTol); + SmartFactor factor(model, sharedK, boost::none, params); + + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); +} + /* ************************************************************************* */ int main() { TestResult tr; From c3edee1e2dd728bf83dd82ccd464b28e6f9507d1 Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Wed, 13 Jan 2016 21:33:41 -0500 Subject: [PATCH 823/964] fixed imu factor serialization, add unit test --- gtsam/navigation/ImuBias.h | 1 - gtsam/navigation/ImuFactor.h | 8 +++-- gtsam/navigation/PreintegratedRotation.h | 3 +- gtsam/navigation/PreintegrationBase.h | 21 ++++++----- gtsam/navigation/tests/testImuFactor.cpp | 46 ++++++++++++++++++++++++ 5 files changed, 66 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index 4acccb578..7664c7fd5 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -201,7 +201,6 @@ private: friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("imuBias::ConstantBias", *this); ar & BOOST_SERIALIZATION_NVP(biasAcc_); ar & BOOST_SERIALIZATION_NVP(biasGyro_); } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 855c14365..46306f8c7 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -128,8 +128,9 @@ private: friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); - ar & BOOST_SERIALIZATION_NVP(preintMeasCov_); + ar & bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), preintMeasCov_.size())); } }; @@ -167,7 +168,7 @@ public: #endif /** Default constructor - only use for serialization */ - ImuFactor(); + ImuFactor() {} /** * Constructor @@ -241,4 +242,7 @@ private: }; // class ImuFactor +/// traits +template<> struct traits : public Testable {}; + } /// namespace gtsam diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 002afea76..eb25b35e2 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -52,7 +52,8 @@ public: friend class boost::serialization::access; template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance); + namespace bs = ::boost::serialization; + ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size())); ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); ar & BOOST_SERIALIZATION_NVP(body_P_sensor); } diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 07225dd9a..c53a8c878 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -84,15 +84,17 @@ public: protected: /// Default constructor for serialization only: uninitialized! - Params(); + Params() {} /** 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(accelerometerCovariance); - ar & BOOST_SERIALIZATION_NVP(integrationCovariance); + 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(use2ndOrderCoriolis); ar & BOOST_SERIALIZATION_NVP(n_gravity); } @@ -246,15 +248,16 @@ private: friend class boost::serialization::access; 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_NVP(deltaXij_); ar & BOOST_SERIALIZATION_NVP(biasHat_); - 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_); + 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())); } }; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 92cb92e70..25a6e732c 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -1010,6 +1010,52 @@ TEST(ImuFactor, bodyPSensorWithBias) { EXPECT(assert_equal(biasExpected, biasActual, 1e-3)); } +/* ************************************************************************** */ +#include + +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "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; + + Vector3 n_gravity(0, 0, -9.81); + Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3()); + Matrix3 accCov = 1e-7 * I_3x3; + Matrix3 gyroCov = 1e-8 * I_3x3; + Matrix3 integrationCov = 1e-9 * I_3x3; + double deltaT = 0.005; + imuBias::ConstantBias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) + + ImuFactor::PreintegratedMeasurements pim = + ImuFactor::PreintegratedMeasurements(priorBias, accCov, gyroCov, + integrationCov, true); + + // measurements are needed for non-inf noise model, otherwise will throw err when deserialize + + // Sensor frame is z-down + // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame + Vector3 measuredOmega(0, 0.01, 0); + // Acc measurement is acceleration of sensor in the sensor frame, when stationary, + // table exerts an equal and opposite force w.r.t gravity + Vector3 measuredAcc(0, 0, -9.81); + + for (int j = 0; j < 200; ++j) + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, + body_P_sensor); + + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); + + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 236a69609c147805754878307583dc393de69233 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jan 2016 18:25:01 -0800 Subject: [PATCH 824/964] Coordinate compiler flags --- gtsam/navigation/AggregateImuReadings.h | 6 ++++-- gtsam/navigation/ScenarioRunner.cpp | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 225fc5eb8..23d970ccc 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -20,6 +20,8 @@ #include #include +#define LOCALCOORDINATES_ONLY + namespace gtsam { /** @@ -79,8 +81,8 @@ class AggregateImuReadings { const Vector3& correctedOmega, double dt, bool useExactDexpDerivative = false, OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> Ba = boost::none, - OptionalJacobian<9, 3> Bw = boost::none); + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none); }; } // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index e71e13a23..57f02f200 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -65,7 +65,7 @@ Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N, Vector9 sum = Vector9::Zero(); for (size_t i = 0; i < N; i++) { auto pim = integrate(T, estimatedBias, true); -#if 1 +#ifndef LOCALCOORDINATES_ONLY NavState sampled = predict(pim); Vector9 xi = sampled.localCoordinates(prediction); #else From c2af5400c4532601ccbbfdb7c27bf10c3af469d6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jan 2016 18:33:11 -0800 Subject: [PATCH 825/964] Simplified derivatives - complicated "accurate" path might be wrong --- gtsam/navigation/AggregateImuReadings.cpp | 34 +++++++++++-------- .../tests/testAggregateImuReadings.cpp | 12 +++++-- 2 files changed, 29 insertions(+), 17 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index fb8178598..c79cf24e8 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -44,47 +44,50 @@ static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } } // namespace sugar +// See extensive discussion in ImuFactor.lyx Vector9 AggregateImuReadings::UpdateEstimate( const Vector9& zeta, const Vector3& correctedAcc, const Vector3& correctedOmega, double dt, bool useExactDexpDerivative, - OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> Ba, - OptionalJacobian<9, 3> Bw) { + OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> B, + OptionalJacobian<9, 3> C) { using namespace sugar; const Vector3 a_dt = correctedAcc * dt; const Vector3 w_dt = correctedOmega * dt; // Calculate exact mean propagation - Matrix3 D_R_theta; + Matrix3 H; const auto theta = dR(zeta); - const Rot3 R = Rot3::Expmap(theta, D_R_theta).matrix(); + const Matrix3 R = Rot3::Expmap(theta, H).matrix(); + // NOTE(frank): I believe that D_invHwdt_wdt = H.inverse(), but tests fail :-( Matrix3 D_invHwdt_theta, D_invHwdt_wdt; Vector3 invHwdt; if (useExactDexpDerivative) { + // NOTE(frank): ExpmapDerivative(-theta) = H.transpose() not H.inverse() ! invHwdt = correctWithExpmapDerivative( -theta, w_dt, A ? &D_invHwdt_theta : 0, A ? &D_invHwdt_wdt : 0); if (A) D_invHwdt_theta *= -1; } else { - const Matrix3 invH = D_R_theta.inverse(); + const Matrix3 invH = H.inverse(); invHwdt = invH * w_dt; // First order (small angle) approximation of derivative of invH*w*dt: - if (A) D_invHwdt_theta = skewSymmetric(-0.5 * w_dt); - if (A) D_invHwdt_wdt = invH; + if (A) { + D_invHwdt_theta = skewSymmetric(-0.5 * w_dt); + D_invHwdt_wdt = invH; + } } - Matrix3 D_Radt_R, D_Radt_adt; - const Vector3 Radt = R.rotate(a_dt, A ? &D_Radt_R : 0, A ? &D_Radt_adt : 0); - Vector9 zeta_plus; const double dt2 = 0.5 * dt; + const Vector3 Radt = R * a_dt; dR(zeta_plus) = dR(zeta) + invHwdt; // theta dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + Radt * dt2; // position dV(zeta_plus) = dV(zeta) + Radt; // velocity if (A) { // Exact derivative of R*a*dt with respect to theta: - const Matrix3 D_Radt_theta = D_Radt_R * D_R_theta; + const Matrix3 D_Radt_theta = R * skewSymmetric(-a_dt) * H; A->setIdentity(); A->block<3, 3>(0, 0) += D_invHwdt_theta; @@ -92,8 +95,8 @@ Vector9 AggregateImuReadings::UpdateEstimate( A->block<3, 3>(3, 6) = I_3x3 * dt; A->block<3, 3>(6, 0) = D_Radt_theta; } - if (Ba) *Ba << Z_3x3, D_Radt_adt* dt* dt2, D_Radt_adt* dt; - if (Bw) *Bw << D_invHwdt_wdt* dt, Z_3x3, Z_3x3; + if (B) *B << Z_3x3, R* dt* dt2, R* dt; + if (C) *C << D_invHwdt_wdt* dt, Z_3x3, Z_3x3; return zeta_plus; } @@ -146,6 +149,7 @@ NavState AggregateImuReadings::predict(const NavState& state_i, } SharedGaussian AggregateImuReadings::noiseModel() const { +#ifndef LOCALCOORDINATES_ONLY // Correct for application of retract, by calculating the retract derivative H // From NavState::retract: Matrix3 D_R_theta; @@ -156,9 +160,11 @@ SharedGaussian AggregateImuReadings::noiseModel() const { Z_3x3, Z_3x3, iRj.transpose(); // TODO(frank): theta() itself is noisy, so should we not correct for that? - Matrix9 HcH = H * cov_ * H.transpose(); return noiseModel::Gaussian::Covariance(HcH, false); +#else + return noiseModel::Gaussian::Covariance(cov_, false); +#endif } Matrix9 AggregateImuReadings::preintMeasCov() const { diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 972785c91..388d0164b 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -47,12 +47,14 @@ TEST(AggregateImuReadings, CorrectWithExpmapDerivative1) { for (Vector3 omega : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { for (Vector3 theta : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - Vector3 expected = Rot3::ExpmapDerivative(omega) * theta; + Matrix3 H = Rot3::ExpmapDerivative(omega); + Vector3 expected = H * theta; EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta, aH1, aH2))); EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); + EXPECT(assert_equal(H, aH2)); } } } @@ -64,12 +66,14 @@ TEST(AggregateImuReadings, CorrectWithExpmapDerivative2) { correctWithExpmapDerivative, _1, _2, boost::none, boost::none); const Vector3 omega(0, 0, 0); for (Vector3 theta : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - Vector3 expected = Rot3::ExpmapDerivative(omega) * theta; + Matrix3 H = Rot3::ExpmapDerivative(omega); + Vector3 expected = H * theta; EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta, aH1, aH2))); EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); + EXPECT(assert_equal(H, aH2)); } } @@ -79,12 +83,14 @@ TEST(AggregateImuReadings, CorrectWithExpmapDerivative3) { boost::function f = boost::bind( correctWithExpmapDerivative, _1, _2, boost::none, boost::none); const Vector3 omega(0.1, 0.2, 0.3), theta(0.4, 0.3, 0.2); - Vector3 expected = Rot3::ExpmapDerivative(omega) * theta; + Matrix3 H = Rot3::ExpmapDerivative(omega); + Vector3 expected = H * theta; EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta, aH1, aH2))); EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); + EXPECT(assert_equal(H, aH2)); } /* ************************************************************************* */ From 3975d0a6420dba73a4a7123f406c86a264acf934 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jan 2016 18:33:56 -0800 Subject: [PATCH 826/964] New tests --- gtsam/geometry/tests/testPoint3.cpp | 11 +++++++++++ gtsam/geometry/tests/testRot3.cpp | 26 +++++++++++++++++--------- 2 files changed, 28 insertions(+), 9 deletions(-) diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp index 6811ed122..246d23c9a 100644 --- a/gtsam/geometry/tests/testPoint3.cpp +++ b/gtsam/geometry/tests/testPoint3.cpp @@ -133,6 +133,17 @@ TEST (Point3, distance) { EXPECT(assert_equal(numH2, H2, 1e-8)); } +/* ************************************************************************* */ +TEST(Point3, cross) { + Matrix aH1, aH2; + boost::function f = + boost::bind(&Point3::cross, _1, _2, boost::none, boost::none); + const Point3 omega(0, 1, 0), theta(4, 6, 8); + omega.cross(theta, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index eb6573c30..59b365b2a 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -270,19 +270,27 @@ TEST( Rot3, ExpmapDerivative) { /* ************************************************************************* */ TEST( Rot3, ExpmapDerivative2) { - const Vector3 thetahat(0.1, 0, 0.1); + const Vector3 theta(0.1, 0, 0.1); const Matrix Jexpected = numericalDerivative11( - boost::bind(&Rot3::Expmap, _1, boost::none), thetahat); + boost::bind(&Rot3::Expmap, _1, boost::none), theta); - const Matrix Jactual = Rot3::ExpmapDerivative(thetahat); - CHECK(assert_equal(Jexpected, Jactual)); - - const Matrix Jactual2 = Rot3::ExpmapDerivative(thetahat); - CHECK(assert_equal(Jexpected, Jactual2)); + CHECK(assert_equal(Jexpected, Rot3::ExpmapDerivative(theta))); + CHECK(assert_equal(Matrix3(Jexpected.transpose()), Rot3::ExpmapDerivative(-theta))); } /* ************************************************************************* */ -TEST(Rot3, ExpmapDerivative3) { +TEST( Rot3, ExpmapDerivative3) +{ + const Vector3 theta(10, 20, 30); + const Matrix Jexpected = numericalDerivative11( + boost::bind(&Rot3::Expmap, _1, boost::none), theta); + + CHECK(assert_equal(Jexpected, Rot3::ExpmapDerivative(theta))); + CHECK(assert_equal(Matrix3(Jexpected.transpose()), Rot3::ExpmapDerivative(-theta))); +} + +/* ************************************************************************* */ +TEST(Rot3, ExpmapDerivative4) { // Iserles05an (Lie-group Methods) says: // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) @@ -309,7 +317,7 @@ TEST(Rot3, ExpmapDerivative3) { } /* ************************************************************************* */ -TEST(Rot3, ExpmapDerivative4) { +TEST(Rot3, ExpmapDerivative5) { auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; From 7c66ea132355584627ff3a73fef1a9be8ff70a7b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jan 2016 18:34:16 -0800 Subject: [PATCH 827/964] Synchronized write-up with code in manifold branch --- doc/ImuFactor.lyx | 244 ++++++++++++++++++++++------------------------ 1 file changed, 116 insertions(+), 128 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index 23b64b1aa..7e5ceac33 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -98,7 +98,6 @@ Navigation States \begin_layout Standard Let us assume a setup where frames with image and/or laser measurements are processed at some fairly low rate, e.g., 10 Hz. - \end_layout \begin_layout Standard @@ -191,7 +190,7 @@ tangent vector , and for the NavState manifold this will be a triplet \begin_inset Formula \[ -\left[W(t,X),V(t,X),A(t,X)\right]\in\sothree\times\Rthree\times\Rthree +\left[\dot{R}(t,X),\dot{P}(t,X),\dot{V}(t,X)\right]\in\sothree\times\Rthree\times\Rthree \] \end_inset @@ -264,30 +263,42 @@ Valid vector fields on a NavState manifold are special, in that the attitude : \begin_inset Formula \begin{equation} -\dot{X}(t)=\left[W(X,t),V(t),A(X,t)\right]\label{eq:validField} +\dot{X}(t)=\left[\dot{R}(X,t),V(t),\dot{V}(X,t)\right]\label{eq:validField} \end{equation} \end_inset -If we know +Suppose we are given the +\series bold +body angular velocity +\series default + \begin_inset Formula $\omega^{b}(t)$ \end_inset and non-gravity +\series bold +acceleration +\series default + \begin_inset Formula $a^{b}(t)$ \end_inset - in the body frame, we know (from Murray84book) that the body angular velocity - an be written as + in the body frame. + We know (from Murray84book) that the derivative of +\begin_inset Formula $R$ +\end_inset + + can be written as \begin_inset Formula \[ -\Skew{\omega^{b}(t)}=R(t)^{T}W(X,t) +\dot{R}(X,t)=R(t)\Skew{\omega^{b}(t)} \] \end_inset where -\begin_inset Formula $\Skew{\omega^{b}(t)}\in so(3)$ +\begin_inset Formula $\Skew{\theta}\in so(3)$ \end_inset is the skew-symmetric matrix corresponding to @@ -297,7 +308,7 @@ where , and hence the resulting exact vector field is \begin_inset Formula \begin{equation} -\dot{X}(t)=\left[W(X,t),V(t),A(X,t)\right]=\left[R(t)\Skew{\omega^{b}(t)},V(t),g+R(t)a^{b}(t)\right]\label{eq:bodyField} +\dot{X}(t)=\left[\dot{R}(X,t),V(t),\dot{V}(X,t)\right]=\left[R(t)\Skew{\omega^{b}(t)},V(t),g+R(t)a^{b}(t)\right]\label{eq:bodyField} \end{equation} \end_inset @@ -613,7 +624,11 @@ R(t)=\Phi_{R_{0}}(\theta(t)) \end_inset -We can create a trajectory +To find an expression for +\begin_inset Formula $\dot{\theta}(t)$ +\end_inset + +, create a trajectory \begin_inset Formula $\gamma(\delta)$ \end_inset @@ -625,7 +640,15 @@ We can create a trajectory \begin_inset Formula $\delta=0$ \end_inset - +, and moves +\begin_inset Formula $\theta(t)$ +\end_inset + + along the direction +\begin_inset Formula $\dot{\theta}(t)$ +\end_inset + +: \begin_inset Formula \[ \gamma(\delta)=R(t+\delta)=\Phi_{R_{0}}\left(\theta(t)+\dot{\theta}(t)\delta\right)\approx\Phi_{R(t)}\left(H(\theta)\dot{\theta}(t)\delta\right) @@ -633,7 +656,7 @@ We can create a trajectory \end_inset -and taking the derivative for +Taking the derivative for \begin_inset Formula $\delta=0$ \end_inset @@ -1073,7 +1096,7 @@ Predict the NavState from \begin_inset Formula \[ -X_{j}=\mathcal{R}_{X_{j}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{i}+V_{i}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{i}\, p_{v}(t_{ij}),V_{i}+gt_{ij}+R_{i}\, v_{a}(t_{ij})\right\} +X_{j}=\mathcal{R}_{X_{i}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{i}+V_{i}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{i}\, p_{v}(t_{ij}),V_{i}+gt_{ij}+R_{i}\, v_{a}(t_{ij})\right\} \] \end_inset @@ -1090,12 +1113,12 @@ Note that the predicted NavState \begin_inset Formula $X_{i}$ \end_inset -, but the inrgrated quantities +, but the integrated quantities \begin_inset Formula $\theta(t)$ \end_inset , -\begin_inset Formula $p_{i}(t)$ +\begin_inset Formula $p_{v}(t)$ \end_inset , and @@ -1113,9 +1136,9 @@ A Simple Euler Scheme To solve the differential equation we can use a simple Euler scheme: \begin_inset Formula \begin{eqnarray} -\theta_{k+1}=\theta_{k}+\dot{\theta}(t_{k})\Delta_{t} & = & \theta_{k}+H(\theta_{k})^{-1}\,\omega_{k}^{b}\Delta_{t}\label{eq:euler_theta}\\ -p_{k+1}=p_{k}+\dot{p}_{v}(t_{k})\Delta_{t} & = & p_{k}+v_{k}\Delta_{t}\label{eq:euler_p}\\ -v_{k+1}=v_{k}+\dot{v}_{a}(t_{k})\Delta_{t} & = & v_{k}+\exp\left(\Skew{\theta_{k}}\right)a_{k}^{b}\Delta_{t}\label{eq:euler_v} +\theta_{k+1}=\theta_{k}+\dot{\theta}(t_{k})\Delta_{t} & = & \theta_{k}+H(\theta_{k})^{-1}\,\omega_{k}^{b}\Delta_{t}\label{eq:euler_theta-1}\\ +p_{k+1}=p_{k}+\dot{p}_{v}(t_{k})\Delta_{t} & = & p_{k}+v_{k}\Delta_{t}\label{eq:euler_p-1}\\ +v_{k+1}=v_{k}+\dot{v}_{a}(t_{k})\Delta_{t} & = & v_{k}+\exp\left(\Skew{\theta_{k}}\right)a_{k}^{b}\Delta_{t}\label{eq:euler_v-1} \end{eqnarray} \end_inset @@ -1132,6 +1155,26 @@ where \begin_inset Formula $v_{k}\define v_{a}(t_{k})$ \end_inset +. + However, the position propagation can be done more accurately, by using + exact integration of the zero-order hold acceleration +\begin_inset Formula $a_{k}^{b}$ +\end_inset + +: +\begin_inset Formula +\begin{eqnarray} +\theta_{k+1} & = & \theta_{k}+H(\theta_{k})^{-1}\,\omega_{k}^{b}\Delta_{t}\label{eq:euler_theta}\\ +p_{k+1} & = & p_{k}+v_{k}\Delta_{t}+R_{k}a_{k}^{b}\frac{\Delta_{t}^{2}}{2}\label{eq:euler_p}\\ +v_{k+1} & = & v_{k}+R_{k}a_{k}^{b}\Delta_{t}\label{eq:euler_v} +\end{eqnarray} + +\end_inset + +where we defined the rotation matrix +\begin_inset Formula $R_{k}=\exp\left(\Skew{\theta_{k}}\right)$ +\end_inset + . \end_layout @@ -1196,7 +1239,7 @@ Then the noise on propagates as \begin_inset Formula \begin{equation} -\Sigma_{k+1}=A_{k}\Sigma_{k}A_{k}^{T}+B_{k}\Sigma_{\eta}^{gd}B_{k}+C_{k}\Sigma_{\eta}^{ad}C_{k}\label{eq:prop} +\Sigma_{k+1}=A_{k}\Sigma_{k}A_{k}^{T}+B_{k}\Sigma_{\eta}^{ad}B_{k}+C_{k}\Sigma_{\eta}^{gd}C_{k}\label{eq:prop} \end{equation} \end_inset @@ -1230,65 +1273,84 @@ where \end_inset partial derivatives with respect to the measured quantities -\begin_inset Formula $\omega^{b}$ -\end_inset - - and \begin_inset Formula $a^{b}$ +\end_inset + + and +\begin_inset Formula $\omega^{b}$ \end_inset . - Noting that +\end_layout + +\begin_layout Standard \begin_inset Formula \[ -H(\theta)=\sum_{k=0}^{\infty}\frac{(-1)^{k}}{(k+1)!}\Skew{\theta}^{k}\approx I-\frac{1}{2}\Skew{\theta} +\deriv{\theta_{k+1}}{\theta_{k}}=I_{3x3}+\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\Delta_{t} \] \end_inset -for small -\begin_inset Formula $\theta$ +It can be shown that for small +\begin_inset Formula $\theta_{k}$ \end_inset -, and + we have \begin_inset Formula \[ -\deriv{\Skew{\theta}\omega}{\theta}=\deriv{\left(\theta\times\omega\right)}{\theta}=-\deriv{\left(\omega\times\theta\right)}{\theta}=-\deriv{\Skew{\omega}\theta}{\theta}=-\Skew{\omega} +\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\approx-\frac{1}{2}\Skew{\omega_{k}^{b}}\mbox{ and hence }\deriv{\theta_{k+1}}{\theta_{k}}=I_{3x3}-\frac{\Delta t}{2}\Skew{\omega_{k}^{b}} \] \end_inset -we have +For the derivatives of +\begin_inset Formula $p_{k+1}$ +\end_inset + + and +\begin_inset Formula $v_{k+1}$ +\end_inset + + we need the derivative \begin_inset Formula \[ -\deriv{H(\theta)\omega}{\theta}\approx\frac{1}{2}\Skew{\omega} +\deriv{R_{k}a_{k}^{b}}{\theta_{k}}=-R_{k}\Skew{a_{k}^{b}}\deriv{R_{k}}{\theta_{k}}=-R_{k}\Skew{a_{k}^{b}}H(\theta_{k}) \] \end_inset -Similarly, +where we used \begin_inset Formula \[ -\exp\left(\Skew{\theta}\right)=\sum_{k=0}^{\infty}\frac{1}{k!}\Skew{\theta}^{k}\approx I+\Skew{\theta} +\deriv{\left(Ra\right)}R\approx-R\Skew a \] \end_inset -and hence -\begin_inset Formula -\[ -\deriv{\exp\left(\Skew{\theta}\right)a}{\theta}\approx-\Skew a -\] - +and the fact that the dependence of the rotation +\begin_inset Formula $R_{k}$ \end_inset -so we finally obtain + on +\begin_inset Formula $\theta_{k}$ +\end_inset + + is the already computed +\begin_inset Formula $H(\theta_{k})$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +Putting all this together, we finally obtain \begin_inset Formula \[ A_{k}\approx\left[\begin{array}{ccc} -I_{3\times3}+\frac{1}{2}\Skew{\omega_{k}^{b}}\Delta_{t}\\ - & I_{3\times3} & I_{3\times3}\Delta_{t}\\ --\Skew{a_{k}^{b}}\Delta_{t} & & I_{3\times3} +I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}}\\ +-R_{k}\Skew{a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t}\\ +-R_{k}\Skew{a_{k}^{b}}H(\theta_{k})\Delta_{t} & & I_{3\times3} \end{array}\right] \] @@ -1298,101 +1360,27 @@ The other partial derivatives are simply \begin_inset Formula \[ B_{k}=\left[\begin{array}{c} -H(\theta_{k})^{-1}\Delta^{t}\\ +0_{3\times3}\\ +R_{k}\frac{\Delta_{t}}{2}^{2}\\ +R_{k}\Delta_{t} +\end{array}\right],\,\,\,\, C_{k}=\left[\begin{array}{c} +H(\theta_{k})^{-1}\Delta_{t}\\ 0_{3\times3}\\ 0_{3\times3} -\end{array}\right],\,\,\,\, C_{k}=\left[\begin{array}{c} -0_{3\times3}\\ -0_{3\times3}\\ -\exp\left(\Skew{\theta_{k}}\right)\Delta_{t} \end{array}\right] \] \end_inset -Substituting these expressions into Eq. - -\begin_inset CommandInset ref -LatexCommand ref -reference "eq:prop" +\end_layout + +\begin_layout Standard +A more accurate partial derivative of +\begin_inset Formula $H(\theta_{k})^{-1}$ \end_inset - and dropping terms involving -\begin_inset Formula $\Delta_{t}^{2}$ -\end_inset - -, we obtain -\family roman -\series medium -\shape up -\size normal -\emph off -\bar no -\strikeout off -\uuline off -\uwave off -\noun off -\color none - -\begin_inset Formula -\[ -\Sigma_{k+1}=\Sigma_{k}+\left[\begin{array}{ccc} -\frac{1}{2}\Skew{\omega_{k}^{b}}\Sigma_{k}^{\theta\theta}-\Sigma_{k}^{\theta\theta}\frac{1}{2}\Skew{\omega_{k}^{b}} & \Sigma_{k}^{\theta v}+\frac{1}{2}\Skew{\omega_{k}^{b}}\Sigma_{k}^{\theta p} & \Sigma_{k}^{\theta\theta}\Skew{a_{k}^{b}}+\frac{1}{2}\Skew{\omega_{k}^{b}}\Sigma_{k}^{\theta v}\\ -. & \Sigma_{k}^{pv}+\Sigma_{k}^{vp} & \Sigma_{k}^{vv}+\Sigma_{k}^{p\theta}\Skew{a_{k}^{b}}\\ -. & . & \Sigma_{k}^{v\theta}\Skew{a_{k}^{b}}-\Skew{a_{k}^{b}}\Sigma_{k}^{\theta v} -\end{array}\right]\Delta^{t}+\Sigma_{k}^{\eta} -\] - -\end_inset - -where we only show the upper-triangular part (the matrix is symmetric) and - where -\begin_inset Formula -\[ -\Sigma_{k}^{\eta}=B_{k}\Sigma_{\eta}^{gd}B_{k}+C_{k}\Sigma_{\eta}^{ad}C_{k}=\left[\begin{array}{ccc} -\sigma^{g}I_{3\times3}\\ -\\ - & & \sigma^{a}I_{3\times3} -\end{array}\right]\Delta_{t} -\] - -\end_inset - -The equality in the last line holds in the case of isotropic Gaussian measuremen -t noise, in which case -\begin_inset Formula $\Sigma_{\eta}^{gd}$ -\end_inset - -= -\begin_inset Formula $\sigma^{g}I_{3\times3}/\Delta_{t}$ -\end_inset - - and -\begin_inset Formula $\Sigma_{\eta}^{ga}$ -\end_inset - -= -\begin_inset Formula $\sigma^{a}I_{3\times3}/\Delta_{t}$ -\end_inset - -, and used the identities -\begin_inset Formula $H(\theta)^{-1}H(\theta)^{-T}\approx I_{3\times3}$ -\end_inset - - for small -\begin_inset Formula $\theta$ -\end_inset - -, and -\begin_inset Formula $\exp\left(\Skew{\theta}\right)\exp\left(\Skew{\theta}\right)^{T}=I_{3\times3}$ -\end_inset - - for all -\begin_inset Formula $\theta$ -\end_inset - -. + can be used, as well. \end_layout \begin_layout Section From 43520265aae6b3bfecb691f4e9c395efb7437922 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 14:44:03 -0800 Subject: [PATCH 828/964] Fixed all navigation tests that were still using deprecated methods/types --- gtsam/navigation/CombinedImuFactor.h | 2 +- gtsam/navigation/ImuFactor.cpp | 15 +- gtsam/navigation/ImuFactor.h | 2 + gtsam/navigation/ScenarioRunner.cpp | 6 +- gtsam/navigation/ScenarioRunner.h | 10 +- .../tests/testCombinedImuFactor.cpp | 76 ++++------- gtsam/navigation/tests/testImuFactor.cpp | 128 ++++++++---------- .../navigation/tests/testPoseVelocityBias.cpp | 3 + gtsam/navigation/tests/testScenarioRunner.cpp | 14 +- 9 files changed, 117 insertions(+), 139 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 3bc8176a2..f5ce1f3db 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -278,10 +278,10 @@ public: boost::optional H4 = boost::none, boost::optional H5 = boost::none, boost::optional H6 = boost::none) const; +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated typename typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements; -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated constructor CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 2104d1878..673706d58 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -29,7 +29,7 @@ namespace gtsam { using namespace std; //------------------------------------------------------------------------------ -// Inner class PreintegratedMeasurements +// Inner class PreintegratedImuMeasurements //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::print(const string& s) const { PreintegrationBase::print(s); @@ -156,14 +156,15 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, } //------------------------------------------------------------------------------ +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, - const PreintegratedMeasurements& pim, const Vector3& n_gravity, + const PreintegratedImuMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, const bool use2ndOrderCoriolis) : Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, pose_j, vel_j, bias), _PIM_(pim) { - boost::shared_ptr p = boost::make_shared< - PreintegratedMeasurements::Params>(pim.p()); + boost::shared_ptr p = boost::make_shared< + PreintegratedImuMeasurements::Params>(pim.p()); p->n_gravity = n_gravity; p->omegaCoriolis = omegaCoriolis; p->body_P_sensor = body_P_sensor; @@ -171,11 +172,9 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, _PIM_.p_ = p; } -//------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, - PreintegratedMeasurements& pim, const Vector3& n_gravity, + PreintegratedImuMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) { // use deprecated predict PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, n_gravity, @@ -184,4 +183,6 @@ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, vel_j = pvb.velocity; } #endif +//------------------------------------------------------------------------------ + } // namespace gtsam diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 9be189d02..ac7aee797 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -223,6 +223,7 @@ public: boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const; +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; @@ -239,6 +240,7 @@ public: Vector3& vel_j, const imuBias::ConstantBias& bias_i, PreintegratedMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); +#endif private: diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 888508835..48f649b07 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -25,10 +25,10 @@ namespace gtsam { static double intNoiseVar = 0.0000001; static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; -ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( +PreintegratedImuMeasurements ScenarioRunner::integrate( double T, const imuBias::ConstantBias& estimatedBias, bool corrupted) const { - ImuFactor::PreintegratedMeasurements pim(p_, estimatedBias); + PreintegratedImuMeasurements pim(p_, estimatedBias); const double dt = imuSampleTime(); const size_t nrSteps = T / dt; @@ -45,7 +45,7 @@ ImuFactor::PreintegratedMeasurements ScenarioRunner::integrate( } NavState ScenarioRunner::predict( - const ImuFactor::PreintegratedMeasurements& pim, + const PreintegratedImuMeasurements& pim, const imuBias::ConstantBias& estimatedBias) const { const NavState state_i(scenario_->pose(0), scenario_->velocity_n(0)); return pim.predict(state_i, estimatedBias); diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index 3f950d42c..c2e62384f 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -28,8 +28,7 @@ namespace gtsam { */ class ScenarioRunner { public: - typedef boost::shared_ptr - SharedParams; + typedef boost::shared_ptr SharedParams; ScenarioRunner(const Scenario* scenario, const SharedParams& p, double imuSampleTime = 1.0 / 100.0, const imuBias::ConstantBias& bias = imuBias::ConstantBias()) @@ -69,19 +68,18 @@ class ScenarioRunner { const double& imuSampleTime() const { return imuSampleTime_; } /// Integrate measurements for T seconds into a PIM - ImuFactor::PreintegratedMeasurements integrate( + PreintegratedImuMeasurements integrate( double T, const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias(), bool corrupted = false) const; /// Predict predict given a PIM - NavState predict(const ImuFactor::PreintegratedMeasurements& pim, + NavState predict(const PreintegratedImuMeasurements& pim, const imuBias::ConstantBias& estimatedBias = imuBias::ConstantBias()) const; /// Return pose covariance by re-arranging pim.preintMeasCov() appropriately - Matrix6 poseCovariance( - const ImuFactor::PreintegratedMeasurements& pim) const { + Matrix6 poseCovariance(const PreintegratedImuMeasurements& pim) const { Matrix9 cov = pim.preintMeasCov(); Matrix6 poseCov; poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3), // diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index d473207da..3d2a20915 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -44,10 +44,10 @@ namespace { // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ -CombinedImuFactor::CombinedPreintegratedMeasurements evaluatePreintegratedMeasurements( +PreintegratedCombinedMeasurements evaluatePreintegratedMeasurements( const imuBias::ConstantBias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { - CombinedImuFactor::CombinedPreintegratedMeasurements result(bias, I_3x3, + PreintegratedCombinedMeasurements result(bias, I_3x3, I_3x3, I_3x3, I_3x3, I_3x3, I_6x6); list::const_iterator itAcc = measuredAccs.begin(); @@ -94,12 +94,13 @@ TEST( CombinedImuFactor, PreintegratedMeasurements ) { double deltaT = 0.5; double tol = 1e-6; + auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + // Actual preintegrated values - ImuFactor::PreintegratedMeasurements expected1(bias, Z_3x3, Z_3x3, Z_3x3); + PreintegratedImuMeasurements expected1(p, bias); expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor::CombinedPreintegratedMeasurements actual1(bias, Z_3x3, - Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_6x6); + PreintegratedCombinedMeasurements actual1(p, bias); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -119,38 +120,33 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { Point3(5.5, 1.0, -50.0)); Vector3 v2(0.5, 0.0, 0.0); + auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + p->omegaCoriolis = Vector3(0,0.1,0.1); + PreintegratedImuMeasurements pim( + p, imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); + // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0.1, 0.1; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0 + 0.3; - Vector3 measuredAcc = x1.rotation().unrotate(-Point3(gravity)).vector() - + Vector3(0.2, 0.0, 0.0); + Vector3 measuredAcc = + x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; double tol = 1e-6; - ImuFactor::PreintegratedMeasurements pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), - I_3x3, I_3x3, I_3x3); - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor::CombinedPreintegratedMeasurements combined_pim( - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), - I_3x3, I_3x3, I_3x3, I_3x3, 2 * I_3x3, I_6x6); + PreintegratedCombinedMeasurements combined_pim(p, + imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim, gravity, - omegaCoriolis); + ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim); noiseModel::Gaussian::shared_ptr Combinedmodel = noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov()); CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), - combined_pim, gravity, omegaCoriolis); + combined_pim); Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias); Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias, @@ -197,7 +193,7 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { } // Actual preintegrated values - CombinedImuFactor::CombinedPreintegratedMeasurements pim = + PreintegratedCombinedMeasurements pim = evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs); @@ -236,19 +232,16 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { TEST(CombinedImuFactor, PredictPositionAndVelocity) { imuBias::ConstantBias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) + auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + // Measurements - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0, 0; Vector3 measuredOmega; measuredOmega << 0, 0.1, 0; //M_PI/10.0+0.3; Vector3 measuredAcc; measuredAcc << 0, 1.1, -9.81; double deltaT = 0.001; - CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3, - I_3x3, I_3x3, 2 * I_3x3, I_6x6); + PreintegratedCombinedMeasurements pim(p, bias); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -256,48 +249,39 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { // Create factor noiseModel::Gaussian::shared_ptr combinedmodel = noiseModel::Gaussian::Covariance(pim.preintMeasCov()); - CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim, - gravity, omegaCoriolis); + CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim); // Predict - Pose3 x1; - Vector3 v1(0, 0.0, 0.0); - PoseVelocityBias poseVelocityBias = pim.predict(x1, v1, bias, gravity, - omegaCoriolis); + NavState actual = pim.predict(NavState(), bias); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 1, 0; - EXPECT(assert_equal(expectedPose, poseVelocityBias.pose)); + EXPECT(assert_equal(expectedPose, actual.pose())); EXPECT( - assert_equal(Vector(expectedVelocity), Vector(poseVelocityBias.velocity))); + assert_equal(Vector(expectedVelocity), Vector(actual.velocity()))); } /* ************************************************************************* */ TEST(CombinedImuFactor, PredictRotation) { imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) - CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3, - I_3x3, I_3x3, 2 * I_3x3, I_6x6); + auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + PreintegratedCombinedMeasurements pim(p, bias); Vector3 measuredAcc; measuredAcc << 0, 0, -9.81; - Vector3 gravity; - gravity << 0, 0, 9.81; - Vector3 omegaCoriolis; - omegaCoriolis << 0, 0, 0; Vector3 measuredOmega; measuredOmega << 0, 0, M_PI / 10.0; double deltaT = 0.001; double tol = 1e-4; for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim, - gravity, omegaCoriolis); + CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim); // Predict Pose3 x(Rot3().ypr(0, 0, 0), Point3(0, 0, 0)), x2; Vector3 v(0, 0, 0), v2; - CombinedImuFactor::Predict(x, v, x2, v2, bias, pim, gravity, omegaCoriolis); + NavState actual = pim.predict(NavState(x, v), bias); Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); - EXPECT(assert_equal(expectedPose, x2, tol)); + EXPECT(assert_equal(expectedPose, actual.pose(), tol)); } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 878fc9f58..8a48acfc5 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -135,11 +135,10 @@ TEST(ImuFactor, Accelerating) { Vector3(a, 0, 0)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma, - kZeroBias, kGravityAlongNavZDown); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); - EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); + PreintegratedImuMeasurements pim = runner.integrate(T); + EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); @@ -149,8 +148,8 @@ TEST(ImuFactor, Accelerating) { boost::function f = boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10, boost::none, boost::none, boost::none); - const Vector3 measuredAcc = runner.actual_specific_force_b(T); - const Vector3 measuredOmega = runner.actual_omega_b(T); + const Vector3 measuredAcc = runner.actualSpecificForce(T); + const Vector3 measuredOmega = runner.actualAngularVelocity(T); pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2); EXPECT(assert_equal( numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); @@ -332,8 +331,11 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; + auto p = defaultParams(); + p->omegaCoriolis = kNonZeroOmegaCoriolis; + imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)); - PreintegratedImuMeasurements pim(defaultParams(), biasHat); + PreintegratedImuMeasurements pim(p, biasHat); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Make sure of biasCorrectedDelta @@ -345,8 +347,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { EXPECT(assert_equal(expectedH, actualH)); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kNonZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); Values values; values.insert(X(1), x1); @@ -376,14 +377,17 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - PreintegratedImuMeasurements pim(defaultParams(), + auto p = defaultParams(); + p->omegaCoriolis = kNonZeroOmegaCoriolis; + p->use2ndOrderCoriolis = true; + + PreintegratedImuMeasurements pim(p, imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1))); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor bool use2ndOrderCoriolis = true; - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kNonZeroOmegaCoriolis, boost::none, use2ndOrderCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); Values values; values.insert(X(1), x1); @@ -472,8 +476,6 @@ TEST(ImuFactor, fistOrderExponential) { /* ************************************************************************* */ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { - Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1)); - // Measurements list measuredAccs, measuredOmegas; list deltaTs; @@ -544,11 +546,16 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { const AcceleratingScenario scenario(nRb, p1, v1, a, Vector3(0, 0, M_PI / 10.0 + 0.3)); - const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma, - kZeroBias, kGravityAlongNavZDown); + auto p = defaultParams(); + p->body_P_sensor =Pose3(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0.05, 0.01)); + p->omegaCoriolis = kNonZeroOmegaCoriolis; - // ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); + + const double T = 3.0; // seconds + ScenarioRunner runner(&scenario, p, T / 10); + + // PreintegratedImuMeasurements pim = runner.integrate(T); // EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); // // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -558,18 +565,13 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { Pose3 x1(nRb, p1); // Measurements - Vector3 measuredOmega = runner.actual_omega_b(0); - Vector3 measuredAcc = runner.actual_specific_force_b(0); - - Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0.05, 0.01)); - imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); + Vector3 measuredOmega = runner.actualAngularVelocity(0); + Vector3 measuredAcc = runner.actualSpecificForce(0); // Get mean prediction from "ground truth" measurements - const Vector3 accNoiseVar2(0.01, 0.02, 0.03); - const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); - PreintegratedImuMeasurements pim(biasHat, accNoiseVar2.asDiagonal(), - omegaNoiseVar2.asDiagonal(), Z_3x3, true); // MonteCarlo does not sample integration noise - pim.set_body_P_sensor(body_P_sensor); + const Vector3 accNoiseVar2(0.01, 0.02, 0.03); + const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); + PreintegratedImuMeasurements pim(p, biasHat); // Check updatedDeltaXij derivatives Matrix3 D_correctedAcc_measuredOmega = Matrix3::Zero(); @@ -601,12 +603,11 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // integrate at least twice to get position information // otherwise factor cov noise from preint_cov is not positive definite - pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); - pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor); + pim.integrateMeasurement(measuredAcc, measuredOmega, dt); + pim.integrateMeasurement(measuredAcc, measuredOmega, dt); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown, - kNonZeroOmegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); @@ -690,10 +691,9 @@ TEST(ImuFactor, PredictArbitrary) { Vector3(M_PI / 10, M_PI / 10, M_PI / 10)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma, - kZeroBias, kGravityAlongNavZDown); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); // - // ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + // PreintegratedImuMeasurements pim = runner.integrate(T); // EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); // // Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -703,12 +703,12 @@ TEST(ImuFactor, PredictArbitrary) { imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Measurements - Vector3 measuredOmega = runner.actual_omega_b(0); - Vector3 measuredAcc = runner.actual_specific_force_b(0); + Vector3 measuredOmega = runner.actualAngularVelocity(0); + Vector3 measuredAcc = runner.actualSpecificForce(0); auto p = defaultParams(); p->integrationCovariance = Z_3x3; // MonteCarlo does not sample integration noise - ImuFactor::PreintegratedMeasurements pim(p, biasHat); + PreintegratedImuMeasurements pim(p, biasHat); imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, // Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); @@ -738,10 +738,12 @@ TEST(ImuFactor, PredictArbitrary) { TEST(ImuFactor, bodyPSensorNoBias) { imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) + // Rotate sensor (z-down) to body (same as navigation) i.e. z-up + auto p = defaultParams(); + p->n_gravity = Vector3(0, 0, -kGravity); // z-up nav frame + p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3(0, 0, 0)); + // Measurements - Vector3 n_gravity(0, 0, -kGravity); // z-up nav frame - Vector3 omegaCoriolis(0, 0, 0); - // Sensor frame is z-down // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame Vector3 s_omegaMeas_ns(0, 0.1, M_PI / 10); // Acc measurement is acceleration of sensor in the sensor frame, when stationary, @@ -749,28 +751,22 @@ TEST(ImuFactor, bodyPSensorNoBias) { Vector3 s_accMeas(0, 0, -kGravity); double dt = 0.001; - // Rotate sensor (z-down) to body (same as navigation) i.e. z-up - Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3(0, 0, 0)); - - ImuFactor::PreintegratedMeasurements pim(bias, Z_3x3, Z_3x3, Z_3x3, true); + PreintegratedImuMeasurements pim(p, bias); for (int i = 0; i < 1000; ++i) - pim.integrateMeasurement(s_accMeas, s_omegaMeas_ns, dt, body_P_sensor); + pim.integrateMeasurement(s_accMeas, s_omegaMeas_ns, dt); // Create factor - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, n_gravity, omegaCoriolis); + ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); // Predict - Pose3 x1; - Vector3 v1(0, 0, 0); - PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, n_gravity, - omegaCoriolis); + NavState actual = pim.predict(NavState(), bias); Pose3 expectedPose(Rot3().ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0)); - EXPECT(assert_equal(expectedPose, poseVelocity.pose)); + EXPECT(assert_equal(expectedPose, actual.pose())); Vector3 expectedVelocity(0, 0, 0); - EXPECT(assert_equal(Vector(expectedVelocity), Vector(poseVelocity.velocity))); + EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity()))); } /* ************************************************************************* */ @@ -791,9 +787,6 @@ TEST(ImuFactor, bodyPSensorWithBias) { SharedDiagonal biasNoiseModel = Diagonal::Sigmas(noiseBetweenBiasSigma); // Measurements - Vector3 n_gravity(0, 0, -kGravity); - Vector3 omegaCoriolis(0, 0, 0); - // Sensor frame is z-down // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame Vector3 measuredOmega(0, 0.01, 0); @@ -801,11 +794,12 @@ TEST(ImuFactor, bodyPSensorWithBias) { // table exerts an equal and opposite force w.r.t gravity Vector3 measuredAcc(0, 0, -kGravity); - Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3()); - - Matrix3 accCov = 1e-7 * I_3x3; - Matrix3 gyroCov = 1e-8 * I_3x3; - Matrix3 integrationCov = 1e-9 * I_3x3; + auto p = defaultParams(); + p->n_gravity = Vector3(0, 0, -kGravity); + p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3()); + p->accelerometerCovariance = 1e-7 * I_3x3; + p->gyroscopeCovariance = 1e-8 * I_3x3; + p->integrationCovariance = 1e-9 * I_3x3; double deltaT = 0.005; // Specify noise values on priors @@ -842,17 +836,13 @@ TEST(ImuFactor, bodyPSensorWithBias) { // Now add IMU factors and bias noise models Bias zeroBias(Vector3(0, 0, 0), Vector3(0, 0, 0)); for (int i = 1; i < numFactors; i++) { - ImuFactor::PreintegratedMeasurements pim = - ImuFactor::PreintegratedMeasurements(priorBias, accCov, gyroCov, - integrationCov, true); + PreintegratedImuMeasurements pim = + PreintegratedImuMeasurements(p, priorBias); for (int j = 0; j < 200; ++j) - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, - body_P_sensor); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factors - graph.add( - ImuFactor(X(i - 1), V(i - 1), X(i), V(i), B(i - 1), pim, n_gravity, - omegaCoriolis)); + graph.add(ImuFactor(X(i - 1), V(i - 1), X(i), V(i), B(i - 1), pim)); graph.add(BetweenFactor(B(i - 1), B(i), zeroBias, biasNoiseModel)); values.insert(X(i), Pose3()); diff --git a/gtsam/navigation/tests/testPoseVelocityBias.cpp b/gtsam/navigation/tests/testPoseVelocityBias.cpp index ce419fdd0..877769c2e 100644 --- a/gtsam/navigation/tests/testPoseVelocityBias.cpp +++ b/gtsam/navigation/tests/testPoseVelocityBias.cpp @@ -25,6 +25,8 @@ using namespace std; using namespace gtsam; +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 + // Should be seen as between(pvb1,pvb2), i.e., written as pvb2 \omin pvb1 Vector9 error(const PoseVelocityBias& pvb1, const PoseVelocityBias& pvb2) { Matrix3 R1 = pvb1.pose.rotation().matrix(); @@ -55,6 +57,7 @@ TEST(PoseVelocityBias, error) { expected << 0.0, -0.5, 6.0, 4.0, 0.0, 3.0, 0.1, 0.2, 0.3; EXPECT(assert_equal(expected, actual, 1e-9)); } +#endif /* ************************************************************************************************/ int main() { diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index d48856214..a6aa80b71 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -51,7 +51,7 @@ TEST(ScenarioRunner, Forward) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + PreintegratedImuMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -64,7 +64,7 @@ TEST(ScenarioRunner, ForwardWithBias) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, kNonZeroBias); + PreintegratedImuMeasurements pim = runner.integrate(T, kNonZeroBias); Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 1000, kNonZeroBias); EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); } @@ -78,7 +78,7 @@ TEST(ScenarioRunner, Circle) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + PreintegratedImuMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -95,7 +95,7 @@ TEST(ScenarioRunner, Loop) { ScenarioRunner runner(&scenario, defaultParams(), kDeltaT); const double T = 0.1; // seconds - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + PreintegratedImuMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 0.1)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -126,7 +126,7 @@ TEST(ScenarioRunner, Accelerating) { using namespace accelerating; ScenarioRunner runner(&scenario, defaultParams(), T / 10); - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + PreintegratedImuMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); @@ -140,7 +140,7 @@ TEST(ScenarioRunner, Accelerating) { // ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, // kNonZeroBias); // -// ImuFactor::PreintegratedMeasurements pim = runner.integrate(T, +// PreintegratedImuMeasurements pim = runner.integrate(T, // kNonZeroBias); // Matrix6 estimatedCov = runner.estimatePoseCovariance(T, 10000, // kNonZeroBias); @@ -157,7 +157,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { const double T = 3; // seconds ScenarioRunner runner(&scenario, defaultParams(), T / 10); - ImuFactor::PreintegratedMeasurements pim = runner.integrate(T); + PreintegratedImuMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix6 estimatedCov = runner.estimatePoseCovariance(T); From d4bbd1f28916c076e030bb5e5b24538f38bb7edd Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 15:10:54 -0800 Subject: [PATCH 829/964] Added numerical derivative in place of CorrectWith... --- gtsam/navigation/AggregateImuReadings.cpp | 31 +++++++++++------------ 1 file changed, 15 insertions(+), 16 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index c79cf24e8..655d061c4 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -17,6 +17,8 @@ #include #include +#include + #include using namespace std; @@ -60,28 +62,25 @@ Vector9 AggregateImuReadings::UpdateEstimate( const auto theta = dR(zeta); const Matrix3 R = Rot3::Expmap(theta, H).matrix(); - // NOTE(frank): I believe that D_invHwdt_wdt = H.inverse(), but tests fail :-( - Matrix3 D_invHwdt_theta, D_invHwdt_wdt; - Vector3 invHwdt; - if (useExactDexpDerivative) { - // NOTE(frank): ExpmapDerivative(-theta) = H.transpose() not H.inverse() ! - invHwdt = correctWithExpmapDerivative( - -theta, w_dt, A ? &D_invHwdt_theta : 0, A ? &D_invHwdt_wdt : 0); - if (A) D_invHwdt_theta *= -1; - } else { - const Matrix3 invH = H.inverse(); - invHwdt = invH * w_dt; - // First order (small angle) approximation of derivative of invH*w*dt: - if (A) { + Matrix3 D_invHwdt_theta = Z_3x3; + if (A) { + if (useExactDexpDerivative) { + boost::function f = + [w_dt](const Vector3& theta) { + return Rot3::ExpmapDerivative(theta).inverse() * w_dt; + }; + D_invHwdt_theta = numericalDerivative11(f, theta); + } else { + // First order (small angle) approximation of derivative of invH*w*dt: D_invHwdt_theta = skewSymmetric(-0.5 * w_dt); - D_invHwdt_wdt = invH; } } Vector9 zeta_plus; const double dt2 = 0.5 * dt; const Vector3 Radt = R * a_dt; - dR(zeta_plus) = dR(zeta) + invHwdt; // theta + const Matrix3 invH = H.inverse(); + dR(zeta_plus) = dR(zeta) + invH * w_dt; // theta dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + Radt * dt2; // position dV(zeta_plus) = dV(zeta) + Radt; // velocity @@ -96,7 +95,7 @@ Vector9 AggregateImuReadings::UpdateEstimate( A->block<3, 3>(6, 0) = D_Radt_theta; } if (B) *B << Z_3x3, R* dt* dt2, R* dt; - if (C) *C << D_invHwdt_wdt* dt, Z_3x3, Z_3x3; + if (C) *C << invH* dt, Z_3x3, Z_3x3; return zeta_plus; } From 9a5a8f7c7a76a0f90693ca259d1da3d37c15d821 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 15:17:43 -0800 Subject: [PATCH 830/964] functors are now obsolete :-( --- gtsam/navigation/AggregateImuReadings.cpp | 35 +--- gtsam/navigation/AggregateImuReadings.h | 4 +- gtsam/navigation/functors.h | 154 ----------------- .../tests/testAggregateImuReadings.cpp | 161 +----------------- 4 files changed, 13 insertions(+), 341 deletions(-) delete mode 100644 gtsam/navigation/functors.h diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 655d061c4..1d0fbb34b 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -16,7 +16,6 @@ */ #include -#include #include #include @@ -49,9 +48,8 @@ static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } // See extensive discussion in ImuFactor.lyx Vector9 AggregateImuReadings::UpdateEstimate( const Vector9& zeta, const Vector3& correctedAcc, - const Vector3& correctedOmega, double dt, bool useExactDexpDerivative, - OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> B, - OptionalJacobian<9, 3> C) { + const Vector3& correctedOmega, double dt, OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { using namespace sugar; const Vector3 a_dt = correctedAcc * dt; @@ -62,20 +60,6 @@ Vector9 AggregateImuReadings::UpdateEstimate( const auto theta = dR(zeta); const Matrix3 R = Rot3::Expmap(theta, H).matrix(); - Matrix3 D_invHwdt_theta = Z_3x3; - if (A) { - if (useExactDexpDerivative) { - boost::function f = - [w_dt](const Vector3& theta) { - return Rot3::ExpmapDerivative(theta).inverse() * w_dt; - }; - D_invHwdt_theta = numericalDerivative11(f, theta); - } else { - // First order (small angle) approximation of derivative of invH*w*dt: - D_invHwdt_theta = skewSymmetric(-0.5 * w_dt); - } - } - Vector9 zeta_plus; const double dt2 = 0.5 * dt; const Vector3 Radt = R * a_dt; @@ -89,7 +73,8 @@ Vector9 AggregateImuReadings::UpdateEstimate( const Matrix3 D_Radt_theta = R * skewSymmetric(-a_dt) * H; A->setIdentity(); - A->block<3, 3>(0, 0) += D_invHwdt_theta; + // First order (small angle) approximation of derivative of invH*w*dt: + A->block<3, 3>(0, 0) -= skewSymmetric(0.5 * w_dt); A->block<3, 3>(3, 0) = D_Radt_theta * dt2; A->block<3, 3>(3, 6) = I_3x3 * dt; A->block<3, 3>(6, 0) = D_Radt_theta; @@ -102,17 +87,15 @@ Vector9 AggregateImuReadings::UpdateEstimate( void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, - double dt, - bool useExactDexpDerivative) { + double dt) { // Correct measurements const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); // Do exact mean propagation Matrix9 A; - Matrix93 Ba, Bw; - zeta_ = UpdateEstimate(zeta_, correctedAcc, correctedOmega, dt, - useExactDexpDerivative, A, Ba, Bw); + Matrix93 B, C; + zeta_ = UpdateEstimate(zeta_, correctedAcc, correctedOmega, dt, A, B, C); // propagate uncertainty // TODO(frank): use noiseModel routine so we can have arbitrary noise models. @@ -120,8 +103,8 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, const Matrix3& a = p_->accelerometerCovariance; // TODO(frank): use Eigen-tricks for symmetric matrices cov_ = A * cov_ * A.transpose(); - cov_ += Bw * (w / dt) * Bw.transpose(); - cov_ += Ba * (a / dt) * Ba.transpose(); + cov_ += B * (a / dt) * B.transpose(); + cov_ += C * (w / dt) * C.transpose(); // increment counter and time k_ += 1; diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index fd3b4d10e..691a162bc 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -60,8 +60,7 @@ class AggregateImuReadings { * TODO(frank): put useExactDexpDerivative in params */ void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt, - bool useExactDexpDerivative = false); + const Vector3& measuredOmega, double dt); /// Predict state at time j NavState predict(const NavState& state_i, const Bias& estimatedBias_i, @@ -79,7 +78,6 @@ class AggregateImuReadings { static Vector9 UpdateEstimate(const Vector9& zeta, const Vector3& correctedAcc, const Vector3& correctedOmega, double dt, - bool useExactDexpDerivative = false, OptionalJacobian<9, 9> A = boost::none, OptionalJacobian<9, 3> B = boost::none, OptionalJacobian<9, 3> C = boost::none); diff --git a/gtsam/navigation/functors.h b/gtsam/navigation/functors.h deleted file mode 100644 index 36d87ac7b..000000000 --- a/gtsam/navigation/functors.h +++ /dev/null @@ -1,154 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file functors.h - * @brief Functors for use in Navigation factors - * @author Frank Dellaert - */ - -#include -#include -#include -#include - -namespace gtsam { - -// Implement Rot3::ExpmapDerivative(omega) * theta, with derivatives -static Vector3 correctWithExpmapDerivative( - const Vector3& omega, const Vector3& theta, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) { - using std::sin; - const double angle2 = omega.dot(omega); // rotation angle, squared - if (angle2 <= std::numeric_limits::epsilon()) { - if (H1) *H1 = 0.5 * skewSymmetric(theta); - if (H2) *H2 = I_3x3; - return theta; - } - - const double angle = std::sqrt(angle2); // rotation angle - const double s1 = sin(angle) / angle; - const double s2 = sin(angle / 2.0); - const double a = 2.0 * s2 * s2 / angle2; - const double b = (1.0 - s1) / angle2; - - const Vector3 omega_x_theta = omega.cross(theta); - const Vector3 yt = a * omega_x_theta; - - const Matrix3 W = skewSymmetric(omega); - const Vector3 omega_x_omega_x_theta = omega.cross(omega_x_theta); - const Vector3 yyt = b * omega_x_omega_x_theta; - - if (H1) { - Matrix13 omega_t = omega.transpose(); - const Matrix3 T = skewSymmetric(theta); - const double Da = (s1 - 2.0 * a) / angle2; - const double Db = (3.0 * s1 - cos(angle) - 2.0) / angle2 / angle2; - *H1 = (-Da * omega_x_theta + Db * omega_x_omega_x_theta) * omega_t + a * T - - b * skewSymmetric(omega_x_theta) - b * W * T; - } - if (H2) *H2 = I_3x3 - a* W + b* W* W; - - return theta - yt + yyt; -} - -// theta(k+1) = theta(k) + inverse(H)*omega dt -// omega = (H/dt_)*(theta(k+1) - H*theta(k)) -// TODO(frank): make linear expression -class PredictAngularVelocity { - private: - double dt_; - - public: - typedef Vector3 result_type; - - PredictAngularVelocity(double dt) : dt_(dt) {} - - Vector3 operator()(const Vector3& theta, const Vector3& theta_plus, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) const { - // TODO(frank): take into account derivative of ExpmapDerivative - const Vector3 predicted = (theta_plus - theta) / dt_; - Matrix3 D_c_t, D_c_p; - const Vector3 corrected = - correctWithExpmapDerivative(theta, predicted, D_c_t, D_c_p); - if (H1) *H1 = D_c_t - D_c_p / dt_; - if (H2) *H2 = D_c_p / dt_; - return corrected; - } -}; - -// TODO(frank): make linear expression -static Vector3 averageVelocity(const Vector3& vel, const Vector3& vel_plus, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) { - // TODO(frank): take into account derivative of ExpmapDerivative - if (H1) *H1 = 0.5 * I_3x3; - if (H2) *H2 = 0.5 * I_3x3; - return 0.5 * (vel + vel_plus); -} - -// pos(k+1) = pos(k) + average_velocity * dt -// TODO(frank): make linear expression -class PositionDefect { - private: - double dt_; - - public: - typedef Vector3 result_type; - - PositionDefect(double dt) : dt_(dt) {} - - Vector3 operator()(const Vector3& pos, const Vector3& pos_plus, - const Vector3& average_velocity, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none, - OptionalJacobian<3, 3> H3 = boost::none) const { - // TODO(frank): take into account derivative of ExpmapDerivative - if (H1) *H1 = I_3x3; - if (H2) *H2 = -I_3x3; - if (H3) *H3 = I_3x3* dt_; - return (pos + average_velocity * dt_) - pos_plus; - } -}; - -// vel(k+1) = vel(k) + Rk * acc * dt -// acc = Rkt * [vel(k+1) - vel(k)]/dt -// TODO(frank): take in Rot3 -class PredictAcceleration { - private: - double dt_; - - public: - typedef Vector3 result_type; - - PredictAcceleration(double dt) : dt_(dt) {} - - Vector3 operator()(const Vector3& vel, const Vector3& vel_plus, - const Vector3& theta, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none, - OptionalJacobian<3, 3> H3 = boost::none) const { - Matrix3 D_R_theta; - // TODO(frank): D_R_theta is ExpmapDerivative (computed again) - Rot3 nRb = Rot3::Expmap(theta, D_R_theta); - Vector3 n_acc = (vel_plus - vel) / dt_; - Matrix3 D_b_R, D_b_n; - Vector3 b_acc = nRb.unrotate(n_acc, D_b_R, D_b_n); - if (H1) *H1 = -D_b_n / dt_; - if (H2) *H2 = D_b_n / dt_; - if (H3) *H3 = D_b_R* D_R_theta; - return b_acc; - } -}; - -} // namespace gtsam diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 388d0164b..7638a88be 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -15,7 +15,6 @@ * @author Frank Dellaert */ -#include #include #include @@ -40,176 +39,22 @@ static boost::shared_ptr defaultParams() { } /* ************************************************************************* */ -TEST(AggregateImuReadings, CorrectWithExpmapDerivative1) { - Matrix aH1, aH2; - boost::function f = boost::bind( - correctWithExpmapDerivative, _1, _2, boost::none, boost::none); - for (Vector3 omega : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - for (Vector3 theta : - {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - Matrix3 H = Rot3::ExpmapDerivative(omega); - Vector3 expected = H * theta; - EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); - EXPECT(assert_equal(expected, - correctWithExpmapDerivative(omega, theta, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); - EXPECT(assert_equal(H, aH2)); - } - } -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, CorrectWithExpmapDerivative2) { - Matrix aH1, aH2; - boost::function f = boost::bind( - correctWithExpmapDerivative, _1, _2, boost::none, boost::none); - const Vector3 omega(0, 0, 0); - for (Vector3 theta : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - Matrix3 H = Rot3::ExpmapDerivative(omega); - Vector3 expected = H * theta; - EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); - EXPECT(assert_equal(expected, - correctWithExpmapDerivative(omega, theta, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); - EXPECT(assert_equal(H, aH2)); - } -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, CorrectWithExpmapDerivative3) { - Matrix aH1, aH2; - boost::function f = boost::bind( - correctWithExpmapDerivative, _1, _2, boost::none, boost::none); - const Vector3 omega(0.1, 0.2, 0.3), theta(0.4, 0.3, 0.2); - Matrix3 H = Rot3::ExpmapDerivative(omega); - Vector3 expected = H * theta; - EXPECT(assert_equal(expected, correctWithExpmapDerivative(omega, theta))); - EXPECT(assert_equal(expected, - correctWithExpmapDerivative(omega, theta, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); - EXPECT(assert_equal(H, aH2)); -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, PredictAngularVelocity1) { - Matrix aH1, aH2; - PredictAngularVelocity functor(kDt); - boost::function f = - boost::bind(functor, _1, _2, boost::none, boost::none); - const Vector3 theta(0, 0, 0), theta_plus(0.4, 0.3, 0.2); - EXPECT(assert_equal(Vector3(4, 3, 2), functor(theta, theta_plus, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, theta, theta_plus), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, theta, theta_plus), aH2)); -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, PredictAngularVelocity2) { - Matrix aH1, aH2; - PredictAngularVelocity functor(kDt); - boost::function f = - boost::bind(functor, _1, _2, boost::none, boost::none); - const Vector3 theta(0.1, 0.2, 0.3), theta_plus(0.4, 0.3, 0.2); - EXPECT( - assert_equal(Vector3(Rot3::ExpmapDerivative(theta) * Vector3(3, 1, -1)), - functor(theta, theta_plus, aH1, aH2), 1e-5)); - EXPECT(assert_equal(numericalDerivative21(f, theta, theta_plus), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, theta, theta_plus), aH2)); -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, AverageVelocity) { - Matrix aH1, aH2; - boost::function f = - boost::bind(averageVelocity, _1, _2, boost::none, boost::none); - const Vector3 v(1, 2, 3), v_plus(3, 2, 1); - EXPECT(assert_equal(Vector3(2, 2, 2), averageVelocity(v, v_plus, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, v, v_plus), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, v, v_plus), aH2)); -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, PositionDefect) { - Matrix aH1, aH2, aH3; - PositionDefect functor(kDt); - boost::function f = - boost::bind(functor, _1, _2, _3, boost::none, boost::none, boost::none); - const Vector3 pos(1, 2, 3), pos_plus(2, 4, 6); - const Vector3 avg(10, 20, 30); - EXPECT(assert_equal(Vector3(0, 0, 0), - functor(pos, pos_plus, avg, aH1, aH2, aH3))); - EXPECT(assert_equal(numericalDerivative31(f, pos, pos_plus, avg), aH1)); - EXPECT(assert_equal(numericalDerivative32(f, pos, pos_plus, avg), aH2)); - EXPECT(assert_equal(numericalDerivative33(f, pos, pos_plus, avg), aH3)); -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, PredictAcceleration1) { - Matrix aH1, aH2, aH3; - PredictAcceleration functor(kDt); - boost::function f = - boost::bind(functor, _1, _2, _3, boost::none, boost::none, boost::none); - const Vector3 vel(1, 2, 3), vel_plus(2, 4, 6); - const Vector3 theta(0, 0, 0); - EXPECT(assert_equal(Vector3(10, 20, 30), - functor(vel, vel_plus, theta, aH1, aH2, aH3))); - EXPECT(assert_equal(numericalDerivative31(f, vel, vel_plus, theta), aH1)); - EXPECT(assert_equal(numericalDerivative32(f, vel, vel_plus, theta), aH2)); - EXPECT(assert_equal(numericalDerivative33(f, vel, vel_plus, theta), aH3)); -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, PredictAcceleration2) { - Matrix aH1, aH2, aH3; - PredictAcceleration functor(kDt); - boost::function f = - boost::bind(functor, _1, _2, _3, boost::none, boost::none, boost::none); - const Vector3 vel(1, 2, 3), vel_plus(2, 4, 6); - const Vector3 theta(0.1, 0.2, 0.3); - EXPECT(assert_equal(Vector3(10, 20, 30), - functor(vel, vel_plus, theta, aH1, aH2, aH3))); - EXPECT(assert_equal(numericalDerivative31(f, vel, vel_plus, theta), aH1)); - EXPECT(assert_equal(numericalDerivative32(f, vel, vel_plus, theta), aH2)); - EXPECT(assert_equal(numericalDerivative33(f, vel, vel_plus, theta), aH3)); -} - -/* ************************************************************************* */ -TEST(AggregateImuReadings, UpdateEstimate1) { +TEST(AggregateImuReadings, UpdateEstimate) { AggregateImuReadings pim(defaultParams()); Matrix9 aH1; Matrix93 aH2, aH3; boost::function f = - boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, false, + boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, boost::none, boost::none, boost::none); Vector9 zeta; zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); - pim.UpdateEstimate(zeta, acc, omega, kDt, false, aH1, aH2, aH3); + pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-5)); EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-5)); } -/* ************************************************************************* */ -TEST(AggregateImuReadings, UpdateEstimate2) { - // Using exact dexp derivatives is more expensive but much more accurate - AggregateImuReadings pim(defaultParams()); - Matrix9 aH1; - Matrix93 aH2, aH3; - boost::function f = - boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, true, - boost::none, boost::none, boost::none); - Vector9 zeta; - zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; - const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); - pim.UpdateEstimate(zeta, acc, omega, kDt, true, aH1, aH2, aH3); - EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-8)); - EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-8)); - EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); -} - /* ************************************************************************* */ int main() { TestResult tr; From dace8e377012c4fcd58fba713ae9c7aa12d1f7f6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 15:42:02 -0800 Subject: [PATCH 831/964] Refactored for clarity --- gtsam/navigation/AggregateImuReadings.cpp | 63 ++++++++++++----------- gtsam/navigation/AggregateImuReadings.h | 8 +-- 2 files changed, 37 insertions(+), 34 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 1d0fbb34b..b32fcbdb1 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -26,7 +26,7 @@ namespace gtsam { AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias) - : p_(p), estimatedBias_(estimatedBias), k_(0), deltaTij_(0.0) { + : p_(p), estimatedBias_(estimatedBias), deltaTij_(0.0) { zeta_.setZero(); cov_.setZero(); } @@ -46,40 +46,44 @@ static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } } // namespace sugar // See extensive discussion in ImuFactor.lyx -Vector9 AggregateImuReadings::UpdateEstimate( - const Vector9& zeta, const Vector3& correctedAcc, - const Vector3& correctedOmega, double dt, OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { +Vector9 AggregateImuReadings::UpdateEstimate(const Vector9& zeta, + const Vector3& a_body, + const Vector3& w_body, double dt, + OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, + OptionalJacobian<9, 3> C) { using namespace sugar; - const Vector3 a_dt = correctedAcc * dt; - const Vector3 w_dt = correctedOmega * dt; + const auto theta = dR(zeta); + const auto p = dP(zeta); + const auto v = dV(zeta); // Calculate exact mean propagation Matrix3 H; - const auto theta = dR(zeta); const Matrix3 R = Rot3::Expmap(theta, H).matrix(); + const Matrix3 invH = H.inverse(); + const Vector3 a_nav = R * a_body; + const double dt22 = 0.5 * dt * dt; Vector9 zeta_plus; - const double dt2 = 0.5 * dt; - const Vector3 Radt = R * a_dt; - const Matrix3 invH = H.inverse(); - dR(zeta_plus) = dR(zeta) + invH * w_dt; // theta - dP(zeta_plus) = dP(zeta) + dV(zeta) * dt + Radt * dt2; // position - dV(zeta_plus) = dV(zeta) + Radt; // velocity + dR(zeta_plus) = theta + invH * w_body * dt; // theta + dP(zeta_plus) = p + v * dt + a_nav * dt22; // position + dV(zeta_plus) = v + a_nav * dt; // velocity if (A) { - // Exact derivative of R*a*dt with respect to theta: - const Matrix3 D_Radt_theta = R * skewSymmetric(-a_dt) * H; + // First order (small angle) approximation of derivative of invH*w: + const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); + + // Exact derivative of R*a with respect to theta: + const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; A->setIdentity(); - // First order (small angle) approximation of derivative of invH*w*dt: - A->block<3, 3>(0, 0) -= skewSymmetric(0.5 * w_dt); - A->block<3, 3>(3, 0) = D_Radt_theta * dt2; + A->block<3, 3>(0, 0) += invHw_H_theta * dt; + A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; A->block<3, 3>(3, 6) = I_3x3 * dt; - A->block<3, 3>(6, 0) = D_Radt_theta; + A->block<3, 3>(6, 0) = a_nav_H_theta * dt; } - if (B) *B << Z_3x3, R* dt* dt2, R* dt; + if (B) *B << Z_3x3, R* dt22, R* dt; if (C) *C << invH* dt, Z_3x3, Z_3x3; return zeta_plus; @@ -89,25 +93,24 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { // Correct measurements - const Vector3 correctedAcc = measuredAcc - estimatedBias_.accelerometer(); - const Vector3 correctedOmega = measuredOmega - estimatedBias_.gyroscope(); + const Vector3 a_body = measuredAcc - estimatedBias_.accelerometer(); + const Vector3 w_body = measuredOmega - estimatedBias_.gyroscope(); // Do exact mean propagation Matrix9 A; Matrix93 B, C; - zeta_ = UpdateEstimate(zeta_, correctedAcc, correctedOmega, dt, A, B, C); + zeta_ = UpdateEstimate(zeta_, a_body, w_body, dt, A, B, C); // propagate uncertainty // TODO(frank): use noiseModel routine so we can have arbitrary noise models. - const Matrix3& w = p_->gyroscopeCovariance; - const Matrix3& a = p_->accelerometerCovariance; + const Matrix3& aCov = p_->accelerometerCovariance; + const Matrix3& wCov = p_->gyroscopeCovariance; + // TODO(frank): use Eigen-tricks for symmetric matrices cov_ = A * cov_ * A.transpose(); - cov_ += B * (a / dt) * B.transpose(); - cov_ += C * (w / dt) * C.transpose(); + cov_ += B * (aCov / dt) * B.transpose(); + cov_ += C * (wCov / dt) * C.transpose(); - // increment counter and time - k_ += 1; deltaTij_ += dt; } diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 691a162bc..38263542b 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -38,7 +38,6 @@ class AggregateImuReadings { const boost::shared_ptr p_; const Bias estimatedBias_; - size_t k_; ///< index/count of measurements integrated double deltaTij_; ///< sum of time increments /// Current estimate of zeta_k @@ -75,9 +74,10 @@ class AggregateImuReadings { Vector3 theta() const { return zeta_.head<3>(); } - static Vector9 UpdateEstimate(const Vector9& zeta, - const Vector3& correctedAcc, - const Vector3& correctedOmega, double dt, + // Update integrated vector on tangent manifold zeta with acceleration + // readings a_body and gyro readings w_body, bias-corrected in body frame. + static Vector9 UpdateEstimate(const Vector9& zeta, const Vector3& a_body, + const Vector3& w_body, double dt, OptionalJacobian<9, 9> A = boost::none, OptionalJacobian<9, 3> B = boost::none, OptionalJacobian<9, 3> C = boost::none); From e1d810d37a56fe0f463e500e1885a338227fcaeb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 16:31:24 -0800 Subject: [PATCH 832/964] Tests pass with realistic white noise strengths --- .../tests/testAggregateImuReadings.cpp | 28 +++++++++++++++---- gtsam/navigation/tests/testScenarioRunner.cpp | 6 ++-- 2 files changed, 26 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 7638a88be..fc0c21760 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -38,21 +38,37 @@ static boost::shared_ptr defaultParams() { return p; } +boost::function f = + boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, + boost::none, boost::none, boost::none); + /* ************************************************************************* */ -TEST(AggregateImuReadings, UpdateEstimate) { +TEST(AggregateImuReadings, UpdateEstimate1) { + AggregateImuReadings pim(defaultParams()); + Matrix9 aH1; + Matrix93 aH2, aH3; + Vector9 zeta; + zeta.setZero(); + const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); + pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); + EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-9)); + EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-9)); + EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); +} + +/* ************************************************************************* */ +TEST(AggregateImuReadings, UpdateEstimate2) { AggregateImuReadings pim(defaultParams()); Matrix9 aH1; Matrix93 aH2, aH3; - boost::function f = - boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, - boost::none, boost::none, boost::none); Vector9 zeta; zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); + // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); - EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-5)); - EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-5)); + EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-7)); + EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 591a7d3d2..bf8ec9b90 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -25,8 +25,10 @@ using namespace gtsam; static const double kDegree = M_PI / 180.0; static const double kDt = 1e-2; -static const double kGyroSigma = 0.02; -static const double kAccelSigma = 0.1; + +// realistic white noise strengths are 0.5 deg/sqrt(hr) and 0.1 (m/s)/sqrt(h) +static const double kGyroSigma = 0.5 * kDegree / 60; +static const double kAccelSigma = 0.1 / 60.0; static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); From c81f91999df337e5a17215d2466695f5dd0b9165 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 19:17:25 -0800 Subject: [PATCH 833/964] Trying to avoid mallocs --- gtsam/navigation/AggregateImuReadings.cpp | 53 +++++++++---------- gtsam/navigation/AggregateImuReadings.h | 10 ++-- .../tests/testAggregateImuReadings.cpp | 26 +++++---- 3 files changed, 45 insertions(+), 44 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index b32fcbdb1..cb6533ca9 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -33,30 +33,22 @@ AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, // Tangent space sugar. namespace sugar { - static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } - -typedef const Vector9 constV9; -static Eigen::Block dR(constV9& v) { return v.segment<3>(0); } -static Eigen::Block dP(constV9& v) { return v.segment<3>(3); } -static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } - } // namespace sugar // See extensive discussion in ImuFactor.lyx -Vector9 AggregateImuReadings::UpdateEstimate(const Vector9& zeta, - const Vector3& a_body, - const Vector3& w_body, double dt, - OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> B, - OptionalJacobian<9, 3> C) { +void AggregateImuReadings::UpdateEstimate(const Vector3& a_body, + const Vector3& w_body, double dt, + Vector9* zeta, + OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, + OptionalJacobian<9, 3> C) { using namespace sugar; - const auto theta = dR(zeta); - const auto p = dP(zeta); - const auto v = dV(zeta); + const Vector3 theta = dR(*zeta); + const Vector3 v = dV(*zeta); // Calculate exact mean propagation Matrix3 H; @@ -65,10 +57,9 @@ Vector9 AggregateImuReadings::UpdateEstimate(const Vector9& zeta, const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; - Vector9 zeta_plus; - dR(zeta_plus) = theta + invH * w_body * dt; // theta - dP(zeta_plus) = p + v * dt + a_nav * dt22; // position - dV(zeta_plus) = v + a_nav * dt; // velocity + dR(*zeta) += invH * w_body * dt; // theta + dP(*zeta) += v * dt + a_nav * dt22; // position + dV(*zeta) += a_nav * dt; // velocity if (A) { // First order (small angle) approximation of derivative of invH*w: @@ -78,15 +69,21 @@ Vector9 AggregateImuReadings::UpdateEstimate(const Vector9& zeta, const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; A->setIdentity(); - A->block<3, 3>(0, 0) += invHw_H_theta * dt; + A->block<3, 3>(0, 0).noalias() += invHw_H_theta * dt; A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; A->block<3, 3>(3, 6) = I_3x3 * dt; A->block<3, 3>(6, 0) = a_nav_H_theta * dt; } - if (B) *B << Z_3x3, R* dt22, R* dt; - if (C) *C << invH* dt, Z_3x3, Z_3x3; - - return zeta_plus; + if (B) { + B->block<3, 3>(0, 0) = Z_3x3; + B->block<3, 3>(3, 0) = R * dt22; + B->block<3, 3>(6, 0) = R * dt; + } + if (C) { + C->block<3, 3>(0, 0) = invH * dt; + C->block<3, 3>(3, 0) = Z_3x3; + C->block<3, 3>(6, 0) = Z_3x3; + } } void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, @@ -99,7 +96,7 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, // Do exact mean propagation Matrix9 A; Matrix93 B, C; - zeta_ = UpdateEstimate(zeta_, a_body, w_body, dt, A, B, C); + UpdateEstimate(a_body, w_body, dt, &zeta_, A, B, C); // propagate uncertainty // TODO(frank): use noiseModel routine so we can have arbitrary noise models. @@ -108,8 +105,8 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, // TODO(frank): use Eigen-tricks for symmetric matrices cov_ = A * cov_ * A.transpose(); - cov_ += B * (aCov / dt) * B.transpose(); - cov_ += C * (wCov / dt) * C.transpose(); + cov_.noalias() += B * (aCov / dt) * B.transpose(); + cov_.noalias() += C * (wCov / dt) * C.transpose(); deltaTij_ += dt; } diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 38263542b..82c6cbdf0 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -76,11 +76,11 @@ class AggregateImuReadings { // Update integrated vector on tangent manifold zeta with acceleration // readings a_body and gyro readings w_body, bias-corrected in body frame. - static Vector9 UpdateEstimate(const Vector9& zeta, const Vector3& a_body, - const Vector3& w_body, double dt, - OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none); + static void UpdateEstimate(const Vector3& a_body, const Vector3& w_body, + double dt, Vector9* zeta, + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none); }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index fc0c21760..86acf93ff 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -38,19 +38,22 @@ static boost::shared_ptr defaultParams() { return p; } -boost::function f = - boost::bind(&AggregateImuReadings::UpdateEstimate, _1, _2, _3, kDt, - boost::none, boost::none, boost::none); +Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { + Vector9 zeta_plus = zeta; + AggregateImuReadings::UpdateEstimate(a, w, kDt, &zeta_plus); + return zeta_plus; +} /* ************************************************************************* */ TEST(AggregateImuReadings, UpdateEstimate1) { AggregateImuReadings pim(defaultParams()); - Matrix9 aH1; - Matrix93 aH2, aH3; + const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta.setZero(); - const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); - pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); + Vector9 zeta2 = zeta; + Matrix9 aH1; + Matrix93 aH2, aH3; + pim.UpdateEstimate(acc, omega, kDt, &zeta2, aH1, aH2, aH3); EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-9)); EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); @@ -59,12 +62,13 @@ TEST(AggregateImuReadings, UpdateEstimate1) { /* ************************************************************************* */ TEST(AggregateImuReadings, UpdateEstimate2) { AggregateImuReadings pim(defaultParams()); - Matrix9 aH1; - Matrix93 aH2, aH3; + const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; - const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); - pim.UpdateEstimate(zeta, acc, omega, kDt, aH1, aH2, aH3); + Vector9 zeta2 = zeta; + Matrix9 aH1; + Matrix93 aH2, aH3; + pim.UpdateEstimate(acc, omega, kDt, &zeta2, aH1, aH2, aH3); // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-7)); From be658119b9d5d43bf6057dac7314c82fd6c77c0c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 19:18:20 -0800 Subject: [PATCH 834/964] Noise propagation --- doc/ImuFactor.lyx | 331 +++------------------------------------------- 1 file changed, 16 insertions(+), 315 deletions(-) diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx index 7e5ceac33..d9cd35584 100644 --- a/doc/ImuFactor.lyx +++ b/doc/ImuFactor.lyx @@ -1196,7 +1196,7 @@ Even when we assume uncorrelated noise on \begin_inset Formula $\theta_{k}$ \end_inset -and + and \begin_inset Formula $v_{k}$ \end_inset @@ -1213,7 +1213,7 @@ reference "eq:euler_theta" \end_inset - +- \begin_inset CommandInset ref LatexCommand ref reference "eq:euler_v" @@ -1227,7 +1227,7 @@ reference "eq:euler_v" \begin_inset Formula \[ -\zeta_{k+1}=f\left(\zeta_{k},\omega_{k}^{b},a_{k}^{b}\right) +\zeta_{k+1}=f\left(\zeta_{k},a_{k}^{b},\omega_{k}^{b}\right) \] \end_inset @@ -1283,6 +1283,15 @@ where . \end_layout +\begin_layout Standard +We start with the noise propagation on +\begin_inset Formula $\theta$ +\end_inset + +, which is independent of the other quantities. + Taking the derivative, we have +\end_layout + \begin_layout Standard \begin_inset Formula \[ @@ -1314,7 +1323,7 @@ For the derivatives of we need the derivative \begin_inset Formula \[ -\deriv{R_{k}a_{k}^{b}}{\theta_{k}}=-R_{k}\Skew{a_{k}^{b}}\deriv{R_{k}}{\theta_{k}}=-R_{k}\Skew{a_{k}^{b}}H(\theta_{k}) +\deriv{R_{k}a_{k}^{b}}{\theta_{k}}=R_{k}\Skew{-a_{k}^{b}}\deriv{R_{k}}{\theta_{k}}=R_{k}\Skew{-a_{k}^{b}}H(\theta_{k}) \] \end_inset @@ -1322,7 +1331,7 @@ For the derivatives of where we used \begin_inset Formula \[ -\deriv{\left(Ra\right)}R\approx-R\Skew a +\deriv{\left(Ra\right)}R\approx R\Skew{-a} \] \end_inset @@ -1349,8 +1358,8 @@ Putting all this together, we finally obtain \[ A_{k}\approx\left[\begin{array}{ccc} I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}}\\ --R_{k}\Skew{a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t}\\ --R_{k}\Skew{a_{k}^{b}}H(\theta_{k})\Delta_{t} & & I_{3\times3} +R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t}\\ +R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\Delta_{t} & & I_{3\times3} \end{array}\right] \] @@ -1373,314 +1382,6 @@ H(\theta_{k})^{-1}\Delta_{t}\\ \end_inset -\end_layout - -\begin_layout Standard -A more accurate partial derivative of -\begin_inset Formula $H(\theta_{k})^{-1}$ -\end_inset - - can be used, as well. -\end_layout - -\begin_layout Section -Old Stuff: -\end_layout - -\begin_layout Standard -We only measure -\begin_inset Formula $\omega$ -\end_inset - - and -\begin_inset Formula $a$ -\end_inset - - at discrete instants of time, and hence we need to make choices about how - to integrate the equations above numerically. - For a vehicle such as a quadrotor UAV, it is not a bad assumption to model - -\begin_inset Formula $\omega$ -\end_inset - - and -\begin_inset Formula $a$ -\end_inset - - as piecewise constant in the body frame, as the actuation is fixed to the - body. -\end_layout - -\begin_layout Standard -\begin_inset Note Note -status collapsed - -\begin_layout Plain Layout -The group operation inherited from -\begin_inset Formula $GL(7)$ -\end_inset - - yields the following result, -\begin_inset Formula -\[ -\left[\begin{array}{ccc} -R_{1} & & p_{1}\\ - & R_{1} & v_{1}\\ - & & 1 -\end{array}\right]\left[\begin{array}{ccc} -R_{2} & & p_{2}\\ - & R_{2} & v_{2}\\ - & & 1 -\end{array}\right]=\left[\begin{array}{ccc} -R_{1}R_{2} & & p_{1}+R_{1}p_{2}\\ - & R_{1}R_{2} & v_{1}+R_{1}v_{2}\\ - & & 1 -\end{array}\right] -\] - -\end_inset - -i.e., -\begin_inset Formula $R_{2}$ -\end_inset - -, -\begin_inset Formula $p_{2}$ -\end_inset - -, and -\begin_inset Formula $v_{2}$ -\end_inset - - are to interpreted as quantities in the body frame. - How can we achieve a constant angular velocity/constant acceleration operation - with this representation? For an infinitesimal interval -\begin_inset Formula $\delta$ -\end_inset - -, we expect the result to be -\begin_inset Formula -\[ -\left[\begin{array}{ccc} -R+R\hat{\omega}\delta & & p+v\delta\\ - & R+R\hat{\omega}\delta & v+Ra\delta\\ - & & 1 -\end{array}\right] -\] - -\end_inset - -This can NOT be achieved by -\begin_inset Formula -\[ -\left[\begin{array}{ccc} -R & & p\\ - & R & v\\ - & & 1 -\end{array}\right]\left[\begin{array}{ccc} -I+\hat{\omega}\delta & \delta & 0\\ - & I+\hat{\omega}\delta & a\delta\\ - & & 1 -\end{array}\right] -\] - -\end_inset - -because it is not closed. - Hence, the exponential map as defined below does not really do it for us -\begin_inset Formula -\[ -\left[\begin{array}{ccc} -R & & p\\ - & R & v\\ - & & 1 -\end{array}\right]=\lim_{n\rightarrow\infty}\left(I+\left[\begin{array}{ccc} -\hat{\omega} & & v^{b}\\ - & \hat{\omega} & a\\ - & & 1 -\end{array}\right]\frac{\Delta t}{n}\right)^{n}=\left[\begin{array}{ccc} -R+R\hat{\omega}\delta & & p+v\delta\\ - & R+R\hat{\omega}\delta & v+Ra\delta\\ - & & 1 -\end{array}\right] -\] - -\end_inset - - -\end_layout - -\end_inset - - -\end_layout - -\begin_layout Standard -For a quadrotor, forces induced by wind effects and drag are arguably better - approximated over short intervals as constant in the navigation frame. -\end_layout - -\begin_layout Standard -Let us examine what we obtain using a constant angular velocity in the body, - but with a zero-order hold on acceleration in the navigation frame instead. - While -\begin_inset Formula $a$ -\end_inset - - is still measured in the body frame, we rotate it once by -\begin_inset Formula $R_{0}$ -\end_inset - - at -\begin_inset Formula $t=0$ -\end_inset - -, and we obtain a much simplified picture: -\begin_inset Formula -\begin{eqnarray*} -R(t) & = & R_{0}\exp\hat{\omega}t\\ -v(t) & = & v_{0}+\left(g+R_{0}a\right)t -\end{eqnarray*} - -\end_inset - -Plugging this into position now yields a much simpler equation, as well: -\begin_inset Formula -\begin{eqnarray*} -p(t) & = & p_{0}+v_{0}t+\left(g+R_{0}a\right)\frac{t^{2}}{2} -\end{eqnarray*} - -\end_inset - - -\end_layout - -\begin_layout Standard -The goal of the IMU factor is to integrate IMU measurements between two - successive frames and create a binary factor between two NavStates. - Integrating successive gyro and accelerometer readings using the above - equations over each constant interval yields -\begin_inset Formula -\begin{eqnarray} -R_{k+1} & = & R_{k}\exp\hat{\omega}_{k}\Delta t_{k}\label{eq:iter_Rk}\\ -p_{k+1} & = & p_{k}+v_{k}\Delta t_{k}+\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}=p_{k}+\frac{v_{k}+v_{k+1}}{2}\Delta t_{k}\nonumber \\ -v_{k+1} & = & v_{k}+(g+R_{k}a_{k})\Delta t_{k}\nonumber -\end{eqnarray} - -\end_inset - -Starting -\begin_inset Formula $X_{i}=(R_{i},p_{i},v_{i})$ -\end_inset - -, we then obtain an expression for -\begin_inset Formula $X_{j}$ -\end_inset - -, -\begin_inset Formula -\begin{eqnarray*} -R_{j} & = & R_{i}\prod_{k}\exp\hat{\omega}_{k}\Delta t_{k}\\ -p_{j} & = & p_{i}+\sum_{k}v_{k}\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2}\\ -v_{j} & = & v_{i}+\sum_{k}(g+R_{k}a_{k})\Delta t_{k} -\end{eqnarray*} - -\end_inset - -where -\begin_inset Formula $R_{k}$ -\end_inset - - has to be updated as in -\begin_inset CommandInset ref -LatexCommand formatted -reference "eq:iter_Rk" - -\end_inset - -. - Note that -\begin_inset Formula -\[ -v_{k}=v_{i}+\sum_{l}(g+R_{l}a_{l})\Delta t_{l} -\] - -\end_inset - -and hence -\begin_inset Formula -\[ -p_{j}=p_{i}+\sum_{k}\left(v_{i}+\sum_{l}(g+R_{l}a_{l})\Delta t_{l}\right)\Delta t_{k}+\sum_{k}\left(g+R_{k}a_{k}\right)\frac{\left(\Delta t_{k}\right)^{2}}{2} -\] - -\end_inset - - -\end_layout - -\begin_layout Standard -[Is there not a 3/2 power here as in the RSS paper?] -\end_layout - -\begin_layout Standard -A crucial problem here is that we depend on a good estimate of -\begin_inset Formula $R_{k}$ -\end_inset - - at all times, which includes the potentially wrong estimate for the initial - attitude -\begin_inset Formula $R_{i}$ -\end_inset - -. - -\end_layout - -\begin_layout Standard -The idea behind the preintegrated IMU factor is two-fold: (a) treat gravity - separately, in the navigation frame, and (b) instead of integrating in - absolute coordinates, we want the IMU integration to happen in the frame - -\begin_inset Formula $(R_{i},p_{i},v_{i})$ -\end_inset - -. - The first idea is easily incorporated by separating out all gravity-related - components: -\begin_inset Formula -\begin{eqnarray*} -p_{j} & = & p_{i}+\sum_{k}\left(\sum_{l}g\Delta t_{l}\right)\Delta t_{k}+\sum_{k}\left(v_{i}+\sum_{l}R_{l}a_{l}\Delta t_{l}\right)\Delta t_{k}+\sum_{k}g\frac{\left(\Delta t_{k}\right)^{2}}{2}+\sum_{k}R_{k}a_{k}\frac{\left(\Delta t_{k}\right)^{2}}{2}\\ -v_{j} & = & v_{i}+g\sum_{k}\Delta t_{k}+\sum_{k}R_{k}a_{k}\Delta t_{k} -\end{eqnarray*} - -\end_inset - - -\end_layout - -\begin_layout Standard -The binary factor is set up as a prediction: -\begin_inset Formula -\[ -X_{j}\approx X_{i}\oplus dX_{ij} -\] - -\end_inset - -where -\begin_inset Formula $dX_{ij}$ -\end_inset - - is a tangent vector in the tangent space -\begin_inset Formula $T_{i}$ -\end_inset - - to the manifold at -\begin_inset Formula $X_{i}$ -\end_inset - -. - \end_layout \begin_layout Standard From 3c1ddd7a3fea0027e752eb87495bb3ea25e9c366 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 19:22:14 -0800 Subject: [PATCH 835/964] Inlined skewSymmetric --- gtsam/base/Matrix.cpp | 9 --------- gtsam/base/Matrix.h | 12 +++++++++--- 2 files changed, 9 insertions(+), 12 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 3cafdd0ba..c6af89486 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -580,15 +580,6 @@ Matrix vector_scale(const Matrix& A, const Vector& v, bool inf_mask) { return M; } -/* ************************************************************************* */ -Matrix3 skewSymmetric(double wx, double wy, double wz) -{ - return (Matrix3() << - 0.0, -wz, +wy, - +wz, 0.0, -wx, - -wy, +wx, 0.0).finished(); -} - /* ************************************************************************* */ Matrix LLt(const Matrix& A) { diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 41ffa27b5..e2b40b02b 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -477,9 +477,15 @@ GTSAM_EXPORT Matrix vector_scale(const Matrix& A, const Vector& v, bool inf_mask * @param wz * @return a 3*3 skew symmetric matrix */ -GTSAM_EXPORT Matrix3 skewSymmetric(double wx, double wy, double wz); -template -inline Matrix3 skewSymmetric(const Eigen::MatrixBase& w) { return skewSymmetric(w(0),w(1),w(2));} + +inline Matrix3 skewSymmetric(double wx, double wy, double wz) { + return (Matrix3() << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0).finished(); +} + +template +inline Matrix3 skewSymmetric(const Eigen::MatrixBase& w) { + return skewSymmetric(w(0), w(1), w(2)); +} /** Use Cholesky to calculate inverse square root of a matrix */ GTSAM_EXPORT Matrix inverse_square_root(const Matrix& A); From c1b2e9d72654b8b7800dd8ad0c905772f5008104 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 19:22:49 -0800 Subject: [PATCH 836/964] Optmized ExpmapDerivative --- gtsam/geometry/SO3.cpp | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index af5803cb7..a417164e4 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -133,9 +133,9 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { using std::cos; using std::sin; - double theta2 = omega.dot(omega); + const double theta2 = omega.dot(omega); if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; - double theta = std::sqrt(theta2); // rotation angle + const double theta = std::sqrt(theta2); // rotation angle #ifdef DUY_VERSION /// Follow Iserles05an, B10, pg 147, with a sign change in the second term (left version) Matrix3 X = skewSymmetric(omega); @@ -154,9 +154,15 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { * a perturbation on the manifold (expmap(Jr * omega)) */ // element of Lie algebra so(3): X = omega^, normalized by normx - const Matrix3 Y = skewSymmetric(omega) / theta; - return I_3x3 - ((1 - cos(theta)) / (theta)) * Y - + (1 - sin(theta) / theta) * Y * Y; // right Jacobian + const double wx = omega.x(), wy = omega.y(), wz = omega.z(); + Matrix3 Y; + Y << 0.0, -wz, +wy, + +wz, 0.0, -wx, + -wy, +wx, 0.0; + const double s2 = sin(theta / 2.0); + const double a = (2.0 * s2 * s2 / theta2); + const double b = (1.0 - sin(theta) / theta) / theta2; + return I_3x3 - a * Y + b * Y * Y; #endif } From a0f32f6d1421f854d044ece939181243e9c346af Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 17 Jan 2016 19:23:18 -0800 Subject: [PATCH 837/964] Got rid of dynamic Matrix in rotate --- gtsam/geometry/Rot3Q.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index b255b082d..2497f6806 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -27,14 +27,12 @@ using namespace std; namespace gtsam { - static const Matrix I3 = eye(3); - /* ************************************************************************* */ Rot3::Rot3() : quaternion_(Quaternion::Identity()) {} /* ************************************************************************* */ Rot3::Rot3(const Point3& col1, const Point3& col2, const Point3& col3) : - quaternion_((Eigen::Matrix3d() << + quaternion_((Matrix3() << col1.x(), col2.x(), col3.x(), col1.y(), col2.y(), col3.y(), col1.z(), col2.z(), col3.z()).finished()) {} @@ -43,7 +41,7 @@ namespace gtsam { Rot3::Rot3(double R11, double R12, double R13, double R21, double R22, double R23, double R31, double R32, double R33) : - quaternion_((Eigen::Matrix3d() << + quaternion_((Matrix3() << R11, R12, R13, R21, R22, R23, R31, R32, R33).finished()) {} @@ -91,10 +89,10 @@ namespace gtsam { /* ************************************************************************* */ Point3 Rot3::rotate(const Point3& p, OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const { - Matrix R = matrix(); + const Matrix3 R = matrix(); if (H1) *H1 = R * skewSymmetric(-p.x(), -p.y(), -p.z()); if (H2) *H2 = R; - Eigen::Vector3d r = R * p.vector(); + const Vector3 r = R * p.vector(); return Point3(r.x(), r.y(), r.z()); } From c20bacf025485301117791311a63b6195d9d954c Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 17 Jan 2016 21:31:29 -0800 Subject: [PATCH 838/964] Fixed equals --- gtsam/navigation/ImuFactor.cpp | 20 ++-- gtsam/navigation/ImuFactor.h | 4 +- gtsam/navigation/PreintegratedRotation.cpp | 34 ++++-- gtsam/navigation/PreintegratedRotation.h | 2 +- gtsam/navigation/PreintegrationBase.cpp | 99 ++++++++++------- gtsam/navigation/PreintegrationBase.h | 2 + gtsam/navigation/tests/testImuFactor.cpp | 120 +++++++++++---------- 7 files changed, 167 insertions(+), 114 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 673706d58..692154c9d 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -73,8 +73,8 @@ void PreintegratedImuMeasurements::integrateMeasurement( G << G1, Gi, G2; Matrix9 Cov; Cov << p().accelerometerCovariance / dt, Z_3x3, Z_3x3, - Z_3x3, p().integrationCovariance * dt, Z_3x3, - Z_3x3, Z_3x3, p().gyroscopeCovariance / dt; + Z_3x3, p().integrationCovariance * dt, Z_3x3, + Z_3x3, Z_3x3, p().gyroscopeCovariance / dt; preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G * Cov * G.transpose(); #else preintMeasCov_ = F * preintMeasCov_ * F.transpose() @@ -91,7 +91,7 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration) { if (!use2ndOrderIntegration) - throw("PreintegratedImuMeasurements no longer supports first-order integration: it incorrectly compensated for gravity"); + throw("PreintegratedImuMeasurements no longer supports first-order integration: it incorrectly compensated for gravity"); biasHat_ = biasHat; boost::shared_ptr p = Params::MakeSharedD(); p->gyroscopeCovariance = measuredOmegaCovariance; @@ -141,8 +141,9 @@ void ImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const { //------------------------------------------------------------------------------ bool ImuFactor::equals(const NonlinearFactor& other, double tol) const { const This *e = dynamic_cast(&other); - return e != NULL && Base::equals(*e, tol) && _PIM_.equals(e->_PIM_, tol) - && Base::equals(*e, tol); + const bool base = Base::equals(*e, tol); + const bool pim = _PIM_.equals(e->_PIM_, tol); + return e != nullptr && base && pim; } //------------------------------------------------------------------------------ @@ -161,10 +162,10 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, const bool use2ndOrderCoriolis) : - Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, - pose_j, vel_j, bias), _PIM_(pim) { +Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, + pose_j, vel_j, bias), _PIM_(pim) { boost::shared_ptr p = boost::make_shared< - PreintegratedImuMeasurements::Params>(pim.p()); + PreintegratedImuMeasurements::Params>(pim.p()); p->n_gravity = n_gravity; p->omegaCoriolis = omegaCoriolis; p->body_P_sensor = body_P_sensor; @@ -185,4 +186,5 @@ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, #endif //------------------------------------------------------------------------------ -} // namespace gtsam +} + // namespace gtsam diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 97756b0b9..f52d95b26 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -71,7 +71,9 @@ protected: ///< (first-order propagation from *measurementCovariance*). /// Default constructor for serialization - PreintegratedImuMeasurements() {} + PreintegratedImuMeasurements() { + preintMeasCov_.setZero(); + } public: diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp index 9d623bf38..df38df0b8 100644 --- a/gtsam/navigation/PreintegratedRotation.cpp +++ b/gtsam/navigation/PreintegratedRotation.cpp @@ -29,12 +29,26 @@ void PreintegratedRotation::Params::print(const string& s) const { cout << s << endl; cout << "gyroscopeCovariance:\n[\n" << gyroscopeCovariance << "\n]" << endl; if (omegaCoriolis) - cout << "omegaCoriolis = (" << omegaCoriolis->transpose() << ")" - << endl; + cout << "omegaCoriolis = (" << omegaCoriolis->transpose() << ")" << endl; if (body_P_sensor) body_P_sensor->print("body_P_sensor"); } +bool PreintegratedRotation::Params::equals( + const PreintegratedRotation::Params& other, double tol) const { + if (body_P_sensor) { + if (!other.body_P_sensor + || !assert_equal(*body_P_sensor, *other.body_P_sensor, tol)) + return false; + } + if (omegaCoriolis) { + if (!other.omegaCoriolis + || !equal_with_abs_tol(*omegaCoriolis, *other.omegaCoriolis, tol)) + return false; + } + return equal_with_abs_tol(gyroscopeCovariance, other.gyroscopeCovariance, tol); +} + void PreintegratedRotation::resetIntegration() { deltaTij_ = 0.0; deltaRij_ = Rot3(); @@ -49,8 +63,7 @@ void PreintegratedRotation::print(const string& s) const { bool PreintegratedRotation::equals(const PreintegratedRotation& other, double tol) const { - return this->matchesParamsWith(other) - && deltaRij_.equals(other.deltaRij_, tol) + return p_->equals(*other.p_,tol) && deltaRij_.equals(other.deltaRij_, tol) && fabs(deltaTij_ - other.deltaTij_) < tol && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol); } @@ -76,11 +89,13 @@ Rot3 PreintegratedRotation::incrementalRotation(const Vector3& measuredOmega, return Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! } -void PreintegratedRotation::integrateMeasurement( - const Vector3& measuredOmega, const Vector3& biasHat, double deltaT, - OptionalJacobian<3, 3> optional_D_incrR_integratedOmega, OptionalJacobian<3, 3> F) { +void PreintegratedRotation::integrateMeasurement(const Vector3& measuredOmega, + const Vector3& biasHat, double deltaT, + OptionalJacobian<3, 3> optional_D_incrR_integratedOmega, + OptionalJacobian<3, 3> F) { Matrix3 D_incrR_integratedOmega; - const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT, D_incrR_integratedOmega); + const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT, + D_incrR_integratedOmega); // If asked, pass first derivative as well if (optional_D_incrR_integratedOmega) { @@ -93,7 +108,8 @@ void PreintegratedRotation::integrateMeasurement( // Update Jacobian const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_incrR_integratedOmega * deltaT; + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ + - D_incrR_integratedOmega * deltaT; } Rot3 PreintegratedRotation::biascorrectedDeltaRij(const Vector3& biasOmegaIncr, diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index afedaaa89..b170ea863 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -43,6 +43,7 @@ class PreintegratedRotation { Params() : gyroscopeCovariance(I_3x3) {} virtual void print(const std::string& s) const; + virtual bool equals(const Params& other, double tol=1e-9) const; private: /** Serialization function */ @@ -53,7 +54,6 @@ class PreintegratedRotation { ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size())); ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); ar & BOOST_SERIALIZATION_NVP(body_P_sensor); - ar& BOOST_SERIALIZATION_NVP(body_P_sensor); } }; diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 2372b2ee2..626dcdf70 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -31,7 +31,7 @@ void PreintegrationBase::Params::print(const string& s) const { PreintegratedRotation::Params::print(s); cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]" << endl; - cout << "integrationCovariance:\n[\n" << accelerometerCovariance << "\n]" + cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]" << endl; if (omegaCoriolis && use2ndOrderCoriolis) cout << "Using 2nd-order Coriolis" << endl; @@ -40,6 +40,18 @@ void PreintegrationBase::Params::print(const string& s) const { cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl; } +//------------------------------------------------------------------------------ +bool PreintegrationBase::Params::equals( + const PreintegratedRotation::Params& other, double tol) const { + auto e = dynamic_cast(&other); + return e != nullptr && PreintegratedRotation::Params::equals(other, tol) + && use2ndOrderCoriolis == e->use2ndOrderCoriolis + && equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance, + tol) + && equal_with_abs_tol(integrationCovariance, e->integrationCovariance, + tol) && equal_with_abs_tol(n_gravity, e->n_gravity, tol); +} + //------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; @@ -64,8 +76,8 @@ void PreintegrationBase::print(const string& s) const { //------------------------------------------------------------------------------ bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { - return this->matchesParamsWith(other) - && fabs(deltaTij_ - other.deltaTij_) < tol + const bool params_match = p_->equals(*other.p_, tol); + return params_match && fabs(deltaTij_ - other.deltaTij_) < tol && deltaXij_.equals(other.deltaXij_, tol) && biasHat_.equals(other.biasHat_, tol) && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol) @@ -82,13 +94,13 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos OptionalJacobian<3, 3> D_correctedAcc_measuredOmega, OptionalJacobian<3, 3> D_correctedOmega_measuredOmega) const { - // Correct for bias in the sensor frame +// Correct for bias in the sensor frame Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); Vector3 j_correctedOmega = biasHat_.correctGyroscope(j_measuredOmega); - // Compensate for sensor-body displacement if needed: we express the quantities - // (originally in the IMU frame) into the body frame - // Equations below assume the "body" frame is the CG +// Compensate for sensor-body displacement if needed: we express the quantities +// (originally in the IMU frame) into the body frame +// Equations below assume the "body" frame is the CG if (p().body_P_sensor) { // Correct omega to rotation rate vector in the body frame const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); @@ -98,9 +110,12 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos j_correctedAcc = bRs * j_correctedAcc; // Jacobians - if (D_correctedAcc_measuredAcc) *D_correctedAcc_measuredAcc = bRs; - if (D_correctedAcc_measuredOmega) *D_correctedAcc_measuredOmega = Matrix3::Zero(); - if (D_correctedOmega_measuredOmega) *D_correctedOmega_measuredOmega = bRs; + if (D_correctedAcc_measuredAcc) + *D_correctedAcc_measuredAcc = bRs; + if (D_correctedAcc_measuredOmega) + *D_correctedAcc_measuredOmega = Matrix3::Zero(); + if (D_correctedOmega_measuredOmega) + *D_correctedOmega_measuredOmega = bRs; // Centrifugal acceleration const Vector3 b_arm = p().body_P_sensor->translation().vector(); @@ -120,7 +135,7 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos } } - // Do update in one fell swoop +// Do update in one fell swoop return make_pair(j_correctedAcc, j_correctedOmega); } @@ -135,22 +150,27 @@ NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, Matrix3 D_correctedAcc_measuredAcc, // D_correctedAcc_measuredOmega, // D_correctedOmega_measuredOmega; - bool needDerivs = D_updated_measuredAcc && D_updated_measuredOmega && p().body_P_sensor; + bool needDerivs = D_updated_measuredAcc && D_updated_measuredOmega + && p().body_P_sensor; boost::tie(j_correctedAcc, j_correctedOmega) = correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega, (needDerivs ? &D_correctedAcc_measuredAcc : 0), (needDerivs ? &D_correctedAcc_measuredOmega : 0), (needDerivs ? &D_correctedOmega_measuredOmega : 0)); - // Do update in one fell swoop +// Do update in one fell swoop Matrix93 D_updated_correctedAcc, D_updated_correctedOmega; - NavState updated = deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, D_updated_current, - (needDerivs ? D_updated_correctedAcc : D_updated_measuredAcc), - (needDerivs ? D_updated_correctedOmega : D_updated_measuredOmega)); + NavState updated = deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, + D_updated_current, + (needDerivs ? D_updated_correctedAcc : D_updated_measuredAcc), + (needDerivs ? D_updated_correctedOmega : D_updated_measuredOmega)); if (needDerivs) { - *D_updated_measuredAcc = D_updated_correctedAcc * D_correctedAcc_measuredAcc; - *D_updated_measuredOmega = D_updated_correctedOmega * D_correctedOmega_measuredOmega; + *D_updated_measuredAcc = D_updated_correctedAcc + * D_correctedAcc_measuredAcc; + *D_updated_measuredOmega = D_updated_correctedOmega + * D_correctedOmega_measuredOmega; if (!p().body_P_sensor->translation().vector().isZero()) { - *D_updated_measuredOmega += D_updated_correctedAcc * D_correctedAcc_measuredOmega; + *D_updated_measuredOmega += D_updated_correctedAcc + * D_correctedAcc_measuredOmega; } } return updated; @@ -162,16 +182,16 @@ void PreintegrationBase::update(const Vector3& j_measuredAcc, Matrix3* D_incrR_integratedOmega, Matrix9* D_updated_current, Matrix93* D_updated_measuredAcc, Matrix93* D_updated_measuredOmega) { - // Save current rotation for updating Jacobians +// Save current rotation for updating Jacobians const Rot3 oldRij = deltaXij_.attitude(); - // Do update +// Do update deltaTij_ += dt; deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt, D_updated_current, D_updated_measuredAcc, D_updated_measuredOmega); // functional - // Update Jacobians - // TODO(frank): we are repeating some computation here: accessible in F ? +// Update Jacobians +// TODO(frank): we are repeating some computation here: accessible in F ? Vector3 j_correctedAcc, j_correctedOmega; boost::tie(j_correctedAcc, j_correctedOmega) = correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega); @@ -197,7 +217,7 @@ void PreintegrationBase::update(const Vector3& j_measuredAcc, //------------------------------------------------------------------------------ Vector9 PreintegrationBase::biasCorrectedDelta( const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H) const { - // Correct deltaRij, derivative is delRdelBiasOmega_ +// Correct deltaRij, derivative is delRdelBiasOmega_ const imuBias::ConstantBias biasIncr = bias_i - biasHat_; Matrix3 D_correctedRij_bias; const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasIncr.gyroscope(); @@ -208,8 +228,8 @@ Vector9 PreintegrationBase::biasCorrectedDelta( Vector9 xi; Matrix3 D_dR_correctedRij; - // TODO(frank): could line below be simplified? It is equivalent to - // LogMap(deltaRij_.compose(Expmap(biasInducedOmega))) +// TODO(frank): could line below be simplified? It is equivalent to +// LogMap(deltaRij_.compose(Expmap(biasInducedOmega))) NavState::dR(xi) = Rot3::Logmap(correctedRij, H ? &D_dR_correctedRij : 0); NavState::dP(xi) = deltaPij() + delPdelBiasAcc_ * biasIncr.accelerometer() + delPdelBiasOmega_ * biasIncr.gyroscope(); @@ -230,18 +250,18 @@ Vector9 PreintegrationBase::biasCorrectedDelta( NavState PreintegrationBase::predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { - // correct for bias +// correct for bias Matrix96 D_biasCorrected_bias; Vector9 biasCorrected = biasCorrectedDelta(bias_i, H2 ? &D_biasCorrected_bias : 0); - // integrate on tangent space +// integrate on tangent space Matrix9 D_delta_state, D_delta_biasCorrected; Vector9 xi = state_i.correctPIM(biasCorrected, deltaTij_, p().n_gravity, p().omegaCoriolis, p().use2ndOrderCoriolis, H1 ? &D_delta_state : 0, H2 ? &D_delta_biasCorrected : 0); - // Use retract to get back to NavState manifold +// Use retract to get back to NavState manifold Matrix9 D_predict_state, D_predict_delta; NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta); if (H1) @@ -258,12 +278,12 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, OptionalJacobian<9, 3> H2, OptionalJacobian<9, 6> H3, OptionalJacobian<9, 3> H4, OptionalJacobian<9, 6> H5) const { - // Note that derivative of constructors below is not identity for velocity, but - // a 9*3 matrix == Z_3x3, Z_3x3, state.R().transpose() +// Note that derivative of constructors below is not identity for velocity, but +// a 9*3 matrix == Z_3x3, Z_3x3, state.R().transpose() NavState state_i(pose_i, vel_i); NavState state_j(pose_j, vel_j); - /// Predict state at time j +/// Predict state at time j Matrix99 D_predict_state_i; Matrix96 D_predict_bias_i; NavState predictedState_j = predict(state_i, bias_i, @@ -273,11 +293,11 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, Vector9 error = state_j.localCoordinates(predictedState_j, H3 || H4 ? &D_error_state_j : 0, H1 || H2 || H5 ? &D_error_predict : 0); - // Separate out derivatives in terms of 5 arguments - // Note that doing so requires special treatment of velocities, as when treated as - // separate variables the retract applied will not be the semi-direct product in NavState - // Instead, the velocities in nav are updated using a straight addition - // This is difference is accounted for by the R().transpose calls below +// Separate out derivatives in terms of 5 arguments +// Note that doing so requires special treatment of velocities, as when treated as +// separate variables the retract applied will not be the semi-direct product in NavState +// Instead, the velocities in nav are updated using a straight addition +// This is difference is accounted for by the R().transpose calls below if (H1) *H1 << D_error_predict * D_predict_state_i.leftCols<6>(); if (H2) @@ -300,7 +320,7 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis) const { - // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility +// NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility boost::shared_ptr q = boost::make_shared(p()); q->n_gravity = n_gravity; q->omegaCoriolis = omegaCoriolis; @@ -311,4 +331,5 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, #endif //------------------------------------------------------------------------------ -}/// namespace gtsam +} + /// namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 74f22f8d5..f5e8c7183 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -83,6 +83,7 @@ public: } void print(const std::string& s) const; + bool equals(const PreintegratedRotation::Params& other, double tol) const; protected: /// Default constructor for serialization only: uninitialized! @@ -132,6 +133,7 @@ protected: /// Default constructor for serialization PreintegrationBase() { + resetIntegration(); } public: diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 6d7c84e54..a92d0737f 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -65,12 +65,12 @@ static const double kAccelerometerSigma = 0.1; static boost::shared_ptr defaultParams() { auto p = PreintegratedImuMeasurements::Params::MakeSharedD(kGravity); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; - p->accelerometerCovariance = kAccelerometerSigma * kAccelerometerSigma * I_3x3; + p->accelerometerCovariance = kAccelerometerSigma * kAccelerometerSigma + * I_3x3; p->integrationCovariance = 0.0001 * I_3x3; return p; } - // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ @@ -123,7 +123,7 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { /* ************************************************************************* */ TEST(ImuFactor, Accelerating) { - const double a = 0.2, v=50; + const double a = 0.2, v = 50; // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X // The body itself has Z axis pointing down @@ -132,9 +132,9 @@ TEST(ImuFactor, Accelerating) { const Vector3 initial_velocity(v, 0, 0); const AcceleratingScenario scenario(nRb, initial_position, initial_velocity, - Vector3(a, 0, 0)); + Vector3(a, 0, 0)); - const double T = 3.0; // seconds + const double T = 3.0; // seconds ScenarioRunner runner(&scenario, defaultParams(), T / 10); PreintegratedImuMeasurements pim = runner.integrate(T); @@ -144,17 +144,20 @@ TEST(ImuFactor, Accelerating) { EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); // Check G1 and G2 derivatives of pim.update - Matrix93 aG1,aG2; - boost::function f = - boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10, - boost::none, boost::none, boost::none); + Matrix93 aG1, aG2; + boost::function f = boost::bind( + &PreintegrationBase::updatedDeltaXij, pim, _1, _2, T / 10, boost::none, + boost::none, boost::none); const Vector3 measuredAcc = runner.actualSpecificForce(T); const Vector3 measuredOmega = runner.actualAngularVelocity(T); - pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2); - EXPECT(assert_equal( - numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7)); - EXPECT(assert_equal( - numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7)); + pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, + aG2); + EXPECT( + assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), + aG1, 1e-7)); + EXPECT( + assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), + aG2, 1e-7)); } /* ************************************************************************* */ @@ -268,7 +271,8 @@ TEST(ImuFactor, ErrorAndJacobians) { Vector expectedError(9); expectedError << 0, 0, 0, 0, 0, 0, 0, 0, 0; EXPECT( - assert_equal(expectedError, factor.evaluateError(x1, v1, x2, v2, kZeroBias))); + assert_equal(expectedError, + factor.evaluateError(x1, v1, x2, v2, kZeroBias))); Values values; values.insert(X(1), x1); @@ -284,16 +288,19 @@ TEST(ImuFactor, ErrorAndJacobians) { // Actual Jacobians Matrix H1a, H2a, H3a, H4a, H5a; - (void) factor.evaluateError(x1, v1, x2, v2, kZeroBias, H1a, H2a, H3a, H4a, H5a); + (void) factor.evaluateError(x1, v1, x2, v2, kZeroBias, H1a, H2a, H3a, H4a, + H5a); // Make sure rotation part is correct when error is interpreted as axis-angle // Jacobians are around zero, so the rotation part is the same as: Matrix H1Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, kZeroBias), x1); + boost::bind(&evaluateRotationError, factor, _1, v1, x2, v2, kZeroBias), + x1); EXPECT(assert_equal(H1Rot3, H1a.topRows(3))); Matrix H3Rot3 = numericalDerivative11( - boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, kZeroBias), x2); + boost::bind(&evaluateRotationError, factor, x1, v1, _1, v2, kZeroBias), + x2); EXPECT(assert_equal(H3Rot3, H3a.topRows(3))); // Evaluate error with wrong values @@ -386,7 +393,6 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - bool use2ndOrderCoriolis = true; ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); Values values; @@ -533,7 +539,7 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { /* ************************************************************************* */ Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, - const Vector3& measuredAcc, const Vector3& measuredOmega) { + const Vector3& measuredAcc, const Vector3& measuredOmega) { return pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega).first; } @@ -544,15 +550,16 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { const Vector3 a = nRb * Vector3(0.2, 0.0, 0.0); const AcceleratingScenario scenario(nRb, p1, v1, a, - Vector3(0, 0, M_PI / 10.0 + 0.3)); + Vector3(0, 0, M_PI / 10.0 + 0.3)); auto p = defaultParams(); - p->body_P_sensor =Pose3(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0.05, 0.01)); + p->body_P_sensor = Pose3(Rot3::Expmap(Vector3(0, M_PI / 2, 0)), + Point3(0.1, 0.05, 0.01)); p->omegaCoriolis = kNonZeroOmegaCoriolis; imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); - const double T = 3.0; // seconds + const double T = 3.0; // seconds ScenarioRunner runner(&scenario, p, T / 10); // PreintegratedImuMeasurements pim = runner.integrate(T); @@ -575,32 +582,34 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Check updatedDeltaXij derivatives Matrix3 D_correctedAcc_measuredOmega = Matrix3::Zero(); - pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, boost::none, D_correctedAcc_measuredOmega, boost::none); - Matrix3 expectedD = numericalDerivative11(boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); + pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, + boost::none, D_correctedAcc_measuredOmega, boost::none); + Matrix3 expectedD = numericalDerivative11( + boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); Matrix93 G1, G2; double dt = 0.1; - NavState preint = pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, boost::none, G1, G2); + NavState preint = pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, + boost::none, G1, G2); // Matrix9 preintCov = G1*((accNoiseVar2/dt).asDiagonal())*G1.transpose() + G2*((omegaNoiseVar2/dt).asDiagonal())*G2.transpose(); Matrix93 expectedG1 = numericalDerivative21( boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, - dt, boost::none, boost::none, boost::none), measuredAcc, measuredOmega, - 1e-6); + dt, boost::none, boost::none, boost::none), measuredAcc, + measuredOmega, 1e-6); EXPECT(assert_equal(expectedG1, G1, 1e-5)); Matrix93 expectedG2 = numericalDerivative22( boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, - dt, boost::none, boost::none, boost::none), measuredAcc, measuredOmega, - 1e-6); + dt, boost::none, boost::none, boost::none), measuredAcc, + measuredOmega, 1e-6); EXPECT(assert_equal(expectedG2, G2, 1e-5)); imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) // EXPECT(MonteCarlo(pim, NavState(x1, initial_velocity), bias, dt, body_P_sensor, // measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 100000)); - // integrate at least twice to get position information // otherwise factor cov noise from preint_cov is not positive definite pim.integrateMeasurement(measuredAcc, measuredOmega, dt); @@ -687,10 +696,9 @@ TEST(ImuFactor, PredictArbitrary) { const Vector3 v1(0, 0, 0); const AcceleratingScenario scenario(x1.rotation(), x1.translation(), v1, - Vector3(0.1, 0.2, 0), - Vector3(M_PI / 10, M_PI / 10, M_PI / 10)); + Vector3(0.1, 0.2, 0), Vector3(M_PI / 10, M_PI / 10, M_PI / 10)); - const double T = 3.0; // seconds + const double T = 3.0; // seconds ScenarioRunner runner(&scenario, defaultParams(), T / 10); // // PreintegratedImuMeasurements pim = runner.integrate(T); @@ -707,7 +715,7 @@ TEST(ImuFactor, PredictArbitrary) { Vector3 measuredAcc = runner.actualSpecificForce(0); auto p = defaultParams(); - p->integrationCovariance = Z_3x3; // MonteCarlo does not sample integration noise + p->integrationCovariance = Z_3x3; // MonteCarlo does not sample integration noise PreintegratedImuMeasurements pim(p, biasHat); imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, @@ -724,9 +732,9 @@ TEST(ImuFactor, PredictArbitrary) { NavState actual = pim.predict(NavState(x1, v1), bias); // Regression test for Imu Refactor - Rot3 expectedR( // - +0.903715275, -0.250741668, 0.347026393, // - +0.347026393, 0.903715275, -0.250741668, // + Rot3 expectedR( // + +0.903715275, -0.250741668, 0.347026393, // + +0.347026393, 0.903715275, -0.250741668, // -0.250741668, 0.347026393, 0.903715275); Point3 expectedT(-0.516077031, 0.57842919, 0.0876478403); Vector3 expectedV(-1.62337767, 1.57954409, 0.343833571); @@ -740,7 +748,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { // Rotate sensor (z-down) to body (same as navigation) i.e. z-up auto p = defaultParams(); - p->n_gravity = Vector3(0, 0, -kGravity); // z-up nav frame + p->n_gravity = Vector3(0, 0, -kGravity); // z-up nav frame p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3(0, 0, 0)); // Measurements @@ -836,8 +844,8 @@ TEST(ImuFactor, bodyPSensorWithBias) { // Now add IMU factors and bias noise models Bias zeroBias(Vector3(0, 0, 0), Vector3(0, 0, 0)); for (int i = 1; i < numFactors; i++) { - PreintegratedImuMeasurements pim = - PreintegratedImuMeasurements(p, priorBias); + PreintegratedImuMeasurements pim = PreintegratedImuMeasurements(p, + priorBias); for (int j = 0; j < 200; ++j) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -862,28 +870,31 @@ TEST(ImuFactor, bodyPSensorWithBias) { /* ************************************************************************** */ #include -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, + "gtsam_noiseModel_Constrained"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, + "gtsam_noiseModel_Diagonal"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, + "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, + "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; - Vector3 n_gravity(0, 0, -9.81); - Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3()); - Matrix3 accCov = 1e-7 * I_3x3; - Matrix3 gyroCov = 1e-8 * I_3x3; - Matrix3 integrationCov = 1e-9 * I_3x3; + auto p = defaultParams(); + p->n_gravity = Vector3(0, 0, -9.81); + p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3()); + p->accelerometerCovariance = 1e-7 * I_3x3; + p->gyroscopeCovariance = 1e-8 * I_3x3; + p->integrationCovariance = 1e-9 * I_3x3; double deltaT = 0.005; imuBias::ConstantBias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) - ImuFactor::PreintegratedMeasurements pim = - ImuFactor::PreintegratedMeasurements(priorBias, accCov, gyroCov, - integrationCov, true); + PreintegratedImuMeasurements pim(p, priorBias); // measurements are needed for non-inf noise model, otherwise will throw err when deserialize @@ -895,8 +906,7 @@ TEST(ImuFactor, serialization) { Vector3 measuredAcc(0, 0, -9.81); for (int j = 0; j < 200; ++j) - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, - body_P_sensor); + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); From 5e352d15ec525c10d6bfbdff5ae9ad5818ac9784 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 17 Jan 2016 21:58:51 -0800 Subject: [PATCH 839/964] Fixed test --- gtsam/navigation/tests/testImuFactor.cpp | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 473cc9365..58552e213 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -142,22 +142,6 @@ TEST(ImuFactor, Accelerating) { Matrix9 estimatedCov = runner.estimateCovariance(T); EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); - - // Check G1 and G2 derivatives of pim.update - Matrix93 aG1, aG2; - boost::function f = boost::bind( - &PreintegrationBase::updatedDeltaXij, pim, _1, _2, T / 10, boost::none, - boost::none, boost::none); - const Vector3 measuredAcc = runner.actualSpecificForce(T); - const Vector3 measuredOmega = runner.actualAngularVelocity(T); - pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, - aG2); - EXPECT( - assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), - aG1, 1e-7)); - EXPECT( - assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), - aG2, 1e-7)); } /* ************************************************************************* */ From e6b9c6fc954df3796e6cac4af9425ba10d343894 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 17 Jan 2016 23:39:43 -0800 Subject: [PATCH 840/964] Tiny typo, lots of mallocs! --- gtsam/geometry/Rot3.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index e548f8eea..d8b8a4682 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -310,7 +310,7 @@ namespace gtsam { * Exponential map at identity - create a rotation from canonical coordinates * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula */ - static Rot3 Expmap(const Vector& v, OptionalJacobian<3,3> H = boost::none) { + static Rot3 Expmap(const Vector3& v, OptionalJacobian<3,3> H = boost::none) { if(H) *H = Rot3::ExpmapDerivative(v); #ifdef GTSAM_USE_QUATERNIONS return traits::Expmap(v); From e64fc532e3f06a1090a17aa93bdc34691de6c54d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 18 Jan 2016 00:24:17 -0800 Subject: [PATCH 841/964] Removed debug code --- gtsam/navigation/AggregateImuReadings.cpp | 9 +-------- gtsam/navigation/AggregateImuReadings.h | 2 -- gtsam/navigation/ScenarioRunner.cpp | 4 ---- 3 files changed, 1 insertion(+), 14 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index cb6533ca9..9830299dc 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -103,7 +103,6 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, const Matrix3& aCov = p_->accelerometerCovariance; const Matrix3& wCov = p_->gyroscopeCovariance; - // TODO(frank): use Eigen-tricks for symmetric matrices cov_ = A * cov_ * A.transpose(); cov_.noalias() += B * (aCov / dt) * B.transpose(); cov_.noalias() += C * (wCov / dt) * C.transpose(); @@ -118,20 +117,17 @@ NavState AggregateImuReadings::predict(const NavState& state_i, using namespace sugar; Vector9 zeta = zeta_; -// Correct for initial velocity and gravity -#if 1 + // Correct for initial velocity and gravity Rot3 Ri = state_i.attitude(); Matrix3 Rit = Ri.transpose(); Vector3 gt = deltaTij_ * p_->n_gravity; dP(zeta) += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); dV(zeta) += Rit * gt; -#endif return state_i.retract(zeta); } SharedGaussian AggregateImuReadings::noiseModel() const { -#ifndef LOCALCOORDINATES_ONLY // Correct for application of retract, by calculating the retract derivative H // From NavState::retract: Matrix3 D_R_theta; @@ -144,9 +140,6 @@ SharedGaussian AggregateImuReadings::noiseModel() const { // TODO(frank): theta() itself is noisy, so should we not correct for that? Matrix9 HcH = H * cov_ * H.transpose(); return noiseModel::Gaussian::Covariance(HcH, false); -#else - return noiseModel::Gaussian::Covariance(cov_, false); -#endif } Matrix9 AggregateImuReadings::preintMeasCov() const { diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 82c6cbdf0..7cc8fab95 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -20,8 +20,6 @@ #include #include -#define LOCALCOORDINATES_ONLY - namespace gtsam { /** diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 57f02f200..379bdf772 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -65,12 +65,8 @@ Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N, Vector9 sum = Vector9::Zero(); for (size_t i = 0; i < N; i++) { auto pim = integrate(T, estimatedBias, true); -#ifndef LOCALCOORDINATES_ONLY NavState sampled = predict(pim); Vector9 xi = sampled.localCoordinates(prediction); -#else - Vector9 xi = pim.zeta(); -#endif samples.col(i) = xi; sum += xi; } From ba13d743630ee50cf68f8cdf5864968a5543a763 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 19 Jan 2016 09:56:36 -0800 Subject: [PATCH 842/964] Delete 3dparty numpy C-api --- .../include/numpy/__multiarray_api.h | 1721 ------------ .../numpy_c_api/include/numpy/__ufunc_api.h | 328 --- .../numpy/_neighborhood_iterator_imp.h | 90 - .../numpy_c_api/include/numpy/_numpyconfig.h | 32 - .../numpy_c_api/include/numpy/arrayobject.h | 11 - .../numpy_c_api/include/numpy/arrayscalars.h | 175 -- .../numpy_c_api/include/numpy/halffloat.h | 69 - .../include/numpy/multiarray_api.txt | 2430 ----------------- .../numpy_c_api/include/numpy/ndarrayobject.h | 237 -- .../numpy_c_api/include/numpy/ndarraytypes.h | 1777 ------------ .../numpy_c_api/include/numpy/noprefix.h | 209 -- .../include/numpy/npy_1_7_deprecated_api.h | 130 - .../numpy_c_api/include/numpy/npy_3kcompat.h | 502 ---- .../numpy_c_api/include/numpy/npy_common.h | 1005 ------- .../numpy_c_api/include/numpy/npy_cpu.h | 114 - .../numpy_c_api/include/numpy/npy_endian.h | 48 - .../numpy_c_api/include/numpy/npy_interrupt.h | 117 - .../numpy_c_api/include/numpy/npy_math.h | 468 ---- .../include/numpy/npy_no_deprecated_api.h | 19 - .../numpy_c_api/include/numpy/npy_os.h | 30 - .../numpy_c_api/include/numpy/numpyconfig.h | 34 - .../numpy_c_api/include/numpy/old_defines.h | 187 -- .../numpy_c_api/include/numpy/oldnumeric.h | 23 - .../numpy_c_api/include/numpy/ufunc_api.txt | 321 --- .../numpy_c_api/include/numpy/ufuncobject.h | 479 ---- .../numpy_c_api/include/numpy/utils.h | 19 - 26 files changed, 10575 deletions(-) delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h delete mode 100644 gtsam/3rdparty/numpy_c_api/include/numpy/utils.h diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h deleted file mode 100644 index bfa87d8df..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/__multiarray_api.h +++ /dev/null @@ -1,1721 +0,0 @@ - -#ifdef _MULTIARRAYMODULE - -typedef struct { - PyObject_HEAD - npy_bool obval; -} PyBoolScalarObject; - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION -extern NPY_NO_EXPORT PyTypeObject PyArrayMapIter_Type; -extern NPY_NO_EXPORT PyTypeObject PyArrayNeighborhoodIter_Type; -extern NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; -#else -NPY_NO_EXPORT PyTypeObject PyArrayMapIter_Type; -NPY_NO_EXPORT PyTypeObject PyArrayNeighborhoodIter_Type; -NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; -#endif - -NPY_NO_EXPORT unsigned int PyArray_GetNDArrayCVersion \ - (void); -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyBigArray_Type; -#else - NPY_NO_EXPORT PyTypeObject PyBigArray_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyArray_Type; -#else - NPY_NO_EXPORT PyTypeObject PyArray_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyArrayDescr_Type; -#else - NPY_NO_EXPORT PyTypeObject PyArrayDescr_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyArrayFlags_Type; -#else - NPY_NO_EXPORT PyTypeObject PyArrayFlags_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyArrayIter_Type; -#else - NPY_NO_EXPORT PyTypeObject PyArrayIter_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyArrayMultiIter_Type; -#else - NPY_NO_EXPORT PyTypeObject PyArrayMultiIter_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT int NPY_NUMUSERTYPES; -#else - NPY_NO_EXPORT int NPY_NUMUSERTYPES; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyBoolArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyBoolArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION -extern NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; -#else -NPY_NO_EXPORT PyBoolScalarObject _PyArrayScalar_BoolValues[2]; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyGenericArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyGenericArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyNumberArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyNumberArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyIntegerArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyIntegerArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PySignedIntegerArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PySignedIntegerArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyUnsignedIntegerArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyUnsignedIntegerArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyInexactArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyInexactArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyFloatingArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyFloatingArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyComplexFloatingArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyComplexFloatingArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyFlexibleArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyFlexibleArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyCharacterArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyCharacterArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyByteArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyByteArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyShortArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyShortArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyIntArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyIntArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyLongArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyLongArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyLongLongArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyLongLongArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyUByteArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyUByteArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyUShortArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyUShortArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyUIntArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyUIntArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyULongArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyULongArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyULongLongArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyULongLongArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyFloatArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyFloatArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyDoubleArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyDoubleArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyLongDoubleArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyLongDoubleArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyCFloatArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyCFloatArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyCDoubleArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyCDoubleArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyCLongDoubleArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyCLongDoubleArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyObjectArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyObjectArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyStringArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyStringArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyUnicodeArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyUnicodeArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyVoidArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyVoidArrType_Type; -#endif - -NPY_NO_EXPORT int PyArray_SetNumericOps \ - 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(PyArrayObject *, int, int, int); -NPY_NO_EXPORT PyObject * PyArray_Clip \ - (PyArrayObject *, PyObject *, PyObject *, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_Conjugate \ - (PyArrayObject *, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_Nonzero \ - (PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_Std \ - (PyArrayObject *, int, int, PyArrayObject *, int); -NPY_NO_EXPORT PyObject * PyArray_Sum \ - (PyArrayObject *, int, int, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_CumSum \ - (PyArrayObject *, int, int, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_Prod \ - (PyArrayObject *, int, int, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_CumProd \ - (PyArrayObject *, int, int, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_All \ - (PyArrayObject *, int, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_Any \ - (PyArrayObject *, int, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_Compress \ - (PyArrayObject *, PyObject *, int, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_Flatten \ - (PyArrayObject *, NPY_ORDER); -NPY_NO_EXPORT PyObject * PyArray_Ravel \ - (PyArrayObject *, NPY_ORDER); -NPY_NO_EXPORT npy_intp PyArray_MultiplyList \ - (npy_intp *, int); -NPY_NO_EXPORT int PyArray_MultiplyIntList \ - (int *, int); -NPY_NO_EXPORT void * PyArray_GetPtr \ - (PyArrayObject *, npy_intp*); -NPY_NO_EXPORT int PyArray_CompareLists \ - (npy_intp *, npy_intp *, int); -NPY_NO_EXPORT int PyArray_AsCArray \ - (PyObject **, void *, npy_intp *, int, PyArray_Descr*); -NPY_NO_EXPORT int PyArray_As1D \ - (PyObject **, char **, int *, int); -NPY_NO_EXPORT int PyArray_As2D \ - (PyObject **, char ***, int *, int *, int); -NPY_NO_EXPORT int PyArray_Free \ - (PyObject *, void *); -NPY_NO_EXPORT int PyArray_Converter \ - (PyObject *, PyObject **); -NPY_NO_EXPORT int PyArray_IntpFromSequence \ - (PyObject *, npy_intp *, int); -NPY_NO_EXPORT PyObject * PyArray_Concatenate \ - (PyObject *, int); -NPY_NO_EXPORT PyObject * PyArray_InnerProduct \ - (PyObject *, PyObject *); -NPY_NO_EXPORT PyObject * PyArray_MatrixProduct \ - (PyObject *, PyObject *); -NPY_NO_EXPORT PyObject * PyArray_CopyAndTranspose \ - (PyObject *); -NPY_NO_EXPORT PyObject * PyArray_Correlate \ - (PyObject *, PyObject *, int); -NPY_NO_EXPORT int PyArray_TypestrConvert \ - (int, int); -NPY_NO_EXPORT int PyArray_DescrConverter \ - (PyObject *, PyArray_Descr **); -NPY_NO_EXPORT int PyArray_DescrConverter2 \ - (PyObject *, PyArray_Descr **); -NPY_NO_EXPORT int PyArray_IntpConverter \ - (PyObject *, PyArray_Dims *); -NPY_NO_EXPORT int PyArray_BufferConverter \ - (PyObject *, PyArray_Chunk *); -NPY_NO_EXPORT int PyArray_AxisConverter \ - (PyObject *, int *); -NPY_NO_EXPORT int PyArray_BoolConverter \ - (PyObject *, npy_bool *); -NPY_NO_EXPORT int PyArray_ByteorderConverter \ - (PyObject *, char *); -NPY_NO_EXPORT int PyArray_OrderConverter \ - (PyObject *, NPY_ORDER *); -NPY_NO_EXPORT unsigned char PyArray_EquivTypes \ - (PyArray_Descr *, PyArray_Descr *); -NPY_NO_EXPORT PyObject * PyArray_Zeros \ - (int, npy_intp *, PyArray_Descr *, int); -NPY_NO_EXPORT PyObject * PyArray_Empty \ - (int, npy_intp *, PyArray_Descr *, int); -NPY_NO_EXPORT PyObject * PyArray_Where \ - (PyObject *, PyObject *, PyObject *); -NPY_NO_EXPORT PyObject * PyArray_Arange \ - (double, double, double, int); -NPY_NO_EXPORT PyObject * PyArray_ArangeObj \ - (PyObject *, PyObject *, PyObject *, PyArray_Descr *); -NPY_NO_EXPORT int PyArray_SortkindConverter \ - (PyObject *, NPY_SORTKIND *); -NPY_NO_EXPORT PyObject * PyArray_LexSort \ - (PyObject *, int); -NPY_NO_EXPORT PyObject * PyArray_Round \ - (PyArrayObject *, int, PyArrayObject *); -NPY_NO_EXPORT unsigned char PyArray_EquivTypenums \ - (int, int); -NPY_NO_EXPORT int PyArray_RegisterDataType \ - (PyArray_Descr *); -NPY_NO_EXPORT int PyArray_RegisterCastFunc \ - (PyArray_Descr *, int, PyArray_VectorUnaryFunc *); -NPY_NO_EXPORT int PyArray_RegisterCanCast \ - (PyArray_Descr *, int, NPY_SCALARKIND); -NPY_NO_EXPORT void PyArray_InitArrFuncs \ - (PyArray_ArrFuncs *); -NPY_NO_EXPORT PyObject * PyArray_IntTupleFromIntp \ - (int, npy_intp *); -NPY_NO_EXPORT int PyArray_TypeNumFromName \ - (char *); -NPY_NO_EXPORT int PyArray_ClipmodeConverter \ - (PyObject *, NPY_CLIPMODE *); -NPY_NO_EXPORT int PyArray_OutputConverter \ - (PyObject *, PyArrayObject **); -NPY_NO_EXPORT PyObject * PyArray_BroadcastToShape \ - (PyObject *, npy_intp *, int); -NPY_NO_EXPORT void _PyArray_SigintHandler \ - (int); -NPY_NO_EXPORT void* _PyArray_GetSigintBuf \ - (void); -NPY_NO_EXPORT int PyArray_DescrAlignConverter \ - (PyObject *, PyArray_Descr **); -NPY_NO_EXPORT int PyArray_DescrAlignConverter2 \ - (PyObject *, PyArray_Descr **); -NPY_NO_EXPORT int PyArray_SearchsideConverter \ - (PyObject *, void *); -NPY_NO_EXPORT PyObject * PyArray_CheckAxis \ - (PyArrayObject *, int *, int); -NPY_NO_EXPORT npy_intp PyArray_OverflowMultiplyList \ - (npy_intp *, int); -NPY_NO_EXPORT int PyArray_CompareString \ - (char *, char *, size_t); -NPY_NO_EXPORT PyObject * PyArray_MultiIterFromObjects \ - (PyObject **, int, int, ...); -NPY_NO_EXPORT int PyArray_GetEndianness \ - (void); -NPY_NO_EXPORT unsigned int PyArray_GetNDArrayCFeatureVersion \ - (void); -NPY_NO_EXPORT PyObject * PyArray_Correlate2 \ - (PyObject *, PyObject *, int); -NPY_NO_EXPORT PyObject* PyArray_NeighborhoodIterNew \ - (PyArrayIterObject *, npy_intp *, int, PyArrayObject*); -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyTimeIntegerArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyTimeIntegerArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyDatetimeArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyDatetimeArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyTimedeltaArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyTimedeltaArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyHalfArrType_Type; -#else - NPY_NO_EXPORT PyTypeObject PyHalfArrType_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject NpyIter_Type; -#else - NPY_NO_EXPORT PyTypeObject NpyIter_Type; -#endif - -NPY_NO_EXPORT void PyArray_SetDatetimeParseFunction \ - (PyObject *); -NPY_NO_EXPORT void PyArray_DatetimeToDatetimeStruct \ - (npy_datetime, NPY_DATETIMEUNIT, npy_datetimestruct *); -NPY_NO_EXPORT void PyArray_TimedeltaToTimedeltaStruct \ - (npy_timedelta, NPY_DATETIMEUNIT, npy_timedeltastruct *); -NPY_NO_EXPORT npy_datetime PyArray_DatetimeStructToDatetime \ - (NPY_DATETIMEUNIT, npy_datetimestruct *); -NPY_NO_EXPORT npy_datetime PyArray_TimedeltaStructToTimedelta \ - (NPY_DATETIMEUNIT, npy_timedeltastruct *); -NPY_NO_EXPORT NpyIter * NpyIter_New \ - (PyArrayObject *, npy_uint32, NPY_ORDER, NPY_CASTING, PyArray_Descr*); -NPY_NO_EXPORT NpyIter * NpyIter_MultiNew \ - (int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **); -NPY_NO_EXPORT NpyIter * NpyIter_AdvancedNew \ - (int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **, int, int **, npy_intp *, npy_intp); -NPY_NO_EXPORT NpyIter * NpyIter_Copy \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_Deallocate \ - (NpyIter *); -NPY_NO_EXPORT npy_bool NpyIter_HasDelayedBufAlloc \ - (NpyIter *); -NPY_NO_EXPORT npy_bool NpyIter_HasExternalLoop \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_EnableExternalLoop \ - (NpyIter *); -NPY_NO_EXPORT npy_intp * NpyIter_GetInnerStrideArray \ - (NpyIter *); -NPY_NO_EXPORT npy_intp * NpyIter_GetInnerLoopSizePtr \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_Reset \ - (NpyIter *, char **); -NPY_NO_EXPORT int NpyIter_ResetBasePointers \ - (NpyIter *, char **, char **); -NPY_NO_EXPORT int NpyIter_ResetToIterIndexRange \ - (NpyIter *, npy_intp, npy_intp, char **); -NPY_NO_EXPORT int NpyIter_GetNDim \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_GetNOp \ - (NpyIter *); -NPY_NO_EXPORT NpyIter_IterNextFunc * NpyIter_GetIterNext \ - (NpyIter *, char **); -NPY_NO_EXPORT npy_intp NpyIter_GetIterSize \ - (NpyIter *); -NPY_NO_EXPORT void NpyIter_GetIterIndexRange \ - (NpyIter *, npy_intp *, npy_intp *); -NPY_NO_EXPORT npy_intp NpyIter_GetIterIndex \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_GotoIterIndex \ - (NpyIter *, npy_intp); -NPY_NO_EXPORT npy_bool NpyIter_HasMultiIndex \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_GetShape \ - (NpyIter *, npy_intp *); -NPY_NO_EXPORT NpyIter_GetMultiIndexFunc * NpyIter_GetGetMultiIndex \ - (NpyIter *, char **); -NPY_NO_EXPORT int NpyIter_GotoMultiIndex \ - (NpyIter *, npy_intp *); -NPY_NO_EXPORT int NpyIter_RemoveMultiIndex \ - (NpyIter *); -NPY_NO_EXPORT npy_bool NpyIter_HasIndex \ - (NpyIter *); -NPY_NO_EXPORT npy_bool NpyIter_IsBuffered \ - (NpyIter *); -NPY_NO_EXPORT npy_bool NpyIter_IsGrowInner \ - (NpyIter *); -NPY_NO_EXPORT npy_intp NpyIter_GetBufferSize \ - (NpyIter *); -NPY_NO_EXPORT npy_intp * NpyIter_GetIndexPtr \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_GotoIndex \ - (NpyIter *, npy_intp); -NPY_NO_EXPORT char ** NpyIter_GetDataPtrArray \ - (NpyIter *); -NPY_NO_EXPORT PyArray_Descr ** NpyIter_GetDescrArray \ - (NpyIter *); -NPY_NO_EXPORT PyArrayObject ** NpyIter_GetOperandArray \ - (NpyIter *); -NPY_NO_EXPORT PyArrayObject * NpyIter_GetIterView \ - (NpyIter *, npy_intp); -NPY_NO_EXPORT void NpyIter_GetReadFlags \ - (NpyIter *, char *); -NPY_NO_EXPORT void NpyIter_GetWriteFlags \ - (NpyIter *, char *); -NPY_NO_EXPORT void NpyIter_DebugPrint \ - (NpyIter *); -NPY_NO_EXPORT npy_bool NpyIter_IterationNeedsAPI \ - (NpyIter *); -NPY_NO_EXPORT void NpyIter_GetInnerFixedStrideArray \ - (NpyIter *, npy_intp *); -NPY_NO_EXPORT int NpyIter_RemoveAxis \ - (NpyIter *, int); -NPY_NO_EXPORT npy_intp * NpyIter_GetAxisStrideArray \ - (NpyIter *, int); -NPY_NO_EXPORT npy_bool NpyIter_RequiresBuffering \ - (NpyIter *); -NPY_NO_EXPORT char ** NpyIter_GetInitialDataPtrArray \ - (NpyIter *); -NPY_NO_EXPORT int NpyIter_CreateCompatibleStrides \ - (NpyIter *, npy_intp, npy_intp *); -NPY_NO_EXPORT int PyArray_CastingConverter \ - (PyObject *, NPY_CASTING *); -NPY_NO_EXPORT npy_intp PyArray_CountNonzero \ - (PyArrayObject *); -NPY_NO_EXPORT PyArray_Descr * PyArray_PromoteTypes \ - (PyArray_Descr *, PyArray_Descr *); -NPY_NO_EXPORT PyArray_Descr * PyArray_MinScalarType \ - (PyArrayObject *); -NPY_NO_EXPORT PyArray_Descr * PyArray_ResultType \ - (npy_intp, PyArrayObject **, npy_intp, PyArray_Descr **); -NPY_NO_EXPORT npy_bool PyArray_CanCastArrayTo \ - (PyArrayObject *, PyArray_Descr *, NPY_CASTING); -NPY_NO_EXPORT npy_bool PyArray_CanCastTypeTo \ - (PyArray_Descr *, PyArray_Descr *, NPY_CASTING); -NPY_NO_EXPORT PyArrayObject * PyArray_EinsteinSum \ - (char *, npy_intp, PyArrayObject **, PyArray_Descr *, NPY_ORDER, NPY_CASTING, PyArrayObject *); -NPY_NO_EXPORT PyObject * PyArray_NewLikeArray \ - (PyArrayObject *, NPY_ORDER, PyArray_Descr *, int); -NPY_NO_EXPORT int PyArray_GetArrayParamsFromObject \ - (PyObject *, PyArray_Descr *, npy_bool, PyArray_Descr **, int *, npy_intp *, PyArrayObject **, PyObject *); -NPY_NO_EXPORT int PyArray_ConvertClipmodeSequence \ - (PyObject *, NPY_CLIPMODE *, int); -NPY_NO_EXPORT PyObject * PyArray_MatrixProduct2 \ - (PyObject *, PyObject *, PyArrayObject*); -NPY_NO_EXPORT npy_bool NpyIter_IsFirstVisit \ - (NpyIter *, int); -NPY_NO_EXPORT int PyArray_SetBaseObject \ - (PyArrayObject *, PyObject *); -NPY_NO_EXPORT void PyArray_CreateSortedStridePerm \ - (int, npy_intp *, npy_stride_sort_item *); -NPY_NO_EXPORT void PyArray_RemoveAxesInPlace \ - (PyArrayObject *, npy_bool *); -NPY_NO_EXPORT void PyArray_DebugPrint \ - (PyArrayObject *); -NPY_NO_EXPORT int PyArray_FailUnlessWriteable \ - (PyArrayObject *, const char *); -NPY_NO_EXPORT int PyArray_SetUpdateIfCopyBase \ - (PyArrayObject *, PyArrayObject *); -NPY_NO_EXPORT void * PyDataMem_NEW \ - (size_t); -NPY_NO_EXPORT void PyDataMem_FREE \ - (void *); -NPY_NO_EXPORT void * PyDataMem_RENEW \ - (void *, size_t); -NPY_NO_EXPORT PyDataMem_EventHookFunc * PyDataMem_SetEventHook \ - (PyDataMem_EventHookFunc *, void *, void **); -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT NPY_CASTING NPY_DEFAULT_ASSIGN_CASTING; -#else - NPY_NO_EXPORT NPY_CASTING NPY_DEFAULT_ASSIGN_CASTING; -#endif - -NPY_NO_EXPORT void PyArray_MapIterSwapAxes \ - (PyArrayMapIterObject *, PyArrayObject **, int); -NPY_NO_EXPORT PyObject * PyArray_MapIterArray \ - (PyArrayObject *, PyObject *); -NPY_NO_EXPORT void PyArray_MapIterNext \ - (PyArrayMapIterObject *); -NPY_NO_EXPORT int PyArray_Partition \ - (PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND); -NPY_NO_EXPORT PyObject * PyArray_ArgPartition \ - (PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND); -NPY_NO_EXPORT int PyArray_SelectkindConverter \ - (PyObject *, NPY_SELECTKIND *); -NPY_NO_EXPORT void * PyDataMem_NEW_ZEROED \ - (size_t, size_t); - -#else - -#if defined(PY_ARRAY_UNIQUE_SYMBOL) -#define PyArray_API PY_ARRAY_UNIQUE_SYMBOL -#endif - -#if defined(NO_IMPORT) || defined(NO_IMPORT_ARRAY) -extern void **PyArray_API; -#else -#if defined(PY_ARRAY_UNIQUE_SYMBOL) -void **PyArray_API; -#else -static void **PyArray_API=NULL; -#endif -#endif - -#define PyArray_GetNDArrayCVersion \ - (*(unsigned int (*)(void)) \ - PyArray_API[0]) -#define PyBigArray_Type (*(PyTypeObject *)PyArray_API[1]) -#define PyArray_Type (*(PyTypeObject *)PyArray_API[2]) -#define PyArrayDescr_Type (*(PyTypeObject *)PyArray_API[3]) -#define PyArrayFlags_Type (*(PyTypeObject *)PyArray_API[4]) -#define PyArrayIter_Type (*(PyTypeObject *)PyArray_API[5]) -#define PyArrayMultiIter_Type (*(PyTypeObject *)PyArray_API[6]) -#define NPY_NUMUSERTYPES (*(int *)PyArray_API[7]) -#define PyBoolArrType_Type (*(PyTypeObject *)PyArray_API[8]) -#define _PyArrayScalar_BoolValues ((PyBoolScalarObject *)PyArray_API[9]) -#define PyGenericArrType_Type (*(PyTypeObject *)PyArray_API[10]) -#define PyNumberArrType_Type (*(PyTypeObject *)PyArray_API[11]) -#define PyIntegerArrType_Type (*(PyTypeObject *)PyArray_API[12]) -#define PySignedIntegerArrType_Type (*(PyTypeObject *)PyArray_API[13]) -#define PyUnsignedIntegerArrType_Type (*(PyTypeObject *)PyArray_API[14]) -#define PyInexactArrType_Type (*(PyTypeObject *)PyArray_API[15]) -#define PyFloatingArrType_Type (*(PyTypeObject *)PyArray_API[16]) -#define PyComplexFloatingArrType_Type (*(PyTypeObject *)PyArray_API[17]) -#define PyFlexibleArrType_Type (*(PyTypeObject *)PyArray_API[18]) -#define PyCharacterArrType_Type (*(PyTypeObject *)PyArray_API[19]) -#define PyByteArrType_Type (*(PyTypeObject *)PyArray_API[20]) -#define PyShortArrType_Type (*(PyTypeObject *)PyArray_API[21]) -#define PyIntArrType_Type (*(PyTypeObject *)PyArray_API[22]) -#define PyLongArrType_Type (*(PyTypeObject *)PyArray_API[23]) -#define PyLongLongArrType_Type (*(PyTypeObject *)PyArray_API[24]) -#define PyUByteArrType_Type (*(PyTypeObject *)PyArray_API[25]) -#define PyUShortArrType_Type (*(PyTypeObject *)PyArray_API[26]) -#define PyUIntArrType_Type (*(PyTypeObject *)PyArray_API[27]) -#define PyULongArrType_Type (*(PyTypeObject *)PyArray_API[28]) -#define PyULongLongArrType_Type (*(PyTypeObject *)PyArray_API[29]) -#define PyFloatArrType_Type (*(PyTypeObject *)PyArray_API[30]) -#define PyDoubleArrType_Type (*(PyTypeObject *)PyArray_API[31]) -#define PyLongDoubleArrType_Type (*(PyTypeObject *)PyArray_API[32]) -#define PyCFloatArrType_Type (*(PyTypeObject *)PyArray_API[33]) -#define PyCDoubleArrType_Type (*(PyTypeObject *)PyArray_API[34]) -#define PyCLongDoubleArrType_Type (*(PyTypeObject *)PyArray_API[35]) -#define PyObjectArrType_Type (*(PyTypeObject *)PyArray_API[36]) -#define PyStringArrType_Type (*(PyTypeObject *)PyArray_API[37]) -#define PyUnicodeArrType_Type (*(PyTypeObject *)PyArray_API[38]) -#define PyVoidArrType_Type (*(PyTypeObject *)PyArray_API[39]) -#define PyArray_SetNumericOps \ - (*(int (*)(PyObject *)) \ - PyArray_API[40]) -#define PyArray_GetNumericOps \ - (*(PyObject * (*)(void)) \ - PyArray_API[41]) -#define PyArray_INCREF \ - (*(int (*)(PyArrayObject *)) \ - PyArray_API[42]) -#define PyArray_XDECREF \ - (*(int (*)(PyArrayObject *)) \ - PyArray_API[43]) -#define PyArray_SetStringFunction \ - (*(void (*)(PyObject *, int)) \ - PyArray_API[44]) -#define PyArray_DescrFromType \ - (*(PyArray_Descr * (*)(int)) \ - PyArray_API[45]) -#define PyArray_TypeObjectFromType \ - (*(PyObject * (*)(int)) \ - PyArray_API[46]) -#define PyArray_Zero \ - (*(char * (*)(PyArrayObject *)) \ - PyArray_API[47]) -#define PyArray_One \ - (*(char * (*)(PyArrayObject *)) \ - PyArray_API[48]) -#define PyArray_CastToType \ - (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, int)) \ - PyArray_API[49]) -#define PyArray_CastTo \ - (*(int (*)(PyArrayObject *, PyArrayObject *)) \ - PyArray_API[50]) -#define PyArray_CastAnyTo \ - (*(int (*)(PyArrayObject *, PyArrayObject *)) \ - PyArray_API[51]) -#define PyArray_CanCastSafely \ - (*(int (*)(int, int)) \ - PyArray_API[52]) -#define PyArray_CanCastTo \ - (*(npy_bool (*)(PyArray_Descr *, PyArray_Descr *)) \ - PyArray_API[53]) -#define PyArray_ObjectType \ - (*(int (*)(PyObject *, int)) \ - PyArray_API[54]) -#define PyArray_DescrFromObject \ - (*(PyArray_Descr * (*)(PyObject *, PyArray_Descr *)) \ - PyArray_API[55]) -#define PyArray_ConvertToCommonType \ - (*(PyArrayObject ** (*)(PyObject *, int *)) \ - PyArray_API[56]) -#define PyArray_DescrFromScalar \ - (*(PyArray_Descr * (*)(PyObject *)) \ - PyArray_API[57]) -#define PyArray_DescrFromTypeObject \ - (*(PyArray_Descr * (*)(PyObject *)) \ - PyArray_API[58]) -#define PyArray_Size \ - (*(npy_intp (*)(PyObject *)) \ - PyArray_API[59]) -#define PyArray_Scalar \ - (*(PyObject * (*)(void *, PyArray_Descr *, PyObject *)) \ - PyArray_API[60]) -#define PyArray_FromScalar \ - (*(PyObject * (*)(PyObject *, PyArray_Descr *)) \ - PyArray_API[61]) -#define PyArray_ScalarAsCtype \ - (*(void (*)(PyObject *, void *)) \ - PyArray_API[62]) -#define PyArray_CastScalarToCtype \ - (*(int (*)(PyObject *, void *, PyArray_Descr *)) \ - PyArray_API[63]) -#define PyArray_CastScalarDirect \ - (*(int (*)(PyObject *, PyArray_Descr *, void *, int)) \ - PyArray_API[64]) -#define PyArray_ScalarFromObject \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[65]) -#define PyArray_GetCastFunc \ - (*(PyArray_VectorUnaryFunc * (*)(PyArray_Descr *, int)) \ - PyArray_API[66]) -#define PyArray_FromDims \ - (*(PyObject * (*)(int, int *, int)) \ - PyArray_API[67]) -#define PyArray_FromDimsAndDataAndDescr \ - (*(PyObject * (*)(int, int *, PyArray_Descr *, char *)) \ - PyArray_API[68]) -#define PyArray_FromAny \ - (*(PyObject * (*)(PyObject *, PyArray_Descr *, int, int, int, PyObject *)) \ - PyArray_API[69]) -#define PyArray_EnsureArray \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[70]) -#define PyArray_EnsureAnyArray \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[71]) -#define PyArray_FromFile \ - (*(PyObject * (*)(FILE *, PyArray_Descr *, npy_intp, char *)) \ - PyArray_API[72]) -#define PyArray_FromString \ - (*(PyObject * (*)(char *, npy_intp, PyArray_Descr *, npy_intp, char *)) \ - PyArray_API[73]) -#define PyArray_FromBuffer \ - (*(PyObject * (*)(PyObject *, PyArray_Descr *, npy_intp, npy_intp)) \ - PyArray_API[74]) -#define PyArray_FromIter \ - (*(PyObject * (*)(PyObject *, PyArray_Descr *, npy_intp)) \ - PyArray_API[75]) -#define PyArray_Return \ - (*(PyObject * (*)(PyArrayObject *)) \ - PyArray_API[76]) -#define PyArray_GetField \ - (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, int)) \ - PyArray_API[77]) -#define PyArray_SetField \ - (*(int (*)(PyArrayObject *, PyArray_Descr *, int, PyObject *)) \ - PyArray_API[78]) -#define PyArray_Byteswap \ - (*(PyObject * (*)(PyArrayObject *, npy_bool)) \ - PyArray_API[79]) -#define PyArray_Resize \ - (*(PyObject * (*)(PyArrayObject *, PyArray_Dims *, int, NPY_ORDER)) \ - PyArray_API[80]) -#define PyArray_MoveInto \ - (*(int (*)(PyArrayObject *, PyArrayObject *)) \ - PyArray_API[81]) -#define PyArray_CopyInto \ - (*(int (*)(PyArrayObject *, PyArrayObject *)) \ - PyArray_API[82]) -#define PyArray_CopyAnyInto \ - (*(int (*)(PyArrayObject *, PyArrayObject *)) \ - PyArray_API[83]) -#define PyArray_CopyObject \ - (*(int (*)(PyArrayObject *, PyObject *)) \ - PyArray_API[84]) -#define PyArray_NewCopy \ - (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ - PyArray_API[85]) -#define PyArray_ToList \ - (*(PyObject * (*)(PyArrayObject *)) \ - PyArray_API[86]) -#define PyArray_ToString \ - (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ - PyArray_API[87]) -#define PyArray_ToFile \ - (*(int (*)(PyArrayObject *, FILE *, char *, char *)) \ - PyArray_API[88]) -#define PyArray_Dump \ - (*(int (*)(PyObject *, PyObject *, int)) \ - PyArray_API[89]) -#define PyArray_Dumps \ - (*(PyObject * (*)(PyObject *, int)) \ - PyArray_API[90]) -#define PyArray_ValidType \ - (*(int (*)(int)) \ - PyArray_API[91]) -#define PyArray_UpdateFlags \ - (*(void (*)(PyArrayObject *, int)) \ - PyArray_API[92]) -#define PyArray_New \ - (*(PyObject * (*)(PyTypeObject *, int, npy_intp *, int, npy_intp *, void *, int, int, PyObject *)) \ - PyArray_API[93]) -#define PyArray_NewFromDescr \ - (*(PyObject * (*)(PyTypeObject *, PyArray_Descr *, int, npy_intp *, npy_intp *, void *, int, PyObject *)) \ - PyArray_API[94]) -#define PyArray_DescrNew \ - (*(PyArray_Descr * (*)(PyArray_Descr *)) \ - PyArray_API[95]) -#define PyArray_DescrNewFromType \ - (*(PyArray_Descr * (*)(int)) \ - PyArray_API[96]) -#define PyArray_GetPriority \ - (*(double (*)(PyObject *, double)) \ - PyArray_API[97]) -#define PyArray_IterNew \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[98]) -#define PyArray_MultiIterNew \ - (*(PyObject * (*)(int, ...)) \ - PyArray_API[99]) -#define PyArray_PyIntAsInt \ - (*(int (*)(PyObject *)) \ - PyArray_API[100]) -#define PyArray_PyIntAsIntp \ - (*(npy_intp (*)(PyObject *)) \ - PyArray_API[101]) -#define PyArray_Broadcast \ - (*(int (*)(PyArrayMultiIterObject *)) \ - PyArray_API[102]) -#define PyArray_FillObjectArray \ - (*(void (*)(PyArrayObject *, PyObject *)) \ - PyArray_API[103]) -#define PyArray_FillWithScalar \ - (*(int (*)(PyArrayObject *, PyObject *)) \ - PyArray_API[104]) -#define PyArray_CheckStrides \ - (*(npy_bool (*)(int, int, npy_intp, npy_intp, npy_intp *, npy_intp *)) \ - PyArray_API[105]) -#define PyArray_DescrNewByteorder \ - (*(PyArray_Descr * (*)(PyArray_Descr *, char)) \ - PyArray_API[106]) -#define PyArray_IterAllButAxis \ - (*(PyObject * (*)(PyObject *, int *)) \ - PyArray_API[107]) -#define PyArray_CheckFromAny \ - (*(PyObject * (*)(PyObject *, PyArray_Descr *, int, int, int, PyObject *)) \ - PyArray_API[108]) -#define PyArray_FromArray \ - (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, int)) \ - PyArray_API[109]) -#define PyArray_FromInterface \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[110]) -#define PyArray_FromStructInterface \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[111]) -#define PyArray_FromArrayAttr \ - (*(PyObject * (*)(PyObject *, PyArray_Descr *, PyObject *)) \ - PyArray_API[112]) -#define PyArray_ScalarKind \ - (*(NPY_SCALARKIND (*)(int, PyArrayObject **)) \ - PyArray_API[113]) -#define PyArray_CanCoerceScalar \ - (*(int (*)(int, int, NPY_SCALARKIND)) \ - PyArray_API[114]) -#define PyArray_NewFlagsObject \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[115]) -#define PyArray_CanCastScalar \ - (*(npy_bool (*)(PyTypeObject *, PyTypeObject *)) \ - PyArray_API[116]) -#define PyArray_CompareUCS4 \ - (*(int (*)(npy_ucs4 *, npy_ucs4 *, size_t)) \ - PyArray_API[117]) -#define PyArray_RemoveSmallest \ - (*(int (*)(PyArrayMultiIterObject *)) \ - PyArray_API[118]) -#define PyArray_ElementStrides \ - (*(int (*)(PyObject *)) \ - PyArray_API[119]) -#define PyArray_Item_INCREF \ - (*(void (*)(char *, PyArray_Descr *)) \ - PyArray_API[120]) -#define PyArray_Item_XDECREF \ - (*(void (*)(char *, PyArray_Descr *)) \ - PyArray_API[121]) -#define PyArray_FieldNames \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[122]) -#define PyArray_Transpose \ - (*(PyObject * (*)(PyArrayObject *, PyArray_Dims *)) \ - PyArray_API[123]) -#define PyArray_TakeFrom \ - (*(PyObject * (*)(PyArrayObject *, PyObject *, int, PyArrayObject *, NPY_CLIPMODE)) \ - PyArray_API[124]) -#define PyArray_PutTo \ - (*(PyObject * (*)(PyArrayObject *, PyObject*, PyObject *, NPY_CLIPMODE)) \ - PyArray_API[125]) -#define PyArray_PutMask \ - (*(PyObject * (*)(PyArrayObject *, PyObject*, PyObject*)) \ - PyArray_API[126]) -#define PyArray_Repeat \ - (*(PyObject * (*)(PyArrayObject *, PyObject *, int)) \ - PyArray_API[127]) -#define PyArray_Choose \ - (*(PyObject * (*)(PyArrayObject *, PyObject *, PyArrayObject *, NPY_CLIPMODE)) \ - PyArray_API[128]) -#define PyArray_Sort \ - (*(int (*)(PyArrayObject *, int, NPY_SORTKIND)) \ - PyArray_API[129]) -#define PyArray_ArgSort \ - (*(PyObject * (*)(PyArrayObject *, int, NPY_SORTKIND)) \ - PyArray_API[130]) -#define PyArray_SearchSorted \ - (*(PyObject * (*)(PyArrayObject *, PyObject *, NPY_SEARCHSIDE, PyObject *)) \ - PyArray_API[131]) -#define PyArray_ArgMax \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[132]) -#define PyArray_ArgMin \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[133]) -#define PyArray_Reshape \ - (*(PyObject * (*)(PyArrayObject *, PyObject *)) \ - PyArray_API[134]) -#define PyArray_Newshape \ - (*(PyObject * (*)(PyArrayObject *, PyArray_Dims *, NPY_ORDER)) \ - PyArray_API[135]) -#define PyArray_Squeeze \ - (*(PyObject * (*)(PyArrayObject *)) \ - PyArray_API[136]) -#define PyArray_View \ - (*(PyObject * (*)(PyArrayObject *, PyArray_Descr *, PyTypeObject *)) \ - PyArray_API[137]) -#define PyArray_SwapAxes \ - (*(PyObject * (*)(PyArrayObject *, int, int)) \ - PyArray_API[138]) -#define PyArray_Max \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[139]) -#define PyArray_Min \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[140]) -#define PyArray_Ptp \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[141]) -#define PyArray_Mean \ - (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ - PyArray_API[142]) -#define PyArray_Trace \ - (*(PyObject * (*)(PyArrayObject *, int, int, int, int, PyArrayObject *)) \ - PyArray_API[143]) -#define PyArray_Diagonal \ - (*(PyObject * (*)(PyArrayObject *, int, int, int)) \ - PyArray_API[144]) -#define PyArray_Clip \ - (*(PyObject * (*)(PyArrayObject *, PyObject *, PyObject *, PyArrayObject *)) \ - PyArray_API[145]) -#define PyArray_Conjugate \ - (*(PyObject * (*)(PyArrayObject *, PyArrayObject *)) \ - PyArray_API[146]) -#define PyArray_Nonzero \ - (*(PyObject * (*)(PyArrayObject *)) \ - PyArray_API[147]) -#define PyArray_Std \ - (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *, int)) \ - PyArray_API[148]) -#define PyArray_Sum \ - (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ - PyArray_API[149]) -#define PyArray_CumSum \ - (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ - PyArray_API[150]) -#define PyArray_Prod \ - (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ - PyArray_API[151]) -#define PyArray_CumProd \ - (*(PyObject * (*)(PyArrayObject *, int, int, PyArrayObject *)) \ - PyArray_API[152]) -#define PyArray_All \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[153]) -#define PyArray_Any \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[154]) -#define PyArray_Compress \ - (*(PyObject * (*)(PyArrayObject *, PyObject *, int, PyArrayObject *)) \ - PyArray_API[155]) -#define PyArray_Flatten \ - (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ - PyArray_API[156]) -#define PyArray_Ravel \ - (*(PyObject * (*)(PyArrayObject *, NPY_ORDER)) \ - PyArray_API[157]) -#define PyArray_MultiplyList \ - (*(npy_intp (*)(npy_intp *, int)) \ - PyArray_API[158]) -#define PyArray_MultiplyIntList \ - (*(int (*)(int *, int)) \ - PyArray_API[159]) -#define PyArray_GetPtr \ - (*(void * (*)(PyArrayObject *, npy_intp*)) \ - PyArray_API[160]) -#define PyArray_CompareLists \ - (*(int (*)(npy_intp *, npy_intp *, int)) \ - PyArray_API[161]) -#define PyArray_AsCArray \ - (*(int (*)(PyObject **, void *, npy_intp *, int, PyArray_Descr*)) \ - PyArray_API[162]) -#define PyArray_As1D \ - (*(int (*)(PyObject **, char **, int *, int)) \ - PyArray_API[163]) -#define PyArray_As2D \ - (*(int (*)(PyObject **, char ***, int *, int *, int)) \ - PyArray_API[164]) -#define PyArray_Free \ - (*(int (*)(PyObject *, void *)) \ - PyArray_API[165]) -#define PyArray_Converter \ - (*(int (*)(PyObject *, PyObject **)) \ - PyArray_API[166]) -#define PyArray_IntpFromSequence \ - (*(int (*)(PyObject *, npy_intp *, int)) \ - PyArray_API[167]) -#define PyArray_Concatenate \ - (*(PyObject * (*)(PyObject *, int)) \ - PyArray_API[168]) -#define PyArray_InnerProduct \ - (*(PyObject * (*)(PyObject *, PyObject *)) \ - PyArray_API[169]) -#define PyArray_MatrixProduct \ - (*(PyObject * (*)(PyObject *, PyObject *)) \ - PyArray_API[170]) -#define PyArray_CopyAndTranspose \ - (*(PyObject * (*)(PyObject *)) \ - PyArray_API[171]) -#define PyArray_Correlate \ - (*(PyObject * (*)(PyObject *, PyObject *, int)) \ - PyArray_API[172]) -#define PyArray_TypestrConvert \ - (*(int (*)(int, int)) \ - PyArray_API[173]) -#define PyArray_DescrConverter \ - (*(int (*)(PyObject *, PyArray_Descr **)) \ - PyArray_API[174]) -#define PyArray_DescrConverter2 \ - (*(int (*)(PyObject *, PyArray_Descr **)) \ - PyArray_API[175]) -#define PyArray_IntpConverter \ - (*(int (*)(PyObject *, PyArray_Dims *)) \ - PyArray_API[176]) -#define PyArray_BufferConverter \ - (*(int (*)(PyObject *, PyArray_Chunk *)) \ - PyArray_API[177]) -#define PyArray_AxisConverter \ - (*(int (*)(PyObject *, int *)) \ - PyArray_API[178]) -#define PyArray_BoolConverter \ - (*(int (*)(PyObject *, npy_bool *)) \ - PyArray_API[179]) -#define PyArray_ByteorderConverter \ - (*(int (*)(PyObject *, char *)) \ - PyArray_API[180]) -#define PyArray_OrderConverter \ - (*(int (*)(PyObject *, NPY_ORDER *)) \ - PyArray_API[181]) -#define PyArray_EquivTypes \ - (*(unsigned char (*)(PyArray_Descr *, PyArray_Descr *)) \ - PyArray_API[182]) -#define PyArray_Zeros \ - (*(PyObject * (*)(int, npy_intp *, PyArray_Descr *, int)) \ - PyArray_API[183]) -#define PyArray_Empty \ - (*(PyObject * (*)(int, npy_intp *, PyArray_Descr *, int)) \ - PyArray_API[184]) -#define PyArray_Where \ - (*(PyObject * (*)(PyObject *, PyObject *, PyObject *)) \ - PyArray_API[185]) -#define PyArray_Arange \ - (*(PyObject * (*)(double, double, double, int)) \ - PyArray_API[186]) -#define PyArray_ArangeObj \ - (*(PyObject * (*)(PyObject *, PyObject *, PyObject *, PyArray_Descr *)) \ - PyArray_API[187]) -#define PyArray_SortkindConverter \ - (*(int (*)(PyObject *, NPY_SORTKIND *)) \ - PyArray_API[188]) -#define PyArray_LexSort \ - (*(PyObject * (*)(PyObject *, int)) \ - PyArray_API[189]) -#define PyArray_Round \ - (*(PyObject * (*)(PyArrayObject *, int, PyArrayObject *)) \ - PyArray_API[190]) -#define PyArray_EquivTypenums \ - (*(unsigned char (*)(int, int)) \ - PyArray_API[191]) -#define PyArray_RegisterDataType \ - (*(int (*)(PyArray_Descr *)) \ - PyArray_API[192]) -#define PyArray_RegisterCastFunc \ - (*(int (*)(PyArray_Descr *, int, PyArray_VectorUnaryFunc *)) \ - PyArray_API[193]) -#define PyArray_RegisterCanCast \ - (*(int (*)(PyArray_Descr *, int, NPY_SCALARKIND)) \ - PyArray_API[194]) -#define PyArray_InitArrFuncs \ - (*(void (*)(PyArray_ArrFuncs *)) \ - PyArray_API[195]) -#define PyArray_IntTupleFromIntp \ - (*(PyObject * (*)(int, npy_intp *)) \ - PyArray_API[196]) -#define PyArray_TypeNumFromName \ - (*(int (*)(char *)) \ - PyArray_API[197]) -#define PyArray_ClipmodeConverter \ - (*(int (*)(PyObject *, NPY_CLIPMODE *)) \ - PyArray_API[198]) -#define PyArray_OutputConverter \ - (*(int (*)(PyObject *, PyArrayObject **)) \ - PyArray_API[199]) -#define PyArray_BroadcastToShape \ - (*(PyObject * (*)(PyObject *, npy_intp *, int)) \ - PyArray_API[200]) -#define _PyArray_SigintHandler \ - (*(void (*)(int)) \ - PyArray_API[201]) -#define _PyArray_GetSigintBuf \ - (*(void* (*)(void)) \ - PyArray_API[202]) -#define PyArray_DescrAlignConverter \ - (*(int (*)(PyObject *, PyArray_Descr **)) \ - PyArray_API[203]) -#define PyArray_DescrAlignConverter2 \ - (*(int (*)(PyObject *, PyArray_Descr **)) \ - PyArray_API[204]) -#define PyArray_SearchsideConverter \ - (*(int (*)(PyObject *, void *)) \ - PyArray_API[205]) -#define PyArray_CheckAxis \ - (*(PyObject * (*)(PyArrayObject *, int *, int)) \ - PyArray_API[206]) -#define PyArray_OverflowMultiplyList \ - (*(npy_intp (*)(npy_intp *, int)) \ - PyArray_API[207]) -#define PyArray_CompareString \ - (*(int (*)(char *, char *, size_t)) \ - PyArray_API[208]) -#define PyArray_MultiIterFromObjects \ - (*(PyObject * (*)(PyObject **, int, int, ...)) \ - PyArray_API[209]) -#define PyArray_GetEndianness \ - (*(int (*)(void)) \ - PyArray_API[210]) -#define PyArray_GetNDArrayCFeatureVersion \ - (*(unsigned int (*)(void)) \ - PyArray_API[211]) -#define PyArray_Correlate2 \ - (*(PyObject * (*)(PyObject *, PyObject *, int)) \ - PyArray_API[212]) -#define PyArray_NeighborhoodIterNew \ - (*(PyObject* (*)(PyArrayIterObject *, npy_intp *, int, PyArrayObject*)) \ - PyArray_API[213]) -#define PyTimeIntegerArrType_Type (*(PyTypeObject *)PyArray_API[214]) -#define PyDatetimeArrType_Type (*(PyTypeObject *)PyArray_API[215]) -#define PyTimedeltaArrType_Type (*(PyTypeObject *)PyArray_API[216]) -#define PyHalfArrType_Type (*(PyTypeObject *)PyArray_API[217]) -#define NpyIter_Type (*(PyTypeObject *)PyArray_API[218]) -#define PyArray_SetDatetimeParseFunction \ - (*(void (*)(PyObject *)) \ - PyArray_API[219]) -#define PyArray_DatetimeToDatetimeStruct \ - (*(void (*)(npy_datetime, NPY_DATETIMEUNIT, npy_datetimestruct *)) \ - PyArray_API[220]) -#define PyArray_TimedeltaToTimedeltaStruct \ - (*(void (*)(npy_timedelta, NPY_DATETIMEUNIT, npy_timedeltastruct *)) \ - PyArray_API[221]) -#define PyArray_DatetimeStructToDatetime \ - (*(npy_datetime (*)(NPY_DATETIMEUNIT, npy_datetimestruct *)) \ - PyArray_API[222]) -#define PyArray_TimedeltaStructToTimedelta \ - (*(npy_datetime (*)(NPY_DATETIMEUNIT, npy_timedeltastruct *)) \ - PyArray_API[223]) -#define NpyIter_New \ - (*(NpyIter * (*)(PyArrayObject *, npy_uint32, NPY_ORDER, NPY_CASTING, PyArray_Descr*)) \ - PyArray_API[224]) -#define NpyIter_MultiNew \ - (*(NpyIter * (*)(int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **)) \ - PyArray_API[225]) -#define NpyIter_AdvancedNew \ - (*(NpyIter * (*)(int, PyArrayObject **, npy_uint32, NPY_ORDER, NPY_CASTING, npy_uint32 *, PyArray_Descr **, int, int **, npy_intp *, npy_intp)) \ - PyArray_API[226]) -#define NpyIter_Copy \ - (*(NpyIter * (*)(NpyIter *)) \ - PyArray_API[227]) -#define NpyIter_Deallocate \ - (*(int (*)(NpyIter *)) \ - PyArray_API[228]) -#define NpyIter_HasDelayedBufAlloc \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[229]) -#define NpyIter_HasExternalLoop \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[230]) -#define NpyIter_EnableExternalLoop \ - (*(int (*)(NpyIter *)) \ - PyArray_API[231]) -#define NpyIter_GetInnerStrideArray \ - (*(npy_intp * (*)(NpyIter *)) \ - PyArray_API[232]) -#define NpyIter_GetInnerLoopSizePtr \ - (*(npy_intp * (*)(NpyIter *)) \ - PyArray_API[233]) -#define NpyIter_Reset \ - (*(int (*)(NpyIter *, char **)) \ - PyArray_API[234]) -#define NpyIter_ResetBasePointers \ - (*(int (*)(NpyIter *, char **, char **)) \ - PyArray_API[235]) -#define NpyIter_ResetToIterIndexRange \ - (*(int (*)(NpyIter *, npy_intp, npy_intp, char **)) \ - PyArray_API[236]) -#define NpyIter_GetNDim \ - (*(int (*)(NpyIter *)) \ - PyArray_API[237]) -#define NpyIter_GetNOp \ - (*(int (*)(NpyIter *)) \ - PyArray_API[238]) -#define NpyIter_GetIterNext \ - (*(NpyIter_IterNextFunc * (*)(NpyIter *, char **)) \ - PyArray_API[239]) -#define NpyIter_GetIterSize \ - (*(npy_intp (*)(NpyIter *)) \ - PyArray_API[240]) -#define NpyIter_GetIterIndexRange \ - (*(void (*)(NpyIter *, npy_intp *, npy_intp *)) \ - PyArray_API[241]) -#define NpyIter_GetIterIndex \ - (*(npy_intp (*)(NpyIter *)) \ - PyArray_API[242]) -#define NpyIter_GotoIterIndex \ - (*(int (*)(NpyIter *, npy_intp)) \ - PyArray_API[243]) -#define NpyIter_HasMultiIndex \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[244]) -#define NpyIter_GetShape \ - (*(int (*)(NpyIter *, npy_intp *)) \ - PyArray_API[245]) -#define NpyIter_GetGetMultiIndex \ - (*(NpyIter_GetMultiIndexFunc * (*)(NpyIter *, char **)) \ - PyArray_API[246]) -#define NpyIter_GotoMultiIndex \ - (*(int (*)(NpyIter *, npy_intp *)) \ - PyArray_API[247]) -#define NpyIter_RemoveMultiIndex \ - (*(int (*)(NpyIter *)) \ - PyArray_API[248]) -#define NpyIter_HasIndex \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[249]) -#define NpyIter_IsBuffered \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[250]) -#define NpyIter_IsGrowInner \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[251]) -#define NpyIter_GetBufferSize \ - (*(npy_intp (*)(NpyIter *)) \ - PyArray_API[252]) -#define NpyIter_GetIndexPtr \ - (*(npy_intp * (*)(NpyIter *)) \ - PyArray_API[253]) -#define NpyIter_GotoIndex \ - (*(int (*)(NpyIter *, npy_intp)) \ - PyArray_API[254]) -#define NpyIter_GetDataPtrArray \ - (*(char ** (*)(NpyIter *)) \ - PyArray_API[255]) -#define NpyIter_GetDescrArray \ - (*(PyArray_Descr ** (*)(NpyIter *)) \ - PyArray_API[256]) -#define NpyIter_GetOperandArray \ - (*(PyArrayObject ** (*)(NpyIter *)) \ - PyArray_API[257]) -#define NpyIter_GetIterView \ - (*(PyArrayObject * (*)(NpyIter *, npy_intp)) \ - PyArray_API[258]) -#define NpyIter_GetReadFlags \ - (*(void (*)(NpyIter *, char *)) \ - PyArray_API[259]) -#define NpyIter_GetWriteFlags \ - (*(void (*)(NpyIter *, char *)) \ - PyArray_API[260]) -#define NpyIter_DebugPrint \ - (*(void (*)(NpyIter *)) \ - PyArray_API[261]) -#define NpyIter_IterationNeedsAPI \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[262]) -#define NpyIter_GetInnerFixedStrideArray \ - (*(void (*)(NpyIter *, npy_intp *)) \ - PyArray_API[263]) -#define NpyIter_RemoveAxis \ - (*(int (*)(NpyIter *, int)) \ - PyArray_API[264]) -#define NpyIter_GetAxisStrideArray \ - (*(npy_intp * (*)(NpyIter *, int)) \ - PyArray_API[265]) -#define NpyIter_RequiresBuffering \ - (*(npy_bool (*)(NpyIter *)) \ - PyArray_API[266]) -#define NpyIter_GetInitialDataPtrArray \ - (*(char ** (*)(NpyIter *)) \ - PyArray_API[267]) -#define NpyIter_CreateCompatibleStrides \ - (*(int (*)(NpyIter *, npy_intp, npy_intp *)) \ - PyArray_API[268]) -#define PyArray_CastingConverter \ - (*(int (*)(PyObject *, NPY_CASTING *)) \ - PyArray_API[269]) -#define PyArray_CountNonzero \ - (*(npy_intp (*)(PyArrayObject *)) \ - PyArray_API[270]) -#define PyArray_PromoteTypes \ - (*(PyArray_Descr * (*)(PyArray_Descr *, PyArray_Descr *)) \ - PyArray_API[271]) -#define PyArray_MinScalarType \ - (*(PyArray_Descr * (*)(PyArrayObject *)) \ - PyArray_API[272]) -#define PyArray_ResultType \ - (*(PyArray_Descr * (*)(npy_intp, PyArrayObject **, npy_intp, PyArray_Descr **)) \ - PyArray_API[273]) -#define PyArray_CanCastArrayTo \ - (*(npy_bool (*)(PyArrayObject *, PyArray_Descr *, NPY_CASTING)) \ - PyArray_API[274]) -#define PyArray_CanCastTypeTo \ - (*(npy_bool (*)(PyArray_Descr *, PyArray_Descr *, NPY_CASTING)) \ - PyArray_API[275]) -#define PyArray_EinsteinSum \ - (*(PyArrayObject * (*)(char *, npy_intp, PyArrayObject **, PyArray_Descr *, NPY_ORDER, NPY_CASTING, PyArrayObject *)) \ - PyArray_API[276]) -#define PyArray_NewLikeArray \ - (*(PyObject * (*)(PyArrayObject *, NPY_ORDER, PyArray_Descr *, int)) \ - PyArray_API[277]) -#define PyArray_GetArrayParamsFromObject \ - (*(int (*)(PyObject *, PyArray_Descr *, npy_bool, PyArray_Descr **, int *, npy_intp *, PyArrayObject **, PyObject *)) \ - PyArray_API[278]) -#define PyArray_ConvertClipmodeSequence \ - (*(int (*)(PyObject *, NPY_CLIPMODE *, int)) \ - PyArray_API[279]) -#define PyArray_MatrixProduct2 \ - (*(PyObject * (*)(PyObject *, PyObject *, PyArrayObject*)) \ - PyArray_API[280]) -#define NpyIter_IsFirstVisit \ - (*(npy_bool (*)(NpyIter *, int)) \ - PyArray_API[281]) -#define PyArray_SetBaseObject \ - (*(int (*)(PyArrayObject *, PyObject *)) \ - PyArray_API[282]) -#define PyArray_CreateSortedStridePerm \ - (*(void (*)(int, npy_intp *, npy_stride_sort_item *)) \ - PyArray_API[283]) -#define PyArray_RemoveAxesInPlace \ - (*(void (*)(PyArrayObject *, npy_bool *)) \ - PyArray_API[284]) -#define PyArray_DebugPrint \ - (*(void (*)(PyArrayObject *)) \ - PyArray_API[285]) -#define PyArray_FailUnlessWriteable \ - (*(int (*)(PyArrayObject *, const char *)) \ - PyArray_API[286]) -#define PyArray_SetUpdateIfCopyBase \ - (*(int (*)(PyArrayObject *, PyArrayObject *)) \ - PyArray_API[287]) -#define PyDataMem_NEW \ - (*(void * (*)(size_t)) \ - PyArray_API[288]) -#define PyDataMem_FREE \ - (*(void (*)(void *)) \ - PyArray_API[289]) -#define PyDataMem_RENEW \ - (*(void * (*)(void *, size_t)) \ - PyArray_API[290]) -#define PyDataMem_SetEventHook \ - (*(PyDataMem_EventHookFunc * (*)(PyDataMem_EventHookFunc *, void *, void **)) \ - PyArray_API[291]) -#define NPY_DEFAULT_ASSIGN_CASTING (*(NPY_CASTING *)PyArray_API[292]) -#define PyArray_MapIterSwapAxes \ - (*(void (*)(PyArrayMapIterObject *, PyArrayObject **, int)) \ - PyArray_API[293]) -#define PyArray_MapIterArray \ - (*(PyObject * (*)(PyArrayObject *, PyObject *)) \ - PyArray_API[294]) -#define PyArray_MapIterNext \ - (*(void (*)(PyArrayMapIterObject *)) \ - PyArray_API[295]) -#define PyArray_Partition \ - (*(int (*)(PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND)) \ - PyArray_API[296]) -#define PyArray_ArgPartition \ - (*(PyObject * (*)(PyArrayObject *, PyArrayObject *, int, NPY_SELECTKIND)) \ - PyArray_API[297]) -#define PyArray_SelectkindConverter \ - (*(int (*)(PyObject *, NPY_SELECTKIND *)) \ - PyArray_API[298]) -#define PyDataMem_NEW_ZEROED \ - (*(void * (*)(size_t, size_t)) \ - PyArray_API[299]) - -#if !defined(NO_IMPORT_ARRAY) && !defined(NO_IMPORT) -static int -_import_array(void) -{ - int st; - PyObject *numpy = PyImport_ImportModule("numpy.core.multiarray"); - PyObject *c_api = NULL; - - if (numpy == NULL) { - PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); - return -1; - } - c_api = PyObject_GetAttrString(numpy, "_ARRAY_API"); - Py_DECREF(numpy); - if (c_api == NULL) { - PyErr_SetString(PyExc_AttributeError, "_ARRAY_API not found"); - return -1; - } - -#if PY_VERSION_HEX >= 0x03000000 - if (!PyCapsule_CheckExact(c_api)) { - PyErr_SetString(PyExc_RuntimeError, "_ARRAY_API is not PyCapsule object"); - Py_DECREF(c_api); - return -1; - } - PyArray_API = (void **)PyCapsule_GetPointer(c_api, NULL); -#else - if (!PyCObject_Check(c_api)) { - PyErr_SetString(PyExc_RuntimeError, "_ARRAY_API is not PyCObject object"); - Py_DECREF(c_api); - return -1; - } - PyArray_API = (void **)PyCObject_AsVoidPtr(c_api); -#endif - Py_DECREF(c_api); - if (PyArray_API == NULL) { - PyErr_SetString(PyExc_RuntimeError, "_ARRAY_API is NULL pointer"); - return -1; - } - - /* Perform runtime check of C API version */ - if (NPY_VERSION != PyArray_GetNDArrayCVersion()) { - PyErr_Format(PyExc_RuntimeError, "module compiled against "\ - "ABI version %x but this version of numpy is %x", \ - (int) NPY_VERSION, (int) PyArray_GetNDArrayCVersion()); - return -1; - } - if (NPY_FEATURE_VERSION > PyArray_GetNDArrayCFeatureVersion()) { - PyErr_Format(PyExc_RuntimeError, "module compiled against "\ - "API version %x but this version of numpy is %x", \ - (int) NPY_FEATURE_VERSION, (int) PyArray_GetNDArrayCFeatureVersion()); - return -1; - } - - /* - * Perform runtime check of endianness and check it matches the one set by - * the headers (npy_endian.h) as a safeguard - */ - st = PyArray_GetEndianness(); - if (st == NPY_CPU_UNKNOWN_ENDIAN) { - PyErr_Format(PyExc_RuntimeError, "FATAL: module compiled as unknown endian"); - return -1; - } -#if NPY_BYTE_ORDER == NPY_BIG_ENDIAN - if (st != NPY_CPU_BIG) { - PyErr_Format(PyExc_RuntimeError, "FATAL: module compiled as "\ - "big endian, but detected different endianness at runtime"); - return -1; - } -#elif NPY_BYTE_ORDER == NPY_LITTLE_ENDIAN - if (st != NPY_CPU_LITTLE) { - PyErr_Format(PyExc_RuntimeError, "FATAL: module compiled as "\ - "little endian, but detected different endianness at runtime"); - return -1; - } -#endif - - return 0; -} - -#if PY_VERSION_HEX >= 0x03000000 -#define NUMPY_IMPORT_ARRAY_RETVAL NULL -#else -#define NUMPY_IMPORT_ARRAY_RETVAL -#endif - -#define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } } - -#define import_array1(ret) {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return ret; } } - -#define import_array2(msg, ret) {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, msg); return ret; } } - -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h deleted file mode 100644 index 358523193..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/__ufunc_api.h +++ /dev/null @@ -1,328 +0,0 @@ - -#ifdef _UMATHMODULE - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION -extern NPY_NO_EXPORT PyTypeObject PyUFunc_Type; -#else -NPY_NO_EXPORT PyTypeObject PyUFunc_Type; -#endif - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - extern NPY_NO_EXPORT PyTypeObject PyUFunc_Type; -#else - NPY_NO_EXPORT PyTypeObject PyUFunc_Type; -#endif - -NPY_NO_EXPORT PyObject * PyUFunc_FromFuncAndData \ - (PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int); -NPY_NO_EXPORT int PyUFunc_RegisterLoopForType \ - (PyUFuncObject *, int, PyUFuncGenericFunction, int *, void *); -NPY_NO_EXPORT int PyUFunc_GenericFunction \ - (PyUFuncObject *, PyObject *, PyObject *, PyArrayObject **); -NPY_NO_EXPORT void PyUFunc_f_f_As_d_d \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_d_d \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_f_f \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_g_g \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_F_F_As_D_D \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_F_F \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_D_D \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_G_G \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_O_O \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_ff_f_As_dd_d \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_ff_f \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_dd_d \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_gg_g \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_FF_F_As_DD_D \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_DD_D \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_FF_F \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_GG_G \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_OO_O \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_O_O_method \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_OO_O_method \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_On_Om \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT int PyUFunc_GetPyValues \ - (char *, int *, int *, PyObject **); -NPY_NO_EXPORT int PyUFunc_checkfperr \ - (int, PyObject *, int *); -NPY_NO_EXPORT void PyUFunc_clearfperr \ - (void); -NPY_NO_EXPORT int PyUFunc_getfperr \ - (void); -NPY_NO_EXPORT int PyUFunc_handlefperr \ - (int, PyObject *, int, int *); -NPY_NO_EXPORT int PyUFunc_ReplaceLoopBySignature \ - (PyUFuncObject *, PyUFuncGenericFunction, int *, PyUFuncGenericFunction *); -NPY_NO_EXPORT PyObject * PyUFunc_FromFuncAndDataAndSignature \ - (PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int, const char *); -NPY_NO_EXPORT int PyUFunc_SetUsesArraysAsData \ - (void **, size_t); -NPY_NO_EXPORT void PyUFunc_e_e \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_e_e_As_f_f \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_e_e_As_d_d \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_ee_e \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_ee_e_As_ff_f \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT void PyUFunc_ee_e_As_dd_d \ - (char **, npy_intp *, npy_intp *, void *); -NPY_NO_EXPORT int PyUFunc_DefaultTypeResolver \ - (PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyObject *, PyArray_Descr **); -NPY_NO_EXPORT int PyUFunc_ValidateCasting \ - (PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyArray_Descr **); -NPY_NO_EXPORT int PyUFunc_RegisterLoopForDescr \ - (PyUFuncObject *, PyArray_Descr *, PyUFuncGenericFunction, PyArray_Descr **, void *); - -#else - -#if defined(PY_UFUNC_UNIQUE_SYMBOL) -#define PyUFunc_API PY_UFUNC_UNIQUE_SYMBOL -#endif - -#if defined(NO_IMPORT) || defined(NO_IMPORT_UFUNC) -extern void **PyUFunc_API; -#else -#if defined(PY_UFUNC_UNIQUE_SYMBOL) -void **PyUFunc_API; -#else -static void **PyUFunc_API=NULL; -#endif -#endif - -#define PyUFunc_Type (*(PyTypeObject *)PyUFunc_API[0]) -#define PyUFunc_FromFuncAndData \ - (*(PyObject * (*)(PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int)) \ - PyUFunc_API[1]) -#define PyUFunc_RegisterLoopForType \ - (*(int (*)(PyUFuncObject *, int, PyUFuncGenericFunction, int *, void *)) \ - PyUFunc_API[2]) -#define PyUFunc_GenericFunction \ - (*(int (*)(PyUFuncObject *, PyObject *, PyObject *, PyArrayObject **)) \ - PyUFunc_API[3]) -#define PyUFunc_f_f_As_d_d \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[4]) -#define PyUFunc_d_d \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[5]) -#define PyUFunc_f_f \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[6]) -#define PyUFunc_g_g \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[7]) -#define PyUFunc_F_F_As_D_D \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[8]) -#define PyUFunc_F_F \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[9]) -#define PyUFunc_D_D \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[10]) -#define PyUFunc_G_G \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[11]) -#define PyUFunc_O_O \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[12]) -#define PyUFunc_ff_f_As_dd_d \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[13]) -#define PyUFunc_ff_f \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[14]) -#define PyUFunc_dd_d \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[15]) -#define PyUFunc_gg_g \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[16]) -#define PyUFunc_FF_F_As_DD_D \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[17]) -#define PyUFunc_DD_D \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[18]) -#define PyUFunc_FF_F \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[19]) -#define PyUFunc_GG_G \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[20]) -#define PyUFunc_OO_O \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[21]) -#define PyUFunc_O_O_method \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[22]) -#define PyUFunc_OO_O_method \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[23]) -#define PyUFunc_On_Om \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[24]) -#define PyUFunc_GetPyValues \ - (*(int (*)(char *, int *, int *, PyObject **)) \ - PyUFunc_API[25]) -#define PyUFunc_checkfperr \ - (*(int (*)(int, PyObject *, int *)) \ - PyUFunc_API[26]) -#define PyUFunc_clearfperr \ - (*(void (*)(void)) \ - PyUFunc_API[27]) -#define PyUFunc_getfperr \ - (*(int (*)(void)) \ - PyUFunc_API[28]) -#define PyUFunc_handlefperr \ - (*(int (*)(int, PyObject *, int, int *)) \ - PyUFunc_API[29]) -#define PyUFunc_ReplaceLoopBySignature \ - (*(int (*)(PyUFuncObject *, PyUFuncGenericFunction, int *, PyUFuncGenericFunction *)) \ - PyUFunc_API[30]) -#define PyUFunc_FromFuncAndDataAndSignature \ - (*(PyObject * (*)(PyUFuncGenericFunction *, void **, char *, int, int, int, int, char *, char *, int, const char *)) \ - PyUFunc_API[31]) -#define PyUFunc_SetUsesArraysAsData \ - (*(int (*)(void **, size_t)) \ - PyUFunc_API[32]) -#define PyUFunc_e_e \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[33]) -#define PyUFunc_e_e_As_f_f \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[34]) -#define PyUFunc_e_e_As_d_d \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[35]) -#define PyUFunc_ee_e \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[36]) -#define PyUFunc_ee_e_As_ff_f \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[37]) -#define PyUFunc_ee_e_As_dd_d \ - (*(void (*)(char **, npy_intp *, npy_intp *, void *)) \ - PyUFunc_API[38]) -#define PyUFunc_DefaultTypeResolver \ - (*(int (*)(PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyObject *, PyArray_Descr **)) \ - PyUFunc_API[39]) -#define PyUFunc_ValidateCasting \ - (*(int (*)(PyUFuncObject *, NPY_CASTING, PyArrayObject **, PyArray_Descr **)) \ - PyUFunc_API[40]) -#define PyUFunc_RegisterLoopForDescr \ - (*(int (*)(PyUFuncObject *, PyArray_Descr *, PyUFuncGenericFunction, PyArray_Descr **, void *)) \ - PyUFunc_API[41]) - -static int -_import_umath(void) -{ - PyObject *numpy = PyImport_ImportModule("numpy.core.umath"); - PyObject *c_api = NULL; - - if (numpy == NULL) { - PyErr_SetString(PyExc_ImportError, "numpy.core.umath failed to import"); - return -1; - } - c_api = PyObject_GetAttrString(numpy, "_UFUNC_API"); - Py_DECREF(numpy); - if (c_api == NULL) { - PyErr_SetString(PyExc_AttributeError, "_UFUNC_API not found"); - return -1; - } - -#if PY_VERSION_HEX >= 0x03000000 - if (!PyCapsule_CheckExact(c_api)) { - PyErr_SetString(PyExc_RuntimeError, "_UFUNC_API is not PyCapsule object"); - Py_DECREF(c_api); - return -1; - } - PyUFunc_API = (void **)PyCapsule_GetPointer(c_api, NULL); -#else - if (!PyCObject_Check(c_api)) { - PyErr_SetString(PyExc_RuntimeError, "_UFUNC_API is not PyCObject object"); - Py_DECREF(c_api); - return -1; - } - PyUFunc_API = (void **)PyCObject_AsVoidPtr(c_api); -#endif - Py_DECREF(c_api); - if (PyUFunc_API == NULL) { - PyErr_SetString(PyExc_RuntimeError, "_UFUNC_API is NULL pointer"); - return -1; - } - return 0; -} - -#if PY_VERSION_HEX >= 0x03000000 -#define NUMPY_IMPORT_UMATH_RETVAL NULL -#else -#define NUMPY_IMPORT_UMATH_RETVAL -#endif - -#define import_umath() \ - do {\ - UFUNC_NOFPE\ - if (_import_umath() < 0) {\ - PyErr_Print();\ - PyErr_SetString(PyExc_ImportError,\ - "numpy.core.umath failed to import");\ - return NUMPY_IMPORT_UMATH_RETVAL;\ - }\ - } while(0) - -#define import_umath1(ret) \ - do {\ - UFUNC_NOFPE\ - if (_import_umath() < 0) {\ - PyErr_Print();\ - PyErr_SetString(PyExc_ImportError,\ - "numpy.core.umath failed to import");\ - return ret;\ - }\ - } while(0) - -#define import_umath2(ret, msg) \ - do {\ - UFUNC_NOFPE\ - if (_import_umath() < 0) {\ - PyErr_Print();\ - PyErr_SetString(PyExc_ImportError, msg);\ - return ret;\ - }\ - } while(0) - -#define import_ufunc() \ - do {\ - UFUNC_NOFPE\ - if (_import_umath() < 0) {\ - PyErr_Print();\ - PyErr_SetString(PyExc_ImportError,\ - "numpy.core.umath failed to import");\ - }\ - } while(0) - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h b/gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h deleted file mode 100644 index e8860cbc7..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/_neighborhood_iterator_imp.h +++ /dev/null @@ -1,90 +0,0 @@ -#ifndef _NPY_INCLUDE_NEIGHBORHOOD_IMP -#error You should not include this header directly -#endif -/* - * Private API (here for inline) - */ -static NPY_INLINE int -_PyArrayNeighborhoodIter_IncrCoord(PyArrayNeighborhoodIterObject* iter); - -/* - * Update to next item of the iterator - * - * Note: this simply increment the coordinates vector, last dimension - * incremented first , i.e, for dimension 3 - * ... - * -1, -1, -1 - * -1, -1, 0 - * -1, -1, 1 - * .... - * -1, 0, -1 - * -1, 0, 0 - * .... - * 0, -1, -1 - * 0, -1, 0 - * .... - */ -#define _UPDATE_COORD_ITER(c) \ - wb = iter->coordinates[c] < iter->bounds[c][1]; \ - if (wb) { \ - iter->coordinates[c] += 1; \ - return 0; \ - } \ - else { \ - iter->coordinates[c] = iter->bounds[c][0]; \ - } - -static NPY_INLINE int -_PyArrayNeighborhoodIter_IncrCoord(PyArrayNeighborhoodIterObject* iter) -{ - npy_intp i, wb; - - for (i = iter->nd - 1; i >= 0; --i) { - _UPDATE_COORD_ITER(i) - } - - return 0; -} - -/* - * Version optimized for 2d arrays, manual loop unrolling - */ -static NPY_INLINE int -_PyArrayNeighborhoodIter_IncrCoord2D(PyArrayNeighborhoodIterObject* iter) -{ - npy_intp wb; - - _UPDATE_COORD_ITER(1) - _UPDATE_COORD_ITER(0) - - return 0; -} -#undef _UPDATE_COORD_ITER - -/* - * Advance to the next neighbour - */ -static NPY_INLINE int -PyArrayNeighborhoodIter_Next(PyArrayNeighborhoodIterObject* iter) -{ - _PyArrayNeighborhoodIter_IncrCoord (iter); - iter->dataptr = iter->translate((PyArrayIterObject*)iter, iter->coordinates); - - return 0; -} - -/* - * Reset functions - */ -static NPY_INLINE int -PyArrayNeighborhoodIter_Reset(PyArrayNeighborhoodIterObject* iter) -{ - npy_intp i; - - for (i = 0; i < iter->nd; ++i) { - iter->coordinates[i] = iter->bounds[i][0]; - } - iter->dataptr = iter->translate((PyArrayIterObject*)iter, iter->coordinates); - - return 0; -} diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h b/gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h deleted file mode 100644 index 79ccc2904..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/_numpyconfig.h +++ /dev/null @@ -1,32 +0,0 @@ -#define NPY_HAVE_ENDIAN_H 1 -#define NPY_SIZEOF_SHORT SIZEOF_SHORT -#define NPY_SIZEOF_INT SIZEOF_INT -#define NPY_SIZEOF_LONG SIZEOF_LONG -#define NPY_SIZEOF_FLOAT 4 -#define NPY_SIZEOF_COMPLEX_FLOAT 8 -#define NPY_SIZEOF_DOUBLE 8 -#define NPY_SIZEOF_COMPLEX_DOUBLE 16 -#define NPY_SIZEOF_LONGDOUBLE 16 -#define NPY_SIZEOF_COMPLEX_LONGDOUBLE 32 -#define NPY_SIZEOF_PY_INTPTR_T 8 -#define NPY_SIZEOF_OFF_T 8 -#define NPY_SIZEOF_PY_LONG_LONG 8 -#define NPY_SIZEOF_LONGLONG 8 -#define NPY_NO_SMP 0 -#define NPY_HAVE_DECL_ISNAN -#define NPY_HAVE_DECL_ISINF -#define NPY_HAVE_DECL_ISFINITE -#define NPY_HAVE_DECL_SIGNBIT -#define NPY_USE_C99_COMPLEX 1 -#define NPY_HAVE_COMPLEX_DOUBLE 1 -#define NPY_HAVE_COMPLEX_FLOAT 1 -#define NPY_HAVE_COMPLEX_LONG_DOUBLE 1 -#define NPY_ENABLE_SEPARATE_COMPILATION 1 -#define NPY_USE_C99_FORMATS 1 -#define NPY_VISIBILITY_HIDDEN __attribute__((visibility("hidden"))) -#define NPY_ABI_VERSION 0x01000009 -#define NPY_API_VERSION 0x00000009 - -#ifndef __STDC_FORMAT_MACROS -#define __STDC_FORMAT_MACROS 1 -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h b/gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h deleted file mode 100644 index 4f46d6b1a..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/arrayobject.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef Py_ARRAYOBJECT_H -#define Py_ARRAYOBJECT_H - -#include "ndarrayobject.h" -#include "npy_interrupt.h" - -#ifdef NPY_NO_PREFIX -#include "noprefix.h" -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h b/gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h deleted file mode 100644 index 64450e713..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/arrayscalars.h +++ /dev/null @@ -1,175 +0,0 @@ -#ifndef _NPY_ARRAYSCALARS_H_ -#define _NPY_ARRAYSCALARS_H_ - -#ifndef _MULTIARRAYMODULE -typedef struct { - PyObject_HEAD - npy_bool obval; -} PyBoolScalarObject; -#endif - - -typedef struct { - PyObject_HEAD - signed char obval; -} PyByteScalarObject; - - -typedef struct { - PyObject_HEAD - short obval; -} PyShortScalarObject; - - -typedef struct { - PyObject_HEAD - int obval; -} PyIntScalarObject; - - -typedef struct { - PyObject_HEAD - long obval; -} PyLongScalarObject; - - -typedef struct { - PyObject_HEAD - npy_longlong obval; -} PyLongLongScalarObject; - - -typedef struct { - PyObject_HEAD - unsigned char obval; -} PyUByteScalarObject; - - -typedef struct { - PyObject_HEAD - unsigned short obval; -} PyUShortScalarObject; - - -typedef struct { - PyObject_HEAD - unsigned int obval; -} PyUIntScalarObject; - - -typedef struct { - PyObject_HEAD - unsigned long obval; -} PyULongScalarObject; - - -typedef struct { - PyObject_HEAD - npy_ulonglong obval; -} PyULongLongScalarObject; - - -typedef struct { - PyObject_HEAD - npy_half obval; -} PyHalfScalarObject; - - -typedef struct { - PyObject_HEAD - float obval; -} PyFloatScalarObject; - - -typedef struct { - PyObject_HEAD - double obval; -} PyDoubleScalarObject; - - -typedef struct { - PyObject_HEAD - npy_longdouble obval; -} PyLongDoubleScalarObject; - - -typedef struct { - PyObject_HEAD - npy_cfloat obval; -} PyCFloatScalarObject; - - -typedef struct { - PyObject_HEAD - npy_cdouble obval; -} PyCDoubleScalarObject; - - -typedef struct { - PyObject_HEAD - npy_clongdouble obval; -} PyCLongDoubleScalarObject; - - -typedef struct { - PyObject_HEAD - PyObject * obval; -} PyObjectScalarObject; - -typedef struct { - PyObject_HEAD - npy_datetime obval; - PyArray_DatetimeMetaData obmeta; -} PyDatetimeScalarObject; - -typedef struct { - PyObject_HEAD - npy_timedelta obval; - PyArray_DatetimeMetaData obmeta; -} PyTimedeltaScalarObject; - - -typedef struct { - PyObject_HEAD - char obval; -} PyScalarObject; - -#define PyStringScalarObject PyStringObject -#define PyUnicodeScalarObject PyUnicodeObject - -typedef struct { - PyObject_VAR_HEAD - char *obval; - PyArray_Descr *descr; - int flags; - PyObject *base; -} PyVoidScalarObject; - -/* Macros - PyScalarObject - PyArrType_Type - are defined in ndarrayobject.h -*/ - -#define PyArrayScalar_False ((PyObject *)(&(_PyArrayScalar_BoolValues[0]))) -#define PyArrayScalar_True ((PyObject *)(&(_PyArrayScalar_BoolValues[1]))) -#define PyArrayScalar_FromLong(i) \ - ((PyObject *)(&(_PyArrayScalar_BoolValues[((i)!=0)]))) -#define PyArrayScalar_RETURN_BOOL_FROM_LONG(i) \ - return Py_INCREF(PyArrayScalar_FromLong(i)), \ - PyArrayScalar_FromLong(i) -#define PyArrayScalar_RETURN_FALSE \ - return Py_INCREF(PyArrayScalar_False), \ - PyArrayScalar_False -#define PyArrayScalar_RETURN_TRUE \ - return Py_INCREF(PyArrayScalar_True), \ - PyArrayScalar_True - -#define PyArrayScalar_New(cls) \ - Py##cls##ArrType_Type.tp_alloc(&Py##cls##ArrType_Type, 0) -#define PyArrayScalar_VAL(obj, cls) \ - ((Py##cls##ScalarObject *)obj)->obval -#define PyArrayScalar_ASSIGN(obj, cls, val) \ - PyArrayScalar_VAL(obj, cls) = val - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h b/gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h deleted file mode 100644 index 944f0ea34..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/halffloat.h +++ /dev/null @@ -1,69 +0,0 @@ -#ifndef __NPY_HALFFLOAT_H__ -#define __NPY_HALFFLOAT_H__ - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * Half-precision routines - */ - -/* Conversions */ -float npy_half_to_float(npy_half h); -double npy_half_to_double(npy_half h); -npy_half npy_float_to_half(float f); -npy_half npy_double_to_half(double d); -/* Comparisons */ -int npy_half_eq(npy_half h1, npy_half h2); -int npy_half_ne(npy_half h1, npy_half h2); -int npy_half_le(npy_half h1, npy_half h2); -int npy_half_lt(npy_half h1, npy_half h2); -int npy_half_ge(npy_half h1, npy_half h2); -int npy_half_gt(npy_half h1, npy_half h2); -/* faster *_nonan variants for when you know h1 and h2 are not NaN */ -int npy_half_eq_nonan(npy_half h1, npy_half h2); -int npy_half_lt_nonan(npy_half h1, npy_half h2); -int npy_half_le_nonan(npy_half h1, npy_half h2); -/* Miscellaneous functions */ -int npy_half_iszero(npy_half h); -int npy_half_isnan(npy_half h); -int npy_half_isinf(npy_half h); -int npy_half_isfinite(npy_half h); -int npy_half_signbit(npy_half h); -npy_half npy_half_copysign(npy_half x, npy_half y); -npy_half npy_half_spacing(npy_half h); -npy_half npy_half_nextafter(npy_half x, npy_half y); - -/* - * Half-precision constants - */ - -#define NPY_HALF_ZERO (0x0000u) -#define NPY_HALF_PZERO (0x0000u) -#define NPY_HALF_NZERO (0x8000u) -#define NPY_HALF_ONE (0x3c00u) -#define NPY_HALF_NEGONE (0xbc00u) -#define NPY_HALF_PINF (0x7c00u) -#define NPY_HALF_NINF (0xfc00u) -#define NPY_HALF_NAN (0x7e00u) - -#define NPY_MAX_HALF (0x7bffu) - -/* - * Bit-level conversions - */ - -npy_uint16 npy_floatbits_to_halfbits(npy_uint32 f); -npy_uint16 npy_doublebits_to_halfbits(npy_uint64 d); -npy_uint32 npy_halfbits_to_floatbits(npy_uint16 h); -npy_uint64 npy_halfbits_to_doublebits(npy_uint16 h); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt b/gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt deleted file mode 100644 index 33bc88ca9..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/multiarray_api.txt +++ /dev/null @@ -1,2430 +0,0 @@ - -=========== -Numpy C-API -=========== -:: - - unsigned int - PyArray_GetNDArrayCVersion(void ) - - -Included at the very first so not auto-grabbed and thus not labeled. - -:: - - int - PyArray_SetNumericOps(PyObject *dict) - -Set internal structure with number functions that all arrays will use - -:: - - PyObject * - PyArray_GetNumericOps(void ) - -Get dictionary showing number functions that all arrays will use - -:: - - int - PyArray_INCREF(PyArrayObject *mp) - -For object arrays, increment all internal references. - -:: - - int - PyArray_XDECREF(PyArrayObject *mp) - -Decrement all internal references for object arrays. -(or arrays with object fields) - -:: - - void - PyArray_SetStringFunction(PyObject *op, int repr) - -Set the array print function to be a Python function. - -:: - - PyArray_Descr * - PyArray_DescrFromType(int type) - -Get the PyArray_Descr structure for a type. - -:: - - PyObject * - PyArray_TypeObjectFromType(int type) - -Get a typeobject from a type-number -- can return NULL. - -New reference - -:: - - char * - PyArray_Zero(PyArrayObject *arr) - -Get pointer to zero of correct type for array. - -:: - - char * - PyArray_One(PyArrayObject *arr) - -Get pointer to one of correct type for array - -:: - - PyObject * - PyArray_CastToType(PyArrayObject *arr, PyArray_Descr *dtype, int - is_f_order) - -For backward compatibility - -Cast an array using typecode structure. -steals reference to at --- cannot be NULL - -This function always makes a copy of arr, even if the dtype -doesn't change. - -:: - - int - PyArray_CastTo(PyArrayObject *out, PyArrayObject *mp) - -Cast to an already created array. - -:: - - int - PyArray_CastAnyTo(PyArrayObject *out, PyArrayObject *mp) - -Cast to an already created array. Arrays don't have to be "broadcastable" -Only requirement is they have the same number of elements. - -:: - - int - PyArray_CanCastSafely(int fromtype, int totype) - -Check the type coercion rules. - -:: - - npy_bool - PyArray_CanCastTo(PyArray_Descr *from, PyArray_Descr *to) - -leaves reference count alone --- cannot be NULL - -PyArray_CanCastTypeTo is equivalent to this, but adds a 'casting' -parameter. - -:: - - int - PyArray_ObjectType(PyObject *op, int minimum_type) - -Return the typecode of the array a Python object would be converted to - -Returns the type number the result should have, or NPY_NOTYPE on error. - -:: - - PyArray_Descr * - PyArray_DescrFromObject(PyObject *op, PyArray_Descr *mintype) - -new reference -- accepts NULL for mintype - -:: - - PyArrayObject ** - PyArray_ConvertToCommonType(PyObject *op, int *retn) - - -:: - - PyArray_Descr * - PyArray_DescrFromScalar(PyObject *sc) - -Return descr object from array scalar. - -New reference - -:: - - PyArray_Descr * - PyArray_DescrFromTypeObject(PyObject *type) - - -:: - - npy_intp - PyArray_Size(PyObject *op) - -Compute the size of an array (in number of items) - -:: - - PyObject * - PyArray_Scalar(void *data, PyArray_Descr *descr, PyObject *base) - -Get scalar-equivalent to a region of memory described by a descriptor. - -:: - - PyObject * - PyArray_FromScalar(PyObject *scalar, PyArray_Descr *outcode) - -Get 0-dim array from scalar - -0-dim array from array-scalar object -always contains a copy of the data -unless outcode is NULL, it is of void type and the referrer does -not own it either. - -steals reference to outcode - -:: - - void - PyArray_ScalarAsCtype(PyObject *scalar, void *ctypeptr) - -Convert to c-type - -no error checking is performed -- ctypeptr must be same type as scalar -in case of flexible type, the data is not copied -into ctypeptr which is expected to be a pointer to pointer - -:: - - int - PyArray_CastScalarToCtype(PyObject *scalar, void - *ctypeptr, PyArray_Descr *outcode) - -Cast Scalar to c-type - -The output buffer must be large-enough to receive the value -Even for flexible types which is different from ScalarAsCtype -where only a reference for flexible types is returned - -This may not work right on narrow builds for NumPy unicode scalars. - -:: - - int - PyArray_CastScalarDirect(PyObject *scalar, PyArray_Descr - *indescr, void *ctypeptr, int outtype) - -Cast Scalar to c-type - -:: - - PyObject * - PyArray_ScalarFromObject(PyObject *object) - -Get an Array Scalar From a Python Object - -Returns NULL if unsuccessful but error is only set if another error occurred. -Currently only Numeric-like object supported. - -:: - - PyArray_VectorUnaryFunc * - PyArray_GetCastFunc(PyArray_Descr *descr, int type_num) - -Get a cast function to cast from the input descriptor to the -output type_number (must be a registered data-type). -Returns NULL if un-successful. - -:: - - PyObject * - PyArray_FromDims(int nd, int *d, int type) - -Construct an empty array from dimensions and typenum - -:: - - PyObject * - PyArray_FromDimsAndDataAndDescr(int nd, int *d, PyArray_Descr - *descr, char *data) - -Like FromDimsAndData but uses the Descr structure instead of typecode -as input. - -:: - - PyObject * - PyArray_FromAny(PyObject *op, PyArray_Descr *newtype, int - min_depth, int max_depth, int flags, PyObject - *context) - -Does not check for NPY_ARRAY_ENSURECOPY and NPY_ARRAY_NOTSWAPPED in flags -Steals a reference to newtype --- which can be NULL - -:: - - PyObject * - PyArray_EnsureArray(PyObject *op) - -This is a quick wrapper around PyArray_FromAny(op, NULL, 0, 0, ENSUREARRAY) -that special cases Arrays and PyArray_Scalars up front -It *steals a reference* to the object -It also guarantees that the result is PyArray_Type -Because it decrefs op if any conversion needs to take place -so it can be used like PyArray_EnsureArray(some_function(...)) - -:: - - PyObject * - PyArray_EnsureAnyArray(PyObject *op) - - -:: - - PyObject * - PyArray_FromFile(FILE *fp, PyArray_Descr *dtype, npy_intp num, char - *sep) - - -Given a ``FILE *`` pointer ``fp``, and a ``PyArray_Descr``, return an -array corresponding to the data encoded in that file. - -If the dtype is NULL, the default array type is used (double). -If non-null, the reference is stolen. - -The number of elements to read is given as ``num``; if it is < 0, then -then as many as possible are read. - -If ``sep`` is NULL or empty, then binary data is assumed, else -text data, with ``sep`` as the separator between elements. Whitespace in -the separator matches any length of whitespace in the text, and a match -for whitespace around the separator is added. - -For memory-mapped files, use the buffer interface. No more data than -necessary is read by this routine. - -:: - - PyObject * - PyArray_FromString(char *data, npy_intp slen, PyArray_Descr - *dtype, npy_intp num, char *sep) - - -Given a pointer to a string ``data``, a string length ``slen``, and -a ``PyArray_Descr``, return an array corresponding to the data -encoded in that string. - -If the dtype is NULL, the default array type is used (double). -If non-null, the reference is stolen. - -If ``slen`` is < 0, then the end of string is used for text data. -It is an error for ``slen`` to be < 0 for binary data (since embedded NULLs -would be the norm). - -The number of elements to read is given as ``num``; if it is < 0, then -then as many as possible are read. - -If ``sep`` is NULL or empty, then binary data is assumed, else -text data, with ``sep`` as the separator between elements. Whitespace in -the separator matches any length of whitespace in the text, and a match -for whitespace around the separator is added. - -:: - - PyObject * - PyArray_FromBuffer(PyObject *buf, PyArray_Descr *type, npy_intp - count, npy_intp offset) - - -:: - - PyObject * - PyArray_FromIter(PyObject *obj, PyArray_Descr *dtype, npy_intp count) - - -steals a reference to dtype (which cannot be NULL) - -:: - - PyObject * - PyArray_Return(PyArrayObject *mp) - - -Return either an array or the appropriate Python object if the array -is 0d and matches a Python type. - -:: - - PyObject * - PyArray_GetField(PyArrayObject *self, PyArray_Descr *typed, int - offset) - -Get a subset of bytes from each element of the array - -:: - - int - PyArray_SetField(PyArrayObject *self, PyArray_Descr *dtype, int - offset, PyObject *val) - -Set a subset of bytes from each element of the array - -:: - - PyObject * - PyArray_Byteswap(PyArrayObject *self, npy_bool inplace) - - -:: - - PyObject * - PyArray_Resize(PyArrayObject *self, PyArray_Dims *newshape, int - refcheck, NPY_ORDER order) - -Resize (reallocate data). Only works if nothing else is referencing this -array and it is contiguous. If refcheck is 0, then the reference count is -not checked and assumed to be 1. You still must own this data and have no -weak-references and no base object. - -:: - - int - PyArray_MoveInto(PyArrayObject *dst, PyArrayObject *src) - -Move the memory of one array into another, allowing for overlapping data. - -Returns 0 on success, negative on failure. - -:: - - int - PyArray_CopyInto(PyArrayObject *dst, PyArrayObject *src) - -Copy an Array into another array. -Broadcast to the destination shape if necessary. - -Returns 0 on success, -1 on failure. - -:: - - int - PyArray_CopyAnyInto(PyArrayObject *dst, PyArrayObject *src) - -Copy an Array into another array -- memory must not overlap -Does not require src and dest to have "broadcastable" shapes -(only the same number of elements). - -TODO: For NumPy 2.0, this could accept an order parameter which -only allows NPY_CORDER and NPY_FORDER. Could also rename -this to CopyAsFlat to make the name more intuitive. - -Returns 0 on success, -1 on error. - -:: - - int - PyArray_CopyObject(PyArrayObject *dest, PyObject *src_object) - - -:: - - PyObject * - PyArray_NewCopy(PyArrayObject *obj, NPY_ORDER order) - -Copy an array. - -:: - - PyObject * - PyArray_ToList(PyArrayObject *self) - -To List - -:: - - PyObject * - PyArray_ToString(PyArrayObject *self, NPY_ORDER order) - - -:: - - int - PyArray_ToFile(PyArrayObject *self, FILE *fp, char *sep, char *format) - -To File - -:: - - int - PyArray_Dump(PyObject *self, PyObject *file, int protocol) - - -:: - - PyObject * - PyArray_Dumps(PyObject *self, int protocol) - - -:: - - int - PyArray_ValidType(int type) - -Is the typenum valid? - -:: - - void - PyArray_UpdateFlags(PyArrayObject *ret, int flagmask) - -Update Several Flags at once. - -:: - - PyObject * - PyArray_New(PyTypeObject *subtype, int nd, npy_intp *dims, int - type_num, npy_intp *strides, void *data, int itemsize, int - flags, PyObject *obj) - -Generic new array creation routine. - -:: - - PyObject * - PyArray_NewFromDescr(PyTypeObject *subtype, PyArray_Descr *descr, int - nd, npy_intp *dims, npy_intp *strides, void - *data, int flags, PyObject *obj) - -Generic new array creation routine. - -steals a reference to descr (even on failure) - -:: - - PyArray_Descr * - PyArray_DescrNew(PyArray_Descr *base) - -base cannot be NULL - -:: - - PyArray_Descr * - PyArray_DescrNewFromType(int type_num) - - -:: - - double - PyArray_GetPriority(PyObject *obj, double default_) - -Get Priority from object - -:: - - PyObject * - PyArray_IterNew(PyObject *obj) - -Get Iterator. - -:: - - PyObject * - PyArray_MultiIterNew(int n, ... ) - -Get MultiIterator, - -:: - - int - PyArray_PyIntAsInt(PyObject *o) - - -:: - - npy_intp - PyArray_PyIntAsIntp(PyObject *o) - - -:: - - int - PyArray_Broadcast(PyArrayMultiIterObject *mit) - - -:: - - void - PyArray_FillObjectArray(PyArrayObject *arr, PyObject *obj) - -Assumes contiguous - -:: - - int - PyArray_FillWithScalar(PyArrayObject *arr, PyObject *obj) - - -:: - - npy_bool - PyArray_CheckStrides(int elsize, int nd, npy_intp numbytes, npy_intp - offset, npy_intp *dims, npy_intp *newstrides) - - -:: - - PyArray_Descr * - PyArray_DescrNewByteorder(PyArray_Descr *self, char newendian) - - -returns a copy of the PyArray_Descr structure with the byteorder -altered: -no arguments: The byteorder is swapped (in all subfields as well) -single argument: The byteorder is forced to the given state -(in all subfields as well) - -Valid states: ('big', '>') or ('little' or '<') -('native', or '=') - -If a descr structure with | is encountered it's own -byte-order is not changed but any fields are: - - -Deep bytorder change of a data-type descriptor -Leaves reference count of self unchanged --- does not DECREF self *** - -:: - - PyObject * - PyArray_IterAllButAxis(PyObject *obj, int *inaxis) - -Get Iterator that iterates over all but one axis (don't use this with -PyArray_ITER_GOTO1D). The axis will be over-written if negative -with the axis having the smallest stride. - -:: - - PyObject * - PyArray_CheckFromAny(PyObject *op, PyArray_Descr *descr, int - min_depth, int max_depth, int requires, PyObject - *context) - -steals a reference to descr -- accepts NULL - -:: - - PyObject * - PyArray_FromArray(PyArrayObject *arr, PyArray_Descr *newtype, int - flags) - -steals reference to newtype --- acc. NULL - -:: - - PyObject * - PyArray_FromInterface(PyObject *origin) - - -:: - - PyObject * - PyArray_FromStructInterface(PyObject *input) - - -:: - - PyObject * - PyArray_FromArrayAttr(PyObject *op, PyArray_Descr *typecode, PyObject - *context) - - -:: - - NPY_SCALARKIND - PyArray_ScalarKind(int typenum, PyArrayObject **arr) - -ScalarKind - -Returns the scalar kind of a type number, with an -optional tweak based on the scalar value itself. -If no scalar is provided, it returns INTPOS_SCALAR -for both signed and unsigned integers, otherwise -it checks the sign of any signed integer to choose -INTNEG_SCALAR when appropriate. - -:: - - int - PyArray_CanCoerceScalar(int thistype, int neededtype, NPY_SCALARKIND - scalar) - - -Determines whether the data type 'thistype', with -scalar kind 'scalar', can be coerced into 'neededtype'. - -:: - - PyObject * - PyArray_NewFlagsObject(PyObject *obj) - - -Get New ArrayFlagsObject - -:: - - npy_bool - PyArray_CanCastScalar(PyTypeObject *from, PyTypeObject *to) - -See if array scalars can be cast. - -TODO: For NumPy 2.0, add a NPY_CASTING parameter. - -:: - - int - PyArray_CompareUCS4(npy_ucs4 *s1, npy_ucs4 *s2, size_t len) - - -:: - - int - PyArray_RemoveSmallest(PyArrayMultiIterObject *multi) - -Adjusts previously broadcasted iterators so that the axis with -the smallest sum of iterator strides is not iterated over. -Returns dimension which is smallest in the range [0,multi->nd). -A -1 is returned if multi->nd == 0. - -don't use with PyArray_ITER_GOTO1D because factors are not adjusted - -:: - - int - PyArray_ElementStrides(PyObject *obj) - - -:: - - void - PyArray_Item_INCREF(char *data, PyArray_Descr *descr) - - -:: - - void - PyArray_Item_XDECREF(char *data, PyArray_Descr *descr) - - -:: - - PyObject * - PyArray_FieldNames(PyObject *fields) - -Return the tuple of ordered field names from a dictionary. - -:: - - PyObject * - PyArray_Transpose(PyArrayObject *ap, PyArray_Dims *permute) - -Return Transpose. - -:: - - PyObject * - PyArray_TakeFrom(PyArrayObject *self0, PyObject *indices0, int - axis, PyArrayObject *out, NPY_CLIPMODE clipmode) - -Take - -:: - - PyObject * - PyArray_PutTo(PyArrayObject *self, PyObject*values0, PyObject - *indices0, NPY_CLIPMODE clipmode) - -Put values into an array - -:: - - PyObject * - PyArray_PutMask(PyArrayObject *self, PyObject*values0, PyObject*mask0) - -Put values into an array according to a mask. - -:: - - PyObject * - PyArray_Repeat(PyArrayObject *aop, PyObject *op, int axis) - -Repeat the array. - -:: - - PyObject * - PyArray_Choose(PyArrayObject *ip, PyObject *op, PyArrayObject - *out, NPY_CLIPMODE clipmode) - - -:: - - int - PyArray_Sort(PyArrayObject *op, int axis, NPY_SORTKIND which) - -Sort an array in-place - -:: - - PyObject * - PyArray_ArgSort(PyArrayObject *op, int axis, NPY_SORTKIND which) - -ArgSort an array - -:: - - PyObject * - PyArray_SearchSorted(PyArrayObject *op1, PyObject *op2, NPY_SEARCHSIDE - side, PyObject *perm) - - -Search the sorted array op1 for the location of the items in op2. The -result is an array of indexes, one for each element in op2, such that if -the item were to be inserted in op1 just before that index the array -would still be in sorted order. - -Parameters ----------- -op1 : PyArrayObject * -Array to be searched, must be 1-D. -op2 : PyObject * -Array of items whose insertion indexes in op1 are wanted -side : {NPY_SEARCHLEFT, NPY_SEARCHRIGHT} -If NPY_SEARCHLEFT, return first valid insertion indexes -If NPY_SEARCHRIGHT, return last valid insertion indexes -perm : PyObject * -Permutation array that sorts op1 (optional) - -Returns -------- -ret : PyObject * -New reference to npy_intp array containing indexes where items in op2 -could be validly inserted into op1. NULL on error. - -Notes ------ -Binary search is used to find the indexes. - -:: - - PyObject * - PyArray_ArgMax(PyArrayObject *op, int axis, PyArrayObject *out) - -ArgMax - -:: - - PyObject * - PyArray_ArgMin(PyArrayObject *op, int axis, PyArrayObject *out) - -ArgMin - -:: - - PyObject * - PyArray_Reshape(PyArrayObject *self, PyObject *shape) - -Reshape - -:: - - PyObject * - PyArray_Newshape(PyArrayObject *self, PyArray_Dims *newdims, NPY_ORDER - order) - -New shape for an array - -:: - - PyObject * - PyArray_Squeeze(PyArrayObject *self) - - -return a new view of the array object with all of its unit-length -dimensions squeezed out if needed, otherwise -return the same array. - -:: - - PyObject * - PyArray_View(PyArrayObject *self, PyArray_Descr *type, PyTypeObject - *pytype) - -View -steals a reference to type -- accepts NULL - -:: - - PyObject * - PyArray_SwapAxes(PyArrayObject *ap, int a1, int a2) - -SwapAxes - -:: - - PyObject * - PyArray_Max(PyArrayObject *ap, int axis, PyArrayObject *out) - -Max - -:: - - PyObject * - PyArray_Min(PyArrayObject *ap, int axis, PyArrayObject *out) - -Min - -:: - - PyObject * - PyArray_Ptp(PyArrayObject *ap, int axis, PyArrayObject *out) - -Ptp - -:: - - PyObject * - PyArray_Mean(PyArrayObject *self, int axis, int rtype, PyArrayObject - *out) - -Mean - -:: - - PyObject * - PyArray_Trace(PyArrayObject *self, int offset, int axis1, int - axis2, int rtype, PyArrayObject *out) - -Trace - -:: - - PyObject * - PyArray_Diagonal(PyArrayObject *self, int offset, int axis1, int - axis2) - -Diagonal - -In NumPy versions prior to 1.7, this function always returned a copy of -the diagonal array. In 1.7, the code has been updated to compute a view -onto 'self', but it still copies this array before returning, as well as -setting the internal WARN_ON_WRITE flag. In a future version, it will -simply return a view onto self. - -:: - - PyObject * - PyArray_Clip(PyArrayObject *self, PyObject *min, PyObject - *max, PyArrayObject *out) - -Clip - -:: - - PyObject * - PyArray_Conjugate(PyArrayObject *self, PyArrayObject *out) - -Conjugate - -:: - - PyObject * - PyArray_Nonzero(PyArrayObject *self) - -Nonzero - -TODO: In NumPy 2.0, should make the iteration order a parameter. - -:: - - PyObject * - PyArray_Std(PyArrayObject *self, int axis, int rtype, PyArrayObject - *out, int variance) - -Set variance to 1 to by-pass square-root calculation and return variance -Std - -:: - - PyObject * - PyArray_Sum(PyArrayObject *self, int axis, int rtype, PyArrayObject - *out) - -Sum - -:: - - PyObject * - PyArray_CumSum(PyArrayObject *self, int axis, int rtype, PyArrayObject - *out) - -CumSum - -:: - - PyObject * - PyArray_Prod(PyArrayObject *self, int axis, int rtype, PyArrayObject - *out) - -Prod - -:: - - PyObject * - PyArray_CumProd(PyArrayObject *self, int axis, int - rtype, PyArrayObject *out) - -CumProd - -:: - - PyObject * - PyArray_All(PyArrayObject *self, int axis, PyArrayObject *out) - -All - -:: - - PyObject * - PyArray_Any(PyArrayObject *self, int axis, PyArrayObject *out) - -Any - -:: - - PyObject * - PyArray_Compress(PyArrayObject *self, PyObject *condition, int - axis, PyArrayObject *out) - -Compress - -:: - - PyObject * - PyArray_Flatten(PyArrayObject *a, NPY_ORDER order) - -Flatten - -:: - - PyObject * - PyArray_Ravel(PyArrayObject *arr, NPY_ORDER order) - -Ravel -Returns a contiguous array - -:: - - npy_intp - PyArray_MultiplyList(npy_intp *l1, int n) - -Multiply a List - -:: - - int - PyArray_MultiplyIntList(int *l1, int n) - -Multiply a List of ints - -:: - - void * - PyArray_GetPtr(PyArrayObject *obj, npy_intp*ind) - -Produce a pointer into array - -:: - - int - PyArray_CompareLists(npy_intp *l1, npy_intp *l2, int n) - -Compare Lists - -:: - - int - PyArray_AsCArray(PyObject **op, void *ptr, npy_intp *dims, int - nd, PyArray_Descr*typedescr) - -Simulate a C-array -steals a reference to typedescr -- can be NULL - -:: - - int - PyArray_As1D(PyObject **op, char **ptr, int *d1, int typecode) - -Convert to a 1D C-array - -:: - - int - PyArray_As2D(PyObject **op, char ***ptr, int *d1, int *d2, int - typecode) - -Convert to a 2D C-array - -:: - - int - PyArray_Free(PyObject *op, void *ptr) - -Free pointers created if As2D is called - -:: - - int - PyArray_Converter(PyObject *object, PyObject **address) - - -Useful to pass as converter function for O& processing in PyArgs_ParseTuple. - -This conversion function can be used with the "O&" argument for -PyArg_ParseTuple. It will immediately return an object of array type -or will convert to a NPY_ARRAY_CARRAY any other object. - -If you use PyArray_Converter, you must DECREF the array when finished -as you get a new reference to it. - -:: - - int - PyArray_IntpFromSequence(PyObject *seq, npy_intp *vals, int maxvals) - -PyArray_IntpFromSequence -Returns the number of integers converted or -1 if an error occurred. -vals must be large enough to hold maxvals - -:: - - PyObject * - PyArray_Concatenate(PyObject *op, int axis) - -Concatenate - -Concatenate an arbitrary Python sequence into an array. -op is a python object supporting the sequence interface. -Its elements will be concatenated together to form a single -multidimensional array. If axis is NPY_MAXDIMS or bigger, then -each sequence object will be flattened before concatenation - -:: - - PyObject * - PyArray_InnerProduct(PyObject *op1, PyObject *op2) - -Numeric.innerproduct(a,v) - -:: - - PyObject * - PyArray_MatrixProduct(PyObject *op1, PyObject *op2) - -Numeric.matrixproduct(a,v) -just like inner product but does the swapaxes stuff on the fly - -:: - - PyObject * - PyArray_CopyAndTranspose(PyObject *op) - -Copy and Transpose - -Could deprecate this function, as there isn't a speed benefit over -calling Transpose and then Copy. - -:: - - PyObject * - PyArray_Correlate(PyObject *op1, PyObject *op2, int mode) - -Numeric.correlate(a1,a2,mode) - -:: - - int - PyArray_TypestrConvert(int itemsize, int gentype) - -Typestr converter - -:: - - int - PyArray_DescrConverter(PyObject *obj, PyArray_Descr **at) - -Get typenum from an object -- None goes to NPY_DEFAULT_TYPE -This function takes a Python object representing a type and converts it -to a the correct PyArray_Descr * structure to describe the type. - -Many objects can be used to represent a data-type which in NumPy is -quite a flexible concept. - -This is the central code that converts Python objects to -Type-descriptor objects that are used throughout numpy. - -Returns a new reference in *at, but the returned should not be -modified as it may be one of the canonical immutable objects or -a reference to the input obj. - -:: - - int - PyArray_DescrConverter2(PyObject *obj, PyArray_Descr **at) - -Get typenum from an object -- None goes to NULL - -:: - - int - PyArray_IntpConverter(PyObject *obj, PyArray_Dims *seq) - -Get intp chunk from sequence - -This function takes a Python sequence object and allocates and -fills in an intp array with the converted values. - -Remember to free the pointer seq.ptr when done using -PyDimMem_FREE(seq.ptr)** - -:: - - int - PyArray_BufferConverter(PyObject *obj, PyArray_Chunk *buf) - -Get buffer chunk from object - -this function takes a Python object which exposes the (single-segment) -buffer interface and returns a pointer to the data segment - -You should increment the reference count by one of buf->base -if you will hang on to a reference - -You only get a borrowed reference to the object. Do not free the -memory... - -:: - - int - PyArray_AxisConverter(PyObject *obj, int *axis) - -Get axis from an object (possibly None) -- a converter function, - -See also PyArray_ConvertMultiAxis, which also handles a tuple of axes. - -:: - - int - PyArray_BoolConverter(PyObject *object, npy_bool *val) - -Convert an object to true / false - -:: - - int - PyArray_ByteorderConverter(PyObject *obj, char *endian) - -Convert object to endian - -:: - - int - PyArray_OrderConverter(PyObject *object, NPY_ORDER *val) - -Convert an object to FORTRAN / C / ANY / KEEP - -:: - - unsigned char - PyArray_EquivTypes(PyArray_Descr *type1, PyArray_Descr *type2) - - -This function returns true if the two typecodes are -equivalent (same basic kind and same itemsize). - -:: - - PyObject * - PyArray_Zeros(int nd, npy_intp *dims, PyArray_Descr *type, int - is_f_order) - -Zeros - -steal a reference -accepts NULL type - -:: - - PyObject * - PyArray_Empty(int nd, npy_intp *dims, PyArray_Descr *type, int - is_f_order) - -Empty - -accepts NULL type -steals referenct to type - -:: - - PyObject * - PyArray_Where(PyObject *condition, PyObject *x, PyObject *y) - -Where - -:: - - PyObject * - PyArray_Arange(double start, double stop, double step, int type_num) - -Arange, - -:: - - PyObject * - PyArray_ArangeObj(PyObject *start, PyObject *stop, PyObject - *step, PyArray_Descr *dtype) - - -ArangeObj, - -this doesn't change the references - -:: - - int - PyArray_SortkindConverter(PyObject *obj, NPY_SORTKIND *sortkind) - -Convert object to sort kind - -:: - - PyObject * - PyArray_LexSort(PyObject *sort_keys, int axis) - -LexSort an array providing indices that will sort a collection of arrays -lexicographically. The first key is sorted on first, followed by the second key --- requires that arg"merge"sort is available for each sort_key - -Returns an index array that shows the indexes for the lexicographic sort along -the given axis. - -:: - - PyObject * - PyArray_Round(PyArrayObject *a, int decimals, PyArrayObject *out) - -Round - -:: - - unsigned char - PyArray_EquivTypenums(int typenum1, int typenum2) - - -:: - - int - PyArray_RegisterDataType(PyArray_Descr *descr) - -Register Data type -Does not change the reference count of descr - -:: - - int - PyArray_RegisterCastFunc(PyArray_Descr *descr, int - totype, PyArray_VectorUnaryFunc *castfunc) - -Register Casting Function -Replaces any function currently stored. - -:: - - int - PyArray_RegisterCanCast(PyArray_Descr *descr, int - totype, NPY_SCALARKIND scalar) - -Register a type number indicating that a descriptor can be cast -to it safely - -:: - - void - PyArray_InitArrFuncs(PyArray_ArrFuncs *f) - -Initialize arrfuncs to NULL - -:: - - PyObject * - PyArray_IntTupleFromIntp(int len, npy_intp *vals) - -PyArray_IntTupleFromIntp - -:: - - int - PyArray_TypeNumFromName(char *str) - - -:: - - int - PyArray_ClipmodeConverter(PyObject *object, NPY_CLIPMODE *val) - -Convert an object to NPY_RAISE / NPY_CLIP / NPY_WRAP - -:: - - int - PyArray_OutputConverter(PyObject *object, PyArrayObject **address) - -Useful to pass as converter function for O& processing in -PyArgs_ParseTuple for output arrays - -:: - - PyObject * - PyArray_BroadcastToShape(PyObject *obj, npy_intp *dims, int nd) - -Get Iterator broadcast to a particular shape - -:: - - void - _PyArray_SigintHandler(int signum) - - -:: - - void* - _PyArray_GetSigintBuf(void ) - - -:: - - int - PyArray_DescrAlignConverter(PyObject *obj, PyArray_Descr **at) - - -Get type-descriptor from an object forcing alignment if possible -None goes to DEFAULT type. - -any object with the .fields attribute and/or .itemsize attribute (if the -.fields attribute does not give the total size -- i.e. a partial record -naming). If itemsize is given it must be >= size computed from fields - -The .fields attribute must return a convertible dictionary if present. -Result inherits from NPY_VOID. - -:: - - int - PyArray_DescrAlignConverter2(PyObject *obj, PyArray_Descr **at) - - -Get type-descriptor from an object forcing alignment if possible -None goes to NULL. - -:: - - int - PyArray_SearchsideConverter(PyObject *obj, void *addr) - -Convert object to searchsorted side - -:: - - PyObject * - PyArray_CheckAxis(PyArrayObject *arr, int *axis, int flags) - -PyArray_CheckAxis - -check that axis is valid -convert 0-d arrays to 1-d arrays - -:: - - npy_intp - PyArray_OverflowMultiplyList(npy_intp *l1, int n) - -Multiply a List of Non-negative numbers with over-flow detection. - -:: - - int - PyArray_CompareString(char *s1, char *s2, size_t len) - - -:: - - PyObject * - PyArray_MultiIterFromObjects(PyObject **mps, int n, int nadd, ... ) - -Get MultiIterator from array of Python objects and any additional - -PyObject **mps -- array of PyObjects -int n - number of PyObjects in the array -int nadd - number of additional arrays to include in the iterator. - -Returns a multi-iterator object. - -:: - - int - PyArray_GetEndianness(void ) - - -:: - - unsigned int - PyArray_GetNDArrayCFeatureVersion(void ) - -Returns the built-in (at compilation time) C API version - -:: - - PyObject * - PyArray_Correlate2(PyObject *op1, PyObject *op2, int mode) - -correlate(a1,a2,mode) - -This function computes the usual correlation (correlate(a1, a2) != -correlate(a2, a1), and conjugate the second argument for complex inputs - -:: - - PyObject* - PyArray_NeighborhoodIterNew(PyArrayIterObject *x, npy_intp - *bounds, int mode, PyArrayObject*fill) - -A Neighborhood Iterator object. - -:: - - void - PyArray_SetDatetimeParseFunction(PyObject *op) - -This function is scheduled to be removed - -TO BE REMOVED - NOT USED INTERNALLY. - -:: - - void - PyArray_DatetimeToDatetimeStruct(npy_datetime val, NPY_DATETIMEUNIT - fr, npy_datetimestruct *result) - -Fill the datetime struct from the value and resolution unit. - -TO BE REMOVED - NOT USED INTERNALLY. - -:: - - void - PyArray_TimedeltaToTimedeltaStruct(npy_timedelta val, NPY_DATETIMEUNIT - fr, npy_timedeltastruct *result) - -Fill the timedelta struct from the timedelta value and resolution unit. - -TO BE REMOVED - NOT USED INTERNALLY. - -:: - - npy_datetime - PyArray_DatetimeStructToDatetime(NPY_DATETIMEUNIT - fr, npy_datetimestruct *d) - -Create a datetime value from a filled datetime struct and resolution unit. - -TO BE REMOVED - NOT USED INTERNALLY. - -:: - - npy_datetime - PyArray_TimedeltaStructToTimedelta(NPY_DATETIMEUNIT - fr, npy_timedeltastruct *d) - -Create a timdelta value from a filled timedelta struct and resolution unit. - -TO BE REMOVED - NOT USED INTERNALLY. - -:: - - NpyIter * - NpyIter_New(PyArrayObject *op, npy_uint32 flags, NPY_ORDER - order, NPY_CASTING casting, PyArray_Descr*dtype) - -Allocate a new iterator for one array object. - -:: - - NpyIter * - NpyIter_MultiNew(int nop, PyArrayObject **op_in, npy_uint32 - flags, NPY_ORDER order, NPY_CASTING - casting, npy_uint32 *op_flags, PyArray_Descr - **op_request_dtypes) - -Allocate a new iterator for more than one array object, using -standard NumPy broadcasting rules and the default buffer size. - -:: - - NpyIter * - NpyIter_AdvancedNew(int nop, PyArrayObject **op_in, npy_uint32 - flags, NPY_ORDER order, NPY_CASTING - casting, npy_uint32 *op_flags, PyArray_Descr - **op_request_dtypes, int oa_ndim, int - **op_axes, npy_intp *itershape, npy_intp - buffersize) - -Allocate a new iterator for multiple array objects, and advanced -options for controlling the broadcasting, shape, and buffer size. - -:: - - NpyIter * - NpyIter_Copy(NpyIter *iter) - -Makes a copy of the iterator - -:: - - int - NpyIter_Deallocate(NpyIter *iter) - -Deallocate an iterator - -:: - - npy_bool - NpyIter_HasDelayedBufAlloc(NpyIter *iter) - -Whether the buffer allocation is being delayed - -:: - - npy_bool - NpyIter_HasExternalLoop(NpyIter *iter) - -Whether the iterator handles the inner loop - -:: - - int - NpyIter_EnableExternalLoop(NpyIter *iter) - -Removes the inner loop handling (so HasExternalLoop returns true) - -:: - - npy_intp * - NpyIter_GetInnerStrideArray(NpyIter *iter) - -Get the array of strides for the inner loop (when HasExternalLoop is true) - -This function may be safely called without holding the Python GIL. - -:: - - npy_intp * - NpyIter_GetInnerLoopSizePtr(NpyIter *iter) - -Get a pointer to the size of the inner loop (when HasExternalLoop is true) - -This function may be safely called without holding the Python GIL. - -:: - - int - NpyIter_Reset(NpyIter *iter, char **errmsg) - -Resets the iterator to its initial state - -If errmsg is non-NULL, it should point to a variable which will -receive the error message, and no Python exception will be set. -This is so that the function can be called from code not holding -the GIL. - -:: - - int - NpyIter_ResetBasePointers(NpyIter *iter, char **baseptrs, char - **errmsg) - -Resets the iterator to its initial state, with new base data pointers. -This function requires great caution. - -If errmsg is non-NULL, it should point to a variable which will -receive the error message, and no Python exception will be set. -This is so that the function can be called from code not holding -the GIL. - -:: - - int - NpyIter_ResetToIterIndexRange(NpyIter *iter, npy_intp istart, npy_intp - iend, char **errmsg) - -Resets the iterator to a new iterator index range - -If errmsg is non-NULL, it should point to a variable which will -receive the error message, and no Python exception will be set. -This is so that the function can be called from code not holding -the GIL. - -:: - - int - NpyIter_GetNDim(NpyIter *iter) - -Gets the number of dimensions being iterated - -:: - - int - NpyIter_GetNOp(NpyIter *iter) - -Gets the number of operands being iterated - -:: - - NpyIter_IterNextFunc * - NpyIter_GetIterNext(NpyIter *iter, char **errmsg) - -Compute the specialized iteration function for an iterator - -If errmsg is non-NULL, it should point to a variable which will -receive the error message, and no Python exception will be set. -This is so that the function can be called from code not holding -the GIL. - -:: - - npy_intp - NpyIter_GetIterSize(NpyIter *iter) - -Gets the number of elements being iterated - -:: - - void - NpyIter_GetIterIndexRange(NpyIter *iter, npy_intp *istart, npy_intp - *iend) - -Gets the range of iteration indices being iterated - -:: - - npy_intp - NpyIter_GetIterIndex(NpyIter *iter) - -Gets the current iteration index - -:: - - int - NpyIter_GotoIterIndex(NpyIter *iter, npy_intp iterindex) - -Sets the iterator position to the specified iterindex, -which matches the iteration order of the iterator. - -Returns NPY_SUCCEED on success, NPY_FAIL on failure. - -:: - - npy_bool - NpyIter_HasMultiIndex(NpyIter *iter) - -Whether the iterator is tracking a multi-index - -:: - - int - NpyIter_GetShape(NpyIter *iter, npy_intp *outshape) - -Gets the broadcast shape if a multi-index is being tracked by the iterator, -otherwise gets the shape of the iteration as Fortran-order -(fastest-changing index first). - -The reason Fortran-order is returned when a multi-index -is not enabled is that this is providing a direct view into how -the iterator traverses the n-dimensional space. The iterator organizes -its memory from fastest index to slowest index, and when -a multi-index is enabled, it uses a permutation to recover the original -order. - -Returns NPY_SUCCEED or NPY_FAIL. - -:: - - NpyIter_GetMultiIndexFunc * - NpyIter_GetGetMultiIndex(NpyIter *iter, char **errmsg) - -Compute a specialized get_multi_index function for the iterator - -If errmsg is non-NULL, it should point to a variable which will -receive the error message, and no Python exception will be set. -This is so that the function can be called from code not holding -the GIL. - -:: - - int - NpyIter_GotoMultiIndex(NpyIter *iter, npy_intp *multi_index) - -Sets the iterator to the specified multi-index, which must have the -correct number of entries for 'ndim'. It is only valid -when NPY_ITER_MULTI_INDEX was passed to the constructor. This operation -fails if the multi-index is out of bounds. - -Returns NPY_SUCCEED on success, NPY_FAIL on failure. - -:: - - int - NpyIter_RemoveMultiIndex(NpyIter *iter) - -Removes multi-index support from an iterator. - -Returns NPY_SUCCEED or NPY_FAIL. - -:: - - npy_bool - NpyIter_HasIndex(NpyIter *iter) - -Whether the iterator is tracking an index - -:: - - npy_bool - NpyIter_IsBuffered(NpyIter *iter) - -Whether the iterator is buffered - -:: - - npy_bool - NpyIter_IsGrowInner(NpyIter *iter) - -Whether the inner loop can grow if buffering is unneeded - -:: - - npy_intp - NpyIter_GetBufferSize(NpyIter *iter) - -Gets the size of the buffer, or 0 if buffering is not enabled - -:: - - npy_intp * - NpyIter_GetIndexPtr(NpyIter *iter) - -Get a pointer to the index, if it is being tracked - -:: - - int - NpyIter_GotoIndex(NpyIter *iter, npy_intp flat_index) - -If the iterator is tracking an index, sets the iterator -to the specified index. - -Returns NPY_SUCCEED on success, NPY_FAIL on failure. - -:: - - char ** - NpyIter_GetDataPtrArray(NpyIter *iter) - -Get the array of data pointers (1 per object being iterated) - -This function may be safely called without holding the Python GIL. - -:: - - PyArray_Descr ** - NpyIter_GetDescrArray(NpyIter *iter) - -Get the array of data type pointers (1 per object being iterated) - -:: - - PyArrayObject ** - NpyIter_GetOperandArray(NpyIter *iter) - -Get the array of objects being iterated - -:: - - PyArrayObject * - NpyIter_GetIterView(NpyIter *iter, npy_intp i) - -Returns a view to the i-th object with the iterator's internal axes - -:: - - void - NpyIter_GetReadFlags(NpyIter *iter, char *outreadflags) - -Gets an array of read flags (1 per object being iterated) - -:: - - void - NpyIter_GetWriteFlags(NpyIter *iter, char *outwriteflags) - -Gets an array of write flags (1 per object being iterated) - -:: - - void - NpyIter_DebugPrint(NpyIter *iter) - -For debugging - -:: - - npy_bool - NpyIter_IterationNeedsAPI(NpyIter *iter) - -Whether the iteration loop, and in particular the iternext() -function, needs API access. If this is true, the GIL must -be retained while iterating. - -:: - - void - NpyIter_GetInnerFixedStrideArray(NpyIter *iter, npy_intp *out_strides) - -Get an array of strides which are fixed. Any strides which may -change during iteration receive the value NPY_MAX_INTP. Once -the iterator is ready to iterate, call this to get the strides -which will always be fixed in the inner loop, then choose optimized -inner loop functions which take advantage of those fixed strides. - -This function may be safely called without holding the Python GIL. - -:: - - int - NpyIter_RemoveAxis(NpyIter *iter, int axis) - -Removes an axis from iteration. This requires that NPY_ITER_MULTI_INDEX -was set for iterator creation, and does not work if buffering is -enabled. This function also resets the iterator to its initial state. - -Returns NPY_SUCCEED or NPY_FAIL. - -:: - - npy_intp * - NpyIter_GetAxisStrideArray(NpyIter *iter, int axis) - -Gets the array of strides for the specified axis. -If the iterator is tracking a multi-index, gets the strides -for the axis specified, otherwise gets the strides for -the iteration axis as Fortran order (fastest-changing axis first). - -Returns NULL if an error occurs. - -:: - - npy_bool - NpyIter_RequiresBuffering(NpyIter *iter) - -Whether the iteration could be done with no buffering. - -:: - - char ** - NpyIter_GetInitialDataPtrArray(NpyIter *iter) - -Get the array of data pointers (1 per object being iterated), -directly into the arrays (never pointing to a buffer), for starting -unbuffered iteration. This always returns the addresses for the -iterator position as reset to iterator index 0. - -These pointers are different from the pointers accepted by -NpyIter_ResetBasePointers, because the direction along some -axes may have been reversed, requiring base offsets. - -This function may be safely called without holding the Python GIL. - -:: - - int - NpyIter_CreateCompatibleStrides(NpyIter *iter, npy_intp - itemsize, npy_intp *outstrides) - -Builds a set of strides which are the same as the strides of an -output array created using the NPY_ITER_ALLOCATE flag, where NULL -was passed for op_axes. This is for data packed contiguously, -but not necessarily in C or Fortran order. This should be used -together with NpyIter_GetShape and NpyIter_GetNDim. - -A use case for this function is to match the shape and layout of -the iterator and tack on one or more dimensions. For example, -in order to generate a vector per input value for a numerical gradient, -you pass in ndim*itemsize for itemsize, then add another dimension to -the end with size ndim and stride itemsize. To do the Hessian matrix, -you do the same thing but add two dimensions, or take advantage of -the symmetry and pack it into 1 dimension with a particular encoding. - -This function may only be called if the iterator is tracking a multi-index -and if NPY_ITER_DONT_NEGATE_STRIDES was used to prevent an axis from -being iterated in reverse order. - -If an array is created with this method, simply adding 'itemsize' -for each iteration will traverse the new array matching the -iterator. - -Returns NPY_SUCCEED or NPY_FAIL. - -:: - - int - PyArray_CastingConverter(PyObject *obj, NPY_CASTING *casting) - -Convert any Python object, *obj*, to an NPY_CASTING enum. - -:: - - npy_intp - PyArray_CountNonzero(PyArrayObject *self) - -Counts the number of non-zero elements in the array. - -Returns -1 on error. - -:: - - PyArray_Descr * - PyArray_PromoteTypes(PyArray_Descr *type1, PyArray_Descr *type2) - -Produces the smallest size and lowest kind type to which both -input types can be cast. - -:: - - PyArray_Descr * - PyArray_MinScalarType(PyArrayObject *arr) - -If arr is a scalar (has 0 dimensions) with a built-in number data type, -finds the smallest type size/kind which can still represent its data. -Otherwise, returns the array's data type. - - -:: - - PyArray_Descr * - PyArray_ResultType(npy_intp narrs, PyArrayObject **arr, npy_intp - ndtypes, PyArray_Descr **dtypes) - -Produces the result type of a bunch of inputs, using the UFunc -type promotion rules. Use this function when you have a set of -input arrays, and need to determine an output array dtype. - -If all the inputs are scalars (have 0 dimensions) or the maximum "kind" -of the scalars is greater than the maximum "kind" of the arrays, does -a regular type promotion. - -Otherwise, does a type promotion on the MinScalarType -of all the inputs. Data types passed directly are treated as array -types. - - -:: - - npy_bool - PyArray_CanCastArrayTo(PyArrayObject *arr, PyArray_Descr - *to, NPY_CASTING casting) - -Returns 1 if the array object may be cast to the given data type using -the casting rule, 0 otherwise. This differs from PyArray_CanCastTo in -that it handles scalar arrays (0 dimensions) specially, by checking -their value. - -:: - - npy_bool - PyArray_CanCastTypeTo(PyArray_Descr *from, PyArray_Descr - *to, NPY_CASTING casting) - -Returns true if data of type 'from' may be cast to data of type -'to' according to the rule 'casting'. - -:: - - PyArrayObject * - PyArray_EinsteinSum(char *subscripts, npy_intp nop, PyArrayObject - **op_in, PyArray_Descr *dtype, NPY_ORDER - order, NPY_CASTING casting, PyArrayObject *out) - -This function provides summation of array elements according to -the Einstein summation convention. For example: -- trace(a) -> einsum("ii", a) -- transpose(a) -> einsum("ji", a) -- multiply(a,b) -> einsum(",", a, b) -- inner(a,b) -> einsum("i,i", a, b) -- outer(a,b) -> einsum("i,j", a, b) -- matvec(a,b) -> einsum("ij,j", a, b) -- matmat(a,b) -> einsum("ij,jk", a, b) - -subscripts: The string of subscripts for einstein summation. -nop: The number of operands -op_in: The array of operands -dtype: Either NULL, or the data type to force the calculation as. -order: The order for the calculation/the output axes. -casting: What kind of casts should be permitted. -out: Either NULL, or an array into which the output should be placed. - -By default, the labels get placed in alphabetical order -at the end of the output. So, if c = einsum("i,j", a, b) -then c[i,j] == a[i]*b[j], but if c = einsum("j,i", a, b) -then c[i,j] = a[j]*b[i]. - -Alternatively, you can control the output order or prevent -an axis from being summed/force an axis to be summed by providing -indices for the output. This allows us to turn 'trace' into -'diag', for example. -- diag(a) -> einsum("ii->i", a) -- sum(a, axis=0) -> einsum("i...->", a) - -Subscripts at the beginning and end may be specified by -putting an ellipsis "..." in the middle. For example, -the function einsum("i...i", a) takes the diagonal of -the first and last dimensions of the operand, and -einsum("ij...,jk...->ik...") takes the matrix product using -the first two indices of each operand instead of the last two. - -When there is only one operand, no axes being summed, and -no output parameter, this function returns a view -into the operand instead of making a copy. - -:: - - PyObject * - PyArray_NewLikeArray(PyArrayObject *prototype, NPY_ORDER - order, PyArray_Descr *dtype, int subok) - -Creates a new array with the same shape as the provided one, -with possible memory layout order and data type changes. - -prototype - The array the new one should be like. -order - NPY_CORDER - C-contiguous result. -NPY_FORTRANORDER - Fortran-contiguous result. -NPY_ANYORDER - Fortran if prototype is Fortran, C otherwise. -NPY_KEEPORDER - Keeps the axis ordering of prototype. -dtype - If not NULL, overrides the data type of the result. -subok - If 1, use the prototype's array subtype, otherwise -always create a base-class array. - -NOTE: If dtype is not NULL, steals the dtype reference. - -:: - - int - PyArray_GetArrayParamsFromObject(PyObject *op, PyArray_Descr - *requested_dtype, npy_bool - writeable, PyArray_Descr - **out_dtype, int *out_ndim, npy_intp - *out_dims, PyArrayObject - **out_arr, PyObject *context) - -Retrieves the array parameters for viewing/converting an arbitrary -PyObject* to a NumPy array. This allows the "innate type and shape" -of Python list-of-lists to be discovered without -actually converting to an array. - -In some cases, such as structured arrays and the __array__ interface, -a data type needs to be used to make sense of the object. When -this is needed, provide a Descr for 'requested_dtype', otherwise -provide NULL. This reference is not stolen. Also, if the requested -dtype doesn't modify the interpretation of the input, out_dtype will -still get the "innate" dtype of the object, not the dtype passed -in 'requested_dtype'. - -If writing to the value in 'op' is desired, set the boolean -'writeable' to 1. This raises an error when 'op' is a scalar, list -of lists, or other non-writeable 'op'. - -Result: When success (0 return value) is returned, either out_arr -is filled with a non-NULL PyArrayObject and -the rest of the parameters are untouched, or out_arr is -filled with NULL, and the rest of the parameters are -filled. - -Typical usage: - -PyArrayObject *arr = NULL; -PyArray_Descr *dtype = NULL; -int ndim = 0; -npy_intp dims[NPY_MAXDIMS]; - -if (PyArray_GetArrayParamsFromObject(op, NULL, 1, &dtype, -&ndim, &dims, &arr, NULL) < 0) { -return NULL; -} -if (arr == NULL) { -... validate/change dtype, validate flags, ndim, etc ... -// Could make custom strides here too -arr = PyArray_NewFromDescr(&PyArray_Type, dtype, ndim, -dims, NULL, -is_f_order ? NPY_ARRAY_F_CONTIGUOUS : 0, -NULL); -if (arr == NULL) { -return NULL; -} -if (PyArray_CopyObject(arr, op) < 0) { -Py_DECREF(arr); -return NULL; -} -} -else { -... in this case the other parameters weren't filled, just -validate and possibly copy arr itself ... -} -... use arr ... - -:: - - int - PyArray_ConvertClipmodeSequence(PyObject *object, NPY_CLIPMODE - *modes, int n) - -Convert an object to an array of n NPY_CLIPMODE values. -This is intended to be used in functions where a different mode -could be applied to each axis, like in ravel_multi_index. - -:: - - PyObject * - PyArray_MatrixProduct2(PyObject *op1, PyObject - *op2, PyArrayObject*out) - -Numeric.matrixproduct(a,v,out) -just like inner product but does the swapaxes stuff on the fly - -:: - - npy_bool - NpyIter_IsFirstVisit(NpyIter *iter, int iop) - -Checks to see whether this is the first time the elements -of the specified reduction operand which the iterator points at are -being seen for the first time. The function returns -a reasonable answer for reduction operands and when buffering is -disabled. The answer may be incorrect for buffered non-reduction -operands. - -This function is intended to be used in EXTERNAL_LOOP mode only, -and will produce some wrong answers when that mode is not enabled. - -If this function returns true, the caller should also -check the inner loop stride of the operand, because if -that stride is 0, then only the first element of the innermost -external loop is being visited for the first time. - -WARNING: For performance reasons, 'iop' is not bounds-checked, -it is not confirmed that 'iop' is actually a reduction -operand, and it is not confirmed that EXTERNAL_LOOP -mode is enabled. These checks are the responsibility of -the caller, and should be done outside of any inner loops. - -:: - - int - PyArray_SetBaseObject(PyArrayObject *arr, PyObject *obj) - -Sets the 'base' attribute of the array. This steals a reference -to 'obj'. - -Returns 0 on success, -1 on failure. - -:: - - void - PyArray_CreateSortedStridePerm(int ndim, npy_intp - *strides, npy_stride_sort_item - *out_strideperm) - - -This function populates the first ndim elements -of strideperm with sorted descending by their absolute values. -For example, the stride array (4, -2, 12) becomes -[(2, 12), (0, 4), (1, -2)]. - -:: - - void - PyArray_RemoveAxesInPlace(PyArrayObject *arr, npy_bool *flags) - - -Removes the axes flagged as True from the array, -modifying it in place. If an axis flagged for removal -has a shape entry bigger than one, this effectively selects -index zero for that axis. - -WARNING: If an axis flagged for removal has a shape equal to zero, -the array will point to invalid memory. The caller must -validate this! -If an axis flagged for removal has a shape larger then one, -the aligned flag (and in the future the contiguous flags), -may need explicite update. -(check also NPY_RELAXED_STRIDES_CHECKING) - -For example, this can be used to remove the reduction axes -from a reduction result once its computation is complete. - -:: - - void - PyArray_DebugPrint(PyArrayObject *obj) - -Prints the raw data of the ndarray in a form useful for debugging -low-level C issues. - -:: - - int - PyArray_FailUnlessWriteable(PyArrayObject *obj, const char *name) - - -This function does nothing if obj is writeable, and raises an exception -(and returns -1) if obj is not writeable. It may also do other -house-keeping, such as issuing warnings on arrays which are transitioning -to become views. Always call this function at some point before writing to -an array. - -'name' is a name for the array, used to give better error -messages. Something like "assignment destination", "output array", or even -just "array". - -:: - - int - PyArray_SetUpdateIfCopyBase(PyArrayObject *arr, PyArrayObject *base) - - -Precondition: 'arr' is a copy of 'base' (though possibly with different -strides, ordering, etc.). This function sets the UPDATEIFCOPY flag and the -->base pointer on 'arr', so that when 'arr' is destructed, it will copy any -changes back to 'base'. - -Steals a reference to 'base'. - -Returns 0 on success, -1 on failure. - -:: - - void * - PyDataMem_NEW(size_t size) - -Allocates memory for array data. - -:: - - void - PyDataMem_FREE(void *ptr) - -Free memory for array data. - -:: - - void * - PyDataMem_RENEW(void *ptr, size_t size) - -Reallocate/resize memory for array data. - -:: - - PyDataMem_EventHookFunc * - PyDataMem_SetEventHook(PyDataMem_EventHookFunc *newhook, void - *user_data, void **old_data) - -Sets the allocation event hook for numpy array data. -Takes a PyDataMem_EventHookFunc *, which has the signature: -void hook(void *old, void *new, size_t size, void *user_data). -Also takes a void *user_data, and void **old_data. - -Returns a pointer to the previous hook or NULL. If old_data is -non-NULL, the previous user_data pointer will be copied to it. - -If not NULL, hook will be called at the end of each PyDataMem_NEW/FREE/RENEW: -result = PyDataMem_NEW(size) -> (*hook)(NULL, result, size, user_data) -PyDataMem_FREE(ptr) -> (*hook)(ptr, NULL, 0, user_data) -result = PyDataMem_RENEW(ptr, size) -> (*hook)(ptr, result, size, user_data) - -When the hook is called, the GIL will be held by the calling -thread. The hook should be written to be reentrant, if it performs -operations that might cause new allocation events (such as the -creation/descruction numpy objects, or creating/destroying Python -objects which might cause a gc) - -:: - - void - PyArray_MapIterSwapAxes(PyArrayMapIterObject *mit, PyArrayObject - **ret, int getmap) - - -:: - - PyObject * - PyArray_MapIterArray(PyArrayObject *a, PyObject *index) - - -:: - - void - PyArray_MapIterNext(PyArrayMapIterObject *mit) - -This function needs to update the state of the map iterator -and point mit->dataptr to the memory-location of the next object - -:: - - int - PyArray_Partition(PyArrayObject *op, PyArrayObject *ktharray, int - axis, NPY_SELECTKIND which) - -Partition an array in-place - -:: - - PyObject * - PyArray_ArgPartition(PyArrayObject *op, PyArrayObject *ktharray, int - axis, NPY_SELECTKIND which) - -ArgPartition an array - -:: - - int - PyArray_SelectkindConverter(PyObject *obj, NPY_SELECTKIND *selectkind) - -Convert object to select kind - -:: - - void * - PyDataMem_NEW_ZEROED(size_t size, size_t elsize) - -Allocates zeroed memory for array data. - diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h b/gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h deleted file mode 100644 index b8c7c3a2d..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/ndarrayobject.h +++ /dev/null @@ -1,237 +0,0 @@ -/* - * DON'T INCLUDE THIS DIRECTLY. - */ - -#ifndef NPY_NDARRAYOBJECT_H -#define NPY_NDARRAYOBJECT_H -#ifdef __cplusplus -#define CONFUSE_EMACS { -#define CONFUSE_EMACS2 } -extern "C" CONFUSE_EMACS -#undef CONFUSE_EMACS -#undef CONFUSE_EMACS2 -/* ... otherwise a semi-smart identer (like emacs) tries to indent - everything when you're typing */ -#endif - -#include "ndarraytypes.h" - -/* Includes the "function" C-API -- these are all stored in a - list of pointers --- one for each file - The two lists are concatenated into one in multiarray. - - They are available as import_array() -*/ - -#include "__multiarray_api.h" - - -/* C-API that requries previous API to be defined */ - -#define PyArray_DescrCheck(op) (((PyObject*)(op))->ob_type==&PyArrayDescr_Type) - -#define PyArray_Check(op) PyObject_TypeCheck(op, &PyArray_Type) -#define PyArray_CheckExact(op) (((PyObject*)(op))->ob_type == &PyArray_Type) - -#define PyArray_HasArrayInterfaceType(op, type, context, out) \ - ((((out)=PyArray_FromStructInterface(op)) != Py_NotImplemented) || \ - (((out)=PyArray_FromInterface(op)) != Py_NotImplemented) || \ - (((out)=PyArray_FromArrayAttr(op, type, context)) != \ - Py_NotImplemented)) - -#define PyArray_HasArrayInterface(op, out) \ - PyArray_HasArrayInterfaceType(op, NULL, NULL, out) - -#define PyArray_IsZeroDim(op) (PyArray_Check(op) && \ - (PyArray_NDIM((PyArrayObject *)op) == 0)) - -#define PyArray_IsScalar(obj, cls) \ - (PyObject_TypeCheck(obj, &Py##cls##ArrType_Type)) - -#define PyArray_CheckScalar(m) (PyArray_IsScalar(m, Generic) || \ - PyArray_IsZeroDim(m)) - -#define PyArray_IsPythonNumber(obj) \ - (PyInt_Check(obj) || PyFloat_Check(obj) || PyComplex_Check(obj) || \ - PyLong_Check(obj) || PyBool_Check(obj)) - -#define PyArray_IsPythonScalar(obj) \ - (PyArray_IsPythonNumber(obj) || PyString_Check(obj) || \ - PyUnicode_Check(obj)) - -#define PyArray_IsAnyScalar(obj) \ - (PyArray_IsScalar(obj, Generic) || PyArray_IsPythonScalar(obj)) - -#define PyArray_CheckAnyScalar(obj) (PyArray_IsPythonScalar(obj) || \ - PyArray_CheckScalar(obj)) - -#define PyArray_IsIntegerScalar(obj) (PyInt_Check(obj) \ - || PyLong_Check(obj) \ - || PyArray_IsScalar((obj), Integer)) - - -#define PyArray_GETCONTIGUOUS(m) (PyArray_ISCONTIGUOUS(m) ? \ - Py_INCREF(m), (m) : \ - (PyArrayObject *)(PyArray_Copy(m))) - -#define PyArray_SAMESHAPE(a1,a2) ((PyArray_NDIM(a1) == PyArray_NDIM(a2)) && \ - PyArray_CompareLists(PyArray_DIMS(a1), \ - PyArray_DIMS(a2), \ - PyArray_NDIM(a1))) - -#define PyArray_SIZE(m) PyArray_MultiplyList(PyArray_DIMS(m), PyArray_NDIM(m)) -#define PyArray_NBYTES(m) (PyArray_ITEMSIZE(m) * PyArray_SIZE(m)) -#define PyArray_FROM_O(m) PyArray_FromAny(m, NULL, 0, 0, 0, NULL) - -#define PyArray_FROM_OF(m,flags) PyArray_CheckFromAny(m, NULL, 0, 0, flags, \ - NULL) - -#define PyArray_FROM_OT(m,type) PyArray_FromAny(m, \ - PyArray_DescrFromType(type), 0, 0, 0, NULL); - -#define PyArray_FROM_OTF(m, type, flags) \ - PyArray_FromAny(m, PyArray_DescrFromType(type), 0, 0, \ - (((flags) & NPY_ARRAY_ENSURECOPY) ? \ - ((flags) | NPY_ARRAY_DEFAULT) : (flags)), NULL) - -#define PyArray_FROMANY(m, type, min, max, flags) \ - PyArray_FromAny(m, PyArray_DescrFromType(type), min, max, \ - (((flags) & NPY_ARRAY_ENSURECOPY) ? \ - (flags) | NPY_ARRAY_DEFAULT : (flags)), NULL) - -#define PyArray_ZEROS(m, dims, type, is_f_order) \ - PyArray_Zeros(m, dims, PyArray_DescrFromType(type), is_f_order) - -#define PyArray_EMPTY(m, dims, type, is_f_order) \ - PyArray_Empty(m, dims, PyArray_DescrFromType(type), is_f_order) - -#define PyArray_FILLWBYTE(obj, val) memset(PyArray_DATA(obj), val, \ - PyArray_NBYTES(obj)) - -#define PyArray_REFCOUNT(obj) (((PyObject *)(obj))->ob_refcnt) -#define NPY_REFCOUNT PyArray_REFCOUNT -#define NPY_MAX_ELSIZE (2 * NPY_SIZEOF_LONGDOUBLE) - -#define PyArray_ContiguousFromAny(op, type, min_depth, max_depth) \ - PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ - max_depth, NPY_ARRAY_DEFAULT, NULL) - -#define PyArray_EquivArrTypes(a1, a2) \ - PyArray_EquivTypes(PyArray_DESCR(a1), PyArray_DESCR(a2)) - -#define PyArray_EquivByteorders(b1, b2) \ - (((b1) == (b2)) || (PyArray_ISNBO(b1) == PyArray_ISNBO(b2))) - -#define PyArray_SimpleNew(nd, dims, typenum) \ - PyArray_New(&PyArray_Type, nd, dims, typenum, NULL, NULL, 0, 0, NULL) - -#define PyArray_SimpleNewFromData(nd, dims, typenum, data) \ - PyArray_New(&PyArray_Type, nd, dims, typenum, NULL, \ - data, 0, NPY_ARRAY_CARRAY, NULL) - -#define PyArray_SimpleNewFromDescr(nd, dims, descr) \ - PyArray_NewFromDescr(&PyArray_Type, descr, nd, dims, \ - NULL, NULL, 0, NULL) - -#define PyArray_ToScalar(data, arr) \ - PyArray_Scalar(data, PyArray_DESCR(arr), (PyObject *)arr) - - -/* These might be faster without the dereferencing of obj - going on inside -- of course an optimizing compiler should - inline the constants inside a for loop making it a moot point -*/ - -#define PyArray_GETPTR1(obj, i) ((void *)(PyArray_BYTES(obj) + \ - (i)*PyArray_STRIDES(obj)[0])) - -#define PyArray_GETPTR2(obj, i, j) ((void *)(PyArray_BYTES(obj) + \ - (i)*PyArray_STRIDES(obj)[0] + \ - (j)*PyArray_STRIDES(obj)[1])) - -#define PyArray_GETPTR3(obj, i, j, k) ((void *)(PyArray_BYTES(obj) + \ - (i)*PyArray_STRIDES(obj)[0] + \ - (j)*PyArray_STRIDES(obj)[1] + \ - (k)*PyArray_STRIDES(obj)[2])) - -#define PyArray_GETPTR4(obj, i, j, k, l) ((void *)(PyArray_BYTES(obj) + \ - (i)*PyArray_STRIDES(obj)[0] + \ - (j)*PyArray_STRIDES(obj)[1] + \ - (k)*PyArray_STRIDES(obj)[2] + \ - (l)*PyArray_STRIDES(obj)[3])) - -static NPY_INLINE void -PyArray_XDECREF_ERR(PyArrayObject *arr) -{ - if (arr != NULL) { - if (PyArray_FLAGS(arr) & NPY_ARRAY_UPDATEIFCOPY) { - PyArrayObject *base = (PyArrayObject *)PyArray_BASE(arr); - PyArray_ENABLEFLAGS(base, NPY_ARRAY_WRITEABLE); - PyArray_CLEARFLAGS(arr, NPY_ARRAY_UPDATEIFCOPY); - } - Py_DECREF(arr); - } -} - -#define PyArray_DESCR_REPLACE(descr) do { \ - PyArray_Descr *_new_; \ - _new_ = PyArray_DescrNew(descr); \ - Py_XDECREF(descr); \ - descr = _new_; \ - } while(0) - -/* Copy should always return contiguous array */ -#define PyArray_Copy(obj) PyArray_NewCopy(obj, NPY_CORDER) - -#define PyArray_FromObject(op, type, min_depth, max_depth) \ - PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ - max_depth, NPY_ARRAY_BEHAVED | \ - NPY_ARRAY_ENSUREARRAY, NULL) - -#define PyArray_ContiguousFromObject(op, type, min_depth, max_depth) \ - PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ - max_depth, NPY_ARRAY_DEFAULT | \ - NPY_ARRAY_ENSUREARRAY, NULL) - -#define PyArray_CopyFromObject(op, type, min_depth, max_depth) \ - PyArray_FromAny(op, PyArray_DescrFromType(type), min_depth, \ - max_depth, NPY_ARRAY_ENSURECOPY | \ - NPY_ARRAY_DEFAULT | \ - NPY_ARRAY_ENSUREARRAY, NULL) - -#define PyArray_Cast(mp, type_num) \ - PyArray_CastToType(mp, PyArray_DescrFromType(type_num), 0) - -#define PyArray_Take(ap, items, axis) \ - PyArray_TakeFrom(ap, items, axis, NULL, NPY_RAISE) - -#define PyArray_Put(ap, items, values) \ - PyArray_PutTo(ap, items, values, NPY_RAISE) - -/* Compatibility with old Numeric stuff -- don't use in new code */ - -#define PyArray_FromDimsAndData(nd, d, type, data) \ - PyArray_FromDimsAndDataAndDescr(nd, d, PyArray_DescrFromType(type), \ - data) - - -/* - Check to see if this key in the dictionary is the "title" - entry of the tuple (i.e. a duplicate dictionary entry in the fields - dict. -*/ - -#define NPY_TITLE_KEY(key, value) ((PyTuple_GET_SIZE((value))==3) && \ - (PyTuple_GET_ITEM((value), 2) == (key))) - - -#define DEPRECATE(msg) PyErr_WarnEx(PyExc_DeprecationWarning,msg,1) -#define DEPRECATE_FUTUREWARNING(msg) PyErr_WarnEx(PyExc_FutureWarning,msg,1) - - -#ifdef __cplusplus -} -#endif - - -#endif /* NPY_NDARRAYOBJECT_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h b/gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h deleted file mode 100644 index 373a4df53..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/ndarraytypes.h +++ /dev/null @@ -1,1777 +0,0 @@ -#ifndef NDARRAYTYPES_H -#define NDARRAYTYPES_H - -#include "npy_common.h" -#include "npy_endian.h" -#include "npy_cpu.h" -#include "utils.h" - -#ifdef NPY_ENABLE_SEPARATE_COMPILATION - #define NPY_NO_EXPORT NPY_VISIBILITY_HIDDEN -#else - #define NPY_NO_EXPORT static -#endif - -/* Only use thread if configured in config and python supports it */ -#if defined WITH_THREAD && !NPY_NO_SMP - #define NPY_ALLOW_THREADS 1 -#else - #define NPY_ALLOW_THREADS 0 -#endif - - - -/* - * There are several places in the code where an array of dimensions - * is allocated statically. This is the size of that static - * allocation. - * - * The array creation itself could have arbitrary dimensions but all - * the places where static allocation is used would need to be changed - * to dynamic (including inside of several structures) - */ - -#define NPY_MAXDIMS 32 -#define NPY_MAXARGS 32 - -/* Used for Converter Functions "O&" code in ParseTuple */ -#define NPY_FAIL 0 -#define NPY_SUCCEED 1 - -/* - * Binary compatibility version number. This number is increased - * whenever the C-API is changed such that binary compatibility is - * broken, i.e. whenever a recompile of extension modules is needed. - */ -#define NPY_VERSION NPY_ABI_VERSION - -/* - * Minor API version. This number is increased whenever a change is - * made to the C-API -- whether it breaks binary compatibility or not. - * Some changes, such as adding a function pointer to the end of the - * function table, can be made without breaking binary compatibility. - * In this case, only the NPY_FEATURE_VERSION (*not* NPY_VERSION) - * would be increased. Whenever binary compatibility is broken, both - * NPY_VERSION and NPY_FEATURE_VERSION should be increased. - */ -#define NPY_FEATURE_VERSION NPY_API_VERSION - -enum NPY_TYPES { NPY_BOOL=0, - NPY_BYTE, NPY_UBYTE, - NPY_SHORT, NPY_USHORT, - NPY_INT, NPY_UINT, - NPY_LONG, NPY_ULONG, - NPY_LONGLONG, NPY_ULONGLONG, - NPY_FLOAT, NPY_DOUBLE, NPY_LONGDOUBLE, - NPY_CFLOAT, NPY_CDOUBLE, NPY_CLONGDOUBLE, - NPY_OBJECT=17, - NPY_STRING, NPY_UNICODE, - NPY_VOID, - /* - * New 1.6 types appended, may be integrated - * into the above in 2.0. - */ - NPY_DATETIME, NPY_TIMEDELTA, NPY_HALF, - - NPY_NTYPES, - NPY_NOTYPE, - NPY_CHAR, /* special flag */ - NPY_USERDEF=256, /* leave room for characters */ - - /* The number of types not including the new 1.6 types */ - NPY_NTYPES_ABI_COMPATIBLE=21 -}; - -/* basetype array priority */ -#define NPY_PRIORITY 0.0 - -/* default subtype priority */ -#define NPY_SUBTYPE_PRIORITY 1.0 - -/* default scalar priority */ -#define NPY_SCALAR_PRIORITY -1000000.0 - -/* How many floating point types are there (excluding half) */ -#define NPY_NUM_FLOATTYPE 3 - -/* - * These characters correspond to the array type and the struct - * module - */ - -enum NPY_TYPECHAR { - NPY_BOOLLTR = '?', - NPY_BYTELTR = 'b', - NPY_UBYTELTR = 'B', - NPY_SHORTLTR = 'h', - NPY_USHORTLTR = 'H', - NPY_INTLTR = 'i', - NPY_UINTLTR = 'I', - NPY_LONGLTR = 'l', - NPY_ULONGLTR = 'L', - NPY_LONGLONGLTR = 'q', - NPY_ULONGLONGLTR = 'Q', - NPY_HALFLTR = 'e', - NPY_FLOATLTR = 'f', - NPY_DOUBLELTR = 'd', - NPY_LONGDOUBLELTR = 'g', - NPY_CFLOATLTR = 'F', - NPY_CDOUBLELTR = 'D', - NPY_CLONGDOUBLELTR = 'G', - NPY_OBJECTLTR = 'O', - NPY_STRINGLTR = 'S', - NPY_STRINGLTR2 = 'a', - NPY_UNICODELTR = 'U', - NPY_VOIDLTR = 'V', - NPY_DATETIMELTR = 'M', - NPY_TIMEDELTALTR = 'm', - NPY_CHARLTR = 'c', - - /* - * No Descriptor, just a define -- this let's - * Python users specify an array of integers - * large enough to hold a pointer on the - * platform - */ - NPY_INTPLTR = 'p', - NPY_UINTPLTR = 'P', - - /* - * These are for dtype 'kinds', not dtype 'typecodes' - * as the above are for. - */ - NPY_GENBOOLLTR ='b', - NPY_SIGNEDLTR = 'i', - NPY_UNSIGNEDLTR = 'u', - NPY_FLOATINGLTR = 'f', - NPY_COMPLEXLTR = 'c' -}; - -typedef enum { - NPY_QUICKSORT=0, - NPY_HEAPSORT=1, - NPY_MERGESORT=2 -} NPY_SORTKIND; -#define NPY_NSORTS (NPY_MERGESORT + 1) - - -typedef enum { - NPY_INTROSELECT=0, -} NPY_SELECTKIND; -#define NPY_NSELECTS (NPY_INTROSELECT + 1) - - -typedef enum { - NPY_SEARCHLEFT=0, - NPY_SEARCHRIGHT=1 -} NPY_SEARCHSIDE; -#define NPY_NSEARCHSIDES (NPY_SEARCHRIGHT + 1) - - -typedef enum { - NPY_NOSCALAR=-1, - NPY_BOOL_SCALAR, - NPY_INTPOS_SCALAR, - NPY_INTNEG_SCALAR, - NPY_FLOAT_SCALAR, - NPY_COMPLEX_SCALAR, - NPY_OBJECT_SCALAR -} NPY_SCALARKIND; -#define NPY_NSCALARKINDS (NPY_OBJECT_SCALAR + 1) - -/* For specifying array memory layout or iteration order */ -typedef enum { - /* Fortran order if inputs are all Fortran, C otherwise */ - NPY_ANYORDER=-1, - /* C order */ - NPY_CORDER=0, - /* Fortran order */ - NPY_FORTRANORDER=1, - /* An order as close to the inputs as possible */ - NPY_KEEPORDER=2 -} NPY_ORDER; - -/* For specifying allowed casting in operations which support it */ -typedef enum { - /* Only allow identical types */ - NPY_NO_CASTING=0, - /* Allow identical and byte swapped types */ - NPY_EQUIV_CASTING=1, - /* Only allow safe casts */ - NPY_SAFE_CASTING=2, - /* Allow safe casts or casts within the same kind */ - NPY_SAME_KIND_CASTING=3, - /* Allow any casts */ - NPY_UNSAFE_CASTING=4, - - /* - * Temporary internal definition only, will be removed in upcoming - * release, see below - * */ - NPY_INTERNAL_UNSAFE_CASTING_BUT_WARN_UNLESS_SAME_KIND = 100, -} NPY_CASTING; - -typedef enum { - NPY_CLIP=0, - NPY_WRAP=1, - NPY_RAISE=2 -} NPY_CLIPMODE; - -/* The special not-a-time (NaT) value */ -#define NPY_DATETIME_NAT NPY_MIN_INT64 - -/* - * Upper bound on the length of a DATETIME ISO 8601 string - * YEAR: 21 (64-bit year) - * MONTH: 3 - * DAY: 3 - * HOURS: 3 - * MINUTES: 3 - * SECONDS: 3 - * ATTOSECONDS: 1 + 3*6 - * TIMEZONE: 5 - * NULL TERMINATOR: 1 - */ -#define NPY_DATETIME_MAX_ISO8601_STRLEN (21+3*5+1+3*6+6+1) - -typedef enum { - NPY_FR_Y = 0, /* Years */ - NPY_FR_M = 1, /* Months */ - NPY_FR_W = 2, /* Weeks */ - /* Gap where 1.6 NPY_FR_B (value 3) was */ - NPY_FR_D = 4, /* Days */ - NPY_FR_h = 5, /* hours */ - NPY_FR_m = 6, /* minutes */ - NPY_FR_s = 7, /* seconds */ - NPY_FR_ms = 8, /* milliseconds */ - NPY_FR_us = 9, /* microseconds */ - NPY_FR_ns = 10,/* nanoseconds */ - NPY_FR_ps = 11,/* picoseconds */ - NPY_FR_fs = 12,/* femtoseconds */ - NPY_FR_as = 13,/* attoseconds */ - NPY_FR_GENERIC = 14 /* Generic, unbound units, can convert to anything */ -} NPY_DATETIMEUNIT; - -/* - * NOTE: With the NPY_FR_B gap for 1.6 ABI compatibility, NPY_DATETIME_NUMUNITS - * is technically one more than the actual number of units. - */ -#define NPY_DATETIME_NUMUNITS (NPY_FR_GENERIC + 1) -#define NPY_DATETIME_DEFAULTUNIT NPY_FR_GENERIC - -/* - * Business day conventions for mapping invalid business - * days to valid business days. - */ -typedef enum { - /* Go forward in time to the following business day. */ - NPY_BUSDAY_FORWARD, - NPY_BUSDAY_FOLLOWING = NPY_BUSDAY_FORWARD, - /* Go backward in time to the preceding business day. */ - NPY_BUSDAY_BACKWARD, - NPY_BUSDAY_PRECEDING = NPY_BUSDAY_BACKWARD, - /* - * Go forward in time to the following business day, unless it - * crosses a month boundary, in which case go backward - */ - NPY_BUSDAY_MODIFIEDFOLLOWING, - /* - * Go backward in time to the preceding business day, unless it - * crosses a month boundary, in which case go forward. - */ - NPY_BUSDAY_MODIFIEDPRECEDING, - /* Produce a NaT for non-business days. */ - NPY_BUSDAY_NAT, - /* Raise an exception for non-business days. */ - NPY_BUSDAY_RAISE -} NPY_BUSDAY_ROLL; - -/************************************************************ - * NumPy Auxiliary Data for inner loops, sort functions, etc. - ************************************************************/ - -/* - * When creating an auxiliary data struct, this should always appear - * as the first member, like this: - * - * typedef struct { - * NpyAuxData base; - * double constant; - * } constant_multiplier_aux_data; - */ -typedef struct NpyAuxData_tag NpyAuxData; - -/* Function pointers for freeing or cloning auxiliary data */ -typedef void (NpyAuxData_FreeFunc) (NpyAuxData *); -typedef NpyAuxData *(NpyAuxData_CloneFunc) (NpyAuxData *); - -struct NpyAuxData_tag { - NpyAuxData_FreeFunc *free; - NpyAuxData_CloneFunc *clone; - /* To allow for a bit of expansion without breaking the ABI */ - void *reserved[2]; -}; - -/* Macros to use for freeing and cloning auxiliary data */ -#define NPY_AUXDATA_FREE(auxdata) \ - do { \ - if ((auxdata) != NULL) { \ - (auxdata)->free(auxdata); \ - } \ - } while(0) -#define NPY_AUXDATA_CLONE(auxdata) \ - ((auxdata)->clone(auxdata)) - -#define NPY_ERR(str) fprintf(stderr, #str); fflush(stderr); -#define NPY_ERR2(str) fprintf(stderr, str); fflush(stderr); - -#define NPY_STRINGIFY(x) #x -#define NPY_TOSTRING(x) NPY_STRINGIFY(x) - - /* - * Macros to define how array, and dimension/strides data is - * allocated. - */ - - /* Data buffer - PyDataMem_NEW/FREE/RENEW are in multiarraymodule.c */ - -#define NPY_USE_PYMEM 1 - -#if NPY_USE_PYMEM == 1 -#define PyArray_malloc PyMem_Malloc -#define PyArray_free PyMem_Free -#define PyArray_realloc PyMem_Realloc -#else -#define PyArray_malloc malloc -#define PyArray_free free -#define PyArray_realloc realloc -#endif - -/* Dimensions and strides */ -#define PyDimMem_NEW(size) \ - ((npy_intp *)PyArray_malloc(size*sizeof(npy_intp))) - -#define PyDimMem_FREE(ptr) PyArray_free(ptr) - -#define PyDimMem_RENEW(ptr,size) \ - ((npy_intp *)PyArray_realloc(ptr,size*sizeof(npy_intp))) - -/* forward declaration */ -struct _PyArray_Descr; - -/* These must deal with unaligned and swapped data if necessary */ -typedef PyObject * (PyArray_GetItemFunc) (void *, void *); -typedef int (PyArray_SetItemFunc)(PyObject *, void *, void *); - -typedef void (PyArray_CopySwapNFunc)(void *, npy_intp, void *, npy_intp, - npy_intp, int, void *); - -typedef void (PyArray_CopySwapFunc)(void *, void *, int, void *); -typedef npy_bool (PyArray_NonzeroFunc)(void *, void *); - - -/* - * These assume aligned and notswapped data -- a buffer will be used - * before or contiguous data will be obtained - */ - -typedef int (PyArray_CompareFunc)(const void *, const void *, void *); -typedef int (PyArray_ArgFunc)(void*, npy_intp, npy_intp*, void *); - -typedef void (PyArray_DotFunc)(void *, npy_intp, void *, npy_intp, void *, - npy_intp, void *); - -typedef void (PyArray_VectorUnaryFunc)(void *, void *, npy_intp, void *, - void *); - -/* - * XXX the ignore argument should be removed next time the API version - * is bumped. It used to be the separator. - */ -typedef int (PyArray_ScanFunc)(FILE *fp, void *dptr, - char *ignore, struct _PyArray_Descr *); -typedef int (PyArray_FromStrFunc)(char *s, void *dptr, char **endptr, - struct _PyArray_Descr *); - -typedef int (PyArray_FillFunc)(void *, npy_intp, void *); - -typedef int (PyArray_SortFunc)(void *, npy_intp, void *); -typedef int (PyArray_ArgSortFunc)(void *, npy_intp *, npy_intp, void *); -typedef int (PyArray_PartitionFunc)(void *, npy_intp, npy_intp, - npy_intp *, npy_intp *, - void *); -typedef int (PyArray_ArgPartitionFunc)(void *, npy_intp *, npy_intp, npy_intp, - npy_intp *, npy_intp *, - void *); - -typedef int (PyArray_FillWithScalarFunc)(void *, npy_intp, void *, void *); - -typedef int (PyArray_ScalarKindFunc)(void *); - -typedef void (PyArray_FastClipFunc)(void *in, npy_intp n_in, void *min, - void *max, void *out); -typedef void (PyArray_FastPutmaskFunc)(void *in, void *mask, npy_intp n_in, - void *values, npy_intp nv); -typedef int (PyArray_FastTakeFunc)(void *dest, void *src, npy_intp *indarray, - npy_intp nindarray, npy_intp n_outer, - npy_intp m_middle, npy_intp nelem, - NPY_CLIPMODE clipmode); - -typedef struct { - npy_intp *ptr; - int len; -} PyArray_Dims; - -typedef struct { - /* - * Functions to cast to most other standard types - * Can have some NULL entries. The types - * DATETIME, TIMEDELTA, and HALF go into the castdict - * even though they are built-in. - */ - PyArray_VectorUnaryFunc *cast[NPY_NTYPES_ABI_COMPATIBLE]; - - /* The next four functions *cannot* be NULL */ - - /* - * Functions to get and set items with standard Python types - * -- not array scalars - */ - PyArray_GetItemFunc *getitem; - PyArray_SetItemFunc *setitem; - - /* - * Copy and/or swap data. Memory areas may not overlap - * Use memmove first if they might - */ - PyArray_CopySwapNFunc *copyswapn; - PyArray_CopySwapFunc *copyswap; - - /* - * Function to compare items - * Can be NULL - */ - PyArray_CompareFunc *compare; - - /* - * Function to select largest - * Can be NULL - */ - PyArray_ArgFunc *argmax; - - /* - * Function to compute dot product - * Can be NULL - */ - PyArray_DotFunc *dotfunc; - - /* - * Function to scan an ASCII file and - * place a single value plus possible separator - * Can be NULL - */ - PyArray_ScanFunc *scanfunc; - - /* - * Function to read a single value from a string - * and adjust the pointer; Can be NULL - */ - PyArray_FromStrFunc *fromstr; - - /* - * Function to determine if data is zero or not - * If NULL a default version is - * used at Registration time. - */ - PyArray_NonzeroFunc *nonzero; - - /* - * Used for arange. - * Can be NULL. - */ - PyArray_FillFunc *fill; - - /* - * Function to fill arrays with scalar values - * Can be NULL - */ - PyArray_FillWithScalarFunc *fillwithscalar; - - /* - * Sorting functions - * Can be NULL - */ - PyArray_SortFunc *sort[NPY_NSORTS]; - PyArray_ArgSortFunc *argsort[NPY_NSORTS]; - - /* - * Dictionary of additional casting functions - * PyArray_VectorUnaryFuncs - * which can be populated to support casting - * to other registered types. Can be NULL - */ - PyObject *castdict; - - /* - * Functions useful for generalizing - * the casting rules. - * Can be NULL; - */ - PyArray_ScalarKindFunc *scalarkind; - int **cancastscalarkindto; - int *cancastto; - - PyArray_FastClipFunc *fastclip; - PyArray_FastPutmaskFunc *fastputmask; - PyArray_FastTakeFunc *fasttake; - - /* - * Function to select smallest - * Can be NULL - */ - PyArray_ArgFunc *argmin; - -} PyArray_ArrFuncs; - -/* The item must be reference counted when it is inserted or extracted. */ -#define NPY_ITEM_REFCOUNT 0x01 -/* Same as needing REFCOUNT */ -#define NPY_ITEM_HASOBJECT 0x01 -/* Convert to list for pickling */ -#define NPY_LIST_PICKLE 0x02 -/* The item is a POINTER */ -#define NPY_ITEM_IS_POINTER 0x04 -/* memory needs to be initialized for this data-type */ -#define NPY_NEEDS_INIT 0x08 -/* operations need Python C-API so don't give-up thread. */ -#define NPY_NEEDS_PYAPI 0x10 -/* Use f.getitem when extracting elements of this data-type */ -#define NPY_USE_GETITEM 0x20 -/* Use f.setitem when setting creating 0-d array from this data-type.*/ -#define NPY_USE_SETITEM 0x40 -/* A sticky flag specifically for structured arrays */ -#define NPY_ALIGNED_STRUCT 0x80 - -/* - *These are inherited for global data-type if any data-types in the - * field have them - */ -#define NPY_FROM_FIELDS (NPY_NEEDS_INIT | NPY_LIST_PICKLE | \ - NPY_ITEM_REFCOUNT | NPY_NEEDS_PYAPI) - -#define NPY_OBJECT_DTYPE_FLAGS (NPY_LIST_PICKLE | NPY_USE_GETITEM | \ - NPY_ITEM_IS_POINTER | NPY_ITEM_REFCOUNT | \ - NPY_NEEDS_INIT | NPY_NEEDS_PYAPI) - -#define PyDataType_FLAGCHK(dtype, flag) \ - (((dtype)->flags & (flag)) == (flag)) - -#define PyDataType_REFCHK(dtype) \ - PyDataType_FLAGCHK(dtype, NPY_ITEM_REFCOUNT) - -typedef struct _PyArray_Descr { - PyObject_HEAD - /* - * the type object representing an - * instance of this type -- should not - * be two type_numbers with the same type - * object. - */ - PyTypeObject *typeobj; - /* kind for this type */ - char kind; - /* unique-character representing this type */ - char type; - /* - * '>' (big), '<' (little), '|' - * (not-applicable), or '=' (native). - */ - char byteorder; - /* flags describing data type */ - char flags; - /* number representing this type */ - int type_num; - /* element size (itemsize) for this type */ - int elsize; - /* alignment needed for this type */ - int alignment; - /* - * Non-NULL if this type is - * is an array (C-contiguous) - * of some other type - */ - struct _arr_descr *subarray; - /* - * The fields dictionary for this type - * For statically defined descr this - * is always Py_None - */ - PyObject *fields; - /* - * An ordered tuple of field names or NULL - * if no fields are defined - */ - PyObject *names; - /* - * a table of functions specific for each - * basic data descriptor - */ - PyArray_ArrFuncs *f; - /* Metadata about this dtype */ - PyObject *metadata; - /* - * Metadata specific to the C implementation - * of the particular dtype. This was added - * for NumPy 1.7.0. - */ - NpyAuxData *c_metadata; -} PyArray_Descr; - -typedef struct _arr_descr { - PyArray_Descr *base; - PyObject *shape; /* a tuple */ -} PyArray_ArrayDescr; - -/* - * The main array object structure. - * - * It has been recommended to use the inline functions defined below - * (PyArray_DATA and friends) to access fields here for a number of - * releases. Direct access to the members themselves is deprecated. - * To ensure that your code does not use deprecated access, - * #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION - * (or NPY_1_8_API_VERSION or higher as required). - */ -/* This struct will be moved to a private header in a future release */ -typedef struct tagPyArrayObject_fields { - PyObject_HEAD - /* Pointer to the raw data buffer */ - char *data; - /* The number of dimensions, also called 'ndim' */ - int nd; - /* The size in each dimension, also called 'shape' */ - npy_intp *dimensions; - /* - * Number of bytes to jump to get to the - * next element in each dimension - */ - npy_intp *strides; - /* - * This object is decref'd upon - * deletion of array. Except in the - * case of UPDATEIFCOPY which has - * special handling. - * - * For views it points to the original - * array, collapsed so no chains of - * views occur. - * - * For creation from buffer object it - * points to an object that shold be - * decref'd on deletion - * - * For UPDATEIFCOPY flag this is an - * array to-be-updated upon deletion - * of this one - */ - PyObject *base; - /* Pointer to type structure */ - PyArray_Descr *descr; - /* Flags describing array -- see below */ - int flags; - /* For weak references */ - PyObject *weakreflist; -} PyArrayObject_fields; - -/* - * To hide the implementation details, we only expose - * the Python struct HEAD. - */ -#if !defined(NPY_NO_DEPRECATED_API) || \ - (NPY_NO_DEPRECATED_API < NPY_1_7_API_VERSION) -/* - * Can't put this in npy_deprecated_api.h like the others. - * PyArrayObject field access is deprecated as of NumPy 1.7. - */ -typedef PyArrayObject_fields PyArrayObject; -#else -typedef struct tagPyArrayObject { - PyObject_HEAD -} PyArrayObject; -#endif - -#define NPY_SIZEOF_PYARRAYOBJECT (sizeof(PyArrayObject_fields)) - -/* Array Flags Object */ -typedef struct PyArrayFlagsObject { - PyObject_HEAD - PyObject *arr; - int flags; -} PyArrayFlagsObject; - -/* Mirrors buffer object to ptr */ - -typedef struct { - PyObject_HEAD - PyObject *base; - void *ptr; - npy_intp len; - int flags; -} PyArray_Chunk; - -typedef struct { - NPY_DATETIMEUNIT base; - int num; -} PyArray_DatetimeMetaData; - -typedef struct { - NpyAuxData base; - PyArray_DatetimeMetaData meta; -} PyArray_DatetimeDTypeMetaData; - -/* - * This structure contains an exploded view of a date-time value. - * NaT is represented by year == NPY_DATETIME_NAT. - */ -typedef struct { - npy_int64 year; - npy_int32 month, day, hour, min, sec, us, ps, as; -} npy_datetimestruct; - -/* This is not used internally. */ -typedef struct { - npy_int64 day; - npy_int32 sec, us, ps, as; -} npy_timedeltastruct; - -typedef int (PyArray_FinalizeFunc)(PyArrayObject *, PyObject *); - -/* - * Means c-style contiguous (last index varies the fastest). The data - * elements right after each other. - * - * This flag may be requested in constructor functions. - * This flag may be tested for in PyArray_FLAGS(arr). - */ -#define NPY_ARRAY_C_CONTIGUOUS 0x0001 - -/* - * Set if array is a contiguous Fortran array: the first index varies - * the fastest in memory (strides array is reverse of C-contiguous - * array) - * - * This flag may be requested in constructor functions. - * This flag may be tested for in PyArray_FLAGS(arr). - */ -#define NPY_ARRAY_F_CONTIGUOUS 0x0002 - -/* - * Note: all 0-d arrays are C_CONTIGUOUS and F_CONTIGUOUS. If a - * 1-d array is C_CONTIGUOUS it is also F_CONTIGUOUS. Arrays with - * more then one dimension can be C_CONTIGUOUS and F_CONTIGUOUS - * at the same time if they have either zero or one element. - * If NPY_RELAXED_STRIDES_CHECKING is set, a higher dimensional - * array is always C_CONTIGUOUS and F_CONTIGUOUS if it has zero elements - * and the array is contiguous if ndarray.squeeze() is contiguous. - * I.e. dimensions for which `ndarray.shape[dimension] == 1` are - * ignored. - */ - -/* - * If set, the array owns the data: it will be free'd when the array - * is deleted. - * - * This flag may be tested for in PyArray_FLAGS(arr). - */ -#define NPY_ARRAY_OWNDATA 0x0004 - -/* - * An array never has the next four set; they're only used as parameter - * flags to the the various FromAny functions - * - * This flag may be requested in constructor functions. - */ - -/* Cause a cast to occur regardless of whether or not it is safe. */ -#define NPY_ARRAY_FORCECAST 0x0010 - -/* - * Always copy the array. Returned arrays are always CONTIGUOUS, - * ALIGNED, and WRITEABLE. - * - * This flag may be requested in constructor functions. - */ -#define NPY_ARRAY_ENSURECOPY 0x0020 - -/* - * Make sure the returned array is a base-class ndarray - * - * This flag may be requested in constructor functions. - */ -#define NPY_ARRAY_ENSUREARRAY 0x0040 - -/* - * Make sure that the strides are in units of the element size Needed - * for some operations with record-arrays. - * - * This flag may be requested in constructor functions. - */ -#define NPY_ARRAY_ELEMENTSTRIDES 0x0080 - -/* - * Array data is aligned on the appropiate memory address for the type - * stored according to how the compiler would align things (e.g., an - * array of integers (4 bytes each) starts on a memory address that's - * a multiple of 4) - * - * This flag may be requested in constructor functions. - * This flag may be tested for in PyArray_FLAGS(arr). - */ -#define NPY_ARRAY_ALIGNED 0x0100 - -/* - * Array data has the native endianness - * - * This flag may be requested in constructor functions. - */ -#define NPY_ARRAY_NOTSWAPPED 0x0200 - -/* - * Array data is writeable - * - * This flag may be requested in constructor functions. - * This flag may be tested for in PyArray_FLAGS(arr). - */ -#define NPY_ARRAY_WRITEABLE 0x0400 - -/* - * If this flag is set, then base contains a pointer to an array of - * the same size that should be updated with the current contents of - * this array when this array is deallocated - * - * This flag may be requested in constructor functions. - * This flag may be tested for in PyArray_FLAGS(arr). - */ -#define NPY_ARRAY_UPDATEIFCOPY 0x1000 - -/* - * NOTE: there are also internal flags defined in multiarray/arrayobject.h, - * which start at bit 31 and work down. - */ - -#define NPY_ARRAY_BEHAVED (NPY_ARRAY_ALIGNED | \ - NPY_ARRAY_WRITEABLE) -#define NPY_ARRAY_BEHAVED_NS (NPY_ARRAY_ALIGNED | \ - NPY_ARRAY_WRITEABLE | \ - NPY_ARRAY_NOTSWAPPED) -#define NPY_ARRAY_CARRAY (NPY_ARRAY_C_CONTIGUOUS | \ - NPY_ARRAY_BEHAVED) -#define NPY_ARRAY_CARRAY_RO (NPY_ARRAY_C_CONTIGUOUS | \ - NPY_ARRAY_ALIGNED) -#define NPY_ARRAY_FARRAY (NPY_ARRAY_F_CONTIGUOUS | \ - NPY_ARRAY_BEHAVED) -#define NPY_ARRAY_FARRAY_RO (NPY_ARRAY_F_CONTIGUOUS | \ - NPY_ARRAY_ALIGNED) -#define NPY_ARRAY_DEFAULT (NPY_ARRAY_CARRAY) -#define NPY_ARRAY_IN_ARRAY (NPY_ARRAY_CARRAY_RO) -#define NPY_ARRAY_OUT_ARRAY (NPY_ARRAY_CARRAY) -#define NPY_ARRAY_INOUT_ARRAY (NPY_ARRAY_CARRAY | \ - NPY_ARRAY_UPDATEIFCOPY) -#define NPY_ARRAY_IN_FARRAY (NPY_ARRAY_FARRAY_RO) -#define NPY_ARRAY_OUT_FARRAY (NPY_ARRAY_FARRAY) -#define NPY_ARRAY_INOUT_FARRAY (NPY_ARRAY_FARRAY | \ - NPY_ARRAY_UPDATEIFCOPY) - -#define NPY_ARRAY_UPDATE_ALL (NPY_ARRAY_C_CONTIGUOUS | \ - NPY_ARRAY_F_CONTIGUOUS | \ - NPY_ARRAY_ALIGNED) - -/* This flag is for the array interface, not PyArrayObject */ -#define NPY_ARR_HAS_DESCR 0x0800 - - - - -/* - * Size of internal buffers used for alignment Make BUFSIZE a multiple - * of sizeof(npy_cdouble) -- usually 16 so that ufunc buffers are aligned - */ -#define NPY_MIN_BUFSIZE ((int)sizeof(npy_cdouble)) -#define NPY_MAX_BUFSIZE (((int)sizeof(npy_cdouble))*1000000) -#define NPY_BUFSIZE 8192 -/* buffer stress test size: */ -/*#define NPY_BUFSIZE 17*/ - -#define PyArray_MAX(a,b) (((a)>(b))?(a):(b)) -#define PyArray_MIN(a,b) (((a)<(b))?(a):(b)) -#define PyArray_CLT(p,q) ((((p).real==(q).real) ? ((p).imag < (q).imag) : \ - ((p).real < (q).real))) -#define PyArray_CGT(p,q) ((((p).real==(q).real) ? ((p).imag > (q).imag) : \ - ((p).real > (q).real))) -#define PyArray_CLE(p,q) ((((p).real==(q).real) ? ((p).imag <= (q).imag) : \ - ((p).real <= (q).real))) -#define PyArray_CGE(p,q) ((((p).real==(q).real) ? ((p).imag >= (q).imag) : \ - ((p).real >= (q).real))) -#define PyArray_CEQ(p,q) (((p).real==(q).real) && ((p).imag == (q).imag)) -#define PyArray_CNE(p,q) (((p).real!=(q).real) || ((p).imag != (q).imag)) - -/* - * C API: consists of Macros and functions. The MACROS are defined - * here. - */ - - -#define PyArray_ISCONTIGUOUS(m) PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS) -#define PyArray_ISWRITEABLE(m) PyArray_CHKFLAGS(m, NPY_ARRAY_WRITEABLE) -#define PyArray_ISALIGNED(m) PyArray_CHKFLAGS(m, NPY_ARRAY_ALIGNED) - -#define PyArray_IS_C_CONTIGUOUS(m) PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS) -#define PyArray_IS_F_CONTIGUOUS(m) PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS) - -#if NPY_ALLOW_THREADS -#define NPY_BEGIN_ALLOW_THREADS Py_BEGIN_ALLOW_THREADS -#define NPY_END_ALLOW_THREADS Py_END_ALLOW_THREADS -#define NPY_BEGIN_THREADS_DEF PyThreadState *_save=NULL; -#define NPY_BEGIN_THREADS do {_save = PyEval_SaveThread();} while (0); -#define NPY_END_THREADS do {if (_save) PyEval_RestoreThread(_save);} while (0); -#define NPY_BEGIN_THREADS_THRESHOLDED(loop_size) do { if (loop_size > 500) \ - { _save = PyEval_SaveThread();} } while (0); - -#define NPY_BEGIN_THREADS_DESCR(dtype) \ - do {if (!(PyDataType_FLAGCHK(dtype, NPY_NEEDS_PYAPI))) \ - NPY_BEGIN_THREADS;} while (0); - -#define NPY_END_THREADS_DESCR(dtype) \ - do {if (!(PyDataType_FLAGCHK(dtype, NPY_NEEDS_PYAPI))) \ - NPY_END_THREADS; } while (0); - -#define NPY_ALLOW_C_API_DEF PyGILState_STATE __save__; -#define NPY_ALLOW_C_API do {__save__ = PyGILState_Ensure();} while (0); -#define NPY_DISABLE_C_API do {PyGILState_Release(__save__);} while (0); -#else -#define NPY_BEGIN_ALLOW_THREADS -#define NPY_END_ALLOW_THREADS -#define NPY_BEGIN_THREADS_DEF -#define NPY_BEGIN_THREADS -#define NPY_END_THREADS -#define NPY_BEGIN_THREADS_THRESHOLDED(loop_size) -#define NPY_BEGIN_THREADS_DESCR(dtype) -#define NPY_END_THREADS_DESCR(dtype) -#define NPY_ALLOW_C_API_DEF -#define NPY_ALLOW_C_API -#define NPY_DISABLE_C_API -#endif - -/********************************** - * The nditer object, added in 1.6 - **********************************/ - -/* The actual structure of the iterator is an internal detail */ -typedef struct NpyIter_InternalOnly NpyIter; - -/* Iterator function pointers that may be specialized */ -typedef int (NpyIter_IterNextFunc)(NpyIter *iter); -typedef void (NpyIter_GetMultiIndexFunc)(NpyIter *iter, - npy_intp *outcoords); - -/*** Global flags that may be passed to the iterator constructors ***/ - -/* Track an index representing C order */ -#define NPY_ITER_C_INDEX 0x00000001 -/* Track an index representing Fortran order */ -#define NPY_ITER_F_INDEX 0x00000002 -/* Track a multi-index */ -#define NPY_ITER_MULTI_INDEX 0x00000004 -/* User code external to the iterator does the 1-dimensional innermost loop */ -#define NPY_ITER_EXTERNAL_LOOP 0x00000008 -/* Convert all the operands to a common data type */ -#define NPY_ITER_COMMON_DTYPE 0x00000010 -/* Operands may hold references, requiring API access during iteration */ -#define NPY_ITER_REFS_OK 0x00000020 -/* Zero-sized operands should be permitted, iteration checks IterSize for 0 */ -#define NPY_ITER_ZEROSIZE_OK 0x00000040 -/* Permits reductions (size-0 stride with dimension size > 1) */ -#define NPY_ITER_REDUCE_OK 0x00000080 -/* Enables sub-range iteration */ -#define NPY_ITER_RANGED 0x00000100 -/* Enables buffering */ -#define NPY_ITER_BUFFERED 0x00000200 -/* When buffering is enabled, grows the inner loop if possible */ -#define NPY_ITER_GROWINNER 0x00000400 -/* Delay allocation of buffers until first Reset* call */ -#define NPY_ITER_DELAY_BUFALLOC 0x00000800 -/* When NPY_KEEPORDER is specified, disable reversing negative-stride axes */ -#define NPY_ITER_DONT_NEGATE_STRIDES 0x00001000 - -/*** Per-operand flags that may be passed to the iterator constructors ***/ - -/* The operand will be read from and written to */ -#define NPY_ITER_READWRITE 0x00010000 -/* The operand will only be read from */ -#define NPY_ITER_READONLY 0x00020000 -/* The operand will only be written to */ -#define NPY_ITER_WRITEONLY 0x00040000 -/* The operand's data must be in native byte order */ -#define NPY_ITER_NBO 0x00080000 -/* The operand's data must be aligned */ -#define NPY_ITER_ALIGNED 0x00100000 -/* The operand's data must be contiguous (within the inner loop) */ -#define NPY_ITER_CONTIG 0x00200000 -/* The operand may be copied to satisfy requirements */ -#define NPY_ITER_COPY 0x00400000 -/* The operand may be copied with UPDATEIFCOPY to satisfy requirements */ -#define NPY_ITER_UPDATEIFCOPY 0x00800000 -/* Allocate the operand if it is NULL */ -#define NPY_ITER_ALLOCATE 0x01000000 -/* If an operand is allocated, don't use any subtype */ -#define NPY_ITER_NO_SUBTYPE 0x02000000 -/* This is a virtual array slot, operand is NULL but temporary data is there */ -#define NPY_ITER_VIRTUAL 0x04000000 -/* Require that the dimension match the iterator dimensions exactly */ -#define NPY_ITER_NO_BROADCAST 0x08000000 -/* A mask is being used on this array, affects buffer -> array copy */ -#define NPY_ITER_WRITEMASKED 0x10000000 -/* This array is the mask for all WRITEMASKED operands */ -#define NPY_ITER_ARRAYMASK 0x20000000 - -#define NPY_ITER_GLOBAL_FLAGS 0x0000ffff -#define NPY_ITER_PER_OP_FLAGS 0xffff0000 - - -/***************************** - * Basic iterator object - *****************************/ - -/* FWD declaration */ -typedef struct PyArrayIterObject_tag PyArrayIterObject; - -/* - * type of the function which translates a set of coordinates to a - * pointer to the data - */ -typedef char* (*npy_iter_get_dataptr_t)(PyArrayIterObject* iter, npy_intp*); - -struct PyArrayIterObject_tag { - PyObject_HEAD - int nd_m1; /* number of dimensions - 1 */ - npy_intp index, size; - npy_intp coordinates[NPY_MAXDIMS];/* N-dimensional loop */ - npy_intp dims_m1[NPY_MAXDIMS]; /* ao->dimensions - 1 */ - npy_intp strides[NPY_MAXDIMS]; /* ao->strides or fake */ - npy_intp backstrides[NPY_MAXDIMS];/* how far to jump back */ - npy_intp factors[NPY_MAXDIMS]; /* shape factors */ - PyArrayObject *ao; - char *dataptr; /* pointer to current item*/ - npy_bool contiguous; - - npy_intp bounds[NPY_MAXDIMS][2]; - npy_intp limits[NPY_MAXDIMS][2]; - npy_intp limits_sizes[NPY_MAXDIMS]; - npy_iter_get_dataptr_t translate; -} ; - - -/* Iterator API */ -#define PyArrayIter_Check(op) PyObject_TypeCheck(op, &PyArrayIter_Type) - -#define _PyAIT(it) ((PyArrayIterObject *)(it)) -#define PyArray_ITER_RESET(it) do { \ - _PyAIT(it)->index = 0; \ - _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao); \ - memset(_PyAIT(it)->coordinates, 0, \ - (_PyAIT(it)->nd_m1+1)*sizeof(npy_intp)); \ -} while (0) - -#define _PyArray_ITER_NEXT1(it) do { \ - (it)->dataptr += _PyAIT(it)->strides[0]; \ - (it)->coordinates[0]++; \ -} while (0) - -#define _PyArray_ITER_NEXT2(it) do { \ - if ((it)->coordinates[1] < (it)->dims_m1[1]) { \ - (it)->coordinates[1]++; \ - (it)->dataptr += (it)->strides[1]; \ - } \ - else { \ - (it)->coordinates[1] = 0; \ - (it)->coordinates[0]++; \ - (it)->dataptr += (it)->strides[0] - \ - (it)->backstrides[1]; \ - } \ -} while (0) - -#define _PyArray_ITER_NEXT3(it) do { \ - if ((it)->coordinates[2] < (it)->dims_m1[2]) { \ - (it)->coordinates[2]++; \ - (it)->dataptr += (it)->strides[2]; \ - } \ - else { \ - (it)->coordinates[2] = 0; \ - (it)->dataptr -= (it)->backstrides[2]; \ - if ((it)->coordinates[1] < (it)->dims_m1[1]) { \ - (it)->coordinates[1]++; \ - (it)->dataptr += (it)->strides[1]; \ - } \ - else { \ - (it)->coordinates[1] = 0; \ - (it)->coordinates[0]++; \ - (it)->dataptr += (it)->strides[0] \ - (it)->backstrides[1]; \ - } \ - } \ -} while (0) - -#define PyArray_ITER_NEXT(it) do { \ - _PyAIT(it)->index++; \ - if (_PyAIT(it)->nd_m1 == 0) { \ - _PyArray_ITER_NEXT1(_PyAIT(it)); \ - } \ - else if (_PyAIT(it)->contiguous) \ - _PyAIT(it)->dataptr += PyArray_DESCR(_PyAIT(it)->ao)->elsize; \ - else if (_PyAIT(it)->nd_m1 == 1) { \ - _PyArray_ITER_NEXT2(_PyAIT(it)); \ - } \ - else { \ - int __npy_i; \ - for (__npy_i=_PyAIT(it)->nd_m1; __npy_i >= 0; __npy_i--) { \ - if (_PyAIT(it)->coordinates[__npy_i] < \ - _PyAIT(it)->dims_m1[__npy_i]) { \ - _PyAIT(it)->coordinates[__npy_i]++; \ - _PyAIT(it)->dataptr += \ - _PyAIT(it)->strides[__npy_i]; \ - break; \ - } \ - else { \ - _PyAIT(it)->coordinates[__npy_i] = 0; \ - _PyAIT(it)->dataptr -= \ - _PyAIT(it)->backstrides[__npy_i]; \ - } \ - } \ - } \ -} while (0) - -#define PyArray_ITER_GOTO(it, destination) do { \ - int __npy_i; \ - _PyAIT(it)->index = 0; \ - _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao); \ - for (__npy_i = _PyAIT(it)->nd_m1; __npy_i>=0; __npy_i--) { \ - if (destination[__npy_i] < 0) { \ - destination[__npy_i] += \ - _PyAIT(it)->dims_m1[__npy_i]+1; \ - } \ - _PyAIT(it)->dataptr += destination[__npy_i] * \ - _PyAIT(it)->strides[__npy_i]; \ - _PyAIT(it)->coordinates[__npy_i] = \ - destination[__npy_i]; \ - _PyAIT(it)->index += destination[__npy_i] * \ - ( __npy_i==_PyAIT(it)->nd_m1 ? 1 : \ - _PyAIT(it)->dims_m1[__npy_i+1]+1) ; \ - } \ -} while (0) - -#define PyArray_ITER_GOTO1D(it, ind) do { \ - int __npy_i; \ - npy_intp __npy_ind = (npy_intp) (ind); \ - if (__npy_ind < 0) __npy_ind += _PyAIT(it)->size; \ - _PyAIT(it)->index = __npy_ind; \ - if (_PyAIT(it)->nd_m1 == 0) { \ - _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao) + \ - __npy_ind * _PyAIT(it)->strides[0]; \ - } \ - else if (_PyAIT(it)->contiguous) \ - _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao) + \ - __npy_ind * PyArray_DESCR(_PyAIT(it)->ao)->elsize; \ - else { \ - _PyAIT(it)->dataptr = PyArray_BYTES(_PyAIT(it)->ao); \ - for (__npy_i = 0; __npy_i<=_PyAIT(it)->nd_m1; \ - __npy_i++) { \ - _PyAIT(it)->dataptr += \ - (__npy_ind / _PyAIT(it)->factors[__npy_i]) \ - * _PyAIT(it)->strides[__npy_i]; \ - __npy_ind %= _PyAIT(it)->factors[__npy_i]; \ - } \ - } \ -} while (0) - -#define PyArray_ITER_DATA(it) ((void *)(_PyAIT(it)->dataptr)) - -#define PyArray_ITER_NOTDONE(it) (_PyAIT(it)->index < _PyAIT(it)->size) - - -/* - * Any object passed to PyArray_Broadcast must be binary compatible - * with this structure. - */ - -typedef struct { - PyObject_HEAD - int numiter; /* number of iters */ - npy_intp size; /* broadcasted size */ - npy_intp index; /* current index */ - int nd; /* number of dims */ - npy_intp dimensions[NPY_MAXDIMS]; /* dimensions */ - PyArrayIterObject *iters[NPY_MAXARGS]; /* iterators */ -} PyArrayMultiIterObject; - -#define _PyMIT(m) ((PyArrayMultiIterObject *)(m)) -#define PyArray_MultiIter_RESET(multi) do { \ - int __npy_mi; \ - _PyMIT(multi)->index = 0; \ - for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ - PyArray_ITER_RESET(_PyMIT(multi)->iters[__npy_mi]); \ - } \ -} while (0) - -#define PyArray_MultiIter_NEXT(multi) do { \ - int __npy_mi; \ - _PyMIT(multi)->index++; \ - for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ - PyArray_ITER_NEXT(_PyMIT(multi)->iters[__npy_mi]); \ - } \ -} while (0) - -#define PyArray_MultiIter_GOTO(multi, dest) do { \ - int __npy_mi; \ - for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ - PyArray_ITER_GOTO(_PyMIT(multi)->iters[__npy_mi], dest); \ - } \ - _PyMIT(multi)->index = _PyMIT(multi)->iters[0]->index; \ -} while (0) - -#define PyArray_MultiIter_GOTO1D(multi, ind) do { \ - int __npy_mi; \ - for (__npy_mi=0; __npy_mi < _PyMIT(multi)->numiter; __npy_mi++) { \ - PyArray_ITER_GOTO1D(_PyMIT(multi)->iters[__npy_mi], ind); \ - } \ - _PyMIT(multi)->index = _PyMIT(multi)->iters[0]->index; \ -} while (0) - -#define PyArray_MultiIter_DATA(multi, i) \ - ((void *)(_PyMIT(multi)->iters[i]->dataptr)) - -#define PyArray_MultiIter_NEXTi(multi, i) \ - PyArray_ITER_NEXT(_PyMIT(multi)->iters[i]) - -#define PyArray_MultiIter_NOTDONE(multi) \ - (_PyMIT(multi)->index < _PyMIT(multi)->size) - -/* Store the information needed for fancy-indexing over an array */ - -typedef struct { - PyObject_HEAD - /* - * Multi-iterator portion --- needs to be present in this - * order to work with PyArray_Broadcast - */ - - int numiter; /* number of index-array - iterators */ - npy_intp size; /* size of broadcasted - result */ - npy_intp index; /* current index */ - int nd; /* number of dims */ - npy_intp dimensions[NPY_MAXDIMS]; /* dimensions */ - PyArrayIterObject *iters[NPY_MAXDIMS]; /* index object - iterators */ - PyArrayIterObject *ait; /* flat Iterator for - underlying array */ - - /* flat iterator for subspace (when numiter < nd) */ - PyArrayIterObject *subspace; - - /* - * if subspace iteration, then this is the array of axes in - * the underlying array represented by the index objects - */ - int iteraxes[NPY_MAXDIMS]; - /* - * if subspace iteration, the these are the coordinates to the - * start of the subspace. - */ - npy_intp bscoord[NPY_MAXDIMS]; - - PyObject *indexobj; /* creating obj */ - /* - * consec is first used to indicate wether fancy indices are - * consecutive and then denotes at which axis they are inserted - */ - int consec; - char *dataptr; - -} PyArrayMapIterObject; - -enum { - NPY_NEIGHBORHOOD_ITER_ZERO_PADDING, - NPY_NEIGHBORHOOD_ITER_ONE_PADDING, - NPY_NEIGHBORHOOD_ITER_CONSTANT_PADDING, - NPY_NEIGHBORHOOD_ITER_CIRCULAR_PADDING, - NPY_NEIGHBORHOOD_ITER_MIRROR_PADDING -}; - -typedef struct { - PyObject_HEAD - - /* - * PyArrayIterObject part: keep this in this exact order - */ - int nd_m1; /* number of dimensions - 1 */ - npy_intp index, size; - npy_intp coordinates[NPY_MAXDIMS];/* N-dimensional loop */ - npy_intp dims_m1[NPY_MAXDIMS]; /* ao->dimensions - 1 */ - npy_intp strides[NPY_MAXDIMS]; /* ao->strides or fake */ - npy_intp backstrides[NPY_MAXDIMS];/* how far to jump back */ - npy_intp factors[NPY_MAXDIMS]; /* shape factors */ - PyArrayObject *ao; - char *dataptr; /* pointer to current item*/ - npy_bool contiguous; - - npy_intp bounds[NPY_MAXDIMS][2]; - npy_intp limits[NPY_MAXDIMS][2]; - npy_intp limits_sizes[NPY_MAXDIMS]; - npy_iter_get_dataptr_t translate; - - /* - * New members - */ - npy_intp nd; - - /* Dimensions is the dimension of the array */ - npy_intp dimensions[NPY_MAXDIMS]; - - /* - * Neighborhood points coordinates are computed relatively to the - * point pointed by _internal_iter - */ - PyArrayIterObject* _internal_iter; - /* - * To keep a reference to the representation of the constant value - * for constant padding - */ - char* constant; - - int mode; -} PyArrayNeighborhoodIterObject; - -/* - * Neighborhood iterator API - */ - -/* General: those work for any mode */ -static NPY_INLINE int -PyArrayNeighborhoodIter_Reset(PyArrayNeighborhoodIterObject* iter); -static NPY_INLINE int -PyArrayNeighborhoodIter_Next(PyArrayNeighborhoodIterObject* iter); -#if 0 -static NPY_INLINE int -PyArrayNeighborhoodIter_Next2D(PyArrayNeighborhoodIterObject* iter); -#endif - -/* - * Include inline implementations - functions defined there are not - * considered public API - */ -#define _NPY_INCLUDE_NEIGHBORHOOD_IMP -#include "_neighborhood_iterator_imp.h" -#undef _NPY_INCLUDE_NEIGHBORHOOD_IMP - -/* The default array type */ -#define NPY_DEFAULT_TYPE NPY_DOUBLE - -/* - * All sorts of useful ways to look into a PyArrayObject. It is recommended - * to use PyArrayObject * objects instead of always casting from PyObject *, - * for improved type checking. - * - * In many cases here the macro versions of the accessors are deprecated, - * but can't be immediately changed to inline functions because the - * preexisting macros accept PyObject * and do automatic casts. Inline - * functions accepting PyArrayObject * provides for some compile-time - * checking of correctness when working with these objects in C. - */ - -#define PyArray_ISONESEGMENT(m) (PyArray_NDIM(m) == 0 || \ - PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS) || \ - PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS)) - -#define PyArray_ISFORTRAN(m) (PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS) && \ - (!PyArray_CHKFLAGS(m, NPY_ARRAY_C_CONTIGUOUS))) - -#define PyArray_FORTRAN_IF(m) ((PyArray_CHKFLAGS(m, NPY_ARRAY_F_CONTIGUOUS) ? \ - NPY_ARRAY_F_CONTIGUOUS : 0)) - -#if (defined(NPY_NO_DEPRECATED_API) && (NPY_1_7_API_VERSION <= NPY_NO_DEPRECATED_API)) -/* - * Changing access macros into functions, to allow for future hiding - * of the internal memory layout. This later hiding will allow the 2.x series - * to change the internal representation of arrays without affecting - * ABI compatibility. - */ - -static NPY_INLINE int -PyArray_NDIM(const PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->nd; -} - -static NPY_INLINE void * -PyArray_DATA(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->data; -} - -static NPY_INLINE char * -PyArray_BYTES(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->data; -} - -static NPY_INLINE npy_intp * -PyArray_DIMS(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->dimensions; -} - -static NPY_INLINE npy_intp * -PyArray_STRIDES(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->strides; -} - -static NPY_INLINE npy_intp -PyArray_DIM(const PyArrayObject *arr, int idim) -{ - return ((PyArrayObject_fields *)arr)->dimensions[idim]; -} - -static NPY_INLINE npy_intp -PyArray_STRIDE(const PyArrayObject *arr, int istride) -{ - return ((PyArrayObject_fields *)arr)->strides[istride]; -} - -static NPY_INLINE PyObject * -PyArray_BASE(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->base; -} - -static NPY_INLINE PyArray_Descr * -PyArray_DESCR(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->descr; -} - -static NPY_INLINE int -PyArray_FLAGS(const PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->flags; -} - -static NPY_INLINE npy_intp -PyArray_ITEMSIZE(const PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->descr->elsize; -} - -static NPY_INLINE int -PyArray_TYPE(const PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->descr->type_num; -} - -static NPY_INLINE int -PyArray_CHKFLAGS(const PyArrayObject *arr, int flags) -{ - return (PyArray_FLAGS(arr) & flags) == flags; -} - -static NPY_INLINE PyObject * -PyArray_GETITEM(const PyArrayObject *arr, const char *itemptr) -{ - return ((PyArrayObject_fields *)arr)->descr->f->getitem( - (void *)itemptr, (PyArrayObject *)arr); -} - -static NPY_INLINE int -PyArray_SETITEM(PyArrayObject *arr, char *itemptr, PyObject *v) -{ - return ((PyArrayObject_fields *)arr)->descr->f->setitem( - v, itemptr, arr); -} - -#else - -/* These macros are deprecated as of NumPy 1.7. */ -#define PyArray_NDIM(obj) (((PyArrayObject_fields *)(obj))->nd) -#define PyArray_BYTES(obj) (((PyArrayObject_fields *)(obj))->data) -#define PyArray_DATA(obj) ((void *)((PyArrayObject_fields *)(obj))->data) -#define PyArray_DIMS(obj) (((PyArrayObject_fields *)(obj))->dimensions) -#define PyArray_STRIDES(obj) (((PyArrayObject_fields *)(obj))->strides) -#define PyArray_DIM(obj,n) (PyArray_DIMS(obj)[n]) -#define PyArray_STRIDE(obj,n) (PyArray_STRIDES(obj)[n]) -#define PyArray_BASE(obj) (((PyArrayObject_fields *)(obj))->base) -#define PyArray_DESCR(obj) (((PyArrayObject_fields *)(obj))->descr) -#define PyArray_FLAGS(obj) (((PyArrayObject_fields *)(obj))->flags) -#define PyArray_CHKFLAGS(m, FLAGS) \ - ((((PyArrayObject_fields *)(m))->flags & (FLAGS)) == (FLAGS)) -#define PyArray_ITEMSIZE(obj) \ - (((PyArrayObject_fields *)(obj))->descr->elsize) -#define PyArray_TYPE(obj) \ - (((PyArrayObject_fields *)(obj))->descr->type_num) -#define PyArray_GETITEM(obj,itemptr) \ - PyArray_DESCR(obj)->f->getitem((char *)(itemptr), \ - (PyArrayObject *)(obj)) - -#define PyArray_SETITEM(obj,itemptr,v) \ - PyArray_DESCR(obj)->f->setitem((PyObject *)(v), \ - (char *)(itemptr), \ - (PyArrayObject *)(obj)) -#endif - -static NPY_INLINE PyArray_Descr * -PyArray_DTYPE(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->descr; -} - -static NPY_INLINE npy_intp * -PyArray_SHAPE(PyArrayObject *arr) -{ - return ((PyArrayObject_fields *)arr)->dimensions; -} - -/* - * Enables the specified array flags. Does no checking, - * assumes you know what you're doing. - */ -static NPY_INLINE void -PyArray_ENABLEFLAGS(PyArrayObject *arr, int flags) -{ - ((PyArrayObject_fields *)arr)->flags |= flags; -} - -/* - * Clears the specified array flags. Does no checking, - * assumes you know what you're doing. - */ -static NPY_INLINE void -PyArray_CLEARFLAGS(PyArrayObject *arr, int flags) -{ - ((PyArrayObject_fields *)arr)->flags &= ~flags; -} - -#define PyTypeNum_ISBOOL(type) ((type) == NPY_BOOL) - -#define PyTypeNum_ISUNSIGNED(type) (((type) == NPY_UBYTE) || \ - ((type) == NPY_USHORT) || \ - ((type) == NPY_UINT) || \ - ((type) == NPY_ULONG) || \ - ((type) == NPY_ULONGLONG)) - -#define PyTypeNum_ISSIGNED(type) (((type) == NPY_BYTE) || \ - ((type) == NPY_SHORT) || \ - ((type) == NPY_INT) || \ - ((type) == NPY_LONG) || \ - ((type) == NPY_LONGLONG)) - -#define PyTypeNum_ISINTEGER(type) (((type) >= NPY_BYTE) && \ - ((type) <= NPY_ULONGLONG)) - -#define PyTypeNum_ISFLOAT(type) ((((type) >= NPY_FLOAT) && \ - ((type) <= NPY_LONGDOUBLE)) || \ - ((type) == NPY_HALF)) - -#define PyTypeNum_ISNUMBER(type) (((type) <= NPY_CLONGDOUBLE) || \ - ((type) == NPY_HALF)) - -#define PyTypeNum_ISSTRING(type) (((type) == NPY_STRING) || \ - ((type) == NPY_UNICODE)) - -#define PyTypeNum_ISCOMPLEX(type) (((type) >= NPY_CFLOAT) && \ - ((type) <= NPY_CLONGDOUBLE)) - -#define PyTypeNum_ISPYTHON(type) (((type) == NPY_LONG) || \ - ((type) == NPY_DOUBLE) || \ - ((type) == NPY_CDOUBLE) || \ - ((type) == NPY_BOOL) || \ - ((type) == NPY_OBJECT )) - -#define PyTypeNum_ISFLEXIBLE(type) (((type) >=NPY_STRING) && \ - ((type) <=NPY_VOID)) - -#define PyTypeNum_ISDATETIME(type) (((type) >=NPY_DATETIME) && \ - ((type) <=NPY_TIMEDELTA)) - -#define PyTypeNum_ISUSERDEF(type) (((type) >= NPY_USERDEF) && \ - ((type) < NPY_USERDEF+ \ - NPY_NUMUSERTYPES)) - -#define PyTypeNum_ISEXTENDED(type) (PyTypeNum_ISFLEXIBLE(type) || \ - PyTypeNum_ISUSERDEF(type)) - -#define PyTypeNum_ISOBJECT(type) ((type) == NPY_OBJECT) - - -#define PyDataType_ISBOOL(obj) PyTypeNum_ISBOOL(_PyADt(obj)) -#define PyDataType_ISUNSIGNED(obj) PyTypeNum_ISUNSIGNED(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISSIGNED(obj) PyTypeNum_ISSIGNED(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISINTEGER(obj) PyTypeNum_ISINTEGER(((PyArray_Descr*)(obj))->type_num ) -#define PyDataType_ISFLOAT(obj) PyTypeNum_ISFLOAT(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISNUMBER(obj) PyTypeNum_ISNUMBER(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISSTRING(obj) PyTypeNum_ISSTRING(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISCOMPLEX(obj) PyTypeNum_ISCOMPLEX(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISPYTHON(obj) PyTypeNum_ISPYTHON(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISFLEXIBLE(obj) PyTypeNum_ISFLEXIBLE(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISDATETIME(obj) PyTypeNum_ISDATETIME(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISUSERDEF(obj) PyTypeNum_ISUSERDEF(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISEXTENDED(obj) PyTypeNum_ISEXTENDED(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_ISOBJECT(obj) PyTypeNum_ISOBJECT(((PyArray_Descr*)(obj))->type_num) -#define PyDataType_HASFIELDS(obj) (((PyArray_Descr *)(obj))->names != NULL) -#define PyDataType_HASSUBARRAY(dtype) ((dtype)->subarray != NULL) - -#define PyArray_ISBOOL(obj) PyTypeNum_ISBOOL(PyArray_TYPE(obj)) -#define PyArray_ISUNSIGNED(obj) PyTypeNum_ISUNSIGNED(PyArray_TYPE(obj)) -#define PyArray_ISSIGNED(obj) PyTypeNum_ISSIGNED(PyArray_TYPE(obj)) -#define PyArray_ISINTEGER(obj) PyTypeNum_ISINTEGER(PyArray_TYPE(obj)) -#define PyArray_ISFLOAT(obj) PyTypeNum_ISFLOAT(PyArray_TYPE(obj)) -#define PyArray_ISNUMBER(obj) PyTypeNum_ISNUMBER(PyArray_TYPE(obj)) -#define PyArray_ISSTRING(obj) PyTypeNum_ISSTRING(PyArray_TYPE(obj)) -#define PyArray_ISCOMPLEX(obj) PyTypeNum_ISCOMPLEX(PyArray_TYPE(obj)) -#define PyArray_ISPYTHON(obj) PyTypeNum_ISPYTHON(PyArray_TYPE(obj)) -#define PyArray_ISFLEXIBLE(obj) PyTypeNum_ISFLEXIBLE(PyArray_TYPE(obj)) -#define PyArray_ISDATETIME(obj) PyTypeNum_ISDATETIME(PyArray_TYPE(obj)) -#define PyArray_ISUSERDEF(obj) PyTypeNum_ISUSERDEF(PyArray_TYPE(obj)) -#define PyArray_ISEXTENDED(obj) PyTypeNum_ISEXTENDED(PyArray_TYPE(obj)) -#define PyArray_ISOBJECT(obj) PyTypeNum_ISOBJECT(PyArray_TYPE(obj)) -#define PyArray_HASFIELDS(obj) PyDataType_HASFIELDS(PyArray_DESCR(obj)) - - /* - * FIXME: This should check for a flag on the data-type that - * states whether or not it is variable length. Because the - * ISFLEXIBLE check is hard-coded to the built-in data-types. - */ -#define PyArray_ISVARIABLE(obj) PyTypeNum_ISFLEXIBLE(PyArray_TYPE(obj)) - -#define PyArray_SAFEALIGNEDCOPY(obj) (PyArray_ISALIGNED(obj) && !PyArray_ISVARIABLE(obj)) - - -#define NPY_LITTLE '<' -#define NPY_BIG '>' -#define NPY_NATIVE '=' -#define NPY_SWAP 's' -#define NPY_IGNORE '|' - -#if NPY_BYTE_ORDER == NPY_BIG_ENDIAN -#define NPY_NATBYTE NPY_BIG -#define NPY_OPPBYTE NPY_LITTLE -#else -#define NPY_NATBYTE NPY_LITTLE -#define NPY_OPPBYTE NPY_BIG -#endif - -#define PyArray_ISNBO(arg) ((arg) != NPY_OPPBYTE) -#define PyArray_IsNativeByteOrder PyArray_ISNBO -#define PyArray_ISNOTSWAPPED(m) PyArray_ISNBO(PyArray_DESCR(m)->byteorder) -#define PyArray_ISBYTESWAPPED(m) (!PyArray_ISNOTSWAPPED(m)) - -#define PyArray_FLAGSWAP(m, flags) (PyArray_CHKFLAGS(m, flags) && \ - PyArray_ISNOTSWAPPED(m)) - -#define PyArray_ISCARRAY(m) PyArray_FLAGSWAP(m, NPY_ARRAY_CARRAY) -#define PyArray_ISCARRAY_RO(m) PyArray_FLAGSWAP(m, NPY_ARRAY_CARRAY_RO) -#define PyArray_ISFARRAY(m) PyArray_FLAGSWAP(m, NPY_ARRAY_FARRAY) -#define PyArray_ISFARRAY_RO(m) PyArray_FLAGSWAP(m, NPY_ARRAY_FARRAY_RO) -#define PyArray_ISBEHAVED(m) PyArray_FLAGSWAP(m, NPY_ARRAY_BEHAVED) -#define PyArray_ISBEHAVED_RO(m) PyArray_FLAGSWAP(m, NPY_ARRAY_ALIGNED) - - -#define PyDataType_ISNOTSWAPPED(d) PyArray_ISNBO(((PyArray_Descr *)(d))->byteorder) -#define PyDataType_ISBYTESWAPPED(d) (!PyDataType_ISNOTSWAPPED(d)) - -/************************************************************ - * A struct used by PyArray_CreateSortedStridePerm, new in 1.7. - ************************************************************/ - -typedef struct { - npy_intp perm, stride; -} npy_stride_sort_item; - -/************************************************************ - * This is the form of the struct that's returned pointed by the - * PyCObject attribute of an array __array_struct__. See - * http://docs.scipy.org/doc/numpy/reference/arrays.interface.html for the full - * documentation. - ************************************************************/ -typedef struct { - int two; /* - * contains the integer 2 as a sanity - * check - */ - - int nd; /* number of dimensions */ - - char typekind; /* - * kind in array --- character code of - * typestr - */ - - int itemsize; /* size of each element */ - - int flags; /* - * how should be data interpreted. Valid - * flags are CONTIGUOUS (1), F_CONTIGUOUS (2), - * ALIGNED (0x100), NOTSWAPPED (0x200), and - * WRITEABLE (0x400). ARR_HAS_DESCR (0x800) - * states that arrdescr field is present in - * structure - */ - - npy_intp *shape; /* - * A length-nd array of shape - * information - */ - - npy_intp *strides; /* A length-nd array of stride information */ - - void *data; /* A pointer to the first element of the array */ - - PyObject *descr; /* - * A list of fields or NULL (ignored if flags - * does not have ARR_HAS_DESCR flag set) - */ -} PyArrayInterface; - -/* - * This is a function for hooking into the PyDataMem_NEW/FREE/RENEW functions. - * See the documentation for PyDataMem_SetEventHook. - */ -typedef void (PyDataMem_EventHookFunc)(void *inp, void *outp, size_t size, - void *user_data); - -/* - * Use the keyword NPY_DEPRECATED_INCLUDES to ensure that the header files - * npy_*_*_deprecated_api.h are only included from here and nowhere else. - */ -#ifdef NPY_DEPRECATED_INCLUDES -#error "Do not use the reserved keyword NPY_DEPRECATED_INCLUDES." -#endif -#define NPY_DEPRECATED_INCLUDES -#if !defined(NPY_NO_DEPRECATED_API) || \ - (NPY_NO_DEPRECATED_API < NPY_1_7_API_VERSION) -#include "npy_1_7_deprecated_api.h" -#endif -/* - * There is no file npy_1_8_deprecated_api.h since there are no additional - * deprecated API features in NumPy 1.8. - * - * Note to maintainers: insert code like the following in future NumPy - * versions. - * - * #if !defined(NPY_NO_DEPRECATED_API) || \ - * (NPY_NO_DEPRECATED_API < NPY_1_9_API_VERSION) - * #include "npy_1_9_deprecated_api.h" - * #endif - */ -#undef NPY_DEPRECATED_INCLUDES - -#endif /* NPY_ARRAYTYPES_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h b/gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h deleted file mode 100644 index 830617087..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/noprefix.h +++ /dev/null @@ -1,209 +0,0 @@ -#ifndef NPY_NOPREFIX_H -#define NPY_NOPREFIX_H - -/* - * You can directly include noprefix.h as a backward - * compatibility measure - */ -#ifndef NPY_NO_PREFIX -#include "ndarrayobject.h" -#include "npy_interrupt.h" -#endif - -#define SIGSETJMP NPY_SIGSETJMP -#define SIGLONGJMP NPY_SIGLONGJMP -#define SIGJMP_BUF NPY_SIGJMP_BUF - -#define MAX_DIMS NPY_MAXDIMS - -#define longlong npy_longlong -#define ulonglong npy_ulonglong -#define Bool npy_bool -#define longdouble npy_longdouble -#define byte npy_byte - -#ifndef _BSD_SOURCE -#define ushort npy_ushort -#define uint npy_uint -#define ulong npy_ulong -#endif - -#define ubyte npy_ubyte -#define ushort npy_ushort -#define uint npy_uint -#define ulong npy_ulong -#define cfloat npy_cfloat -#define cdouble npy_cdouble -#define clongdouble npy_clongdouble -#define Int8 npy_int8 -#define UInt8 npy_uint8 -#define Int16 npy_int16 -#define UInt16 npy_uint16 -#define Int32 npy_int32 -#define UInt32 npy_uint32 -#define Int64 npy_int64 -#define UInt64 npy_uint64 -#define Int128 npy_int128 -#define UInt128 npy_uint128 -#define Int256 npy_int256 -#define UInt256 npy_uint256 -#define Float16 npy_float16 -#define Complex32 npy_complex32 -#define Float32 npy_float32 -#define Complex64 npy_complex64 -#define Float64 npy_float64 -#define Complex128 npy_complex128 -#define Float80 npy_float80 -#define Complex160 npy_complex160 -#define Float96 npy_float96 -#define Complex192 npy_complex192 -#define Float128 npy_float128 -#define Complex256 npy_complex256 -#define intp npy_intp -#define uintp npy_uintp -#define datetime npy_datetime -#define timedelta npy_timedelta - -#define SIZEOF_LONGLONG NPY_SIZEOF_LONGLONG -#define SIZEOF_INTP NPY_SIZEOF_INTP -#define SIZEOF_UINTP NPY_SIZEOF_UINTP -#define SIZEOF_HALF NPY_SIZEOF_HALF -#define SIZEOF_LONGDOUBLE NPY_SIZEOF_LONGDOUBLE -#define SIZEOF_DATETIME NPY_SIZEOF_DATETIME -#define SIZEOF_TIMEDELTA NPY_SIZEOF_TIMEDELTA - -#define LONGLONG_FMT NPY_LONGLONG_FMT -#define ULONGLONG_FMT NPY_ULONGLONG_FMT -#define LONGLONG_SUFFIX NPY_LONGLONG_SUFFIX -#define ULONGLONG_SUFFIX NPY_ULONGLONG_SUFFIX - -#define MAX_INT8 127 -#define MIN_INT8 -128 -#define MAX_UINT8 255 -#define MAX_INT16 32767 -#define MIN_INT16 -32768 -#define MAX_UINT16 65535 -#define MAX_INT32 2147483647 -#define MIN_INT32 (-MAX_INT32 - 1) -#define MAX_UINT32 4294967295U -#define MAX_INT64 LONGLONG_SUFFIX(9223372036854775807) -#define MIN_INT64 (-MAX_INT64 - LONGLONG_SUFFIX(1)) -#define MAX_UINT64 ULONGLONG_SUFFIX(18446744073709551615) -#define MAX_INT128 LONGLONG_SUFFIX(85070591730234615865843651857942052864) -#define MIN_INT128 (-MAX_INT128 - LONGLONG_SUFFIX(1)) -#define MAX_UINT128 ULONGLONG_SUFFIX(170141183460469231731687303715884105728) -#define MAX_INT256 LONGLONG_SUFFIX(57896044618658097711785492504343953926634992332820282019728792003956564819967) -#define MIN_INT256 (-MAX_INT256 - LONGLONG_SUFFIX(1)) -#define MAX_UINT256 ULONGLONG_SUFFIX(115792089237316195423570985008687907853269984665640564039457584007913129639935) - -#define MAX_BYTE NPY_MAX_BYTE -#define MIN_BYTE NPY_MIN_BYTE -#define MAX_UBYTE NPY_MAX_UBYTE -#define MAX_SHORT NPY_MAX_SHORT -#define MIN_SHORT NPY_MIN_SHORT -#define MAX_USHORT NPY_MAX_USHORT -#define MAX_INT NPY_MAX_INT -#define MIN_INT NPY_MIN_INT -#define MAX_UINT NPY_MAX_UINT -#define MAX_LONG NPY_MAX_LONG -#define MIN_LONG NPY_MIN_LONG -#define MAX_ULONG NPY_MAX_ULONG -#define MAX_LONGLONG NPY_MAX_LONGLONG -#define MIN_LONGLONG NPY_MIN_LONGLONG -#define MAX_ULONGLONG NPY_MAX_ULONGLONG -#define MIN_DATETIME NPY_MIN_DATETIME -#define MAX_DATETIME NPY_MAX_DATETIME -#define MIN_TIMEDELTA NPY_MIN_TIMEDELTA -#define MAX_TIMEDELTA NPY_MAX_TIMEDELTA - -#define BITSOF_BOOL NPY_BITSOF_BOOL -#define BITSOF_CHAR NPY_BITSOF_CHAR -#define BITSOF_SHORT NPY_BITSOF_SHORT -#define BITSOF_INT NPY_BITSOF_INT -#define BITSOF_LONG NPY_BITSOF_LONG -#define BITSOF_LONGLONG NPY_BITSOF_LONGLONG -#define BITSOF_HALF NPY_BITSOF_HALF -#define BITSOF_FLOAT NPY_BITSOF_FLOAT -#define BITSOF_DOUBLE NPY_BITSOF_DOUBLE -#define BITSOF_LONGDOUBLE NPY_BITSOF_LONGDOUBLE -#define BITSOF_DATETIME NPY_BITSOF_DATETIME -#define BITSOF_TIMEDELTA NPY_BITSOF_TIMEDELTA - -#define _pya_malloc PyArray_malloc -#define _pya_free PyArray_free -#define _pya_realloc PyArray_realloc - -#define BEGIN_THREADS_DEF NPY_BEGIN_THREADS_DEF -#define BEGIN_THREADS NPY_BEGIN_THREADS -#define END_THREADS NPY_END_THREADS -#define ALLOW_C_API_DEF NPY_ALLOW_C_API_DEF -#define ALLOW_C_API NPY_ALLOW_C_API -#define DISABLE_C_API NPY_DISABLE_C_API - -#define PY_FAIL NPY_FAIL -#define PY_SUCCEED NPY_SUCCEED - -#ifndef TRUE -#define TRUE NPY_TRUE -#endif - -#ifndef FALSE -#define FALSE NPY_FALSE -#endif - -#define LONGDOUBLE_FMT NPY_LONGDOUBLE_FMT - -#define CONTIGUOUS NPY_CONTIGUOUS -#define C_CONTIGUOUS NPY_C_CONTIGUOUS -#define FORTRAN NPY_FORTRAN -#define F_CONTIGUOUS NPY_F_CONTIGUOUS -#define OWNDATA NPY_OWNDATA -#define FORCECAST NPY_FORCECAST -#define ENSURECOPY NPY_ENSURECOPY -#define ENSUREARRAY NPY_ENSUREARRAY -#define ELEMENTSTRIDES NPY_ELEMENTSTRIDES -#define ALIGNED NPY_ALIGNED -#define NOTSWAPPED NPY_NOTSWAPPED -#define WRITEABLE NPY_WRITEABLE -#define UPDATEIFCOPY NPY_UPDATEIFCOPY -#define ARR_HAS_DESCR NPY_ARR_HAS_DESCR -#define BEHAVED NPY_BEHAVED -#define BEHAVED_NS NPY_BEHAVED_NS -#define CARRAY NPY_CARRAY -#define CARRAY_RO NPY_CARRAY_RO -#define FARRAY NPY_FARRAY -#define FARRAY_RO NPY_FARRAY_RO -#define DEFAULT NPY_DEFAULT -#define IN_ARRAY NPY_IN_ARRAY -#define OUT_ARRAY NPY_OUT_ARRAY -#define INOUT_ARRAY NPY_INOUT_ARRAY -#define IN_FARRAY NPY_IN_FARRAY -#define OUT_FARRAY NPY_OUT_FARRAY -#define INOUT_FARRAY NPY_INOUT_FARRAY -#define UPDATE_ALL NPY_UPDATE_ALL - -#define OWN_DATA NPY_OWNDATA -#define BEHAVED_FLAGS NPY_BEHAVED -#define BEHAVED_FLAGS_NS NPY_BEHAVED_NS -#define CARRAY_FLAGS_RO NPY_CARRAY_RO -#define CARRAY_FLAGS NPY_CARRAY -#define FARRAY_FLAGS NPY_FARRAY -#define FARRAY_FLAGS_RO NPY_FARRAY_RO -#define DEFAULT_FLAGS NPY_DEFAULT -#define UPDATE_ALL_FLAGS NPY_UPDATE_ALL_FLAGS - -#ifndef MIN -#define MIN PyArray_MIN -#endif -#ifndef MAX -#define MAX PyArray_MAX -#endif -#define MAX_INTP NPY_MAX_INTP -#define MIN_INTP NPY_MIN_INTP -#define MAX_UINTP NPY_MAX_UINTP -#define INTP_FMT NPY_INTP_FMT - -#define REFCOUNT PyArray_REFCOUNT -#define MAX_ELSIZE NPY_MAX_ELSIZE - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h deleted file mode 100644 index 4c318bc47..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_1_7_deprecated_api.h +++ /dev/null @@ -1,130 +0,0 @@ -#ifndef _NPY_1_7_DEPRECATED_API_H -#define _NPY_1_7_DEPRECATED_API_H - -#ifndef NPY_DEPRECATED_INCLUDES -#error "Should never include npy_*_*_deprecated_api directly." -#endif - -#if defined(_WIN32) -#define _WARN___STR2__(x) #x -#define _WARN___STR1__(x) _WARN___STR2__(x) -#define _WARN___LOC__ __FILE__ "(" _WARN___STR1__(__LINE__) ") : Warning Msg: " -#pragma message(_WARN___LOC__"Using deprecated NumPy API, disable it by " \ - "#defining NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION") -#elif defined(__GNUC__) -#warning "Using deprecated NumPy API, disable it by " \ - "#defining NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION" -#endif -/* TODO: How to do this warning message for other compilers? */ - -/* - * This header exists to collect all dangerous/deprecated NumPy API - * as of NumPy 1.7. - * - * This is an attempt to remove bad API, the proliferation of macros, - * and namespace pollution currently produced by the NumPy headers. - */ - -/* These array flags are deprecated as of NumPy 1.7 */ -#define NPY_CONTIGUOUS NPY_ARRAY_C_CONTIGUOUS -#define NPY_FORTRAN NPY_ARRAY_F_CONTIGUOUS - -/* - * The consistent NPY_ARRAY_* names which don't pollute the NPY_* - * namespace were added in NumPy 1.7. - * - * These versions of the carray flags are deprecated, but - * probably should only be removed after two releases instead of one. - */ -#define NPY_C_CONTIGUOUS NPY_ARRAY_C_CONTIGUOUS -#define NPY_F_CONTIGUOUS NPY_ARRAY_F_CONTIGUOUS -#define NPY_OWNDATA NPY_ARRAY_OWNDATA -#define NPY_FORCECAST NPY_ARRAY_FORCECAST -#define NPY_ENSURECOPY NPY_ARRAY_ENSURECOPY -#define NPY_ENSUREARRAY NPY_ARRAY_ENSUREARRAY -#define NPY_ELEMENTSTRIDES NPY_ARRAY_ELEMENTSTRIDES -#define NPY_ALIGNED NPY_ARRAY_ALIGNED -#define NPY_NOTSWAPPED NPY_ARRAY_NOTSWAPPED -#define NPY_WRITEABLE NPY_ARRAY_WRITEABLE -#define NPY_UPDATEIFCOPY NPY_ARRAY_UPDATEIFCOPY -#define NPY_BEHAVED NPY_ARRAY_BEHAVED -#define NPY_BEHAVED_NS NPY_ARRAY_BEHAVED_NS -#define NPY_CARRAY NPY_ARRAY_CARRAY -#define NPY_CARRAY_RO NPY_ARRAY_CARRAY_RO -#define NPY_FARRAY NPY_ARRAY_FARRAY -#define NPY_FARRAY_RO NPY_ARRAY_FARRAY_RO -#define NPY_DEFAULT NPY_ARRAY_DEFAULT -#define NPY_IN_ARRAY NPY_ARRAY_IN_ARRAY -#define NPY_OUT_ARRAY NPY_ARRAY_OUT_ARRAY -#define NPY_INOUT_ARRAY NPY_ARRAY_INOUT_ARRAY -#define NPY_IN_FARRAY NPY_ARRAY_IN_FARRAY -#define NPY_OUT_FARRAY NPY_ARRAY_OUT_FARRAY -#define NPY_INOUT_FARRAY NPY_ARRAY_INOUT_FARRAY -#define NPY_UPDATE_ALL NPY_ARRAY_UPDATE_ALL - -/* This way of accessing the default type is deprecated as of NumPy 1.7 */ -#define PyArray_DEFAULT NPY_DEFAULT_TYPE - -/* These DATETIME bits aren't used internally */ -#if PY_VERSION_HEX >= 0x03000000 -#define PyDataType_GetDatetimeMetaData(descr) \ - ((descr->metadata == NULL) ? NULL : \ - ((PyArray_DatetimeMetaData *)(PyCapsule_GetPointer( \ - PyDict_GetItemString( \ - descr->metadata, NPY_METADATA_DTSTR), NULL)))) -#else -#define PyDataType_GetDatetimeMetaData(descr) \ - ((descr->metadata == NULL) ? NULL : \ - ((PyArray_DatetimeMetaData *)(PyCObject_AsVoidPtr( \ - PyDict_GetItemString(descr->metadata, NPY_METADATA_DTSTR))))) -#endif - -/* - * Deprecated as of NumPy 1.7, this kind of shortcut doesn't - * belong in the public API. - */ -#define NPY_AO PyArrayObject - -/* - * Deprecated as of NumPy 1.7, an all-lowercase macro doesn't - * belong in the public API. - */ -#define fortran fortran_ - -/* - * Deprecated as of NumPy 1.7, as it is a namespace-polluting - * macro. - */ -#define FORTRAN_IF PyArray_FORTRAN_IF - -/* Deprecated as of NumPy 1.7, datetime64 uses c_metadata instead */ -#define NPY_METADATA_DTSTR "__timeunit__" - -/* - * Deprecated as of NumPy 1.7. - * The reasoning: - * - These are for datetime, but there's no datetime "namespace". - * - They just turn NPY_STR_ into "", which is just - * making something simple be indirected. - */ -#define NPY_STR_Y "Y" -#define NPY_STR_M "M" -#define NPY_STR_W "W" -#define NPY_STR_D "D" -#define NPY_STR_h "h" -#define NPY_STR_m "m" -#define NPY_STR_s "s" -#define NPY_STR_ms "ms" -#define NPY_STR_us "us" -#define NPY_STR_ns "ns" -#define NPY_STR_ps "ps" -#define NPY_STR_fs "fs" -#define NPY_STR_as "as" - -/* - * The macros in old_defines.h are Deprecated as of NumPy 1.7 and will be - * removed in the next major release. - */ -#include "old_defines.h" - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h deleted file mode 100644 index de2bf6a54..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_3kcompat.h +++ /dev/null @@ -1,502 +0,0 @@ -/* - * This is a convenience header file providing compatibility utilities - * for supporting Python 2 and Python 3 in the same code base. - * - * If you want to use this for your own projects, it's recommended to make a - * copy of it. Although the stuff below is unlikely to change, we don't provide - * strong backwards compatibility guarantees at the moment. - */ - -#ifndef _NPY_3KCOMPAT_H_ -#define _NPY_3KCOMPAT_H_ - -#include -#include - -#if PY_VERSION_HEX >= 0x03000000 -#ifndef NPY_PY3K -#define NPY_PY3K 1 -#endif -#endif - -#include "numpy/npy_common.h" -#include "numpy/ndarrayobject.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * PyInt -> PyLong - */ - -#if defined(NPY_PY3K) -/* Return True only if the long fits in a C long */ -static NPY_INLINE int PyInt_Check(PyObject *op) { - int overflow = 0; - if (!PyLong_Check(op)) { - return 0; - } - PyLong_AsLongAndOverflow(op, &overflow); - return (overflow == 0); -} - -#define PyInt_FromLong PyLong_FromLong -#define PyInt_AsLong PyLong_AsLong -#define PyInt_AS_LONG PyLong_AsLong -#define PyInt_AsSsize_t PyLong_AsSsize_t - -/* NOTE: - * - * Since the PyLong type is very different from the fixed-range PyInt, - * we don't define PyInt_Type -> PyLong_Type. - */ -#endif /* NPY_PY3K */ - -/* - * PyString -> PyBytes - */ - -#if defined(NPY_PY3K) - -#define PyString_Type PyBytes_Type -#define PyString_Check PyBytes_Check -#define PyStringObject PyBytesObject -#define PyString_FromString PyBytes_FromString -#define PyString_FromStringAndSize PyBytes_FromStringAndSize -#define PyString_AS_STRING PyBytes_AS_STRING -#define PyString_AsStringAndSize PyBytes_AsStringAndSize -#define PyString_FromFormat PyBytes_FromFormat -#define PyString_Concat PyBytes_Concat -#define PyString_ConcatAndDel PyBytes_ConcatAndDel -#define PyString_AsString PyBytes_AsString -#define PyString_GET_SIZE PyBytes_GET_SIZE -#define PyString_Size PyBytes_Size - -#define PyUString_Type PyUnicode_Type -#define PyUString_Check PyUnicode_Check -#define PyUStringObject PyUnicodeObject -#define PyUString_FromString PyUnicode_FromString -#define PyUString_FromStringAndSize PyUnicode_FromStringAndSize -#define PyUString_FromFormat PyUnicode_FromFormat -#define PyUString_Concat PyUnicode_Concat2 -#define PyUString_ConcatAndDel PyUnicode_ConcatAndDel -#define PyUString_GET_SIZE PyUnicode_GET_SIZE -#define PyUString_Size PyUnicode_Size -#define PyUString_InternFromString PyUnicode_InternFromString -#define PyUString_Format PyUnicode_Format - -#else - -#define PyBytes_Type PyString_Type -#define PyBytes_Check PyString_Check -#define PyBytesObject PyStringObject -#define PyBytes_FromString PyString_FromString -#define PyBytes_FromStringAndSize PyString_FromStringAndSize -#define PyBytes_AS_STRING PyString_AS_STRING -#define PyBytes_AsStringAndSize PyString_AsStringAndSize -#define PyBytes_FromFormat PyString_FromFormat -#define PyBytes_Concat PyString_Concat -#define PyBytes_ConcatAndDel PyString_ConcatAndDel -#define PyBytes_AsString PyString_AsString -#define PyBytes_GET_SIZE PyString_GET_SIZE -#define PyBytes_Size PyString_Size - -#define PyUString_Type PyString_Type -#define PyUString_Check PyString_Check -#define PyUStringObject PyStringObject -#define PyUString_FromString PyString_FromString -#define PyUString_FromStringAndSize PyString_FromStringAndSize -#define PyUString_FromFormat PyString_FromFormat -#define PyUString_Concat PyString_Concat -#define PyUString_ConcatAndDel PyString_ConcatAndDel -#define PyUString_GET_SIZE PyString_GET_SIZE -#define PyUString_Size PyString_Size -#define PyUString_InternFromString PyString_InternFromString -#define PyUString_Format PyString_Format - -#endif /* NPY_PY3K */ - - -static NPY_INLINE void -PyUnicode_ConcatAndDel(PyObject **left, PyObject *right) -{ - PyObject *newobj; - newobj = PyUnicode_Concat(*left, right); - Py_DECREF(*left); - Py_DECREF(right); - *left = newobj; -} - -static NPY_INLINE void -PyUnicode_Concat2(PyObject **left, PyObject *right) -{ - PyObject *newobj; - newobj = PyUnicode_Concat(*left, right); - Py_DECREF(*left); - *left = newobj; -} - -/* - * PyFile_* compatibility - */ -#if defined(NPY_PY3K) -/* - * Get a FILE* handle to the file represented by the Python object - */ -static NPY_INLINE FILE* -npy_PyFile_Dup2(PyObject *file, char *mode, npy_off_t *orig_pos) -{ - int fd, fd2; - PyObject *ret, *os; - npy_off_t pos; - FILE *handle; - - /* Flush first to ensure things end up in the file in the correct order */ - ret = PyObject_CallMethod(file, "flush", ""); - if (ret == NULL) { - return NULL; - } - Py_DECREF(ret); - fd = PyObject_AsFileDescriptor(file); - if (fd == -1) { - return NULL; - } - - /* The handle needs to be dup'd because we have to call fclose - at the end */ - os = PyImport_ImportModule("os"); - if (os == NULL) { - return NULL; - } - ret = PyObject_CallMethod(os, "dup", "i", fd); - Py_DECREF(os); - if (ret == NULL) { - return NULL; - } - fd2 = PyNumber_AsSsize_t(ret, NULL); - Py_DECREF(ret); - - /* Convert to FILE* handle */ -#ifdef _WIN32 - handle = _fdopen(fd2, mode); -#else - handle = fdopen(fd2, mode); -#endif - if (handle == NULL) { - PyErr_SetString(PyExc_IOError, - "Getting a FILE* from a Python file object failed"); - } - - /* Record the original raw file handle position */ - *orig_pos = npy_ftell(handle); - if (*orig_pos == -1) { - PyErr_SetString(PyExc_IOError, "obtaining file position failed"); - fclose(handle); - return NULL; - } - - /* Seek raw handle to the Python-side position */ - ret = PyObject_CallMethod(file, "tell", ""); - if (ret == NULL) { - fclose(handle); - return NULL; - } - pos = PyLong_AsLongLong(ret); - Py_DECREF(ret); - if (PyErr_Occurred()) { - fclose(handle); - return NULL; - } - if (npy_fseek(handle, pos, SEEK_SET) == -1) { - PyErr_SetString(PyExc_IOError, "seeking file failed"); - fclose(handle); - return NULL; - } - return handle; -} - -/* - * Close the dup-ed file handle, and seek the Python one to the current position - */ -static NPY_INLINE int -npy_PyFile_DupClose2(PyObject *file, FILE* handle, npy_off_t orig_pos) -{ - int fd; - PyObject *ret; - npy_off_t position; - - position = npy_ftell(handle); - - /* Close the FILE* handle */ - fclose(handle); - - /* Restore original file handle position, in order to not confuse - Python-side data structures */ - fd = PyObject_AsFileDescriptor(file); - if (fd == -1) { - return -1; - } - if (npy_lseek(fd, orig_pos, SEEK_SET) == -1) { - PyErr_SetString(PyExc_IOError, "seeking file failed"); - return -1; - } - - if (position == -1) { - PyErr_SetString(PyExc_IOError, "obtaining file position failed"); - return -1; - } - - /* Seek Python-side handle to the FILE* handle position */ - ret = PyObject_CallMethod(file, "seek", NPY_OFF_T_PYFMT "i", position, 0); - if (ret == NULL) { - return -1; - } - Py_DECREF(ret); - return 0; -} - -static NPY_INLINE int -npy_PyFile_Check(PyObject *file) -{ - int fd; - fd = PyObject_AsFileDescriptor(file); - if (fd == -1) { - PyErr_Clear(); - return 0; - } - return 1; -} - -/* - * DEPRECATED DO NOT USE - * use npy_PyFile_Dup2 instead - * this function will mess ups python3 internal file object buffering - * Get a FILE* handle to the file represented by the Python object - */ -static NPY_INLINE FILE* -npy_PyFile_Dup(PyObject *file, char *mode) -{ - npy_off_t orig; - if (DEPRECATE("npy_PyFile_Dup is deprecated, use " - "npy_PyFile_Dup2") < 0) { - return NULL; - } - - return npy_PyFile_Dup2(file, mode, &orig); -} - -/* - * DEPRECATED DO NOT USE - * use npy_PyFile_DupClose2 instead - * this function will mess ups python3 internal file object buffering - * Close the dup-ed file handle, and seek the Python one to the current position - */ -static NPY_INLINE int -npy_PyFile_DupClose(PyObject *file, FILE* handle) -{ - PyObject *ret; - Py_ssize_t position; - position = npy_ftell(handle); - fclose(handle); - - ret = PyObject_CallMethod(file, "seek", NPY_SSIZE_T_PYFMT "i", position, 0); - if (ret == NULL) { - return -1; - } - Py_DECREF(ret); - return 0; -} - - -#else - -/* DEPRECATED DO NOT USE */ -#define npy_PyFile_Dup(file, mode) PyFile_AsFile(file) -#define npy_PyFile_DupClose(file, handle) (0) -/* use these */ -#define npy_PyFile_Dup2(file, mode, orig_pos_p) PyFile_AsFile(file) -#define npy_PyFile_DupClose2(file, handle, orig_pos) (0) -#define npy_PyFile_Check PyFile_Check - -#endif - -static NPY_INLINE PyObject* -npy_PyFile_OpenFile(PyObject *filename, const char *mode) -{ - PyObject *open; - open = PyDict_GetItemString(PyEval_GetBuiltins(), "open"); - if (open == NULL) { - return NULL; - } - return PyObject_CallFunction(open, "Os", filename, mode); -} - -static NPY_INLINE int -npy_PyFile_CloseFile(PyObject *file) -{ - PyObject *ret; - - ret = PyObject_CallMethod(file, "close", NULL); - if (ret == NULL) { - return -1; - } - Py_DECREF(ret); - return 0; -} - -/* - * PyObject_Cmp - */ -#if defined(NPY_PY3K) -static NPY_INLINE int -PyObject_Cmp(PyObject *i1, PyObject *i2, int *cmp) -{ - int v; - v = PyObject_RichCompareBool(i1, i2, Py_LT); - if (v == 0) { - *cmp = -1; - return 1; - } - else if (v == -1) { - return -1; - } - - v = PyObject_RichCompareBool(i1, i2, Py_GT); - if (v == 0) { - *cmp = 1; - return 1; - } - else if (v == -1) { - return -1; - } - - v = PyObject_RichCompareBool(i1, i2, Py_EQ); - if (v == 0) { - *cmp = 0; - return 1; - } - else { - *cmp = 0; - return -1; - } -} -#endif - -/* - * PyCObject functions adapted to PyCapsules. - * - * The main job here is to get rid of the improved error handling - * of PyCapsules. It's a shame... - */ -#if PY_VERSION_HEX >= 0x03000000 - -static NPY_INLINE PyObject * -NpyCapsule_FromVoidPtr(void *ptr, void (*dtor)(PyObject *)) -{ - PyObject *ret = PyCapsule_New(ptr, NULL, dtor); - if (ret == NULL) { - PyErr_Clear(); - } - return ret; -} - -static NPY_INLINE PyObject * -NpyCapsule_FromVoidPtrAndDesc(void *ptr, void* context, void (*dtor)(PyObject *)) -{ - PyObject *ret = NpyCapsule_FromVoidPtr(ptr, dtor); - if (ret != NULL && PyCapsule_SetContext(ret, context) != 0) { - PyErr_Clear(); - Py_DECREF(ret); - ret = NULL; - } - return ret; -} - -static NPY_INLINE void * -NpyCapsule_AsVoidPtr(PyObject *obj) -{ - void *ret = PyCapsule_GetPointer(obj, NULL); - if (ret == NULL) { - PyErr_Clear(); - } - return ret; -} - -static NPY_INLINE void * -NpyCapsule_GetDesc(PyObject *obj) -{ - return PyCapsule_GetContext(obj); -} - -static NPY_INLINE int -NpyCapsule_Check(PyObject *ptr) -{ - return PyCapsule_CheckExact(ptr); -} - -static NPY_INLINE void -simple_capsule_dtor(PyObject *cap) -{ - PyArray_free(PyCapsule_GetPointer(cap, NULL)); -} - -#else - -static NPY_INLINE PyObject * -NpyCapsule_FromVoidPtr(void *ptr, void (*dtor)(void *)) -{ - return PyCObject_FromVoidPtr(ptr, dtor); -} - -static NPY_INLINE PyObject * -NpyCapsule_FromVoidPtrAndDesc(void *ptr, void* context, - void (*dtor)(void *, void *)) -{ - return PyCObject_FromVoidPtrAndDesc(ptr, context, dtor); -} - -static NPY_INLINE void * -NpyCapsule_AsVoidPtr(PyObject *ptr) -{ - return PyCObject_AsVoidPtr(ptr); -} - -static NPY_INLINE void * -NpyCapsule_GetDesc(PyObject *obj) -{ - return PyCObject_GetDesc(obj); -} - -static NPY_INLINE int -NpyCapsule_Check(PyObject *ptr) -{ - return PyCObject_Check(ptr); -} - -static NPY_INLINE void -simple_capsule_dtor(void *ptr) -{ - PyArray_free(ptr); -} - -#endif - -/* - * Hash value compatibility. - * As of Python 3.2 hash values are of type Py_hash_t. - * Previous versions use C long. - */ -#if PY_VERSION_HEX < 0x03020000 -typedef long npy_hash_t; -#define NPY_SIZEOF_HASH_T NPY_SIZEOF_LONG -#else -typedef Py_hash_t npy_hash_t; -#define NPY_SIZEOF_HASH_T NPY_SIZEOF_INTP -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* _NPY_3KCOMPAT_H_ */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h deleted file mode 100644 index c257f216d..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_common.h +++ /dev/null @@ -1,1005 +0,0 @@ -#ifndef _NPY_COMMON_H_ -#define _NPY_COMMON_H_ - -/* numpconfig.h is auto-generated */ -#include "numpyconfig.h" -#ifdef HAVE_NPY_CONFIG_H -#include -#endif - -/* - * gcc does not unroll even with -O3 - * use with care, unrolling on modern cpus rarely speeds things up - */ -#ifdef HAVE_ATTRIBUTE_OPTIMIZE_UNROLL_LOOPS -#define NPY_GCC_UNROLL_LOOPS \ - __attribute__((optimize("unroll-loops"))) -#else -#define NPY_GCC_UNROLL_LOOPS -#endif - -#if defined HAVE_XMMINTRIN_H && defined HAVE__MM_LOAD_PS -#define NPY_HAVE_SSE_INTRINSICS -#endif - -#if defined HAVE_EMMINTRIN_H && defined HAVE__MM_LOAD_PD -#define NPY_HAVE_SSE2_INTRINSICS -#endif - -/* - * give a hint to the compiler which branch is more likely or unlikely - * to occur, e.g. rare error cases: - * - * if (NPY_UNLIKELY(failure == 0)) - * return NULL; - * - * the double !! is to cast the expression (e.g. NULL) to a boolean required by - * the intrinsic - */ -#ifdef HAVE___BUILTIN_EXPECT -#define NPY_LIKELY(x) __builtin_expect(!!(x), 1) -#define NPY_UNLIKELY(x) __builtin_expect(!!(x), 0) -#else -#define NPY_LIKELY(x) (x) -#define NPY_UNLIKELY(x) (x) -#endif - -#if defined(_MSC_VER) - #define NPY_INLINE __inline -#elif defined(__GNUC__) - #if defined(__STRICT_ANSI__) - #define NPY_INLINE __inline__ - #else - #define NPY_INLINE inline - #endif -#else - #define NPY_INLINE -#endif - -/* 64 bit file position support, also on win-amd64. Ticket #1660 */ -#if defined(_MSC_VER) && defined(_WIN64) && (_MSC_VER > 1400) || \ - defined(__MINGW32__) || defined(__MINGW64__) - #include - -/* mingw based on 3.4.5 has lseek but not ftell/fseek */ -#if defined(__MINGW32__) || defined(__MINGW64__) -extern int __cdecl _fseeki64(FILE *, long long, int); -extern long long __cdecl _ftelli64(FILE *); -#endif - - #define npy_fseek _fseeki64 - #define npy_ftell _ftelli64 - #define npy_lseek _lseeki64 - #define npy_off_t npy_int64 - - #if NPY_SIZEOF_INT == 8 - #define NPY_OFF_T_PYFMT "i" - #elif NPY_SIZEOF_LONG == 8 - #define NPY_OFF_T_PYFMT "l" - #elif NPY_SIZEOF_LONGLONG == 8 - #define NPY_OFF_T_PYFMT "L" - #else - #error Unsupported size for type off_t - #endif -#else -#ifdef HAVE_FSEEKO - #define npy_fseek fseeko -#else - #define npy_fseek fseek -#endif -#ifdef HAVE_FTELLO - #define npy_ftell ftello -#else - #define npy_ftell ftell -#endif - #define npy_lseek lseek - #define npy_off_t off_t - - #if NPY_SIZEOF_OFF_T == NPY_SIZEOF_SHORT - #define NPY_OFF_T_PYFMT "h" - #elif NPY_SIZEOF_OFF_T == NPY_SIZEOF_INT - #define NPY_OFF_T_PYFMT "i" - #elif NPY_SIZEOF_OFF_T == NPY_SIZEOF_LONG - #define NPY_OFF_T_PYFMT "l" - #elif NPY_SIZEOF_OFF_T == NPY_SIZEOF_LONGLONG - #define NPY_OFF_T_PYFMT "L" - #else - #error Unsupported size for type off_t - #endif -#endif - -/* enums for detected endianness */ -enum { - NPY_CPU_UNKNOWN_ENDIAN, - NPY_CPU_LITTLE, - NPY_CPU_BIG -}; - -/* - * This is to typedef npy_intp to the appropriate pointer size for this - * platform. Py_intptr_t, Py_uintptr_t are defined in pyport.h. - */ -typedef Py_intptr_t npy_intp; -typedef Py_uintptr_t npy_uintp; - -/* - * Define sizes that were not defined in numpyconfig.h. - */ -#define NPY_SIZEOF_CHAR 1 -#define NPY_SIZEOF_BYTE 1 -#define NPY_SIZEOF_DATETIME 8 -#define NPY_SIZEOF_TIMEDELTA 8 -#define NPY_SIZEOF_INTP NPY_SIZEOF_PY_INTPTR_T -#define NPY_SIZEOF_UINTP NPY_SIZEOF_PY_INTPTR_T -#define NPY_SIZEOF_HALF 2 -#define NPY_SIZEOF_CFLOAT NPY_SIZEOF_COMPLEX_FLOAT -#define NPY_SIZEOF_CDOUBLE NPY_SIZEOF_COMPLEX_DOUBLE -#define NPY_SIZEOF_CLONGDOUBLE NPY_SIZEOF_COMPLEX_LONGDOUBLE - -#ifdef constchar -#undef constchar -#endif - -#define NPY_SSIZE_T_PYFMT "n" -#define constchar char - -/* NPY_INTP_FMT Note: - * Unlike the other NPY_*_FMT macros which are used with - * PyOS_snprintf, NPY_INTP_FMT is used with PyErr_Format and - * PyString_Format. These functions use different formatting - * codes which are portably specified according to the Python - * documentation. See ticket #1795. - * - * On Windows x64, the LONGLONG formatter should be used, but - * in Python 2.6 the %lld formatter is not supported. In this - * case we work around the problem by using the %zd formatter. - */ -#if NPY_SIZEOF_PY_INTPTR_T == NPY_SIZEOF_INT - #define NPY_INTP NPY_INT - #define NPY_UINTP NPY_UINT - #define PyIntpArrType_Type PyIntArrType_Type - #define PyUIntpArrType_Type PyUIntArrType_Type - #define NPY_MAX_INTP NPY_MAX_INT - #define NPY_MIN_INTP NPY_MIN_INT - #define NPY_MAX_UINTP NPY_MAX_UINT - #define NPY_INTP_FMT "d" -#elif NPY_SIZEOF_PY_INTPTR_T == NPY_SIZEOF_LONG - #define NPY_INTP NPY_LONG - #define NPY_UINTP NPY_ULONG - #define PyIntpArrType_Type PyLongArrType_Type - #define PyUIntpArrType_Type PyULongArrType_Type - #define NPY_MAX_INTP NPY_MAX_LONG - #define NPY_MIN_INTP NPY_MIN_LONG - #define NPY_MAX_UINTP NPY_MAX_ULONG - #define NPY_INTP_FMT "ld" -#elif defined(PY_LONG_LONG) && (NPY_SIZEOF_PY_INTPTR_T == NPY_SIZEOF_LONGLONG) - #define NPY_INTP NPY_LONGLONG - #define NPY_UINTP NPY_ULONGLONG - #define PyIntpArrType_Type PyLongLongArrType_Type - #define PyUIntpArrType_Type PyULongLongArrType_Type - #define NPY_MAX_INTP NPY_MAX_LONGLONG - #define NPY_MIN_INTP NPY_MIN_LONGLONG - #define NPY_MAX_UINTP NPY_MAX_ULONGLONG - #if (PY_VERSION_HEX >= 0x02070000) - #define NPY_INTP_FMT "lld" - #else - #define NPY_INTP_FMT "zd" - #endif -#endif - -/* - * We can only use C99 formats for npy_int_p if it is the same as - * intp_t, hence the condition on HAVE_UNITPTR_T - */ -#if (NPY_USE_C99_FORMATS) == 1 \ - && (defined HAVE_UINTPTR_T) \ - && (defined HAVE_INTTYPES_H) - #include - #undef NPY_INTP_FMT - #define NPY_INTP_FMT PRIdPTR -#endif - - -/* - * Some platforms don't define bool, long long, or long double. - * Handle that here. - */ -#define NPY_BYTE_FMT "hhd" -#define NPY_UBYTE_FMT "hhu" -#define NPY_SHORT_FMT "hd" -#define NPY_USHORT_FMT "hu" -#define NPY_INT_FMT "d" -#define NPY_UINT_FMT "u" -#define NPY_LONG_FMT "ld" -#define NPY_ULONG_FMT "lu" -#define NPY_HALF_FMT "g" -#define NPY_FLOAT_FMT "g" -#define NPY_DOUBLE_FMT "g" - - -#ifdef PY_LONG_LONG -typedef PY_LONG_LONG npy_longlong; -typedef unsigned PY_LONG_LONG npy_ulonglong; -# ifdef _MSC_VER -# define NPY_LONGLONG_FMT "I64d" -# define NPY_ULONGLONG_FMT "I64u" -# elif defined(__APPLE__) || defined(__FreeBSD__) -/* "%Ld" only parses 4 bytes -- "L" is floating modifier on MacOS X/BSD */ -# define NPY_LONGLONG_FMT "lld" -# define NPY_ULONGLONG_FMT "llu" -/* - another possible variant -- *quad_t works on *BSD, but is deprecated: - #define LONGLONG_FMT "qd" - #define ULONGLONG_FMT "qu" -*/ -# else -# define NPY_LONGLONG_FMT "Ld" -# define NPY_ULONGLONG_FMT "Lu" -# endif -# ifdef _MSC_VER -# define NPY_LONGLONG_SUFFIX(x) (x##i64) -# define NPY_ULONGLONG_SUFFIX(x) (x##Ui64) -# else -# define NPY_LONGLONG_SUFFIX(x) (x##LL) -# define NPY_ULONGLONG_SUFFIX(x) (x##ULL) -# endif -#else -typedef long npy_longlong; -typedef unsigned long npy_ulonglong; -# define NPY_LONGLONG_SUFFIX(x) (x##L) -# define NPY_ULONGLONG_SUFFIX(x) (x##UL) -#endif - - -typedef unsigned char npy_bool; -#define NPY_FALSE 0 -#define NPY_TRUE 1 - - -#if NPY_SIZEOF_LONGDOUBLE == NPY_SIZEOF_DOUBLE - typedef double npy_longdouble; - #define NPY_LONGDOUBLE_FMT "g" -#else - typedef long double npy_longdouble; - #define NPY_LONGDOUBLE_FMT "Lg" -#endif - -#ifndef Py_USING_UNICODE -#error Must use Python with unicode enabled. -#endif - - -typedef signed char npy_byte; -typedef unsigned char npy_ubyte; -typedef unsigned short npy_ushort; -typedef unsigned int npy_uint; -typedef unsigned long npy_ulong; - -/* These are for completeness */ -typedef char npy_char; -typedef short npy_short; -typedef int npy_int; -typedef long npy_long; -typedef float npy_float; -typedef double npy_double; - -/* - * Disabling C99 complex usage: a lot of C code in numpy/scipy rely on being - * able to do .real/.imag. Will have to convert code first. - */ -#if 0 -#if defined(NPY_USE_C99_COMPLEX) && defined(NPY_HAVE_COMPLEX_DOUBLE) -typedef complex npy_cdouble; -#else -typedef struct { double real, imag; } npy_cdouble; -#endif - -#if defined(NPY_USE_C99_COMPLEX) && defined(NPY_HAVE_COMPLEX_FLOAT) -typedef complex float npy_cfloat; -#else -typedef struct { float real, imag; } npy_cfloat; -#endif - -#if defined(NPY_USE_C99_COMPLEX) && defined(NPY_HAVE_COMPLEX_LONG_DOUBLE) -typedef complex long double npy_clongdouble; -#else -typedef struct {npy_longdouble real, imag;} npy_clongdouble; -#endif -#endif -#if NPY_SIZEOF_COMPLEX_DOUBLE != 2 * NPY_SIZEOF_DOUBLE -#error npy_cdouble definition is not compatible with C99 complex definition ! \ - Please contact Numpy maintainers and give detailed information about your \ - compiler and platform -#endif -typedef struct { double real, imag; } npy_cdouble; - -#if NPY_SIZEOF_COMPLEX_FLOAT != 2 * NPY_SIZEOF_FLOAT -#error npy_cfloat definition is not compatible with C99 complex definition ! \ - Please contact Numpy maintainers and give detailed information about your \ - compiler and platform -#endif -typedef struct { float real, imag; } npy_cfloat; - -#if NPY_SIZEOF_COMPLEX_LONGDOUBLE != 2 * NPY_SIZEOF_LONGDOUBLE -#error npy_clongdouble definition is not compatible with C99 complex definition ! \ - Please contact Numpy maintainers and give detailed information about your \ - compiler and platform -#endif -typedef struct { npy_longdouble real, imag; } npy_clongdouble; - -/* - * numarray-style bit-width typedefs - */ -#define NPY_MAX_INT8 127 -#define NPY_MIN_INT8 -128 -#define NPY_MAX_UINT8 255 -#define NPY_MAX_INT16 32767 -#define NPY_MIN_INT16 -32768 -#define NPY_MAX_UINT16 65535 -#define NPY_MAX_INT32 2147483647 -#define NPY_MIN_INT32 (-NPY_MAX_INT32 - 1) -#define NPY_MAX_UINT32 4294967295U -#define NPY_MAX_INT64 NPY_LONGLONG_SUFFIX(9223372036854775807) -#define NPY_MIN_INT64 (-NPY_MAX_INT64 - NPY_LONGLONG_SUFFIX(1)) -#define NPY_MAX_UINT64 NPY_ULONGLONG_SUFFIX(18446744073709551615) -#define NPY_MAX_INT128 NPY_LONGLONG_SUFFIX(85070591730234615865843651857942052864) -#define NPY_MIN_INT128 (-NPY_MAX_INT128 - NPY_LONGLONG_SUFFIX(1)) -#define NPY_MAX_UINT128 NPY_ULONGLONG_SUFFIX(170141183460469231731687303715884105728) -#define NPY_MAX_INT256 NPY_LONGLONG_SUFFIX(57896044618658097711785492504343953926634992332820282019728792003956564819967) -#define NPY_MIN_INT256 (-NPY_MAX_INT256 - NPY_LONGLONG_SUFFIX(1)) -#define NPY_MAX_UINT256 NPY_ULONGLONG_SUFFIX(115792089237316195423570985008687907853269984665640564039457584007913129639935) -#define NPY_MIN_DATETIME NPY_MIN_INT64 -#define NPY_MAX_DATETIME NPY_MAX_INT64 -#define NPY_MIN_TIMEDELTA NPY_MIN_INT64 -#define NPY_MAX_TIMEDELTA NPY_MAX_INT64 - - /* Need to find the number of bits for each type and - make definitions accordingly. - - C states that sizeof(char) == 1 by definition - - So, just using the sizeof keyword won't help. - - It also looks like Python itself uses sizeof(char) quite a - bit, which by definition should be 1 all the time. - - Idea: Make Use of CHAR_BIT which should tell us how many - BITS per CHARACTER - */ - - /* Include platform definitions -- These are in the C89/90 standard */ -#include -#define NPY_MAX_BYTE SCHAR_MAX -#define NPY_MIN_BYTE SCHAR_MIN -#define NPY_MAX_UBYTE UCHAR_MAX -#define NPY_MAX_SHORT SHRT_MAX -#define NPY_MIN_SHORT SHRT_MIN -#define NPY_MAX_USHORT USHRT_MAX -#define NPY_MAX_INT INT_MAX -#ifndef INT_MIN -#define INT_MIN (-INT_MAX - 1) -#endif -#define NPY_MIN_INT INT_MIN -#define NPY_MAX_UINT UINT_MAX -#define NPY_MAX_LONG LONG_MAX -#define NPY_MIN_LONG LONG_MIN -#define NPY_MAX_ULONG ULONG_MAX - -#define NPY_BITSOF_BOOL (sizeof(npy_bool) * CHAR_BIT) -#define NPY_BITSOF_CHAR CHAR_BIT -#define NPY_BITSOF_BYTE (NPY_SIZEOF_BYTE * CHAR_BIT) -#define NPY_BITSOF_SHORT (NPY_SIZEOF_SHORT * CHAR_BIT) -#define NPY_BITSOF_INT (NPY_SIZEOF_INT * CHAR_BIT) -#define NPY_BITSOF_LONG (NPY_SIZEOF_LONG * CHAR_BIT) -#define NPY_BITSOF_LONGLONG (NPY_SIZEOF_LONGLONG * CHAR_BIT) -#define NPY_BITSOF_INTP (NPY_SIZEOF_INTP * CHAR_BIT) -#define NPY_BITSOF_HALF (NPY_SIZEOF_HALF * CHAR_BIT) -#define NPY_BITSOF_FLOAT (NPY_SIZEOF_FLOAT * CHAR_BIT) -#define NPY_BITSOF_DOUBLE (NPY_SIZEOF_DOUBLE * CHAR_BIT) -#define NPY_BITSOF_LONGDOUBLE (NPY_SIZEOF_LONGDOUBLE * CHAR_BIT) -#define NPY_BITSOF_CFLOAT (NPY_SIZEOF_CFLOAT * CHAR_BIT) -#define NPY_BITSOF_CDOUBLE (NPY_SIZEOF_CDOUBLE * CHAR_BIT) -#define NPY_BITSOF_CLONGDOUBLE (NPY_SIZEOF_CLONGDOUBLE * CHAR_BIT) -#define NPY_BITSOF_DATETIME (NPY_SIZEOF_DATETIME * CHAR_BIT) -#define NPY_BITSOF_TIMEDELTA (NPY_SIZEOF_TIMEDELTA * CHAR_BIT) - -#if NPY_BITSOF_LONG == 8 -#define NPY_INT8 NPY_LONG -#define NPY_UINT8 NPY_ULONG - typedef long npy_int8; - typedef unsigned long npy_uint8; -#define PyInt8ScalarObject PyLongScalarObject -#define PyInt8ArrType_Type PyLongArrType_Type -#define PyUInt8ScalarObject PyULongScalarObject -#define PyUInt8ArrType_Type PyULongArrType_Type -#define NPY_INT8_FMT NPY_LONG_FMT -#define NPY_UINT8_FMT NPY_ULONG_FMT -#elif NPY_BITSOF_LONG == 16 -#define NPY_INT16 NPY_LONG -#define NPY_UINT16 NPY_ULONG - typedef long npy_int16; - typedef unsigned long npy_uint16; -#define PyInt16ScalarObject PyLongScalarObject -#define PyInt16ArrType_Type PyLongArrType_Type -#define PyUInt16ScalarObject PyULongScalarObject -#define PyUInt16ArrType_Type PyULongArrType_Type -#define NPY_INT16_FMT NPY_LONG_FMT -#define NPY_UINT16_FMT NPY_ULONG_FMT -#elif NPY_BITSOF_LONG == 32 -#define NPY_INT32 NPY_LONG -#define NPY_UINT32 NPY_ULONG - typedef long npy_int32; - typedef unsigned long npy_uint32; - typedef unsigned long npy_ucs4; -#define PyInt32ScalarObject PyLongScalarObject -#define PyInt32ArrType_Type PyLongArrType_Type -#define PyUInt32ScalarObject PyULongScalarObject -#define PyUInt32ArrType_Type PyULongArrType_Type -#define NPY_INT32_FMT NPY_LONG_FMT -#define NPY_UINT32_FMT NPY_ULONG_FMT -#elif NPY_BITSOF_LONG == 64 -#define NPY_INT64 NPY_LONG -#define NPY_UINT64 NPY_ULONG - typedef long npy_int64; - typedef unsigned long npy_uint64; -#define PyInt64ScalarObject PyLongScalarObject -#define PyInt64ArrType_Type PyLongArrType_Type -#define PyUInt64ScalarObject PyULongScalarObject -#define PyUInt64ArrType_Type PyULongArrType_Type -#define NPY_INT64_FMT NPY_LONG_FMT -#define NPY_UINT64_FMT NPY_ULONG_FMT -#define MyPyLong_FromInt64 PyLong_FromLong -#define MyPyLong_AsInt64 PyLong_AsLong -#elif NPY_BITSOF_LONG == 128 -#define NPY_INT128 NPY_LONG -#define NPY_UINT128 NPY_ULONG - typedef long npy_int128; - typedef unsigned long npy_uint128; -#define PyInt128ScalarObject PyLongScalarObject -#define PyInt128ArrType_Type PyLongArrType_Type -#define PyUInt128ScalarObject PyULongScalarObject -#define PyUInt128ArrType_Type PyULongArrType_Type -#define NPY_INT128_FMT NPY_LONG_FMT -#define NPY_UINT128_FMT NPY_ULONG_FMT -#endif - -#if NPY_BITSOF_LONGLONG == 8 -# ifndef NPY_INT8 -# define NPY_INT8 NPY_LONGLONG -# define NPY_UINT8 NPY_ULONGLONG - typedef npy_longlong npy_int8; - typedef npy_ulonglong npy_uint8; -# define PyInt8ScalarObject PyLongLongScalarObject -# define PyInt8ArrType_Type PyLongLongArrType_Type -# define PyUInt8ScalarObject PyULongLongScalarObject -# define PyUInt8ArrType_Type PyULongLongArrType_Type -#define NPY_INT8_FMT NPY_LONGLONG_FMT -#define NPY_UINT8_FMT NPY_ULONGLONG_FMT -# endif -# define NPY_MAX_LONGLONG NPY_MAX_INT8 -# define NPY_MIN_LONGLONG NPY_MIN_INT8 -# define NPY_MAX_ULONGLONG NPY_MAX_UINT8 -#elif NPY_BITSOF_LONGLONG == 16 -# ifndef NPY_INT16 -# define NPY_INT16 NPY_LONGLONG -# define NPY_UINT16 NPY_ULONGLONG - typedef npy_longlong npy_int16; - typedef npy_ulonglong npy_uint16; -# define PyInt16ScalarObject PyLongLongScalarObject -# define PyInt16ArrType_Type PyLongLongArrType_Type -# define PyUInt16ScalarObject PyULongLongScalarObject -# define PyUInt16ArrType_Type PyULongLongArrType_Type -#define NPY_INT16_FMT NPY_LONGLONG_FMT -#define NPY_UINT16_FMT NPY_ULONGLONG_FMT -# endif -# define NPY_MAX_LONGLONG NPY_MAX_INT16 -# define NPY_MIN_LONGLONG NPY_MIN_INT16 -# define NPY_MAX_ULONGLONG NPY_MAX_UINT16 -#elif NPY_BITSOF_LONGLONG == 32 -# ifndef NPY_INT32 -# define NPY_INT32 NPY_LONGLONG -# define NPY_UINT32 NPY_ULONGLONG - typedef npy_longlong npy_int32; - typedef npy_ulonglong npy_uint32; - typedef npy_ulonglong npy_ucs4; -# define PyInt32ScalarObject PyLongLongScalarObject -# define PyInt32ArrType_Type PyLongLongArrType_Type -# define PyUInt32ScalarObject PyULongLongScalarObject -# define PyUInt32ArrType_Type PyULongLongArrType_Type -#define NPY_INT32_FMT NPY_LONGLONG_FMT -#define NPY_UINT32_FMT NPY_ULONGLONG_FMT -# endif -# define NPY_MAX_LONGLONG NPY_MAX_INT32 -# define NPY_MIN_LONGLONG NPY_MIN_INT32 -# define NPY_MAX_ULONGLONG NPY_MAX_UINT32 -#elif NPY_BITSOF_LONGLONG == 64 -# ifndef NPY_INT64 -# define NPY_INT64 NPY_LONGLONG -# define NPY_UINT64 NPY_ULONGLONG - typedef npy_longlong npy_int64; - typedef npy_ulonglong npy_uint64; -# define PyInt64ScalarObject PyLongLongScalarObject -# define PyInt64ArrType_Type PyLongLongArrType_Type -# define PyUInt64ScalarObject PyULongLongScalarObject -# define PyUInt64ArrType_Type PyULongLongArrType_Type -#define NPY_INT64_FMT NPY_LONGLONG_FMT -#define NPY_UINT64_FMT NPY_ULONGLONG_FMT -# define MyPyLong_FromInt64 PyLong_FromLongLong -# define MyPyLong_AsInt64 PyLong_AsLongLong -# endif -# define NPY_MAX_LONGLONG NPY_MAX_INT64 -# define NPY_MIN_LONGLONG NPY_MIN_INT64 -# define NPY_MAX_ULONGLONG NPY_MAX_UINT64 -#elif NPY_BITSOF_LONGLONG == 128 -# ifndef NPY_INT128 -# define NPY_INT128 NPY_LONGLONG -# define NPY_UINT128 NPY_ULONGLONG - typedef npy_longlong npy_int128; - typedef npy_ulonglong npy_uint128; -# define PyInt128ScalarObject PyLongLongScalarObject -# define PyInt128ArrType_Type PyLongLongArrType_Type -# define PyUInt128ScalarObject PyULongLongScalarObject -# define PyUInt128ArrType_Type PyULongLongArrType_Type -#define NPY_INT128_FMT NPY_LONGLONG_FMT -#define NPY_UINT128_FMT NPY_ULONGLONG_FMT -# endif -# define NPY_MAX_LONGLONG NPY_MAX_INT128 -# define NPY_MIN_LONGLONG NPY_MIN_INT128 -# define NPY_MAX_ULONGLONG NPY_MAX_UINT128 -#elif NPY_BITSOF_LONGLONG == 256 -# define NPY_INT256 NPY_LONGLONG -# define NPY_UINT256 NPY_ULONGLONG - typedef npy_longlong npy_int256; - typedef npy_ulonglong npy_uint256; -# define PyInt256ScalarObject PyLongLongScalarObject -# define PyInt256ArrType_Type PyLongLongArrType_Type -# define PyUInt256ScalarObject PyULongLongScalarObject -# define PyUInt256ArrType_Type PyULongLongArrType_Type -#define NPY_INT256_FMT NPY_LONGLONG_FMT -#define NPY_UINT256_FMT NPY_ULONGLONG_FMT -# define NPY_MAX_LONGLONG NPY_MAX_INT256 -# define NPY_MIN_LONGLONG NPY_MIN_INT256 -# define NPY_MAX_ULONGLONG NPY_MAX_UINT256 -#endif - -#if NPY_BITSOF_INT == 8 -#ifndef NPY_INT8 -#define NPY_INT8 NPY_INT -#define NPY_UINT8 NPY_UINT - typedef int npy_int8; - typedef unsigned int npy_uint8; -# define PyInt8ScalarObject PyIntScalarObject -# define PyInt8ArrType_Type PyIntArrType_Type -# define PyUInt8ScalarObject PyUIntScalarObject -# define PyUInt8ArrType_Type PyUIntArrType_Type -#define NPY_INT8_FMT NPY_INT_FMT -#define NPY_UINT8_FMT NPY_UINT_FMT -#endif -#elif NPY_BITSOF_INT == 16 -#ifndef NPY_INT16 -#define NPY_INT16 NPY_INT -#define NPY_UINT16 NPY_UINT - typedef int npy_int16; - typedef unsigned int npy_uint16; -# define PyInt16ScalarObject PyIntScalarObject -# define PyInt16ArrType_Type PyIntArrType_Type -# define PyUInt16ScalarObject PyIntUScalarObject -# define PyUInt16ArrType_Type PyIntUArrType_Type -#define NPY_INT16_FMT NPY_INT_FMT -#define NPY_UINT16_FMT NPY_UINT_FMT -#endif -#elif NPY_BITSOF_INT == 32 -#ifndef NPY_INT32 -#define NPY_INT32 NPY_INT -#define NPY_UINT32 NPY_UINT - typedef int npy_int32; - typedef unsigned int npy_uint32; - typedef unsigned int npy_ucs4; -# define PyInt32ScalarObject PyIntScalarObject -# define PyInt32ArrType_Type PyIntArrType_Type -# define PyUInt32ScalarObject PyUIntScalarObject -# define PyUInt32ArrType_Type PyUIntArrType_Type -#define NPY_INT32_FMT NPY_INT_FMT -#define NPY_UINT32_FMT NPY_UINT_FMT -#endif -#elif NPY_BITSOF_INT == 64 -#ifndef NPY_INT64 -#define NPY_INT64 NPY_INT -#define NPY_UINT64 NPY_UINT - typedef int npy_int64; - typedef unsigned int npy_uint64; -# define PyInt64ScalarObject PyIntScalarObject -# define PyInt64ArrType_Type PyIntArrType_Type -# define PyUInt64ScalarObject PyUIntScalarObject -# define PyUInt64ArrType_Type PyUIntArrType_Type -#define NPY_INT64_FMT NPY_INT_FMT -#define NPY_UINT64_FMT NPY_UINT_FMT -# define MyPyLong_FromInt64 PyLong_FromLong -# define MyPyLong_AsInt64 PyLong_AsLong -#endif -#elif NPY_BITSOF_INT == 128 -#ifndef NPY_INT128 -#define NPY_INT128 NPY_INT -#define NPY_UINT128 NPY_UINT - typedef int npy_int128; - typedef unsigned int npy_uint128; -# define PyInt128ScalarObject PyIntScalarObject -# define PyInt128ArrType_Type PyIntArrType_Type -# define PyUInt128ScalarObject PyUIntScalarObject -# define PyUInt128ArrType_Type PyUIntArrType_Type -#define NPY_INT128_FMT NPY_INT_FMT -#define NPY_UINT128_FMT NPY_UINT_FMT -#endif -#endif - -#if NPY_BITSOF_SHORT == 8 -#ifndef NPY_INT8 -#define NPY_INT8 NPY_SHORT -#define NPY_UINT8 NPY_USHORT - typedef short npy_int8; - typedef unsigned short npy_uint8; -# define PyInt8ScalarObject PyShortScalarObject -# define PyInt8ArrType_Type PyShortArrType_Type -# define PyUInt8ScalarObject PyUShortScalarObject -# define PyUInt8ArrType_Type PyUShortArrType_Type -#define NPY_INT8_FMT NPY_SHORT_FMT -#define NPY_UINT8_FMT NPY_USHORT_FMT -#endif -#elif NPY_BITSOF_SHORT == 16 -#ifndef NPY_INT16 -#define NPY_INT16 NPY_SHORT -#define NPY_UINT16 NPY_USHORT - typedef short npy_int16; - typedef unsigned short npy_uint16; -# define PyInt16ScalarObject PyShortScalarObject -# define PyInt16ArrType_Type PyShortArrType_Type -# define PyUInt16ScalarObject PyUShortScalarObject -# define PyUInt16ArrType_Type PyUShortArrType_Type -#define NPY_INT16_FMT NPY_SHORT_FMT -#define NPY_UINT16_FMT NPY_USHORT_FMT -#endif -#elif NPY_BITSOF_SHORT == 32 -#ifndef NPY_INT32 -#define NPY_INT32 NPY_SHORT -#define NPY_UINT32 NPY_USHORT - typedef short npy_int32; - typedef unsigned short npy_uint32; - typedef unsigned short npy_ucs4; -# define PyInt32ScalarObject PyShortScalarObject -# define PyInt32ArrType_Type PyShortArrType_Type -# define PyUInt32ScalarObject PyUShortScalarObject -# define PyUInt32ArrType_Type PyUShortArrType_Type -#define NPY_INT32_FMT NPY_SHORT_FMT -#define NPY_UINT32_FMT NPY_USHORT_FMT -#endif -#elif NPY_BITSOF_SHORT == 64 -#ifndef NPY_INT64 -#define NPY_INT64 NPY_SHORT -#define NPY_UINT64 NPY_USHORT - typedef short npy_int64; - typedef unsigned short npy_uint64; -# define PyInt64ScalarObject PyShortScalarObject -# define PyInt64ArrType_Type PyShortArrType_Type -# define PyUInt64ScalarObject PyUShortScalarObject -# define PyUInt64ArrType_Type PyUShortArrType_Type -#define NPY_INT64_FMT NPY_SHORT_FMT -#define NPY_UINT64_FMT NPY_USHORT_FMT -# define MyPyLong_FromInt64 PyLong_FromLong -# define MyPyLong_AsInt64 PyLong_AsLong -#endif -#elif NPY_BITSOF_SHORT == 128 -#ifndef NPY_INT128 -#define NPY_INT128 NPY_SHORT -#define NPY_UINT128 NPY_USHORT - typedef short npy_int128; - typedef unsigned short npy_uint128; -# define PyInt128ScalarObject PyShortScalarObject -# define PyInt128ArrType_Type PyShortArrType_Type -# define PyUInt128ScalarObject PyUShortScalarObject -# define PyUInt128ArrType_Type PyUShortArrType_Type -#define NPY_INT128_FMT NPY_SHORT_FMT -#define NPY_UINT128_FMT NPY_USHORT_FMT -#endif -#endif - - -#if NPY_BITSOF_CHAR == 8 -#ifndef NPY_INT8 -#define NPY_INT8 NPY_BYTE -#define NPY_UINT8 NPY_UBYTE - typedef signed char npy_int8; - typedef unsigned char npy_uint8; -# define PyInt8ScalarObject PyByteScalarObject -# define PyInt8ArrType_Type PyByteArrType_Type -# define PyUInt8ScalarObject PyUByteScalarObject -# define PyUInt8ArrType_Type PyUByteArrType_Type -#define NPY_INT8_FMT NPY_BYTE_FMT -#define NPY_UINT8_FMT NPY_UBYTE_FMT -#endif -#elif NPY_BITSOF_CHAR == 16 -#ifndef NPY_INT16 -#define NPY_INT16 NPY_BYTE -#define NPY_UINT16 NPY_UBYTE - typedef signed char npy_int16; - typedef unsigned char npy_uint16; -# define PyInt16ScalarObject PyByteScalarObject -# define PyInt16ArrType_Type PyByteArrType_Type -# define PyUInt16ScalarObject PyUByteScalarObject -# define PyUInt16ArrType_Type PyUByteArrType_Type -#define NPY_INT16_FMT NPY_BYTE_FMT -#define NPY_UINT16_FMT NPY_UBYTE_FMT -#endif -#elif NPY_BITSOF_CHAR == 32 -#ifndef NPY_INT32 -#define NPY_INT32 NPY_BYTE -#define NPY_UINT32 NPY_UBYTE - typedef signed char npy_int32; - typedef unsigned char npy_uint32; - typedef unsigned char npy_ucs4; -# define PyInt32ScalarObject PyByteScalarObject -# define PyInt32ArrType_Type PyByteArrType_Type -# define PyUInt32ScalarObject PyUByteScalarObject -# define PyUInt32ArrType_Type PyUByteArrType_Type -#define NPY_INT32_FMT NPY_BYTE_FMT -#define NPY_UINT32_FMT NPY_UBYTE_FMT -#endif -#elif NPY_BITSOF_CHAR == 64 -#ifndef NPY_INT64 -#define NPY_INT64 NPY_BYTE -#define NPY_UINT64 NPY_UBYTE - typedef signed char npy_int64; - typedef unsigned char npy_uint64; -# define PyInt64ScalarObject PyByteScalarObject -# define PyInt64ArrType_Type PyByteArrType_Type -# define PyUInt64ScalarObject PyUByteScalarObject -# define PyUInt64ArrType_Type PyUByteArrType_Type -#define NPY_INT64_FMT NPY_BYTE_FMT -#define NPY_UINT64_FMT NPY_UBYTE_FMT -# define MyPyLong_FromInt64 PyLong_FromLong -# define MyPyLong_AsInt64 PyLong_AsLong -#endif -#elif NPY_BITSOF_CHAR == 128 -#ifndef NPY_INT128 -#define NPY_INT128 NPY_BYTE -#define NPY_UINT128 NPY_UBYTE - typedef signed char npy_int128; - typedef unsigned char npy_uint128; -# define PyInt128ScalarObject PyByteScalarObject -# define PyInt128ArrType_Type PyByteArrType_Type -# define PyUInt128ScalarObject PyUByteScalarObject -# define PyUInt128ArrType_Type PyUByteArrType_Type -#define NPY_INT128_FMT NPY_BYTE_FMT -#define NPY_UINT128_FMT NPY_UBYTE_FMT -#endif -#endif - - - -#if NPY_BITSOF_DOUBLE == 32 -#ifndef NPY_FLOAT32 -#define NPY_FLOAT32 NPY_DOUBLE -#define NPY_COMPLEX64 NPY_CDOUBLE - typedef double npy_float32; - typedef npy_cdouble npy_complex64; -# define PyFloat32ScalarObject PyDoubleScalarObject -# define PyComplex64ScalarObject PyCDoubleScalarObject -# define PyFloat32ArrType_Type PyDoubleArrType_Type -# define PyComplex64ArrType_Type PyCDoubleArrType_Type -#define NPY_FLOAT32_FMT NPY_DOUBLE_FMT -#define NPY_COMPLEX64_FMT NPY_CDOUBLE_FMT -#endif -#elif NPY_BITSOF_DOUBLE == 64 -#ifndef NPY_FLOAT64 -#define NPY_FLOAT64 NPY_DOUBLE -#define NPY_COMPLEX128 NPY_CDOUBLE - typedef double npy_float64; - typedef npy_cdouble npy_complex128; -# define PyFloat64ScalarObject PyDoubleScalarObject -# define PyComplex128ScalarObject PyCDoubleScalarObject -# define PyFloat64ArrType_Type PyDoubleArrType_Type -# define PyComplex128ArrType_Type PyCDoubleArrType_Type -#define NPY_FLOAT64_FMT NPY_DOUBLE_FMT -#define NPY_COMPLEX128_FMT NPY_CDOUBLE_FMT -#endif -#elif NPY_BITSOF_DOUBLE == 80 -#ifndef NPY_FLOAT80 -#define NPY_FLOAT80 NPY_DOUBLE -#define NPY_COMPLEX160 NPY_CDOUBLE - typedef double npy_float80; - typedef npy_cdouble npy_complex160; -# define PyFloat80ScalarObject PyDoubleScalarObject -# define PyComplex160ScalarObject PyCDoubleScalarObject -# define PyFloat80ArrType_Type PyDoubleArrType_Type -# define PyComplex160ArrType_Type PyCDoubleArrType_Type -#define NPY_FLOAT80_FMT NPY_DOUBLE_FMT -#define NPY_COMPLEX160_FMT NPY_CDOUBLE_FMT -#endif -#elif NPY_BITSOF_DOUBLE == 96 -#ifndef NPY_FLOAT96 -#define NPY_FLOAT96 NPY_DOUBLE -#define NPY_COMPLEX192 NPY_CDOUBLE - typedef double npy_float96; - typedef npy_cdouble npy_complex192; -# define PyFloat96ScalarObject PyDoubleScalarObject -# define PyComplex192ScalarObject PyCDoubleScalarObject -# define PyFloat96ArrType_Type PyDoubleArrType_Type -# define PyComplex192ArrType_Type PyCDoubleArrType_Type -#define NPY_FLOAT96_FMT NPY_DOUBLE_FMT -#define NPY_COMPLEX192_FMT NPY_CDOUBLE_FMT -#endif -#elif NPY_BITSOF_DOUBLE == 128 -#ifndef NPY_FLOAT128 -#define NPY_FLOAT128 NPY_DOUBLE -#define NPY_COMPLEX256 NPY_CDOUBLE - typedef double npy_float128; - typedef npy_cdouble npy_complex256; -# define PyFloat128ScalarObject PyDoubleScalarObject -# define PyComplex256ScalarObject PyCDoubleScalarObject -# define PyFloat128ArrType_Type PyDoubleArrType_Type -# define PyComplex256ArrType_Type PyCDoubleArrType_Type -#define NPY_FLOAT128_FMT NPY_DOUBLE_FMT -#define NPY_COMPLEX256_FMT NPY_CDOUBLE_FMT -#endif -#endif - - - -#if NPY_BITSOF_FLOAT == 32 -#ifndef NPY_FLOAT32 -#define NPY_FLOAT32 NPY_FLOAT -#define NPY_COMPLEX64 NPY_CFLOAT - typedef float npy_float32; - typedef npy_cfloat npy_complex64; -# define PyFloat32ScalarObject PyFloatScalarObject -# define PyComplex64ScalarObject PyCFloatScalarObject -# define PyFloat32ArrType_Type PyFloatArrType_Type -# define PyComplex64ArrType_Type PyCFloatArrType_Type -#define NPY_FLOAT32_FMT NPY_FLOAT_FMT -#define NPY_COMPLEX64_FMT NPY_CFLOAT_FMT -#endif -#elif NPY_BITSOF_FLOAT == 64 -#ifndef NPY_FLOAT64 -#define NPY_FLOAT64 NPY_FLOAT -#define NPY_COMPLEX128 NPY_CFLOAT - typedef float npy_float64; - typedef npy_cfloat npy_complex128; -# define PyFloat64ScalarObject PyFloatScalarObject -# define PyComplex128ScalarObject PyCFloatScalarObject -# define PyFloat64ArrType_Type PyFloatArrType_Type -# define PyComplex128ArrType_Type PyCFloatArrType_Type -#define NPY_FLOAT64_FMT NPY_FLOAT_FMT -#define NPY_COMPLEX128_FMT NPY_CFLOAT_FMT -#endif -#elif NPY_BITSOF_FLOAT == 80 -#ifndef NPY_FLOAT80 -#define NPY_FLOAT80 NPY_FLOAT -#define NPY_COMPLEX160 NPY_CFLOAT - typedef float npy_float80; - typedef npy_cfloat npy_complex160; -# define PyFloat80ScalarObject PyFloatScalarObject -# define PyComplex160ScalarObject PyCFloatScalarObject -# define PyFloat80ArrType_Type PyFloatArrType_Type -# define PyComplex160ArrType_Type PyCFloatArrType_Type -#define NPY_FLOAT80_FMT NPY_FLOAT_FMT -#define NPY_COMPLEX160_FMT NPY_CFLOAT_FMT -#endif -#elif NPY_BITSOF_FLOAT == 96 -#ifndef NPY_FLOAT96 -#define NPY_FLOAT96 NPY_FLOAT -#define NPY_COMPLEX192 NPY_CFLOAT - typedef float npy_float96; - typedef npy_cfloat npy_complex192; -# define PyFloat96ScalarObject PyFloatScalarObject -# define PyComplex192ScalarObject PyCFloatScalarObject -# define PyFloat96ArrType_Type PyFloatArrType_Type -# define PyComplex192ArrType_Type PyCFloatArrType_Type -#define NPY_FLOAT96_FMT NPY_FLOAT_FMT -#define NPY_COMPLEX192_FMT NPY_CFLOAT_FMT -#endif -#elif NPY_BITSOF_FLOAT == 128 -#ifndef NPY_FLOAT128 -#define NPY_FLOAT128 NPY_FLOAT -#define NPY_COMPLEX256 NPY_CFLOAT - typedef float npy_float128; - typedef npy_cfloat npy_complex256; -# define PyFloat128ScalarObject PyFloatScalarObject -# define PyComplex256ScalarObject PyCFloatScalarObject -# define PyFloat128ArrType_Type PyFloatArrType_Type -# define PyComplex256ArrType_Type PyCFloatArrType_Type -#define NPY_FLOAT128_FMT NPY_FLOAT_FMT -#define NPY_COMPLEX256_FMT NPY_CFLOAT_FMT -#endif -#endif - -/* half/float16 isn't a floating-point type in C */ -#define NPY_FLOAT16 NPY_HALF -typedef npy_uint16 npy_half; -typedef npy_half npy_float16; - -#if NPY_BITSOF_LONGDOUBLE == 32 -#ifndef NPY_FLOAT32 -#define NPY_FLOAT32 NPY_LONGDOUBLE -#define NPY_COMPLEX64 NPY_CLONGDOUBLE - typedef npy_longdouble npy_float32; - typedef npy_clongdouble npy_complex64; -# define PyFloat32ScalarObject PyLongDoubleScalarObject -# define PyComplex64ScalarObject PyCLongDoubleScalarObject -# define PyFloat32ArrType_Type PyLongDoubleArrType_Type -# define PyComplex64ArrType_Type PyCLongDoubleArrType_Type -#define NPY_FLOAT32_FMT NPY_LONGDOUBLE_FMT -#define NPY_COMPLEX64_FMT NPY_CLONGDOUBLE_FMT -#endif -#elif NPY_BITSOF_LONGDOUBLE == 64 -#ifndef NPY_FLOAT64 -#define NPY_FLOAT64 NPY_LONGDOUBLE -#define NPY_COMPLEX128 NPY_CLONGDOUBLE - typedef npy_longdouble npy_float64; - typedef npy_clongdouble npy_complex128; -# define PyFloat64ScalarObject PyLongDoubleScalarObject -# define PyComplex128ScalarObject PyCLongDoubleScalarObject -# define PyFloat64ArrType_Type PyLongDoubleArrType_Type -# define PyComplex128ArrType_Type PyCLongDoubleArrType_Type -#define NPY_FLOAT64_FMT NPY_LONGDOUBLE_FMT -#define NPY_COMPLEX128_FMT NPY_CLONGDOUBLE_FMT -#endif -#elif NPY_BITSOF_LONGDOUBLE == 80 -#ifndef NPY_FLOAT80 -#define NPY_FLOAT80 NPY_LONGDOUBLE -#define NPY_COMPLEX160 NPY_CLONGDOUBLE - typedef npy_longdouble npy_float80; - typedef npy_clongdouble npy_complex160; -# define PyFloat80ScalarObject PyLongDoubleScalarObject -# define PyComplex160ScalarObject PyCLongDoubleScalarObject -# define PyFloat80ArrType_Type PyLongDoubleArrType_Type -# define PyComplex160ArrType_Type PyCLongDoubleArrType_Type -#define NPY_FLOAT80_FMT NPY_LONGDOUBLE_FMT -#define NPY_COMPLEX160_FMT NPY_CLONGDOUBLE_FMT -#endif -#elif NPY_BITSOF_LONGDOUBLE == 96 -#ifndef NPY_FLOAT96 -#define NPY_FLOAT96 NPY_LONGDOUBLE -#define NPY_COMPLEX192 NPY_CLONGDOUBLE - typedef npy_longdouble npy_float96; - typedef npy_clongdouble npy_complex192; -# define PyFloat96ScalarObject PyLongDoubleScalarObject -# define PyComplex192ScalarObject PyCLongDoubleScalarObject -# define PyFloat96ArrType_Type PyLongDoubleArrType_Type -# define PyComplex192ArrType_Type PyCLongDoubleArrType_Type -#define NPY_FLOAT96_FMT NPY_LONGDOUBLE_FMT -#define NPY_COMPLEX192_FMT NPY_CLONGDOUBLE_FMT -#endif -#elif NPY_BITSOF_LONGDOUBLE == 128 -#ifndef NPY_FLOAT128 -#define NPY_FLOAT128 NPY_LONGDOUBLE -#define NPY_COMPLEX256 NPY_CLONGDOUBLE - typedef npy_longdouble npy_float128; - typedef npy_clongdouble npy_complex256; -# define PyFloat128ScalarObject PyLongDoubleScalarObject -# define PyComplex256ScalarObject PyCLongDoubleScalarObject -# define PyFloat128ArrType_Type PyLongDoubleArrType_Type -# define PyComplex256ArrType_Type PyCLongDoubleArrType_Type -#define NPY_FLOAT128_FMT NPY_LONGDOUBLE_FMT -#define NPY_COMPLEX256_FMT NPY_CLONGDOUBLE_FMT -#endif -#elif NPY_BITSOF_LONGDOUBLE == 256 -#define NPY_FLOAT256 NPY_LONGDOUBLE -#define NPY_COMPLEX512 NPY_CLONGDOUBLE - typedef npy_longdouble npy_float256; - typedef npy_clongdouble npy_complex512; -# define PyFloat256ScalarObject PyLongDoubleScalarObject -# define PyComplex512ScalarObject PyCLongDoubleScalarObject -# define PyFloat256ArrType_Type PyLongDoubleArrType_Type -# define PyComplex512ArrType_Type PyCLongDoubleArrType_Type -#define NPY_FLOAT256_FMT NPY_LONGDOUBLE_FMT -#define NPY_COMPLEX512_FMT NPY_CLONGDOUBLE_FMT -#endif - -/* datetime typedefs */ -typedef npy_int64 npy_timedelta; -typedef npy_int64 npy_datetime; -#define NPY_DATETIME_FMT NPY_INT64_FMT -#define NPY_TIMEDELTA_FMT NPY_INT64_FMT - -/* End of typedefs for numarray style bit-width names */ - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h deleted file mode 100644 index 7958dc208..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_cpu.h +++ /dev/null @@ -1,114 +0,0 @@ -/* - * This set (target) cpu specific macros: - * - Possible values: - * NPY_CPU_X86 - * NPY_CPU_AMD64 - * NPY_CPU_PPC - * NPY_CPU_PPC64 - * NPY_CPU_PPC64LE - * NPY_CPU_SPARC - * NPY_CPU_S390 - * NPY_CPU_IA64 - * NPY_CPU_HPPA - * NPY_CPU_ALPHA - * NPY_CPU_ARMEL - * NPY_CPU_ARMEB - * NPY_CPU_SH_LE - * NPY_CPU_SH_BE - */ -#ifndef _NPY_CPUARCH_H_ -#define _NPY_CPUARCH_H_ - -#include "numpyconfig.h" - -#if defined( __i386__ ) || defined(i386) || defined(_M_IX86) - /* - * __i386__ is defined by gcc and Intel compiler on Linux, - * _M_IX86 by VS compiler, - * i386 by Sun compilers on opensolaris at least - */ - #define NPY_CPU_X86 -#elif defined(__x86_64__) || defined(__amd64__) || defined(__x86_64) || defined(_M_AMD64) - /* - * both __x86_64__ and __amd64__ are defined by gcc - * __x86_64 defined by sun compiler on opensolaris at least - * _M_AMD64 defined by MS compiler - */ - #define NPY_CPU_AMD64 -#elif defined(__ppc__) || defined(__powerpc__) || defined(_ARCH_PPC) - /* - * __ppc__ is defined by gcc, I remember having seen __powerpc__ once, - * but can't find it ATM - * _ARCH_PPC is used by at least gcc on AIX - */ - #define NPY_CPU_PPC -#elif defined(__ppc64le__) - #define NPY_CPU_PPC64LE -#elif defined(__ppc64__) - #define NPY_CPU_PPC64 -#elif defined(__sparc__) || defined(__sparc) - /* __sparc__ is defined by gcc and Forte (e.g. Sun) compilers */ - #define NPY_CPU_SPARC -#elif defined(__s390__) - #define NPY_CPU_S390 -#elif defined(__ia64) - #define NPY_CPU_IA64 -#elif defined(__hppa) - #define NPY_CPU_HPPA -#elif defined(__alpha__) - #define NPY_CPU_ALPHA -#elif defined(__arm__) && defined(__ARMEL__) - #define NPY_CPU_ARMEL -#elif defined(__arm__) && defined(__ARMEB__) - #define NPY_CPU_ARMEB -#elif defined(__sh__) && defined(__LITTLE_ENDIAN__) - #define NPY_CPU_SH_LE -#elif defined(__sh__) && defined(__BIG_ENDIAN__) - #define NPY_CPU_SH_BE -#elif defined(__MIPSEL__) - #define NPY_CPU_MIPSEL -#elif defined(__MIPSEB__) - #define NPY_CPU_MIPSEB -#elif defined(__aarch64__) - #define NPY_CPU_AARCH64 -#elif defined(__mc68000__) - #define NPY_CPU_M68K -#else - #error Unknown CPU, please report this to numpy maintainers with \ - information about your platform (OS, CPU and compiler) -#endif - -/* - This "white-lists" the architectures that we know don't require - pointer alignment. We white-list, since the memcpy version will - work everywhere, whereas assignment will only work where pointer - dereferencing doesn't require alignment. - - TODO: There may be more architectures we can white list. -*/ -#if defined(NPY_CPU_X86) || defined(NPY_CPU_AMD64) - #define NPY_COPY_PYOBJECT_PTR(dst, src) (*((PyObject **)(dst)) = *((PyObject **)(src))) -#else - #if NPY_SIZEOF_PY_INTPTR_T == 4 - #define NPY_COPY_PYOBJECT_PTR(dst, src) \ - ((char*)(dst))[0] = ((char*)(src))[0]; \ - ((char*)(dst))[1] = ((char*)(src))[1]; \ - ((char*)(dst))[2] = ((char*)(src))[2]; \ - ((char*)(dst))[3] = ((char*)(src))[3]; - #elif NPY_SIZEOF_PY_INTPTR_T == 8 - #define NPY_COPY_PYOBJECT_PTR(dst, src) \ - ((char*)(dst))[0] = ((char*)(src))[0]; \ - ((char*)(dst))[1] = ((char*)(src))[1]; \ - ((char*)(dst))[2] = ((char*)(src))[2]; \ - ((char*)(dst))[3] = ((char*)(src))[3]; \ - ((char*)(dst))[4] = ((char*)(src))[4]; \ - ((char*)(dst))[5] = ((char*)(src))[5]; \ - ((char*)(dst))[6] = ((char*)(src))[6]; \ - ((char*)(dst))[7] = ((char*)(src))[7]; - #else - #error Unknown architecture, please report this to numpy maintainers with \ - information about your platform (OS, CPU and compiler) - #endif -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h deleted file mode 100644 index 44d4326b1..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_endian.h +++ /dev/null @@ -1,48 +0,0 @@ -#ifndef _NPY_ENDIAN_H_ -#define _NPY_ENDIAN_H_ - -/* - * NPY_BYTE_ORDER is set to the same value as BYTE_ORDER set by glibc in - * endian.h - */ - -#ifdef NPY_HAVE_ENDIAN_H - /* Use endian.h if available */ - #include - - #define NPY_BYTE_ORDER __BYTE_ORDER - #define NPY_LITTLE_ENDIAN __LITTLE_ENDIAN - #define NPY_BIG_ENDIAN __BIG_ENDIAN -#else - /* Set endianness info using target CPU */ - #include "npy_cpu.h" - - #define NPY_LITTLE_ENDIAN 1234 - #define NPY_BIG_ENDIAN 4321 - - #if defined(NPY_CPU_X86) \ - || defined(NPY_CPU_AMD64) \ - || defined(NPY_CPU_IA64) \ - || defined(NPY_CPU_ALPHA) \ - || defined(NPY_CPU_ARMEL) \ - || defined(NPY_CPU_AARCH64) \ - || defined(NPY_CPU_SH_LE) \ - || defined(NPY_CPU_MIPSEL) \ - || defined(NPY_CPU_PPC64LE) - #define NPY_BYTE_ORDER NPY_LITTLE_ENDIAN - #elif defined(NPY_CPU_PPC) \ - || defined(NPY_CPU_SPARC) \ - || defined(NPY_CPU_S390) \ - || defined(NPY_CPU_HPPA) \ - || defined(NPY_CPU_PPC64) \ - || defined(NPY_CPU_ARMEB) \ - || defined(NPY_CPU_SH_BE) \ - || defined(NPY_CPU_MIPSEB) \ - || defined(NPY_CPU_M68K) - #define NPY_BYTE_ORDER NPY_BIG_ENDIAN - #else - #error Unknown CPU: can not set endianness - #endif -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h deleted file mode 100644 index f71fd689e..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_interrupt.h +++ /dev/null @@ -1,117 +0,0 @@ - -/* Signal handling: - -This header file defines macros that allow your code to handle -interrupts received during processing. Interrupts that -could reasonably be handled: - -SIGINT, SIGABRT, SIGALRM, SIGSEGV - -****Warning*************** - -Do not allow code that creates temporary memory or increases reference -counts of Python objects to be interrupted unless you handle it -differently. - -************************** - -The mechanism for handling interrupts is conceptually simple: - - - replace the signal handler with our own home-grown version - and store the old one. - - run the code to be interrupted -- if an interrupt occurs - the handler should basically just cause a return to the - calling function for finish work. - - restore the old signal handler - -Of course, every code that allows interrupts must account for -returning via the interrupt and handle clean-up correctly. But, -even still, the simple paradigm is complicated by at least three -factors. - - 1) platform portability (i.e. Microsoft says not to use longjmp - to return from signal handling. They have a __try and __except - extension to C instead but what about mingw?). - - 2) how to handle threads: apparently whether signals are delivered to - every thread of the process or the "invoking" thread is platform - dependent. --- we don't handle threads for now. - - 3) do we need to worry about re-entrance. For now, assume the - code will not call-back into itself. - -Ideas: - - 1) Start by implementing an approach that works on platforms that - can use setjmp and longjmp functionality and does nothing - on other platforms. - - 2) Ignore threads --- i.e. do not mix interrupt handling and threads - - 3) Add a default signal_handler function to the C-API but have the rest - use macros. - - -Simple Interface: - - -In your C-extension: around a block of code you want to be interruptable -with a SIGINT - -NPY_SIGINT_ON -[code] -NPY_SIGINT_OFF - -In order for this to work correctly, the -[code] block must not allocate any memory or alter the reference count of any -Python objects. In other words [code] must be interruptible so that continuation -after NPY_SIGINT_OFF will only be "missing some computations" - -Interrupt handling does not work well with threads. - -*/ - -/* Add signal handling macros - Make the global variable and signal handler part of the C-API -*/ - -#ifndef NPY_INTERRUPT_H -#define NPY_INTERRUPT_H - -#ifndef NPY_NO_SIGNAL - -#include -#include - -#ifndef sigsetjmp - -#define NPY_SIGSETJMP(arg1, arg2) setjmp(arg1) -#define NPY_SIGLONGJMP(arg1, arg2) longjmp(arg1, arg2) -#define NPY_SIGJMP_BUF jmp_buf - -#else - -#define NPY_SIGSETJMP(arg1, arg2) sigsetjmp(arg1, arg2) -#define NPY_SIGLONGJMP(arg1, arg2) siglongjmp(arg1, arg2) -#define NPY_SIGJMP_BUF sigjmp_buf - -#endif - -# define NPY_SIGINT_ON { \ - PyOS_sighandler_t _npy_sig_save; \ - _npy_sig_save = PyOS_setsig(SIGINT, _PyArray_SigintHandler); \ - if (NPY_SIGSETJMP(*((NPY_SIGJMP_BUF *)_PyArray_GetSigintBuf()), \ - 1) == 0) { \ - -# define NPY_SIGINT_OFF } \ - PyOS_setsig(SIGINT, _npy_sig_save); \ - } - -#else /* NPY_NO_SIGNAL */ - -#define NPY_SIGINT_ON -#define NPY_SIGINT_OFF - -#endif /* HAVE_SIGSETJMP */ - -#endif /* NPY_INTERRUPT_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h deleted file mode 100644 index 094286181..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_math.h +++ /dev/null @@ -1,468 +0,0 @@ -#ifndef __NPY_MATH_C99_H_ -#define __NPY_MATH_C99_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#ifdef __SUNPRO_CC -#include -#endif -#ifdef HAVE_NPY_CONFIG_H -#include -#endif -#include - - -/* - * NAN and INFINITY like macros (same behavior as glibc for NAN, same as C99 - * for INFINITY) - * - * XXX: I should test whether INFINITY and NAN are available on the platform - */ -NPY_INLINE static float __npy_inff(void) -{ - const union { npy_uint32 __i; float __f;} __bint = {0x7f800000UL}; - return __bint.__f; -} - -NPY_INLINE static float __npy_nanf(void) -{ - const union { npy_uint32 __i; float __f;} __bint = {0x7fc00000UL}; - return __bint.__f; -} - -NPY_INLINE static float __npy_pzerof(void) -{ - const union { npy_uint32 __i; float __f;} __bint = {0x00000000UL}; - return __bint.__f; -} - -NPY_INLINE static float __npy_nzerof(void) -{ - const union { npy_uint32 __i; float __f;} __bint = {0x80000000UL}; - return __bint.__f; -} - -#define NPY_INFINITYF __npy_inff() -#define NPY_NANF __npy_nanf() -#define NPY_PZEROF __npy_pzerof() -#define NPY_NZEROF __npy_nzerof() - -#define NPY_INFINITY ((npy_double)NPY_INFINITYF) -#define NPY_NAN ((npy_double)NPY_NANF) -#define NPY_PZERO ((npy_double)NPY_PZEROF) -#define NPY_NZERO ((npy_double)NPY_NZEROF) - -#define NPY_INFINITYL ((npy_longdouble)NPY_INFINITYF) -#define NPY_NANL ((npy_longdouble)NPY_NANF) -#define NPY_PZEROL ((npy_longdouble)NPY_PZEROF) -#define NPY_NZEROL ((npy_longdouble)NPY_NZEROF) - -/* - * Useful constants - */ -#define NPY_E 2.718281828459045235360287471352662498 /* e */ -#define NPY_LOG2E 1.442695040888963407359924681001892137 /* log_2 e */ -#define NPY_LOG10E 0.434294481903251827651128918916605082 /* log_10 e */ -#define NPY_LOGE2 0.693147180559945309417232121458176568 /* log_e 2 */ -#define NPY_LOGE10 2.302585092994045684017991454684364208 /* log_e 10 */ -#define NPY_PI 3.141592653589793238462643383279502884 /* pi */ -#define NPY_PI_2 1.570796326794896619231321691639751442 /* pi/2 */ -#define NPY_PI_4 0.785398163397448309615660845819875721 /* pi/4 */ -#define NPY_1_PI 0.318309886183790671537767526745028724 /* 1/pi */ -#define NPY_2_PI 0.636619772367581343075535053490057448 /* 2/pi */ -#define NPY_EULER 0.577215664901532860606512090082402431 /* Euler constant */ -#define NPY_SQRT2 1.414213562373095048801688724209698079 /* sqrt(2) */ -#define NPY_SQRT1_2 0.707106781186547524400844362104849039 /* 1/sqrt(2) */ - -#define NPY_Ef 2.718281828459045235360287471352662498F /* e */ -#define NPY_LOG2Ef 1.442695040888963407359924681001892137F /* log_2 e */ -#define NPY_LOG10Ef 0.434294481903251827651128918916605082F /* log_10 e */ -#define NPY_LOGE2f 0.693147180559945309417232121458176568F /* log_e 2 */ -#define NPY_LOGE10f 2.302585092994045684017991454684364208F /* log_e 10 */ -#define NPY_PIf 3.141592653589793238462643383279502884F /* pi */ -#define NPY_PI_2f 1.570796326794896619231321691639751442F /* pi/2 */ -#define NPY_PI_4f 0.785398163397448309615660845819875721F /* pi/4 */ -#define NPY_1_PIf 0.318309886183790671537767526745028724F /* 1/pi */ -#define NPY_2_PIf 0.636619772367581343075535053490057448F /* 2/pi */ -#define NPY_EULERf 0.577215664901532860606512090082402431F /* Euler constan*/ -#define NPY_SQRT2f 1.414213562373095048801688724209698079F /* sqrt(2) */ -#define NPY_SQRT1_2f 0.707106781186547524400844362104849039F /* 1/sqrt(2) */ - -#define NPY_El 2.718281828459045235360287471352662498L /* e */ -#define NPY_LOG2El 1.442695040888963407359924681001892137L /* log_2 e */ -#define NPY_LOG10El 0.434294481903251827651128918916605082L /* log_10 e */ -#define NPY_LOGE2l 0.693147180559945309417232121458176568L /* log_e 2 */ -#define NPY_LOGE10l 2.302585092994045684017991454684364208L /* log_e 10 */ -#define NPY_PIl 3.141592653589793238462643383279502884L /* pi */ -#define NPY_PI_2l 1.570796326794896619231321691639751442L /* pi/2 */ -#define NPY_PI_4l 0.785398163397448309615660845819875721L /* pi/4 */ -#define NPY_1_PIl 0.318309886183790671537767526745028724L /* 1/pi */ -#define NPY_2_PIl 0.636619772367581343075535053490057448L /* 2/pi */ -#define NPY_EULERl 0.577215664901532860606512090082402431L /* Euler constan*/ -#define NPY_SQRT2l 1.414213562373095048801688724209698079L /* sqrt(2) */ -#define NPY_SQRT1_2l 0.707106781186547524400844362104849039L /* 1/sqrt(2) */ - -/* - * C99 double math funcs - */ -double npy_sin(double x); -double npy_cos(double x); -double npy_tan(double x); -double npy_sinh(double x); -double npy_cosh(double x); -double npy_tanh(double x); - -double npy_asin(double x); -double npy_acos(double x); -double npy_atan(double x); -double npy_aexp(double x); -double npy_alog(double x); -double npy_asqrt(double x); -double npy_afabs(double x); - -double npy_log(double x); -double npy_log10(double x); -double npy_exp(double x); -double npy_sqrt(double x); - -double npy_fabs(double x); -double npy_ceil(double x); -double npy_fmod(double x, double y); -double npy_floor(double x); - -double npy_expm1(double x); -double npy_log1p(double x); -double npy_hypot(double x, double y); -double npy_acosh(double x); -double npy_asinh(double xx); -double npy_atanh(double x); -double npy_rint(double x); -double npy_trunc(double x); -double npy_exp2(double x); -double npy_log2(double x); - -double npy_atan2(double x, double y); -double npy_pow(double x, double y); -double npy_modf(double x, double* y); - -double npy_copysign(double x, double y); -double npy_nextafter(double x, double y); -double npy_spacing(double x); - -/* - * IEEE 754 fpu handling. Those are guaranteed to be macros - */ - -/* use builtins to avoid function calls in tight loops - * only available if npy_config.h is available (= numpys own build) */ -#if HAVE___BUILTIN_ISNAN - #define npy_isnan(x) __builtin_isnan(x) -#else - #ifndef NPY_HAVE_DECL_ISNAN - #define npy_isnan(x) ((x) != (x)) - #else - #ifdef _MSC_VER - #define npy_isnan(x) _isnan((x)) - #else - #define npy_isnan(x) isnan(x) - #endif - #endif -#endif - - -/* only available if npy_config.h is available (= numpys own build) */ -#if HAVE___BUILTIN_ISFINITE - #define npy_isfinite(x) __builtin_isfinite(x) -#else - #ifndef NPY_HAVE_DECL_ISFINITE - #ifdef _MSC_VER - #define npy_isfinite(x) _finite((x)) - #else - #define npy_isfinite(x) !npy_isnan((x) + (-x)) - #endif - #else - #define npy_isfinite(x) isfinite((x)) - #endif -#endif - -/* only available if npy_config.h is available (= numpys own build) */ -#if HAVE___BUILTIN_ISINF - #define npy_isinf(x) __builtin_isinf(x) -#else - #ifndef NPY_HAVE_DECL_ISINF - #define npy_isinf(x) (!npy_isfinite(x) && !npy_isnan(x)) - #else - #ifdef _MSC_VER - #define npy_isinf(x) (!_finite((x)) && !_isnan((x))) - #else - #define npy_isinf(x) isinf((x)) - #endif - #endif -#endif - -#ifndef NPY_HAVE_DECL_SIGNBIT - int _npy_signbit_f(float x); - int _npy_signbit_d(double x); - int _npy_signbit_ld(long double x); - #define npy_signbit(x) \ - (sizeof (x) == sizeof (long double) ? _npy_signbit_ld (x) \ - : sizeof (x) == sizeof (double) ? _npy_signbit_d (x) \ - : _npy_signbit_f (x)) -#else - #define npy_signbit(x) signbit((x)) -#endif - -/* - * float C99 math functions - */ - -float npy_sinf(float x); -float npy_cosf(float x); -float npy_tanf(float x); -float npy_sinhf(float x); -float npy_coshf(float x); -float npy_tanhf(float x); -float npy_fabsf(float x); -float npy_floorf(float x); -float npy_ceilf(float x); -float npy_rintf(float x); -float npy_truncf(float x); -float npy_sqrtf(float x); -float npy_log10f(float x); -float npy_logf(float x); -float npy_expf(float x); -float npy_expm1f(float x); -float npy_asinf(float x); -float npy_acosf(float x); -float npy_atanf(float x); -float npy_asinhf(float x); -float npy_acoshf(float x); -float npy_atanhf(float x); -float npy_log1pf(float x); -float npy_exp2f(float x); -float npy_log2f(float x); - -float npy_atan2f(float x, float y); -float npy_hypotf(float x, float y); -float npy_powf(float x, float y); -float npy_fmodf(float x, float y); - -float npy_modff(float x, float* y); - -float npy_copysignf(float x, float y); -float npy_nextafterf(float x, float y); -float npy_spacingf(float x); - -/* - * float C99 math functions - */ - -npy_longdouble npy_sinl(npy_longdouble x); -npy_longdouble npy_cosl(npy_longdouble x); -npy_longdouble npy_tanl(npy_longdouble x); -npy_longdouble npy_sinhl(npy_longdouble x); -npy_longdouble npy_coshl(npy_longdouble x); -npy_longdouble npy_tanhl(npy_longdouble x); -npy_longdouble npy_fabsl(npy_longdouble x); -npy_longdouble npy_floorl(npy_longdouble x); -npy_longdouble npy_ceill(npy_longdouble x); -npy_longdouble npy_rintl(npy_longdouble x); -npy_longdouble npy_truncl(npy_longdouble x); -npy_longdouble npy_sqrtl(npy_longdouble x); -npy_longdouble npy_log10l(npy_longdouble x); -npy_longdouble npy_logl(npy_longdouble x); -npy_longdouble npy_expl(npy_longdouble x); -npy_longdouble npy_expm1l(npy_longdouble x); -npy_longdouble npy_asinl(npy_longdouble x); -npy_longdouble npy_acosl(npy_longdouble x); -npy_longdouble npy_atanl(npy_longdouble x); -npy_longdouble npy_asinhl(npy_longdouble x); -npy_longdouble npy_acoshl(npy_longdouble x); -npy_longdouble npy_atanhl(npy_longdouble x); -npy_longdouble npy_log1pl(npy_longdouble x); -npy_longdouble npy_exp2l(npy_longdouble x); -npy_longdouble npy_log2l(npy_longdouble x); - -npy_longdouble npy_atan2l(npy_longdouble x, npy_longdouble y); -npy_longdouble npy_hypotl(npy_longdouble x, npy_longdouble y); -npy_longdouble npy_powl(npy_longdouble x, npy_longdouble y); -npy_longdouble npy_fmodl(npy_longdouble x, npy_longdouble y); - -npy_longdouble npy_modfl(npy_longdouble x, npy_longdouble* y); - -npy_longdouble npy_copysignl(npy_longdouble x, npy_longdouble y); -npy_longdouble npy_nextafterl(npy_longdouble x, npy_longdouble y); -npy_longdouble npy_spacingl(npy_longdouble x); - -/* - * Non standard functions - */ -double npy_deg2rad(double x); -double npy_rad2deg(double x); -double npy_logaddexp(double x, double y); -double npy_logaddexp2(double x, double y); - -float npy_deg2radf(float x); -float npy_rad2degf(float x); -float npy_logaddexpf(float x, float y); -float npy_logaddexp2f(float x, float y); - -npy_longdouble npy_deg2radl(npy_longdouble x); -npy_longdouble npy_rad2degl(npy_longdouble x); -npy_longdouble npy_logaddexpl(npy_longdouble x, npy_longdouble y); -npy_longdouble npy_logaddexp2l(npy_longdouble x, npy_longdouble y); - -#define npy_degrees npy_rad2deg -#define npy_degreesf npy_rad2degf -#define npy_degreesl npy_rad2degl - -#define npy_radians npy_deg2rad -#define npy_radiansf npy_deg2radf -#define npy_radiansl npy_deg2radl - -/* - * Complex declarations - */ - -/* - * C99 specifies that complex numbers have the same representation as - * an array of two elements, where the first element is the real part - * and the second element is the imaginary part. - */ -#define __NPY_CPACK_IMP(x, y, type, ctype) \ - union { \ - ctype z; \ - type a[2]; \ - } z1;; \ - \ - z1.a[0] = (x); \ - z1.a[1] = (y); \ - \ - return z1.z; - -static NPY_INLINE npy_cdouble npy_cpack(double x, double y) -{ - __NPY_CPACK_IMP(x, y, double, npy_cdouble); -} - -static NPY_INLINE npy_cfloat npy_cpackf(float x, float y) -{ - __NPY_CPACK_IMP(x, y, float, npy_cfloat); -} - -static NPY_INLINE npy_clongdouble npy_cpackl(npy_longdouble x, npy_longdouble y) -{ - __NPY_CPACK_IMP(x, y, npy_longdouble, npy_clongdouble); -} -#undef __NPY_CPACK_IMP - -/* - * Same remark as above, but in the other direction: extract first/second - * member of complex number, assuming a C99-compatible representation - * - * Those are defineds as static inline, and such as a reasonable compiler would - * most likely compile this to one or two instructions (on CISC at least) - */ -#define __NPY_CEXTRACT_IMP(z, index, type, ctype) \ - union { \ - ctype z; \ - type a[2]; \ - } __z_repr; \ - __z_repr.z = z; \ - \ - return __z_repr.a[index]; - -static NPY_INLINE double npy_creal(npy_cdouble z) -{ - __NPY_CEXTRACT_IMP(z, 0, double, npy_cdouble); -} - -static NPY_INLINE double npy_cimag(npy_cdouble z) -{ - __NPY_CEXTRACT_IMP(z, 1, double, npy_cdouble); -} - -static NPY_INLINE float npy_crealf(npy_cfloat z) -{ - __NPY_CEXTRACT_IMP(z, 0, float, npy_cfloat); -} - -static NPY_INLINE float npy_cimagf(npy_cfloat z) -{ - __NPY_CEXTRACT_IMP(z, 1, float, npy_cfloat); -} - -static NPY_INLINE npy_longdouble npy_creall(npy_clongdouble z) -{ - __NPY_CEXTRACT_IMP(z, 0, npy_longdouble, npy_clongdouble); -} - -static NPY_INLINE npy_longdouble npy_cimagl(npy_clongdouble z) -{ - __NPY_CEXTRACT_IMP(z, 1, npy_longdouble, npy_clongdouble); -} -#undef __NPY_CEXTRACT_IMP - -/* - * Double precision complex functions - */ -double npy_cabs(npy_cdouble z); -double npy_carg(npy_cdouble z); - -npy_cdouble npy_cexp(npy_cdouble z); -npy_cdouble npy_clog(npy_cdouble z); -npy_cdouble npy_cpow(npy_cdouble x, npy_cdouble y); - -npy_cdouble npy_csqrt(npy_cdouble z); - -npy_cdouble npy_ccos(npy_cdouble z); -npy_cdouble npy_csin(npy_cdouble z); - -/* - * Single precision complex functions - */ -float npy_cabsf(npy_cfloat z); -float npy_cargf(npy_cfloat z); - -npy_cfloat npy_cexpf(npy_cfloat z); -npy_cfloat npy_clogf(npy_cfloat z); -npy_cfloat npy_cpowf(npy_cfloat x, npy_cfloat y); - -npy_cfloat npy_csqrtf(npy_cfloat z); - -npy_cfloat npy_ccosf(npy_cfloat z); -npy_cfloat npy_csinf(npy_cfloat z); - -/* - * Extended precision complex functions - */ -npy_longdouble npy_cabsl(npy_clongdouble z); -npy_longdouble npy_cargl(npy_clongdouble z); - -npy_clongdouble npy_cexpl(npy_clongdouble z); -npy_clongdouble npy_clogl(npy_clongdouble z); -npy_clongdouble npy_cpowl(npy_clongdouble x, npy_clongdouble y); - -npy_clongdouble npy_csqrtl(npy_clongdouble z); - -npy_clongdouble npy_ccosl(npy_clongdouble z); -npy_clongdouble npy_csinl(npy_clongdouble z); - -/* - * Functions that set the floating point error - * status word. - */ - -void npy_set_floatstatus_divbyzero(void); -void npy_set_floatstatus_overflow(void); -void npy_set_floatstatus_underflow(void); -void npy_set_floatstatus_invalid(void); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h deleted file mode 100644 index 6183dc278..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_no_deprecated_api.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - * This include file is provided for inclusion in Cython *.pyd files where - * one would like to define the NPY_NO_DEPRECATED_API macro. It can be - * included by - * - * cdef extern from "npy_no_deprecated_api.h": pass - * - */ -#ifndef NPY_NO_DEPRECATED_API - -/* put this check here since there may be multiple includes in C extensions. */ -#if defined(NDARRAYTYPES_H) || defined(_NPY_DEPRECATED_API_H) || \ - defined(OLD_DEFINES_H) -#error "npy_no_deprecated_api.h" must be first among numpy includes. -#else -#define NPY_NO_DEPRECATED_API NPY_API_VERSION -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h b/gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h deleted file mode 100644 index 9228c3916..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/npy_os.h +++ /dev/null @@ -1,30 +0,0 @@ -#ifndef _NPY_OS_H_ -#define _NPY_OS_H_ - -#if defined(linux) || defined(__linux) || defined(__linux__) - #define NPY_OS_LINUX -#elif defined(__FreeBSD__) || defined(__NetBSD__) || \ - defined(__OpenBSD__) || defined(__DragonFly__) - #define NPY_OS_BSD - #ifdef __FreeBSD__ - #define NPY_OS_FREEBSD - #elif defined(__NetBSD__) - #define NPY_OS_NETBSD - #elif defined(__OpenBSD__) - #define NPY_OS_OPENBSD - #elif defined(__DragonFly__) - #define NPY_OS_DRAGONFLY - #endif -#elif defined(sun) || defined(__sun) - #define NPY_OS_SOLARIS -#elif defined(__CYGWIN__) - #define NPY_OS_CYGWIN -#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) - #define NPY_OS_WIN32 -#elif defined(__APPLE__) - #define NPY_OS_DARWIN -#else - #define NPY_OS_UNKNOWN -#endif - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h b/gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h deleted file mode 100644 index 5ca171f21..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/numpyconfig.h +++ /dev/null @@ -1,34 +0,0 @@ -#ifndef _NPY_NUMPYCONFIG_H_ -#define _NPY_NUMPYCONFIG_H_ - -#include "_numpyconfig.h" - -/* - * On Mac OS X, because there is only one configuration stage for all the archs - * in universal builds, any macro which depends on the arch needs to be - * harcoded - */ -#ifdef __APPLE__ - #undef NPY_SIZEOF_LONG - #undef NPY_SIZEOF_PY_INTPTR_T - - #ifdef __LP64__ - #define NPY_SIZEOF_LONG 8 - #define NPY_SIZEOF_PY_INTPTR_T 8 - #else - #define NPY_SIZEOF_LONG 4 - #define NPY_SIZEOF_PY_INTPTR_T 4 - #endif -#endif - -/** - * To help with the NPY_NO_DEPRECATED_API macro, we include API version - * numbers for specific versions of NumPy. To exclude all API that was - * deprecated as of 1.7, add the following before #including any NumPy - * headers: - * #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION - */ -#define NPY_1_7_API_VERSION 0x00000007 -#define NPY_1_8_API_VERSION 0x00000008 - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h b/gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h deleted file mode 100644 index abf81595a..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/old_defines.h +++ /dev/null @@ -1,187 +0,0 @@ -/* This header is deprecated as of NumPy 1.7 */ -#ifndef OLD_DEFINES_H -#define OLD_DEFINES_H - -#if defined(NPY_NO_DEPRECATED_API) && NPY_NO_DEPRECATED_API >= NPY_1_7_API_VERSION -#error The header "old_defines.h" is deprecated as of NumPy 1.7. -#endif - -#define NDARRAY_VERSION NPY_VERSION - -#define PyArray_MIN_BUFSIZE NPY_MIN_BUFSIZE -#define PyArray_MAX_BUFSIZE NPY_MAX_BUFSIZE -#define PyArray_BUFSIZE NPY_BUFSIZE - -#define PyArray_PRIORITY NPY_PRIORITY -#define PyArray_SUBTYPE_PRIORITY NPY_PRIORITY -#define PyArray_NUM_FLOATTYPE NPY_NUM_FLOATTYPE - -#define NPY_MAX PyArray_MAX -#define NPY_MIN PyArray_MIN - -#define PyArray_TYPES NPY_TYPES -#define PyArray_BOOL NPY_BOOL -#define PyArray_BYTE NPY_BYTE -#define PyArray_UBYTE NPY_UBYTE -#define PyArray_SHORT NPY_SHORT -#define PyArray_USHORT NPY_USHORT -#define PyArray_INT NPY_INT -#define PyArray_UINT NPY_UINT -#define PyArray_LONG NPY_LONG -#define PyArray_ULONG NPY_ULONG -#define PyArray_LONGLONG NPY_LONGLONG -#define PyArray_ULONGLONG NPY_ULONGLONG -#define PyArray_HALF NPY_HALF -#define PyArray_FLOAT NPY_FLOAT -#define PyArray_DOUBLE NPY_DOUBLE -#define PyArray_LONGDOUBLE NPY_LONGDOUBLE -#define PyArray_CFLOAT NPY_CFLOAT -#define PyArray_CDOUBLE NPY_CDOUBLE -#define PyArray_CLONGDOUBLE NPY_CLONGDOUBLE -#define PyArray_OBJECT NPY_OBJECT -#define PyArray_STRING NPY_STRING -#define PyArray_UNICODE NPY_UNICODE -#define PyArray_VOID NPY_VOID -#define PyArray_DATETIME NPY_DATETIME -#define PyArray_TIMEDELTA NPY_TIMEDELTA -#define PyArray_NTYPES NPY_NTYPES -#define PyArray_NOTYPE NPY_NOTYPE -#define PyArray_CHAR NPY_CHAR -#define PyArray_USERDEF NPY_USERDEF -#define PyArray_NUMUSERTYPES NPY_NUMUSERTYPES - -#define PyArray_INTP NPY_INTP -#define PyArray_UINTP NPY_UINTP - -#define PyArray_INT8 NPY_INT8 -#define PyArray_UINT8 NPY_UINT8 -#define PyArray_INT16 NPY_INT16 -#define PyArray_UINT16 NPY_UINT16 -#define PyArray_INT32 NPY_INT32 -#define PyArray_UINT32 NPY_UINT32 - -#ifdef NPY_INT64 -#define PyArray_INT64 NPY_INT64 -#define PyArray_UINT64 NPY_UINT64 -#endif - -#ifdef NPY_INT128 -#define PyArray_INT128 NPY_INT128 -#define PyArray_UINT128 NPY_UINT128 -#endif - -#ifdef NPY_FLOAT16 -#define PyArray_FLOAT16 NPY_FLOAT16 -#define PyArray_COMPLEX32 NPY_COMPLEX32 -#endif - -#ifdef NPY_FLOAT80 -#define PyArray_FLOAT80 NPY_FLOAT80 -#define PyArray_COMPLEX160 NPY_COMPLEX160 -#endif - -#ifdef NPY_FLOAT96 -#define PyArray_FLOAT96 NPY_FLOAT96 -#define PyArray_COMPLEX192 NPY_COMPLEX192 -#endif - -#ifdef NPY_FLOAT128 -#define PyArray_FLOAT128 NPY_FLOAT128 -#define PyArray_COMPLEX256 NPY_COMPLEX256 -#endif - -#define PyArray_FLOAT32 NPY_FLOAT32 -#define PyArray_COMPLEX64 NPY_COMPLEX64 -#define PyArray_FLOAT64 NPY_FLOAT64 -#define PyArray_COMPLEX128 NPY_COMPLEX128 - - -#define PyArray_TYPECHAR NPY_TYPECHAR -#define PyArray_BOOLLTR NPY_BOOLLTR -#define PyArray_BYTELTR NPY_BYTELTR -#define PyArray_UBYTELTR NPY_UBYTELTR -#define PyArray_SHORTLTR NPY_SHORTLTR -#define PyArray_USHORTLTR NPY_USHORTLTR -#define PyArray_INTLTR NPY_INTLTR -#define PyArray_UINTLTR NPY_UINTLTR -#define PyArray_LONGLTR NPY_LONGLTR -#define PyArray_ULONGLTR NPY_ULONGLTR -#define PyArray_LONGLONGLTR NPY_LONGLONGLTR -#define PyArray_ULONGLONGLTR NPY_ULONGLONGLTR -#define PyArray_HALFLTR NPY_HALFLTR -#define PyArray_FLOATLTR NPY_FLOATLTR -#define PyArray_DOUBLELTR NPY_DOUBLELTR -#define PyArray_LONGDOUBLELTR NPY_LONGDOUBLELTR -#define PyArray_CFLOATLTR NPY_CFLOATLTR -#define PyArray_CDOUBLELTR NPY_CDOUBLELTR -#define PyArray_CLONGDOUBLELTR NPY_CLONGDOUBLELTR -#define PyArray_OBJECTLTR NPY_OBJECTLTR -#define PyArray_STRINGLTR NPY_STRINGLTR -#define PyArray_STRINGLTR2 NPY_STRINGLTR2 -#define PyArray_UNICODELTR NPY_UNICODELTR -#define PyArray_VOIDLTR NPY_VOIDLTR -#define PyArray_DATETIMELTR NPY_DATETIMELTR -#define PyArray_TIMEDELTALTR NPY_TIMEDELTALTR -#define PyArray_CHARLTR NPY_CHARLTR -#define PyArray_INTPLTR NPY_INTPLTR -#define PyArray_UINTPLTR NPY_UINTPLTR -#define PyArray_GENBOOLLTR NPY_GENBOOLLTR -#define PyArray_SIGNEDLTR NPY_SIGNEDLTR -#define PyArray_UNSIGNEDLTR NPY_UNSIGNEDLTR -#define PyArray_FLOATINGLTR NPY_FLOATINGLTR -#define PyArray_COMPLEXLTR NPY_COMPLEXLTR - -#define PyArray_QUICKSORT NPY_QUICKSORT -#define PyArray_HEAPSORT NPY_HEAPSORT -#define PyArray_MERGESORT NPY_MERGESORT -#define PyArray_SORTKIND NPY_SORTKIND -#define PyArray_NSORTS NPY_NSORTS - -#define PyArray_NOSCALAR NPY_NOSCALAR -#define PyArray_BOOL_SCALAR NPY_BOOL_SCALAR -#define PyArray_INTPOS_SCALAR NPY_INTPOS_SCALAR -#define PyArray_INTNEG_SCALAR NPY_INTNEG_SCALAR -#define PyArray_FLOAT_SCALAR NPY_FLOAT_SCALAR -#define PyArray_COMPLEX_SCALAR NPY_COMPLEX_SCALAR -#define PyArray_OBJECT_SCALAR NPY_OBJECT_SCALAR -#define PyArray_SCALARKIND NPY_SCALARKIND -#define PyArray_NSCALARKINDS NPY_NSCALARKINDS - -#define PyArray_ANYORDER NPY_ANYORDER -#define PyArray_CORDER NPY_CORDER -#define PyArray_FORTRANORDER NPY_FORTRANORDER -#define PyArray_ORDER NPY_ORDER - -#define PyDescr_ISBOOL PyDataType_ISBOOL -#define PyDescr_ISUNSIGNED PyDataType_ISUNSIGNED -#define PyDescr_ISSIGNED PyDataType_ISSIGNED -#define PyDescr_ISINTEGER PyDataType_ISINTEGER -#define PyDescr_ISFLOAT PyDataType_ISFLOAT -#define PyDescr_ISNUMBER PyDataType_ISNUMBER -#define PyDescr_ISSTRING PyDataType_ISSTRING -#define PyDescr_ISCOMPLEX PyDataType_ISCOMPLEX -#define PyDescr_ISPYTHON PyDataType_ISPYTHON -#define PyDescr_ISFLEXIBLE PyDataType_ISFLEXIBLE -#define PyDescr_ISUSERDEF PyDataType_ISUSERDEF -#define PyDescr_ISEXTENDED PyDataType_ISEXTENDED -#define PyDescr_ISOBJECT PyDataType_ISOBJECT -#define PyDescr_HASFIELDS PyDataType_HASFIELDS - -#define PyArray_LITTLE NPY_LITTLE -#define PyArray_BIG NPY_BIG -#define PyArray_NATIVE NPY_NATIVE -#define PyArray_SWAP NPY_SWAP -#define PyArray_IGNORE NPY_IGNORE - -#define PyArray_NATBYTE NPY_NATBYTE -#define PyArray_OPPBYTE NPY_OPPBYTE - -#define PyArray_MAX_ELSIZE NPY_MAX_ELSIZE - -#define PyArray_USE_PYMEM NPY_USE_PYMEM - -#define PyArray_RemoveLargest PyArray_RemoveSmallest - -#define PyArray_UCS4 npy_ucs4 - -#endif diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h b/gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h deleted file mode 100644 index 748f06da3..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/oldnumeric.h +++ /dev/null @@ -1,23 +0,0 @@ -#include "arrayobject.h" - -#ifndef REFCOUNT -# define REFCOUNT NPY_REFCOUNT -# define MAX_ELSIZE 16 -#endif - -#define PyArray_UNSIGNED_TYPES -#define PyArray_SBYTE NPY_BYTE -#define PyArray_CopyArray PyArray_CopyInto -#define _PyArray_multiply_list PyArray_MultiplyIntList -#define PyArray_ISSPACESAVER(m) NPY_FALSE -#define PyScalarArray_Check PyArray_CheckScalar - -#define CONTIGUOUS NPY_CONTIGUOUS -#define OWN_DIMENSIONS 0 -#define OWN_STRIDES 0 -#define OWN_DATA NPY_OWNDATA -#define SAVESPACE 0 -#define SAVESPACEBIT 0 - -#undef import_array -#define import_array() { if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); } } diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt b/gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt deleted file mode 100644 index a90865d2f..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/ufunc_api.txt +++ /dev/null @@ -1,321 +0,0 @@ - -================= -Numpy Ufunc C-API -================= -:: - - PyObject * - PyUFunc_FromFuncAndData(PyUFuncGenericFunction *func, void - **data, char *types, int ntypes, int nin, int - nout, int identity, char *name, char *doc, int - check_return) - - -:: - - int - PyUFunc_RegisterLoopForType(PyUFuncObject *ufunc, int - usertype, PyUFuncGenericFunction - function, int *arg_types, void *data) - - -:: - - int - PyUFunc_GenericFunction(PyUFuncObject *ufunc, PyObject *args, PyObject - *kwds, PyArrayObject **op) - - -This generic function is called with the ufunc object, the arguments to it, -and an array of (pointers to) PyArrayObjects which are NULL. - -'op' is an array of at least NPY_MAXARGS PyArrayObject *. - -:: - - void - PyUFunc_f_f_As_d_d(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_d_d(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_f_f(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_g_g(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_F_F_As_D_D(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_F_F(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_D_D(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_G_G(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_O_O(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_ff_f_As_dd_d(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_ff_f(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_dd_d(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_gg_g(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_FF_F_As_DD_D(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_DD_D(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_FF_F(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_GG_G(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_OO_O(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_O_O_method(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_OO_O_method(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_On_Om(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - int - PyUFunc_GetPyValues(char *name, int *bufsize, int *errmask, PyObject - **errobj) - - -On return, if errobj is populated with a non-NULL value, the caller -owns a new reference to errobj. - -:: - - int - PyUFunc_checkfperr(int errmask, PyObject *errobj, int *first) - - -:: - - void - PyUFunc_clearfperr() - - -:: - - int - PyUFunc_getfperr(void ) - - -:: - - int - PyUFunc_handlefperr(int errmask, PyObject *errobj, int retstatus, int - *first) - - -:: - - int - PyUFunc_ReplaceLoopBySignature(PyUFuncObject - *func, PyUFuncGenericFunction - newfunc, int - *signature, PyUFuncGenericFunction - *oldfunc) - - -:: - - PyObject * - PyUFunc_FromFuncAndDataAndSignature(PyUFuncGenericFunction *func, void - **data, char *types, int - ntypes, int nin, int nout, int - identity, char *name, char - *doc, int check_return, const char - *signature) - - -:: - - int - PyUFunc_SetUsesArraysAsData(void **data, size_t i) - - -:: - - void - PyUFunc_e_e(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_e_e_As_f_f(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_e_e_As_d_d(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_ee_e(char **args, npy_intp *dimensions, npy_intp *steps, void - *func) - - -:: - - void - PyUFunc_ee_e_As_ff_f(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - void - PyUFunc_ee_e_As_dd_d(char **args, npy_intp *dimensions, npy_intp - *steps, void *func) - - -:: - - int - PyUFunc_DefaultTypeResolver(PyUFuncObject *ufunc, NPY_CASTING - casting, PyArrayObject - **operands, PyObject - *type_tup, PyArray_Descr **out_dtypes) - - -This function applies the default type resolution rules -for the provided ufunc. - -Returns 0 on success, -1 on error. - -:: - - int - PyUFunc_ValidateCasting(PyUFuncObject *ufunc, NPY_CASTING - casting, PyArrayObject - **operands, PyArray_Descr **dtypes) - - -Validates that the input operands can be cast to -the input types, and the output types can be cast to -the output operands where provided. - -Returns 0 on success, -1 (with exception raised) on validation failure. - -:: - - int - PyUFunc_RegisterLoopForDescr(PyUFuncObject *ufunc, PyArray_Descr - *user_dtype, PyUFuncGenericFunction - function, PyArray_Descr - **arg_dtypes, void *data) - - diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h b/gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h deleted file mode 100644 index 423fbc279..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/ufuncobject.h +++ /dev/null @@ -1,479 +0,0 @@ -#ifndef Py_UFUNCOBJECT_H -#define Py_UFUNCOBJECT_H - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * The legacy generic inner loop for a standard element-wise or - * generalized ufunc. - */ -typedef void (*PyUFuncGenericFunction) - (char **args, - npy_intp *dimensions, - npy_intp *strides, - void *innerloopdata); - -/* - * The most generic one-dimensional inner loop for - * a standard element-wise ufunc. This typedef is also - * more consistent with the other NumPy function pointer typedefs - * than PyUFuncGenericFunction. - */ -typedef void (PyUFunc_StridedInnerLoopFunc)( - char **dataptrs, npy_intp *strides, - npy_intp count, - NpyAuxData *innerloopdata); - -/* - * The most generic one-dimensional inner loop for - * a masked standard element-wise ufunc. "Masked" here means that it skips - * doing calculations on any items for which the maskptr array has a true - * value. - */ -typedef void (PyUFunc_MaskedStridedInnerLoopFunc)( - char **dataptrs, npy_intp *strides, - char *maskptr, npy_intp mask_stride, - npy_intp count, - NpyAuxData *innerloopdata); - -/* Forward declaration for the type resolver and loop selector typedefs */ -struct _tagPyUFuncObject; - -/* - * Given the operands for calling a ufunc, should determine the - * calculation input and output data types and return an inner loop function. - * This function should validate that the casting rule is being followed, - * and fail if it is not. - * - * For backwards compatibility, the regular type resolution function does not - * support auxiliary data with object semantics. The type resolution call - * which returns a masked generic function returns a standard NpyAuxData - * object, for which the NPY_AUXDATA_FREE and NPY_AUXDATA_CLONE macros - * work. - * - * ufunc: The ufunc object. - * casting: The 'casting' parameter provided to the ufunc. - * operands: An array of length (ufunc->nin + ufunc->nout), - * with the output parameters possibly NULL. - * type_tup: Either NULL, or the type_tup passed to the ufunc. - * out_dtypes: An array which should be populated with new - * references to (ufunc->nin + ufunc->nout) new - * dtypes, one for each input and output. These - * dtypes should all be in native-endian format. - * - * Should return 0 on success, -1 on failure (with exception set), - * or -2 if Py_NotImplemented should be returned. - */ -typedef int (PyUFunc_TypeResolutionFunc)( - struct _tagPyUFuncObject *ufunc, - NPY_CASTING casting, - PyArrayObject **operands, - PyObject *type_tup, - PyArray_Descr **out_dtypes); - -/* - * Given an array of DTypes as returned by the PyUFunc_TypeResolutionFunc, - * and an array of fixed strides (the array will contain NPY_MAX_INTP for - * strides which are not necessarily fixed), returns an inner loop - * with associated auxiliary data. - * - * For backwards compatibility, there is a variant of the inner loop - * selection which returns an inner loop irrespective of the strides, - * and with a void* static auxiliary data instead of an NpyAuxData * - * dynamically allocatable auxiliary data. - * - * ufunc: The ufunc object. - * dtypes: An array which has been populated with dtypes, - * in most cases by the type resolution funciton - * for the same ufunc. - * fixed_strides: For each input/output, either the stride that - * will be used every time the function is called - * or NPY_MAX_INTP if the stride might change or - * is not known ahead of time. The loop selection - * function may use this stride to pick inner loops - * which are optimized for contiguous or 0-stride - * cases. - * out_innerloop: Should be populated with the correct ufunc inner - * loop for the given type. - * out_innerloopdata: Should be populated with the void* data to - * be passed into the out_innerloop function. - * out_needs_api: If the inner loop needs to use the Python API, - * should set the to 1, otherwise should leave - * this untouched. - */ -typedef int (PyUFunc_LegacyInnerLoopSelectionFunc)( - struct _tagPyUFuncObject *ufunc, - PyArray_Descr **dtypes, - PyUFuncGenericFunction *out_innerloop, - void **out_innerloopdata, - int *out_needs_api); -typedef int (PyUFunc_InnerLoopSelectionFunc)( - struct _tagPyUFuncObject *ufunc, - PyArray_Descr **dtypes, - npy_intp *fixed_strides, - PyUFunc_StridedInnerLoopFunc **out_innerloop, - NpyAuxData **out_innerloopdata, - int *out_needs_api); -typedef int (PyUFunc_MaskedInnerLoopSelectionFunc)( - struct _tagPyUFuncObject *ufunc, - PyArray_Descr **dtypes, - PyArray_Descr *mask_dtype, - npy_intp *fixed_strides, - npy_intp fixed_mask_stride, - PyUFunc_MaskedStridedInnerLoopFunc **out_innerloop, - NpyAuxData **out_innerloopdata, - int *out_needs_api); - -typedef struct _tagPyUFuncObject { - PyObject_HEAD - /* - * nin: Number of inputs - * nout: Number of outputs - * nargs: Always nin + nout (Why is it stored?) - */ - int nin, nout, nargs; - - /* Identity for reduction, either PyUFunc_One or PyUFunc_Zero */ - int identity; - - /* Array of one-dimensional core loops */ - PyUFuncGenericFunction *functions; - /* Array of funcdata that gets passed into the functions */ - void **data; - /* The number of elements in 'functions' and 'data' */ - int ntypes; - - /* Does not appear to be used */ - int check_return; - - /* The name of the ufunc */ - char *name; - - /* Array of type numbers, of size ('nargs' * 'ntypes') */ - char *types; - - /* Documentation string */ - char *doc; - - void *ptr; - PyObject *obj; - PyObject *userloops; - - /* generalized ufunc parameters */ - - /* 0 for scalar ufunc; 1 for generalized ufunc */ - int core_enabled; - /* number of distinct dimension names in signature */ - int core_num_dim_ix; - - /* - * dimension indices of input/output argument k are stored in - * core_dim_ixs[core_offsets[k]..core_offsets[k]+core_num_dims[k]-1] - */ - - /* numbers of core dimensions of each argument */ - int *core_num_dims; - /* - * dimension indices in a flatted form; indices - * are in the range of [0,core_num_dim_ix) - */ - int *core_dim_ixs; - /* - * positions of 1st core dimensions of each - * argument in core_dim_ixs - */ - int *core_offsets; - /* signature string for printing purpose */ - char *core_signature; - - /* - * A function which resolves the types and fills an array - * with the dtypes for the inputs and outputs. - */ - PyUFunc_TypeResolutionFunc *type_resolver; - /* - * A function which returns an inner loop written for - * NumPy 1.6 and earlier ufuncs. This is for backwards - * compatibility, and may be NULL if inner_loop_selector - * is specified. - */ - PyUFunc_LegacyInnerLoopSelectionFunc *legacy_inner_loop_selector; - /* - * A function which returns an inner loop for the new mechanism - * in NumPy 1.7 and later. If provided, this is used, otherwise - * if NULL the legacy_inner_loop_selector is used instead. - */ - PyUFunc_InnerLoopSelectionFunc *inner_loop_selector; - /* - * A function which returns a masked inner loop for the ufunc. - */ - PyUFunc_MaskedInnerLoopSelectionFunc *masked_inner_loop_selector; - - /* - * List of flags for each operand when ufunc is called by nditer object. - * These flags will be used in addition to the default flags for each - * operand set by nditer object. - */ - npy_uint32 *op_flags; - - /* - * List of global flags used when ufunc is called by nditer object. - * These flags will be used in addition to the default global flags - * set by nditer object. - */ - npy_uint32 iter_flags; -} PyUFuncObject; - -#include "arrayobject.h" - -#define UFUNC_ERR_IGNORE 0 -#define UFUNC_ERR_WARN 1 -#define UFUNC_ERR_RAISE 2 -#define UFUNC_ERR_CALL 3 -#define UFUNC_ERR_PRINT 4 -#define UFUNC_ERR_LOG 5 - - /* Python side integer mask */ - -#define UFUNC_MASK_DIVIDEBYZERO 0x07 -#define UFUNC_MASK_OVERFLOW 0x3f -#define UFUNC_MASK_UNDERFLOW 0x1ff -#define UFUNC_MASK_INVALID 0xfff - -#define UFUNC_SHIFT_DIVIDEBYZERO 0 -#define UFUNC_SHIFT_OVERFLOW 3 -#define UFUNC_SHIFT_UNDERFLOW 6 -#define UFUNC_SHIFT_INVALID 9 - - -/* platform-dependent code translates floating point - status to an integer sum of these values -*/ -#define UFUNC_FPE_DIVIDEBYZERO 1 -#define UFUNC_FPE_OVERFLOW 2 -#define UFUNC_FPE_UNDERFLOW 4 -#define UFUNC_FPE_INVALID 8 - -/* Error mode that avoids look-up (no checking) */ -#define UFUNC_ERR_DEFAULT 0 - -#define UFUNC_OBJ_ISOBJECT 1 -#define UFUNC_OBJ_NEEDS_API 2 - - /* Default user error mode */ -#define UFUNC_ERR_DEFAULT2 \ - (UFUNC_ERR_WARN << UFUNC_SHIFT_DIVIDEBYZERO) + \ - (UFUNC_ERR_WARN << UFUNC_SHIFT_OVERFLOW) + \ - (UFUNC_ERR_WARN << UFUNC_SHIFT_INVALID) - -#if NPY_ALLOW_THREADS -#define NPY_LOOP_BEGIN_THREADS do {if (!(loop->obj & UFUNC_OBJ_NEEDS_API)) _save = PyEval_SaveThread();} while (0); -#define NPY_LOOP_END_THREADS do {if (!(loop->obj & UFUNC_OBJ_NEEDS_API)) PyEval_RestoreThread(_save);} while (0); -#else -#define NPY_LOOP_BEGIN_THREADS -#define NPY_LOOP_END_THREADS -#endif - -/* - * UFunc has unit of 1, and the order of operations can be reordered - * This case allows reduction with multiple axes at once. - */ -#define PyUFunc_One 1 -/* - * UFunc has unit of 0, and the order of operations can be reordered - * This case allows reduction with multiple axes at once. - */ -#define PyUFunc_Zero 0 -/* - * UFunc has no unit, and the order of operations cannot be reordered. - * This case does not allow reduction with multiple axes at once. - */ -#define PyUFunc_None -1 -/* - * UFunc has no unit, and the order of operations can be reordered - * This case allows reduction with multiple axes at once. - */ -#define PyUFunc_ReorderableNone -2 - -#define UFUNC_REDUCE 0 -#define UFUNC_ACCUMULATE 1 -#define UFUNC_REDUCEAT 2 -#define UFUNC_OUTER 3 - - -typedef struct { - int nin; - int nout; - PyObject *callable; -} PyUFunc_PyFuncData; - -/* A linked-list of function information for - user-defined 1-d loops. - */ -typedef struct _loop1d_info { - PyUFuncGenericFunction func; - void *data; - int *arg_types; - struct _loop1d_info *next; - int nargs; - PyArray_Descr **arg_dtypes; -} PyUFunc_Loop1d; - - -#include "__ufunc_api.h" - -#define UFUNC_PYVALS_NAME "UFUNC_PYVALS" - -#define UFUNC_CHECK_ERROR(arg) \ - do {if ((((arg)->obj & UFUNC_OBJ_NEEDS_API) && PyErr_Occurred()) || \ - ((arg)->errormask && \ - PyUFunc_checkfperr((arg)->errormask, \ - (arg)->errobj, \ - &(arg)->first))) \ - goto fail;} while (0) - -/* This code checks the IEEE status flags in a platform-dependent way */ -/* Adapted from Numarray */ - -#if (defined(__unix__) || defined(unix)) && !defined(USG) -#include -#endif - -/* OSF/Alpha (Tru64) ---------------------------------------------*/ -#if defined(__osf__) && defined(__alpha) - -#include - -#define UFUNC_CHECK_STATUS(ret) { \ - unsigned long fpstatus; \ - \ - fpstatus = ieee_get_fp_control(); \ - /* clear status bits as well as disable exception mode if on */ \ - ieee_set_fp_control( 0 ); \ - ret = ((IEEE_STATUS_DZE & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ - | ((IEEE_STATUS_OVF & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ - | ((IEEE_STATUS_UNF & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ - | ((IEEE_STATUS_INV & fpstatus) ? UFUNC_FPE_INVALID : 0); \ - } - -/* MS Windows -----------------------------------------------------*/ -#elif defined(_MSC_VER) - -#include - -/* Clear the floating point exception default of Borland C++ */ -#if defined(__BORLANDC__) -#define UFUNC_NOFPE _control87(MCW_EM, MCW_EM); -#endif - -#if defined(_WIN64) -#define UFUNC_CHECK_STATUS(ret) { \ - int fpstatus = (int) _clearfp(); \ - \ - ret = ((SW_ZERODIVIDE & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ - | ((SW_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ - | ((SW_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ - | ((SW_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ - } -#else -/* windows enables sse on 32 bit, so check both flags */ -#define UFUNC_CHECK_STATUS(ret) { \ - int fpstatus, fpstatus2; \ - _statusfp2(&fpstatus, &fpstatus2); \ - _clearfp(); \ - fpstatus |= fpstatus2; \ - \ - ret = ((SW_ZERODIVIDE & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ - | ((SW_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ - | ((SW_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ - | ((SW_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ - } -#endif - -/* Solaris --------------------------------------------------------*/ -/* --------ignoring SunOS ieee_flags approach, someone else can -** deal with that! */ -#elif defined(sun) || defined(__BSD__) || defined(__OpenBSD__) || \ - (defined(__FreeBSD__) && (__FreeBSD_version < 502114)) || \ - defined(__NetBSD__) -#include - -#define UFUNC_CHECK_STATUS(ret) { \ - int fpstatus; \ - \ - fpstatus = (int) fpgetsticky(); \ - ret = ((FP_X_DZ & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ - | ((FP_X_OFL & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ - | ((FP_X_UFL & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ - | ((FP_X_INV & fpstatus) ? UFUNC_FPE_INVALID : 0); \ - (void) fpsetsticky(0); \ - } - -#elif defined(__GLIBC__) || defined(__APPLE__) || \ - defined(__CYGWIN__) || defined(__MINGW32__) || \ - (defined(__FreeBSD__) && (__FreeBSD_version >= 502114)) - -#if defined(__GLIBC__) || defined(__APPLE__) || \ - defined(__MINGW32__) || defined(__FreeBSD__) -#include -#elif defined(__CYGWIN__) -#include "numpy/fenv/fenv.h" -#endif - -#define UFUNC_CHECK_STATUS(ret) { \ - int fpstatus = (int) fetestexcept(FE_DIVBYZERO | FE_OVERFLOW | \ - FE_UNDERFLOW | FE_INVALID); \ - ret = ((FE_DIVBYZERO & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ - | ((FE_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ - | ((FE_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ - | ((FE_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ - (void) feclearexcept(FE_DIVBYZERO | FE_OVERFLOW | \ - FE_UNDERFLOW | FE_INVALID); \ -} - -#elif defined(_AIX) - -#include -#include - -#define UFUNC_CHECK_STATUS(ret) { \ - fpflag_t fpstatus; \ - \ - fpstatus = fp_read_flag(); \ - ret = ((FP_DIV_BY_ZERO & fpstatus) ? UFUNC_FPE_DIVIDEBYZERO : 0) \ - | ((FP_OVERFLOW & fpstatus) ? UFUNC_FPE_OVERFLOW : 0) \ - | ((FP_UNDERFLOW & fpstatus) ? UFUNC_FPE_UNDERFLOW : 0) \ - | ((FP_INVALID & fpstatus) ? UFUNC_FPE_INVALID : 0); \ - fp_swap_flag(0); \ -} - -#else - -#define NO_FLOATING_POINT_SUPPORT -#define UFUNC_CHECK_STATUS(ret) { \ - ret = 0; \ - } - -#endif - -/* - * THESE MACROS ARE DEPRECATED. - * Use npy_set_floatstatus_* in the npymath library. - */ -#define generate_divbyzero_error() npy_set_floatstatus_divbyzero() -#define generate_overflow_error() npy_set_floatstatus_overflow() - - /* Make sure it gets defined if it isn't already */ -#ifndef UFUNC_NOFPE -#define UFUNC_NOFPE -#endif - - -#ifdef __cplusplus -} -#endif -#endif /* !Py_UFUNCOBJECT_H */ diff --git a/gtsam/3rdparty/numpy_c_api/include/numpy/utils.h b/gtsam/3rdparty/numpy_c_api/include/numpy/utils.h deleted file mode 100644 index cc968a354..000000000 --- a/gtsam/3rdparty/numpy_c_api/include/numpy/utils.h +++ /dev/null @@ -1,19 +0,0 @@ -#ifndef __NUMPY_UTILS_HEADER__ -#define __NUMPY_UTILS_HEADER__ - -#ifndef __COMP_NPY_UNUSED - #if defined(__GNUC__) - #define __COMP_NPY_UNUSED __attribute__ ((__unused__)) - # elif defined(__ICC) - #define __COMP_NPY_UNUSED __attribute__ ((__unused__)) - #else - #define __COMP_NPY_UNUSED - #endif -#endif - -/* Use this to tag a variable as not used. It will remove unused variable - * warning on support platforms (see __COM_NPY_UNUSED) and mangle the variable - * to avoid accidental use */ -#define NPY_UNUSED(x) (__NPY_UNUSED_TAGGED ## x) __COMP_NPY_UNUSED - -#endif From 31888d653c1c586d2e582c8131a6a881cbf6d794 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 19 Jan 2016 14:45:34 -0500 Subject: [PATCH 843/964] Remove CMake option to use 3rdparty numpy C-API --- python/CMakeLists.txt | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 85d7c6765..9ea873259 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -1,4 +1,3 @@ -option(GTSAM_USE_SYSTEM_NUMPY_C_API "Find and use system-installed NumPy C-API. If 'off', use the one bundled with GTSAM" OFF) # Guard to avoid breaking this code in ccmake if by accident GTSAM_PYTHON_VERSION is set to an empty string if(GTSAM_PYTHON_VERSION STREQUAL "") @@ -30,12 +29,10 @@ else() set(BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE "") endif() -# Find NumPy C-API -if(GTSAM_USE_SYSTEM_NUMPY_C_API) - find_package(NumPy) - include_directories(${NUMPY_INCLUDE_DIRS}) -else() - include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_c_api/include/) +# Find NumPy C-API -- this is part of the numpy package +find_package(NumPy) +if(NumPy_FOUND) + include_directories(${NUMPY_INCLUDE_DIRS}) endif() # Find Python @@ -54,7 +51,7 @@ endif() find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_SUFFIX}) # Build python module library and setup the module inside build -if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND) +if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND AND NumPy_FOUND) include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) @@ -83,6 +80,10 @@ else() endif() # Print warnings (useful for ccmake) +if(NOT NumPy_FOUND) + message(WARNING "Numpy not found -- Python module cannot be built.") +endif() + if(NOT PYTHONLIBS_FOUND) if(GTSAM_PYTHON_VERSION STREQUAL "Default") message(WARNING "Default PythonLibs was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") From c77997fbb1941c4e2c1b6e41d1f15135f5767581 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 19 Jan 2016 23:18:39 -0800 Subject: [PATCH 844/964] Fixed typo --- python/CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 9ea873259..4d3d0237d 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -31,7 +31,7 @@ endif() # Find NumPy C-API -- this is part of the numpy package find_package(NumPy) -if(NumPy_FOUND) +if(NUMPY_FOUND) include_directories(${NUMPY_INCLUDE_DIRS}) endif() @@ -51,7 +51,7 @@ endif() find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_SUFFIX}) # Build python module library and setup the module inside build -if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND AND NumPy_FOUND) +if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND AND NUMPY_FOUND) include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) @@ -80,7 +80,7 @@ else() endif() # Print warnings (useful for ccmake) -if(NOT NumPy_FOUND) +if(NOT NUMPY_FOUND) message(WARNING "Numpy not found -- Python module cannot be built.") endif() From eb5d026a4a1fdba69944c1b5e2416387c93b07d2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 20 Jan 2016 09:28:30 -0800 Subject: [PATCH 845/964] Synced with commit https://github.com/ethz-asl/Schweizer-Messer/commit/b30d90bf704fdde38f95796bf1f9cea7ba60bfb5#diff-43bc6d5065b2331de9923fd47b8c5d56 --- .../numpy_eigen/NumpyEigenConverter.hpp | 56 ++++++++++++------- .../include/numpy_eigen/copy_routines.hpp | 41 +++++++------- .../include/numpy_eigen/type_traits.hpp | 35 ++++++++---- 3 files changed, 82 insertions(+), 50 deletions(-) diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp index 67b04537c..4cf16a974 100755 --- a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp @@ -12,8 +12,17 @@ #ifndef NUMPY_EIGEN_CONVERTER_HPP #define NUMPY_EIGEN_CONVERTER_HPP -#include "boost_python_headers.hpp" -#include +#include +//#include + +#include "numpy/numpyconfig.h" +#ifdef NPY_1_7_API_VERSION +#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION +#define NPE_PY_ARRAY_OBJECT PyArrayObject +#else +//TODO Remove this as soon as support for Numpy version before 1.7 is dropped +#define NPE_PY_ARRAY_OBJECT PyObject +#endif #define PY_ARRAY_UNIQUE_SYMBOL NP_Eigen_AS #include @@ -92,8 +101,8 @@ struct NumpyEigenConverter // Create a 1D array npy_intp dimensions[1]; dimensions[0] = M.size(); - P = PyArray_SimpleNew(1, dimensions, TypeToNumPy::NpyType); - numpyTypeDemuxer< CopyEigenToNumpyVector >(&M,P); + P = PyArray_SimpleNew(1, dimensions, TypeToNumPy::NpyType); + numpyTypeDemuxer< CopyEigenToNumpyVector >(&M, reinterpret_cast(P)); } else { @@ -102,7 +111,7 @@ struct NumpyEigenConverter dimensions[0] = M.rows(); dimensions[1] = M.cols(); P = PyArray_SimpleNew(2, dimensions, TypeToNumPy::NpyType); - numpyTypeDemuxer< CopyEigenToNumpyMatrix >(&M,P); + numpyTypeDemuxer< CopyEigenToNumpyMatrix >(&M, reinterpret_cast(P)); } // incrementing the reference seems to cause a memory leak. @@ -131,7 +140,7 @@ struct NumpyEigenConverter return valid; } - static void checkMatrixSizes(PyObject * obj_ptr) + static void checkMatrixSizes(NPE_PY_ARRAY_OBJECT * obj_ptr) { int rows = PyArray_DIM(obj_ptr, 0); int cols = PyArray_DIM(obj_ptr, 1); @@ -145,7 +154,7 @@ struct NumpyEigenConverter } } - static void checkRowVectorSizes(PyObject * obj_ptr, int cols) + static void checkRowVectorSizes(NPE_PY_ARRAY_OBJECT * obj_ptr, int cols) { if(!isDimensionValid(cols, ColsAtCompileTime, MaxColsAtCompileTime)) { @@ -154,7 +163,7 @@ struct NumpyEigenConverter } } - static void checkColumnVectorSizes(PyObject * obj_ptr, int rows) + static void checkColumnVectorSizes(NPE_PY_ARRAY_OBJECT * obj_ptr, int rows) { // Check if the type can accomidate one column. if(ColsAtCompileTime == Eigen::Dynamic || ColsAtCompileTime == 1) @@ -173,7 +182,7 @@ struct NumpyEigenConverter } - static void checkVectorSizes(PyObject * obj_ptr) + static void checkVectorSizes(NPE_PY_ARRAY_OBJECT * obj_ptr) { int size = PyArray_DIM(obj_ptr, 0); @@ -206,8 +215,10 @@ struct NumpyEigenConverter return 0; } + NPE_PY_ARRAY_OBJECT * array_ptr = reinterpret_cast(obj_ptr); + // Check the type of the array. - int npyType = PyArray_ObjectType(obj_ptr, 0); + int npyType = getNpyType(array_ptr); if(!TypeToNumPy::canConvert(npyType)) { @@ -219,7 +230,7 @@ struct NumpyEigenConverter // Check the array dimensions. - int nd = PyArray_NDIM(obj_ptr); + int nd = PyArray_NDIM(array_ptr); if(nd != 1 && nd != 2) { @@ -228,12 +239,12 @@ struct NumpyEigenConverter if(nd == 1) { - checkVectorSizes(obj_ptr); + checkVectorSizes(array_ptr); } else { // Two-dimensional matrix type. - checkMatrixSizes(obj_ptr); + checkMatrixSizes(array_ptr); } @@ -265,10 +276,17 @@ struct NumpyEigenConverter matrix_t & M = *Mp; - int nd = PyArray_NDIM(obj_ptr); + if (!PyArray_Check(obj_ptr)) + { + THROW_TYPE_ERROR("construct is only defined for numpy array and matrix types"); + } + + NPE_PY_ARRAY_OBJECT * array_ptr = reinterpret_cast(obj_ptr); + + int nd = PyArray_NDIM(array_ptr); if(nd == 1) { - int size = PyArray_DIM(obj_ptr, 0); + int size = PyArray_DIM(array_ptr, 0); // This is a vector type if(RowsAtCompileTime == 1) { @@ -280,15 +298,15 @@ struct NumpyEigenConverter // Column Vector M.resize(size,1); } - numpyTypeDemuxer< CopyNumpyToEigenVector >(&M,obj_ptr); + numpyTypeDemuxer< CopyNumpyToEigenVector >(&M, array_ptr); } else { - int rows = PyArray_DIM(obj_ptr, 0); - int cols = PyArray_DIM(obj_ptr, 1); + int rows = PyArray_DIM(array_ptr, 0); + int cols = PyArray_DIM(array_ptr, 1); M.resize(rows,cols); - numpyTypeDemuxer< CopyNumpyToEigenMatrix >(&M,obj_ptr); + numpyTypeDemuxer< CopyNumpyToEigenMatrix >(&M, array_ptr); } diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp index 8ac94e8b7..b112a7426 100755 --- a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp @@ -9,16 +9,16 @@ struct CopyNumpyToEigenMatrix typedef typename matrix_t::Scalar scalar_t; template - void exec(EIGEN_T * M_, PyObject * P_) + void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_) { // Assumes M is already initialized. for(int r = 0; r < M_->rows(); r++) { - for(int c = 0; c < M_->cols(); c++) - { - T * p = static_cast(PyArray_GETPTR2(P_, r, c)); - (*M_)(r,c) = static_cast(*p); - } + for(int c = 0; c < M_->cols(); c++) + { + T * p = static_cast(PyArray_GETPTR2(P_, r, c)); + (*M_)(r,c) = static_cast(*p); + } } } @@ -31,16 +31,16 @@ struct CopyEigenToNumpyMatrix typedef typename matrix_t::Scalar scalar_t; template - void exec(EIGEN_T * M_, PyObject * P_) + void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_) { // Assumes M is already initialized. for(int r = 0; r < M_->rows(); r++) { - for(int c = 0; c < M_->cols(); c++) - { - T * p = static_cast(PyArray_GETPTR2(P_, r, c)); - *p = static_cast((*M_)(r,c)); - } + for(int c = 0; c < M_->cols(); c++) + { + T * p = static_cast(PyArray_GETPTR2(P_, r, c)); + *p = static_cast((*M_)(r,c)); + } } } @@ -53,13 +53,13 @@ struct CopyEigenToNumpyVector typedef typename matrix_t::Scalar scalar_t; template - void exec(EIGEN_T * M_, PyObject * P_) + void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_) { // Assumes M is already initialized. for(int i = 0; i < M_->size(); i++) { - T * p = static_cast(PyArray_GETPTR1(P_, i)); - *p = static_cast((*M_)(i)); + T * p = static_cast(PyArray_GETPTR1(P_, i)); + *p = static_cast((*M_)(i)); } } @@ -73,13 +73,13 @@ struct CopyNumpyToEigenVector typedef typename matrix_t::Scalar scalar_t; template - void exec(EIGEN_T * M_, PyObject * P_) + void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_) { // Assumes M is already initialized. for(int i = 0; i < M_->size(); i++) { - T * p = static_cast(PyArray_GETPTR1(P_, i)); - (*M_)(i) = static_cast(*p); + T * p = static_cast(PyArray_GETPTR1(P_, i)); + (*M_)(i) = static_cast(*p); } } @@ -91,10 +91,11 @@ struct CopyNumpyToEigenVector // Crazy syntax in this function was found here: // http://stackoverflow.com/questions/1840253/c-template-member-function-of-template-class-called-from-template-function/1840318#1840318 template< typename FUNCTOR_T> -inline void numpyTypeDemuxer(typename FUNCTOR_T::matrix_t * M, PyObject * P) +inline void numpyTypeDemuxer(typename FUNCTOR_T::matrix_t * M, NPE_PY_ARRAY_OBJECT * P) { FUNCTOR_T f; - int npyType = PyArray_ObjectType(P, 0); + + int npyType = getNpyType(P); switch(npyType) { case NPY_BOOL: diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp index 36fae1a03..97e4bb5a0 100755 --- a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp +++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp @@ -1,12 +1,12 @@ #ifndef NUMPY_EIGEN_TYPE_TRAITS_HPP #define NUMPY_EIGEN_TYPE_TRAITS_HPP -#define THROW_TYPE_ERROR(msg) \ - { \ - std::stringstream type_error_ss; \ - type_error_ss << msg; \ - PyErr_SetString(PyExc_TypeError, type_error_ss.str().c_str()); \ - throw boost::python::error_already_set(); \ +#define THROW_TYPE_ERROR(msg) \ + { \ + std::stringstream type_error_ss; \ + type_error_ss << msg; \ + PyErr_SetString(PyExc_TypeError, type_error_ss.str().c_str()); \ + throw boost::python::error_already_set(); \ } @@ -99,6 +99,19 @@ template<> struct TypeToNumPy }; +inline int getNpyType(PyObject * obj_ptr){ + return PyArray_ObjectType(obj_ptr, 0); +} + +#ifdef NPY_1_7_API_VERSION +inline int getNpyType(PyArrayObject * obj_ptr){ + PyArray_Descr * descr = PyArray_MinScalarType(obj_ptr); + if (descr == NULL){ + THROW_TYPE_ERROR("Unsupported type: PyArray_MinScalarType returned null!"); + } + return descr->type_num; +} +#endif inline const char * npyTypeToString(int npyType) { @@ -157,18 +170,18 @@ inline const char * npyTypeToString(int npyType) } } -inline std::string npyArrayTypeString(PyObject * obj_ptr) +inline std::string npyArrayTypeString(NPE_PY_ARRAY_OBJECT * obj_ptr) { std::stringstream ss; int nd = PyArray_NDIM(obj_ptr); - ss << "numpy.array<" << npyTypeToString(PyArray_ObjectType(obj_ptr, 0)) << ">["; + ss << "numpy.array<" << npyTypeToString(getNpyType(obj_ptr)) << ">["; if(nd > 0) { ss << PyArray_DIM(obj_ptr, 0); for(int i = 1; i < nd; i++) - { - ss << ", " << PyArray_DIM(obj_ptr, i); - } + { + ss << ", " << PyArray_DIM(obj_ptr, i); + } } ss << "]"; return ss.str(); From 4c44ddc4e67e409a25d20f96e76c2cf7f8e5060a Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 21 Jan 2016 01:13:22 -0500 Subject: [PATCH 846/964] Print all python-related dependency warnings at the end of cmake output with all the other warnings. Don't automatically toggle GTSAM_BUILD_PYTHON option to OFF - this is more consistent with how other options are handled. --- CMakeLists.txt | 11 ++++++++-- python/CMakeLists.txt | 51 ++++++++++++++++++++++++------------------- 2 files changed, 37 insertions(+), 25 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a886f2702..b7e30253b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -355,7 +355,6 @@ if (GTSAM_BUILD_PYTHON) # comments on the next lines # wrap_and_install_python(gtsampy.h "${GTSAM_ADDITIONAL_LIBRARIES}" "") - add_subdirectory(python) endif() @@ -478,7 +477,12 @@ print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") message(STATUS "Python module flags ") -print_config_flag(${GTSAM_BUILD_PYTHON} "Build python module ") + +if(GTSAM_PYTHON_WARNINGS) + message(STATUS " Build python module : No - dependencies missing") +else() + print_config_flag(${GTSAM_BUILD_PYTHON} "Build python module ") +endif() if(GTSAM_BUILD_PYTHON) message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}") endif() @@ -494,6 +498,9 @@ endif() if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND) message(WARNING "Your compiler does not support OpenMP - this is ok, but performance may be improved with OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning.") endif() +if(GTSAM_BUILD_PYTHON AND GTSAM_PYTHON_WARNINGS) + message(WARNING "${GTSAM_PYTHON_WARNINGS}") +endif() # Include CPack *after* all flags include(CPack) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 4d3d0237d..f21bb1a76 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -31,9 +31,6 @@ endif() # Find NumPy C-API -- this is part of the numpy package find_package(NumPy) -if(NUMPY_FOUND) - include_directories(${NUMPY_INCLUDE_DIRS}) -endif() # Find Python # First, be sure that python version can be found by FindPythonLibs.cmake @@ -52,6 +49,9 @@ find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_SUFFIX}) # Build python module library and setup the module inside build if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND AND NUMPY_FOUND) + + include_directories(${NUMPY_INCLUDE_DIRS}) + include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) @@ -74,28 +74,33 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU add_dependencies(gtsam_python copy_${PY_SRC_TARGET_SUFFIX}) endforeach() -# Disable python module if we didn't find required lybraries +# Disable python module if we didn't find required libraries else() - set(GTSAM_BUILD_PYTHON OFF CACHE BOOL "Build Python wrapper statically (increases build time)" FORCE) -endif() -# Print warnings (useful for ccmake) -if(NOT NUMPY_FOUND) - message(WARNING "Numpy not found -- Python module cannot be built.") -endif() - -if(NOT PYTHONLIBS_FOUND) - if(GTSAM_PYTHON_VERSION STREQUAL "Default") - message(WARNING "Default PythonLibs was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") - else() - message(WARNING "PythonLibs version ${GTSAM_PYTHON_VERSION} was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") + # message will print at end of main CMakeLists.txt + SET(GTSAM_PYTHON_WARNINGS "Python dependencies not found - Python module will not be built. Set GTSAM_BUILD_PYTHON to 'Off' to disable this warning. Details:") + + if(NOT PYTHONLIBS_FOUND) + if(GTSAM_PYTHON_VERSION STREQUAL "Default") + SET(GTSAM_PYTHON_WARNINGS "${GTSAM_PYTHON_WARNINGS}\n -- Default PythonLibs not found") + else() + SET(GTSAM_PYTHON_WARNINGS "${GTSAM_PYTHON_WARNINGS}\n -- PythonLibs version ${GTSAM_PYTHON_VERSION} not found") + endif() endif() -endif() - -if(NOT Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND) - if(GTSAM_PYTHON_VERSION STREQUAL "Default") - message(WARNING "Default Boost python was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") - else() - message(WARNING "Boost Python for python ${GTSAM_PYTHON_VERSION} was not found -- Python module cannot be built. Option GTSAM_BUILD_PYTHON disabled.") + + if(NOT NUMPY_FOUND) + SET(GTSAM_PYTHON_WARNINGS "${GTSAM_PYTHON_WARNINGS}\n -- Numpy not found") endif() + + if(NOT Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND) + if(GTSAM_PYTHON_VERSION STREQUAL "Default") + SET(GTSAM_PYTHON_WARNINGS "${GTSAM_PYTHON_WARNINGS}\n -- Default Boost python not found") + else() + SET(GTSAM_PYTHON_WARNINGS "${GTSAM_PYTHON_WARNINGS}\n -- Boost Python for python ${GTSAM_PYTHON_VERSION} not found") + endif() + endif() + + # make available at top-level + SET(GTSAM_PYTHON_WARNINGS ${GTSAM_PYTHON_WARNINGS} PARENT_SCOPE) + endif() From fb8a62dd1dbb1de6f143c5a680a4d0c4b5edbc11 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 24 Jan 2016 15:28:16 -0800 Subject: [PATCH 847/964] Used python.in to generate setup.py Also fixed cmake stuff to copy library to correct location Minor improvements of cmake Automatic install of python package --- python/CMakeLists.txt | 56 ++++++++++++------------------- python/handwritten/CMakeLists.txt | 7 ++-- python/{setup.py => setup.py.in} | 10 ++---- 3 files changed, 28 insertions(+), 45 deletions(-) rename python/{setup.py => setup.py.in} (64%) mode change 100755 => 100644 diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index f21bb1a76..3bd45eca8 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -1,4 +1,3 @@ - # Guard to avoid breaking this code in ccmake if by accident GTSAM_PYTHON_VERSION is set to an empty string if(GTSAM_PYTHON_VERSION STREQUAL "") set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "Target python version for GTSAM python module. Use 'Default' to chose the default version" FORCE) @@ -18,6 +17,18 @@ if(NOT (${GTSAM_PYTHON_VERSION} MATCHES ${GTSAM_LAST_PYTHON_VERSION})) set(GTSAM_LAST_PYTHON_VERSION ${GTSAM_PYTHON_VERSION} CACHE STRING "Updating python version used in the last build" FORCE) endif() +if(GTSAM_PYTHON_VERSION STREQUAL "Default") + # Search the default version. + find_package(PythonInterp) + find_package(PythonLibs) +else() + find_package(PythonInterp ${GTSAM_PYTHON_VERSION}) + find_package(PythonLibs ${GTSAM_PYTHON_VERSION}) +endif() + +# Find NumPy C-API -- this is part of the numpy package +find_package(NumPy) + # Compose strings used to specify the boost python version. They will be empty if we want to use the defaut if(NOT GTSAM_PYTHON_VERSION STREQUAL "Default") string(REPLACE "." "" BOOST_PYTHON_VERSION_SUFFIX ${GTSAM_PYTHON_VERSION}) # Remove '.' from version @@ -29,29 +40,12 @@ else() set(BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE "") endif() -# Find NumPy C-API -- this is part of the numpy package -find_package(NumPy) - -# Find Python -# First, be sure that python version can be found by FindPythonLibs.cmake -# See: http://stackoverflow.com/a/15660652/2220173 -set(Python_ADDITIONAL_VERSIONS ${GTSAM_PYTHON_VERSION}) -# Then look for the the lib. If no version is specified when looking for PythonLibs it searches the default version. -# See: https://cmake.org/cmake/help/v3.1/module/FindPythonInterp.html -if(GTSAM_PYTHON_VERSION STREQUAL "Default") - find_package(PythonLibs) -else() - find_package(PythonLibs ${GTSAM_PYTHON_VERSION}) -endif() - # Find Boost Python find_package(Boost COMPONENTS python${BOOST_PYTHON_VERSION_SUFFIX}) -# Build python module library and setup the module inside build if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOUND AND NUMPY_FOUND) - + # Build library include_directories(${NUMPY_INCLUDE_DIRS}) - include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) @@ -59,24 +53,16 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU # Build the python module library add_subdirectory(handwritten) - # Copy all .py files that changes since last build - file(GLOB_RECURSE GTSAM_PY_SRCS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.py") - foreach(PY_SRC ${GTSAM_PY_SRCS}) - string(REPLACE "/" "_" PY_SRC_TARGET_SUFFIX ${PY_SRC}) # Replace "/" with "_" - add_custom_command( - OUTPUT ${PY_SRC} - DEPENDS ${PY_SRC} - COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/${PY_SRC} ${CMAKE_CURRENT_BINARY_DIR}/${PY_SRC} - COMMENT "Copying python/${PY_SRC}" - ) - add_custom_target(copy_${PY_SRC_TARGET_SUFFIX} DEPENDS ${PY_SRC}) - # Add dependency so the copy is made BEFORE building the python module - add_dependencies(gtsam_python copy_${PY_SRC_TARGET_SUFFIX}) - endforeach() + # Create and invoke setup.py, see https://bloerg.net/2012/11/10/cmake-and-distutils.html + set(SETUP_PY_IN "${CMAKE_CURRENT_SOURCE_DIR}/setup.py.in") + set(SETUP_PY "${CMAKE_CURRENT_BINARY_DIR}/setup.py") -# Disable python module if we didn't find required libraries + configure_file(${SETUP_PY_IN} ${SETUP_PY}) + + # TODO(frank): possibly support a different prefix a la matlab wrapper + install(CODE "execute_process(WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} COMMAND ${PYTHON_EXECUTABLE} setup.py -v install --prefix ${CMAKE_INSTALL_PREFIX})") else() - + # Disable python module if we didn't find required libraries # message will print at end of main CMakeLists.txt SET(GTSAM_PYTHON_WARNINGS "Python dependencies not found - Python module will not be built. Set GTSAM_BUILD_PYTHON to 'Off' to disable this warning. Details:") diff --git a/python/handwritten/CMakeLists.txt b/python/handwritten/CMakeLists.txt index 90eb1fc49..9d4f9151a 100644 --- a/python/handwritten/CMakeLists.txt +++ b/python/handwritten/CMakeLists.txt @@ -1,4 +1,3 @@ - # get subdirectories list subdirlist(SUBDIRS ${CMAKE_CURRENT_SOURCE_DIR}) @@ -16,14 +15,16 @@ set_target_properties(gtsam_python PROPERTIES SKIP_BUILD_RPATH TRUE CLEAN_DIRECT_OUTPUT 1 ) -target_link_libraries(gtsam_python ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} ${PYTHON_LIBRARY} gtsam) +target_link_libraries(gtsam_python + ${Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_LIBRARY} + ${PYTHON_LIBRARY} gtsam) # Cause the library to be output in the correct directory. # TODO: Change below to work on different systems (currently works only with Linux) add_custom_command( OUTPUT ${CMAKE_BINARY_DIR}/python/gtsam/_libgtsam_python.so DEPENDS gtsam_python - COMMAND ${CMAKE_COMMAND} -E copy $ ${CMAKE_BINARY_DIR}/python/gtsam/_$ + COMMAND ${CMAKE_COMMAND} -E copy $ ${CMAKE_BINARY_DIR}/python/gtsam/_libgtsam_python.so COMMENT "Copying extension module to python/gtsam/_libgtsam_python.so" ) add_custom_target(copy_gtsam_python_module ALL DEPENDS ${CMAKE_BINARY_DIR}/python/gtsam/_libgtsam_python.so) \ No newline at end of file diff --git a/python/setup.py b/python/setup.py.in old mode 100755 new mode 100644 similarity index 64% rename from python/setup.py rename to python/setup.py.in index 46bbfaddf..359a5e8c3 --- a/python/setup.py +++ b/python/setup.py.in @@ -1,15 +1,11 @@ -#!/usr/bin/env python - -#http://docs.python.org/2/distutils/setupscript.html#setup-script - from distutils.core import setup setup(name='gtsam', - version='4.0.0', + version='${GTSAM_VERSION_STRING}', description='GTSAM Python wrapper', license = "BSD", - author='Dellaert et. al', - author_email='Andrew.Melim@gatech.edu', + author='Frank Dellaert et. al', + author_email='frank.dellaert@gatech.edu', maintainer_email='gtsam@lists.gatech.edu', url='https://collab.cc.gatech.edu/borg/gtsam', packages=['gtsam', 'gtsam.examples', 'gtsam.utils'], From 0605abfea5a31af33a69907cc509b31ad6aff559 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 24 Jan 2016 15:50:31 -0800 Subject: [PATCH 848/964] Chaned dir structure a bit --- python/{gtsam/examples => gtsam_examples}/OdometeryExample.py | 0 python/{gtsam/examples => gtsam_examples}/SFMdata.py | 0 python/{gtsam/examples => gtsam_examples}/VisualISAM2Example.py | 0 python/{gtsam/examples => gtsam_examples}/__init__.py | 0 python/{gtsam/utils => gtsam_utils}/__init__.py | 0 python/{gtsam/utils => gtsam_utils}/_plot.py | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename python/{gtsam/examples => gtsam_examples}/OdometeryExample.py (100%) rename python/{gtsam/examples => gtsam_examples}/SFMdata.py (100%) rename python/{gtsam/examples => gtsam_examples}/VisualISAM2Example.py (100%) rename python/{gtsam/examples => gtsam_examples}/__init__.py (100%) rename python/{gtsam/utils => gtsam_utils}/__init__.py (100%) rename python/{gtsam/utils => gtsam_utils}/_plot.py (100%) diff --git a/python/gtsam/examples/OdometeryExample.py b/python/gtsam_examples/OdometeryExample.py similarity index 100% rename from python/gtsam/examples/OdometeryExample.py rename to python/gtsam_examples/OdometeryExample.py diff --git a/python/gtsam/examples/SFMdata.py b/python/gtsam_examples/SFMdata.py similarity index 100% rename from python/gtsam/examples/SFMdata.py rename to python/gtsam_examples/SFMdata.py diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam_examples/VisualISAM2Example.py similarity index 100% rename from python/gtsam/examples/VisualISAM2Example.py rename to python/gtsam_examples/VisualISAM2Example.py diff --git a/python/gtsam/examples/__init__.py b/python/gtsam_examples/__init__.py similarity index 100% rename from python/gtsam/examples/__init__.py rename to python/gtsam_examples/__init__.py diff --git a/python/gtsam/utils/__init__.py b/python/gtsam_utils/__init__.py similarity index 100% rename from python/gtsam/utils/__init__.py rename to python/gtsam_utils/__init__.py diff --git a/python/gtsam/utils/_plot.py b/python/gtsam_utils/_plot.py similarity index 100% rename from python/gtsam/utils/_plot.py rename to python/gtsam_utils/_plot.py From 7b493812e8ec343760a69785590f9e0593c4417c Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 24 Jan 2016 15:51:04 -0800 Subject: [PATCH 849/964] Adapt to new dir structure --- python/gtsam/__init__.py | 1 - python/gtsam_examples/VisualISAM2Example.py | 4 ++-- python/setup.py.in | 3 ++- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py index 8e093879c..f9e40517d 100644 --- a/python/gtsam/__init__.py +++ b/python/gtsam/__init__.py @@ -1,2 +1 @@ from ._libgtsam_python import * -from . import utils \ No newline at end of file diff --git a/python/gtsam_examples/VisualISAM2Example.py b/python/gtsam_examples/VisualISAM2Example.py index a8be94719..3ba1d35f7 100644 --- a/python/gtsam_examples/VisualISAM2Example.py +++ b/python/gtsam_examples/VisualISAM2Example.py @@ -1,7 +1,7 @@ from __future__ import print_function import gtsam -from gtsam.examples.SFMdata import * -from gtsam.utils import * +from gtsam_examples.SFMdata import * +from gtsam_utils import * import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D import time # for sleep() diff --git a/python/setup.py.in b/python/setup.py.in index 359a5e8c3..d7e108e0a 100644 --- a/python/setup.py.in +++ b/python/setup.py.in @@ -8,6 +8,7 @@ setup(name='gtsam', author_email='frank.dellaert@gatech.edu', maintainer_email='gtsam@lists.gatech.edu', url='https://collab.cc.gatech.edu/borg/gtsam', - packages=['gtsam', 'gtsam.examples', 'gtsam.utils'], + package_dir={ '': '${CMAKE_CURRENT_SOURCE_DIR}' }, + packages=['gtsam', 'gtsam_utils', 'gtsam_examples', 'gtsam_tests'], package_data={'gtsam' : ['_libgtsam_python.so']}, ) From 6b85a8db14e8c538a2b54115da2bb77725307571 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Sun, 24 Jan 2016 20:54:16 -0500 Subject: [PATCH 850/964] typo --- python/gtsam_examples/{OdometeryExample.py => OdometryExample.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename python/gtsam_examples/{OdometeryExample.py => OdometryExample.py} (100%) diff --git a/python/gtsam_examples/OdometeryExample.py b/python/gtsam_examples/OdometryExample.py similarity index 100% rename from python/gtsam_examples/OdometeryExample.py rename to python/gtsam_examples/OdometryExample.py From 8c0f928f11573f70a6464f87c64c602fb6efa848 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Sun, 24 Jan 2016 23:22:40 -0500 Subject: [PATCH 851/964] Another attempt at fixing installation of _libgtsam_python.so. package_data is relative to package_dir, so the previous approach doesn't work when package_dir is in the source tree (and we don't want to copy the lib to source, or all of the source into lib). Using data_files method instead. --- python/CMakeLists.txt | 4 ++++ python/setup.py.in | 3 ++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 3bd45eca8..7f54d32cf 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -57,6 +57,10 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU set(SETUP_PY_IN "${CMAKE_CURRENT_SOURCE_DIR}/setup.py.in") set(SETUP_PY "${CMAKE_CURRENT_BINARY_DIR}/setup.py") + # Hacky way to figure out install folder - valid for Linux & Mac + # default pattern: prefix/lib/pythonX.Y/site-packages from https://docs.python.org/2/install/ + STRING(CONCAT PY_INSTALL_FOLDER ${CMAKE_INSTALL_PREFIX} "/lib/python" ${PYTHON_VERSION_MAJOR} "." ${PYTHON_VERSION_MINOR} "/site-packages") + configure_file(${SETUP_PY_IN} ${SETUP_PY}) # TODO(frank): possibly support a different prefix a la matlab wrapper diff --git a/python/setup.py.in b/python/setup.py.in index d7e108e0a..d3b5fcde4 100644 --- a/python/setup.py.in +++ b/python/setup.py.in @@ -10,5 +10,6 @@ setup(name='gtsam', url='https://collab.cc.gatech.edu/borg/gtsam', package_dir={ '': '${CMAKE_CURRENT_SOURCE_DIR}' }, packages=['gtsam', 'gtsam_utils', 'gtsam_examples', 'gtsam_tests'], - package_data={'gtsam' : ['_libgtsam_python.so']}, + #package_data={'gtsam' : ['_libgtsam_python.so']}, # location of .so file is relative to package_dir + data_files=[('${PY_INSTALL_FOLDER}/gtsam/', ['gtsam/_libgtsam_python.so'])], # location of .so file relative to setup.py ) From 00da6d3f81f095f1093746d7b314c01b2c6f358c Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Sun, 24 Jan 2016 23:29:06 -0500 Subject: [PATCH 852/964] string concat the CMake 2.8-friendly way --- python/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 7f54d32cf..01141973a 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -59,7 +59,7 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU # Hacky way to figure out install folder - valid for Linux & Mac # default pattern: prefix/lib/pythonX.Y/site-packages from https://docs.python.org/2/install/ - STRING(CONCAT PY_INSTALL_FOLDER ${CMAKE_INSTALL_PREFIX} "/lib/python" ${PYTHON_VERSION_MAJOR} "." ${PYTHON_VERSION_MINOR} "/site-packages") + SET(PY_INSTALL_FOLDER "${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages") configure_file(${SETUP_PY_IN} ${SETUP_PY}) From fe56fcd747700e9d25b9d66b651731b31c8b8876 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Sun, 24 Jan 2016 23:40:11 -0500 Subject: [PATCH 853/964] Make option text consistent with Matlab text --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b7e30253b..e8da98ffd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -64,7 +64,7 @@ option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TB option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" ON) option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON) option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) -option(GTSAM_BUILD_PYTHON "Build Python wrapper statically (increases build time)" ON) +option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module" ON) # Options relating to MATLAB wrapper # TODO: Check for matlab mex binary before handling building of binaries From cd0215d9a83b03b136919af6f7ce8a9954862b28 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Sun, 24 Jan 2016 23:47:36 -0500 Subject: [PATCH 854/964] Add back empty __init__.py file for gtsam_tests. Seems required to be able to do "import gtsam_tests", but it can be empty. --- python/gtsam_tests/__init__.py | 1 + 1 file changed, 1 insertion(+) create mode 100644 python/gtsam_tests/__init__.py diff --git a/python/gtsam_tests/__init__.py b/python/gtsam_tests/__init__.py new file mode 100644 index 000000000..8b1378917 --- /dev/null +++ b/python/gtsam_tests/__init__.py @@ -0,0 +1 @@ + From 31923862d6e7cdf0c2fab84c8fd7b9a408ef9c78 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Sun, 24 Jan 2016 23:59:22 -0500 Subject: [PATCH 855/964] Adding Ellon to list of contributors. Very important :-) --- THANKS | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/THANKS b/THANKS index 9c06a5d28..f84cfa185 100644 --- a/THANKS +++ b/THANKS @@ -38,6 +38,10 @@ at Uni Zurich: * Christian Forster +at LAAS-CNRS + +* Ellon Paiva + Many thanks for your hard work!!!! Frank Dellaert From 6ee3e42d27dff96f0d5047d23ab9de89bff8b66d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 25 Jan 2016 00:09:51 -0800 Subject: [PATCH 856/964] Update README --- python/README.md | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/python/README.md b/python/README.md index fc83ff702..f1c218cfb 100644 --- a/python/README.md +++ b/python/README.md @@ -3,16 +3,16 @@ Python Wrapper and Packaging This directory contains the basic setup script and directory structure for the gtsam python module. During the build of gtsam, when GTSAM_BUILD_PYTHON is enabled, the following instructions will run. -* The python files that compose the module are copied from python/gtsam to $BUILD_DIR/python/gtsam -* The handwritten module source files are then compiled and linked with Boost Python, generating a shared library which can then be imported by python -* The shared library is then copied to $BUILD_DIR/python/gtsam and renamed with a "_" prefix -* The user can use the setup.py script inside $BUILD_DIR/python to build and install a python package, allowing easy importing into a python project. Examples (when run from $BUILD_DIR): - * python setup.py sdist ---- Builds a tarball of the python package which can then be distributed - * python setup.py install ---- Installs the package into the python dist-packages folder. Can then be imported from any python file. - * python setup.py install --prefix="your/local/install/path"---- Installs the package into a local instalation folder. Can then be imported from any python file if _prefix_/lib/pythonX.Y/site-packages is present in your $PYTHONPATH -* To run the unit tests, you must first install the package on your path (TODO: Make this easier) +* The handwritten module source files are compiled and linked with Boost Python, generating a shared + library which can then be imported by python +* A setup.py script is configured from setup.py.in +* The gtsam packages 'gtsam', 'gtsam_utils', 'gtsam_examples', and 'gtsam_tests' are installed into + the site-packages folder within the (possibly non-default) installation prefix folder. If + installing to a non-standard prefix, make sure that _prefix_/lib/pythonX.Y/site-packages is + present in your $PYTHONPATH -The target version of Python to create the module can be set by defining GTSAM_PYTHON_VERSION to 'X.Y' (Example: 2.7 or 3.4), or 'Default' if you want to use the default python installed in your system. Note that if you specify a target version of python, you should also have the correspondent Boost Python version installed (Example: libboost_python-py27.so or libboost_python-py34.so on Linux). If you're using the default version, your default Boost Python library (Example: libboost_python.so on Linux) should correspond to the default python version in your system. +The target version of Python to create the module can be set by defining GTSAM_PYTHON_VERSION to 'X.Y' (Example: 2.7 or 3.4), or 'Default' if you want to use the default python installed in your system. Note that if you specify a target version of python, you should also have the correspondening Boost +Python version installed (Example: libboost_python-py27.so or libboost_python-py34.so on Linux). +If you're using the default version, your default Boost Python library (Example: libboost_python.so on Linux) should correspond to the default python version in your system. -TODO: There are many issues with this build system, but these are the basics. From 312b8f5da0f51428a3b380037a146a9d214075ca Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 25 Jan 2016 00:57:35 -0800 Subject: [PATCH 857/964] Cleaned up example --- python/gtsam_examples/VisualISAM2Example.py | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/python/gtsam_examples/VisualISAM2Example.py b/python/gtsam_examples/VisualISAM2Example.py index 3ba1d35f7..4d7889e9b 100644 --- a/python/gtsam_examples/VisualISAM2Example.py +++ b/python/gtsam_examples/VisualISAM2Example.py @@ -1,11 +1,14 @@ from __future__ import print_function -import gtsam -from gtsam_examples.SFMdata import * -from gtsam_utils import * + import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D +import numpy as np import time # for sleep() +import gtsam +from gtsam_examples import SFMdata +import gtsam_utils + def visual_ISAM2_plot(poses, points, result): # VisualISAMPlot plots current state of ISAM2 object # Author: Ellon Paiva @@ -22,14 +25,14 @@ def visual_ISAM2_plot(poses, points, result): # Can't use data because current frame might not see all points # marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()); # TODO - this is slow # gtsam.plot3DPoints(result, [], marginals); - plot3DPoints(fignum, result, 'rx'); + gtsam_utils.plot3DPoints(fignum, result, 'rx'); # Plot cameras M = 0; while result.exists(int(gtsam.Symbol('x',M))): ii = int(gtsam.Symbol('x',M)); pose_i = result.pose3_at(ii); - plotPose3(fignum, pose_i, 10); + gtsam_utils.plotPose3(fignum, pose_i, 10); M = M + 1; @@ -49,10 +52,10 @@ def visual_ISAM2_example(): measurementNoise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v # Create the set of ground-truth landmarks - points = createPoints() # from SFMdata + points = SFMdata.createPoints() # Create the set of ground-truth poses - poses = createPoses() # from SFMdata + poses = SFMdata.createPoses() # Create an iSAM2 object. Unlike iSAM1, which performs periodic batch steps to maintain proper linearization # and efficient variable ordering, iSAM2 performs partial relinearization/reordering at each step. A parameter From a6c265fda094a998fed775062de1264cae666784 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 25 Jan 2016 00:58:08 -0800 Subject: [PATCH 858/964] OdometryExample and necessary wrapping --- python/gtsam_examples/OdometryExample.py | 39 ++++++++++++++++--- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 13 ++++++- .../nonlinear/NonlinearFactorGraph.cpp | 4 +- python/handwritten/nonlinear/Values.cpp | 16 +++++++- 4 files changed, 63 insertions(+), 9 deletions(-) diff --git a/python/gtsam_examples/OdometryExample.py b/python/gtsam_examples/OdometryExample.py index 45f729a89..0800bab4e 100644 --- a/python/gtsam_examples/OdometryExample.py +++ b/python/gtsam_examples/OdometryExample.py @@ -1,7 +1,36 @@ #!/usr/bin/env python -from gtsam import * -import numpy_eigen as npe +from __future__ import print_function +import gtsam +import numpy as np -noisemodel = DiagonalNoiseModel.Sigmas([0.1, 0.1, 0.1]) -graph = NonlinearFactorGraph() -initialEstimate = Values() \ No newline at end of file +# Create an empty nonlinear factor graph +graph = gtsam.NonlinearFactorGraph() + +# Add a prior on the first pose, setting it to the origin +# A prior factor consists of a mean and a noise model (covariance matrix) +priorMean = gtsam.Pose2(0.0, 0.0, 0.0) # prior at origin +priorNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.1])) +graph.add(gtsam.PriorFactorPose2(1, priorMean, priorNoise)) + +# Add odometry factors +odometry = gtsam.Pose2(2.0, 0.0, 0.0) +# For simplicity, we will use the same noise model for each odometry factor +odometryNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.2, 0.2, 0.1])) +# Create odometry (Between) factors between consecutive poses +graph.add(gtsam.BetweenFactorPose2(1, 2, odometry, odometryNoise)) +graph.add(gtsam.BetweenFactorPose2(2, 3, odometry, odometryNoise)) +graph.print("\nFactor Graph:\n") + +# Create the data structure to hold the initialEstimate estimate to the solution +# For illustrative purposes, these have been deliberately set to incorrect values +initial = gtsam.Values() +initial.insert(1, gtsam.Pose2(0.5, 0.0, 0.2)) +initial.insert(2, gtsam.Pose2(2.3, 0.1, -0.2)) +initial.insert(3, gtsam.Pose2(4.1, 0.1, 0.1)) +initial.print("\nInitial Estimate:\n") + +# optimize using Levenberg-Marquardt optimization +params = gtsam.LevenbergMarquardtParams() +optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params) +result = optimizer.optimize() +result.print("\nFinal Result:\n") diff --git a/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp b/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp index 44b11f00b..7c7cdf3cc 100644 --- a/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -9,8 +9,19 @@ using namespace boost::python; using namespace gtsam; void exportLevenbergMarquardtOptimizer(){ + class_("LevenbergMarquardtParams", init<>()) + .def("setDiagonalDamping", &LevenbergMarquardtParams::setDiagonalDamping) + .def("setlambdaFactor", &LevenbergMarquardtParams::setlambdaFactor) + .def("setlambdaInitial", &LevenbergMarquardtParams::setlambdaInitial) + .def("setlambdaLowerBound", &LevenbergMarquardtParams::setlambdaLowerBound) + .def("setlambdaUpperBound", &LevenbergMarquardtParams::setlambdaUpperBound) + .def("setLogFile", &LevenbergMarquardtParams::setLogFile) + .def("setUseFixedLambdaFactor", &LevenbergMarquardtParams::setUseFixedLambdaFactor) + .def("setVerbosityLM", &LevenbergMarquardtParams::setVerbosityLM) + ; + class_("LevenbergMarquardtOptimizer", init()) .def("optimize", &LevenbergMarquardtOptimizer::optimize, return_value_policy()) ; -} \ No newline at end of file +} diff --git a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp index 4200a150e..f1e14deda 100644 --- a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp +++ b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp @@ -26,6 +26,7 @@ using namespace boost::python; using namespace gtsam; +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, NonlinearFactorGraph::print, 0, 1); void exportNonlinearFactorGraph(){ @@ -40,6 +41,7 @@ void exportNonlinearFactorGraph(){ .def("add", add1) .def("resize", &NonlinearFactorGraph::resize) .def("empty", &NonlinearFactorGraph::empty) + .def("print", &NonlinearFactorGraph::print, print_overloads(args("s"))) ; -} \ No newline at end of file +} diff --git a/python/handwritten/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp index 0302abbe2..6715fb071 100644 --- a/python/handwritten/nonlinear/Values.cpp +++ b/python/handwritten/nonlinear/Values.cpp @@ -20,6 +20,9 @@ #include #include "gtsam/nonlinear/Values.h" +#include "gtsam/geometry/Point2.h" +#include "gtsam/geometry/Rot2.h" +#include "gtsam/geometry/Pose2.h" #include "gtsam/geometry/Point3.h" #include "gtsam/geometry/Rot3.h" #include "gtsam/geometry/Pose3.h" @@ -69,6 +72,8 @@ using namespace gtsam; // return v.at(j); // } +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Values::print, 0, 1); + void exportValues(){ // NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below @@ -77,10 +82,14 @@ void exportValues(){ // const Value& (Values::*at1)(Key) const = &Values::at; // void (Values::*insert1)(Key, const Value&) = &Values::insert; bool (Values::*exists1)(Key) const = &Values::exists; + void (Values::*insert_point2)(Key, const gtsam::Point2&) = &Values::insert; + void (Values::*insert_rot2) (Key, const gtsam::Rot2&) = &Values::insert; + void (Values::*insert_pose2) (Key, const gtsam::Pose2&) = &Values::insert; void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert; void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert; void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert; + class_("Values", init<>()) .def(init()) .def("clear", &Values::clear) @@ -89,12 +98,15 @@ void exportValues(){ .def("equals", &Values::equals) .def("erase", &Values::erase) .def("insert_fixed", &Values::insertFixed) - .def("print", &Values::print) + .def("print", &Values::print, print_overloads(args("s"))) .def("size", &Values::size) .def("swap", &Values::swap) // NOTE: Following commented lines add useless methods on Values // .def("insert", insert1) // .def("at", at1, return_value_policy()) + .def("insert", insert_point2) + .def("insert", insert_rot2) + .def("insert", insert_pose2) .def("insert", insert_point3) .def("insert", insert_rot3) .def("insert", insert_pose3) @@ -109,4 +121,4 @@ void exportValues(){ .def("exists", exists1) .def("keys", &Values::keys) ; -} \ No newline at end of file +} From 2542d20367fb885c325f938fde1b962d5cf02f83 Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 25 Jan 2016 12:15:29 -0800 Subject: [PATCH 859/964] Reverted back to functional --- gtsam/navigation/AggregateImuReadings.cpp | 32 ++++++++++++------- gtsam/navigation/AggregateImuReadings.h | 10 +++--- .../tests/testAggregateImuReadings.cpp | 9 ++---- 3 files changed, 28 insertions(+), 23 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 9830299dc..d5273263f 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -36,19 +36,24 @@ namespace sugar { static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } + +typedef const Vector9 constV9; +static Eigen::Block dR(constV9& v) { return v.segment<3>(0); } +static Eigen::Block dP(constV9& v) { return v.segment<3>(3); } +static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } } // namespace sugar // See extensive discussion in ImuFactor.lyx -void AggregateImuReadings::UpdateEstimate(const Vector3& a_body, - const Vector3& w_body, double dt, - Vector9* zeta, - OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> B, - OptionalJacobian<9, 3> C) { +Vector9 AggregateImuReadings::UpdateEstimate(const Vector3& a_body, + const Vector3& w_body, double dt, + const Vector9& zeta, + OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, + OptionalJacobian<9, 3> C) { using namespace sugar; - const Vector3 theta = dR(*zeta); - const Vector3 v = dV(*zeta); + const Vector3 theta = dR(zeta); + const Vector3 v = dV(zeta); // Calculate exact mean propagation Matrix3 H; @@ -57,9 +62,10 @@ void AggregateImuReadings::UpdateEstimate(const Vector3& a_body, const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; - dR(*zeta) += invH * w_body * dt; // theta - dP(*zeta) += v * dt + a_nav * dt22; // position - dV(*zeta) += a_nav * dt; // velocity + Vector9 zetaPlus; + dR(zetaPlus) = dR(zeta) + invH * w_body * dt; // theta + dP(zetaPlus) = dP(zeta) + v * dt + a_nav * dt22; // position + dV(zetaPlus) = dV(zeta) + a_nav * dt; // velocity if (A) { // First order (small angle) approximation of derivative of invH*w: @@ -84,6 +90,8 @@ void AggregateImuReadings::UpdateEstimate(const Vector3& a_body, C->block<3, 3>(3, 0) = Z_3x3; C->block<3, 3>(6, 0) = Z_3x3; } + + return zetaPlus; } void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, @@ -96,7 +104,7 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, // Do exact mean propagation Matrix9 A; Matrix93 B, C; - UpdateEstimate(a_body, w_body, dt, &zeta_, A, B, C); + zeta_ = UpdateEstimate(a_body, w_body, dt, zeta_, A, B, C); // propagate uncertainty // TODO(frank): use noiseModel routine so we can have arbitrary noise models. diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 7cc8fab95..5c77f6104 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -74,11 +74,11 @@ class AggregateImuReadings { // Update integrated vector on tangent manifold zeta with acceleration // readings a_body and gyro readings w_body, bias-corrected in body frame. - static void UpdateEstimate(const Vector3& a_body, const Vector3& w_body, - double dt, Vector9* zeta, - OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none); + static Vector9 UpdateEstimate(const Vector3& a_body, const Vector3& w_body, + double dt, const Vector9& zeta, + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none); }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 86acf93ff..63a127ee4 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -39,8 +39,7 @@ static boost::shared_ptr defaultParams() { } Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { - Vector9 zeta_plus = zeta; - AggregateImuReadings::UpdateEstimate(a, w, kDt, &zeta_plus); + Vector9 zeta_plus = AggregateImuReadings::UpdateEstimate(a, w, kDt, zeta); return zeta_plus; } @@ -50,10 +49,9 @@ TEST(AggregateImuReadings, UpdateEstimate1) { const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta.setZero(); - Vector9 zeta2 = zeta; Matrix9 aH1; Matrix93 aH2, aH3; - pim.UpdateEstimate(acc, omega, kDt, &zeta2, aH1, aH2, aH3); + pim.UpdateEstimate(acc, omega, kDt, zeta, aH1, aH2, aH3); EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-9)); EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); @@ -65,10 +63,9 @@ TEST(AggregateImuReadings, UpdateEstimate2) { const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; - Vector9 zeta2 = zeta; Matrix9 aH1; Matrix93 aH2, aH3; - pim.UpdateEstimate(acc, omega, kDt, &zeta2, aH1, aH2, aH3); + pim.UpdateEstimate(acc, omega, kDt, zeta, aH1, aH2, aH3); // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-7)); From 91482a7e2b5beb723c173ad905195d3cef66aa9d Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 25 Jan 2016 13:33:17 -0800 Subject: [PATCH 860/964] Inner class --- gtsam/navigation/AggregateImuReadings.cpp | 47 +++++------------- gtsam/navigation/AggregateImuReadings.h | 48 +++++++++++++++---- .../tests/testAggregateImuReadings.cpp | 5 +- 3 files changed, 55 insertions(+), 45 deletions(-) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index d5273263f..3289e74f2 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -27,45 +27,24 @@ namespace gtsam { AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias) : p_(p), estimatedBias_(estimatedBias), deltaTij_(0.0) { - zeta_.setZero(); cov_.setZero(); } -// Tangent space sugar. -namespace sugar { -static Eigen::Block dR(Vector9& v) { return v.segment<3>(0); } -static Eigen::Block dP(Vector9& v) { return v.segment<3>(3); } -static Eigen::Block dV(Vector9& v) { return v.segment<3>(6); } - -typedef const Vector9 constV9; -static Eigen::Block dR(constV9& v) { return v.segment<3>(0); } -static Eigen::Block dP(constV9& v) { return v.segment<3>(3); } -static Eigen::Block dV(constV9& v) { return v.segment<3>(6); } -} // namespace sugar - // See extensive discussion in ImuFactor.lyx -Vector9 AggregateImuReadings::UpdateEstimate(const Vector3& a_body, - const Vector3& w_body, double dt, - const Vector9& zeta, - OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> B, - OptionalJacobian<9, 3> C) { - using namespace sugar; - - const Vector3 theta = dR(zeta); - const Vector3 v = dV(zeta); - +AggregateImuReadings::TangentVector AggregateImuReadings::UpdateEstimate( + const Vector3& a_body, const Vector3& w_body, double dt, + const TangentVector& zeta, OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { // Calculate exact mean propagation Matrix3 H; - const Matrix3 R = Rot3::Expmap(theta, H).matrix(); + const Matrix3 R = Rot3::Expmap(zeta.theta(), H).matrix(); const Matrix3 invH = H.inverse(); const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; - Vector9 zetaPlus; - dR(zetaPlus) = dR(zeta) + invH * w_body * dt; // theta - dP(zetaPlus) = dP(zeta) + v * dt + a_nav * dt22; // position - dV(zetaPlus) = dV(zeta) + a_nav * dt; // velocity + TangentVector zetaPlus(zeta.theta() + invH * w_body * dt, + zeta.position() + zeta.velocity() * dt + a_nav * dt22, + zeta.velocity() + a_nav * dt); if (A) { // First order (small angle) approximation of derivative of invH*w: @@ -122,17 +101,17 @@ NavState AggregateImuReadings::predict(const NavState& state_i, const Bias& bias_i, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 6> H2) const { - using namespace sugar; - Vector9 zeta = zeta_; + TangentVector zeta = zeta_; // Correct for initial velocity and gravity Rot3 Ri = state_i.attitude(); Matrix3 Rit = Ri.transpose(); Vector3 gt = deltaTij_ * p_->n_gravity; - dP(zeta) += Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); - dV(zeta) += Rit * gt; + zeta.position() += + Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); + zeta.velocity() += Rit * gt; - return state_i.retract(zeta); + return state_i.retract(zeta.vector()); } SharedGaussian AggregateImuReadings::noiseModel() const { diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 5c77f6104..698e1f130 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -17,6 +17,7 @@ #pragma once +#include #include #include @@ -32,6 +33,35 @@ class AggregateImuReadings { typedef imuBias::ConstantBias Bias; typedef PreintegrationBase::Params Params; + /// The IMU is integrated in the tangent space, represented by a Vector9 + /// This small inner class provides some convenient constructors and efficient + /// access to the orientation, position, and velocity components + class TangentVector { + Vector9 v_; + typedef const Vector9 constV9; + + public: + TangentVector() { v_.setZero(); } + TangentVector(const Vector9& v) : v_(v) {} + TangentVector(const Vector3& theta, const Vector3& pos, + const Vector3& vel) { + this->theta() = theta; + this->position() = pos; + this->velocity() = vel; + } + + const Vector9& vector() const { return v_; } + + Eigen::Block theta() { return v_.segment<3>(0); } + Eigen::Block theta() const { return v_.segment<3>(0); } + + Eigen::Block position() { return v_.segment<3>(3); } + Eigen::Block position() const { return v_.segment<3>(3); } + + Eigen::Block velocity() { return v_.segment<3>(6); } + Eigen::Block velocity() const { return v_.segment<3>(6); } + }; + private: const boost::shared_ptr p_; const Bias estimatedBias_; @@ -39,14 +69,15 @@ class AggregateImuReadings { double deltaTij_; ///< sum of time increments /// Current estimate of zeta_k - Vector9 zeta_; + TangentVector zeta_; Matrix9 cov_; public: AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias = Bias()); - const Vector9& zeta() const { return zeta_; } + Vector3 theta() const { return zeta_.theta(); } + const Vector9& zeta() const { return zeta_.vector(); } const Matrix9& zetaCov() const { return cov_; } /** @@ -70,15 +101,14 @@ class AggregateImuReadings { /// @deprecated: Explicitly calculate covariance Matrix9 preintMeasCov() const; - Vector3 theta() const { return zeta_.head<3>(); } - // Update integrated vector on tangent manifold zeta with acceleration // readings a_body and gyro readings w_body, bias-corrected in body frame. - static Vector9 UpdateEstimate(const Vector3& a_body, const Vector3& w_body, - double dt, const Vector9& zeta, - OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none); + static TangentVector UpdateEstimate(const Vector3& a_body, + const Vector3& w_body, double dt, + const TangentVector& zeta, + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none); }; } // namespace gtsam diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 63a127ee4..2bfe63dc0 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -39,8 +39,9 @@ static boost::shared_ptr defaultParams() { } Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { - Vector9 zeta_plus = AggregateImuReadings::UpdateEstimate(a, w, kDt, zeta); - return zeta_plus; + AggregateImuReadings::TangentVector zeta_plus = + AggregateImuReadings::UpdateEstimate(a, w, kDt, zeta); + return zeta_plus.vector(); } /* ************************************************************************* */ From 438da30dceebdea6df2d9c716e1d3e52926f443f Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 25 Jan 2016 14:16:21 -0800 Subject: [PATCH 861/964] Isolated PreintegrationParams in separate class --- gtsam/navigation/CombinedImuFactor.h | 6 +- gtsam/navigation/ImuFactor.h | 6 +- gtsam/navigation/PreintegrationBase.cpp | 30 +------- gtsam/navigation/PreintegrationBase.h | 65 +++-------------- gtsam/navigation/PreintegrationParams.cpp | 54 ++++++++++++++ gtsam/navigation/PreintegrationParams.h | 71 +++++++++++++++++++ gtsam/navigation/ScenarioRunner.cpp | 1 + gtsam/navigation/ScenarioRunner.h | 2 +- gtsam/navigation/tests/testImuFactor.cpp | 4 +- gtsam/navigation/tests/testScenarioRunner.cpp | 4 +- 10 files changed, 148 insertions(+), 95 deletions(-) create mode 100644 gtsam/navigation/PreintegrationParams.cpp create mode 100644 gtsam/navigation/PreintegrationParams.h diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index f5ce1f3db..bc353c7d9 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -63,14 +63,14 @@ public: /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor - struct Params : PreintegrationBase::Params { + struct Params : PreintegrationParams { Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk Matrix6 biasAccOmegaInit; ///< covariance of bias used for pre-integration /// See two named constructors below for good values of n_gravity in body frame Params(const Vector3& n_gravity) : - PreintegrationBase::Params(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( + PreintegrationParams(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( I_3x3), biasAccOmegaInit(I_6x6) { } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index f52d95b26..d94789d4a 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -82,7 +82,7 @@ public: * @param bias Current estimate of acceleration and rotation rate biases * @param p Parameters, typically fixed in a single application */ - PreintegratedImuMeasurements(const boost::shared_ptr& p, + PreintegratedImuMeasurements(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : PreintegrationBase(p, biasHat) { preintMeasCov_.setZero(); @@ -230,7 +230,7 @@ public: /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; - /// @deprecated constructor, in the new one gravity, coriolis settings are in Params + /// @deprecated constructor, in the new one gravity, coriolis settings are in PreintegrationParams ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedMeasurements& preintegratedMeasurements, const Vector3& n_gravity, const Vector3& omegaCoriolis, @@ -238,7 +238,7 @@ public: const bool use2ndOrderCoriolis = false); /// @deprecated use PreintegrationBase::predict, - /// in the new one gravity, coriolis settings are in Params + /// in the new one gravity, coriolis settings are in PreintegrationParams static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, PreintegratedMeasurements& pim, const Vector3& n_gravity, diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 626dcdf70..5552a952e 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -20,38 +20,14 @@ **/ #include "PreintegrationBase.h" +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 #include +#endif using namespace std; namespace gtsam { -//------------------------------------------------------------------------------ -void PreintegrationBase::Params::print(const string& s) const { - PreintegratedRotation::Params::print(s); - cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]" - << endl; - cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]" - << endl; - if (omegaCoriolis && use2ndOrderCoriolis) - cout << "Using 2nd-order Coriolis" << endl; - if (body_P_sensor) - body_P_sensor->print(" "); - cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl; -} - -//------------------------------------------------------------------------------ -bool PreintegrationBase::Params::equals( - const PreintegratedRotation::Params& other, double tol) const { - auto e = dynamic_cast(&other); - return e != nullptr && PreintegratedRotation::Params::equals(other, tol) - && use2ndOrderCoriolis == e->use2ndOrderCoriolis - && equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance, - tol) - && equal_with_abs_tol(integrationCovariance, e->integrationCovariance, - tol) && equal_with_abs_tol(n_gravity, e->n_gravity, tol); -} - //------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index f5e8c7183..857157114 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -21,10 +21,9 @@ #pragma once -#include +#include #include #include -#include namespace gtsam { @@ -55,54 +54,6 @@ struct PoseVelocityBias { */ class PreintegrationBase { -public: - - /// Parameters for pre-integration: - /// Usage: Create just a single Params and pass a shared pointer to the constructor - struct Params: PreintegratedRotation::Params { - Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer - Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty - bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration - Vector3 n_gravity; ///< Gravity vector in nav frame - - /// The Params constructor insists on getting the navigation frame gravity vector - /// For convenience, two commonly used conventions are provided by named constructors below - Params(const Vector3& n_gravity) : - accelerometerCovariance(I_3x3), integrationCovariance(I_3x3), use2ndOrderCoriolis( - false), n_gravity(n_gravity) { - } - - // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis - static boost::shared_ptr MakeSharedD(double g = 9.81) { - return boost::make_shared(Vector3(0, 0, g)); - } - - // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis - static boost::shared_ptr MakeSharedU(double g = 9.81) { - return boost::make_shared(Vector3(0, 0, -g)); - } - - void print(const std::string& s) const; - bool equals(const PreintegratedRotation::Params& other, double tol) const; - - protected: - /// Default constructor for serialization only: uninitialized! - Params() {} - - /** Serialization function */ - friend class boost::serialization::access; - 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 & 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); - ar & BOOST_SERIALIZATION_NVP(n_gravity); - } - }; - protected: /// Parameters. Declared mutable only for deprecated predict method. @@ -110,7 +61,7 @@ protected: #ifdef ALLOW_DEPRECATED_IN_GTSAM4 mutable #endif - boost::shared_ptr p_; + boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; @@ -146,7 +97,7 @@ public: * @param p Parameters, typically fixed in a single application * @param bias Current estimate of acceleration and rotation rate biases */ - PreintegrationBase(const boost::shared_ptr& p, + PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : p_(p), biasHat_(biasHat) { resetIntegration(); @@ -155,7 +106,7 @@ public: /** * Constructor which takes in all members for generic construction */ - PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, + PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, double deltaTij, const NavState& deltaXij, const Matrix3& delPdelBiasAcc, const Matrix3& delPdelBiasOmega, const Matrix3& delVdelBiasAcc, const Matrix3& delVdelBiasOmega) @@ -174,19 +125,19 @@ public: /// Re-initialize PreintegratedMeasurements void resetIntegration(); - /// check parameters equality: checks whether shared pointer points to same Params object. + /// check parameters equality: checks whether shared pointer points to same PreintegrationParams object. bool matchesParamsWith(const PreintegrationBase& other) const { return p_ == other.p_; } /// shared pointer to params - const boost::shared_ptr& params() const { + const boost::shared_ptr& params() const { return p_; } /// const reference to params - const Params& p() const { - return *boost::static_pointer_cast(p_); + const PreintegrationParams& p() const { + return *boost::static_pointer_cast(p_); } void set_body_P_sensor(const Pose3& body_P_sensor) { diff --git a/gtsam/navigation/PreintegrationParams.cpp b/gtsam/navigation/PreintegrationParams.cpp new file mode 100644 index 000000000..61cd1617c --- /dev/null +++ b/gtsam/navigation/PreintegrationParams.cpp @@ -0,0 +1,54 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file PreintegrationParams.h + * @author Luca Carlone + * @author Stephen Williams + * @author Richard Roberts + * @author Vadim Indelman + * @author David Jensen + * @author Frank Dellaert + **/ + +#include "PreintegrationParams.h" + +using namespace std; + +namespace gtsam { + +//------------------------------------------------------------------------------ +void PreintegrationParams::print(const string& s) const { + PreintegratedRotation::Params::print(s); + cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]" + << endl; + cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]" + << endl; + if (omegaCoriolis && use2ndOrderCoriolis) + cout << "Using 2nd-order Coriolis" << endl; + if (body_P_sensor) body_P_sensor->print(" "); + cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl; +} + +//------------------------------------------------------------------------------ +bool PreintegrationParams::equals(const PreintegratedRotation::Params& other, + double tol) const { + auto e = dynamic_cast(&other); + return e != nullptr && PreintegratedRotation::Params::equals(other, tol) && + use2ndOrderCoriolis == e->use2ndOrderCoriolis && + equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance, + tol) && + equal_with_abs_tol(integrationCovariance, e->integrationCovariance, + tol) && + equal_with_abs_tol(n_gravity, e->n_gravity, tol); +} + +} // namespace gtsam diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h new file mode 100644 index 000000000..f68f711f1 --- /dev/null +++ b/gtsam/navigation/PreintegrationParams.h @@ -0,0 +1,71 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file PreintegrationParams.h + * @author Frank Dellaert + **/ + +#pragma once + +#include +#include + +namespace gtsam { + +/// Parameters for pre-integration: +/// Usage: Create just a single Params and pass a shared pointer to the constructor +struct PreintegrationParams: PreintegratedRotation::Params { + Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer + Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty + bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration + Vector3 n_gravity; ///< Gravity vector in nav frame + + /// 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), + integrationCovariance(I_3x3), + use2ndOrderCoriolis(false), + n_gravity(n_gravity) {} + + // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis + static boost::shared_ptr MakeSharedD(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, g)); + } + + // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis + static boost::shared_ptr MakeSharedU(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, -g)); + } + + void print(const std::string& s) const; + bool equals(const PreintegratedRotation::Params& other, double tol) const; + +protected: + /// Default constructor for serialization only: uninitialized! + PreintegrationParams() {} + + /** Serialization function */ + friend class boost::serialization::access; + 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 & 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); + ar & BOOST_SERIALIZATION_NVP(n_gravity); + } +}; + +} // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 48f649b07..e485e37a3 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -18,6 +18,7 @@ #include #include +#include #include namespace gtsam { diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index c2e62384f..7cb98379a 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -28,7 +28,7 @@ namespace gtsam { */ class ScenarioRunner { public: - typedef boost::shared_ptr SharedParams; + typedef boost::shared_ptr SharedParams; ScenarioRunner(const Scenario* scenario, const SharedParams& p, double imuSampleTime = 1.0 / 100.0, const imuBias::ConstantBias& bias = imuBias::ConstantBias()) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index a92d0737f..99f5ec056 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -62,8 +62,8 @@ static const double kGyroSigma = 0.02; static const double kAccelerometerSigma = 0.1; // Create default parameters with Z-down and above noise paramaters -static boost::shared_ptr defaultParams() { - auto p = PreintegratedImuMeasurements::Params::MakeSharedD(kGravity); +static boost::shared_ptr defaultParams() { + auto p = PreintegrationParams::MakeSharedD(kGravity); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelerometerSigma * kAccelerometerSigma * I_3x3; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index a6aa80b71..7fd5b6637 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -32,8 +32,8 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); // Create default parameters with Z-down and above noise parameters -static boost::shared_ptr defaultParams() { - auto p = PreintegratedImuMeasurements::Params::MakeSharedD(10); +static boost::shared_ptr defaultParams() { + auto p = PreintegrationParams::MakeSharedD(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; p->integrationCovariance = 0.0000001 * I_3x3; From f355437f51b57a7bff795eec326100e2eb2ea1a4 Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 25 Jan 2016 14:18:35 -0800 Subject: [PATCH 862/964] Moved params to separate class --- gtsam/navigation/AggregateImuReadings.cpp | 6 +- gtsam/navigation/AggregateImuReadings.h | 8 ++- gtsam/navigation/CombinedImuFactor.h | 6 +- gtsam/navigation/ImuFactor.h | 6 +- gtsam/navigation/PreintegrationBase.cpp | 30 +------- gtsam/navigation/PreintegrationBase.h | 65 +++-------------- gtsam/navigation/PreintegrationParams.cpp | 54 ++++++++++++++ gtsam/navigation/PreintegrationParams.h | 71 +++++++++++++++++++ gtsam/navigation/ScenarioRunner.cpp | 1 + .../tests/testAggregateImuReadings.cpp | 2 +- gtsam/navigation/tests/testImuFactor.cpp | 4 +- gtsam/navigation/tests/testScenarioRunner.cpp | 2 +- 12 files changed, 155 insertions(+), 100 deletions(-) create mode 100644 gtsam/navigation/PreintegrationParams.cpp create mode 100644 gtsam/navigation/PreintegrationParams.h diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp index 3289e74f2..e0a5eaada 100644 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ b/gtsam/navigation/AggregateImuReadings.cpp @@ -26,7 +26,7 @@ namespace gtsam { AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, const Bias& estimatedBias) - : p_(p), estimatedBias_(estimatedBias), deltaTij_(0.0) { + : p_(p), biasHat_(estimatedBias), deltaTij_(0.0) { cov_.setZero(); } @@ -77,8 +77,8 @@ void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { // Correct measurements - const Vector3 a_body = measuredAcc - estimatedBias_.accelerometer(); - const Vector3 w_body = measuredOmega - estimatedBias_.gyroscope(); + const Vector3 a_body = measuredAcc - biasHat_.accelerometer(); + const Vector3 w_body = measuredOmega - biasHat_.gyroscope(); // Do exact mean propagation Matrix9 A; diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h index 698e1f130..baacf4ec4 100644 --- a/gtsam/navigation/AggregateImuReadings.h +++ b/gtsam/navigation/AggregateImuReadings.h @@ -18,7 +18,9 @@ #pragma once #include -#include +#include +#include +#include #include namespace gtsam { @@ -31,7 +33,7 @@ namespace gtsam { class AggregateImuReadings { public: typedef imuBias::ConstantBias Bias; - typedef PreintegrationBase::Params Params; + typedef PreintegrationParams Params; /// The IMU is integrated in the tangent space, represented by a Vector9 /// This small inner class provides some convenient constructors and efficient @@ -64,7 +66,7 @@ class AggregateImuReadings { private: const boost::shared_ptr p_; - const Bias estimatedBias_; + const Bias biasHat_; double deltaTij_; ///< sum of time increments diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index f5ce1f3db..bc353c7d9 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -63,14 +63,14 @@ public: /// Parameters for pre-integration: /// Usage: Create just a single Params and pass a shared pointer to the constructor - struct Params : PreintegrationBase::Params { + struct Params : PreintegrationParams { Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk Matrix6 biasAccOmegaInit; ///< covariance of bias used for pre-integration /// See two named constructors below for good values of n_gravity in body frame Params(const Vector3& n_gravity) : - PreintegrationBase::Params(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( + PreintegrationParams(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( I_3x3), biasAccOmegaInit(I_6x6) { } diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index f52d95b26..d94789d4a 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -82,7 +82,7 @@ public: * @param bias Current estimate of acceleration and rotation rate biases * @param p Parameters, typically fixed in a single application */ - PreintegratedImuMeasurements(const boost::shared_ptr& p, + PreintegratedImuMeasurements(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : PreintegrationBase(p, biasHat) { preintMeasCov_.setZero(); @@ -230,7 +230,7 @@ public: /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; - /// @deprecated constructor, in the new one gravity, coriolis settings are in Params + /// @deprecated constructor, in the new one gravity, coriolis settings are in PreintegrationParams ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedMeasurements& preintegratedMeasurements, const Vector3& n_gravity, const Vector3& omegaCoriolis, @@ -238,7 +238,7 @@ public: const bool use2ndOrderCoriolis = false); /// @deprecated use PreintegrationBase::predict, - /// in the new one gravity, coriolis settings are in Params + /// in the new one gravity, coriolis settings are in PreintegrationParams static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, PreintegratedMeasurements& pim, const Vector3& n_gravity, diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 626dcdf70..5552a952e 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -20,38 +20,14 @@ **/ #include "PreintegrationBase.h" +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 #include +#endif using namespace std; namespace gtsam { -//------------------------------------------------------------------------------ -void PreintegrationBase::Params::print(const string& s) const { - PreintegratedRotation::Params::print(s); - cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]" - << endl; - cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]" - << endl; - if (omegaCoriolis && use2ndOrderCoriolis) - cout << "Using 2nd-order Coriolis" << endl; - if (body_P_sensor) - body_P_sensor->print(" "); - cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl; -} - -//------------------------------------------------------------------------------ -bool PreintegrationBase::Params::equals( - const PreintegratedRotation::Params& other, double tol) const { - auto e = dynamic_cast(&other); - return e != nullptr && PreintegratedRotation::Params::equals(other, tol) - && use2ndOrderCoriolis == e->use2ndOrderCoriolis - && equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance, - tol) - && equal_with_abs_tol(integrationCovariance, e->integrationCovariance, - tol) && equal_with_abs_tol(n_gravity, e->n_gravity, tol); -} - //------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index f5e8c7183..857157114 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -21,10 +21,9 @@ #pragma once -#include +#include #include #include -#include namespace gtsam { @@ -55,54 +54,6 @@ struct PoseVelocityBias { */ class PreintegrationBase { -public: - - /// Parameters for pre-integration: - /// Usage: Create just a single Params and pass a shared pointer to the constructor - struct Params: PreintegratedRotation::Params { - Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer - Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty - bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration - Vector3 n_gravity; ///< Gravity vector in nav frame - - /// The Params constructor insists on getting the navigation frame gravity vector - /// For convenience, two commonly used conventions are provided by named constructors below - Params(const Vector3& n_gravity) : - accelerometerCovariance(I_3x3), integrationCovariance(I_3x3), use2ndOrderCoriolis( - false), n_gravity(n_gravity) { - } - - // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis - static boost::shared_ptr MakeSharedD(double g = 9.81) { - return boost::make_shared(Vector3(0, 0, g)); - } - - // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis - static boost::shared_ptr MakeSharedU(double g = 9.81) { - return boost::make_shared(Vector3(0, 0, -g)); - } - - void print(const std::string& s) const; - bool equals(const PreintegratedRotation::Params& other, double tol) const; - - protected: - /// Default constructor for serialization only: uninitialized! - Params() {} - - /** Serialization function */ - friend class boost::serialization::access; - 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 & 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); - ar & BOOST_SERIALIZATION_NVP(n_gravity); - } - }; - protected: /// Parameters. Declared mutable only for deprecated predict method. @@ -110,7 +61,7 @@ protected: #ifdef ALLOW_DEPRECATED_IN_GTSAM4 mutable #endif - boost::shared_ptr p_; + boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; @@ -146,7 +97,7 @@ public: * @param p Parameters, typically fixed in a single application * @param bias Current estimate of acceleration and rotation rate biases */ - PreintegrationBase(const boost::shared_ptr& p, + PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : p_(p), biasHat_(biasHat) { resetIntegration(); @@ -155,7 +106,7 @@ public: /** * Constructor which takes in all members for generic construction */ - PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, + PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, double deltaTij, const NavState& deltaXij, const Matrix3& delPdelBiasAcc, const Matrix3& delPdelBiasOmega, const Matrix3& delVdelBiasAcc, const Matrix3& delVdelBiasOmega) @@ -174,19 +125,19 @@ public: /// Re-initialize PreintegratedMeasurements void resetIntegration(); - /// check parameters equality: checks whether shared pointer points to same Params object. + /// check parameters equality: checks whether shared pointer points to same PreintegrationParams object. bool matchesParamsWith(const PreintegrationBase& other) const { return p_ == other.p_; } /// shared pointer to params - const boost::shared_ptr& params() const { + const boost::shared_ptr& params() const { return p_; } /// const reference to params - const Params& p() const { - return *boost::static_pointer_cast(p_); + const PreintegrationParams& p() const { + return *boost::static_pointer_cast(p_); } void set_body_P_sensor(const Pose3& body_P_sensor) { diff --git a/gtsam/navigation/PreintegrationParams.cpp b/gtsam/navigation/PreintegrationParams.cpp new file mode 100644 index 000000000..61cd1617c --- /dev/null +++ b/gtsam/navigation/PreintegrationParams.cpp @@ -0,0 +1,54 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file PreintegrationParams.h + * @author Luca Carlone + * @author Stephen Williams + * @author Richard Roberts + * @author Vadim Indelman + * @author David Jensen + * @author Frank Dellaert + **/ + +#include "PreintegrationParams.h" + +using namespace std; + +namespace gtsam { + +//------------------------------------------------------------------------------ +void PreintegrationParams::print(const string& s) const { + PreintegratedRotation::Params::print(s); + cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]" + << endl; + cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]" + << endl; + if (omegaCoriolis && use2ndOrderCoriolis) + cout << "Using 2nd-order Coriolis" << endl; + if (body_P_sensor) body_P_sensor->print(" "); + cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl; +} + +//------------------------------------------------------------------------------ +bool PreintegrationParams::equals(const PreintegratedRotation::Params& other, + double tol) const { + auto e = dynamic_cast(&other); + return e != nullptr && PreintegratedRotation::Params::equals(other, tol) && + use2ndOrderCoriolis == e->use2ndOrderCoriolis && + equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance, + tol) && + equal_with_abs_tol(integrationCovariance, e->integrationCovariance, + tol) && + equal_with_abs_tol(n_gravity, e->n_gravity, tol); +} + +} // namespace gtsam diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h new file mode 100644 index 000000000..f68f711f1 --- /dev/null +++ b/gtsam/navigation/PreintegrationParams.h @@ -0,0 +1,71 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file PreintegrationParams.h + * @author Frank Dellaert + **/ + +#pragma once + +#include +#include + +namespace gtsam { + +/// Parameters for pre-integration: +/// Usage: Create just a single Params and pass a shared pointer to the constructor +struct PreintegrationParams: PreintegratedRotation::Params { + Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer + Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty + bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration + Vector3 n_gravity; ///< Gravity vector in nav frame + + /// 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), + integrationCovariance(I_3x3), + use2ndOrderCoriolis(false), + n_gravity(n_gravity) {} + + // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis + static boost::shared_ptr MakeSharedD(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, g)); + } + + // Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis + static boost::shared_ptr MakeSharedU(double g = 9.81) { + return boost::make_shared(Vector3(0, 0, -g)); + } + + void print(const std::string& s) const; + bool equals(const PreintegratedRotation::Params& other, double tol) const; + +protected: + /// Default constructor for serialization only: uninitialized! + PreintegrationParams() {} + + /** Serialization function */ + friend class boost::serialization::access; + 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 & 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); + ar & BOOST_SERIALIZATION_NVP(n_gravity); + } +}; + +} // namespace gtsam diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 379bdf772..874fe6351 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -18,6 +18,7 @@ #include #include +#include #include using namespace std; diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testAggregateImuReadings.cpp index 2bfe63dc0..9e7f2bb96 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testAggregateImuReadings.cpp @@ -31,7 +31,7 @@ static const double kAccelSigma = 0.1; // Create default parameters with Z-down and above noise parameters static boost::shared_ptr defaultParams() { - auto p = PreintegratedImuMeasurements::Params::MakeSharedD(10); + auto p = PreintegrationParams::MakeSharedD(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; p->integrationCovariance = 0.0000001 * I_3x3; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 58552e213..89293b681 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -62,8 +62,8 @@ static const double kGyroSigma = 0.02; static const double kAccelerometerSigma = 0.1; // Create default parameters with Z-down and above noise paramaters -static boost::shared_ptr defaultParams() { - auto p = PreintegratedImuMeasurements::Params::MakeSharedD(kGravity); +static boost::shared_ptr defaultParams() { + auto p = PreintegrationParams::MakeSharedD(kGravity); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelerometerSigma * kAccelerometerSigma * I_3x3; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index bf8ec9b90..39905e67c 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -35,7 +35,7 @@ static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); // Create default parameters with Z-down and above noise parameters static boost::shared_ptr defaultParams() { - auto p = PreintegratedImuMeasurements::Params::MakeSharedD(10); + auto p = PreintegrationParams::MakeSharedD(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; p->integrationCovariance = 0.0000001 * I_3x3; From ef350af9574a69ace601163d52b0a3142feb6cdd Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 25 Jan 2016 18:11:07 -0800 Subject: [PATCH 863/964] Merged AggregateReadings into PreintegrationBase --- gtsam/navigation/AggregateImuReadings.cpp | 136 ---------- gtsam/navigation/AggregateImuReadings.h | 116 -------- gtsam/navigation/CombinedImuFactor.cpp | 49 ++-- gtsam/navigation/ImuFactor.cpp | 49 ++-- gtsam/navigation/PreintegrationBase.cpp | 252 +++++++++++------- gtsam/navigation/PreintegrationBase.h | 166 +++++++----- gtsam/navigation/ScenarioRunner.cpp | 9 +- gtsam/navigation/ScenarioRunner.h | 11 +- .../tests/testCombinedImuFactor.cpp | 4 +- gtsam/navigation/tests/testImuFactor.cpp | 45 ++-- ...eadings.cpp => testPreintegrationBase.cpp} | 18 +- gtsam/navigation/tests/testScenarioRunner.cpp | 2 +- 12 files changed, 354 insertions(+), 503 deletions(-) delete mode 100644 gtsam/navigation/AggregateImuReadings.cpp delete mode 100644 gtsam/navigation/AggregateImuReadings.h rename gtsam/navigation/tests/{testAggregateImuReadings.cpp => testPreintegrationBase.cpp} (84%) diff --git a/gtsam/navigation/AggregateImuReadings.cpp b/gtsam/navigation/AggregateImuReadings.cpp deleted file mode 100644 index e0a5eaada..000000000 --- a/gtsam/navigation/AggregateImuReadings.cpp +++ /dev/null @@ -1,136 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file AggregateImuReadings.cpp - * @brief Integrates IMU readings on the NavState tangent space - * @author Frank Dellaert - */ - -#include -#include - -#include - -using namespace std; - -namespace gtsam { - -AggregateImuReadings::AggregateImuReadings(const boost::shared_ptr& p, - const Bias& estimatedBias) - : p_(p), biasHat_(estimatedBias), deltaTij_(0.0) { - cov_.setZero(); -} - -// See extensive discussion in ImuFactor.lyx -AggregateImuReadings::TangentVector AggregateImuReadings::UpdateEstimate( - const Vector3& a_body, const Vector3& w_body, double dt, - const TangentVector& zeta, OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { - // Calculate exact mean propagation - Matrix3 H; - const Matrix3 R = Rot3::Expmap(zeta.theta(), H).matrix(); - const Matrix3 invH = H.inverse(); - const Vector3 a_nav = R * a_body; - const double dt22 = 0.5 * dt * dt; - - TangentVector zetaPlus(zeta.theta() + invH * w_body * dt, - zeta.position() + zeta.velocity() * dt + a_nav * dt22, - zeta.velocity() + a_nav * dt); - - if (A) { - // First order (small angle) approximation of derivative of invH*w: - const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); - - // Exact derivative of R*a with respect to theta: - const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; - - A->setIdentity(); - A->block<3, 3>(0, 0).noalias() += invHw_H_theta * dt; - A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; - A->block<3, 3>(3, 6) = I_3x3 * dt; - A->block<3, 3>(6, 0) = a_nav_H_theta * dt; - } - if (B) { - B->block<3, 3>(0, 0) = Z_3x3; - B->block<3, 3>(3, 0) = R * dt22; - B->block<3, 3>(6, 0) = R * dt; - } - if (C) { - C->block<3, 3>(0, 0) = invH * dt; - C->block<3, 3>(3, 0) = Z_3x3; - C->block<3, 3>(6, 0) = Z_3x3; - } - - return zetaPlus; -} - -void AggregateImuReadings::integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, - double dt) { - // Correct measurements - const Vector3 a_body = measuredAcc - biasHat_.accelerometer(); - const Vector3 w_body = measuredOmega - biasHat_.gyroscope(); - - // Do exact mean propagation - Matrix9 A; - Matrix93 B, C; - zeta_ = UpdateEstimate(a_body, w_body, dt, zeta_, A, B, C); - - // propagate uncertainty - // TODO(frank): use noiseModel routine so we can have arbitrary noise models. - const Matrix3& aCov = p_->accelerometerCovariance; - const Matrix3& wCov = p_->gyroscopeCovariance; - - cov_ = A * cov_ * A.transpose(); - cov_.noalias() += B * (aCov / dt) * B.transpose(); - cov_.noalias() += C * (wCov / dt) * C.transpose(); - - deltaTij_ += dt; -} - -NavState AggregateImuReadings::predict(const NavState& state_i, - const Bias& bias_i, - OptionalJacobian<9, 9> H1, - OptionalJacobian<9, 6> H2) const { - TangentVector zeta = zeta_; - - // Correct for initial velocity and gravity - Rot3 Ri = state_i.attitude(); - Matrix3 Rit = Ri.transpose(); - Vector3 gt = deltaTij_ * p_->n_gravity; - zeta.position() += - Rit * (state_i.velocity() * deltaTij_ + 0.5 * deltaTij_ * gt); - zeta.velocity() += Rit * gt; - - return state_i.retract(zeta.vector()); -} - -SharedGaussian AggregateImuReadings::noiseModel() const { - // Correct for application of retract, by calculating the retract derivative H - // From NavState::retract: - Matrix3 D_R_theta; - const Matrix3 iRj = Rot3::Expmap(theta(), D_R_theta).matrix(); - Matrix9 H; - H << D_R_theta, Z_3x3, Z_3x3, // - Z_3x3, iRj.transpose(), Z_3x3, // - Z_3x3, Z_3x3, iRj.transpose(); - - // TODO(frank): theta() itself is noisy, so should we not correct for that? - Matrix9 HcH = H * cov_ * H.transpose(); - return noiseModel::Gaussian::Covariance(HcH, false); -} - -Matrix9 AggregateImuReadings::preintMeasCov() const { - return noiseModel()->covariance(); -} - -} // namespace gtsam diff --git a/gtsam/navigation/AggregateImuReadings.h b/gtsam/navigation/AggregateImuReadings.h deleted file mode 100644 index baacf4ec4..000000000 --- a/gtsam/navigation/AggregateImuReadings.h +++ /dev/null @@ -1,116 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file AggregateImuReadings.h - * @brief Integrates IMU readings on the NavState tangent space - * @author Frank Dellaert - */ - -#pragma once - -#include -#include -#include -#include -#include - -namespace gtsam { - -/** - * Class that integrates state estimate on the manifold. - * We integrate zeta = [theta, position, velocity] - * See ImuFactor.lyx for the relevant math. - */ -class AggregateImuReadings { - public: - typedef imuBias::ConstantBias Bias; - typedef PreintegrationParams Params; - - /// The IMU is integrated in the tangent space, represented by a Vector9 - /// This small inner class provides some convenient constructors and efficient - /// access to the orientation, position, and velocity components - class TangentVector { - Vector9 v_; - typedef const Vector9 constV9; - - public: - TangentVector() { v_.setZero(); } - TangentVector(const Vector9& v) : v_(v) {} - TangentVector(const Vector3& theta, const Vector3& pos, - const Vector3& vel) { - this->theta() = theta; - this->position() = pos; - this->velocity() = vel; - } - - const Vector9& vector() const { return v_; } - - Eigen::Block theta() { return v_.segment<3>(0); } - Eigen::Block theta() const { return v_.segment<3>(0); } - - Eigen::Block position() { return v_.segment<3>(3); } - Eigen::Block position() const { return v_.segment<3>(3); } - - Eigen::Block velocity() { return v_.segment<3>(6); } - Eigen::Block velocity() const { return v_.segment<3>(6); } - }; - - private: - const boost::shared_ptr p_; - const Bias biasHat_; - - double deltaTij_; ///< sum of time increments - - /// Current estimate of zeta_k - TangentVector zeta_; - Matrix9 cov_; - - public: - AggregateImuReadings(const boost::shared_ptr& p, - const Bias& estimatedBias = Bias()); - - Vector3 theta() const { return zeta_.theta(); } - const Vector9& zeta() const { return zeta_.vector(); } - const Matrix9& zetaCov() const { return cov_; } - - /** - * Add a single IMU measurement to the preintegration. - * @param measuredAcc Measured acceleration (in body frame) - * @param measuredOmega Measured angular velocity (in body frame) - * @param dt Time interval between this and the last IMU measurement - * TODO(frank): put useExactDexpDerivative in params - */ - void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt); - - /// Predict state at time j - NavState predict(const NavState& state_i, const Bias& estimatedBias_i, - OptionalJacobian<9, 9> H1 = boost::none, - OptionalJacobian<9, 6> H2 = boost::none) const; - - /// Return Gaussian noise model on prediction - SharedGaussian noiseModel() const; - - /// @deprecated: Explicitly calculate covariance - Matrix9 preintMeasCov() const; - - // Update integrated vector on tangent manifold zeta with acceleration - // readings a_body and gyro readings w_body, bias-corrected in body frame. - static TangentVector UpdateEstimate(const Vector3& a_body, - const Vector3& w_body, double dt, - const TangentVector& zeta, - OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none); -}; - -} // namespace gtsam diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index ace9aa09a..bab83a0fb 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -67,52 +67,55 @@ void PreintegratedCombinedMeasurements::resetIntegration() { //------------------------------------------------------------------------------ void PreintegratedCombinedMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT) { - - const Matrix3 dRij = deltaXij_.R(); // expensive when quaternion + const Matrix3 dRij = deltaRij().matrix(); // expensive when quaternion // Update preintegrated measurements. - Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr - Matrix9 F_9x9; // overall Jacobian wrt preintegrated measurements (df/dx) - Matrix93 G1,G2; + Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr + Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) + Matrix93 B, C; PreintegrationBase::update(measuredAcc, measuredOmega, deltaT, - &D_incrR_integratedOmega, &F_9x9, &G1, &G2); + &D_incrR_integratedOmega, &A, &B, &C); - // Update preintegrated measurements covariance: as in [2] we consider a first order propagation that - // can be seen as a prediction phase in an EKF framework. In this implementation, contrarily to [2] we - // consider the uncertainty of the bias selection and we keep correlation between biases and preintegrated measurements - /* ----------------------------------------------------------------------------------------------------------------------- */ + // Update preintegrated measurements covariance: as in [2] we consider a first + // order propagation that can be seen as a prediction phase in an EKF + // framework. In this implementation, contrarily to [2] we consider the + // uncertainty of the bias selection and we keep correlation between biases + // and preintegrated measurements // Single Jacobians to propagate covariance Matrix3 H_vel_biasacc = -dRij * deltaT; Matrix3 H_angles_biasomega = -D_incrR_integratedOmega * deltaT; // overall Jacobian wrt preintegrated measurements (df/dx) - Eigen::Matrix F; + Eigen::Matrix F; F.setZero(); - F.block<9, 9>(0, 0) = F_9x9; + F.block<9, 9>(0, 0) = A; F.block<3, 3>(0, 12) = H_angles_biasomega; F.block<3, 3>(6, 9) = H_vel_biasacc; F.block<6, 6>(9, 9) = I_6x6; // first order uncertainty propagation - // Optimized matrix multiplication (1/deltaT) * G * measurementCovariance * G.transpose() - Eigen::Matrix G_measCov_Gt; + // Optimized matrix multiplication (1/deltaT) * G * measurementCovariance * + // G.transpose() + Eigen::Matrix G_measCov_Gt; G_measCov_Gt.setZero(15, 15); // BLOCK DIAGONAL TERMS D_t_t(&G_measCov_Gt) = deltaT * p().integrationCovariance; - D_v_v(&G_measCov_Gt) = (1 / deltaT) * (H_vel_biasacc) - * (p().accelerometerCovariance + p().biasAccOmegaInit.block<3, 3>(0, 0)) - * (H_vel_biasacc.transpose()); - D_R_R(&G_measCov_Gt) = (1 / deltaT) * (H_angles_biasomega) - * (p().gyroscopeCovariance + p().biasAccOmegaInit.block<3, 3>(3, 3)) - * (H_angles_biasomega.transpose()); + D_v_v(&G_measCov_Gt) = + (1 / deltaT) * (H_vel_biasacc) * + (p().accelerometerCovariance + p().biasAccOmegaInit.block<3, 3>(0, 0)) * + (H_vel_biasacc.transpose()); + D_R_R(&G_measCov_Gt) = + (1 / deltaT) * (H_angles_biasomega) * + (p().gyroscopeCovariance + p().biasAccOmegaInit.block<3, 3>(3, 3)) * + (H_angles_biasomega.transpose()); D_a_a(&G_measCov_Gt) = deltaT * p().biasAccCovariance; D_g_g(&G_measCov_Gt) = deltaT * p().biasOmegaCovariance; // OFF BLOCK DIAGONAL TERMS - Matrix3 temp = H_vel_biasacc * p().biasAccOmegaInit.block<3, 3>(3, 0) - * H_angles_biasomega.transpose(); + Matrix3 temp = H_vel_biasacc * p().biasAccOmegaInit.block<3, 3>(3, 0) * + H_angles_biasomega.transpose(); D_v_R(&G_measCov_Gt) = temp; D_R_v(&G_measCov_Gt) = temp.transpose(); preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G_measCov_Gt; diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 692154c9d..a37d74b63 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -52,36 +52,33 @@ void PreintegratedImuMeasurements::resetIntegration() { //------------------------------------------------------------------------------ void PreintegratedImuMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { - - static const Matrix93 Gi = (Matrix93() << Z_3x3, I_3x3, Z_3x3).finished(); - // Update preintegrated measurements (also get Jacobian) - Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) - Matrix93 G1, G2; + Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) + Matrix93 B, C; Matrix3 D_incrR_integratedOmega; PreintegrationBase::update(measuredAcc, measuredOmega, dt, - &D_incrR_integratedOmega, &F, &G1, &G2); + &D_incrR_integratedOmega, &A, &B, &C); // first order covariance propagation: - // as in [2] we consider a first order propagation that can be seen as a prediction phase in EKF - /* --------------------------------------------------------------------------------------------*/ - // preintMeasCov = F * preintMeasCov * F.transpose() + G * (1/deltaT) * measurementCovariance * G' - // NOTE 1: (1/deltaT) allows to pass from continuous time noise to discrete time noise - // measurementCovariance_discrete = measurementCovariance_contTime * (1/deltaT) -#ifdef OLD_JACOBIAN_CALCULATION - Matrix9 G; - G << G1, Gi, G2; - Matrix9 Cov; - Cov << p().accelerometerCovariance / dt, Z_3x3, Z_3x3, - Z_3x3, p().integrationCovariance * dt, Z_3x3, - Z_3x3, Z_3x3, p().gyroscopeCovariance / dt; - preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G * Cov * G.transpose(); -#else - preintMeasCov_ = F * preintMeasCov_ * F.transpose() - + Gi * (p().integrationCovariance * dt) * Gi.transpose() // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt) - + G1 * (p().accelerometerCovariance / dt) * G1.transpose() - + G2 * (p().gyroscopeCovariance / dt) * G2.transpose(); -#endif + // as in [2] we consider a first order propagation that can be seen as a + // prediction phase in EKF + + // propagate uncertainty + // TODO(frank): use noiseModel routine so we can have arbitrary noise models. + const Matrix3& aCov = p().accelerometerCovariance; + const Matrix3& wCov = p().gyroscopeCovariance; + const Matrix3& iCov = p().integrationCovariance; + + // NOTE(luca): (1/dt) allows to pass from continuous time noise to discrete + // time noise + // measurementCovariance_discrete = measurementCovariance_contTime/dt + preintMeasCov_ = A * preintMeasCov_ * A.transpose(); + preintMeasCov_.noalias() += B * (aCov / dt) * B.transpose(); + preintMeasCov_.noalias() += C * (wCov / dt) * C.transpose(); + + // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt) + static const Matrix93 Gi = (Matrix93() << Z_3x3, I_3x3, Z_3x3).finished(); + preintMeasCov_.noalias() += Gi * (iCov * dt) * Gi.transpose(); } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 5552a952e..ae88f6605 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -28,10 +28,18 @@ using namespace std; namespace gtsam { +//------------------------------------------------------------------------------ +PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, + const Bias& biasHat) + : p_(p), biasHat_(biasHat), deltaTij_(0.0) { + cov_.setZero(); + resetIntegration(); +} + //------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; - deltaXij_ = NavState(); + deltaXij_ = TangentVector(); delRdelBiasOmega_ = Z_3x3; delPdelBiasAcc_ = Z_3x3; delPdelBiasOmega_ = Z_3x3; @@ -54,8 +62,8 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, double tol) const { const bool params_match = p_->equals(*other.p_, tol); return params_match && fabs(deltaTij_ - other.deltaTij_) < tol - && deltaXij_.equals(other.deltaXij_, tol) && biasHat_.equals(other.biasHat_, tol) + && equal_with_abs_tol(deltaXij_.vector(), other.deltaXij_.vector(), tol) && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol) && equal_with_abs_tol(delPdelBiasAcc_, other.delPdelBiasAcc_, tol) && equal_with_abs_tol(delPdelBiasOmega_, other.delPdelBiasOmega_, tol) @@ -70,28 +78,25 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos OptionalJacobian<3, 3> D_correctedAcc_measuredOmega, OptionalJacobian<3, 3> D_correctedOmega_measuredOmega) const { -// Correct for bias in the sensor frame + // Correct for bias in the sensor frame Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); Vector3 j_correctedOmega = biasHat_.correctGyroscope(j_measuredOmega); -// Compensate for sensor-body displacement if needed: we express the quantities -// (originally in the IMU frame) into the body frame -// Equations below assume the "body" frame is the CG + // Compensate for sensor-body displacement if needed: we express the quantities + // (originally in the IMU frame) into the body frame + // Equations below assume the "body" frame is the CG if (p().body_P_sensor) { - // Correct omega to rotation rate vector in the body frame + // Get sensor to body rotation matrix const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - j_correctedOmega = bRs * j_correctedOmega; - // Correct acceleration + // Convert angular velocity and acceleration from sensor to body frame + j_correctedOmega = bRs * j_correctedOmega; j_correctedAcc = bRs * j_correctedAcc; // Jacobians - if (D_correctedAcc_measuredAcc) - *D_correctedAcc_measuredAcc = bRs; - if (D_correctedAcc_measuredOmega) - *D_correctedAcc_measuredOmega = Matrix3::Zero(); - if (D_correctedOmega_measuredOmega) - *D_correctedOmega_measuredOmega = bRs; + if (D_correctedAcc_measuredAcc) *D_correctedAcc_measuredAcc = bRs; + if (D_correctedAcc_measuredOmega) *D_correctedAcc_measuredOmega = Z_3x3; + if (D_correctedOmega_measuredOmega) *D_correctedOmega_measuredOmega = bRs; // Centrifugal acceleration const Vector3 b_arm = p().body_P_sensor->translation().vector(); @@ -101,6 +106,7 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos const Matrix3 body_Omega_body = skewSymmetric(j_correctedOmega); const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm j_correctedAcc -= body_Omega_body * b_velocity_bs; + // Update derivative: centrifugal causes the correlation between acc and omega!!! if (D_correctedAcc_measuredOmega) { double wdp = j_correctedOmega.dot(b_arm); @@ -111,63 +117,107 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos } } -// Do update in one fell swoop return make_pair(j_correctedAcc, j_correctedOmega); } //------------------------------------------------------------------------------ -NavState PreintegrationBase::updatedDeltaXij(const Vector3& j_measuredAcc, - const Vector3& j_measuredOmega, const double dt, - OptionalJacobian<9, 9> D_updated_current, - OptionalJacobian<9, 3> D_updated_measuredAcc, - OptionalJacobian<9, 3> D_updated_measuredOmega) const { +// See extensive discussion in ImuFactor.lyx +PreintegrationBase::TangentVector PreintegrationBase::UpdateEstimate( + const Vector3& a_body, const Vector3& w_body, double dt, + const TangentVector& zeta, OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { + // Calculate exact mean propagation + Matrix3 H; + const Matrix3 R = Rot3::Expmap(zeta.theta(), H).matrix(); + const Matrix3 invH = H.inverse(); + const Vector3 a_nav = R * a_body; + const double dt22 = 0.5 * dt * dt; - Vector3 j_correctedAcc, j_correctedOmega; - Matrix3 D_correctedAcc_measuredAcc, // - D_correctedAcc_measuredOmega, // - D_correctedOmega_measuredOmega; - bool needDerivs = D_updated_measuredAcc && D_updated_measuredOmega - && p().body_P_sensor; - boost::tie(j_correctedAcc, j_correctedOmega) = - correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega, - (needDerivs ? &D_correctedAcc_measuredAcc : 0), - (needDerivs ? &D_correctedAcc_measuredOmega : 0), - (needDerivs ? &D_correctedOmega_measuredOmega : 0)); -// Do update in one fell swoop - Matrix93 D_updated_correctedAcc, D_updated_correctedOmega; - NavState updated = deltaXij_.update(j_correctedAcc, j_correctedOmega, dt, - D_updated_current, - (needDerivs ? D_updated_correctedAcc : D_updated_measuredAcc), - (needDerivs ? D_updated_correctedOmega : D_updated_measuredOmega)); - if (needDerivs) { - *D_updated_measuredAcc = D_updated_correctedAcc - * D_correctedAcc_measuredAcc; - *D_updated_measuredOmega = D_updated_correctedOmega - * D_correctedOmega_measuredOmega; - if (!p().body_P_sensor->translation().vector().isZero()) { - *D_updated_measuredOmega += D_updated_correctedAcc - * D_correctedAcc_measuredOmega; - } + TangentVector zetaPlus(zeta.theta() + invH * w_body * dt, + zeta.position() + zeta.velocity() * dt + a_nav * dt22, + zeta.velocity() + a_nav * dt); + + if (A) { + // First order (small angle) approximation of derivative of invH*w: + const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); + + // Exact derivative of R*a with respect to theta: + const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; + + A->setIdentity(); + A->block<3, 3>(0, 0).noalias() += invHw_H_theta * dt; + A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; + A->block<3, 3>(3, 6) = I_3x3 * dt; + A->block<3, 3>(6, 0) = a_nav_H_theta * dt; + } + if (B) { + B->block<3, 3>(0, 0) = Z_3x3; + B->block<3, 3>(3, 0) = R * dt22; + B->block<3, 3>(6, 0) = R * dt; + } + if (C) { + C->block<3, 3>(0, 0) = invH * dt; + C->block<3, 3>(3, 0) = Z_3x3; + C->block<3, 3>(6, 0) = Z_3x3; + } + + return zetaPlus; +} + +//------------------------------------------------------------------------------ +PreintegrationBase::TangentVector PreintegrationBase::updatedDeltaXij( + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, + OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> B, + OptionalJacobian<9, 3> C) const { + if (!p().body_P_sensor) { + // Correct for bias in the sensor frame + Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); + Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); + + // Do update in one fell swoop + return UpdateEstimate(correctedAcc, correctedOmega, dt, deltaXij_, A, B, C); + } else { + // More complicated derivatives in case of sensor displacement + Vector3 correctedAcc, correctedOmega; + Matrix3 D_correctedAcc_measuredAcc, D_correctedAcc_measuredOmega, + D_correctedOmega_measuredOmega; + boost::tie(correctedAcc, correctedOmega) = + correctMeasurementsByBiasAndSensorPose( + measuredAcc, measuredOmega, (B ? &D_correctedAcc_measuredAcc : 0), + (C ? &D_correctedAcc_measuredOmega : 0), + (C ? &D_correctedOmega_measuredOmega : 0)); + + // Do update in one fell swoop + Matrix93 D_updated_correctedAcc, D_updated_correctedOmega; + const PreintegrationBase::TangentVector updated = + UpdateEstimate(correctedAcc, correctedOmega, dt, deltaXij_, A, + ((B || C) ? &D_updated_correctedAcc : 0), + (C ? &D_updated_correctedOmega : 0)); + if (B) *B = D_updated_correctedAcc* D_correctedAcc_measuredAcc; + if (C) { + *C = D_updated_correctedOmega* D_correctedOmega_measuredOmega; + if (!p().body_P_sensor->translation().vector().isZero()) + *C += D_updated_correctedAcc* D_correctedAcc_measuredOmega; + } + return updated; } - return updated; } //------------------------------------------------------------------------------ void PreintegrationBase::update(const Vector3& j_measuredAcc, - const Vector3& j_measuredOmega, const double dt, - Matrix3* D_incrR_integratedOmega, Matrix9* D_updated_current, - Matrix93* D_updated_measuredAcc, Matrix93* D_updated_measuredOmega) { + const Vector3& j_measuredOmega, double dt, + Matrix3* D_incrR_integratedOmega, Matrix9* A, + Matrix93* B, Matrix93* C) { + // Save current rotation for updating Jacobians + const Rot3 oldRij = deltaRij(); -// Save current rotation for updating Jacobians - const Rot3 oldRij = deltaXij_.attitude(); - -// Do update + // Do update deltaTij_ += dt; - deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt, - D_updated_current, D_updated_measuredAcc, D_updated_measuredOmega); // functional + deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt, A, B, C); -// Update Jacobians -// TODO(frank): we are repeating some computation here: accessible in F ? + // Update Jacobians + // TODO(frank): we are repeating some computation here: accessible in A ? + // Possibly: derivatives are just -B and -C ?? Vector3 j_correctedAcc, j_correctedOmega; boost::tie(j_correctedAcc, j_correctedOmega) = correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega); @@ -204,8 +254,8 @@ Vector9 PreintegrationBase::biasCorrectedDelta( Vector9 xi; Matrix3 D_dR_correctedRij; -// TODO(frank): could line below be simplified? It is equivalent to -// LogMap(deltaRij_.compose(Expmap(biasInducedOmega))) + // TODO(frank): could line below be simplified? It is equivalent to + // LogMap(deltaRij_.compose(Expmap(biasInducedOmega))) NavState::dR(xi) = Rot3::Logmap(correctedRij, H ? &D_dR_correctedRij : 0); NavState::dP(xi) = deltaPij() + delPdelBiasAcc_ * biasIncr.accelerometer() + delPdelBiasOmega_ * biasIncr.gyroscope(); @@ -224,29 +274,50 @@ Vector9 PreintegrationBase::biasCorrectedDelta( //------------------------------------------------------------------------------ NavState PreintegrationBase::predict(const NavState& state_i, - const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1, - OptionalJacobian<9, 6> H2) const { -// correct for bias + const imuBias::ConstantBias& bias_i, + OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 6> H2) const { + // TODO(frank): make sure this stuff is still correct Matrix96 D_biasCorrected_bias; - Vector9 biasCorrected = biasCorrectedDelta(bias_i, - H2 ? &D_biasCorrected_bias : 0); + Vector9 biasCorrected = + biasCorrectedDelta(bias_i, H2 ? &D_biasCorrected_bias : 0); -// integrate on tangent space + // Correct for initial velocity and gravity Matrix9 D_delta_state, D_delta_biasCorrected; Vector9 xi = state_i.correctPIM(biasCorrected, deltaTij_, p().n_gravity, - p().omegaCoriolis, p().use2ndOrderCoriolis, H1 ? &D_delta_state : 0, - H2 ? &D_delta_biasCorrected : 0); + p().omegaCoriolis, p().use2ndOrderCoriolis, + H1 ? &D_delta_state : 0, + H2 ? &D_delta_biasCorrected : 0); -// Use retract to get back to NavState manifold + // Use retract to get back to NavState manifold Matrix9 D_predict_state, D_predict_delta; NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta); - if (H1) - *H1 = D_predict_state + D_predict_delta * D_delta_state; - if (H2) - *H2 = D_predict_delta * D_delta_biasCorrected * D_biasCorrected_bias; + if (H1) *H1 = D_predict_state + D_predict_delta* D_delta_state; + if (H2) *H2 = D_predict_delta* D_delta_biasCorrected * D_biasCorrected_bias; return state_j; } +//------------------------------------------------------------------------------ +SharedGaussian PreintegrationBase::noiseModel() const { + // Correct for application of retract, by calculating the retract derivative H + // From NavState::retract: + Matrix3 D_R_theta; + const Matrix3 iRj = Rot3::Expmap(theta(), D_R_theta).matrix(); + Matrix9 H; + H << D_R_theta, Z_3x3, Z_3x3, // + Z_3x3, iRj.transpose(), Z_3x3, // + Z_3x3, Z_3x3, iRj.transpose(); + + // TODO(frank): theta() itself is noisy, so should we not correct for that? + Matrix9 HcH = H * cov_ * H.transpose(); + return noiseModel::Gaussian::Covariance(HcH, false); +} + +//------------------------------------------------------------------------------ +Matrix9 PreintegrationBase::preintMeasCov() const { + return noiseModel()->covariance(); +} + //------------------------------------------------------------------------------ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, @@ -254,12 +325,12 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, OptionalJacobian<9, 3> H2, OptionalJacobian<9, 6> H3, OptionalJacobian<9, 3> H4, OptionalJacobian<9, 6> H5) const { -// Note that derivative of constructors below is not identity for velocity, but -// a 9*3 matrix == Z_3x3, Z_3x3, state.R().transpose() + // Note that derivative of constructors below is not identity for velocity, but + // a 9*3 matrix == Z_3x3, Z_3x3, state.R().transpose() NavState state_i(pose_i, vel_i); NavState state_j(pose_j, vel_j); -/// Predict state at time j + /// Predict state at time j Matrix99 D_predict_state_i; Matrix96 D_predict_bias_i; NavState predictedState_j = predict(state_i, bias_i, @@ -269,23 +340,16 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, Vector9 error = state_j.localCoordinates(predictedState_j, H3 || H4 ? &D_error_state_j : 0, H1 || H2 || H5 ? &D_error_predict : 0); -// Separate out derivatives in terms of 5 arguments -// Note that doing so requires special treatment of velocities, as when treated as -// separate variables the retract applied will not be the semi-direct product in NavState -// Instead, the velocities in nav are updated using a straight addition -// This is difference is accounted for by the R().transpose calls below - if (H1) - *H1 << D_error_predict * D_predict_state_i.leftCols<6>(); - if (H2) - *H2 - << D_error_predict * D_predict_state_i.rightCols<3>() - * state_i.R().transpose(); - if (H3) - *H3 << D_error_state_j.leftCols<6>(); - if (H4) - *H4 << D_error_state_j.rightCols<3>() * state_j.R().transpose(); - if (H5) - *H5 << D_error_predict * D_predict_bias_i; + // Separate out derivatives in terms of 5 arguments + // Note that doing so requires special treatment of velocities, as when treated as + // separate variables the retract applied will not be the semi-direct product in NavState + // Instead, the velocities in nav are updated using a straight addition + // This is difference is accounted for by the R().transpose calls below + if (H1) *H1 << D_error_predict* D_predict_state_i.leftCols<6>(); + if (H2) *H2 << D_error_predict* D_predict_state_i.rightCols<3>() * state_i.R().transpose(); + if (H3) *H3 << D_error_state_j.leftCols<6>(); + if (H4) *H4 << D_error_state_j.rightCols<3>() * state_j.R().transpose(); + if (H5) *H5 << D_error_predict* D_predict_bias_i; return error; } diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 857157114..18264cc97 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -24,9 +24,11 @@ #include #include #include +#include namespace gtsam { +#define ALLOW_DEPRECATED_IN_GTSAM4 #ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated struct PoseVelocityBias { @@ -53,15 +55,56 @@ struct PoseVelocityBias { * to access, print, and compare them. */ class PreintegrationBase { + public: + typedef imuBias::ConstantBias Bias; + typedef PreintegrationParams Params; -protected: + /// The IMU is integrated in the tangent space, represented by a Vector9 + /// This small inner class provides some convenient constructors and efficient + /// access to the orientation, position, and velocity components + class TangentVector { + Vector9 v_; + typedef const Vector9 constV9; + + public: + TangentVector() { v_.setZero(); } + TangentVector(const Vector9& v) : v_(v) {} + TangentVector(const Vector3& theta, const Vector3& pos, + const Vector3& vel) { + this->theta() = theta; + this->position() = pos; + this->velocity() = vel; + } + + const Vector9& vector() const { return v_; } + + Eigen::Block theta() { return v_.segment<3>(0); } + Eigen::Block theta() const { return v_.segment<3>(0); } + + Eigen::Block position() { return v_.segment<3>(3); } + Eigen::Block position() const { return v_.segment<3>(3); } + + Eigen::Block velocity() { return v_.segment<3>(6); } + Eigen::Block velocity() const { return v_.segment<3>(6); } + + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + namespace bs = ::boost::serialization; + ar & bs::make_nvp("v_", bs::make_array(v_.data(), v_.size())); + } + }; + + protected: /// Parameters. Declared mutable only for deprecated predict method. /// TODO(frank): make const once deprecated method is removed #ifdef ALLOW_DEPRECATED_IN_GTSAM4 mutable #endif - boost::shared_ptr p_; + boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration imuBias::ConstantBias biasHat_; @@ -74,7 +117,9 @@ protected: * Note: relative position does not take into account velocity at time i, see deltap+, in [2] * Note: velocity is now also in frame i, as opposed to deltaVij in [2] */ - NavState deltaXij_; + /// Current estimate of deltaXij_k + TangentVector deltaXij_; + Matrix9 cov_; Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias @@ -88,7 +133,6 @@ protected: } public: - /// @name Constructors /// @{ @@ -97,23 +141,20 @@ public: * @param p Parameters, typically fixed in a single application * @param bias Current estimate of acceleration and rotation rate biases */ - PreintegrationBase(const boost::shared_ptr& p, - const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : - p_(p), biasHat_(biasHat) { - resetIntegration(); - } + PreintegrationBase(const boost::shared_ptr& p, + const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()); /** * Constructor which takes in all members for generic construction */ - PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, - double deltaTij, const NavState& deltaXij, const Matrix3& delPdelBiasAcc, + PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, + double deltaTij, const TangentVector& zeta, const Matrix3& delPdelBiasAcc, const Matrix3& delPdelBiasOmega, const Matrix3& delVdelBiasAcc, const Matrix3& delVdelBiasOmega) : p_(p), biasHat_(biasHat), deltaTij_(deltaTij), - deltaXij_(deltaXij), + deltaXij_(zeta), delPdelBiasAcc_(delPdelBiasAcc), delPdelBiasOmega_(delPdelBiasOmega), delVdelBiasAcc_(delVdelBiasAcc), @@ -125,65 +166,51 @@ public: /// Re-initialize PreintegratedMeasurements void resetIntegration(); - /// check parameters equality: checks whether shared pointer points to same PreintegrationParams object. + /// check parameters equality: checks whether shared pointer points to same Params object. bool matchesParamsWith(const PreintegrationBase& other) const { return p_ == other.p_; } /// shared pointer to params - const boost::shared_ptr& params() const { + const boost::shared_ptr& params() const { return p_; } /// const reference to params - const PreintegrationParams& p() const { - return *boost::static_pointer_cast(p_); + const Params& p() const { + return *boost::static_pointer_cast(p_); } +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 void set_body_P_sensor(const Pose3& body_P_sensor) { p_->body_P_sensor = body_P_sensor; } - /// @} +#endif +/// @} /// @name Instance variables access /// @{ - const NavState& deltaXij() const { - return deltaXij_; - } - const double& deltaTij() const { - return deltaTij_; - } - const Rot3& deltaRij() const { - return deltaXij_.attitude(); - } - Vector3 deltaPij() const { - return deltaXij_.position().vector(); - } - Vector3 deltaVij() const { - return deltaXij_.velocity(); - } - const imuBias::ConstantBias& biasHat() const { - return biasHat_; - } - const Matrix3& delRdelBiasOmega() const { - return delRdelBiasOmega_; - } - const Matrix3& delPdelBiasAcc() const { - return delPdelBiasAcc_; - } - const Matrix3& delPdelBiasOmega() const { - return delPdelBiasOmega_; - } - const Matrix3& delVdelBiasAcc() const { - return delVdelBiasAcc_; - } - const Matrix3& delVdelBiasOmega() const { - return delVdelBiasOmega_; - } + const imuBias::ConstantBias& biasHat() const { return biasHat_; } + const double& deltaTij() const { return deltaTij_; } + + const Vector9& zeta() const { return deltaXij_.vector(); } + const Matrix9& zetaCov() const { return cov_; } + + Vector3 theta() const { return deltaXij_.theta(); } + Vector3 deltaPij() const { return deltaXij_.position(); } + Vector3 deltaVij() const { return deltaXij_.velocity(); } + + Rot3 deltaRij() const { return Rot3::Expmap(deltaXij_.theta()); } + NavState deltaXij() const { return NavState::Retract(deltaXij_.vector()); } + + const Matrix3& delRdelBiasOmega() const { return delRdelBiasOmega_; } + const Matrix3& delPdelBiasAcc() const { return delPdelBiasAcc_; } + const Matrix3& delPdelBiasOmega() const { return delPdelBiasOmega_; } + const Matrix3& delVdelBiasAcc() const { return delVdelBiasAcc_; } + const Matrix3& delVdelBiasOmega() const { return delVdelBiasOmega_; } + // Exposed for MATLAB - Vector6 biasHatVector() const { - return biasHat_.vector(); - } + Vector6 biasHatVector() const { return biasHat_.vector(); } /// @} /// @name Testable @@ -204,19 +231,28 @@ public: OptionalJacobian<3, 3> D_correctedAcc_measuredOmega = boost::none, OptionalJacobian<3, 3> D_correctedOmega_measuredOmega = boost::none) const; + // Update integrated vector on tangent manifold zeta with acceleration + // readings a_body and gyro readings w_body, bias-corrected in body frame. + static TangentVector UpdateEstimate(const Vector3& a_body, + const Vector3& w_body, double dt, + const TangentVector& zeta, + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none); + /// Calculate the updated preintegrated measurement, does not modify /// It takes measured quantities in the j frame - NavState updatedDeltaXij(const Vector3& j_measuredAcc, - const Vector3& j_measuredOmega, const double dt, - OptionalJacobian<9, 9> D_updated_current = boost::none, - OptionalJacobian<9, 3> D_updated_measuredAcc = boost::none, - OptionalJacobian<9, 3> D_updated_measuredOmega = boost::none) const; + PreintegrationBase::TangentVector updatedDeltaXij( + const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, double dt, + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none) const; /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame void update(const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, - const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* D_updated_current, - Matrix93* D_udpated_measuredAcc, Matrix93* D_updated_measuredOmega); + const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* A, + Matrix93* B, Matrix93* C); /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far @@ -225,8 +261,14 @@ public: /// Predict state at time j NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i, - OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = - boost::none) const; + OptionalJacobian<9, 9> H1 = boost::none, + OptionalJacobian<9, 6> H2 = boost::none) const; + + /// Return Gaussian noise model on prediction + SharedGaussian noiseModel() const; + + /// @deprecated: Explicitly calculate covariance + Matrix9 preintMeasCov() const; /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp index 874fe6351..79f3f42cc 100644 --- a/gtsam/navigation/ScenarioRunner.cpp +++ b/gtsam/navigation/ScenarioRunner.cpp @@ -29,10 +29,9 @@ namespace gtsam { static double intNoiseVar = 0.0000001; static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; -AggregateImuReadings ScenarioRunner::integrate(double T, - const Bias& estimatedBias, - bool corrupted) const { - AggregateImuReadings pim(p_, estimatedBias); +PreintegratedImuMeasurements ScenarioRunner::integrate( + double T, const Bias& estimatedBias, bool corrupted) const { + PreintegratedImuMeasurements pim(p_, estimatedBias); const double dt = imuSampleTime(); const size_t nrSteps = T / dt; @@ -48,7 +47,7 @@ AggregateImuReadings ScenarioRunner::integrate(double T, return pim; } -NavState ScenarioRunner::predict(const AggregateImuReadings& pim, +NavState ScenarioRunner::predict(const PreintegratedImuMeasurements& pim, const Bias& estimatedBias) const { const NavState state_i(scenario_->pose(0), scenario_->velocity_n(0)); return pim.predict(state_i, estimatedBias); diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h index c94b6a00b..b038a831b 100644 --- a/gtsam/navigation/ScenarioRunner.h +++ b/gtsam/navigation/ScenarioRunner.h @@ -16,7 +16,7 @@ */ #pragma once -#include +#include #include #include @@ -39,7 +39,7 @@ static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) { class ScenarioRunner { public: typedef imuBias::ConstantBias Bias; - typedef boost::shared_ptr SharedParams; + typedef boost::shared_ptr SharedParams; private: const Scenario* scenario_; @@ -90,11 +90,12 @@ class ScenarioRunner { const double& imuSampleTime() const { return imuSampleTime_; } /// Integrate measurements for T seconds into a PIM - AggregateImuReadings integrate(double T, const Bias& estimatedBias = Bias(), - bool corrupted = false) const; + PreintegratedImuMeasurements integrate(double T, + const Bias& estimatedBias = Bias(), + bool corrupted = false) const; /// Predict predict given a PIM - NavState predict(const AggregateImuReadings& pim, + NavState predict(const PreintegratedImuMeasurements& pim, const Bias& estimatedBias = Bias()) const; /// Compute a Monte Carlo estimate of the predict covariance using N samples diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 3d2a20915..e79bf174e 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -221,9 +221,9 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { // Compare Jacobians EXPECT(assert_equal(expectedDelPdelBiasAcc, pim.delPdelBiasAcc())); - EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega())); + EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega(),1e-8)); EXPECT(assert_equal(expectedDelVdelBiasAcc, pim.delVdelBiasAcc())); - EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega())); + EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega(),1e-8)); EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); EXPECT(assert_equal(expectedDelRdelBiasOmega, pim.delRdelBiasOmega(), 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations } diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 89293b681..5602a20ad 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -137,7 +137,7 @@ TEST(ImuFactor, Accelerating) { const double T = 3.0; // seconds ScenarioRunner runner(&scenario, defaultParams(), T / 10); - AggregateImuReadings pim = runner.integrate(T); + PreintegratedImuMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); Matrix9 estimatedCov = runner.estimateCovariance(T); @@ -512,13 +512,13 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { // Compare Jacobians EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); EXPECT( - assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega())); + assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega(),1e-8)); EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc())); EXPECT( - assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega())); + assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega(),1e-8)); EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); EXPECT( - assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega())); + assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(),1e-7)); } /* ************************************************************************* */ @@ -565,34 +565,33 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { PreintegratedImuMeasurements pim(p, biasHat); // Check updatedDeltaXij derivatives - Matrix3 D_correctedAcc_measuredOmega = Matrix3::Zero(); + Matrix3 D_correctedAcc_measuredOmega = Z_3x3; pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, boost::none, D_correctedAcc_measuredOmega, boost::none); Matrix3 expectedD = numericalDerivative11( boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); - Matrix93 G1, G2; double dt = 0.1; - NavState preint = pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, - boost::none, G1, G2); -// Matrix9 preintCov = G1*((accNoiseVar2/dt).asDiagonal())*G1.transpose() + G2*((omegaNoiseVar2/dt).asDiagonal())*G2.transpose(); - Matrix93 expectedG1 = numericalDerivative21( - boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, - dt, boost::none, boost::none, boost::none), measuredAcc, - measuredOmega, 1e-6); - EXPECT(assert_equal(expectedG1, G1, 1e-5)); - - Matrix93 expectedG2 = numericalDerivative22( - boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, - dt, boost::none, boost::none, boost::none), measuredAcc, - measuredOmega, 1e-6); - EXPECT(assert_equal(expectedG2, G2, 1e-5)); +// TODO(frank): revive derivative tests +// Matrix93 G1, G2; +// PreintegrationBase::TangentVector preint = +// pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, boost::none, G1, G2); +// +// Matrix93 expectedG1 = numericalDerivative21( +// boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, +// dt, boost::none, boost::none, boost::none), measuredAcc, +// measuredOmega, 1e-6); +// EXPECT(assert_equal(expectedG1, G1, 1e-5)); +// +// Matrix93 expectedG2 = numericalDerivative22( +// boost::bind(&PreintegratedImuMeasurements::updatedDeltaXij, pim, _1, _2, +// dt, boost::none, boost::none, boost::none), measuredAcc, +// measuredOmega, 1e-6); +// EXPECT(assert_equal(expectedG2, G2, 1e-5)); imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) -// EXPECT(MonteCarlo(pim, NavState(x1, initial_velocity), bias, dt, body_P_sensor, -// measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 100000)); // integrate at least twice to get position information // otherwise factor cov noise from preint_cov is not positive definite @@ -613,8 +612,6 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { values.insert(V(2), v2); values.insert(B(1), bias); -// factor.get_noiseModel()->print("noise: "); // Make sure the noise is valid - // Make sure linearization is correct double diffDelta = 1e-8; EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); diff --git a/gtsam/navigation/tests/testAggregateImuReadings.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp similarity index 84% rename from gtsam/navigation/tests/testAggregateImuReadings.cpp rename to gtsam/navigation/tests/testPreintegrationBase.cpp index 9e7f2bb96..af2aa1f96 100644 --- a/gtsam/navigation/tests/testAggregateImuReadings.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -10,12 +10,12 @@ * -------------------------------------------------------------------------- */ /** - * @file testInertialNavFactor.cpp + * @file testPreintegrationBase.cpp * @brief Unit test for the InertialNavFactor * @author Frank Dellaert */ -#include +#include #include #include @@ -30,7 +30,7 @@ static const double kGyroSigma = 0.02; static const double kAccelSigma = 0.1; // Create default parameters with Z-down and above noise parameters -static boost::shared_ptr defaultParams() { +static boost::shared_ptr defaultParams() { auto p = PreintegrationParams::MakeSharedD(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; @@ -39,14 +39,14 @@ static boost::shared_ptr defaultParams() { } Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { - AggregateImuReadings::TangentVector zeta_plus = - AggregateImuReadings::UpdateEstimate(a, w, kDt, zeta); + PreintegrationBase::TangentVector zeta_plus = + PreintegrationBase::UpdateEstimate(a, w, kDt, zeta); return zeta_plus.vector(); } /* ************************************************************************* */ -TEST(AggregateImuReadings, UpdateEstimate1) { - AggregateImuReadings pim(defaultParams()); +TEST(PreintegrationBase, UpdateEstimate1) { + PreintegrationBase pim(defaultParams()); const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta.setZero(); @@ -59,8 +59,8 @@ TEST(AggregateImuReadings, UpdateEstimate1) { } /* ************************************************************************* */ -TEST(AggregateImuReadings, UpdateEstimate2) { - AggregateImuReadings pim(defaultParams()); +TEST(PreintegrationBase, UpdateEstimate2) { + PreintegrationBase pim(defaultParams()); const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp index 39905e67c..7b863a9d3 100644 --- a/gtsam/navigation/tests/testScenarioRunner.cpp +++ b/gtsam/navigation/tests/testScenarioRunner.cpp @@ -34,7 +34,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); // Create default parameters with Z-down and above noise parameters -static boost::shared_ptr defaultParams() { +static boost::shared_ptr defaultParams() { auto p = PreintegrationParams::MakeSharedD(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; From 6fbb8cdff8b8b4420ad1a3277e617a7a42ab1275 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 26 Jan 2016 11:42:43 -0800 Subject: [PATCH 864/964] Added gtsampy.h header to support development of py_wrap branch: the differences between gtsam.h and gtsampy.h highlight the progress of python wrapping. --- gtsampy.h | 2669 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 2669 insertions(+) create mode 100644 gtsampy.h diff --git a/gtsampy.h b/gtsampy.h new file mode 100644 index 000000000..ca014ad5d --- /dev/null +++ b/gtsampy.h @@ -0,0 +1,2669 @@ +/** + + * GTSAM Wrap Module Definition + * + * These are the current classes available through the matlab toolbox interface, + * add more functions/classes as they are available. + * + * Requirements: + * Classes must start with an uppercase letter + * - Can wrap a typedef + * Only one Method/Constructor per line, though methods/constructors can extend across multiple lines + * Methods can return + * - Eigen types: Matrix, Vector + * - C/C++ basic types: string, bool, size_t, int, double, char, unsigned char + * - void + * - Any class with which be copied with boost::make_shared() + * - boost::shared_ptr of any object type + * Constructors + * - Overloads are supported + * - A class with no constructors can be returned from other functions but not allocated directly in MATLAB + * Methods + * - Constness has no effect + * - Specify by-value (not reference) return types, even if C++ method returns reference + * - Must start with a letter (upper or lowercase) + * - Overloads are supported + * Static methods + * - Must start with a letter (upper or lowercase) and use the "static" keyword + * - The first letter will be made uppercase in the generated MATLAB interface + * - Overloads are supported + * Arguments to functions any of + * - Eigen types: Matrix, Vector + * - Eigen types and classes as an optionally const reference + * - C/C++ basic types: string, bool, size_t, size_t, double, char, unsigned char + * - Any class with which be copied with boost::make_shared() (except Eigen) + * - boost::shared_ptr of any object type (except Eigen) + * Comments can use either C++ or C style, with multiple lines + * Namespace definitions + * - Names of namespaces must start with a lowercase letter + * - start a namespace with "namespace {" + * - end a namespace with exactly "}" + * - Namespaces can be nested + * Namespace usage + * - Namespaces can be specified for classes in arguments and return values + * - In each case, the namespace must be fully specified, e.g., "namespace1::namespace2::ClassName" + * Includes in C++ wrappers + * - All includes will be collected and added in a single file + * - All namespaces must have angle brackets: + * - No default includes will be added + * Global/Namespace functions + * - Functions specified outside of a class are global + * - Can be overloaded with different arguments + * - Can have multiple functions of the same name in different namespaces + * Using classes defined in other modules + * - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error + * Virtual inheritance + * - Specify fully-qualified base classes, i.e. "virtual class Derived : ns::Base {" where "ns" is the namespace + * - Mark with 'virtual' keyword, e.g. "virtual class Base {", and also "virtual class Derived : ns::Base {" + * - Forward declarations must also be marked virtual, e.g. "virtual class ns::Base;" and + * also "virtual class ns::Derived;" + * - Pure virtual (abstract) classes should list no constructors in this interface file + * - Virtual classes must have a clone() function in C++ (though it does not have to be included + * in the MATLAB interface). clone() will be called whenever an object copy is needed, instead + * of using the copy constructor (which is used for non-virtual objects). + * - Signature of clone function - will be called virtually, so must appear at least at the top of the inheritance tree + * virtual boost::shared_ptr clone() const; + * Class Templates + * - Basic templates are supported either with an explicit list of types to instantiate, + * e.g. template class Class1 { ... }; + * or with typedefs, e.g. + * template class Class2 { ... }; + * typedef Class2 MyInstantiatedClass; + * - In the class definition, appearances of the template argument(s) will be replaced with their + * instantiated types, e.g. 'void setValue(const T& value);'. + * - To refer to the instantiation of the template class itself, use 'This', i.e. 'static This Create();' + * - To create new instantiations in other modules, you must copy-and-paste the whole class definition + * into the new module, but use only your new instantiation types. + * - When forward-declaring template instantiations, use the generated/typedefed name, e.g. + * class gtsam::Class1Pose2; + * class gtsam::MyInstantiatedClass; + * Boost.serialization within Matlab: + * - you need to mark classes as being serializable in the markup file (see this file for an example). + * - There are two options currently, depending on the class. To "mark" a class as serializable, + * add a function with a particular signature so that wrap will catch it. + * - Add "void serialize()" to a class to create serialization functions for a class. + * Adding this flag subsumes the serializable() flag below. Requirements: + * - A default constructor must be publicly accessible + * - Must not be an abstract base class + * - The class must have an actual boost.serialization serialize() function. + * - Add "void serializable()" to a class if you only want the class to be serialized as a + * part of a container (such as noisemodel). This version does not require a publicly + * accessible default constructor. + */ + +/** + * Status: + * - TODO: default values for arguments + * - WORKAROUND: make multiple versions of the same function for different configurations of default arguments + * - TODO: Handle gtsam::Rot3M conversions to quaternions + * - TODO: Parse return of const ref arguments + * - TODO: Parse std::string variants and convert directly to special string + * - TODO: Add enum support + * - TODO: Add generalized serialization support via boost.serialization with hooks to matlab save/load + */ + +namespace std { + #include + template + class vector + { + //Do we need these? + //Capacity + /*size_t size() const; + size_t max_size() const; + //void resize(size_t sz); + size_t capacity() const; + bool empty() const; + void reserve(size_t n); + + //Element access + T* at(size_t n); + T* front(); + T* back(); + + //Modifiers + void assign(size_t n, const T& u); + void push_back(const T& x); + void pop_back();*/ + }; + //typedef std::vector + + #include + template + class list + { + + + }; + +} + +namespace gtsam { + +//************************************************************************* +// base +//************************************************************************* + +/** gtsam namespace functions */ +bool linear_independent(Matrix A, Matrix B, double tol); + +virtual class Value { + // No constructors because this is an abstract class + + // Testable + void print(string s) const; + + // Manifold + size_t dim() const; +}; + +#include +class LieScalar { + // Standard constructors + LieScalar(); + LieScalar(double d); + + // Standard interface + double value() const; + + // Testable + void print(string s) const; + bool equals(const gtsam::LieScalar& expected, double tol) const; + + // Group + static gtsam::LieScalar identity(); + gtsam::LieScalar inverse() const; + gtsam::LieScalar compose(const gtsam::LieScalar& p) const; + gtsam::LieScalar between(const gtsam::LieScalar& l2) const; + + // Manifold + size_t dim() const; + gtsam::LieScalar retract(Vector v) const; + Vector localCoordinates(const gtsam::LieScalar& t2) const; + + // Lie group + static gtsam::LieScalar Expmap(Vector v); + static Vector Logmap(const gtsam::LieScalar& p); +}; + +#include +class LieVector { + // Standard constructors + LieVector(); + LieVector(Vector v); + + // Standard interface + Vector vector() const; + + // Testable + void print(string s) const; + bool equals(const gtsam::LieVector& expected, double tol) const; + + // Group + static gtsam::LieVector identity(); + gtsam::LieVector inverse() const; + gtsam::LieVector compose(const gtsam::LieVector& p) const; + gtsam::LieVector between(const gtsam::LieVector& l2) const; + + // Manifold + size_t dim() const; + gtsam::LieVector retract(Vector v) const; + Vector localCoordinates(const gtsam::LieVector& t2) const; + + // Lie group + static gtsam::LieVector Expmap(Vector v); + static Vector Logmap(const gtsam::LieVector& p); + + // enabling serialization functionality + void serialize() const; +}; + +#include +class LieMatrix { + // Standard constructors + LieMatrix(); + LieMatrix(Matrix v); + + // Standard interface + Matrix matrix() const; + + // Testable + void print(string s) const; + bool equals(const gtsam::LieMatrix& expected, double tol) const; + + // Group + static gtsam::LieMatrix identity(); + gtsam::LieMatrix inverse() const; + gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const; + gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const; + + // Manifold + size_t dim() const; + gtsam::LieMatrix retract(Vector v) const; + Vector localCoordinates(const gtsam::LieMatrix & t2) const; + + // Lie group + static gtsam::LieMatrix Expmap(Vector v); + static Vector Logmap(const gtsam::LieMatrix& p); + + // enabling serialization functionality + void serialize() const; +}; + +//************************************************************************* +// geometry +//************************************************************************* + +class Point2 { + // Standard Constructors + Point2(); + Point2(double x, double y); + Point2(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Point2& pose, double tol) const; + + // Group + static gtsam::Point2 identity(); + gtsam::Point2 inverse() const; + gtsam::Point2 compose(const gtsam::Point2& p2) const; + gtsam::Point2 between(const gtsam::Point2& p2) const; + + // Manifold + gtsam::Point2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Point2& p) const; + + // Lie Group + static gtsam::Point2 Expmap(Vector v); + static Vector Logmap(const gtsam::Point2& p); + + // Standard Interface + double x() const; + double y() const; + Vector vector() const; + double dist(const gtsam::Point2& p2) const; + double norm() const; + + // enabling serialization functionality + void serialize() const; +}; + +// std::vector +class Point2Vector +{ + // Constructors + Point2Vector(); + Point2Vector(const gtsam::Point2Vector& v); + + //Capacity + size_t size() const; + size_t max_size() const; + void resize(size_t sz); + size_t capacity() const; + bool empty() const; + void reserve(size_t n); + + //Element access + gtsam::Point2 at(size_t n) const; + gtsam::Point2 front() const; + gtsam::Point2 back() const; + + //Modifiers + void assign(size_t n, const gtsam::Point2& u); + void push_back(const gtsam::Point2& x); + void pop_back(); +}; + +class StereoPoint2 { + // Standard Constructors + StereoPoint2(); + StereoPoint2(double uL, double uR, double v); + + // Testable + void print(string s) const; + bool equals(const gtsam::StereoPoint2& point, double tol) const; + + // Group + static gtsam::StereoPoint2 identity(); + gtsam::StereoPoint2 inverse() const; + gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const; + gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const; + + // Manifold + gtsam::StereoPoint2 retract(Vector v) const; + Vector localCoordinates(const gtsam::StereoPoint2& p) const; + + // Lie Group + static gtsam::StereoPoint2 Expmap(Vector v); + static Vector Logmap(const gtsam::StereoPoint2& p); + + // Standard Interface + Vector vector() const; + double uL() const; + double uR() const; + double v() const; + + // enabling serialization functionality + void serialize() const; +}; + +class Point3 { + // Standard Constructors + Point3(); + Point3(double x, double y, double z); + Point3(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Point3& p, double tol) const; + + // Group + static gtsam::Point3 identity(); + gtsam::Point3 inverse() const; + gtsam::Point3 compose(const gtsam::Point3& p2) const; + gtsam::Point3 between(const gtsam::Point3& p2) const; + + // Manifold + gtsam::Point3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Point3& p) const; + + // Lie Group + static gtsam::Point3 Expmap(Vector v); + static Vector Logmap(const gtsam::Point3& p); + + // Standard Interface + Vector vector() const; + double x() const; + double y() const; + double z() const; + + // enabling serialization functionality + void serialize() const; +}; + +class Rot2 { + // Standard Constructors and Named Constructors + Rot2(); + Rot2(double theta); + static gtsam::Rot2 fromAngle(double theta); + static gtsam::Rot2 fromDegrees(double theta); + static gtsam::Rot2 fromCosSin(double c, double s); + + // Testable + void print(string s) const; + bool equals(const gtsam::Rot2& rot, double tol) const; + + // Group + static gtsam::Rot2 identity(); + gtsam::Rot2 inverse(); + gtsam::Rot2 compose(const gtsam::Rot2& p2) const; + gtsam::Rot2 between(const gtsam::Rot2& p2) const; + + // Manifold + gtsam::Rot2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Rot2& p) const; + + // Lie Group + static gtsam::Rot2 Expmap(Vector v); + static Vector Logmap(const gtsam::Rot2& p); + + // Group Action on Point2 + gtsam::Point2 rotate(const gtsam::Point2& point) const; + gtsam::Point2 unrotate(const gtsam::Point2& point) const; + + // Standard Interface + static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative + static gtsam::Rot2 atan2(double y, double x); + double theta() const; + double degrees() const; + double c() const; + double s() const; + Matrix matrix() const; + + // enabling serialization functionality + void serialize() const; +}; + +class Rot3 { + // Standard Constructors and Named Constructors + Rot3(); + Rot3(Matrix R); + static gtsam::Rot3 Rx(double t); + static gtsam::Rot3 Ry(double t); + static gtsam::Rot3 Rz(double t); + static gtsam::Rot3 RzRyRx(double x, double y, double z); + static gtsam::Rot3 RzRyRx(Vector xyz); + static gtsam::Rot3 yaw(double t); // positive yaw is to right (as in aircraft heading) + static gtsam::Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude) + static gtsam::Rot3 roll(double t); // positive roll is to right (increasing yaw in aircraft) + static gtsam::Rot3 ypr(double y, double p, double r); + static gtsam::Rot3 quaternion(double w, double x, double y, double z); + static gtsam::Rot3 Rodrigues(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Rot3& rot, double tol) const; + + // Group + static gtsam::Rot3 identity(); + gtsam::Rot3 inverse() const; + gtsam::Rot3 compose(const gtsam::Rot3& p2) const; + gtsam::Rot3 between(const gtsam::Rot3& p2) const; + + // Manifold + //gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options + gtsam::Rot3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Rot3& p) const; + + // Group Action on Point3 + gtsam::Point3 rotate(const gtsam::Point3& p) const; + gtsam::Point3 unrotate(const gtsam::Point3& p) const; + + // Standard Interface + static gtsam::Rot3 Expmap(Vector v); + static Vector Logmap(const gtsam::Rot3& p); + Matrix matrix() const; + Matrix transpose() const; + gtsam::Point3 column(size_t index) const; + Vector xyz() const; + Vector ypr() const; + Vector rpy() const; + double roll() const; + double pitch() const; + double yaw() const; +// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly + Vector quaternion() const; + + // enabling serialization functionality + void serialize() const; +}; + +class Pose2 { + // Standard Constructor + Pose2(); + Pose2(const gtsam::Pose2& pose); + Pose2(double x, double y, double theta); + Pose2(double theta, const gtsam::Point2& t); + Pose2(const gtsam::Rot2& r, const gtsam::Point2& t); + Pose2(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Pose2& pose, double tol) const; + + // Group + static gtsam::Pose2 identity(); + gtsam::Pose2 inverse() const; + gtsam::Pose2 compose(const gtsam::Pose2& p2) const; + gtsam::Pose2 between(const gtsam::Pose2& p2) const; + + // Manifold + gtsam::Pose2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Pose2& p) const; + + // Lie Group + static gtsam::Pose2 Expmap(Vector v); + static Vector Logmap(const gtsam::Pose2& p); + Matrix AdjointMap() const; + Vector Adjoint(const Vector& xi) const; + static Matrix wedge(double vx, double vy, double w); + + // Group Actions on Point2 + gtsam::Point2 transform_from(const gtsam::Point2& p) const; + gtsam::Point2 transform_to(const gtsam::Point2& p) const; + + // Standard Interface + double x() const; + double y() const; + double theta() const; + gtsam::Rot2 bearing(const gtsam::Point2& point) const; + double range(const gtsam::Point2& point) const; + gtsam::Point2 translation() const; + gtsam::Rot2 rotation() const; + Matrix matrix() const; + + // enabling serialization functionality + void serialize() const; +}; + +class Pose3 { + // Standard Constructors + Pose3(); + Pose3(const gtsam::Pose3& pose); + Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); + Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose) + Pose3(Matrix t); + + // Testable + void print(string s) const; + bool equals(const gtsam::Pose3& pose, double tol) const; + + // Group + static gtsam::Pose3 identity(); + gtsam::Pose3 inverse() const; + gtsam::Pose3 compose(const gtsam::Pose3& p2) const; + gtsam::Pose3 between(const gtsam::Pose3& p2) const; + + // Manifold + gtsam::Pose3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Pose3& T2) const; + + // Lie Group + static gtsam::Pose3 Expmap(Vector v); + static Vector Logmap(const gtsam::Pose3& p); + Matrix AdjointMap() const; + Vector Adjoint(Vector xi) const; + static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz); + + // Group Action on Point3 + gtsam::Point3 transform_from(const gtsam::Point3& p) const; + gtsam::Point3 transform_to(const gtsam::Point3& p) const; + + // Standard Interface + gtsam::Rot3 rotation() const; + gtsam::Point3 translation() const; + double x() const; + double y() const; + double z() const; + Matrix matrix() const; + gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() + double range(const gtsam::Point3& point); + double range(const gtsam::Pose3& pose); + + // enabling serialization functionality + void serialize() const; +}; + +// std::vector +class Pose3Vector +{ + Pose3Vector(); + size_t size() const; + bool empty() const; + gtsam::Pose3 at(size_t n) const; + void push_back(const gtsam::Pose3& x); +}; + +#include +class Unit3 { + // Standard Constructors + Unit3(); + Unit3(const gtsam::Point3& pose); + + // Testable + void print(string s) const; + bool equals(const gtsam::Unit3& pose, double tol) const; + + // Other functionality + Matrix basis() const; + Matrix skew() const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Unit3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Unit3& s) const; +}; + +#include +class EssentialMatrix { + // Standard Constructors + EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb); + + // Testable + void print(string s) const; + bool equals(const gtsam::EssentialMatrix& pose, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::EssentialMatrix retract(Vector v) const; + Vector localCoordinates(const gtsam::EssentialMatrix& s) const; + + // Other methods: + gtsam::Rot3 rotation() const; + gtsam::Unit3 direction() const; + Matrix matrix() const; + double error(Vector vA, Vector vB); +}; + +class Cal3_S2 { + // Standard Constructors + Cal3_S2(); + Cal3_S2(double fx, double fy, double s, double u0, double v0); + Cal3_S2(Vector v); + Cal3_S2(double fov, int w, int h); + + // Testable + void print(string s) const; + bool equals(const gtsam::Cal3_S2& rhs, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3_S2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3_S2& c) const; + + // Action on Point2 + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double px() const; + double py() const; + gtsam::Point2 principalPoint() const; + Vector vector() const; + Matrix matrix() const; + Matrix matrix_inverse() const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +virtual class Cal3DS2_Base { + // Standard Constructors + Cal3DS2_Base(); + + // Testable + void print(string s) const; + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double px() const; + double py() const; + double k1() const; + double k2() const; + + // Action on Point2 + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const; + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +virtual class Cal3DS2 : gtsam::Cal3DS2_Base { + // Standard Constructors + Cal3DS2(); + Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2); + Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1, double p2); + Cal3DS2(Vector v); + + // Testable + bool equals(const gtsam::Cal3DS2& rhs, double tol) const; + + // Manifold + size_t dim() const; + static size_t Dim(); + gtsam::Cal3DS2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3DS2& c) const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +virtual class Cal3Unified : gtsam::Cal3DS2_Base { + // Standard Constructors + Cal3Unified(); + Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, double k2); + Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1, double p2, double xi); + Cal3Unified(Vector v); + + // Testable + bool equals(const gtsam::Cal3Unified& rhs, double tol) const; + + // Standard Interface + double xi() const; + gtsam::Point2 spaceToNPlane(const gtsam::Point2& p) const; + gtsam::Point2 nPlaneToSpace(const gtsam::Point2& p) const; + + // Manifold + size_t dim() const; + static size_t Dim(); + gtsam::Cal3Unified retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3Unified& c) const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +class Cal3_S2Stereo { + // Standard Constructors + Cal3_S2Stereo(); + Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b); + Cal3_S2Stereo(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const; + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double px() const; + double py() const; + gtsam::Point2 principalPoint() const; + double baseline() const; +}; + +#include +class Cal3Bundler { + // Standard Constructors + Cal3Bundler(); + Cal3Bundler(double fx, double k1, double k2, double u0, double v0); + + // Testable + void print(string s) const; + bool equals(const gtsam::Cal3Bundler& rhs, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3Bundler retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3Bundler& c) const; + + // Action on Point2 + gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const; + gtsam::Point2 calibrate(const gtsam::Point2& p) const; + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + + // Standard Interface + double fx() const; + double fy() const; + double k1() const; + double k2() const; + double u0() const; + double v0() const; + Vector vector() const; + Vector k() const; + //Matrix K() const; //FIXME: Uppercase + + // enabling serialization functionality + void serialize() const; +}; + +class CalibratedCamera { + // Standard Constructors and Named Constructors + CalibratedCamera(); + CalibratedCamera(const gtsam::Pose3& pose); + CalibratedCamera(const Vector& v); + static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height); + + // Testable + void print(string s) const; + bool equals(const gtsam::CalibratedCamera& camera, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::CalibratedCamera retract(const Vector& d) const; + Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; + + // Action on Point3 + gtsam::Point2 project(const gtsam::Point3& point) const; + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); + + // Standard Interface + gtsam::Pose3 pose() const; + double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods + + // enabling serialization functionality + void serialize() const; +}; + +template +class PinholeCamera { + // Standard Constructors and Named Constructors + PinholeCamera(); + PinholeCamera(const gtsam::Pose3& pose); + PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K); + static This Level(const CALIBRATION& K, const gtsam::Pose2& pose, double height); + static This Level(const gtsam::Pose2& pose, double height); + static This Lookat(const gtsam::Point3& eye, const gtsam::Point3& target, + const gtsam::Point3& upVector, const CALIBRATION& K); + + // Testable + void print(string s) const; + bool equals(const This& camera, double tol) const; + + // Standard Interface + gtsam::Pose3 pose() const; + CALIBRATION calibration() const; + + // Manifold + This retract(const Vector& d) const; + Vector localCoordinates(const This& T2) const; + size_t dim() const; + static size_t Dim(); + + // Transformations and measurement functions + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); + pair projectSafe(const gtsam::Point3& pw) const; + gtsam::Point2 project(const gtsam::Point3& point); + gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; + double range(const gtsam::Point3& point); + double range(const gtsam::Pose3& point); + + // enabling serialization functionality + void serialize() const; +}; + +virtual class SimpleCamera { + // Standard Constructors and Named Constructors + SimpleCamera(); + SimpleCamera(const gtsam::Pose3& pose); + SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K); + static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K, const gtsam::Pose2& pose, double height); + static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height); + static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target, + const gtsam::Point3& upVector, const gtsam::Cal3_S2& K); + + // Testable + void print(string s) const; + bool equals(const gtsam::SimpleCamera& camera, double tol) const; + + // Standard Interface + gtsam::Pose3 pose() const; + gtsam::Cal3_S2 calibration() const; + + // Manifold + gtsam::SimpleCamera retract(const Vector& d) const; + Vector localCoordinates(const gtsam::SimpleCamera& T2) const; + size_t dim() const; + static size_t Dim(); + + // Transformations and measurement functions + static gtsam::Point2 Project(const gtsam::Point3& cameraPoint); + pair projectSafe(const gtsam::Point3& pw) const; + gtsam::Point2 project(const gtsam::Point3& point); + gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; + double range(const gtsam::Point3& point); + double range(const gtsam::Pose3& point); + + // enabling serialization functionality + void serialize() const; + +}; + +// Some typedefs for common camera types +// PinholeCameraCal3_S2 is the same as SimpleCamera above +typedef gtsam::PinholeCamera PinholeCameraCal3_S2; +typedef gtsam::PinholeCamera PinholeCameraCal3DS2; +typedef gtsam::PinholeCamera PinholeCameraCal3Unified; +typedef gtsam::PinholeCamera PinholeCameraCal3Bundler; + +class StereoCamera { + // Standard Constructors and Named Constructors + StereoCamera(); + StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K); + + // Testable + void print(string s) const; + bool equals(const gtsam::StereoCamera& camera, double tol) const; + + // Standard Interface + gtsam::Pose3 pose() const; + double baseline() const; + gtsam::Cal3_S2Stereo calibration() const; + + // Manifold + gtsam::StereoCamera retract(const Vector& d) const; + Vector localCoordinates(const gtsam::StereoCamera& T2) const; + size_t dim() const; + static size_t Dim(); + + // Transformations and measurement functions + gtsam::StereoPoint2 project(const gtsam::Point3& point); + gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const; + + // enabling serialization functionality + void serialize() const; +}; + +#include + +// Templates appear not yet supported for free functions +gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, + gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements, + double rank_tol, bool optimize); +gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, + gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements, + double rank_tol, bool optimize); + +//************************************************************************* +// Symbolic +//************************************************************************* + +#include +virtual class SymbolicFactor { + // Standard Constructors and Named Constructors + SymbolicFactor(const gtsam::SymbolicFactor& f); + SymbolicFactor(); + SymbolicFactor(size_t j); + SymbolicFactor(size_t j1, size_t j2); + SymbolicFactor(size_t j1, size_t j2, size_t j3); + SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4); + SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5); + SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, size_t j6); + static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js); + + // From Factor + size_t size() const; + void print(string s) const; + bool equals(const gtsam::SymbolicFactor& other, double tol) const; + gtsam::KeyVector keys(); +}; + +#include +virtual class SymbolicFactorGraph { + SymbolicFactorGraph(); + SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet); + SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree); + + // From FactorGraph + void push_back(gtsam::SymbolicFactor* factor); + void print(string s) const; + bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; + size_t size() const; + bool exists(size_t idx) const; + + // Standard interface + gtsam::KeySet keys() const; + void push_back(gtsam::SymbolicFactor* factor); + void push_back(const gtsam::SymbolicFactorGraph& graph); + void push_back(const gtsam::SymbolicBayesNet& bayesNet); + void push_back(const gtsam::SymbolicBayesTree& bayesTree); + + //Advanced Interface + void push_factor(size_t key); + void push_factor(size_t key1, size_t key2); + void push_factor(size_t key1, size_t key2, size_t key3); + void push_factor(size_t key1, size_t key2, size_t key3, size_t key4); + + gtsam::SymbolicBayesNet* eliminateSequential(); + gtsam::SymbolicBayesNet* eliminateSequential(const gtsam::Ordering& ordering); + gtsam::SymbolicBayesTree* eliminateMultifrontal(); + gtsam::SymbolicBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering); + pair eliminatePartialSequential( + const gtsam::Ordering& ordering); + pair eliminatePartialSequential( + const gtsam::KeyVector& keys); + pair eliminatePartialMultifrontal( + const gtsam::Ordering& ordering); + pair eliminatePartialMultifrontal( + const gtsam::KeyVector& keys); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& variables); +}; + +#include +virtual class SymbolicConditional : gtsam::SymbolicFactor { + // Standard Constructors and Named Constructors + SymbolicConditional(); + SymbolicConditional(const gtsam::SymbolicConditional& other); + SymbolicConditional(size_t key); + SymbolicConditional(size_t key, size_t parent); + SymbolicConditional(size_t key, size_t parent1, size_t parent2); + SymbolicConditional(size_t key, size_t parent1, size_t parent2, size_t parent3); + static gtsam::SymbolicConditional FromKeys(const gtsam::KeyVector& keys, size_t nrFrontals); + + // Testable + void print(string s) const; + bool equals(const gtsam::SymbolicConditional& other, double tol) const; + + // Standard interface + size_t nrFrontals() const; + size_t nrParents() const; +}; + +#include +class SymbolicBayesNet { + SymbolicBayesNet(); + SymbolicBayesNet(const gtsam::SymbolicBayesNet& other); + // Testable + void print(string s) const; + bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; + + // Standard interface + size_t size() const; + void saveGraph(string s) const; + gtsam::SymbolicConditional* at(size_t idx) const; + gtsam::SymbolicConditional* front() const; + gtsam::SymbolicConditional* back() const; + void push_back(gtsam::SymbolicConditional* conditional); + void push_back(const gtsam::SymbolicBayesNet& bayesNet); +}; + +#include +class SymbolicBayesTree { + + //Constructors + SymbolicBayesTree(); + SymbolicBayesTree(const gtsam::SymbolicBayesTree& other); + + // Testable + void print(string s); + bool equals(const gtsam::SymbolicBayesTree& other, double tol) const; + + //Standard Interface + //size_t findParentClique(const gtsam::IndexVector& parents) const; + size_t size(); + void saveGraph(string s) const; + void clear(); + void deleteCachedShortcuts(); + size_t numCachedSeparatorMarginals() const; + + gtsam::SymbolicConditional* marginalFactor(size_t key) const; + gtsam::SymbolicFactorGraph* joint(size_t key1, size_t key2) const; + gtsam::SymbolicBayesNet* jointBayesNet(size_t key1, size_t key2) const; +}; + +// class SymbolicBayesTreeClique { +// BayesTreeClique(); +// BayesTreeClique(CONDITIONAL* conditional); +// // BayesTreeClique(const std::pair& result) : Base(result) {} +// +// bool equals(const This& other, double tol) const; +// void print(string s) const; +// void printTree() const; // Default indent of "" +// void printTree(string indent) const; +// size_t numCachedSeparatorMarginals() const; +// +// CONDITIONAL* conditional() const; +// bool isRoot() const; +// size_t treeSize() const; +// // const std::list& children() const { return children_; } +// // derived_ptr parent() const { return parent_.lock(); } +// +// // FIXME: need wrapped versions graphs, BayesNet +// // BayesNet shortcut(derived_ptr root, Eliminate function) const; +// // FactorGraph marginal(derived_ptr root, Eliminate function) const; +// // FactorGraph joint(derived_ptr C2, derived_ptr root, Eliminate function) const; +// +// void deleteCachedShortcuts(); +// }; + +#include +class VariableIndex { + // Standard Constructors and Named Constructors + VariableIndex(); + // TODO: Templetize constructor when wrap supports it + //template + //VariableIndex(const T& factorGraph, size_t nVariables); + //VariableIndex(const T& factorGraph); + VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph); + VariableIndex(const gtsam::GaussianFactorGraph& factorGraph); + VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph); + VariableIndex(const gtsam::VariableIndex& other); + + // Testable + bool equals(const gtsam::VariableIndex& other, double tol) const; + void print(string s) const; + + // Standard interface + size_t size() const; + size_t nFactors() const; + size_t nEntries() const; +}; + +//************************************************************************* +// linear +//************************************************************************* + +namespace noiseModel { +#include +virtual class Base { +}; + +virtual class Gaussian : gtsam::noiseModel::Base { + static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); + static gtsam::noiseModel::Gaussian* Covariance(Matrix R); + Matrix R() const; + bool equals(gtsam::noiseModel::Base& expected, double tol); + void print(string s) const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Diagonal : gtsam::noiseModel::Gaussian { + static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); + static gtsam::noiseModel::Diagonal* Variances(Vector variances); + static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); + Matrix R() const; + void print(string s) const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Constrained : gtsam::noiseModel::Diagonal { + static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas); + static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas); + static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances); + static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances); + static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions); + static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions); + + static gtsam::noiseModel::Constrained* All(size_t dim); + static gtsam::noiseModel::Constrained* All(size_t dim, double mu); + + gtsam::noiseModel::Constrained* unit() const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Isotropic : gtsam::noiseModel::Diagonal { + static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma); + static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace); + static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision); + void print(string s) const; + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Unit : gtsam::noiseModel::Isotropic { + static gtsam::noiseModel::Unit* Create(size_t dim); + void print(string s) const; + + // enabling serialization functionality + void serializable() const; +}; + +namespace mEstimator { +virtual class Base { +}; + +virtual class Null: gtsam::noiseModel::mEstimator::Base { + Null(); + void print(string s) const; + static gtsam::noiseModel::mEstimator::Null* Create(); + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Fair: gtsam::noiseModel::mEstimator::Base { + Fair(double c); + void print(string s) const; + static gtsam::noiseModel::mEstimator::Fair* Create(double c); + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Huber: gtsam::noiseModel::mEstimator::Base { + Huber(double k); + void print(string s) const; + static gtsam::noiseModel::mEstimator::Huber* Create(double k); + + // enabling serialization functionality + void serializable() const; +}; + +virtual class Tukey: gtsam::noiseModel::mEstimator::Base { + Tukey(double k); + void print(string s) const; + static gtsam::noiseModel::mEstimator::Tukey* Create(double k); + + // enabling serialization functionality + void serializable() const; +}; + +}///\namespace mEstimator + +virtual class Robust : gtsam::noiseModel::Base { + Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); + static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); + void print(string s) const; + + // enabling serialization functionality + void serializable() const; +}; + +}///\namespace noiseModel + +#include +class Sampler { + //Constructors + Sampler(gtsam::noiseModel::Diagonal* model, int seed); + Sampler(Vector sigmas, int seed); + Sampler(int seed); + + //Standard Interface + size_t dim() const; + Vector sigmas() const; + gtsam::noiseModel::Diagonal* model() const; + Vector sample(); + Vector sampleNewModel(gtsam::noiseModel::Diagonal* model); +}; + +#include +class VectorValues { + //Constructors + VectorValues(); + VectorValues(const gtsam::VectorValues& other); + + //Named Constructors + static gtsam::VectorValues Zero(const gtsam::VectorValues& model); + + //Standard Interface + size_t size() const; + size_t dim(size_t j) const; + bool exists(size_t j) const; + void print(string s) const; + bool equals(const gtsam::VectorValues& expected, double tol) const; + void insert(size_t j, Vector value); + Vector vector() const; + Vector at(size_t j) const; + void update(const gtsam::VectorValues& values); + + //Advanced Interface + void setZero(); + + gtsam::VectorValues add(const gtsam::VectorValues& c) const; + void addInPlace(const gtsam::VectorValues& c); + gtsam::VectorValues subtract(const gtsam::VectorValues& c) const; + gtsam::VectorValues scale(double a) const; + void scaleInPlace(double a); + + bool hasSameStructure(const gtsam::VectorValues& other) const; + double dot(const gtsam::VectorValues& V) const; + double norm() const; + double squaredNorm() const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +virtual class GaussianFactor { + gtsam::KeyVector keys() const; + void print(string s) const; + bool equals(const gtsam::GaussianFactor& lf, double tol) const; + double error(const gtsam::VectorValues& c) const; + gtsam::GaussianFactor* clone() const; + gtsam::GaussianFactor* negate() const; + Matrix augmentedInformation() const; + Matrix information() const; + Matrix augmentedJacobian() const; + pair jacobian() const; + size_t size() const; + bool empty() const; +}; + +#include +virtual class JacobianFactor : gtsam::GaussianFactor { + //Constructors + JacobianFactor(); + JacobianFactor(const gtsam::GaussianFactor& factor); + JacobianFactor(Vector b_in); + JacobianFactor(size_t i1, Matrix A1, Vector b, + const gtsam::noiseModel::Diagonal* model); + JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b, + const gtsam::noiseModel::Diagonal* model); + JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3, + Vector b, const gtsam::noiseModel::Diagonal* model); + JacobianFactor(const gtsam::GaussianFactorGraph& graph); + + //Testable + void print(string s) const; + void printKeys(string s) const; + bool equals(const gtsam::GaussianFactor& lf, double tol) const; + size_t size() const; + Vector unweighted_error(const gtsam::VectorValues& c) const; + Vector error_vector(const gtsam::VectorValues& c) const; + double error(const gtsam::VectorValues& c) const; + + //Standard Interface + Matrix getA() const; + Vector getb() const; + size_t rows() const; + size_t cols() const; + bool isConstrained() const; + pair jacobianUnweighted() const; + Matrix augmentedJacobianUnweighted() const; + + void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const; + gtsam::JacobianFactor whiten() const; + + pair eliminate(const gtsam::Ordering& keys) const; + + void setModel(bool anyConstrained, const Vector& sigmas); + + gtsam::noiseModel::Diagonal* get_model() const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +virtual class HessianFactor : gtsam::GaussianFactor { + //Constructors + HessianFactor(); + HessianFactor(const gtsam::GaussianFactor& factor); + HessianFactor(size_t j, Matrix G, Vector g, double f); + HessianFactor(size_t j, Vector mu, Matrix Sigma); + HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22, + Vector g2, double f); + HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13, + Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3, + double f); + HessianFactor(const gtsam::GaussianFactorGraph& factors); + + //Testable + size_t size() const; + void print(string s) const; + void printKeys(string s) const; + bool equals(const gtsam::GaussianFactor& lf, double tol) const; + double error(const gtsam::VectorValues& c) const; + + //Standard Interface + size_t rows() const; + Matrix info() const; + double constantTerm() const; + Vector linearTerm() const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +class GaussianFactorGraph { + GaussianFactorGraph(); + GaussianFactorGraph(const gtsam::GaussianBayesNet& bayesNet); + GaussianFactorGraph(const gtsam::GaussianBayesTree& bayesTree); + + // From FactorGraph + void print(string s) const; + bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; + size_t size() const; + gtsam::GaussianFactor* at(size_t idx) const; + gtsam::KeySet keys() const; + bool exists(size_t idx) const; + + // Building the graph + void push_back(const gtsam::GaussianFactor* factor); + void push_back(const gtsam::GaussianConditional* factor); + void push_back(const gtsam::GaussianFactorGraph& graph); + void push_back(const gtsam::GaussianBayesNet& bayesNet); + void push_back(const gtsam::GaussianBayesTree& bayesTree); + void add(const gtsam::GaussianFactor& factor); + void add(Vector b); + void add(size_t key1, Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model); + void add(size_t key1, Matrix A1, size_t key2, Matrix A2, Vector b, + const gtsam::noiseModel::Diagonal* model); + void add(size_t key1, Matrix A1, size_t key2, Matrix A2, size_t key3, Matrix A3, + Vector b, const gtsam::noiseModel::Diagonal* model); + + // error and probability + double error(const gtsam::VectorValues& c) const; + double probPrime(const gtsam::VectorValues& c) const; + + gtsam::GaussianFactorGraph clone() const; + gtsam::GaussianFactorGraph negate() const; + + // Optimizing and linear algebra + gtsam::VectorValues optimize() const; + gtsam::VectorValues optimize(const gtsam::Ordering& ordering) const; + gtsam::VectorValues optimizeGradientSearch() const; + gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; + gtsam::VectorValues gradientAtZero() const; + + // Elimination and marginals + gtsam::GaussianBayesNet* eliminateSequential(); + gtsam::GaussianBayesNet* eliminateSequential(const gtsam::Ordering& ordering); + gtsam::GaussianBayesTree* eliminateMultifrontal(); + gtsam::GaussianBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering); + pair eliminatePartialSequential( + const gtsam::Ordering& ordering); + pair eliminatePartialSequential( + const gtsam::KeyVector& keys); + pair eliminatePartialMultifrontal( + const gtsam::Ordering& ordering); + pair eliminatePartialMultifrontal( + const gtsam::KeyVector& keys); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables, + const gtsam::Ordering& marginalizedVariableOrdering); + gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& variables); + + // Conversion to matrices + Matrix sparseJacobian_() const; + Matrix augmentedJacobian() const; + Matrix augmentedJacobian(const gtsam::Ordering& ordering) const; + pair jacobian() const; + pair jacobian(const gtsam::Ordering& ordering) const; + Matrix augmentedHessian() const; + Matrix augmentedHessian(const gtsam::Ordering& ordering) const; + pair hessian() const; + pair hessian(const gtsam::Ordering& ordering) const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +virtual class GaussianConditional : gtsam::GaussianFactor { + //Constructors + GaussianConditional(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, + const gtsam::noiseModel::Diagonal* sigmas); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, + size_t name2, Matrix T, const gtsam::noiseModel::Diagonal* sigmas); + + //Constructors with no noise model + GaussianConditional(size_t key, Vector d, Matrix R); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, + size_t name2, Matrix T); + + //Standard Interface + void print(string s) const; + bool equals(const gtsam::GaussianConditional &cg, double tol) const; + + //Advanced Interface + gtsam::VectorValues solve(const gtsam::VectorValues& parents) const; + gtsam::VectorValues solveOtherRHS(const gtsam::VectorValues& parents, const gtsam::VectorValues& rhs) const; + void solveTransposeInPlace(gtsam::VectorValues& gy) const; + void scaleFrontalsBySigma(gtsam::VectorValues& gy) const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +virtual class GaussianDensity : gtsam::GaussianConditional { + //Constructors + GaussianDensity(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); + + //Standard Interface + void print(string s) const; + bool equals(const gtsam::GaussianDensity &cg, double tol) const; + Vector mean() const; + Matrix covariance() const; +}; + +#include +virtual class GaussianBayesNet { + //Constructors + GaussianBayesNet(); + GaussianBayesNet(const gtsam::GaussianConditional* conditional); + + // Testable + void print(string s) const; + bool equals(const gtsam::GaussianBayesNet& other, double tol) const; + size_t size() const; + + // FactorGraph derived interface + size_t size() const; + gtsam::GaussianConditional* at(size_t idx) const; + gtsam::KeySet keys() const; + bool exists(size_t idx) const; + + gtsam::GaussianConditional* front() const; + gtsam::GaussianConditional* back() const; + void push_back(gtsam::GaussianConditional* conditional); + void push_back(const gtsam::GaussianBayesNet& bayesNet); + + gtsam::VectorValues optimize() const; + gtsam::VectorValues optimize(gtsam::VectorValues& solutionForMissing) const; + gtsam::VectorValues optimizeGradientSearch() const; + gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; + gtsam::VectorValues gradientAtZero() const; + double error(const gtsam::VectorValues& x) const; + double determinant() const; + double logDeterminant() const; + gtsam::VectorValues backSubstitute(const gtsam::VectorValues& gx) const; + gtsam::VectorValues backSubstituteTranspose(const gtsam::VectorValues& gx) const; +}; + +#include +virtual class GaussianBayesTree { + // Standard Constructors and Named Constructors + GaussianBayesTree(); + GaussianBayesTree(const gtsam::GaussianBayesTree& other); + bool equals(const gtsam::GaussianBayesTree& other, double tol) const; + void print(string s); + size_t size() const; + bool empty() const; + size_t numCachedSeparatorMarginals() const; + void saveGraph(string s) const; + + gtsam::VectorValues optimize() const; + gtsam::VectorValues optimizeGradientSearch() const; + gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; + gtsam::VectorValues gradientAtZero() const; + double error(const gtsam::VectorValues& x) const; + double determinant() const; + double logDeterminant() const; + Matrix marginalCovariance(size_t key) const; + gtsam::GaussianConditional* marginalFactor(size_t key) const; + gtsam::GaussianFactorGraph* joint(size_t key1, size_t key2) const; + gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const; +}; + +class Errors { + //Constructors + Errors(); + Errors(const gtsam::VectorValues& V); + + //Testable + void print(string s); + bool equals(const gtsam::Errors& expected, double tol) const; +}; + +class GaussianISAM { + //Constructor + GaussianISAM(); + + //Standard Interface + void update(const gtsam::GaussianFactorGraph& newFactors); + void saveGraph(string s) const; + void clear(); +}; + +#include +virtual class IterativeOptimizationParameters { + string getVerbosity() const; + void setVerbosity(string s) ; + void print() const; +}; + +//virtual class IterativeSolver { +// IterativeSolver(); +// gtsam::VectorValues optimize (); +//}; + +#include +virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParameters { + ConjugateGradientParameters(); + int getMinIterations() const ; + int getMaxIterations() const ; + int getReset() const; + double getEpsilon_rel() const; + double getEpsilon_abs() const; + + void setMinIterations(int value); + void setMaxIterations(int value); + void setReset(int value); + void setEpsilon_rel(double value); + void setEpsilon_abs(double value); + void print(); +}; + +#include +virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { + SubgraphSolverParameters(); + void print() const; +}; + +virtual class SubgraphSolver { + SubgraphSolver(const gtsam::GaussianFactorGraph &A, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering); + SubgraphSolver(const gtsam::GaussianFactorGraph &Ab1, const gtsam::GaussianFactorGraph &Ab2, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering); + gtsam::VectorValues optimize() const; +}; + +#include +class KalmanFilter { + KalmanFilter(size_t n); + // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); + gtsam::GaussianDensity* init(Vector x0, Matrix P0); + void print(string s) const; + static size_t step(gtsam::GaussianDensity* p); + gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, + Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ); + gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F, + Matrix B, Vector u, Matrix Q); + gtsam::GaussianDensity* predict2(gtsam::GaussianDensity* p, Matrix A0, + Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model); + gtsam::GaussianDensity* update(gtsam::GaussianDensity* p, Matrix H, + Vector z, const gtsam::noiseModel::Diagonal* model); + gtsam::GaussianDensity* updateQ(gtsam::GaussianDensity* p, Matrix H, + Vector z, Matrix Q); +}; + +//************************************************************************* +// nonlinear +//************************************************************************* + +#include +size_t symbol(char chr, size_t index); +char symbolChr(size_t key); +size_t symbolIndex(size_t key); + +// Default keyformatter +void PrintKeyList (const gtsam::KeyList& keys); +void PrintKeyList (const gtsam::KeyList& keys, string s); +void PrintKeyVector(const gtsam::KeyVector& keys); +void PrintKeyVector(const gtsam::KeyVector& keys, string s); +void PrintKeySet (const gtsam::KeySet& keys); +void PrintKeySet (const gtsam::KeySet& keys, string s); + +#include +class LabeledSymbol { + LabeledSymbol(size_t full_key); + LabeledSymbol(const gtsam::LabeledSymbol& key); + LabeledSymbol(unsigned char valType, unsigned char label, size_t j); + + size_t key() const; + unsigned char label() const; + unsigned char chr() const; + size_t index() const; + + gtsam::LabeledSymbol upper() const; + gtsam::LabeledSymbol lower() const; + gtsam::LabeledSymbol newChr(unsigned char c) const; + gtsam::LabeledSymbol newLabel(unsigned char label) const; + + void print(string s) const; +}; + +size_t mrsymbol(unsigned char c, unsigned char label, size_t j); +unsigned char mrsymbolChr(size_t key); +unsigned char mrsymbolLabel(size_t key); +size_t mrsymbolIndex(size_t key); + +#include +class Ordering { + // Standard Constructors and Named Constructors + Ordering(); + Ordering(const gtsam::Ordering& other); + + // Testable + void print(string s) const; + bool equals(const gtsam::Ordering& ord, double tol) const; + + // Standard interface + size_t size() const; + size_t at(size_t key) const; + void push_back(size_t key); + + // enabling serialization functionality + void serialize() const; +}; + +class NonlinearFactorGraph { + NonlinearFactorGraph(); + NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph); + + // FactorGraph + void print(string s) const; + bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const; + size_t size() const; + bool empty() const; + void remove(size_t i); + size_t nrFactors() const; + gtsam::NonlinearFactor* at(size_t idx) const; + void push_back(const gtsam::NonlinearFactorGraph& factors); + void push_back(gtsam::NonlinearFactor* factor); + void add(gtsam::NonlinearFactor* factor); + bool exists(size_t idx) const; + gtsam::KeySet keys() const; + + // NonlinearFactorGraph + double error(const gtsam::Values& values) const; + double probPrime(const gtsam::Values& values) const; + gtsam::Ordering orderingCOLAMD() const; + // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; + gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const; + gtsam::NonlinearFactorGraph clone() const; + + // enabling serialization functionality + void serialize() const; +}; + +virtual class NonlinearFactor { + // Factor base class + size_t size() const; + gtsam::KeyVector keys() const; + void print(string s) const; + void printKeys(string s) const; + // NonlinearFactor + void equals(const gtsam::NonlinearFactor& other, double tol) const; + double error(const gtsam::Values& c) const; + size_t dim() const; + bool active(const gtsam::Values& c) const; + gtsam::GaussianFactor* linearize(const gtsam::Values& c) const; + gtsam::NonlinearFactor* clone() const; + // gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen +}; + +virtual class NoiseModelFactor: gtsam::NonlinearFactor { + void equals(const gtsam::NoiseModelFactor& other, double tol) const; + gtsam::noiseModel::Base* get_noiseModel() const; + Vector unwhitenedError(const gtsam::Values& x) const; + Vector whitenedError(const gtsam::Values& x) const; +}; + +#include +class Values { + Values(); + Values(const gtsam::Values& other); + + size_t size() const; + bool empty() const; + void clear(); + size_t dim() const; + + void print(string s) const; + bool equals(const gtsam::Values& other, double tol) const; + + void insert(const gtsam::Values& values); + void update(const gtsam::Values& values); + void erase(size_t j); + void swap(gtsam::Values& values); + + bool exists(size_t j) const; + gtsam::KeyVector keys() const; + + gtsam::VectorValues zeroVectors() const; + + gtsam::Values retract(const gtsam::VectorValues& delta) const; + gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const; + + // enabling serialization functionality + void serialize() const; + + // New in 4.0, we have to specialize every insert/update/at to generate wrappers + // Instead of the old: + // void insert(size_t j, const gtsam::Value& value); + // void update(size_t j, const gtsam::Value& val); + // gtsam::Value at(size_t j) const; + + void insert(size_t j, const gtsam::Point2& t); + void insert(size_t j, const gtsam::Point3& t); + void insert(size_t j, const gtsam::Rot2& t); + void insert(size_t j, const gtsam::Pose2& t); + void insert(size_t j, const gtsam::Rot3& t); + void insert(size_t j, const gtsam::Pose3& t); + void insert(size_t j, const gtsam::Cal3_S2& t); + void insert(size_t j, const gtsam::Cal3DS2& t); + void insert(size_t j, const gtsam::Cal3Bundler& t); + void insert(size_t j, const gtsam::EssentialMatrix& t); + void insert(size_t j, const gtsam::SimpleCamera& t); + void insert(size_t j, const gtsam::imuBias::ConstantBias& t); + void insert(size_t j, Vector t); + void insert(size_t j, Matrix t); + + // Fixed size version + void insertFixed(size_t j, Vector t, size_t n); + + void update(size_t j, const gtsam::Point2& t); + void update(size_t j, const gtsam::Point3& t); + void update(size_t j, const gtsam::Rot2& t); + void update(size_t j, const gtsam::Pose2& t); + void update(size_t j, const gtsam::Rot3& t); + void update(size_t j, const gtsam::Pose3& t); + void update(size_t j, const gtsam::Cal3_S2& t); + void update(size_t j, const gtsam::Cal3DS2& t); + void update(size_t j, const gtsam::Cal3Bundler& t); + void update(size_t j, const gtsam::EssentialMatrix& t); + void update(size_t j, const gtsam::imuBias::ConstantBias& t); + void update(size_t j, Vector t); + void update(size_t j, Matrix t); + + template + T at(size_t j); + + /// Fixed size versions, for n in 1..9 + void insertFixed(size_t j, Vector t, size_t n); + + /// Fixed size versions, for n in 1..9 + Vector atFixed(size_t j, size_t n); + + /// version for double + void insertDouble(size_t j, double c); + double atDouble(size_t j) const; +}; + +// Actually a FastList +#include +class KeyList { + KeyList(); + KeyList(const gtsam::KeyList& other); + + // Note: no print function + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + size_t front() const; + size_t back() const; + void push_back(size_t key); + void push_front(size_t key); + void pop_back(); + void pop_front(); + void sort(); + void remove(size_t key); + + void serialize() const; +}; + +// Actually a FastSet +class KeySet { + KeySet(); + KeySet(const gtsam::KeySet& other); + KeySet(const gtsam::KeyVector& other); + KeySet(const gtsam::KeyList& other); + + // Testable + void print(string s) const; + bool equals(const gtsam::KeySet& other) const; + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + void insert(size_t key); + void merge(gtsam::KeySet& other); + bool erase(size_t key); // returns true if value was removed + bool count(size_t key) const; // returns true if value exists + + void serialize() const; +}; + +// Actually a vector +class KeyVector { + KeyVector(); + KeyVector(const gtsam::KeyVector& other); + + // Note: no print function + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + size_t at(size_t i) const; + size_t front() const; + size_t back() const; + void push_back(size_t key) const; + + void serialize() const; +}; + +// Actually a FastMap +class KeyGroupMap { + KeyGroupMap(); + + // Note: no print function + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + size_t at(size_t key) const; + int erase(size_t key); + bool insert2(size_t key, int val); +}; + +#include +class Marginals { + Marginals(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& solution); + + void print(string s) const; + Matrix marginalCovariance(size_t variable) const; + Matrix marginalInformation(size_t variable) const; + gtsam::JointMarginal jointMarginalCovariance(const gtsam::KeyVector& variables) const; + gtsam::JointMarginal jointMarginalInformation(const gtsam::KeyVector& variables) const; +}; + +class JointMarginal { + Matrix at(size_t iVariable, size_t jVariable) const; + Matrix fullMatrix() const; + void print(string s) const; + void print() const; +}; + +#include +virtual class LinearContainerFactor : gtsam::NonlinearFactor { + + LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint); + LinearContainerFactor(gtsam::GaussianFactor* factor); + + gtsam::GaussianFactor* factor() const; +// const boost::optional& linearizationPoint() const; + + bool isJacobian() const; + gtsam::JacobianFactor* toJacobian() const; + gtsam::HessianFactor* toHessian() const; + + static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, + const gtsam::Values& linearizationPoint); + + static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph); + + // enabling serialization functionality + void serializable() const; +}; // \class LinearContainerFactor + +// Summarization functionality +//#include +// +//// Uses partial QR approach by default +//gtsam::GaussianFactorGraph summarize( +// const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, +// const gtsam::KeySet& saved_keys); +// +//gtsam::NonlinearFactorGraph summarizeAsNonlinearContainer( +// const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, +// const gtsam::KeySet& saved_keys); + +//************************************************************************* +// Nonlinear optimizers +//************************************************************************* + +#include +#include +virtual class NonlinearOptimizerParams { + NonlinearOptimizerParams(); + void print(string s) const; + + int getMaxIterations() const; + double getRelativeErrorTol() const; + double getAbsoluteErrorTol() const; + double getErrorTol() const; + string getVerbosity() const; + + void setMaxIterations(int value); + void setRelativeErrorTol(double value); + void setAbsoluteErrorTol(double value); + void setErrorTol(double value); + void setVerbosity(string s); + + string getLinearSolverType() const; + + void setLinearSolverType(string solver); + void setOrdering(const gtsam::Ordering& ordering); + void setIterativeParams(gtsam::IterativeOptimizationParameters* params); + + bool isMultifrontal() const; + bool isSequential() const; + bool isCholmod() const; + bool isIterative() const; +}; + +bool checkConvergence(double relativeErrorTreshold, + double absoluteErrorTreshold, double errorThreshold, + double currentError, double newError); + +#include +virtual class GaussNewtonParams : gtsam::NonlinearOptimizerParams { + GaussNewtonParams(); +}; + +#include +virtual class LevenbergMarquardtParams : gtsam::NonlinearOptimizerParams { + LevenbergMarquardtParams(); + + double getlambdaInitial() const; + double getlambdaFactor() const; + double getlambdaUpperBound() const; + string getVerbosityLM() const; + + void setlambdaInitial(double value); + void setlambdaFactor(double value); + void setlambdaUpperBound(double value); + void setVerbosityLM(string s); +}; + +#include +virtual class DoglegParams : gtsam::NonlinearOptimizerParams { + DoglegParams(); + + double getDeltaInitial() const; + string getVerbosityDL() const; + + void setDeltaInitial(double deltaInitial) const; + void setVerbosityDL(string verbosityDL) const; +}; + +virtual class NonlinearOptimizer { + gtsam::Values optimize(); + gtsam::Values optimizeSafely(); + double error() const; + int iterations() const; + gtsam::Values values() const; + void iterate() const; +}; + +virtual class GaussNewtonOptimizer : gtsam::NonlinearOptimizer { + GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); + GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::GaussNewtonParams& params); +}; + +virtual class DoglegOptimizer : gtsam::NonlinearOptimizer { + DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); + DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::DoglegParams& params); + double getDelta() const; +}; + +virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { + LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); + LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params); + double lambda() const; + void print(string str) const; +}; + +#include +class ISAM2GaussNewtonParams { + ISAM2GaussNewtonParams(); + + void print(string str) const; + + /** Getters and Setters for all properties */ + double getWildfireThreshold() const; + void setWildfireThreshold(double wildfireThreshold); +}; + +class ISAM2DoglegParams { + ISAM2DoglegParams(); + + void print(string str) const; + + /** Getters and Setters for all properties */ + double getWildfireThreshold() const; + void setWildfireThreshold(double wildfireThreshold); + double getInitialDelta() const; + void setInitialDelta(double initialDelta); + string getAdaptationMode() const; + void setAdaptationMode(string adaptationMode); + bool isVerbose() const; + void setVerbose(bool verbose); +}; + +class ISAM2ThresholdMapValue { + ISAM2ThresholdMapValue(char c, Vector thresholds); + ISAM2ThresholdMapValue(const gtsam::ISAM2ThresholdMapValue& other); +}; + +class ISAM2ThresholdMap { + ISAM2ThresholdMap(); + ISAM2ThresholdMap(const gtsam::ISAM2ThresholdMap& other); + + // Note: no print function + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + void insert(const gtsam::ISAM2ThresholdMapValue& value) const; +}; + +class ISAM2Params { + ISAM2Params(); + + void print(string str) const; + + /** Getters and Setters for all properties */ + void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& params); + void setOptimizationParams(const gtsam::ISAM2DoglegParams& params); + void setRelinearizeThreshold(double relinearizeThreshold); + void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& relinearizeThreshold); + int getRelinearizeSkip() const; + void setRelinearizeSkip(int relinearizeSkip); + bool isEnableRelinearization() const; + void setEnableRelinearization(bool enableRelinearization); + bool isEvaluateNonlinearError() const; + void setEvaluateNonlinearError(bool evaluateNonlinearError); + string getFactorization() const; + void setFactorization(string factorization); + bool isCacheLinearizedFactors() const; + void setCacheLinearizedFactors(bool cacheLinearizedFactors); + bool isEnableDetailedResults() const; + void setEnableDetailedResults(bool enableDetailedResults); + bool isEnablePartialRelinearizationCheck() const; + void setEnablePartialRelinearizationCheck(bool enablePartialRelinearizationCheck); +}; + +class ISAM2Clique { + + //Constructors + ISAM2Clique(); + + //Standard Interface + Vector gradientContribution() const; + void print(string s); +}; + +class ISAM2Result { + ISAM2Result(); + + void print(string str) const; + + /** Getters and Setters for all properties */ + size_t getVariablesRelinearized() const; + size_t getVariablesReeliminated() const; + size_t getCliques() const; +}; + +class ISAM2 { + ISAM2(); + ISAM2(const gtsam::ISAM2Params& params); + ISAM2(const gtsam::ISAM2& other); + + bool equals(const gtsam::ISAM2& other, double tol) const; + void print(string s) const; + void printStats() const; + void saveGraph(string s) const; + + gtsam::ISAM2Result update(); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices); + gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, const gtsam::KeyGroupMap& constrainedKeys); + // TODO: wrap the full version of update + //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap& constrainedKeys); + //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap& constrainedKeys, bool force_relinearize); + + gtsam::Values getLinearizationPoint() const; + gtsam::Values calculateEstimate() const; + gtsam::Value calculateEstimate(size_t key) const; + gtsam::Values calculateBestEstimate() const; + Matrix marginalCovariance(size_t key) const; + gtsam::VectorValues getDelta() const; + gtsam::NonlinearFactorGraph getFactorsUnsafe() const; + gtsam::VariableIndex getVariableIndex() const; + gtsam::ISAM2Params params() const; +}; + +#include +class NonlinearISAM { + NonlinearISAM(); + NonlinearISAM(int reorderInterval); + void print(string s) const; + void printStats() const; + void saveGraph(string s) const; + gtsam::Values estimate() const; + Matrix marginalCovariance(size_t key) const; + int reorderInterval() const; + int reorderCounter() const; + void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& initialValues); + void reorder_relinearize(); + + // These might be expensive as instead of a reference the wrapper will make a copy + gtsam::GaussianISAM bayesTree() const; + gtsam::Values getLinearizationPoint() const; + gtsam::NonlinearFactorGraph getFactorsUnsafe() const; +}; + +//************************************************************************* +// Nonlinear factor types +//************************************************************************* +#include +#include +#include + +#include +template +virtual class PriorFactor : gtsam::NoiseModelFactor { + PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); + T prior() const; + + // enabling serialization functionality + void serialize() const; +}; + + +#include +template +virtual class BetweenFactor : gtsam::NoiseModelFactor { + BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); + T measured() const; + + // enabling serialization functionality + void serialize() const; +}; + + + +#include +template +virtual class NonlinearEquality : gtsam::NoiseModelFactor { + // Constructor - forces exact evaluation + NonlinearEquality(size_t j, const T& feasible); + // Constructor - allows inexact evaluation + NonlinearEquality(size_t j, const T& feasible, double error_gain); + + // enabling serialization functionality + void serialize() const; +}; + + +#include +template +virtual class RangeFactor : gtsam::NoiseModelFactor { + RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::RangeFactor RangeFactorPosePoint2; +typedef gtsam::RangeFactor RangeFactorPosePoint3; +typedef gtsam::RangeFactor RangeFactorPose2; +typedef gtsam::RangeFactor RangeFactorPose3; +typedef gtsam::RangeFactor RangeFactorCalibratedCameraPoint; +typedef gtsam::RangeFactor RangeFactorSimpleCameraPoint; +typedef gtsam::RangeFactor RangeFactorCalibratedCamera; +typedef gtsam::RangeFactor RangeFactorSimpleCamera; + + +#include +template +virtual class BearingFactor : gtsam::NoiseModelFactor { + BearingFactor(size_t key1, size_t key2, const BEARING& measured, const gtsam::noiseModel::Base* noiseModel); + + // enabling serialization functionality + void serialize() const; +}; + +typedef gtsam::BearingFactor BearingFactor2D; + +#include +template +virtual class BearingRangeFactor : gtsam::NoiseModelFactor { + BearingRangeFactor(size_t poseKey, size_t pointKey, + const BEARING& measuredBearing, const RANGE& measuredRange, + const gtsam::noiseModel::Base* noiseModel); + + // enabling serialization functionality + void serialize() const; +}; + +typedef gtsam::BearingRangeFactor BearingRangeFactor2D; + + +#include +template +virtual class GenericProjectionFactor : gtsam::NoiseModelFactor { + GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k); + GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k, const POSE& body_P_sensor); + + GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality); + GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality, + const POSE& body_P_sensor); + + gtsam::Point2 measured() const; + CALIBRATION* calibration() const; + bool verboseCheirality() const; + bool throwCheirality() const; + + // enabling serialization functionality + void serialize() const; +}; +typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3_S2; +typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; + + +#include +template +virtual class GeneralSFMFactor : gtsam::NoiseModelFactor { + GeneralSFMFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t cameraKey, size_t landmarkKey); + gtsam::Point2 measured() const; +}; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; + +template +virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { + GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey); + gtsam::Point2 measured() const; + + // enabling serialization functionality + void serialize() const; +}; + +#include +class SmartProjectionParams { + SmartProjectionParams(); + // TODO(frank): make these work: + // void setLinearizationMode(LinearizationMode linMode); + // void setDegeneracyMode(DegeneracyMode degMode); + void setRankTolerance(double rankTol); + void setEnableEPI(bool enableEPI); + void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold); + void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold); +}; + +#include +template +virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor { + + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K); + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K, + const gtsam::Pose3& body_P_sensor); + SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise, + const CALIBRATION* K, + const gtsam::Pose3& body_P_sensor, + const gtsam::SmartProjectionParams& params); + + void add(const gtsam::Point2& measured_i, size_t poseKey_i); + + // enabling serialization functionality + //void serialize() const; +}; + +typedef gtsam::SmartProjectionPoseFactor SmartProjectionPose3Factor; + + +#include +template +virtual class GenericStereoFactor : gtsam::NoiseModelFactor { + GenericStereoFactor(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K); + gtsam::StereoPoint2 measured() const; + gtsam::Cal3_S2Stereo* calibration() const; + + // enabling serialization functionality + void serialize() const; +}; +typedef gtsam::GenericStereoFactor GenericStereoFactor3D; + +#include +template +virtual class PoseTranslationPrior : gtsam::NoiseModelFactor { + PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::PoseTranslationPrior PoseTranslationPrior2D; +typedef gtsam::PoseTranslationPrior PoseTranslationPrior3D; + +#include +template +virtual class PoseRotationPrior : gtsam::NoiseModelFactor { + PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::PoseRotationPrior PoseRotationPrior2D; +typedef gtsam::PoseRotationPrior PoseRotationPrior3D; + +#include +virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { + EssentialMatrixFactor(size_t key, const gtsam::Point2& pA, const gtsam::Point2& pB, + const gtsam::noiseModel::Base* noiseModel); +}; + +#include +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise); +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model, int maxID); +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model); +pair load2D(string filename); +pair load2D_robust(string filename, + gtsam::noiseModel::Base* model); +void save2D(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& config, gtsam::noiseModel::Diagonal* model, + string filename); + +pair readG2o(string filename); +void writeG2o(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& estimate, string filename); + +//************************************************************************* +// Navigation +//************************************************************************* +namespace imuBias { +#include + +class ConstantBias { + // Standard Constructor + ConstantBias(); + ConstantBias(Vector biasAcc, Vector biasGyro); + + // Testable + void print(string s) const; + bool equals(const gtsam::imuBias::ConstantBias& expected, double tol) const; + + // Group + static gtsam::imuBias::ConstantBias identity(); + gtsam::imuBias::ConstantBias inverse() const; + gtsam::imuBias::ConstantBias compose(const gtsam::imuBias::ConstantBias& b) const; + gtsam::imuBias::ConstantBias between(const gtsam::imuBias::ConstantBias& b) const; + + // Manifold + gtsam::imuBias::ConstantBias retract(Vector v) const; + Vector localCoordinates(const gtsam::imuBias::ConstantBias& b) const; + + // Lie Group + static gtsam::imuBias::ConstantBias Expmap(Vector v); + static Vector Logmap(const gtsam::imuBias::ConstantBias& b); + + // Standard Interface + Vector vector() const; + Vector accelerometer() const; + Vector gyroscope() const; + Vector correctAccelerometer(Vector measurement) const; + Vector correctGyroscope(Vector measurement) const; +}; + +}///\namespace imuBias + +#include +class PoseVelocityBias{ + PoseVelocityBias(const gtsam::Pose3& pose, Vector velocity, const gtsam::imuBias::ConstantBias& bias); + }; +class PreintegratedImuMeasurements { + // Standard Constructor + PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration); + PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance); + // PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements& rhs); + + // Testable + void print(string s) const; + bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); + + double deltaTij() const; + gtsam::Rot3 deltaRij() const; + Vector deltaPij() const; + Vector deltaVij() const; + Vector biasHatVector() const; + Matrix delPdelBiasAcc() const; + Matrix delPdelBiasOmega() const; + Matrix delVdelBiasAcc() const; + Matrix delVdelBiasOmega() const; + Matrix delRdelBiasOmega() const; + Matrix preintMeasCov() const; + + // Standard Interface + void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); + gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, + Vector gravity, Vector omegaCoriolis) const; +}; + +virtual class ImuFactor : gtsam::NonlinearFactor { + ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, + const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis); + ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, + const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis, + const gtsam::Pose3& body_P_sensor); + // Standard Interface + gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; +}; + +#include +class PreintegratedCombinedMeasurements { + // Standard Constructor + PreintegratedCombinedMeasurements( + const gtsam::imuBias::ConstantBias& bias, + Matrix measuredAccCovariance, + Matrix measuredOmegaCovariance, + Matrix integrationErrorCovariance, + Matrix biasAccCovariance, + Matrix biasOmegaCovariance, + Matrix biasAccOmegaInit); + PreintegratedCombinedMeasurements( + const gtsam::imuBias::ConstantBias& bias, + Matrix measuredAccCovariance, + Matrix measuredOmegaCovariance, + Matrix integrationErrorCovariance, + Matrix biasAccCovariance, + Matrix biasOmegaCovariance, + Matrix biasAccOmegaInit, + bool use2ndOrderIntegration); + // PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& rhs); + + // Testable + void print(string s) const; + bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol); + + double deltaTij() const; + gtsam::Rot3 deltaRij() const; + Vector deltaPij() const; + Vector deltaVij() const; + Vector biasHatVector() const; + Matrix delPdelBiasAcc() const; + Matrix delPdelBiasOmega() const; + Matrix delVdelBiasAcc() const; + Matrix delVdelBiasOmega() const; + Matrix delRdelBiasOmega() const; + Matrix preintMeasCov() const; + + // Standard Interface + void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); + gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, + Vector gravity, Vector omegaCoriolis) const; +}; + +virtual class CombinedImuFactor : gtsam::NonlinearFactor { + CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j, + const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); + // Standard Interface + gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; +}; + +#include +class PreintegratedAhrsMeasurements { + // Standard Constructor + PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance); + PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance); + PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs); + + // Testable + void print(string s) const; + bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol); + + // get Data + gtsam::Rot3 deltaRij() const; + double deltaTij() const; + Vector biasHat() const; + + // Standard Interface + void integrateMeasurement(Vector measuredOmega, double deltaT); + void resetIntegration() ; +}; + +virtual class AHRSFactor : gtsam::NonlinearFactor { + AHRSFactor(size_t rot_i, size_t rot_j,size_t bias, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis); + AHRSFactor(size_t rot_i, size_t rot_j, size_t bias, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis, + const gtsam::Pose3& body_P_sensor); + + // Standard Interface + gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const; + Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j, + Vector bias) const; + gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias, + const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, + Vector omegaCoriolis) const; +}; + +#include +//virtual class AttitudeFactor : gtsam::NonlinearFactor { +// AttitudeFactor(const Unit3& nZ, const Unit3& bRef); +// AttitudeFactor(); +//}; +virtual class Rot3AttitudeFactor : gtsam::NonlinearFactor{ + Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model, + const gtsam::Unit3& bRef); + Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model); + Rot3AttitudeFactor(); + void print(string s) const; + bool equals(const gtsam::NonlinearFactor& expected, double tol) const; + gtsam::Unit3 nZ() const; + gtsam::Unit3 bRef() const; +}; + +virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor{ + Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model, + const gtsam::Unit3& bRef); + Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model); + Pose3AttitudeFactor(); + void print(string s) const; + bool equals(const gtsam::NonlinearFactor& expected, double tol) const; + gtsam::Unit3 nZ() const; + gtsam::Unit3 bRef() const; +}; + +//************************************************************************* +// Utilities +//************************************************************************* + +namespace utilities { + + #include + gtsam::KeyList createKeyList(Vector I); + gtsam::KeyList createKeyList(string s, Vector I); + gtsam::KeyVector createKeyVector(Vector I); + gtsam::KeyVector createKeyVector(string s, Vector I); + gtsam::KeySet createKeySet(Vector I); + gtsam::KeySet createKeySet(string s, Vector I); + Matrix extractPoint2(const gtsam::Values& values); + Matrix extractPoint3(const gtsam::Values& values); + Matrix extractPose2(const gtsam::Values& values); + gtsam::Values allPose3s(gtsam::Values& values); + Matrix extractPose3(const gtsam::Values& values); + void perturbPoint2(gtsam::Values& values, double sigma, int seed); + void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed); + void perturbPoint3(gtsam::Values& values, double sigma, int seed); + void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth); + void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K); + void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor); + Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values); + gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base); + gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, const gtsam::KeyVector& keys); + +} //\namespace utilities + +} From 00186d97635603434133a266302946e12611ad51 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 11:45:10 -0800 Subject: [PATCH 865/964] renamed file --- .../tests/{testScenarioRunner.cpp => testScenarios.cpp} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename gtsam/navigation/tests/{testScenarioRunner.cpp => testScenarios.cpp} (100%) diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarios.cpp similarity index 100% rename from gtsam/navigation/tests/testScenarioRunner.cpp rename to gtsam/navigation/tests/testScenarios.cpp From 6d5ca7e546631085c069ab7dda4deff43ec2634e Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 12:14:35 -0800 Subject: [PATCH 866/964] make bias scenarios work --- gtsam/navigation/tests/testScenarios.cpp | 95 ++++++++++-------------- 1 file changed, 39 insertions(+), 56 deletions(-) diff --git a/gtsam/navigation/tests/testScenarios.cpp b/gtsam/navigation/tests/testScenarios.cpp index 7b863a9d3..3397b4456 100644 --- a/gtsam/navigation/tests/testScenarios.cpp +++ b/gtsam/navigation/tests/testScenarios.cpp @@ -93,14 +93,13 @@ TEST(ScenarioRunner, Forward) { /* ************************************************************************* */ TEST(ScenarioRunner, ForwardWithBias) { - // using namespace forward; - // ScenarioRunner runner(&scenario, defaultParams(), kDt); - // const double T = 0.1; // seconds - // - // auto pim = runner.integrate(T, kNonZeroBias); - // Matrix9 estimatedCov = runner.estimateCovariance(T, 1000, - // kNonZeroBias); - // EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); + using namespace forward; + ScenarioRunner runner(&scenario, defaultParams(), kDt); + const double T = 0.1; // seconds + + auto pim = runner.integrate(T, kNonZeroBias); + Matrix9 estimatedCov = runner.estimateCovariance(T, 1000, kNonZeroBias); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); } /* ************************************************************************* */ @@ -169,18 +168,14 @@ TEST(ScenarioRunner, Accelerating) { } /* ************************************************************************* */ -// TODO(frank):Fails ! -// TEST(ScenarioRunner, AcceleratingWithBias) { -// using namespace accelerating; -// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, -// kNonZeroBias); -// -// auto pim = runner.integrate(T, -// kNonZeroBias); -// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, -// kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); -//} +TEST(ScenarioRunner, AcceleratingWithBias) { + using namespace accelerating; + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + + auto pim = runner.integrate(T, kNonZeroBias); + Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); +} /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingAndRotating) { @@ -232,18 +227,14 @@ TEST(ScenarioRunner, Accelerating2) { } /* ************************************************************************* */ -// TODO(frank):Fails ! -// TEST(ScenarioRunner, AcceleratingWithBias2) { -// using namespace accelerating2; -// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, -// kNonZeroBias); -// -// auto pim = runner.integrate(T, -// kNonZeroBias); -// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, -// kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); -//} +TEST(ScenarioRunner, AcceleratingWithBias2) { + using namespace accelerating2; + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + + auto pim = runner.integrate(T, kNonZeroBias); + Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); +} /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingAndRotating2) { @@ -296,18 +287,14 @@ TEST(ScenarioRunner, Accelerating3) { } /* ************************************************************************* */ -// TODO(frank):Fails ! -// TEST(ScenarioRunner, AcceleratingWithBias3) { -// using namespace accelerating3; -// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, -// kNonZeroBias); -// -// auto pim = runner.integrate(T, -// kNonZeroBias); -// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, -// kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); -//} +TEST(ScenarioRunner, AcceleratingWithBias3) { + using namespace accelerating3; + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + + auto pim = runner.integrate(T, kNonZeroBias); + Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); +} /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingAndRotating3) { @@ -361,18 +348,14 @@ TEST(ScenarioRunner, Accelerating4) { } /* ************************************************************************* */ -// TODO(frank):Fails ! -// TEST(ScenarioRunner, AcceleratingWithBias4) { -// using namespace accelerating4; -// ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelSigma, -// kNonZeroBias); -// -// auto pim = runner.integrate(T, -// kNonZeroBias); -// Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, -// kNonZeroBias); -// EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); -//} +TEST(ScenarioRunner, AcceleratingWithBias4) { + using namespace accelerating4; + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + + auto pim = runner.integrate(T, kNonZeroBias); + Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); + EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); +} /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingAndRotating4) { From a126c91d6f625a6413d42d50d186fbc9424b7022 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 13:19:25 -0800 Subject: [PATCH 867/964] Skeleton with interactive plotting --- python/gtsam_examples/ImuFactorExample.py | 34 +++++++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 python/gtsam_examples/ImuFactorExample.py diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py new file mode 100644 index 000000000..04a7a0661 --- /dev/null +++ b/python/gtsam_examples/ImuFactorExample.py @@ -0,0 +1,34 @@ +""" +A script validating the ImuFactor prediction and inference. +""" + +from __future__ import print_function +import matplotlib.pyplot as plt +import numpy as np + +class ImuFactorExample(object): + + def __init__(self): + plt.figure(1) + plt.ion() + + def plot(self): + times = np.arange(0, 10, 0.1) + shape = len(times), 1 + labels = list('xyz') + colors = list('rgb') + plt.clf() + for row, (label, color) in enumerate(zip(labels, colors)): + plt.subplot(3, 1, row) + imu = np.random.randn(len(times), 1) + plt.plot(times, imu, color=color) +# plt.axis([tmin, tmax, min,max]) + plt.xlabel(label) + plt.pause(0.1) + + def run(self): + for i in range(100): + self.plot() + +if __name__ == '__main__': + ImuFactorExample().run() From c25e1e6b73339fa9f7811eb17f37717fab94b31a Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 14:15:39 -0800 Subject: [PATCH 868/964] Wrapped ConstantTwistScenario --- python/gtsam_tests/testScenario.py | 32 ++++++++++++++++++ python/handwritten/exportgtsam.cpp | 36 +++++++++++--------- python/handwritten/navigation/Scenario.cpp | 38 ++++++++++++++++++++++ 3 files changed, 91 insertions(+), 15 deletions(-) create mode 100644 python/gtsam_tests/testScenario.py create mode 100644 python/handwritten/navigation/Scenario.cpp diff --git a/python/gtsam_tests/testScenario.py b/python/gtsam_tests/testScenario.py new file mode 100644 index 000000000..e78121241 --- /dev/null +++ b/python/gtsam_tests/testScenario.py @@ -0,0 +1,32 @@ +import math +import unittest +import numpy as np + +import gtsam + +class TestScenario(unittest.TestCase): + def setUp(self): + pass + + def test_loop(self): + # Forward velocity 2m/s + # Pitch up with angular velocity 6 degree/sec (negative in FLU) + v = 2 + w = math.radians(6) + W = np.array([0, -w, 0]) + V = np.array([v, 0, 0]) + scenario = gtsam.ConstantTwistScenario(W, V) + + T = 30 + np.testing.assert_almost_equal(W, scenario.omega_b(T)) + np.testing.assert_almost_equal(V, scenario.velocity_b(T)) + np.testing.assert_almost_equal(np.cross(W, V), scenario.acceleration_b(T)) + + # R = v/w, so test if loop crests at 2*R + R = v / w + T30 = scenario.pose(T) + np.testing.assert_almost_equal(np.array([-math.pi, 0, -math.pi]), T30.rotation().xyz()) + self.assert_(gtsam.Point3(0, 0, 2 * R).equals(T30.translation())) + +if __name__ == '__main__': + unittest.main() diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index da8382d71..3f74cc56a 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -10,8 +10,8 @@ * -------------------------------------------------------------------------- */ /** - * @brief exports the python module - * @author Andrew Melim + * @brief exports the python module + * @author Andrew Melim * @author Ellon Paiva Mendes (LAAS-CNRS) **/ @@ -20,10 +20,10 @@ #include -// Base +// base void exportFastVectors(); -// Geometry +// geometry void exportPoint2(); void exportPoint3(); void exportRot2(); @@ -34,24 +34,28 @@ void exportPinholeBaseK(); void exportPinholeCamera(); void exportCal3_S2(); -// Inference +// inference void exportSymbol(); -// Linear +// linear void exportNoiseModels(); -// Nonlinear +// nonlinear void exportValues(); void exportNonlinearFactor(); void exportNonlinearFactorGraph(); void exportLevenbergMarquardtOptimizer(); void exportISAM2(); -// Slam +// slam void exportPriorFactors(); void exportBetweenFactors(); void exportGenericProjectionFactor(); +// navigation +void exportScenario(); + + // Utils (or Python wrapper specific functions) void registerNumpyEigenConversions(); @@ -59,14 +63,14 @@ void registerNumpyEigenConversions(); BOOST_PYTHON_MODULE(_libgtsam_python){ - // NOTE: We need to call import_array1() instead of import_array() to support both python 2 - // and 3. The reason is that BOOST_PYTHON_MODULE puts all its contents in a function - // returning void, and import_array() is a macro that when expanded for python 3, adds - // a 'return __null' statement to that function. For more info check files: + // NOTE: We need to call import_array1() instead of import_array() to support both python 2 + // and 3. The reason is that BOOST_PYTHON_MODULE puts all its contents in a function + // returning void, and import_array() is a macro that when expanded for python 3, adds + // a 'return __null' statement to that function. For more info check files: // boost/python/module_init.hpp and numpy/__multiarray_api.h (bottom of the file). // Should be the first thing to be done import_array1(); - + registerNumpyEigenConversions(); exportFastVectors(); @@ -94,4 +98,6 @@ BOOST_PYTHON_MODULE(_libgtsam_python){ exportPriorFactors(); exportBetweenFactors(); exportGenericProjectionFactor(); -} \ No newline at end of file + + exportScenario(); +} diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp new file mode 100644 index 000000000..f720bfd2e --- /dev/null +++ b/python/handwritten/navigation/Scenario.cpp @@ -0,0 +1,38 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps ConstantTwistScenario class to python + * @author Frank Dellaert + **/ + +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/navigation/Scenario.h" + +using namespace boost::python; +using namespace gtsam; + +void exportScenario() { + // TODO(frank): figure out how to do inheritance + class_("ConstantTwistScenario", + init()) + .def("pose", &Scenario::pose) + .def("omega_b", &Scenario::omega_b) + .def("velocity_n", &Scenario::velocity_n) + .def("acceleration_n", &Scenario::acceleration_n) + .def("rotation", &Scenario::rotation) + .def("velocity_b", &Scenario::velocity_b) + .def("acceleration_b", &Scenario::acceleration_b); +} From ea3d72c66f7b639dea0317b9bc61c76ca3ae3a9f Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 14:41:55 -0800 Subject: [PATCH 869/964] Show a loop Scenario --- python/gtsam_examples/ImuFactorExample.py | 43 +++++++++++++++++++---- 1 file changed, 36 insertions(+), 7 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 04a7a0661..2f64f5a1b 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -2,33 +2,62 @@ A script validating the ImuFactor prediction and inference. """ -from __future__ import print_function +import math import matplotlib.pyplot as plt import numpy as np +from mpl_toolkits.mplot3d import Axes3D + +import gtsam + class ImuFactorExample(object): def __init__(self): - plt.figure(1) + # setup interactive plotting plt.ion() - def plot(self): + # Setup loop scenario + # Forward velocity 2m/s + # Pitch up with angular velocity 6 degree/sec (negative in FLU) + v = 2 + w = math.radians(6) + W = np.array([0, -w, 0]) + V = np.array([v, 0, 0]) + self.scenario = gtsam.ConstantTwistScenario(W, V) + + # Calculate time to do 1 loop + self.T = 2 * math.pi / w + + def plot(self, t, pose): + # plot IMU + plt.figure(1) times = np.arange(0, 10, 0.1) shape = len(times), 1 labels = list('xyz') colors = list('rgb') plt.clf() - for row, (label, color) in enumerate(zip(labels, colors)): - plt.subplot(3, 1, row) + for i, (label, color) in enumerate(zip(labels, colors)): + plt.subplot(3, 1, i + 1) imu = np.random.randn(len(times), 1) plt.plot(times, imu, color=color) # plt.axis([tmin, tmax, min,max]) plt.xlabel(label) + + # plot ground truth + fig = plt.figure(2) + ax = fig.gca(projection='3d') + p = pose.translation() + ax.scatter(p.x(), p.y(), p.z()) + plt.pause(0.1) def run(self): - for i in range(100): - self.plot() + for t in np.arange(0, self.T / 2, 1): + pose = self.scenario.pose(t) + self.plot(t, pose) + + plt.ioff() + plt.show() if __name__ == '__main__': ImuFactorExample().run() From ac57680dee305478b8add8eeff407d39e36bc6f9 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 14:55:33 -0800 Subject: [PATCH 870/964] Interactive and shorthand symbols --- python/gtsam_examples/VisualISAM2Example.py | 72 +++++++++++---------- 1 file changed, 38 insertions(+), 34 deletions(-) diff --git a/python/gtsam_examples/VisualISAM2Example.py b/python/gtsam_examples/VisualISAM2Example.py index 4d7889e9b..a0e40a146 100644 --- a/python/gtsam_examples/VisualISAM2Example.py +++ b/python/gtsam_examples/VisualISAM2Example.py @@ -3,19 +3,23 @@ from __future__ import print_function import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D import numpy as np -import time # for sleep() +import time # for sleep() import gtsam from gtsam_examples import SFMdata import gtsam_utils +# shorthand symbols: +X = lambda i: gtsam.Symbol('x', i) +L = lambda j: gtsam.Symbol('l', j) + def visual_ISAM2_plot(poses, points, result): # VisualISAMPlot plots current state of ISAM2 object # Author: Ellon Paiva # Based on MATLAB version by: Duy Nguyen Ta and Frank Dellaert # Declare an id for the figure - fignum = 0; + fignum = 0 fig = plt.figure(fignum) ax = fig.gca(projection='3d') @@ -23,33 +27,33 @@ def visual_ISAM2_plot(poses, points, result): # Plot points # Can't use data because current frame might not see all points - # marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()); # TODO - this is slow - # gtsam.plot3DPoints(result, [], marginals); - gtsam_utils.plot3DPoints(fignum, result, 'rx'); + # marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()) # TODO - this is slow + # gtsam.plot3DPoints(result, [], marginals) + gtsam_utils.plot3DPoints(fignum, result, 'rx') # Plot cameras - M = 0; - while result.exists(int(gtsam.Symbol('x',M))): - ii = int(gtsam.Symbol('x',M)); - pose_i = result.pose3_at(ii); - gtsam_utils.plotPose3(fignum, pose_i, 10); + M = 0 + while result.exists(int(X(M))): + ii = int(X(M)) + pose_i = result.pose3_at(ii) + gtsam_utils.plotPose3(fignum, pose_i, 10) - M = M + 1; + M = M + 1 # draw ax.set_xlim3d(-40, 40) ax.set_ylim3d(-40, 40) ax.set_zlim3d(-40, 40) - plt.ion() - plt.show() - plt.draw() + plt.pause(1) def visual_ISAM2_example(): + plt.ion() + # Define the camera calibration parameters K = gtsam.Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0) # Define the camera observation noise model - measurementNoise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v + measurementNoise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v # Create the set of ground-truth landmarks points = SFMdata.createPoints() @@ -78,29 +82,29 @@ def visual_ISAM2_example(): for j, point in enumerate(points): camera = gtsam.PinholeCameraCal3_S2(pose, K) measurement = camera.project(point) - graph.push_back(gtsam.GenericProjectionFactorCal3_S2(measurement, measurementNoise, int(gtsam.Symbol('x', i)), int(gtsam.Symbol('l', j)), K)) + graph.push_back(gtsam.GenericProjectionFactorCal3_S2(measurement, measurementNoise, int(X(i)), int(L(j)), K)) # Add an initial guess for the current pose # Intentionally initialize the variables off from the ground truth - initialEstimate.insert(int(gtsam.Symbol('x', i)), pose.compose(gtsam.Pose3(gtsam.Rot3.Rodrigues(-0.1, 0.2, 0.25), gtsam.Point3(0.05, -0.10, 0.20)))) + initialEstimate.insert(int(X(i)), pose.compose(gtsam.Pose3(gtsam.Rot3.Rodrigues(-0.1, 0.2, 0.25), gtsam.Point3(0.05, -0.10, 0.20)))) # If this is the first iteration, add a prior on the first pose to set the coordinate frame # and a prior on the first landmark to set the scale # Also, as iSAM solves incrementally, we must wait until each is observed at least twice before # adding it to iSAM. - if( i == 0): + if(i == 0): # Add a prior on pose x0 - poseNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - graph.push_back(gtsam.PriorFactorPose3(int(gtsam.Symbol('x', 0)), poses[0], poseNoise)) + poseNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + graph.push_back(gtsam.PriorFactorPose3(int(X(0)), poses[0], poseNoise)) # Add a prior on landmark l0 pointNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) - graph.push_back(gtsam.PriorFactorPoint3(int(gtsam.Symbol('l', 0)), points[0], pointNoise)) # add directly to graph + graph.push_back(gtsam.PriorFactorPoint3(int(L(0)), points[0], pointNoise)) # add directly to graph # Add initial guesses to all observed landmarks # Intentionally initialize the variables off from the ground truth for j, point in enumerate(points): - initialEstimate.insert(int(gtsam.Symbol('l', j)), point + gtsam.Point3(-0.25, 0.20, 0.15)); + initialEstimate.insert(int(L(j)), point + gtsam.Point3(-0.25, 0.20, 0.15)) else: # Update iSAM with the new factors isam.update(graph, initialEstimate) @@ -108,23 +112,23 @@ def visual_ISAM2_example(): # If accuracy is desired at the expense of time, update(*) can be called additional times # to perform multiple optimizer iterations every step. isam.update() - currentEstimate = isam.calculate_estimate(); - print( "****************************************************" ) - print( "Frame", i, ":" ) - for j in range(i+1): - print( gtsam.Symbol('x',j) ) - print( currentEstimate.pose3_at(int(gtsam.Symbol('x',j))) ) + currentEstimate = isam.calculate_estimate() + print("****************************************************") + print("Frame", i, ":") + for j in range(i + 1): + print(X(j), ":", currentEstimate.pose3_at(int(X(j)))) for j in range(len(points)): - print( gtsam.Symbol('l',j) ) - print( currentEstimate.point3_at(int(gtsam.Symbol('l',j))) ) + print(L(j), ":", currentEstimate.point3_at(int(L(j)))) - visual_ISAM2_plot(poses, points, currentEstimate); - time.sleep(1) + visual_ISAM2_plot(poses, points, currentEstimate) # Clear the factor graph and values for the next iteration - graph.resize(0); - initialEstimate.clear(); + graph.resize(0) + initialEstimate.clear() + + plt.ioff() + plt.show() if __name__ == '__main__': visual_ISAM2_example() From cf07c22c2c61e6e1a62485e093ce6fb2fe87b6c5 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 15:43:46 -0800 Subject: [PATCH 871/964] Showing trajectory and ground truth quantities --- gtsam/navigation/Scenario.h | 8 ++- python/gtsam_examples/ImuFactorExample.py | 60 +++++++++++++++-------- 2 files changed, 46 insertions(+), 22 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 2b2b3fddf..a6c005d7c 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -46,7 +46,13 @@ class Scenario { } }; -/// Scenario with constant twist 3D trajectory. +/** + * Scenario with constant twist 3D trajectory. + * Note that a plane flying level does not feel any acceleration: gravity is + * being perfectly compensated by the lift generated by the wings, and drag is + * compensated by thrust. The accelerometer will add the gravity component back + * in, as modeled by the specificForce method in ScenarioRunner. + */ class ConstantTwistScenario : public Scenario { public: /// Construct scenario with constant twist [w,v] diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 2f64f5a1b..74daf1f47 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -9,6 +9,7 @@ import numpy as np from mpl_toolkits.mplot3d import Axes3D import gtsam +from gtsam_utils import plotPose3 class ImuFactorExample(object): @@ -24,37 +25,54 @@ class ImuFactorExample(object): W = np.array([0, -w, 0]) V = np.array([v, 0, 0]) self.scenario = gtsam.ConstantTwistScenario(W, V) - + self.dt = 0.5 + self.realTimeFactor = 10.0 + # Calculate time to do 1 loop - self.T = 2 * math.pi / w + self.radius = v / w + self.timeForOneLoop = 2 * math.pi / w + self.labels = list('xyz') + self.colors = list('rgb') - def plot(self, t, pose): - # plot IMU + def plot(self, t, pose, omega_b, acceleration_n, acceleration_b): + # plot angular velocity plt.figure(1) - times = np.arange(0, 10, 0.1) - shape = len(times), 1 - labels = list('xyz') - colors = list('rgb') - plt.clf() - for i, (label, color) in enumerate(zip(labels, colors)): + for i, (label, color) in enumerate(zip(self.labels, self.colors)): plt.subplot(3, 1, i + 1) - imu = np.random.randn(len(times), 1) - plt.plot(times, imu, color=color) -# plt.axis([tmin, tmax, min,max]) + plt.scatter(t, omega_b[i], color=color, marker='.') + plt.xlabel(label) + + # plot acceleration in nav + plt.figure(2) + for i, (label, color) in enumerate(zip(self.labels, self.colors)): + plt.subplot(3, 1, i + 1) + plt.scatter(t, acceleration_n[i], color=color, marker='.') + plt.xlabel(label) + + # plot acceleration in body + plt.figure(3) + for i, (label, color) in enumerate(zip(self.labels, self.colors)): + plt.subplot(3, 1, i + 1) + plt.scatter(t, acceleration_b[i], color=color, marker='.') plt.xlabel(label) # plot ground truth - fig = plt.figure(2) - ax = fig.gca(projection='3d') - p = pose.translation() - ax.scatter(p.x(), p.y(), p.z()) + plotPose3(4, pose, 1.0) + ax = plt.gca() + ax.set_xlim3d(-self.radius, self.radius) + ax.set_ylim3d(-self.radius, self.radius) + ax.set_zlim3d(0, self.radius * 2) - plt.pause(0.1) + plt.pause(self.dt / self.realTimeFactor) def run(self): - for t in np.arange(0, self.T / 2, 1): - pose = self.scenario.pose(t) - self.plot(t, pose) + # simulate the loop up to the top + for t in np.arange(0, self.timeForOneLoop, self.dt): + self.plot(t, + self.scenario.pose(t), + self.scenario.omega_b(t), + self.scenario.acceleration_n(t), + self.scenario.acceleration_b(t)) plt.ioff() plt.show() From 5b430da31601006aa83d1db438f959dfe15b1daa Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 16:47:45 -0800 Subject: [PATCH 872/964] Simpler calculation of acceleration --- gtsam/navigation/Scenario.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index a6c005d7c..5544ae4b3 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -57,8 +57,7 @@ class ConstantTwistScenario : public Scenario { public: /// Construct scenario with constant twist [w,v] ConstantTwistScenario(const Vector3& w, const Vector3& v) - : twist_((Vector6() << w, v).finished()), - a_b_(twist_.head<3>().cross(twist_.tail<3>())) {} + : twist_((Vector6() << w, v).finished()), a_b_(w.cross(v)) {} Pose3 pose(double t) const override { return Pose3::Expmap(twist_ * t); } Vector3 omega_b(double t) const override { return twist_.head<3>(); } From 8e54e003480414fa7778a0eec3302e9b5338ebac Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 16:48:04 -0800 Subject: [PATCH 873/964] ScenarioRunner wrapped and tested --- python/gtsam_tests/testScenarioRunner.py | 30 ++++++++++++++++ python/handwritten/navigation/Scenario.cpp | 41 +++++++++++++++++++++- 2 files changed, 70 insertions(+), 1 deletion(-) create mode 100644 python/gtsam_tests/testScenarioRunner.py diff --git a/python/gtsam_tests/testScenarioRunner.py b/python/gtsam_tests/testScenarioRunner.py new file mode 100644 index 000000000..2e1b47202 --- /dev/null +++ b/python/gtsam_tests/testScenarioRunner.py @@ -0,0 +1,30 @@ +import math +import unittest +import numpy as np + +import gtsam + +class TestScenarioRunner(unittest.TestCase): + def setUp(self): + self.g = 10 # simple gravity constant + + def test_loop_runner(self): + # Forward velocity 2m/s + # Pitch up with angular velocity 6 degree/sec (negative in FLU) + v = 2 + w = math.radians(6) + W = np.array([0, -w, 0]) + V = np.array([v, 0, 0]) + scenario = gtsam.ConstantTwistScenario(W, V) + + dt = 0.1 + params = gtsam.PreintegrationParams.MakeSharedU(self.g) + runner = gtsam.ScenarioRunner(gtsam.ScenarioPointer(scenario), params, dt) + + # Test specific force at time 0: a is pointing up + t = 0.0 + a = w * v + np.testing.assert_almost_equal(np.array([0, 0, a + self.g]), runner.actualSpecificForce(t)) + +if __name__ == '__main__': + unittest.main() diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp index f720bfd2e..57a383283 100644 --- a/python/handwritten/navigation/Scenario.cpp +++ b/python/handwritten/navigation/Scenario.cpp @@ -19,12 +19,20 @@ #define NO_IMPORT_ARRAY #include -#include "gtsam/navigation/Scenario.h" +#include "gtsam/navigation/ScenarioRunner.h" using namespace boost::python; using namespace gtsam; +// Create const Scenario pointer from ConstantTwistScenario +static const Scenario* ScenarioPointer(const ConstantTwistScenario& scenario) { + return static_cast(&scenario); +} + void exportScenario() { + // NOTE(frank): Abstract classes need boost::noncopyable + class_("Scenario", no_init); + // TODO(frank): figure out how to do inheritance class_("ConstantTwistScenario", init()) @@ -35,4 +43,35 @@ void exportScenario() { .def("rotation", &Scenario::rotation) .def("velocity_b", &Scenario::velocity_b) .def("acceleration_b", &Scenario::acceleration_b); + + // NOTE(frank): https://wiki.python.org/moin/boost.python/CallPolicy + def("ScenarioPointer", &ScenarioPointer, + return_value_policy()); + + class_ >( + "PreintegrationParams", init()) + .def_readwrite("gyroscopeCovariance", + &PreintegrationParams::gyroscopeCovariance) + .def_readwrite("omegaCoriolis", &PreintegrationParams::omegaCoriolis) + .def_readwrite("body_P_sensor", &PreintegrationParams::body_P_sensor) + .def_readwrite("accelerometerCovariance", + &PreintegrationParams::accelerometerCovariance) + .def_readwrite("integrationCovariance", + &PreintegrationParams::integrationCovariance) + .def_readwrite("use2ndOrderCoriolis", + &PreintegrationParams::use2ndOrderCoriolis) + .def_readwrite("n_gravity", &PreintegrationParams::n_gravity) + + .def("MakeSharedD", &PreintegrationParams::MakeSharedD) + .staticmethod("MakeSharedD") + .def("MakeSharedU", &PreintegrationParams::MakeSharedU) + .staticmethod("MakeSharedU"); + + class_( + "ScenarioRunner", + init&, + double>()) + .def("actualSpecificForce", &ScenarioRunner::actualSpecificForce) + .def("measuredAngularVelocity", &ScenarioRunner::measuredAngularVelocity) + .def("measuredSpecificForce", &ScenarioRunner::measuredSpecificForce); } From 5f491ac52f138bb9117140201683624c24e38308 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 17:37:38 -0800 Subject: [PATCH 874/964] ScenarioRunner used to sumulate noise --- python/gtsam_examples/ImuFactorExample.py | 55 +++++++++++++++++------ 1 file changed, 42 insertions(+), 13 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 74daf1f47..46c7d87d7 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -13,6 +13,17 @@ from gtsam_utils import plotPose3 class ImuFactorExample(object): + @staticmethod + def defaultParams(g): + """Create default parameters with Z *up* and realistic noise parameters""" + params = gtsam.PreintegrationParams.MakeSharedU(g) + kGyroSigma = math.radians(0.5) / 60 # 0.5 degree ARW + kAccelSigma = 0.1 / 60 # 10 cm VRW + params.gyroscopeCovariance = kGyroSigma ** 2 * np.identity(3, np.float) + params.accelerometerCovariance = kAccelSigma ** 2 * np.identity(3, np.float) + params.integrationCovariance = 0.0000001 ** 2 * np.identity(3, np.float) + return params + def __init__(self): # setup interactive plotting plt.ion() @@ -21,58 +32,76 @@ class ImuFactorExample(object): # Forward velocity 2m/s # Pitch up with angular velocity 6 degree/sec (negative in FLU) v = 2 - w = math.radians(6) + w = math.radians(30) W = np.array([0, -w, 0]) V = np.array([v, 0, 0]) self.scenario = gtsam.ConstantTwistScenario(W, V) self.dt = 0.5 self.realTimeFactor = 10.0 - + # Calculate time to do 1 loop self.radius = v / w self.timeForOneLoop = 2 * math.pi / w self.labels = list('xyz') self.colors = list('rgb') - def plot(self, t, pose, omega_b, acceleration_n, acceleration_b): + # Create runner + dt = 0.1 + self.g = 10 # simple gravity constant + self.params = self.defaultParams(self.g) + self.runner = gtsam.ScenarioRunner(gtsam.ScenarioPointer(self.scenario), self.params, dt) + + def plot(self, t, measuredOmega, measuredAcc): # plot angular velocity + omega_b = self.scenario.omega_b(t) plt.figure(1) for i, (label, color) in enumerate(zip(self.labels, self.colors)): plt.subplot(3, 1, i + 1) - plt.scatter(t, omega_b[i], color=color, marker='.') + plt.scatter(t, omega_b[i], color='k', marker='.') + plt.scatter(t, measuredOmega[i], color=color, marker='.') plt.xlabel(label) - + # plot acceleration in nav plt.figure(2) + acceleration_n = self.scenario.acceleration_n(t) for i, (label, color) in enumerate(zip(self.labels, self.colors)): plt.subplot(3, 1, i + 1) plt.scatter(t, acceleration_n[i], color=color, marker='.') plt.xlabel(label) - + # plot acceleration in body plt.figure(3) + acceleration_b = self.scenario.acceleration_b(t) for i, (label, color) in enumerate(zip(self.labels, self.colors)): plt.subplot(3, 1, i + 1) plt.scatter(t, acceleration_b[i], color=color, marker='.') plt.xlabel(label) - - # plot ground truth + + # plot ground truth pose + pose = self.scenario.pose(t) plotPose3(4, pose, 1.0) ax = plt.gca() ax.set_xlim3d(-self.radius, self.radius) ax.set_ylim3d(-self.radius, self.radius) ax.set_zlim3d(0, self.radius * 2) + # plot actual specific force, as well as corrupted + plt.figure(5) + actual = self.runner.actualSpecificForce(t) + for i, (label, color) in enumerate(zip(self.labels, self.colors)): + plt.subplot(3, 1, i + 1) + plt.scatter(t, actual[i], color='k', marker='.') + plt.scatter(t, measuredAcc[i], color=color, marker='.') + plt.xlabel(label) + plt.pause(self.dt / self.realTimeFactor) def run(self): # simulate the loop up to the top for t in np.arange(0, self.timeForOneLoop, self.dt): - self.plot(t, - self.scenario.pose(t), - self.scenario.omega_b(t), - self.scenario.acceleration_n(t), - self.scenario.acceleration_b(t)) + measuredOmega = self.runner.measuredAngularVelocity(t) + measuredAcc = self.runner.measuredSpecificForce(t) + self.plot(t, measuredOmega, measuredAcc) plt.ioff() plt.show() From ae867e8d6ef527edac200b91fc2743c24e4843f7 Mon Sep 17 00:00:00 2001 From: Frank Date: Tue, 26 Jan 2016 18:13:28 -0800 Subject: [PATCH 875/964] Integrate the IMU, plot the prediction --- python/gtsam_examples/ImuFactorExample.py | 12 ++++++++---- python/handwritten/navigation/Scenario.cpp | 21 ++++++++++++++++++++- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 46c7d87d7..c12feddfd 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -36,7 +36,7 @@ class ImuFactorExample(object): W = np.array([0, -w, 0]) V = np.array([v, 0, 0]) self.scenario = gtsam.ConstantTwistScenario(W, V) - self.dt = 0.5 + self.dt = 0.25 self.realTimeFactor = 10.0 # Calculate time to do 1 loop @@ -50,6 +50,7 @@ class ImuFactorExample(object): self.g = 10 # simple gravity constant self.params = self.defaultParams(self.g) self.runner = gtsam.ScenarioRunner(gtsam.ScenarioPointer(self.scenario), self.params, dt) + self.estimatedBias = gtsam.ConstantBias() def plot(self, t, measuredOmega, measuredAcc): # plot angular velocity @@ -77,9 +78,12 @@ class ImuFactorExample(object): plt.scatter(t, acceleration_b[i], color=color, marker='.') plt.xlabel(label) - # plot ground truth pose - pose = self.scenario.pose(t) - plotPose3(4, pose, 1.0) + # plot ground truth pose, as well as prediction from integrated IMU measurements + actualPose = self.scenario.pose(t) + plotPose3(4, actualPose, 1.0) + pim = self.runner.integrate(t, self.estimatedBias, False) + predictedNavState = self.runner.predict(pim, self.estimatedBias) + plotPose3(4, predictedNavState.pose(), 1.0) ax = plt.gca() ax.set_xlim3d(-self.radius, self.radius) ax.set_ylim3d(-self.radius, self.radius) diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp index 57a383283..1855417f2 100644 --- a/python/handwritten/navigation/Scenario.cpp +++ b/python/handwritten/navigation/Scenario.cpp @@ -67,11 +67,30 @@ void exportScenario() { .def("MakeSharedU", &PreintegrationParams::MakeSharedU) .staticmethod("MakeSharedU"); + class_( + "PreintegratedImuMeasurements", + init&, + const imuBias::ConstantBias&>()); + + class_("NavState", init<>()) + // TODO(frank): overload with jacobians + // .def("attitude", &NavState::attitude) + // .def("position", &NavState::position) + // .def("velocity", &NavState::velocity) + .def("pose", &NavState::pose); + + class_("ConstantBias", init<>()); + class_( "ScenarioRunner", init&, double>()) .def("actualSpecificForce", &ScenarioRunner::actualSpecificForce) .def("measuredAngularVelocity", &ScenarioRunner::measuredAngularVelocity) - .def("measuredSpecificForce", &ScenarioRunner::measuredSpecificForce); + .def("measuredSpecificForce", &ScenarioRunner::measuredSpecificForce) + .def("imuSampleTime", &ScenarioRunner::imuSampleTime, + return_value_policy()) + .def("integrate", &ScenarioRunner::integrate) + .def("predict", &ScenarioRunner::predict) + .def("estimateCovariance", &ScenarioRunner::estimateCovariance); } From 3a891b2a2c47071f99031e4248f3f650d032b4a9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 26 Jan 2016 20:42:48 -0800 Subject: [PATCH 876/964] ostream operator --- gtsam/navigation/NavState.cpp | 12 +++++++++--- gtsam/navigation/NavState.h | 5 +++++ 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 6266c328f..860eaa85c 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -74,11 +74,17 @@ Matrix7 NavState::matrix() const { return T; } +//------------------------------------------------------------------------------ +ostream& operator<<(ostream& os, const NavState& state) { + os << "R:" << state.attitude(); + os << "p:" << state.position() << endl; + os << "v:" << Point3(state.velocity()) << endl; + return os; +} + //------------------------------------------------------------------------------ void NavState::print(const string& s) const { - attitude().print(s + ".R"); - position().print(s + ".p"); - gtsam::print((Vector) v_, s + ".v"); + cout << s << *this << endl; } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 9561aa77b..439e8fceb 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -124,6 +124,9 @@ public: /// @name Testable /// @{ + /// Output stream operator + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const NavState& state); + /// print void print(const std::string& s = "") const; @@ -229,6 +232,8 @@ public: false, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; + /// @} + private: /// @{ /// serialization From 15dfd932f17e3ba3e16d47f907a68501813e91f3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 26 Jan 2016 21:12:57 -0800 Subject: [PATCH 877/964] Tying up loose ends, ostream, get rid of cov_ --- gtsam/navigation/PreintegrationBase.cpp | 40 +++++++--------------- gtsam/navigation/PreintegrationBase.h | 11 ++---- gtsam/navigation/tests/testScenarios.cpp | 10 +++--- python/handwritten/navigation/Scenario.cpp | 3 +- 4 files changed, 22 insertions(+), 42 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index ae88f6605..639ceb574 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -32,7 +32,6 @@ namespace gtsam { PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, const Bias& biasHat) : p_(p), biasHat_(biasHat), deltaTij_(0.0) { - cov_.setZero(); resetIntegration(); } @@ -47,14 +46,20 @@ void PreintegrationBase::resetIntegration() { delVdelBiasOmega_ = Z_3x3; } +//------------------------------------------------------------------------------ +ostream& operator<<(ostream& os, const PreintegrationBase& pim) { + os << " deltaTij " << pim.deltaTij_ << endl; + os << " deltaRij " << Point3(pim.theta()) << endl; + os << " deltaPij " << Point3(pim.deltaPij()) << endl; + os << " deltaVij " << Point3(pim.deltaVij()) << endl; + os << " gyrobias " << Point3(pim.biasHat_.gyroscope()) << endl; + os << " acc_bias " << Point3(pim.biasHat_.accelerometer()) << endl; + return os; +} + //------------------------------------------------------------------------------ void PreintegrationBase::print(const string& s) const { - cout << s << endl; - cout << " deltaTij [" << deltaTij_ << "]" << endl; - cout << " deltaRij.ypr = (" << deltaRij().ypr().transpose() << ")" << endl; - cout << " deltaPij [ " << deltaPij().transpose() << " ]" << endl; - cout << " deltaVij [ " << deltaVij().transpose() << " ]" << endl; - biasHat_.print(" biasHat"); + cout << s << *this << endl; } //------------------------------------------------------------------------------ @@ -297,27 +302,6 @@ NavState PreintegrationBase::predict(const NavState& state_i, return state_j; } -//------------------------------------------------------------------------------ -SharedGaussian PreintegrationBase::noiseModel() const { - // Correct for application of retract, by calculating the retract derivative H - // From NavState::retract: - Matrix3 D_R_theta; - const Matrix3 iRj = Rot3::Expmap(theta(), D_R_theta).matrix(); - Matrix9 H; - H << D_R_theta, Z_3x3, Z_3x3, // - Z_3x3, iRj.transpose(), Z_3x3, // - Z_3x3, Z_3x3, iRj.transpose(); - - // TODO(frank): theta() itself is noisy, so should we not correct for that? - Matrix9 HcH = H * cov_ * H.transpose(); - return noiseModel::Gaussian::Covariance(HcH, false); -} - -//------------------------------------------------------------------------------ -Matrix9 PreintegrationBase::preintMeasCov() const { - return noiseModel()->covariance(); -} - //------------------------------------------------------------------------------ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 18264cc97..6e67f8bcf 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -26,6 +26,8 @@ #include #include +#include + namespace gtsam { #define ALLOW_DEPRECATED_IN_GTSAM4 @@ -119,7 +121,6 @@ class PreintegrationBase { */ /// Current estimate of deltaXij_k TangentVector deltaXij_; - Matrix9 cov_; Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias @@ -194,7 +195,6 @@ public: const double& deltaTij() const { return deltaTij_; } const Vector9& zeta() const { return deltaXij_.vector(); } - const Matrix9& zetaCov() const { return cov_; } Vector3 theta() const { return deltaXij_.theta(); } Vector3 deltaPij() const { return deltaXij_.position(); } @@ -215,6 +215,7 @@ public: /// @name Testable /// @{ + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const PreintegrationBase& pim); void print(const std::string& s) const; bool equals(const PreintegrationBase& other, double tol) const; /// @} @@ -264,12 +265,6 @@ public: OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; - /// Return Gaussian noise model on prediction - SharedGaussian noiseModel() const; - - /// @deprecated: Explicitly calculate covariance - Matrix9 preintMeasCov() const; - /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, diff --git a/gtsam/navigation/tests/testScenarios.cpp b/gtsam/navigation/tests/testScenarios.cpp index 3397b4456..c2fdb963d 100644 --- a/gtsam/navigation/tests/testScenarios.cpp +++ b/gtsam/navigation/tests/testScenarios.cpp @@ -33,9 +33,9 @@ static const double kAccelSigma = 0.1 / 60.0; static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); -// Create default parameters with Z-down and above noise parameters +// Create default parameters with Z-up and above noise parameters static boost::shared_ptr defaultParams() { - auto p = PreintegrationParams::MakeSharedD(10); + auto p = PreintegrationParams::MakeSharedU(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; p->integrationCovariance = 0.0000001 * I_3x3; @@ -46,7 +46,7 @@ static boost::shared_ptr defaultParams() { /* ************************************************************************* */ TEST(ScenarioRunner, Spin) { - // angular velocity 6 kDegree/sec + // angular velocity 6 degree/sec const double w = 6 * kDegree; const Vector3 W(0, 0, w), V(0, 0, 0); const ConstantTwistScenario scenario(W, V); @@ -104,7 +104,7 @@ TEST(ScenarioRunner, ForwardWithBias) { /* ************************************************************************* */ TEST(ScenarioRunner, Circle) { - // Forward velocity 2m/s, angular velocity 6 kDegree/sec + // Forward velocity 2m/s, angular velocity 6 degree/sec const double v = 2, w = 6 * kDegree; ConstantTwistScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); @@ -122,7 +122,7 @@ TEST(ScenarioRunner, Circle) { /* ************************************************************************* */ TEST(ScenarioRunner, Loop) { // Forward velocity 2m/s - // Pitch up with angular velocity 6 kDegree/sec (negative in FLU) + // Pitch up with angular velocity 6 degree/sec (negative in FLU) const double v = 2, w = 6 * kDegree; ConstantTwistScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp index 1855417f2..05d2edf4d 100644 --- a/python/handwritten/navigation/Scenario.cpp +++ b/python/handwritten/navigation/Scenario.cpp @@ -70,13 +70,14 @@ void exportScenario() { class_( "PreintegratedImuMeasurements", init&, - const imuBias::ConstantBias&>()); + const imuBias::ConstantBias&>()).def(repr(self)); class_("NavState", init<>()) // TODO(frank): overload with jacobians // .def("attitude", &NavState::attitude) // .def("position", &NavState::position) // .def("velocity", &NavState::velocity) + .def(repr(self)) .def("pose", &NavState::pose); class_("ConstantBias", init<>()); From d39759d8c82fc722ec88ff696462f123725daa88 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 26 Jan 2016 21:37:22 -0800 Subject: [PATCH 878/964] Appropriate dt for integration --- python/gtsam_examples/ImuFactorExample.py | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index c12feddfd..05399df08 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -36,20 +36,19 @@ class ImuFactorExample(object): W = np.array([0, -w, 0]) V = np.array([v, 0, 0]) self.scenario = gtsam.ConstantTwistScenario(W, V) - self.dt = 0.25 - self.realTimeFactor = 10.0 + self.dt = 1e-2 # Calculate time to do 1 loop self.radius = v / w - self.timeForOneLoop = 2 * math.pi / w + self.timeForOneLoop = 2.0 * math.pi / w self.labels = list('xyz') self.colors = list('rgb') # Create runner - dt = 0.1 self.g = 10 # simple gravity constant self.params = self.defaultParams(self.g) - self.runner = gtsam.ScenarioRunner(gtsam.ScenarioPointer(self.scenario), self.params, dt) + ptr = gtsam.ScenarioPointer(self.scenario) + self.runner = gtsam.ScenarioRunner(ptr, self.params, self.dt) self.estimatedBias = gtsam.ConstantBias() def plot(self, t, measuredOmega, measuredAcc): @@ -80,10 +79,10 @@ class ImuFactorExample(object): # plot ground truth pose, as well as prediction from integrated IMU measurements actualPose = self.scenario.pose(t) - plotPose3(4, actualPose, 1.0) + plotPose3(4, actualPose, 0.3) pim = self.runner.integrate(t, self.estimatedBias, False) predictedNavState = self.runner.predict(pim, self.estimatedBias) - plotPose3(4, predictedNavState.pose(), 1.0) + plotPose3(4, predictedNavState.pose(), 0.1) ax = plt.gca() ax.set_xlim3d(-self.radius, self.radius) ax.set_ylim3d(-self.radius, self.radius) @@ -98,14 +97,16 @@ class ImuFactorExample(object): plt.scatter(t, measuredAcc[i], color=color, marker='.') plt.xlabel(label) - plt.pause(self.dt / self.realTimeFactor) + plt.pause(0.01) def run(self): # simulate the loop up to the top - for t in np.arange(0, self.timeForOneLoop, self.dt): + T = self.timeForOneLoop + for i, t in enumerate(np.arange(0, T, self.dt)): measuredOmega = self.runner.measuredAngularVelocity(t) measuredAcc = self.runner.measuredSpecificForce(t) - self.plot(t, measuredOmega, measuredAcc) + if i % 25 == 0: + self.plot(t, measuredOmega, measuredAcc) plt.ioff() plt.show() From 4d93a33f610334068b6ea71458d2a7d788ef4c2a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 26 Jan 2016 23:09:58 -0800 Subject: [PATCH 879/964] Static methods should be uppercase. --- .gitignore | 1 + examples/CreateSFMExampleData.cpp | 6 +- gtsam/geometry/Rot3.h | 19 ++++-- gtsam/geometry/tests/testCalibratedCamera.cpp | 4 +- gtsam/geometry/tests/testEssentialMatrix.cpp | 10 +-- gtsam/geometry/tests/testOrientedPlane3.cpp | 2 +- gtsam/geometry/tests/testPinholeCamera.cpp | 2 +- gtsam/geometry/tests/testPinholePose.cpp | 2 +- gtsam/geometry/tests/testPose3.cpp | 16 ++--- gtsam/geometry/tests/testRot3.cpp | 22 +++--- gtsam/geometry/tests/testTriangulation.cpp | 10 +-- gtsam/geometry/tests/testUnit3.cpp | 4 +- gtsam/navigation/GPSFactor.cpp | 4 +- gtsam/navigation/MagFactor.h | 2 +- gtsam/navigation/tests/testAHRSFactor.cpp | 2 +- .../tests/testCombinedImuFactor.cpp | 4 +- gtsam/navigation/tests/testGPSFactor.cpp | 2 +- gtsam/navigation/tests/testImuFactor.cpp | 10 +-- gtsam/navigation/tests/testMagFactor.cpp | 2 +- gtsam/slam/dataset.cpp | 4 +- gtsam/slam/tests/smartFactorScenarios.h | 4 +- gtsam/slam/tests/testDataset.cpp | 2 +- gtsam/slam/tests/testOrientedPlane3Factor.cpp | 4 +- gtsam/slam/tests/testPoseRotationPrior.cpp | 2 +- gtsam/slam/tests/testPoseTranslationPrior.cpp | 2 +- .../tests/testSmartProjectionCameraFactor.cpp | 4 +- .../tests/testSmartProjectionPoseFactor.cpp | 56 +++++++-------- gtsam/slam/tests/testTriangulationFactor.cpp | 2 +- gtsam_unstable/dynamics/PoseRTV.cpp | 2 +- .../dynamics/tests/testIMUSystem.cpp | 12 ++-- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 8 +-- .../dynamics/tests/testSimpleHelicopter.cpp | 2 +- gtsam_unstable/geometry/Pose3Upright.cpp | 2 +- .../geometry/tests/testInvDepthCamera3.cpp | 4 +- .../geometry/tests/testPose3Upright.cpp | 4 +- .../geometry/tests/testSimilarity3.cpp | 36 +++++----- gtsam_unstable/slam/Mechanization_bRn2.cpp | 2 +- .../slam/tests/testInvDepthFactor3.cpp | 2 +- .../slam/tests/testInvDepthFactorVariant1.cpp | 4 +- .../slam/tests/testInvDepthFactorVariant2.cpp | 4 +- .../slam/tests/testInvDepthFactorVariant3.cpp | 4 +- .../tests/testRelativeElevationFactor.cpp | 2 +- .../testSmartStereoProjectionPoseFactor.cpp | 68 +++++++++---------- 43 files changed, 184 insertions(+), 176 deletions(-) diff --git a/.gitignore b/.gitignore index d46bddd10..7850df41b 100644 --- a/.gitignore +++ b/.gitignore @@ -6,3 +6,4 @@ /examples/Data/pose3example-rewritten.txt *.txt.user *.txt.user.6d59f0c +/python-build/ diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp index bcc0b6320..010f474bf 100644 --- a/examples/CreateSFMExampleData.cpp +++ b/examples/CreateSFMExampleData.cpp @@ -35,7 +35,7 @@ void createExampleBALFile(const string& filename, const vector& P, SfM_data data; // Create two cameras - Rot3 aRb = Rot3::yaw(M_PI_2); + Rot3 aRb = Rot3::Yaw(M_PI_2); Point3 aTb(0.1, 0, 0); Pose3 identity, aPb(aRb, aTb); data.cameras.push_back(SfM_Camera(pose1, K)); @@ -66,7 +66,7 @@ void createExampleBALFile(const string& filename, const vector& P, void create5PointExample1() { // Create two cameras poses - Rot3 aRb = Rot3::yaw(M_PI_2); + Rot3 aRb = Rot3::Yaw(M_PI_2); Point3 aTb(0.1, 0, 0); Pose3 pose1, pose2(aRb, aTb); @@ -85,7 +85,7 @@ void create5PointExample1() { void create5PointExample2() { // Create two cameras poses - Rot3 aRb = Rot3::yaw(M_PI_2); + Rot3 aRb = Rot3::Yaw(M_PI_2); Point3 aTb(10, 0, 0); Pose3 pose1, pose2(aRb, aTb); diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index d8b8a4682..4dd582a77 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -146,13 +146,13 @@ namespace gtsam { } /// Positive yaw is to right (as in aircraft heading). See ypr - static Rot3 yaw (double t) { return Rz(t); } + static Rot3 Yaw (double t) { return Rz(t); } /// Positive pitch is up (increasing aircraft altitude).See ypr - static Rot3 pitch(double t) { return Ry(t); } + static Rot3 Pitch(double t) { return Ry(t); } //// Positive roll is to right (increasing yaw in aircraft). - static Rot3 roll (double t) { return Rx(t); } + static Rot3 Roll (double t) { return Rx(t); } /** * Returns rotation nRb from body to nav frame. @@ -163,7 +163,7 @@ namespace gtsam { * as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf. * Assumes vehicle coordinate frame X forward, Y right, Z down. */ - static Rot3 ypr(double y, double p, double r) { return RzRyRx(r,p,y);} + static Rot3 Ypr(double y, double p, double r) { return RzRyRx(r,p,y);} /** Create from Quaternion coefficients */ static Rot3 quaternion(double w, double x, double y, double z) { @@ -419,13 +419,13 @@ namespace gtsam { /** * Use RQ to calculate yaw-pitch-roll angle representation - * @return a vector containing ypr s.t. R = Rot3::ypr(y,p,r) + * @return a vector containing ypr s.t. R = Rot3::Ypr(y,p,r) */ Vector3 ypr() const; /** * Use RQ to calculate roll-pitch-yaw angle representation - * @return a vector containing ypr s.t. R = Rot3::ypr(y,p,r) + * @return a vector containing ypr s.t. R = Rot3::Ypr(y,p,r) */ Vector3 rpy() const; @@ -488,6 +488,13 @@ namespace gtsam { static Rot3 rodriguez(double wx, double wy, double wz) { return Rodrigues(wx, wy, wz); } /// @} +#ifdef ALLOW_DEPRECATED_IN_GTSAM4 + static Rot3 yaw (double t) { return Yaw(t); } + static Rot3 pitch(double t) { return Pitch(t); } + static Rot3 roll (double t) { return Roll(t); } + static Rot3 ypr(double y, double p, double r) { return Ypr(r,p,y);} +#endif + private: /** Serialization function */ diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index 3b0906b44..5bc645a58 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -135,7 +135,7 @@ TEST( CalibratedCamera, Dproject_point_pose) // Add a test with more arbitrary rotation TEST( CalibratedCamera, Dproject_point_pose2) { - static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); + static const Pose3 pose1(Rot3::Ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); static const CalibratedCamera camera(pose1); Matrix Dpose, Dpoint; camera.project(point1, Dpose, Dpoint); @@ -165,7 +165,7 @@ TEST( CalibratedCamera, Dproject_point_pose_infinity) // Add a test with more arbitrary rotation TEST( CalibratedCamera, Dproject_point_pose2_infinity) { - static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); + static const Pose3 pose1(Rot3::Ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); static const CalibratedCamera camera(pose1); Matrix Dpose, Dpoint; camera.project2(pointAtInfinity, Dpose, Dpoint); diff --git a/gtsam/geometry/tests/testEssentialMatrix.cpp b/gtsam/geometry/tests/testEssentialMatrix.cpp index fe27b2911..bfff0a182 100644 --- a/gtsam/geometry/tests/testEssentialMatrix.cpp +++ b/gtsam/geometry/tests/testEssentialMatrix.cpp @@ -20,7 +20,7 @@ GTSAM_CONCEPT_MANIFOLD_INST(EssentialMatrix) //************************************************************************* // Create two cameras and corresponding essential matrix E -Rot3 c1Rc2 = Rot3::yaw(M_PI_2); +Rot3 c1Rc2 = Rot3::Yaw(M_PI_2); Point3 c1Tc2(0.1, 0, 0); EssentialMatrix trueE(c1Rc2, Unit3(c1Tc2)); @@ -98,8 +98,8 @@ Point3 transform_to_(const EssentialMatrix& E, const Point3& point) { } TEST (EssentialMatrix, transform_to) { // test with a more complicated EssentialMatrix - Rot3 aRb2 = Rot3::yaw(M_PI / 3.0) * Rot3::pitch(M_PI_4) - * Rot3::roll(M_PI / 6.0); + Rot3 aRb2 = Rot3::Yaw(M_PI / 3.0) * Rot3::Pitch(M_PI_4) + * Rot3::Roll(M_PI / 6.0); Point3 aTb2(19.2, 3.7, 5.9); EssentialMatrix E(aRb2, Unit3(aTb2)); //EssentialMatrix E(aRb, Unit3(aTb).retract(Vector2(0.1, 0))); @@ -159,7 +159,7 @@ TEST (EssentialMatrix, FromPose3_a) { //************************************************************************* TEST (EssentialMatrix, FromPose3_b) { Matrix actualH; - Rot3 c1Rc2 = Rot3::ypr(0.1, -0.2, 0.3); + Rot3 c1Rc2 = Rot3::Ypr(0.1, -0.2, 0.3); Point3 c1Tc2(0.4, 0.5, 0.6); EssentialMatrix E(c1Rc2, Unit3(c1Tc2)); Pose3 pose(c1Rc2, c1Tc2); // Pose between two cameras @@ -181,7 +181,7 @@ TEST (EssentialMatrix, streaming) { //************************************************************************* TEST (EssentialMatrix, epipoles) { // Create an E - Rot3 c1Rc2 = Rot3::ypr(0.1, -0.2, 0.3); + Rot3 c1Rc2 = Rot3::Ypr(0.1, -0.2, 0.3); Point3 c1Tc2(0.4, 0.5, 0.6); EssentialMatrix E(c1Rc2, Unit3(c1Tc2)); diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp index 11931449f..180abb0d6 100644 --- a/gtsam/geometry/tests/testOrientedPlane3.cpp +++ b/gtsam/geometry/tests/testOrientedPlane3.cpp @@ -59,7 +59,7 @@ OrientedPlane3 transform_(const OrientedPlane3& plane, const Pose3& xr) { } TEST (OrientedPlane3, transform) { - gtsam::Pose3 pose(gtsam::Rot3::ypr(-M_PI / 4.0, 0.0, 0.0), + gtsam::Pose3 pose(gtsam::Rot3::Ypr(-M_PI / 4.0, 0.0, 0.0), gtsam::Point3(2.0, 3.0, 4.0)); OrientedPlane3 plane(-1, 0, 0, 5); OrientedPlane3 expectedPlane(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0, 0.0, 3); diff --git a/gtsam/geometry/tests/testPinholeCamera.cpp b/gtsam/geometry/tests/testPinholeCamera.cpp index 74bc4ca2a..7293d4235 100644 --- a/gtsam/geometry/tests/testPinholeCamera.cpp +++ b/gtsam/geometry/tests/testPinholeCamera.cpp @@ -242,7 +242,7 @@ TEST( PinholeCamera, Dproject2) // Add a test with more arbitrary rotation TEST( PinholeCamera, Dproject3) { - static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); + static const Pose3 pose1(Rot3::Ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); static const Camera camera(pose1); Matrix Dpose, Dpoint; camera.project2(point1, Dpose, Dpoint); diff --git a/gtsam/geometry/tests/testPinholePose.cpp b/gtsam/geometry/tests/testPinholePose.cpp index dc294899f..8f3eadc51 100644 --- a/gtsam/geometry/tests/testPinholePose.cpp +++ b/gtsam/geometry/tests/testPinholePose.cpp @@ -172,7 +172,7 @@ TEST( PinholePose, Dproject2) // Add a test with more arbitrary rotation TEST( CalibratedCamera, Dproject3) { - static const Pose3 pose1(Rot3::ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); + static const Pose3 pose1(Rot3::Ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); static const Camera camera(pose1); Matrix Dpose, Dpoint; camera.project2(point1, Dpose, Dpoint); diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 9007ce1bd..fb3907df3 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -556,12 +556,12 @@ TEST( Pose3, between ) /* ************************************************************************* */ // some shared test values - pulled from equivalent test in Pose2 Point3 l1(1, 0, 0), l2(1, 1, 0), l3(2, 2, 0), l4(1, 4,-4); -Pose3 x1, x2(Rot3::ypr(0.0, 0.0, 0.0), l2), x3(Rot3::ypr(M_PI/4.0, 0.0, 0.0), l2); +Pose3 x1, x2(Rot3::Ypr(0.0, 0.0, 0.0), l2), x3(Rot3::Ypr(M_PI/4.0, 0.0, 0.0), l2); Pose3 - xl1(Rot3::ypr(0.0, 0.0, 0.0), Point3(1, 0, 0)), - xl2(Rot3::ypr(0.0, 1.0, 0.0), Point3(1, 1, 0)), - xl3(Rot3::ypr(1.0, 0.0, 0.0), Point3(2, 2, 0)), - xl4(Rot3::ypr(0.0, 0.0, 1.0), Point3(1, 4,-4)); + xl1(Rot3::Ypr(0.0, 0.0, 0.0), Point3(1, 0, 0)), + xl2(Rot3::Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0)), + xl3(Rot3::Ypr(1.0, 0.0, 0.0), Point3(2, 2, 0)), + xl4(Rot3::Ypr(0.0, 0.0, 1.0), Point3(1, 4,-4)); /* ************************************************************************* */ double range_proxy(const Pose3& pose, const Point3& point) { @@ -654,9 +654,9 @@ TEST( Pose3, unicycle ) { // velocity in X should be X in inertial frame, rather than global frame Vector x_step = delta(6,3,1.0); - EXPECT(assert_equal(Pose3(Rot3::ypr(0,0,0), l1), expmap_default(x1, x_step), tol)); - EXPECT(assert_equal(Pose3(Rot3::ypr(0,0,0), Point3(2,1,0)), expmap_default(x2, x_step), tol)); - EXPECT(assert_equal(Pose3(Rot3::ypr(M_PI/4.0,0,0), Point3(2,2,0)), expmap_default(x3, sqrt(2.0) * x_step), tol)); + EXPECT(assert_equal(Pose3(Rot3::Ypr(0,0,0), l1), expmap_default(x1, x_step), tol)); + EXPECT(assert_equal(Pose3(Rot3::Ypr(0,0,0), Point3(2,1,0)), expmap_default(x2, x_step), tol)); + EXPECT(assert_equal(Pose3(Rot3::Ypr(M_PI/4.0,0,0), Point3(2,2,0)), expmap_default(x3, sqrt(2.0) * x_step), tol)); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index a61467b82..296bd2b7c 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -501,17 +501,17 @@ TEST( Rot3, yaw_pitch_roll ) double t = 0.1; // yaw is around z axis - CHECK(assert_equal(Rot3::Rz(t),Rot3::yaw(t))); + CHECK(assert_equal(Rot3::Rz(t),Rot3::Yaw(t))); // pitch is around y axis - CHECK(assert_equal(Rot3::Ry(t),Rot3::pitch(t))); + CHECK(assert_equal(Rot3::Ry(t),Rot3::Pitch(t))); // roll is around x axis - CHECK(assert_equal(Rot3::Rx(t),Rot3::roll(t))); + CHECK(assert_equal(Rot3::Rx(t),Rot3::Roll(t))); // Check compound rotation - Rot3 expected = Rot3::yaw(0.1) * Rot3::pitch(0.2) * Rot3::roll(0.3); - CHECK(assert_equal(expected,Rot3::ypr(0.1,0.2,0.3))); + Rot3 expected = Rot3::Yaw(0.1) * Rot3::Pitch(0.2) * Rot3::Roll(0.3); + CHECK(assert_equal(expected,Rot3::Ypr(0.1,0.2,0.3))); CHECK(assert_equal((Vector)Vector3(0.1, 0.2, 0.3),expected.ypr())); } @@ -531,14 +531,14 @@ TEST( Rot3, RQ) CHECK(assert_equal(expected,R.xyz(),1e-6)); CHECK(assert_equal((Vector)Vector3(0.1,0.2,0.3),Rot3::RzRyRx(0.1,0.2,0.3).xyz())); - // Try using ypr call, asserting that Rot3::ypr(y,p,r).ypr()==[y;p;r] - CHECK(assert_equal((Vector)Vector3(0.1,0.2,0.3),Rot3::ypr(0.1,0.2,0.3).ypr())); - CHECK(assert_equal((Vector)Vector3(0.3,0.2,0.1),Rot3::ypr(0.1,0.2,0.3).rpy())); + // Try using ypr call, asserting that Rot3::Ypr(y,p,r).ypr()==[y;p;r] + CHECK(assert_equal((Vector)Vector3(0.1,0.2,0.3),Rot3::Ypr(0.1,0.2,0.3).ypr())); + CHECK(assert_equal((Vector)Vector3(0.3,0.2,0.1),Rot3::Ypr(0.1,0.2,0.3).rpy())); // Try ypr for pure yaw-pitch-roll matrices - CHECK(assert_equal((Vector)Vector3(0.1,0.0,0.0),Rot3::yaw (0.1).ypr())); - CHECK(assert_equal((Vector)Vector3(0.0,0.1,0.0),Rot3::pitch(0.1).ypr())); - CHECK(assert_equal((Vector)Vector3(0.0,0.0,0.1),Rot3::roll (0.1).ypr())); + CHECK(assert_equal((Vector)Vector3(0.1,0.0,0.0),Rot3::Yaw (0.1).ypr())); + CHECK(assert_equal((Vector)Vector3(0.0,0.1,0.0),Rot3::Pitch(0.1).ypr())); + CHECK(assert_equal((Vector)Vector3(0.0,0.0,0.1),Rot3::Roll (0.1).ypr())); // Try RQ to recover calibration from 3*3 sub-block of projection matrix Matrix K = (Matrix(3, 3) << 500.0, 0.0, 320.0, 0.0, 500.0, 240.0, 0.0, 0.0, 1.0).finished(); diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp index bd18143cb..c3df95abc 100644 --- a/gtsam/geometry/tests/testTriangulation.cpp +++ b/gtsam/geometry/tests/testTriangulation.cpp @@ -40,7 +40,7 @@ static const boost::shared_ptr sharedCal = // boost::make_shared(1500, 1200, 0, 640, 480); // Looking along X-axis, 1 meter above ground plane (x-y) -static const Rot3 upright = Rot3::ypr(-M_PI / 2, 0., -M_PI / 2); +static const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2); static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1)); PinholeCamera camera1(pose1, *sharedCal); @@ -150,7 +150,7 @@ TEST( triangulation, fourPoses) { EXPECT(assert_equal(landmark, *actual2, 1e-2)); // 3. Add a slightly rotated third camera above, again with measurement noise - Pose3 pose3 = pose1 * Pose3(Rot3::ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); + Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); SimpleCamera camera3(pose3, *sharedCal); Point2 z3 = camera3.project(landmark); @@ -167,7 +167,7 @@ TEST( triangulation, fourPoses) { EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2)); // 4. Test failure: Add a 4th camera facing the wrong way - Pose3 pose4 = Pose3(Rot3::ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose4 = Pose3(Rot3::Ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); SimpleCamera camera4(pose4, *sharedCal); #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION @@ -214,7 +214,7 @@ TEST( triangulation, fourPoses_distinct_Ks) { EXPECT(assert_equal(landmark, *actual2, 1e-2)); // 3. Add a slightly rotated third camera above, again with measurement noise - Pose3 pose3 = pose1 * Pose3(Rot3::ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); + Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1)); Cal3_S2 K3(700, 500, 0, 640, 480); SimpleCamera camera3(pose3, K3); Point2 z3 = camera3.project(landmark); @@ -232,7 +232,7 @@ TEST( triangulation, fourPoses_distinct_Ks) { EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2)); // 4. Test failure: Add a 4th camera facing the wrong way - Pose3 pose4 = Pose3(Rot3::ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose4 = Pose3(Rot3::Ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); Cal3_S2 K4(700, 500, 0, 640, 480); SimpleCamera camera4(pose4, K4); diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 3cfffa0da..dbe315807 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -70,7 +70,7 @@ static Unit3 rotate_(const Rot3& R, const Unit3& p) { } TEST(Unit3, rotate) { - Rot3 R = Rot3::yaw(0.5); + Rot3 R = Rot3::Yaw(0.5); Unit3 p(1, 0, 0); Unit3 expected = Unit3(R.column(1)); Unit3 actual = R * p; @@ -95,7 +95,7 @@ static Unit3 unrotate_(const Rot3& R, const Unit3& p) { } TEST(Unit3, unrotate) { - Rot3 R = Rot3::yaw(-M_PI / 4.0); + Rot3 R = Rot3::Yaw(-M_PI / 4.0); Unit3 p(1, 0, 0); Unit3 expected = Unit3(1, 1, 0); Unit3 actual = R.unrotate(p); diff --git a/gtsam/navigation/GPSFactor.cpp b/gtsam/navigation/GPSFactor.cpp index bfd3ebb52..87913cda6 100644 --- a/gtsam/navigation/GPSFactor.cpp +++ b/gtsam/navigation/GPSFactor.cpp @@ -58,10 +58,10 @@ pair GPSFactor::EstimateState(double t1, const Point3& NED1, // Estimate Rotation double yaw = atan2(nV.y(), nV.x()); - Rot3 nRy = Rot3::yaw(yaw); // yaw frame + Rot3 nRy = Rot3::Yaw(yaw); // yaw frame Point3 yV = nRy.inverse() * nV; // velocity in yaw frame double pitch = -atan2(yV.z(), yV.x()), roll = 0; - Rot3 nRb = Rot3::ypr(yaw, pitch, roll); + Rot3 nRb = Rot3::Ypr(yaw, pitch, roll); // Construct initial pose Pose3 nTb(nRb, nT); // nTb diff --git a/gtsam/navigation/MagFactor.h b/gtsam/navigation/MagFactor.h index f70bec8c6..fc1e69190 100644 --- a/gtsam/navigation/MagFactor.h +++ b/gtsam/navigation/MagFactor.h @@ -60,7 +60,7 @@ public: static Point3 unrotate(const Rot2& R, const Point3& p, boost::optional HR = boost::none) { - Point3 q = Rot3::yaw(R.theta()).unrotate(p, HR, boost::none); + Point3 q = Rot3::Yaw(R.theta()).unrotate(p, HR, boost::none); if (HR) { // assign to temporary first to avoid error in Win-Debug mode Matrix H = HR->col(2); diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp index 2121eda35..02911acb1 100644 --- a/gtsam/navigation/tests/testAHRSFactor.cpp +++ b/gtsam/navigation/tests/testAHRSFactor.cpp @@ -423,7 +423,7 @@ TEST (AHRSFactor, predictTest) { // Predict Rot3 x; - Rot3 expectedRot = Rot3().ypr(20*M_PI, 0, 0); + Rot3 expectedRot = Rot3::Ypr(20*M_PI, 0, 0); Rot3 actualRot = factor.predict(x, bias, pim, kZeroOmegaCoriolis); EXPECT(assert_equal(expectedRot, actualRot, 1e-6)); diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index d473207da..e3d366d55 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -293,10 +293,10 @@ TEST(CombinedImuFactor, PredictRotation) { gravity, omegaCoriolis); // Predict - Pose3 x(Rot3().ypr(0, 0, 0), Point3(0, 0, 0)), x2; + Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2; Vector3 v(0, 0, 0), v2; CombinedImuFactor::Predict(x, v, x2, v2, bias, pim, gravity, omegaCoriolis); - Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); + Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); EXPECT(assert_equal(expectedPose, x2, tol)); } diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp index 8c93020c9..6149c1651 100644 --- a/gtsam/navigation/tests/testGPSFactor.cpp +++ b/gtsam/navigation/tests/testGPSFactor.cpp @@ -89,7 +89,7 @@ TEST(GPSData, init) { // Check values values EXPECT(assert_equal((Vector )Vector3(29.9575, -29.0564, -1.95993), nV, 1e-4)); - EXPECT( assert_equal(Rot3::ypr(-0.770131, 0.046928, 0), T.rotation(), 1e-5)); + EXPECT( assert_equal(Rot3::Ypr(-0.770131, 0.046928, 0), T.rotation(), 1e-5)); Point3 expectedT(2.38461, -2.31289, -0.156011); EXPECT(assert_equal(expectedT, T.translation(), 1e-5)); } diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 25a6e732c..b7893281d 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -813,7 +813,7 @@ TEST(ImuFactor, PredictRotation) { Vector3 v2; ImuFactor::Predict(x1, v1, x2, v2, bias, pim, kGravityAlongNavZDown, kZeroOmegaCoriolis); - Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); + Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); Vector3 expectedVelocity; expectedVelocity << 0, 0, 0; EXPECT(assert_equal(expectedPose, x2)); @@ -891,7 +891,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { double dt = 0.001; // Rotate sensor (z-down) to body (same as navigation) i.e. z-up - Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3(0, 0, 0)); + Pose3 body_P_sensor(Rot3::Ypr(0, 0, M_PI), Point3(0, 0, 0)); ImuFactor::PreintegratedMeasurements pim(bias, Z_3x3, Z_3x3, Z_3x3, true); @@ -907,7 +907,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { PoseVelocityBias poseVelocity = pim.predict(x1, v1, bias, n_gravity, omegaCoriolis); - Pose3 expectedPose(Rot3().ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0)); + Pose3 expectedPose(Rot3::Ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0)); EXPECT(assert_equal(expectedPose, poseVelocity.pose)); Vector3 expectedVelocity(0, 0, 0); @@ -942,7 +942,7 @@ TEST(ImuFactor, bodyPSensorWithBias) { // table exerts an equal and opposite force w.r.t gravity Vector3 measuredAcc(0, 0, -9.81); - Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3()); + Pose3 body_P_sensor(Rot3::Ypr(0, 0, M_PI), Point3()); Matrix3 accCov = 1e-7 * I_3x3; Matrix3 gyroCov = 1e-8 * I_3x3; @@ -1025,7 +1025,7 @@ TEST(ImuFactor, serialization) { using namespace gtsam::serializationTestHelpers; Vector3 n_gravity(0, 0, -9.81); - Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3()); + Pose3 body_P_sensor(Rot3::Ypr(0, 0, M_PI), Point3()); Matrix3 accCov = 1e-7 * I_3x3; Matrix3 gyroCov = 1e-8 * I_3x3; Matrix3 integrationCov = 1e-9 * I_3x3; diff --git a/gtsam/navigation/tests/testMagFactor.cpp b/gtsam/navigation/tests/testMagFactor.cpp index 950c6ce63..38aecfcbc 100644 --- a/gtsam/navigation/tests/testMagFactor.cpp +++ b/gtsam/navigation/tests/testMagFactor.cpp @@ -40,7 +40,7 @@ Point3 nM(22653.29982, -1956.83010, 44202.47862); // Let's assume scale factor, double scale = 255.0 / 50000.0; // ...ground truth orientation, -Rot3 nRb = Rot3::yaw(-0.1); +Rot3 nRb = Rot3::Yaw(-0.1); Rot2 theta = nRb.yaw(); // ...and bias Point3 bias(10, -10, 50); diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 68c27e76b..9e71e3753 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -510,7 +510,7 @@ GraphAndValues load3D(const string& filename) { Key id; double x, y, z, roll, pitch, yaw; ls >> id >> x >> y >> z >> roll >> pitch >> yaw; - Rot3 R = Rot3::ypr(yaw,pitch,roll); + Rot3 R = Rot3::Ypr(yaw,pitch,roll); Point3 t = Point3(x, y, z); initial->insert(id, Pose3(R,t)); } @@ -537,7 +537,7 @@ GraphAndValues load3D(const string& filename) { Key id1, id2; double x, y, z, roll, pitch, yaw; ls >> id1 >> id2 >> x >> y >> z >> roll >> pitch >> yaw; - Rot3 R = Rot3::ypr(yaw,pitch,roll); + Rot3 R = Rot3::Ypr(yaw,pitch,roll); Point3 t = Point3(x, y, z); Matrix m = eye(6); for (int i = 0; i < 6; i++) diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h index 8e83ec503..ccad83f01 100644 --- a/gtsam/slam/tests/smartFactorScenarios.h +++ b/gtsam/slam/tests/smartFactorScenarios.h @@ -34,7 +34,7 @@ Point3 landmark4(10, 0.5, 1.2); Point3 landmark5(10, -0.5, 1.2); // First camera pose, looking along X-axis, 1 meter above ground plane (x-y) -Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); +Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); // Second camera 1 meter to the right of first camera Pose3 pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0)); // Third camera 1 meter above the first camera @@ -123,7 +123,7 @@ Camera cam3(pose_above, sharedBundlerK); template CAMERA perturbCameraPose(const CAMERA& camera) { - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Pose3 cameraPose = camera.pose(); Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp index 0406c3d27..26a00360e 100644 --- a/gtsam/slam/tests/testDataset.cpp +++ b/gtsam/slam/tests/testDataset.cpp @@ -452,7 +452,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){ SfM_data readData; readBAL(filenameToRead, readData); - Pose3 poseChange = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.3,0.1,0.3)); + Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.3,0.1,0.3)); Values value; for(size_t i=0; i < readData.number_cameras(); i++){ // for each camera diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp index 4a7b4c3fe..f1e830d03 100644 --- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp +++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp @@ -47,7 +47,7 @@ TEST (OrientedPlane3Factor, lm_translation_error) { // Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose Symbol init_sym('x', 0); - Pose3 init_pose(Rot3::ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); + Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); Vector sigmas(6); sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001; PriorFactor pose_prior(init_sym, init_pose, @@ -94,7 +94,7 @@ TEST (OrientedPlane3Factor, lm_rotation_error) { // Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose Symbol init_sym('x', 0); - Pose3 init_pose(Rot3::ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); + Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); PriorFactor pose_prior(init_sym, init_pose, noiseModel::Diagonal::Sigmas( (Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished())); diff --git a/gtsam/slam/tests/testPoseRotationPrior.cpp b/gtsam/slam/tests/testPoseRotationPrior.cpp index db04a74eb..3c7d5f2b2 100644 --- a/gtsam/slam/tests/testPoseRotationPrior.cpp +++ b/gtsam/slam/tests/testPoseRotationPrior.cpp @@ -30,7 +30,7 @@ const gtsam::Key poseKey = 1; // Pose3 examples const Point3 point3A(1.0, 2.0, 3.0), point3B(4.0, 6.0, 8.0); -const Rot3 rot3A, rot3B = Rot3::pitch(-M_PI_2), rot3C = Rot3::Expmap(Vector3(0.1, 0.2, 0.3)); +const Rot3 rot3A, rot3B = Rot3::Pitch(-M_PI_2), rot3C = Rot3::Expmap(Vector3(0.1, 0.2, 0.3)); // Pose2 examples const Point2 point2A(1.0, 2.0), point2B(4.0, 6.0); diff --git a/gtsam/slam/tests/testPoseTranslationPrior.cpp b/gtsam/slam/tests/testPoseTranslationPrior.cpp index 2f39701f7..2fd471c9c 100644 --- a/gtsam/slam/tests/testPoseTranslationPrior.cpp +++ b/gtsam/slam/tests/testPoseTranslationPrior.cpp @@ -27,7 +27,7 @@ const gtsam::Key poseKey = 1; // Pose3 examples const Point3 point3A(1.0, 2.0, 3.0), point3B(4.0, 6.0, 8.0); -const Rot3 rot3A, rot3B = Rot3::pitch(-M_PI_2), rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3); +const Rot3 rot3A, rot3B = Rot3::Pitch(-M_PI_2), rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3); // Pose2 examples const Point2 point2A(1.0, 2.0), point2B(4.0, 6.0); diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp index 54bbd6c22..467aefe91 100644 --- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp @@ -47,7 +47,7 @@ template PinholeCamera perturbCameraPoseAndCalibration( const PinholeCamera& camera) { GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Pose3 cameraPose = camera.pose(); Pose3 perturbedCameraPose = cameraPose.compose(noise_pose); @@ -61,7 +61,7 @@ PinholeCamera perturbCameraPoseAndCalibration( /* ************************************************************************* */ TEST( SmartProjectionCameraFactor, perturbCameraPose) { using namespace vanilla; - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Pose3 perturbed_level_pose = level_pose.compose(noise_pose); Camera actualCamera(perturbed_level_pose, K2); diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp index 0e2429840..1c1bc3c03 100644 --- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp +++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp @@ -163,7 +163,7 @@ TEST( SmartProjectionPoseFactor, noisy ) { Values values; values.insert(x1, cam1.pose()); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); values.insert(x2, pose_right.compose(noise_pose)); @@ -196,7 +196,7 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h)); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 cameraPose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses + Pose3 cameraPose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0)); Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0)); @@ -205,7 +205,7 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ SimpleCamera cam3(cameraPose3, *K); // create arbitrary body_Pose_sensor (transforms from sensor to body) - Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); // + Pose3 sensor_to_body = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); // // These are the poses we want to estimate, from camera measurements Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse()); @@ -263,7 +263,7 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){ double expectedError = 0.0; DOUBLES_EQUAL(expectedError, actualError, 1e-7) - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); Values values; values.insert(x1, bodyPose1); values.insert(x2, bodyPose2); @@ -317,8 +317,8 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) { groundTruth.insert(x3, cam3.pose()); DOUBLES_EQUAL(0, graph.error(groundTruth), 1e-9); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -539,8 +539,8 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) { graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -606,8 +606,8 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) { graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -667,8 +667,8 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) { graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -792,7 +792,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) { graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -844,7 +844,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) { graph.push_back(PriorFactor(x1, level_pose, noisePrior)); graph.push_back(PriorFactor(x2, pose_right, noisePrior)); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; values.insert(x1, level_pose); @@ -908,8 +908,8 @@ TEST( SmartProjectionPoseFactor, CheckHessian) { graph.push_back(smartFactor2); graph.push_back(smartFactor3); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -995,7 +995,7 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac graph.push_back( PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -1063,8 +1063,8 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) graph.push_back( PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -1108,7 +1108,7 @@ TEST( SmartProjectionPoseFactor, Hessian ) { SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedK2)); smartFactor1->add(measurements_cam1, views); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); Values values; values.insert(x1, cam1.pose()); @@ -1148,7 +1148,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { boost::shared_ptr factor = smartFactorInstance->linearize( values); - Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); + Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; rotValues.insert(x1, poseDrift.compose(level_pose)); @@ -1161,7 +1161,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) { // Hessian is invariant to rotations in the nondegenerate case EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-7)); - Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), + Pose3 poseDrift2 = Pose3(Rot3::Ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); Values tranValues; @@ -1203,7 +1203,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { boost::shared_ptr factor = smartFactor->linearize(values); - Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); + Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; rotValues.insert(x1, poseDrift.compose(level_pose)); @@ -1216,7 +1216,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) { // Hessian is invariant to rotations in the nondegenerate case EXPECT(assert_equal(factor->information(), factorRot->information(), 1e-7)); - Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), + Pose3 poseDrift2 = Pose3(Rot3::Ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); Values tranValues; @@ -1278,8 +1278,8 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) { graph.push_back(PriorFactor(x1, cam1.pose(), noisePrior)); graph.push_back(PriorFactor(x2, cam2.pose(), noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); @@ -1357,8 +1357,8 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) { graph.push_back( PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, cam1.pose()); diff --git a/gtsam/slam/tests/testTriangulationFactor.cpp b/gtsam/slam/tests/testTriangulationFactor.cpp index 5ac92b4a9..1d2baefee 100644 --- a/gtsam/slam/tests/testTriangulationFactor.cpp +++ b/gtsam/slam/tests/testTriangulationFactor.cpp @@ -37,7 +37,7 @@ static const boost::shared_ptr sharedCal = // boost::make_shared(1500, 1200, 0, 640, 480); // Looking along X-axis, 1 meter above ground plane (x-y) -static const Rot3 upright = Rot3::ypr(-M_PI / 2, 0., -M_PI / 2); +static const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2); static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1)); SimpleCamera camera1(pose1, *sharedCal); diff --git a/gtsam_unstable/dynamics/PoseRTV.cpp b/gtsam_unstable/dynamics/PoseRTV.cpp index 51737285a..1a7fdf3de 100644 --- a/gtsam_unstable/dynamics/PoseRTV.cpp +++ b/gtsam_unstable/dynamics/PoseRTV.cpp @@ -100,7 +100,7 @@ PoseRTV PoseRTV::flyingDynamics( double pitch2 = r2.pitch(); double forward_accel = -thrust * sin(pitch2); // r2, pitch (in global frame?) controls forward force double loss_lift = lift*fabs(sin(pitch2)); - Rot3 yaw_correction_bn = Rot3::yaw(yaw2); + Rot3 yaw_correction_bn = Rot3::Yaw(yaw2); Point3 forward(forward_accel, 0.0, 0.0); Vector Acc_n = yaw_correction_bn.rotate(forward).vector() // applies locally forward force in the global frame diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 3fff06de1..3fc6a0197 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -56,9 +56,9 @@ TEST( testIMUSystem, optimize_chain ) { // create a simple chain of poses to generate IMU measurements const double dt = 1.0; PoseRTV pose1, - pose2(Point3(1.0, 1.0, 0.0), Rot3::ypr(0.1, 0.0, 0.0), Velocity3(2.0, 2.0, 0.0)), - pose3(Point3(2.0, 2.0, 0.0), Rot3::ypr(0.2, 0.0, 0.0), Velocity3(0.0, 0.0, 0.0)), - pose4(Point3(3.0, 3.0, 0.0), Rot3::ypr(0.3, 0.0, 0.0), Velocity3(2.0, 2.0, 0.0)); + pose2(Point3(1.0, 1.0, 0.0), Rot3::Ypr(0.1, 0.0, 0.0), Velocity3(2.0, 2.0, 0.0)), + pose3(Point3(2.0, 2.0, 0.0), Rot3::Ypr(0.2, 0.0, 0.0), Velocity3(0.0, 0.0, 0.0)), + pose4(Point3(3.0, 3.0, 0.0), Rot3::Ypr(0.3, 0.0, 0.0), Velocity3(2.0, 2.0, 0.0)); // create measurements SharedDiagonal model = noiseModel::Unit::Create(6); @@ -102,9 +102,9 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { // create a simple chain of poses to generate IMU measurements const double dt = 1.0; PoseRTV pose1, - pose2(Point3(1.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)), - pose3(Point3(2.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)), - pose4(Point3(3.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)); + pose2(Point3(1.0, 0.0, 0.0), Rot3::Ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)), + pose3(Point3(2.0, 0.0, 0.0), Rot3::Ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)), + pose4(Point3(3.0, 0.0, 0.0), Rot3::Ypr(0.0, 0.0, 0.0), Velocity3(1.0, 0.0, 0.0)); // create measurements SharedDiagonal model = noiseModel::Isotropic::Sigma(9, 1.0); diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index 0386d8bcd..db2f8f7f8 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -193,7 +193,7 @@ TEST( testPoseRTV, transformed_from_1 ) { Point3 T(1.0, 2.0, 3.0); Velocity3 V(2.0, 3.0, 4.0); PoseRTV start(R, T, V); - Pose3 transform(Rot3::yaw(M_PI_2), Point3(1.0, 2.0, 3.0)); + Pose3 transform(Rot3::Yaw(M_PI_2), Point3(1.0, 2.0, 3.0)); Matrix actDTrans, actDGlobal; PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); @@ -212,7 +212,7 @@ TEST( testPoseRTV, transformed_from_2 ) { Point3 T(1.0, 2.0, 3.0); Velocity3 V(2.0, 3.0, 4.0); PoseRTV start(R, T, V); - Pose3 transform(Rot3::yaw(M_PI_2), Point3(1.0, 2.0, 3.0)); + Pose3 transform(Rot3::Yaw(M_PI_2), Point3(1.0, 2.0, 3.0)); Matrix actDTrans, actDGlobal; PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); @@ -229,14 +229,14 @@ TEST( testPoseRTV, transformed_from_2 ) { TEST(testPoseRTV, RRTMbn) { EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(kZero3))); EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(Rot3()))); - EXPECT(assert_equal(PoseRTV::RRTMbn(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3)))); + EXPECT(assert_equal(PoseRTV::RRTMbn(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::Ypr(0.1, 0.2, 0.3)))); } /* ************************************************************************* */ TEST(testPoseRTV, RRTMnb) { EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(kZero3))); EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(Rot3()))); - EXPECT(assert_equal(PoseRTV::RRTMnb(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3)))); + EXPECT(assert_equal(PoseRTV::RRTMnb(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::Ypr(0.1, 0.2, 0.3)))); } /* ************************************************************************* */ diff --git a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp b/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp index a0d969c4d..1fb2cf39e 100644 --- a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp +++ b/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp @@ -16,7 +16,7 @@ const double tol=1e-5; const double h = 0.01; //const double deg2rad = M_PI/180.0; -//Pose3 g1(Rot3::ypr(deg2rad*10.0, deg2rad*20.0, deg2rad*30.0), Point3(100.0, 200.0, 300.0)); +//Pose3 g1(Rot3::Ypr(deg2rad*10.0, deg2rad*20.0, deg2rad*30.0), Point3(100.0, 200.0, 300.0)); Pose3 g1(Rot3(), Point3(100.0, 0.0, 300.0)); //Vector6 v1((Vector(6) << 0.1, 0.05, 0.02, 10.0, 20.0, 30.0).finished()); Vector6 V1_w((Vector(6) << 0.0, 0.0, M_PI/3, 0.0, 0.0, 30.0).finished()); diff --git a/gtsam_unstable/geometry/Pose3Upright.cpp b/gtsam_unstable/geometry/Pose3Upright.cpp index 2ab3a6a9e..f83cb19fb 100644 --- a/gtsam_unstable/geometry/Pose3Upright.cpp +++ b/gtsam_unstable/geometry/Pose3Upright.cpp @@ -64,7 +64,7 @@ Rot2 Pose3Upright::rotation2() const { /* ************************************************************************* */ Rot3 Pose3Upright::rotation() const { - return Rot3::yaw(theta()); + return Rot3::Yaw(theta()); } /* ************************************************************************* */ diff --git a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp index 2f3c763dd..6ac3389ed 100644 --- a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp +++ b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp @@ -17,7 +17,7 @@ using namespace std; using namespace gtsam; static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); -Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); +Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); SimpleCamera level_camera(level_pose, *K); /* ************************************************************************* */ @@ -142,7 +142,7 @@ TEST(InvDepthFactor, backproject2) // backwards facing camera Vector expected((Vector(5) << -5.,-5.,2., 3., -0.1).finished()); double inv_depth(1./10); - InvDepthCamera3 inv_camera(Pose3(Rot3::ypr(1.5,0.1, -1.5), Point3(-5, -5, 2)),K); + InvDepthCamera3 inv_camera(Pose3(Rot3::Ypr(1.5,0.1, -1.5), Point3(-5, -5, 2)),K); Point2 z = inv_camera.project(expected, inv_depth); Vector5 actual_vec; diff --git a/gtsam_unstable/geometry/tests/testPose3Upright.cpp b/gtsam_unstable/geometry/tests/testPose3Upright.cpp index 0929035b6..cd54a8813 100644 --- a/gtsam_unstable/geometry/tests/testPose3Upright.cpp +++ b/gtsam_unstable/geometry/tests/testPose3Upright.cpp @@ -58,9 +58,9 @@ TEST( testPose3Upright, conversions ) { EXPECT(assert_equal(Point3(1.0, 2.0, 3.0), pose.translation(), tol)); EXPECT(assert_equal(Point2(1.0, 2.0), pose.translation2(), tol)); EXPECT(assert_equal(Rot2::fromAngle(0.1), pose.rotation2(), tol)); - EXPECT(assert_equal(Rot3::yaw(0.1), pose.rotation(), tol)); + EXPECT(assert_equal(Rot3::Yaw(0.1), pose.rotation(), tol)); EXPECT(assert_equal(Pose2(1.0, 2.0, 0.1), pose.pose2(), tol)); - EXPECT(assert_equal(Pose3(Rot3::yaw(0.1), Point3(1.0, 2.0, 3.0)), pose.pose(), tol)); + EXPECT(assert_equal(Pose3(Rot3::Yaw(0.1), Point3(1.0, 2.0, 3.0)), pose.pose(), tol)); } /* ************************************************************************* */ diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index 14dfb8f1a..849206a7d 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -56,14 +56,14 @@ TEST(Similarity3, Getters) { //****************************************************************************** TEST(Similarity3, Getters2) { - Similarity3 test(Rot3::ypr(1, 2, 3), Point3(4, 5, 6), 7); - EXPECT(assert_equal(Rot3::ypr(1, 2, 3), test.rotation())); + Similarity3 test(Rot3::Ypr(1, 2, 3), Point3(4, 5, 6), 7); + EXPECT(assert_equal(Rot3::Ypr(1, 2, 3), test.rotation())); EXPECT(assert_equal(Point3(4, 5, 6), test.translation())); EXPECT_DOUBLES_EQUAL(7.0, test.scale(), 1e-9); } TEST(Similarity3, AdjointMap) { - Similarity3 test(Rot3::ypr(1,2,3).inverse(), Point3(4,5,6), 7); + Similarity3 test(Rot3::Ypr(1,2,3).inverse(), Point3(4,5,6), 7); Matrix7 result; result << -1.5739, -2.4512, -6.3651, -50.7671, -11.2503, 16.8859, -28.0000, 6.3167, -2.9884, -0.4111, 0.8502, 8.6373, -49.7260, -35.0000, @@ -76,7 +76,7 @@ TEST(Similarity3, AdjointMap) { } TEST(Similarity3, inverse) { - Similarity3 test(Rot3::ypr(1,2,3).inverse(), Point3(4,5,6), 7); + Similarity3 test(Rot3::Ypr(1,2,3).inverse(), Point3(4,5,6), 7); Matrix3 Re; Re << -0.2248, 0.9024, -0.3676, -0.3502, -0.4269, -0.8337, @@ -87,8 +87,8 @@ TEST(Similarity3, inverse) { } TEST(Similarity3, multiplication) { - Similarity3 test1(Rot3::ypr(1,2,3).inverse(), Point3(4,5,6), 7); - Similarity3 test2(Rot3::ypr(1,2,3).inverse(), Point3(8,9,10), 11); + Similarity3 test1(Rot3::Ypr(1,2,3).inverse(), Point3(4,5,6), 7); + Similarity3 test2(Rot3::Ypr(1,2,3).inverse(), Point3(8,9,10), 11); Matrix3 re; re << 0.0688, 0.9863, -0.1496, -0.5665, -0.0848, -0.8197, @@ -117,14 +117,14 @@ TEST(Similarity3, Manifold) { v3 << 0, 0, 0, 1, 2, 3, 0; EXPECT(assert_equal(v3, sim2.localCoordinates(sim3))); -// Similarity3 other = Similarity3(Rot3::ypr(0.01, 0.02, 0.03), Point3(0.4, 0.5, 0.6), 1); - Similarity3 other = Similarity3(Rot3::ypr(0.1, 0.2, 0.3),Point3(4,5,6),1); +// Similarity3 other = Similarity3(Rot3::Ypr(0.01, 0.02, 0.03), Point3(0.4, 0.5, 0.6), 1); + Similarity3 other = Similarity3(Rot3::Ypr(0.1, 0.2, 0.3),Point3(4,5,6),1); Vector vlocal = sim.localCoordinates(other); EXPECT(assert_equal(sim.retract(vlocal), other, 1e-2)); - Similarity3 other2 = Similarity3(Rot3::ypr(0.3, 0, 0),Point3(4,5,6),1); + Similarity3 other2 = Similarity3(Rot3::Ypr(0.3, 0, 0),Point3(4,5,6),1); Rot3 R = Rot3::Rodrigues(0.3,0,0); Vector vlocal2 = sim.localCoordinates(other2); @@ -167,7 +167,7 @@ TEST(Similarity3, manifold_first_order) } TEST(Similarity3, Optimization) { - Similarity3 prior = Similarity3(Rot3::ypr(0.1, 0.2, 0.3), Point3(1, 2, 3), 4); + Similarity3 prior = Similarity3(Rot3::Ypr(0.1, 0.2, 0.3), Point3(1, 2, 3), 4); noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(7, 1); Symbol key('x',1); PriorFactor factor(key, prior, model); @@ -187,10 +187,10 @@ TEST(Similarity3, Optimization) { TEST(Similarity3, Optimization2) { Similarity3 prior = Similarity3(); - Similarity3 m1 = Similarity3(Rot3::ypr(M_PI/4.0, 0, 0), Point3(2.0, 0, 0), 1.0); - Similarity3 m2 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(sqrt(8)*0.9, 0, 0), 1.0); - Similarity3 m3 = Similarity3(Rot3::ypr(3*M_PI/4.0, 0, 0), Point3(sqrt(32)*0.8, 0, 0), 1.0); - Similarity3 m4 = Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(6*0.7, 0, 0), 1.0); + Similarity3 m1 = Similarity3(Rot3::Ypr(M_PI/4.0, 0, 0), Point3(2.0, 0, 0), 1.0); + Similarity3 m2 = Similarity3(Rot3::Ypr(M_PI/2.0, 0, 0), Point3(sqrt(8)*0.9, 0, 0), 1.0); + Similarity3 m3 = Similarity3(Rot3::Ypr(3*M_PI/4.0, 0, 0), Point3(sqrt(32)*0.8, 0, 0), 1.0); + Similarity3 m4 = Similarity3(Rot3::Ypr(M_PI/2.0, 0, 0), Point3(6*0.7, 0, 0), 1.0); Similarity3 loop = Similarity3(1.42); //prior.print("Goal Transform"); @@ -220,10 +220,10 @@ TEST(Similarity3, Optimization2) { Values initial; initial.insert(X(1), Similarity3()); - initial.insert(X(2), Similarity3(Rot3::ypr(M_PI/2.0, 0, 0), Point3(1, 0, 0), 1.1)); - initial.insert(X(3), Similarity3(Rot3::ypr(2.0*M_PI/2.0, 0, 0), Point3(0.9, 1.1, 0), 1.2)); - initial.insert(X(4), Similarity3(Rot3::ypr(3.0*M_PI/2.0, 0, 0), Point3(0, 1, 0), 1.3)); - initial.insert(X(5), Similarity3(Rot3::ypr(4.0*M_PI/2.0, 0, 0), Point3(0, 0, 0), 1.0)); + initial.insert(X(2), Similarity3(Rot3::Ypr(M_PI/2.0, 0, 0), Point3(1, 0, 0), 1.1)); + initial.insert(X(3), Similarity3(Rot3::Ypr(2.0*M_PI/2.0, 0, 0), Point3(0.9, 1.1, 0), 1.2)); + initial.insert(X(4), Similarity3(Rot3::Ypr(3.0*M_PI/2.0, 0, 0), Point3(0, 1, 0), 1.3)); + initial.insert(X(5), Similarity3(Rot3::Ypr(4.0*M_PI/2.0, 0, 0), Point3(0, 0, 0), 1.0)); //initial.print("Initial Estimate\n"); diff --git a/gtsam_unstable/slam/Mechanization_bRn2.cpp b/gtsam_unstable/slam/Mechanization_bRn2.cpp index f6f1c4a5c..20ffbdd4f 100644 --- a/gtsam_unstable/slam/Mechanization_bRn2.cpp +++ b/gtsam_unstable/slam/Mechanization_bRn2.cpp @@ -60,7 +60,7 @@ Mechanization_bRn2 Mechanization_bRn2::initialize(const Matrix& U, double pitch = atan2(-g1, sqrt(g2 * g2 + g3 * g3)); double yaw = 0; // This returns body-to-nav nRb - Rot3 bRn = Rot3::ypr(yaw, pitch, roll).inverse(); + Rot3 bRn = Rot3::Ypr(yaw, pitch, roll).inverse(); return Mechanization_bRn2(bRn, x_g, x_a); } diff --git a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp index 407c9a345..99f494ad9 100644 --- a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp +++ b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp @@ -22,7 +22,7 @@ static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); // camera pose at (0,0,1) looking straight along the x-axis. -Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); +Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); SimpleCamera level_camera(level_pose, *K); typedef InvDepthFactor3 InverseDepthFactor; diff --git a/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp b/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp index 99a4f90a4..3aa758701 100644 --- a/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp +++ b/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp @@ -24,8 +24,8 @@ using namespace gtsam; TEST( InvDepthFactorVariant1, optimize) { // Create two poses looking in the x-direction - Pose3 pose1(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1.0)); - Pose3 pose2(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1.5)); + Pose3 pose1(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1.0)); + Pose3 pose2(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1.5)); // Create a landmark 5 meters in front of pose1 (camera center at (0,0,1)) Point3 landmark(5, 0, 1); diff --git a/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp b/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp index 2c85b3dad..d20fc000c 100644 --- a/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp +++ b/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp @@ -24,8 +24,8 @@ using namespace gtsam; TEST( InvDepthFactorVariant2, optimize) { // Create two poses looking in the x-direction - Pose3 pose1(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.0)); - Pose3 pose2(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.5)); + Pose3 pose1(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.0)); + Pose3 pose2(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.5)); // Create a landmark 5 meters in front of pose1 (camera center at (0,0,1)) Point3 landmark(5, 0, 1); diff --git a/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp index ec9aa90c3..a6eed54d5 100644 --- a/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp +++ b/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp @@ -24,8 +24,8 @@ using namespace gtsam; TEST( InvDepthFactorVariant3, optimize) { // Create two poses looking in the x-direction - Pose3 pose1(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.0)); - Pose3 pose2(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.5)); + Pose3 pose1(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.0)); + Pose3 pose2(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1.5)); // Create a landmark 5 meters in front of pose1 (camera center at (0,0,1)) Point3 landmark(5, 0, 1); diff --git a/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp b/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp index c6ad9a38b..a06c39182 100644 --- a/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp +++ b/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp @@ -18,7 +18,7 @@ SharedNoiseModel model1 = noiseModel::Unit::Create(1); const double tol = 1e-5; const Pose3 pose1(Rot3(), Point3(2.0, 3.0, 4.0)); -const Pose3 pose2(Rot3::pitch(-M_PI_2), Point3(2.0, 3.0, 4.0)); +const Pose3 pose2(Rot3::Pitch(-M_PI_2), Point3(2.0, 3.0, 4.0)); const Pose3 pose3(Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0)); const Point3 point1(3.0, 4.0, 2.0); const gtsam::Key poseKey = 1, pointKey = 2; diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp index 2981f675d..5bad0e171 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp @@ -115,7 +115,7 @@ TEST( SmartStereoProjectionPoseFactor, Equals ) { /* *************************************************************************/ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), + Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera level_camera(level_pose, K2); @@ -154,7 +154,7 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) { /* *************************************************************************/ TEST( SmartStereoProjectionPoseFactor, noisy ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), + Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera level_camera(level_pose, K2); @@ -172,7 +172,7 @@ TEST( SmartStereoProjectionPoseFactor, noisy ) { Values values; values.insert(x1, level_pose); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3)); values.insert(x2, level_pose_right.compose(noise_pose)); @@ -206,7 +206,7 @@ TEST( SmartStereoProjectionPoseFactor, noisy ) { TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K2); // create second camera 1 meter to the right of first camera @@ -257,8 +257,8 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) { graph.push_back(PriorFactor(x1, pose1, noisePrior)); graph.push_back(PriorFactor(x2, pose2, noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, pose1); @@ -354,7 +354,7 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { views.push_back(x3); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); @@ -397,8 +397,8 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) { graph.push_back(PriorFactor(x1, pose1, noisePrior)); graph.push_back(PriorFactor(x2, pose2, noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, pose1); @@ -422,7 +422,7 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { views.push_back(x3); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); @@ -466,8 +466,8 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) { graph.push_back(PriorFactor(x1, pose1, noisePrior)); graph.push_back(PriorFactor(x2, pose2, noisePrior)); - // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, pose1); @@ -490,7 +490,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { views.push_back(x3); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K); // create second camera 1 meter to the right of first camera Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); @@ -548,7 +548,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { graph.push_back(PriorFactor(x1, pose1, noisePrior)); graph.push_back(PriorFactor(x2, pose2, noisePrior)); - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise Values values; values.insert(x1, pose1); @@ -587,7 +587,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // views.push_back(x3); // // // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) -// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); +// Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); // StereoCamera cam1(pose1, K); // // create second camera 1 meter to the right of first camera // Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0)); @@ -626,8 +626,8 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // graph.push_back(PriorFactor(x1, pose1, noisePrior)); // graph.push_back(PriorFactor(x2, pose2, noisePrior)); // -// // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below -// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), Point3(0.1,0.1,0.1)); // smaller noise +// // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below +// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/100, 0., -M_PI/100), Point3(0.1,0.1,0.1)); // smaller noise // Values values; // values.insert(x1, pose1); // values.insert(x2, pose2); @@ -648,7 +648,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // views.push_back(x3); // // // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) -// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); +// Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); // StereoCamera cam1(pose1, K2); // // // create second camera 1 meter to the right of first camera @@ -684,7 +684,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { // graph.push_back(PriorFactor(x1, pose1, noisePrior)); // graph.push_back(PriorFactor(x2, pose2, noisePrior)); // -// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); +// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // Values values; // values.insert(x1, pose1); // values.insert(x2, pose2); @@ -708,7 +708,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { views.push_back(x3); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K); // create second camera @@ -754,7 +754,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { values.insert(x1, pose1); values.insert(x2, pose2); // initialize third pose with some noise, we expect it to move back to original pose3 - Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), + Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise values.insert(x3, pose3 * noise_pose); @@ -796,7 +796,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // views.push_back(x3); // // // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) -// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); +// Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); // StereoCamera cam1(pose1, K2); // // // create second camera 1 meter to the right of first camera @@ -835,7 +835,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // graph.push_back(PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); // graph.push_back(PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); // -// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.1,0.1,0.1)); // smaller noise +// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.1,0.1,0.1)); // smaller noise // Values values; // values.insert(x1, pose1); // values.insert(x2, pose2*noise_pose); @@ -862,7 +862,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // views.push_back(x3); // // // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) -// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); +// Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); // StereoCamera cam1(pose1, K); // // // create second camera 1 meter to the right of first camera @@ -908,8 +908,8 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // graph.push_back(PoseTranslationPrior(x2, positionPrior, noisePriorTranslation)); // graph.push_back(PoseTranslationPrior(x3, positionPrior, noisePriorTranslation)); // -// // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below -// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), Point3(0.1,0.1,0.1)); // smaller noise +// // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below +// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/100, 0., -M_PI/100), Point3(0.1,0.1,0.1)); // smaller noise // Values values; // values.insert(x1, pose1); // values.insert(x2, pose2); @@ -935,7 +935,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // views.push_back(x2); // // // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) -// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); +// Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1)); // StereoCamera cam1(pose1, K2); // // // create second camera 1 meter to the right of first camera @@ -955,7 +955,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian) { // SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor()); // smartFactor1->add(measurements_cam1,views, model, K2); // -// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); +// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // Values values; // values.insert(x1, pose1); // values.insert(x2, pose2); @@ -977,7 +977,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { views.push_back(x3); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K); // create second camera 1 meter to the right of first camera @@ -1005,7 +1005,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { smartFactorInstance->linearize(values); // hessianFactor->print("Hessian factor \n"); - Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); + Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; rotValues.insert(x1, poseDrift.compose(pose1)); @@ -1021,7 +1021,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) { assert_equal(hessianFactor->information(), hessianFactorRot->information(), 1e-7)); - Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), + Pose3 poseDrift2 = Pose3(Rot3::Ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); Values tranValues; @@ -1047,7 +1047,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { views.push_back(x3); // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); + Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); StereoCamera cam1(pose1, K2); // Second and third cameras in same place, which is a degenerate configuration @@ -1072,7 +1072,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { boost::shared_ptr hessianFactor = smartFactor->linearize( values); - Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); + Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); Values rotValues; rotValues.insert(x1, poseDrift.compose(pose1)); @@ -1087,7 +1087,7 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) { assert_equal(hessianFactor->information(), hessianFactorRot->information(), 1e-6)); - Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), + Pose3 poseDrift2 = Pose3(Rot3::Ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), Point3(10, -4, 5)); Values tranValues; From 6eece9cc603cf20ad9a40a777819ba5d172f3940 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 26 Jan 2016 23:57:34 -0800 Subject: [PATCH 880/964] Quaternion now also uppercase --- gtsam/geometry/Rot3.cpp | 2 +- gtsam/geometry/Rot3.h | 21 +++++++++------- gtsam/geometry/Rot3M.cpp | 6 ++--- gtsam/geometry/Rot3Q.cpp | 18 ++++++------- gtsam/geometry/tests/testRot3.cpp | 4 +-- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 2 +- gtsam/slam/dataset.cpp | 4 +-- gtsam/slam/tests/testDataset.cpp | 28 ++++++++++----------- python/handwritten/geometry/Rot3.cpp | 6 ++--- 9 files changed, 47 insertions(+), 44 deletions(-) diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp index 6b28f5125..ef384c3ef 100644 --- a/gtsam/geometry/Rot3.cpp +++ b/gtsam/geometry/Rot3.cpp @@ -123,7 +123,7 @@ Vector3 Rot3::rpy() const { /* ************************************************************************* */ Vector Rot3::quaternion() const { - Quaternion q = toQuaternion(); + gtsam::Quaternion q = toQuaternion(); Vector v(4); v(0) = q.w(); v(1) = q.x(); diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 4dd582a77..5b7acb4be 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -59,7 +59,7 @@ namespace gtsam { #ifdef GTSAM_USE_QUATERNIONS /** Internal Eigen Quaternion */ - Quaternion quaternion_; + gtsam::Quaternion quaternion_; #else Matrix3 rot_; #endif @@ -166,8 +166,8 @@ namespace gtsam { static Rot3 Ypr(double y, double p, double r) { return RzRyRx(r,p,y);} /** Create from Quaternion coefficients */ - static Rot3 quaternion(double w, double x, double y, double z) { - Quaternion q(w, x, y, z); + static Rot3 Quaternion(double w, double x, double y, double z) { + gtsam::Quaternion q(w, x, y, z); return Rot3(q); } @@ -179,7 +179,7 @@ namespace gtsam { */ static Rot3 AxisAngle(const Vector3& axis, double angle) { #ifdef GTSAM_USE_QUATERNIONS - return Quaternion(Eigen::AngleAxis(angle, axis)); + return gtsam::Quaternion(Eigen::AngleAxis(angle, axis)); #else return SO3::AxisAngle(axis,angle); #endif @@ -313,7 +313,7 @@ namespace gtsam { static Rot3 Expmap(const Vector3& v, OptionalJacobian<3,3> H = boost::none) { if(H) *H = Rot3::ExpmapDerivative(v); #ifdef GTSAM_USE_QUATERNIONS - return traits::Expmap(v); + return traits::Expmap(v); #else return traits::Expmap(v); #endif @@ -460,7 +460,7 @@ namespace gtsam { /** Compute the quaternion representation of this rotation. * @return The quaternion */ - Quaternion toQuaternion() const; + gtsam::Quaternion toQuaternion() const; /** * Converts to a generic matrix to allow for use with matlab @@ -479,6 +479,8 @@ namespace gtsam { GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Rot3& p); /// @} + +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @name Deprecated /// @{ static Rot3 rodriguez(const Vector3& axis, double angle) { return AxisAngle(axis, angle); } @@ -486,13 +488,14 @@ namespace gtsam { static Rot3 rodriguez(const Unit3& axis, double angle) { return AxisAngle(axis, angle); } static Rot3 rodriguez(const Vector3& w) { return Rodrigues(w); } static Rot3 rodriguez(double wx, double wy, double wz) { return Rodrigues(wx, wy, wz); } - /// @} - -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 static Rot3 yaw (double t) { return Yaw(t); } static Rot3 pitch(double t) { return Pitch(t); } static Rot3 roll (double t) { return Roll(t); } static Rot3 ypr(double y, double p, double r) { return Ypr(r,p,y);} + static Rot3 quaternion(double w, double x, double y, double z) { + return Rot3::Quaternion q(w, x, y, z); + } + /// @} #endif private: diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index a7b654070..c3636000b 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -51,7 +51,7 @@ Rot3::Rot3(double R11, double R12, double R13, } /* ************************************************************************* */ -Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) { +Rot3::Rot3(const gtsam::Quaternion& q) : rot_(q.toRotationMatrix()) { } /* ************************************************************************* */ @@ -191,8 +191,8 @@ Point3 Rot3::r2() const { return Point3(rot_.col(1)); } Point3 Rot3::r3() const { return Point3(rot_.col(2)); } /* ************************************************************************* */ -Quaternion Rot3::toQuaternion() const { - return Quaternion(rot_); +gtsam::Quaternion Rot3::toQuaternion() const { + return gtsam::Quaternion(rot_); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp index 2497f6806..f8a01141b 100644 --- a/gtsam/geometry/Rot3Q.cpp +++ b/gtsam/geometry/Rot3Q.cpp @@ -47,30 +47,30 @@ namespace gtsam { R31, R32, R33).finished()) {} /* ************************************************************************* */ - Rot3::Rot3(const Quaternion& q) : + Rot3::Rot3(const gtsam::Quaternion& q) : quaternion_(q) { } /* ************************************************************************* */ Rot3 Rot3::Rx(double t) { - return Quaternion(Eigen::AngleAxisd(t, Eigen::Vector3d::UnitX())); + return gtsam::Quaternion(Eigen::AngleAxisd(t, Eigen::Vector3d::UnitX())); } /* ************************************************************************* */ Rot3 Rot3::Ry(double t) { - return Quaternion(Eigen::AngleAxisd(t, Eigen::Vector3d::UnitY())); + return gtsam::Quaternion(Eigen::AngleAxisd(t, Eigen::Vector3d::UnitY())); } /* ************************************************************************* */ Rot3 Rot3::Rz(double t) { - return Quaternion(Eigen::AngleAxisd(t, Eigen::Vector3d::UnitZ())); + return gtsam::Quaternion(Eigen::AngleAxisd(t, Eigen::Vector3d::UnitZ())); } /* ************************************************************************* */ Rot3 Rot3::RzRyRx(double x, double y, double z) { return Rot3( - Quaternion(Eigen::AngleAxisd(z, Eigen::Vector3d::UnitZ())) * - Quaternion(Eigen::AngleAxisd(y, Eigen::Vector3d::UnitY())) * - Quaternion(Eigen::AngleAxisd(x, Eigen::Vector3d::UnitX()))); + gtsam::Quaternion(Eigen::AngleAxisd(z, Eigen::Vector3d::UnitZ())) * + gtsam::Quaternion(Eigen::AngleAxisd(y, Eigen::Vector3d::UnitY())) * + gtsam::Quaternion(Eigen::AngleAxisd(x, Eigen::Vector3d::UnitX()))); } /* ************************************************************************* */ @@ -98,7 +98,7 @@ namespace gtsam { /* ************************************************************************* */ Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3, 3> H) { - return traits::Logmap(R.quaternion_, H); + return traits::Logmap(R.quaternion_, H); } /* ************************************************************************* */ @@ -128,7 +128,7 @@ namespace gtsam { Point3 Rot3::r3() const { return Point3(quaternion_.toRotationMatrix().col(2)); } /* ************************************************************************* */ - Quaternion Rot3::toQuaternion() const { return quaternion_; } + gtsam::Quaternion Rot3::toQuaternion() const { return quaternion_; } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 296bd2b7c..3cf3f9387 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -594,9 +594,9 @@ TEST(Rot3, quaternion) { // Check creating Rot3 from quaternion EXPECT(assert_equal(R1, Rot3(q1))); - EXPECT(assert_equal(R1, Rot3::quaternion(q1.w(), q1.x(), q1.y(), q1.z()))); + EXPECT(assert_equal(R1, Rot3::Quaternion(q1.w(), q1.x(), q1.y(), q1.z()))); EXPECT(assert_equal(R2, Rot3(q2))); - EXPECT(assert_equal(R2, Rot3::quaternion(q2.w(), q2.x(), q2.y(), q2.z()))); + EXPECT(assert_equal(R2, Rot3::Quaternion(q2.w(), q2.x(), q2.y(), q2.z()))); // Check converting Rot3 to quaterion EXPECT(assert_equal(Vector(R1.toQuaternion().coeffs()), Vector(q1.coeffs()))); diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 377d6cd34..16117845e 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -62,7 +62,7 @@ using namespace gtsam; // Check that ceres rotation convention is the same TEST(AdaptAutoDiff, Rotation) { Vector3 axisAngle(0.1, 0.2, 0.3); - Matrix3 expected = Rot3::rodriguez(axisAngle).matrix(); + Matrix3 expected = Rot3::Rodrigues(axisAngle).matrix(); Matrix3 actual; ceres::AngleAxisToRotationMatrix(axisAngle.data(), actual.data()); EXPECT(assert_equal(expected, actual)); diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 9e71e3753..50516afe4 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -518,7 +518,7 @@ GraphAndValues load3D(const string& filename) { Key id; double x, y, z, qx, qy, qz, qw; ls >> id >> x >> y >> z >> qx >> qy >> qz >> qw; - Rot3 R = Rot3::quaternion(qw, qx, qy, qz); + Rot3 R = Rot3::Quaternion(qw, qx, qy, qz); Point3 t = Point3(x, y, z); initial->insert(id, Pose3(R,t)); } @@ -553,7 +553,7 @@ GraphAndValues load3D(const string& filename) { Key id1, id2; double x, y, z, qx, qy, qz, qw; ls >> id1 >> id2 >> x >> y >> z >> qx >> qy >> qz >> qw; - Rot3 R = Rot3::quaternion(qw, qx, qy, qz); + Rot3 R = Rot3::Quaternion(qw, qx, qy, qz); Point3 t = Point3(x, y, z); for (int i = 0; i < 6; i++){ for (int j = i; j < 6; j++){ diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp index 26a00360e..4e8e3dbf3 100644 --- a/gtsam/slam/tests/testDataset.cpp +++ b/gtsam/slam/tests/testDataset.cpp @@ -137,23 +137,23 @@ TEST( dataSet, readG2o3D) boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D); Values expectedValues; - Rot3 R0 = Rot3::quaternion(1.000000, 0.000000, 0.000000, 0.000000 ); + Rot3 R0 = Rot3::Quaternion(1.000000, 0.000000, 0.000000, 0.000000 ); Point3 p0 = Point3(0.000000, 0.000000, 0.000000); expectedValues.insert(0, Pose3(R0, p0)); - Rot3 R1 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); + Rot3 R1 = Rot3::Quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); Point3 p1 = Point3(1.001367, 0.015390, 0.004948); expectedValues.insert(1, Pose3(R1, p1)); - Rot3 R2 = Rot3::quaternion(0.421446, -0.351729, -0.597838, 0.584174 ); + Rot3 R2 = Rot3::Quaternion(0.421446, -0.351729, -0.597838, 0.584174 ); Point3 p2 = Point3(1.993500, 0.023275, 0.003793); expectedValues.insert(2, Pose3(R2, p2)); - Rot3 R3 = Rot3::quaternion(0.067024, 0.331798, -0.200659, 0.919323); + Rot3 R3 = Rot3::Quaternion(0.067024, 0.331798, -0.200659, 0.919323); Point3 p3 = Point3(2.004291, 1.024305, 0.018047); expectedValues.insert(3, Pose3(R3, p3)); - Rot3 R4 = Rot3::quaternion(0.765488, -0.035697, -0.462490, 0.445933); + Rot3 R4 = Rot3::Quaternion(0.765488, -0.035697, -0.462490, 0.445933); Point3 p4 = Point3(0.999908, 1.055073, 0.020212); expectedValues.insert(4, Pose3(R4, p4)); @@ -163,27 +163,27 @@ TEST( dataSet, readG2o3D) NonlinearFactorGraph expectedGraph; Point3 p01 = Point3(1.001367, 0.015390, 0.004948); - Rot3 R01 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); + Rot3 R01 = Rot3::Quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); expectedGraph.add(BetweenFactor(0, 1, Pose3(R01,p01), model)); Point3 p12 = Point3(0.523923, 0.776654, 0.326659); - Rot3 R12 = Rot3::quaternion(0.105373 , 0.311512, 0.656877, -0.678505 ); + Rot3 R12 = Rot3::Quaternion(0.105373 , 0.311512, 0.656877, -0.678505 ); expectedGraph.add(BetweenFactor(1, 2, Pose3(R12,p12), model)); Point3 p23 = Point3(0.910927, 0.055169, -0.411761); - Rot3 R23 = Rot3::quaternion(0.568551 , 0.595795, -0.561677, 0.079353 ); + Rot3 R23 = Rot3::Quaternion(0.568551 , 0.595795, -0.561677, 0.079353 ); expectedGraph.add(BetweenFactor(2, 3, Pose3(R23,p23), model)); Point3 p34 = Point3(0.775288, 0.228798, -0.596923); - Rot3 R34 = Rot3::quaternion(0.542221 , -0.592077, 0.303380, -0.513226 ); + Rot3 R34 = Rot3::Quaternion(0.542221 , -0.592077, 0.303380, -0.513226 ); expectedGraph.add(BetweenFactor(3, 4, Pose3(R34,p34), model)); Point3 p14 = Point3(-0.577841, 0.628016, -0.543592); - Rot3 R14 = Rot3::quaternion(0.327419 , -0.125250, -0.534379, 0.769122 ); + Rot3 R14 = Rot3::Quaternion(0.327419 , -0.125250, -0.534379, 0.769122 ); expectedGraph.add(BetweenFactor(1, 4, Pose3(R14,p14), model)); Point3 p30 = Point3(-0.623267, 0.086928, 0.773222); - Rot3 R30 = Rot3::quaternion(0.083672 , 0.104639, 0.627755, 0.766795 ); + Rot3 R30 = Rot3::Quaternion(0.083672 , 0.104639, 0.627755, 0.766795 ); expectedGraph.add(BetweenFactor(3, 0, Pose3(R30,p30), model)); EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5)); @@ -199,11 +199,11 @@ TEST( dataSet, readG2o3DNonDiagonalNoise) boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D); Values expectedValues; - Rot3 R0 = Rot3::quaternion(1.000000, 0.000000, 0.000000, 0.000000 ); + Rot3 R0 = Rot3::Quaternion(1.000000, 0.000000, 0.000000, 0.000000 ); Point3 p0 = Point3(0.000000, 0.000000, 0.000000); expectedValues.insert(0, Pose3(R0, p0)); - Rot3 R1 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); + Rot3 R1 = Rot3::Quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); Point3 p1 = Point3(1.001367, 0.015390, 0.004948); expectedValues.insert(1, Pose3(R1, p1)); @@ -223,7 +223,7 @@ TEST( dataSet, readG2o3DNonDiagonalNoise) noiseModel::Gaussian::shared_ptr model = noiseModel::Gaussian::Covariance(Info.inverse()); NonlinearFactorGraph expectedGraph; Point3 p01 = Point3(1.001367, 0.015390, 0.004948); - Rot3 R01 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); + Rot3 R01 = Rot3::Quaternion(0.854230, 0.190253, 0.283162, -0.392318 ); expectedGraph.add(BetweenFactor(0, 1, Pose3(R01,p01), model)); EXPECT(assert_equal(expectedGraph,*actualGraph,1e-2)); diff --git a/python/handwritten/geometry/Rot3.cpp b/python/handwritten/geometry/Rot3.cpp index b4551ca5c..68643fe2c 100644 --- a/python/handwritten/geometry/Rot3.cpp +++ b/python/handwritten/geometry/Rot3.cpp @@ -27,12 +27,12 @@ using namespace gtsam; static Rot3 Quaternion_0(const Vector4& q) { - return Rot3::quaternion(q[0],q[1],q[2],q[3]); + return Rot3::Quaternion(q[0],q[1],q[2],q[3]); } static Rot3 Quaternion_1(double w, double x, double y, double z) { - return Rot3::quaternion(w,x,y,z); + return Rot3::Quaternion(w,x,y,z); } // Prototypes used to perform overloading @@ -108,4 +108,4 @@ void exportRot3(){ .def(repr(self)) // __repr__ ; -} \ No newline at end of file +} From f078741ed402322393870ab6c9a82ff9fa7658f1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 26 Jan 2016 23:57:44 -0800 Subject: [PATCH 881/964] New GTSAM option --- CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index e8da98ffd..71f2dd939 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -65,6 +65,7 @@ option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON) option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module" ON) +option(GTSAM_ALLOW_DEPRECATED_SINCE_V4 "Allow use of methods/functions deprecated in GTSAM 4" ON) # Options relating to MATLAB wrapper # TODO: Check for matlab mex binary before handling building of binaries @@ -471,6 +472,7 @@ print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default R print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ") print_config_flag(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ") print_config_flag(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ") +print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4} "Deprecated in GTSAM 4 allowed ") message(STATUS "MATLAB toolbox flags ") print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ") From 88fad4caffeceeccd13455a1aab62ad1e4db6aad Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 27 Jan 2016 09:24:49 -0800 Subject: [PATCH 882/964] Fix small bugs with MATLAB wrapping --- gtsam.h | 10 +++++----- gtsam/geometry/triangulation.h | 1 + gtsam/sam/RangeFactor.h | 3 +-- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam.h b/gtsam.h index ca014ad5d..57a1e09be 100644 --- a/gtsam.h +++ b/gtsam.h @@ -434,11 +434,11 @@ class Rot3 { static gtsam::Rot3 Rz(double t); static gtsam::Rot3 RzRyRx(double x, double y, double z); static gtsam::Rot3 RzRyRx(Vector xyz); - static gtsam::Rot3 yaw(double t); // positive yaw is to right (as in aircraft heading) - static gtsam::Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude) - static gtsam::Rot3 roll(double t); // positive roll is to right (increasing yaw in aircraft) - static gtsam::Rot3 ypr(double y, double p, double r); - static gtsam::Rot3 quaternion(double w, double x, double y, double z); + static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading) + static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude) + static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft) + static gtsam::Rot3 Ypr(double y, double p, double r); + static gtsam::Rot3 Quaternion(double w, double x, double y, double z); static gtsam::Rot3 Rodrigues(Vector v); // Testable diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index bec901830..c6e613b14 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -19,6 +19,7 @@ #pragma once #include +#include #include #include #include diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h index 1ad27865d..a5bcac822 100644 --- a/gtsam/sam/RangeFactor.h +++ b/gtsam/sam/RangeFactor.h @@ -31,8 +31,7 @@ struct Range; * Works for any two types A1,A2 for which the functor Range() is defined * @addtogroup SAM */ -template ::result_type> +template class RangeFactor : public ExpressionFactor2 { private: typedef RangeFactor This; From e8565d27f7ab8faf28a33fa46cf2c10553134bef Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 11:50:32 -0800 Subject: [PATCH 883/964] Better print --- gtsam/navigation/ImuBias.h | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index 7664c7fd5..1a63691bf 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -124,17 +124,21 @@ public: //// return measurement - bias_gyro_temp - R_G_to_I * w_earth_rate_G; // } -/// @} -/// @name Testable -/// @{ + /// @} + /// @name Testable + /// @{ -/// print with optional string - void print(const std::string& s = "") const { - // explicit printing for now. - std::cout << s + ".Acc [" << biasAcc_.transpose() << "]" << std::endl; - std::cout << s + ".Gyro [" << biasGyro_.transpose() << "]" << std::endl; + /// ostream operator + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const ConstantBias& bias) { + os << "acc = " << Point3(bias.accelerometer()); + os << " gyro = " << Point3(bias.gyroscope()); + return os; } + /// print with optional string + void print(const std::string& s = "") const { std::cout << s << *this; } + /** equality up to tolerance */ inline bool equals(const ConstantBias& expected, double tol = 1e-5) const { return equal_with_abs_tol(biasAcc_, expected.biasAcc_, tol) From b6ead53c2530f145ef45f54553c4c752729c1f16 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 11:50:36 -0800 Subject: [PATCH 884/964] Validate bias correction --- python/gtsam_examples/ImuFactorExample.py | 11 +++++++---- python/handwritten/navigation/Scenario.cpp | 6 ++++-- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 05399df08..c2432673e 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -48,8 +48,11 @@ class ImuFactorExample(object): self.g = 10 # simple gravity constant self.params = self.defaultParams(self.g) ptr = gtsam.ScenarioPointer(self.scenario) - self.runner = gtsam.ScenarioRunner(ptr, self.params, self.dt) - self.estimatedBias = gtsam.ConstantBias() + accBias = np.array([0, 0.1, 0]) + gyroBias = np.array([0, 0, 0]) + self.actualBias = gtsam.ConstantBias(accBias, gyroBias) + print(self.actualBias) + self.runner = gtsam.ScenarioRunner(ptr, self.params, self.dt, self.actualBias) def plot(self, t, measuredOmega, measuredAcc): # plot angular velocity @@ -80,8 +83,8 @@ class ImuFactorExample(object): # plot ground truth pose, as well as prediction from integrated IMU measurements actualPose = self.scenario.pose(t) plotPose3(4, actualPose, 0.3) - pim = self.runner.integrate(t, self.estimatedBias, False) - predictedNavState = self.runner.predict(pim, self.estimatedBias) + pim = self.runner.integrate(t, self.actualBias, True) + predictedNavState = self.runner.predict(pim, self.actualBias) plotPose3(4, predictedNavState.pose(), 0.1) ax = plt.gca() ax.set_xlim3d(-self.radius, self.radius) diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp index 05d2edf4d..936d4ef18 100644 --- a/python/handwritten/navigation/Scenario.cpp +++ b/python/handwritten/navigation/Scenario.cpp @@ -80,12 +80,14 @@ void exportScenario() { .def(repr(self)) .def("pose", &NavState::pose); - class_("ConstantBias", init<>()); + class_("ConstantBias", init<>()) + .def(init()) + .def(repr(self)); class_( "ScenarioRunner", init&, - double>()) + double, const imuBias::ConstantBias&>()) .def("actualSpecificForce", &ScenarioRunner::actualSpecificForce) .def("measuredAngularVelocity", &ScenarioRunner::measuredAngularVelocity) .def("measuredSpecificForce", &ScenarioRunner::measuredSpecificForce) From 1ba304a2e368283db5eef0520f11c52e814d2979 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 12:03:26 -0800 Subject: [PATCH 885/964] Moved preintegration into separate example, inherit from it --- python/gtsam_examples/ImuFactorExample.py | 98 +------------- .../gtsam_examples/PreintegrationExample.py | 120 ++++++++++++++++++ 2 files changed, 126 insertions(+), 92 deletions(-) create mode 100644 python/gtsam_examples/PreintegrationExample.py diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index c2432673e..6ab5c1211 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -1,5 +1,5 @@ """ -A script validating the ImuFactor prediction and inference. +A script validating the ImuFactor inference. """ import math @@ -10,106 +10,20 @@ from mpl_toolkits.mplot3d import Axes3D import gtsam from gtsam_utils import plotPose3 +from PreintegrationExample import PreintegrationExample -class ImuFactorExample(object): - - @staticmethod - def defaultParams(g): - """Create default parameters with Z *up* and realistic noise parameters""" - params = gtsam.PreintegrationParams.MakeSharedU(g) - kGyroSigma = math.radians(0.5) / 60 # 0.5 degree ARW - kAccelSigma = 0.1 / 60 # 10 cm VRW - params.gyroscopeCovariance = kGyroSigma ** 2 * np.identity(3, np.float) - params.accelerometerCovariance = kAccelSigma ** 2 * np.identity(3, np.float) - params.integrationCovariance = 0.0000001 ** 2 * np.identity(3, np.float) - return params - - def __init__(self): - # setup interactive plotting - plt.ion() - - # Setup loop scenario - # Forward velocity 2m/s - # Pitch up with angular velocity 6 degree/sec (negative in FLU) - v = 2 - w = math.radians(30) - W = np.array([0, -w, 0]) - V = np.array([v, 0, 0]) - self.scenario = gtsam.ConstantTwistScenario(W, V) - self.dt = 1e-2 - - # Calculate time to do 1 loop - self.radius = v / w - self.timeForOneLoop = 2.0 * math.pi / w - self.labels = list('xyz') - self.colors = list('rgb') - - # Create runner - self.g = 10 # simple gravity constant - self.params = self.defaultParams(self.g) - ptr = gtsam.ScenarioPointer(self.scenario) - accBias = np.array([0, 0.1, 0]) - gyroBias = np.array([0, 0, 0]) - self.actualBias = gtsam.ConstantBias(accBias, gyroBias) - print(self.actualBias) - self.runner = gtsam.ScenarioRunner(ptr, self.params, self.dt, self.actualBias) - - def plot(self, t, measuredOmega, measuredAcc): - # plot angular velocity - omega_b = self.scenario.omega_b(t) - plt.figure(1) - for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(3, 1, i + 1) - plt.scatter(t, omega_b[i], color='k', marker='.') - plt.scatter(t, measuredOmega[i], color=color, marker='.') - plt.xlabel(label) - - # plot acceleration in nav - plt.figure(2) - acceleration_n = self.scenario.acceleration_n(t) - for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(3, 1, i + 1) - plt.scatter(t, acceleration_n[i], color=color, marker='.') - plt.xlabel(label) - - # plot acceleration in body - plt.figure(3) - acceleration_b = self.scenario.acceleration_b(t) - for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(3, 1, i + 1) - plt.scatter(t, acceleration_b[i], color=color, marker='.') - plt.xlabel(label) - - # plot ground truth pose, as well as prediction from integrated IMU measurements - actualPose = self.scenario.pose(t) - plotPose3(4, actualPose, 0.3) - pim = self.runner.integrate(t, self.actualBias, True) - predictedNavState = self.runner.predict(pim, self.actualBias) - plotPose3(4, predictedNavState.pose(), 0.1) - ax = plt.gca() - ax.set_xlim3d(-self.radius, self.radius) - ax.set_ylim3d(-self.radius, self.radius) - ax.set_zlim3d(0, self.radius * 2) - - # plot actual specific force, as well as corrupted - plt.figure(5) - actual = self.runner.actualSpecificForce(t) - for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(3, 1, i + 1) - plt.scatter(t, actual[i], color='k', marker='.') - plt.scatter(t, measuredAcc[i], color=color, marker='.') - plt.xlabel(label) - - plt.pause(0.01) +class ImuFactorExample(PreintegrationExample): def run(self): # simulate the loop up to the top T = self.timeForOneLoop + pim = gtsam.PreintegratedImuMeasurements(self.params, self.actualBias) for i, t in enumerate(np.arange(0, T, self.dt)): measuredOmega = self.runner.measuredAngularVelocity(t) measuredAcc = self.runner.measuredSpecificForce(t) if i % 25 == 0: - self.plot(t, measuredOmega, measuredAcc) + self.plotImu(t, measuredOmega, measuredAcc) + self.plotGroundTruthPose(t) plt.ioff() plt.show() diff --git a/python/gtsam_examples/PreintegrationExample.py b/python/gtsam_examples/PreintegrationExample.py new file mode 100644 index 000000000..db0ce4363 --- /dev/null +++ b/python/gtsam_examples/PreintegrationExample.py @@ -0,0 +1,120 @@ +""" +A script validating the Preintegration of IMU measurements +""" + +import math +import matplotlib.pyplot as plt +import numpy as np + +from mpl_toolkits.mplot3d import Axes3D + +import gtsam +from gtsam_utils import plotPose3 + +IMU_FIG = 1 +GROUND_TRUTH_FIG = 2 + +class PreintegrationExample(object): + + @staticmethod + def defaultParams(g): + """Create default parameters with Z *up* and realistic noise parameters""" + params = gtsam.PreintegrationParams.MakeSharedU(g) + kGyroSigma = math.radians(0.5) / 60 # 0.5 degree ARW + kAccelSigma = 0.1 / 60 # 10 cm VRW + params.gyroscopeCovariance = kGyroSigma ** 2 * np.identity(3, np.float) + params.accelerometerCovariance = kAccelSigma ** 2 * np.identity(3, np.float) + params.integrationCovariance = 0.0000001 ** 2 * np.identity(3, np.float) + return params + + def __init__(self): + # setup interactive plotting + plt.ion() + + # Setup loop scenario + # Forward velocity 2m/s + # Pitch up with angular velocity 6 degree/sec (negative in FLU) + v = 2 + w = math.radians(30) + W = np.array([0, -w, 0]) + V = np.array([v, 0, 0]) + self.scenario = gtsam.ConstantTwistScenario(W, V) + self.dt = 1e-2 + + # Calculate time to do 1 loop + self.radius = v / w + self.timeForOneLoop = 2.0 * math.pi / w + self.labels = list('xyz') + self.colors = list('rgb') + + # Create runner + self.g = 10 # simple gravity constant + self.params = self.defaultParams(self.g) + ptr = gtsam.ScenarioPointer(self.scenario) + accBias = np.array([0, 0.1, 0]) + gyroBias = np.array([0, 0, 0]) + self.actualBias = gtsam.ConstantBias(accBias, gyroBias) + self.runner = gtsam.ScenarioRunner(ptr, self.params, self.dt, self.actualBias) + + def plotImu(self, t, measuredOmega, measuredAcc): + plt.figure(IMU_FIG) + + # plot angular velocity + omega_b = self.scenario.omega_b(t) + for i, (label, color) in enumerate(zip(self.labels, self.colors)): + plt.subplot(4, 3, i + 1) + plt.scatter(t, omega_b[i], color='k', marker='.') + plt.scatter(t, measuredOmega[i], color=color, marker='.') + plt.xlabel('angular velocity ' + label) + + # plot acceleration in nav + acceleration_n = self.scenario.acceleration_n(t) + for i, (label, color) in enumerate(zip(self.labels, self.colors)): + plt.subplot(4, 3, i + 4) + plt.scatter(t, acceleration_n[i], color=color, marker='.') + plt.xlabel('acceleration in nav ' + label) + + # plot acceleration in body + acceleration_b = self.scenario.acceleration_b(t) + for i, (label, color) in enumerate(zip(self.labels, self.colors)): + plt.subplot(4, 3, i + 7) + plt.scatter(t, acceleration_b[i], color=color, marker='.') + plt.xlabel('acceleration in body ' + label) + + # plot actual specific force, as well as corrupted + actual = self.runner.actualSpecificForce(t) + for i, (label, color) in enumerate(zip(self.labels, self.colors)): + plt.subplot(4, 3, i + 10) + plt.scatter(t, actual[i], color='k', marker='.') + plt.scatter(t, measuredAcc[i], color=color, marker='.') + plt.xlabel('specific force ' + label) + + def plotGroundTruthPose(self, t): + # plot ground truth pose, as well as prediction from integrated IMU measurements + actualPose = self.scenario.pose(t) + plotPose3(GROUND_TRUTH_FIG, actualPose, 0.3) + ax = plt.gca() + ax.set_xlim3d(-self.radius, self.radius) + ax.set_ylim3d(-self.radius, self.radius) + ax.set_zlim3d(0, self.radius * 2) + + plt.pause(0.01) + + def run(self): + # simulate the loop up to the top + T = self.timeForOneLoop + for i, t in enumerate(np.arange(0, T, self.dt)): + measuredOmega = self.runner.measuredAngularVelocity(t) + measuredAcc = self.runner.measuredSpecificForce(t) + if i % 25 == 0: + self.plotImu(t, measuredOmega, measuredAcc) + self.plotGroundTruthPose(t) + pim = self.runner.integrate(t, self.actualBias, True) + predictedNavState = self.runner.predict(pim, self.actualBias) + plotPose3(GROUND_TRUTH_FIG, predictedNavState.pose(), 0.1) + + plt.ioff() + plt.show() + +if __name__ == '__main__': + PreintegrationExample().run() From 3bb34679be6637cda7a81feeb42ea0e9813713cb Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 13:16:52 -0800 Subject: [PATCH 886/964] Split into two units --- gtsam/navigation/PreintegrationBase.h | 1 - python/handwritten/exportgtsam.cpp | 2 + python/handwritten/navigation/ImuFactor.cpp | 71 +++++++++++++++++++++ python/handwritten/navigation/Scenario.cpp | 36 ----------- 4 files changed, 73 insertions(+), 37 deletions(-) create mode 100644 python/handwritten/navigation/ImuFactor.cpp diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 6e67f8bcf..3055fe9ed 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -30,7 +30,6 @@ namespace gtsam { -#define ALLOW_DEPRECATED_IN_GTSAM4 #ifdef ALLOW_DEPRECATED_IN_GTSAM4 /// @deprecated struct PoseVelocityBias { diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp index 3f74cc56a..7e8c22a82 100644 --- a/python/handwritten/exportgtsam.cpp +++ b/python/handwritten/exportgtsam.cpp @@ -53,6 +53,7 @@ void exportBetweenFactors(); void exportGenericProjectionFactor(); // navigation +void exportImuFactor(); void exportScenario(); @@ -99,5 +100,6 @@ BOOST_PYTHON_MODULE(_libgtsam_python){ exportBetweenFactors(); exportGenericProjectionFactor(); + exportImuFactor(); exportScenario(); } diff --git a/python/handwritten/navigation/ImuFactor.cpp b/python/handwritten/navigation/ImuFactor.cpp new file mode 100644 index 000000000..17a497158 --- /dev/null +++ b/python/handwritten/navigation/ImuFactor.cpp @@ -0,0 +1,71 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @brief wraps ConstantTwistScenario class to python + * @author Frank Dellaert + **/ + +#include + +#define NO_IMPORT_ARRAY +#include + +#include "gtsam/navigation/ImuFactor.h" + +using namespace boost::python; +using namespace gtsam; + +void exportImuFactor() { + class_("NavState", init<>()) + // TODO(frank): overload with jacobians + // .def("attitude", &NavState::attitude) + // .def("position", &NavState::position) + // .def("velocity", &NavState::velocity) + .def(repr(self)) + .def("pose", &NavState::pose); + + class_("ConstantBias", init<>()) + .def(init()) + .def(repr(self)); + + class_ >( + "PreintegrationParams", init()) + .def_readwrite("gyroscopeCovariance", + &PreintegrationParams::gyroscopeCovariance) + .def_readwrite("omegaCoriolis", &PreintegrationParams::omegaCoriolis) + .def_readwrite("body_P_sensor", &PreintegrationParams::body_P_sensor) + .def_readwrite("accelerometerCovariance", + &PreintegrationParams::accelerometerCovariance) + .def_readwrite("integrationCovariance", + &PreintegrationParams::integrationCovariance) + .def_readwrite("use2ndOrderCoriolis", + &PreintegrationParams::use2ndOrderCoriolis) + .def_readwrite("n_gravity", &PreintegrationParams::n_gravity) + + .def("MakeSharedD", &PreintegrationParams::MakeSharedD) + .staticmethod("MakeSharedD") + .def("MakeSharedU", &PreintegrationParams::MakeSharedU) + .staticmethod("MakeSharedU"); + + class_( + "PreintegratedImuMeasurements", + init&, + const imuBias::ConstantBias&>()) + .def(repr(self)) + .def("resetIntegration", &PreintegratedImuMeasurements::resetIntegration) + .def("integrateMeasurement", + &PreintegratedImuMeasurements::integrateMeasurement) + .def("preintMeasCov", &PreintegratedImuMeasurements::preintMeasCov); + + // NOTE(frank): Abstract classes need boost::noncopyable + class_("ImuFactor", no_init); +} diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp index 936d4ef18..a49a02cc0 100644 --- a/python/handwritten/navigation/Scenario.cpp +++ b/python/handwritten/navigation/Scenario.cpp @@ -48,42 +48,6 @@ void exportScenario() { def("ScenarioPointer", &ScenarioPointer, return_value_policy()); - class_ >( - "PreintegrationParams", init()) - .def_readwrite("gyroscopeCovariance", - &PreintegrationParams::gyroscopeCovariance) - .def_readwrite("omegaCoriolis", &PreintegrationParams::omegaCoriolis) - .def_readwrite("body_P_sensor", &PreintegrationParams::body_P_sensor) - .def_readwrite("accelerometerCovariance", - &PreintegrationParams::accelerometerCovariance) - .def_readwrite("integrationCovariance", - &PreintegrationParams::integrationCovariance) - .def_readwrite("use2ndOrderCoriolis", - &PreintegrationParams::use2ndOrderCoriolis) - .def_readwrite("n_gravity", &PreintegrationParams::n_gravity) - - .def("MakeSharedD", &PreintegrationParams::MakeSharedD) - .staticmethod("MakeSharedD") - .def("MakeSharedU", &PreintegrationParams::MakeSharedU) - .staticmethod("MakeSharedU"); - - class_( - "PreintegratedImuMeasurements", - init&, - const imuBias::ConstantBias&>()).def(repr(self)); - - class_("NavState", init<>()) - // TODO(frank): overload with jacobians - // .def("attitude", &NavState::attitude) - // .def("position", &NavState::position) - // .def("velocity", &NavState::velocity) - .def(repr(self)) - .def("pose", &NavState::pose); - - class_("ConstantBias", init<>()) - .def(init()) - .def(repr(self)); - class_( "ScenarioRunner", init&, From fa97e5d220af8daebc3ecbd593e2ff42a509ac63 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 14:15:16 -0800 Subject: [PATCH 887/964] Better printing --- gtsam/navigation/ImuBias.h | 2 +- gtsam/navigation/ImuFactor.cpp | 15 ++++++++++----- gtsam/navigation/ImuFactor.h | 9 ++++----- python/handwritten/navigation/ImuFactor.cpp | 7 +++++-- 4 files changed, 20 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index 1a63691bf..929b7ac22 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -137,7 +137,7 @@ public: } /// print with optional string - void print(const std::string& s = "") const { std::cout << s << *this; } + void print(const std::string& s = "") const { std::cout << s << *this << std::endl; } /** equality up to tolerance */ inline bool equals(const ConstantBias& expected, double tol = 1e-5) const { diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index a37d74b63..a03dd92f8 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -122,17 +122,22 @@ gtsam::NonlinearFactor::shared_ptr ImuFactor::clone() const { gtsam::NonlinearFactor::shared_ptr(new This(*this))); } +//------------------------------------------------------------------------------ +std::ostream& operator<<(std::ostream& os, const ImuFactor& f) { + os << " preintegrated measurements:\n" << f._PIM_; + ; + // Print standard deviations on covariance only + os << " noise model sigmas: " << f.noiseModel_->sigmas().transpose(); + return os; +} + //------------------------------------------------------------------------------ void ImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const { cout << s << "ImuFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << "," << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) << ")\n"; - Base::print(""); - _PIM_.print(" preintegrated measurements:"); - // Print standard deviations on covariance only - cout << " noise model sigmas: " << this->noiseModel_->sigmas().transpose() - << endl; + cout << *this << endl; } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index d94789d4a..b0b37d73b 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -201,14 +201,13 @@ public: /// @return a deep copy of this factor virtual gtsam::NonlinearFactor::shared_ptr clone() const; - /** implement functions needed for Testable */ - - /// print + /// @name Testable + /// @{ + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const ImuFactor&); 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. */ diff --git a/python/handwritten/navigation/ImuFactor.cpp b/python/handwritten/navigation/ImuFactor.cpp index 17a497158..d22c93dd9 100644 --- a/python/handwritten/navigation/ImuFactor.cpp +++ b/python/handwritten/navigation/ImuFactor.cpp @@ -37,7 +37,7 @@ void exportImuFactor() { .def(init()) .def(repr(self)); - class_ >( + class_>( "PreintegrationParams", init()) .def_readwrite("gyroscopeCovariance", &PreintegrationParams::gyroscopeCovariance) @@ -67,5 +67,8 @@ void exportImuFactor() { .def("preintMeasCov", &PreintegratedImuMeasurements::preintMeasCov); // NOTE(frank): Abstract classes need boost::noncopyable - class_("ImuFactor", no_init); + class_, boost::shared_ptr>( + "ImuFactor") + .def(init()) + .def(repr(self)); } From 02e2b37b08d063ed189526fbabeb570209988af3 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 14:15:50 -0800 Subject: [PATCH 888/964] Add a few more template arguments --- python/handwritten/nonlinear/Values.cpp | 19 ++++++++++++------- python/handwritten/slam/BetweenFactor.cpp | 18 +++++++++--------- python/handwritten/slam/PriorFactor.cpp | 7 ++++--- 3 files changed, 25 insertions(+), 19 deletions(-) diff --git a/python/handwritten/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp index 6715fb071..83d33ca3c 100644 --- a/python/handwritten/nonlinear/Values.cpp +++ b/python/handwritten/nonlinear/Values.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -26,6 +26,7 @@ #include "gtsam/geometry/Point3.h" #include "gtsam/geometry/Rot3.h" #include "gtsam/geometry/Pose3.h" +#include "gtsam/navigation/ImuBias.h" using namespace boost::python; using namespace gtsam; @@ -44,15 +45,15 @@ using namespace gtsam; * >>> v.at(2,gtsam.geometry.Rot3()) * >>> v.at(3,gtsam.geometry.Pose3()) * - * A more 'pythonic' way I think would be to not use this function and define different + * A more 'pythonic' way I think would be to not use this function and define different * 'at' methods below using the name of the type in the function name, like: * * .def("point3_at", &Values::at, return_internal_reference<>()) * .def("rot3_at", &Values::at, return_internal_reference<>()) * .def("pose3_at", &Values::at, return_internal_reference<>()) * - * and then they could be accessed from python as - * + * and then they could be accessed from python as + * * >>> import gtsam * >>> v = gtsam.nonlinear.Values() * >>> v.insert(1,gtsam.geometry.Point3()) @@ -76,8 +77,8 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Values::print, 0, 1); void exportValues(){ - // NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below - // will compile, but are useless in the python wrapper. We need to use specific + // NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below + // will compile, but are useless in the python wrapper. We need to use specific // 'at' and 'insert' methods for each type. // const Value& (Values::*at1)(Key) const = &Values::at; // void (Values::*insert1)(Key, const Value&) = &Values::insert; @@ -88,6 +89,8 @@ void exportValues(){ void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert; void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert; void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert; + void (Values::*insert_bias) (Key, const gtsam::imuBias::ConstantBias&) = &Values::insert; + void (Values::*insert_vector3) (Key, const gtsam::Vector3&) = &Values::insert; class_("Values", init<>()) @@ -110,6 +113,8 @@ void exportValues(){ .def("insert", insert_point3) .def("insert", insert_rot3) .def("insert", insert_pose3) + .def("insert", insert_bias) + .def("insert", insert_vector3) // NOTE: The following commented lines are another way of specializing the return type. // See long comment above. // .def("at", &ValuesAt, return_internal_reference<>()) @@ -117,7 +122,7 @@ void exportValues(){ // .def("at", &ValuesAt, return_internal_reference<>()) .def("point3_at", &Values::at, return_value_policy()) .def("rot3_at", &Values::at, return_value_policy()) - .def("pose3_at", &Values::at, return_value_policy()) + .def("pose3_at", &Values::at, return_value_policy()) .def("exists", exists1) .def("keys", &Values::keys) ; diff --git a/python/handwritten/slam/BetweenFactor.cpp b/python/handwritten/slam/BetweenFactor.cpp index b6fc552a0..0e0949fb5 100644 --- a/python/handwritten/slam/BetweenFactor.cpp +++ b/python/handwritten/slam/BetweenFactor.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -11,7 +11,7 @@ /** * @brief wraps BetweenFactor for several values to python - * @author Andrew Melim + * @author Andrew Melim * @author Ellon Paiva Mendes (LAAS-CNRS) **/ @@ -33,17 +33,17 @@ using namespace gtsam; using namespace std; -// template +// template // void exportBetweenFactor(const std::string& name){ -// class_(name, init<>()) -// .def(init()) +// class_(name, init<>()) +// .def(init()) // ; // } -#define BETWEENFACTOR(VALUE) \ - class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#VALUE) \ - .def(init()) \ - .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ +#define BETWEENFACTOR(T) \ + class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#T) \ + .def(init()) \ + .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ ; void exportBetweenFactors() diff --git a/python/handwritten/slam/PriorFactor.cpp b/python/handwritten/slam/PriorFactor.cpp index dcb9de8ea..3ada91f43 100644 --- a/python/handwritten/slam/PriorFactor.cpp +++ b/python/handwritten/slam/PriorFactor.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -11,7 +11,7 @@ /** * @brief wraps PriorFactor for several values to python - * @author Andrew Melim + * @author Andrew Melim * @author Ellon Paiva Mendes (LAAS-CNRS) **/ @@ -54,4 +54,5 @@ void exportPriorFactors() PRIORFACTOR(Point3) PRIORFACTOR(Rot3) PRIORFACTOR(Pose3) -} \ No newline at end of file + PRIORFACTOR(Vector3) +} From 69a53f8e00191aac62d9ac1db5c8084de08bb2db Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 14:16:09 -0800 Subject: [PATCH 889/964] simplify keys --- python/gtsam_examples/VisualISAM2Example.py | 28 ++++++++++----------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/python/gtsam_examples/VisualISAM2Example.py b/python/gtsam_examples/VisualISAM2Example.py index a0e40a146..29a8180ad 100644 --- a/python/gtsam_examples/VisualISAM2Example.py +++ b/python/gtsam_examples/VisualISAM2Example.py @@ -10,8 +10,8 @@ from gtsam_examples import SFMdata import gtsam_utils # shorthand symbols: -X = lambda i: gtsam.Symbol('x', i) -L = lambda j: gtsam.Symbol('l', j) +X = lambda i: int(gtsam.Symbol('x', i)) +L = lambda j: int(gtsam.Symbol('l', j)) def visual_ISAM2_plot(poses, points, result): # VisualISAMPlot plots current state of ISAM2 object @@ -32,13 +32,11 @@ def visual_ISAM2_plot(poses, points, result): gtsam_utils.plot3DPoints(fignum, result, 'rx') # Plot cameras - M = 0 - while result.exists(int(X(M))): - ii = int(X(M)) - pose_i = result.pose3_at(ii) + i = 0 + while result.exists(X(i)): + pose_i = result.pose3_at(X(i)) gtsam_utils.plotPose3(fignum, pose_i, 10) - - M = M + 1 + i += 1 # draw ax.set_xlim3d(-40, 40) @@ -82,11 +80,11 @@ def visual_ISAM2_example(): for j, point in enumerate(points): camera = gtsam.PinholeCameraCal3_S2(pose, K) measurement = camera.project(point) - graph.push_back(gtsam.GenericProjectionFactorCal3_S2(measurement, measurementNoise, int(X(i)), int(L(j)), K)) + graph.push_back(gtsam.GenericProjectionFactorCal3_S2(measurement, measurementNoise, X(i), L(j), K)) # Add an initial guess for the current pose # Intentionally initialize the variables off from the ground truth - initialEstimate.insert(int(X(i)), pose.compose(gtsam.Pose3(gtsam.Rot3.Rodrigues(-0.1, 0.2, 0.25), gtsam.Point3(0.05, -0.10, 0.20)))) + initialEstimate.insert(X(i), pose.compose(gtsam.Pose3(gtsam.Rot3.Rodrigues(-0.1, 0.2, 0.25), gtsam.Point3(0.05, -0.10, 0.20)))) # If this is the first iteration, add a prior on the first pose to set the coordinate frame # and a prior on the first landmark to set the scale @@ -95,16 +93,16 @@ def visual_ISAM2_example(): if(i == 0): # Add a prior on pose x0 poseNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - graph.push_back(gtsam.PriorFactorPose3(int(X(0)), poses[0], poseNoise)) + graph.push_back(gtsam.PriorFactorPose3(X(0), poses[0], poseNoise)) # Add a prior on landmark l0 pointNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) - graph.push_back(gtsam.PriorFactorPoint3(int(L(0)), points[0], pointNoise)) # add directly to graph + graph.push_back(gtsam.PriorFactorPoint3(L(0), points[0], pointNoise)) # add directly to graph # Add initial guesses to all observed landmarks # Intentionally initialize the variables off from the ground truth for j, point in enumerate(points): - initialEstimate.insert(int(L(j)), point + gtsam.Point3(-0.25, 0.20, 0.15)) + initialEstimate.insert(L(j), point + gtsam.Point3(-0.25, 0.20, 0.15)) else: # Update iSAM with the new factors isam.update(graph, initialEstimate) @@ -116,10 +114,10 @@ def visual_ISAM2_example(): print("****************************************************") print("Frame", i, ":") for j in range(i + 1): - print(X(j), ":", currentEstimate.pose3_at(int(X(j)))) + print(X(j), ":", currentEstimate.pose3_at(X(j))) for j in range(len(points)): - print(L(j), ":", currentEstimate.point3_at(int(L(j)))) + print(L(j), ":", currentEstimate.point3_at(L(j))) visual_ISAM2_plot(poses, points, currentEstimate) From ac6fb495a6536fe021f65af9b05483ac5b16190d Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 14:16:18 -0800 Subject: [PATCH 890/964] Full optimization --- python/gtsam_examples/ImuFactorExample.py | 62 +++++++++++++++++-- .../gtsam_examples/PreintegrationExample.py | 6 +- 2 files changed, 60 insertions(+), 8 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 6ab5c1211..c018dc7a7 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -2,6 +2,7 @@ A script validating the ImuFactor inference. """ +from __future__ import print_function import math import matplotlib.pyplot as plt import numpy as np @@ -10,21 +11,72 @@ from mpl_toolkits.mplot3d import Axes3D import gtsam from gtsam_utils import plotPose3 -from PreintegrationExample import PreintegrationExample +from PreintegrationExample import PreintegrationExample, POSES_FIG + +# shorthand symbols: +BIAS_KEY = int(gtsam.Symbol('b', 0)) +V = lambda j: int(gtsam.Symbol('v', j)) +X = lambda i: int(gtsam.Symbol('x', i)) class ImuFactorExample(PreintegrationExample): def run(self): - # simulate the loop up to the top - T = self.timeForOneLoop + graph = gtsam.NonlinearFactorGraph() + for i in [0, 12]: + priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1) + graph.push_back(gtsam.PriorFactorPose3(X(i), gtsam.Pose3(), priorNoise)) + velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) + graph.push_back(gtsam.PriorFactorVector3(V(i), np.array([2, 0, 0]), velNoise)) + + i = 0 # state index + + # initialize data structure for pre-integrated IMU measurements pim = gtsam.PreintegratedImuMeasurements(self.params, self.actualBias) - for i, t in enumerate(np.arange(0, T, self.dt)): + + # simulate the loop + T = self.timeForOneLoop + for k, t in enumerate(np.arange(0, T, self.dt)): + # get measurements and add them to PIM measuredOmega = self.runner.measuredAngularVelocity(t) measuredAcc = self.runner.measuredSpecificForce(t) - if i % 25 == 0: + pim.integrateMeasurement(measuredAcc, measuredOmega, self.dt) + + # Plot every second + if k % 100 == 0: self.plotImu(t, measuredOmega, measuredAcc) self.plotGroundTruthPose(t) + + # create factor every second + if (k + 1) % 100 == 0: + factor = gtsam.ImuFactor(X(i), V(i), X(i + 1), V(i + 1), BIAS_KEY, pim) + graph.push_back(factor) + pim.resetIntegration() + i += 1 + graph.print() + num_poses = i + 1 + + initial = gtsam.Values() + initial.insert(BIAS_KEY, gtsam.ConstantBias()) + for i in range(num_poses): + initial.insert(X(i), gtsam.Pose3()) + initial.insert(V(i), np.zeros(3, np.float)) + + # optimize using Levenberg-Marquardt optimization + params = gtsam.LevenbergMarquardtParams() + params.setVerbosityLM("SUMMARY") + optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params) + result = optimizer.optimize() + # result.print("\Result:\n") + print(self.actualBias) + + # Plot cameras + i = 0 + while result.exists(X(i)): + pose_i = result.pose3_at(X(i)) + plotPose3(POSES_FIG, pose_i, 0.1) + i += 1 + plt.ioff() plt.show() diff --git a/python/gtsam_examples/PreintegrationExample.py b/python/gtsam_examples/PreintegrationExample.py index db0ce4363..1cf96b9cd 100644 --- a/python/gtsam_examples/PreintegrationExample.py +++ b/python/gtsam_examples/PreintegrationExample.py @@ -12,7 +12,7 @@ import gtsam from gtsam_utils import plotPose3 IMU_FIG = 1 -GROUND_TRUTH_FIG = 2 +POSES_FIG = 2 class PreintegrationExample(object): @@ -92,7 +92,7 @@ class PreintegrationExample(object): def plotGroundTruthPose(self, t): # plot ground truth pose, as well as prediction from integrated IMU measurements actualPose = self.scenario.pose(t) - plotPose3(GROUND_TRUTH_FIG, actualPose, 0.3) + plotPose3(POSES_FIG, actualPose, 0.3) ax = plt.gca() ax.set_xlim3d(-self.radius, self.radius) ax.set_ylim3d(-self.radius, self.radius) @@ -111,7 +111,7 @@ class PreintegrationExample(object): self.plotGroundTruthPose(t) pim = self.runner.integrate(t, self.actualBias, True) predictedNavState = self.runner.predict(pim, self.actualBias) - plotPose3(GROUND_TRUTH_FIG, predictedNavState.pose(), 0.1) + plotPose3(POSES_FIG, predictedNavState.pose(), 0.1) plt.ioff() plt.show() From 8126e6b51daa2e3e10be4df486cd0422772e7fe1 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 15:15:33 -0800 Subject: [PATCH 891/964] add navState method --- gtsam/navigation/Scenario.h | 3 ++- python/handwritten/navigation/Scenario.cpp | 1 + 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 5544ae4b3..ad684f5f8 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -17,7 +17,7 @@ #pragma once #include -#include +#include namespace gtsam { @@ -34,6 +34,7 @@ class Scenario { // Derived quantities: Rot3 rotation(double t) const { return pose(t).rotation(); } + NavState navState(double t) const { return NavState(pose(t), velocity_n(t)); } Vector3 velocity_b(double t) const { const Rot3 nRb = rotation(t); diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp index a49a02cc0..e11f04a57 100644 --- a/python/handwritten/navigation/Scenario.cpp +++ b/python/handwritten/navigation/Scenario.cpp @@ -40,6 +40,7 @@ void exportScenario() { .def("omega_b", &Scenario::omega_b) .def("velocity_n", &Scenario::velocity_n) .def("acceleration_n", &Scenario::acceleration_n) + .def("navState", &Scenario::navState) .def("rotation", &Scenario::rotation) .def("velocity_b", &Scenario::velocity_b) .def("acceleration_b", &Scenario::acceleration_b); From 653a41bc5a7950fa1ca19db5683dbf96f0fe1406 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 15:15:55 -0800 Subject: [PATCH 892/964] Compare prediction with actual navState in two scenarios --- python/gtsam_examples/ImuFactorExample.py | 40 +++++++++++++------ .../gtsam_examples/PreintegrationExample.py | 36 +++++++++-------- python/handwritten/navigation/ImuFactor.cpp | 7 ++++ 3 files changed, 54 insertions(+), 29 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index c018dc7a7..4f9d29ddd 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -20,21 +20,23 @@ X = lambda i: int(gtsam.Symbol('x', i)) class ImuFactorExample(PreintegrationExample): + def __init__(self): + self.velocity = np.array([2, 0, 0]) + forward_twist = (np.zeros(3), self.velocity) + loop_twist = (np.array([0, -math.radians(30), 0]), self.velocity) + super(ImuFactorExample, self).__init__(loop_twist) + def run(self): graph = gtsam.NonlinearFactorGraph() - for i in [0, 12]: - priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1) - graph.push_back(gtsam.PriorFactorPose3(X(i), gtsam.Pose3(), priorNoise)) - velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) - graph.push_back(gtsam.PriorFactorVector3(V(i), np.array([2, 0, 0]), velNoise)) - + i = 0 # state index # initialize data structure for pre-integrated IMU measurements pim = gtsam.PreintegratedImuMeasurements(self.params, self.actualBias) # simulate the loop - T = self.timeForOneLoop + T = 3 + state = self.scenario.navState(0) for k, t in enumerate(np.arange(0, T, self.dt)): # get measurements and add them to PIM measuredOmega = self.runner.measuredAngularVelocity(t) @@ -50,25 +52,37 @@ class ImuFactorExample(PreintegrationExample): if (k + 1) % 100 == 0: factor = gtsam.ImuFactor(X(i), V(i), X(i + 1), V(i + 1), BIAS_KEY, pim) graph.push_back(factor) + H1 = gtsam.OptionalJacobian9() + H2 = gtsam.OptionalJacobian96() + print(pim) + predicted = pim.predict(state, self.actualBias, H1, H2) pim.resetIntegration() + state = self.scenario.navState(t + self.dt) + print("predicted.{}\nstate.{}".format(predicted, state)) i += 1 - graph.print() + # add priors on beginning and end num_poses = i + 1 + priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1) + velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) + for i, pose in [(0, self.scenario.pose(0)), (num_poses - 1, self.scenario.pose(T))]: + graph.push_back(gtsam.PriorFactorPose3(X(i), pose, priorNoise)) + graph.push_back(gtsam.PriorFactorVector3(V(i), self.velocity, velNoise)) + +# graph.print("\Graph:\n") initial = gtsam.Values() - initial.insert(BIAS_KEY, gtsam.ConstantBias()) + initial.insert(BIAS_KEY, self.actualBias) for i in range(num_poses): - initial.insert(X(i), gtsam.Pose3()) - initial.insert(V(i), np.zeros(3, np.float)) + initial.insert(X(i), self.scenario.pose(float(i))) + initial.insert(V(i), self.velocity) # optimize using Levenberg-Marquardt optimization params = gtsam.LevenbergMarquardtParams() params.setVerbosityLM("SUMMARY") optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params) result = optimizer.optimize() - # result.print("\Result:\n") - print(self.actualBias) +# result.print("\Result:\n") # Plot cameras i = 0 diff --git a/python/gtsam_examples/PreintegrationExample.py b/python/gtsam_examples/PreintegrationExample.py index 1cf96b9cd..808063a94 100644 --- a/python/gtsam_examples/PreintegrationExample.py +++ b/python/gtsam_examples/PreintegrationExample.py @@ -27,23 +27,25 @@ class PreintegrationExample(object): params.integrationCovariance = 0.0000001 ** 2 * np.identity(3, np.float) return params - def __init__(self): + def __init__(self, twist=None): + """Initialize with given twist, a pair(angularVelocityVector, velocityVector).""" + # setup interactive plotting plt.ion() - # Setup loop scenario - # Forward velocity 2m/s - # Pitch up with angular velocity 6 degree/sec (negative in FLU) - v = 2 - w = math.radians(30) - W = np.array([0, -w, 0]) - V = np.array([v, 0, 0]) + # Setup loop as default scenario + if twist is not None: + (W, V) = twist + else: + # default = loop with forward velocity 2m/s, while pitching up + # with angular velocity 30 degree/sec (negative in FLU) + W = np.array([0, -math.radians(30), 0]) + V = np.array([2, 0, 0]) + self.scenario = gtsam.ConstantTwistScenario(W, V) self.dt = 1e-2 - # Calculate time to do 1 loop - self.radius = v / w - self.timeForOneLoop = 2.0 * math.pi / w + self.maxDim = 5 self.labels = list('xyz') self.colors = list('rgb') @@ -93,16 +95,18 @@ class PreintegrationExample(object): # plot ground truth pose, as well as prediction from integrated IMU measurements actualPose = self.scenario.pose(t) plotPose3(POSES_FIG, actualPose, 0.3) + t = actualPose.translation() + self.maxDim = max([abs(t.x()), abs(t.y()), abs(t.z()), self.maxDim]) ax = plt.gca() - ax.set_xlim3d(-self.radius, self.radius) - ax.set_ylim3d(-self.radius, self.radius) - ax.set_zlim3d(0, self.radius * 2) + ax.set_xlim3d(-self.maxDim, self.maxDim) + ax.set_ylim3d(-self.maxDim, self.maxDim) + ax.set_zlim3d(-self.maxDim, self.maxDim) plt.pause(0.01) def run(self): - # simulate the loop up to the top - T = self.timeForOneLoop + # simulate the loop + T = 12 for i, t in enumerate(np.arange(0, T, self.dt)): measuredOmega = self.runner.measuredAngularVelocity(t) measuredAcc = self.runner.measuredSpecificForce(t) diff --git a/python/handwritten/navigation/ImuFactor.cpp b/python/handwritten/navigation/ImuFactor.cpp index d22c93dd9..b3d6126bd 100644 --- a/python/handwritten/navigation/ImuFactor.cpp +++ b/python/handwritten/navigation/ImuFactor.cpp @@ -24,7 +24,13 @@ using namespace boost::python; using namespace gtsam; +typedef gtsam::OptionalJacobian<9, 9> OptionalJacobian9; +typedef gtsam::OptionalJacobian<9, 6> OptionalJacobian96; + void exportImuFactor() { + class_("OptionalJacobian9", init<>()); + class_("OptionalJacobian96", init<>()); + class_("NavState", init<>()) // TODO(frank): overload with jacobians // .def("attitude", &NavState::attitude) @@ -61,6 +67,7 @@ void exportImuFactor() { init&, const imuBias::ConstantBias&>()) .def(repr(self)) + .def("predict", &PreintegratedImuMeasurements::predict) .def("resetIntegration", &PreintegratedImuMeasurements::resetIntegration) .def("integrateMeasurement", &PreintegratedImuMeasurements::integrateMeasurement) From 7b60c5029777b373d7d6cf0814a8f452d0c050de Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 16:02:40 -0800 Subject: [PATCH 893/964] New method computeError, and more derivative checking (though, expression factors already checked out) --- gtsam/navigation/PreintegrationBase.cpp | 47 +++++++++++++------ gtsam/navigation/PreintegrationBase.h | 6 +++ gtsam/navigation/tests/testImuFactor.cpp | 29 +++++++++--- .../tests/testPreintegrationBase.cpp | 18 +++++++ python/handwritten/navigation/ImuFactor.cpp | 1 + 5 files changed, 81 insertions(+), 20 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 639ceb574..a26498500 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -302,6 +302,32 @@ NavState PreintegrationBase::predict(const NavState& state_i, return state_j; } +//------------------------------------------------------------------------------ +Vector9 PreintegrationBase::computeError(const NavState& state_i, + const NavState& state_j, + const imuBias::ConstantBias& bias_i, + OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 9> H2, + OptionalJacobian<9, 6> H3) const { + // Predict state at time j + Matrix9 D_predict_state_i; + Matrix96 D_predict_bias_i; + NavState predictedState_j = predict( + state_i, bias_i, H1 ? &D_predict_state_i : 0, H3 ? &D_predict_bias_i : 0); + + // Calculate error + Matrix9 D_error_state_j, D_error_predict; + Vector9 error = + state_j.localCoordinates(predictedState_j, H2 ? &D_error_state_j : 0, + H1 || H3 ? &D_error_predict : 0); + + if (H1) *H1 << D_error_predict* D_predict_state_i; + if (H2) *H2 << D_error_state_j; + if (H3) *H3 << D_error_predict* D_predict_bias_i; + + return error; +} + //------------------------------------------------------------------------------ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, @@ -314,26 +340,20 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, NavState state_i(pose_i, vel_i); NavState state_j(pose_j, vel_j); - /// Predict state at time j - Matrix99 D_predict_state_i; - Matrix96 D_predict_bias_i; - NavState predictedState_j = predict(state_i, bias_i, - H1 || H2 ? &D_predict_state_i : 0, H5 ? &D_predict_bias_i : 0); - - Matrix9 D_error_state_j, D_error_predict; - Vector9 error = state_j.localCoordinates(predictedState_j, - H3 || H4 ? &D_error_state_j : 0, H1 || H2 || H5 ? &D_error_predict : 0); + // Predict state at time j + Matrix9 D_error_state_i, D_error_state_j; + Vector9 error = computeError(state_i, state_j, bias_i, + H1 || H2 ? &D_error_state_i : 0, H3 || H4 ? &D_error_state_j : 0, H5); // Separate out derivatives in terms of 5 arguments // Note that doing so requires special treatment of velocities, as when treated as // separate variables the retract applied will not be the semi-direct product in NavState // Instead, the velocities in nav are updated using a straight addition // This is difference is accounted for by the R().transpose calls below - if (H1) *H1 << D_error_predict* D_predict_state_i.leftCols<6>(); - if (H2) *H2 << D_error_predict* D_predict_state_i.rightCols<3>() * state_i.R().transpose(); + if (H1) *H1 << D_error_state_i.leftCols<6>(); + if (H2) *H2 << D_error_state_i.rightCols<3>() * state_i.R().transpose(); if (H3) *H3 << D_error_state_j.leftCols<6>(); if (H4) *H4 << D_error_state_j.rightCols<3>() * state_j.R().transpose(); - if (H5) *H5 << D_error_predict* D_predict_bias_i; return error; } @@ -355,5 +375,4 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, #endif //------------------------------------------------------------------------------ -} - /// namespace gtsam +} // namespace gtsam diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 3055fe9ed..92f1db8aa 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -264,6 +264,12 @@ public: OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 6> H2 = boost::none) const; + /// Calculate error given navStates + Vector9 computeError(const NavState& state_i, const NavState& state_j, + const imuBias::ConstantBias& bias_i, + OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2, + OptionalJacobian<9, 6> H3) const; + /// Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 5602a20ad..e40c9adea 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -71,7 +71,7 @@ static boost::shared_ptr defaultParams() { return p; } -// Auxiliary functions to test preintegrated Jacobians +// Auxiliary functions to test pre-integrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ PreintegratedImuMeasurements evaluatePreintegratedMeasurements( @@ -151,14 +151,14 @@ TEST(ImuFactor, PreintegratedMeasurements) { Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0); double deltaT = 0.5; - // Expected preintegrated values + // Expected pre-integrated values Vector3 expectedDeltaP1; expectedDeltaP1 << 0.5 * 0.1 * 0.5 * 0.5, 0, 0; Vector3 expectedDeltaV1(0.05, 0.0, 0.0); Rot3 expectedDeltaR1 = Rot3::RzRyRx(0.5 * M_PI / 100.0, 0.0, 0.0); double expectedDeltaT1(0.5); - // Actual preintegrated values + // Actual pre-integrated values PreintegratedImuMeasurements actual1(defaultParams()); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -167,6 +167,24 @@ TEST(ImuFactor, PreintegratedMeasurements) { EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()))); DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-9); + // Check derivatives of computeError + imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + NavState x1, x2 = actual1.predict(x1, bias); + + { + Matrix9 aH1, aH2; + Matrix96 aH3; + actual1.computeError(x1, x2, bias, aH1, aH2, aH3); + boost::function f = + boost::bind(&PreintegrationBase::computeError, actual1, _1, _2, _3, + boost::none, boost::none, boost::none); + // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 + EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); + EXPECT(assert_equal(numericalDerivative32(f, x1, x2, bias), aH2, 1e-9)); + EXPECT(assert_equal(numericalDerivative33(f, x1, x2, bias), aH3, 1e-9)); + } + // Integrate again Vector3 expectedDeltaP2; expectedDeltaP2 << 0.025 + expectedDeltaP1(0) + 0.5 * 0.1 * 0.5 * 0.5, 0, 0; @@ -175,7 +193,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { Rot3 expectedDeltaR2 = Rot3::RzRyRx(2.0 * 0.5 * M_PI / 100.0, 0.0, 0.0); double expectedDeltaT2(1); - // Actual preintegrated values + // Actual pre-integrated values PreintegratedImuMeasurements actual2 = actual1; actual2.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -184,7 +202,6 @@ TEST(ImuFactor, PreintegratedMeasurements) { EXPECT(assert_equal(expectedDeltaR2, Rot3(actual2.deltaRij()))); DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-9); } - /* ************************************************************************* */ // Common linearization point and measurements for tests namespace common { @@ -482,7 +499,7 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { deltaTs.push_back(0.01); } - // Actual preintegrated values + // Actual pre-integrated values PreintegratedImuMeasurements preintegrated = evaluatePreintegratedMeasurements(kZeroBias, measuredAccs, measuredOmegas, deltaTs); diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index af2aa1f96..5363f6b9f 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -73,6 +73,24 @@ TEST(PreintegrationBase, UpdateEstimate2) { EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); } +/* ************************************************************************* */ +TEST(PreintegrationBase, computeError) { + PreintegrationBase pim(defaultParams()); + NavState x1, x2; + imuBias::ConstantBias bias; + Matrix9 aH1, aH2; + Matrix96 aH3; + pim.computeError(x1, x2, bias, aH1, aH2, aH3); + boost::function f = + boost::bind(&PreintegrationBase::computeError, pim, _1, _2, _3, + boost::none, boost::none, boost::none); + // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 + EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); + EXPECT(assert_equal(numericalDerivative32(f, x1, x2, bias), aH2, 1e-9)); + EXPECT(assert_equal(numericalDerivative33(f, x1, x2, bias), aH3, 1e-9)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/python/handwritten/navigation/ImuFactor.cpp b/python/handwritten/navigation/ImuFactor.cpp index b3d6126bd..e8d1e9aaa 100644 --- a/python/handwritten/navigation/ImuFactor.cpp +++ b/python/handwritten/navigation/ImuFactor.cpp @@ -68,6 +68,7 @@ void exportImuFactor() { const imuBias::ConstantBias&>()) .def(repr(self)) .def("predict", &PreintegratedImuMeasurements::predict) + .def("computeError", &PreintegratedImuMeasurements::computeError) .def("resetIntegration", &PreintegratedImuMeasurements::resetIntegration) .def("integrateMeasurement", &PreintegratedImuMeasurements::integrateMeasurement) From 1c19b4e8038d2bb1f7bb94163338ec1c1860ada5 Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 21:23:36 -0800 Subject: [PATCH 894/964] More wrapping --- gtsam/navigation/NavState.h | 17 ++++---------- python/handwritten/navigation/ImuFactor.cpp | 22 ++++++++++++++----- .../nonlinear/NonlinearFactorGraph.cpp | 15 ++++++++++--- 3 files changed, 33 insertions(+), 21 deletions(-) diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index 439e8fceb..4c8b50776 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -75,18 +75,9 @@ public: /// @name Component Access /// @{ - inline const Rot3& attitude() const { - return R_; - } - inline const Point3& position() const { - return t_; - } - inline const Velocity3& velocity() const { - return v_; - } - const Rot3& attitude(OptionalJacobian<3, 9> H) const; - const Point3& position(OptionalJacobian<3, 9> H) const; - const Velocity3& velocity(OptionalJacobian<3, 9> H) const; + const Rot3& attitude(OptionalJacobian<3, 9> H = boost::none) const; + const Point3& position(OptionalJacobian<3, 9> H = boost::none) const; + const Velocity3& velocity(OptionalJacobian<3, 9> H = boost::none) const; const Pose3 pose() const { return Pose3(attitude(), position()); diff --git a/python/handwritten/navigation/ImuFactor.cpp b/python/handwritten/navigation/ImuFactor.cpp index e8d1e9aaa..c947ae9ee 100644 --- a/python/handwritten/navigation/ImuFactor.cpp +++ b/python/handwritten/navigation/ImuFactor.cpp @@ -24,18 +24,29 @@ using namespace boost::python; using namespace gtsam; -typedef gtsam::OptionalJacobian<9, 9> OptionalJacobian9; +typedef gtsam::OptionalJacobian<3, 9> OptionalJacobian39; typedef gtsam::OptionalJacobian<9, 6> OptionalJacobian96; +typedef gtsam::OptionalJacobian<9, 9> OptionalJacobian9; + +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, print, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(attitude_overloads, attitude, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(position_overloads, position, 0, 1) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(velocity_overloads, velocity, 0, 1) void exportImuFactor() { - class_("OptionalJacobian9", init<>()); + class_("OptionalJacobian39", init<>()); class_("OptionalJacobian96", init<>()); + class_("OptionalJacobian9", init<>()); class_("NavState", init<>()) // TODO(frank): overload with jacobians - // .def("attitude", &NavState::attitude) - // .def("position", &NavState::position) - // .def("velocity", &NavState::velocity) + .def("print", &NavState::print, print_overloads()) + .def("attitude", &NavState::attitude, + attitude_overloads()[return_value_policy()]) + .def("position", &NavState::position, + position_overloads()[return_value_policy()]) + .def("velocity", &NavState::velocity, + velocity_overloads()[return_value_policy()]) .def(repr(self)) .def("pose", &NavState::pose); @@ -77,6 +88,7 @@ void exportImuFactor() { // NOTE(frank): Abstract classes need boost::noncopyable class_, boost::shared_ptr>( "ImuFactor") + .def("error", &ImuFactor::error) .def(init()) .def(repr(self)); } diff --git a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp index f1e14deda..4ba4ba008 100644 --- a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp +++ b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -11,7 +11,7 @@ /** * @brief exports NonlinearFactorGraph class to python - * @author Andrew Melim + * @author Andrew Melim * @author Ellon Paiva Mendes (LAAS-CNRS) **/ @@ -28,6 +28,13 @@ using namespace gtsam; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, NonlinearFactorGraph::print, 0, 1); +boost::shared_ptr getNonlinearFactor( + const NonlinearFactorGraph& graph, size_t idx) { + auto p = boost::dynamic_pointer_cast(graph.at(idx)); + if (!p) throw std::runtime_error("No NonlinearFactor at requested index"); + return p; +}; + void exportNonlinearFactorGraph(){ typedef NonlinearFactorGraph::sharedFactor sharedFactor; @@ -36,7 +43,7 @@ void exportNonlinearFactorGraph(){ void (NonlinearFactorGraph::*add1)(const sharedFactor&) = &NonlinearFactorGraph::add; class_("NonlinearFactorGraph", init<>()) - .def("size",&NonlinearFactorGraph::size) + .def("size",&NonlinearFactorGraph::size) .def("push_back", push_back1) .def("add", add1) .def("resize", &NonlinearFactorGraph::resize) @@ -44,4 +51,6 @@ void exportNonlinearFactorGraph(){ .def("print", &NonlinearFactorGraph::print, print_overloads(args("s"))) ; + def("getNonlinearFactor", getNonlinearFactor); + } From c49a97a9c6ffeebb29b14af5e4d4c4b410306eed Mon Sep 17 00:00:00 2001 From: Frank Date: Wed, 27 Jan 2016 21:23:57 -0800 Subject: [PATCH 895/964] Fix initial values guess --- python/gtsam_examples/ImuFactorExample.py | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 4f9d29ddd..5ba4067aa 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -36,7 +36,7 @@ class ImuFactorExample(PreintegrationExample): # simulate the loop T = 3 - state = self.scenario.navState(0) + actual_state_i = self.scenario.navState(0) for k, t in enumerate(np.arange(0, T, self.dt)): # get measurements and add them to PIM measuredOmega = self.runner.measuredAngularVelocity(t) @@ -54,11 +54,11 @@ class ImuFactorExample(PreintegrationExample): graph.push_back(factor) H1 = gtsam.OptionalJacobian9() H2 = gtsam.OptionalJacobian96() - print(pim) - predicted = pim.predict(state, self.actualBias, H1, H2) + predicted_state_j = pim.predict(actual_state_i, self.actualBias, H1, H2) + error = pim.computeError(actual_state_i, predicted_state_j, self.actualBias, H1, H1, H2) + print("error={}, norm ={}".format(error, np.linalg.norm(error))) pim.resetIntegration() - state = self.scenario.navState(t + self.dt) - print("predicted.{}\nstate.{}".format(predicted, state)) + actual_state_i = self.scenario.navState(t + self.dt) i += 1 # add priors on beginning and end @@ -74,15 +74,21 @@ class ImuFactorExample(PreintegrationExample): initial = gtsam.Values() initial.insert(BIAS_KEY, self.actualBias) for i in range(num_poses): - initial.insert(X(i), self.scenario.pose(float(i))) - initial.insert(V(i), self.velocity) + state_i = self.scenario.navState(float(i)) + plotPose3(POSES_FIG, state_i.pose(), 0.9) + initial.insert(X(i), state_i.pose()) + initial.insert(V(i), state_i.velocity()) + for idx in range(num_poses - 1): + ff = gtsam.getNonlinearFactor(graph, idx) + print(ff.error(initial)) + # optimize using Levenberg-Marquardt optimization params = gtsam.LevenbergMarquardtParams() params.setVerbosityLM("SUMMARY") optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params) result = optimizer.optimize() -# result.print("\Result:\n") + result.print("\Result:\n") # Plot cameras i = 0 From 540772819b2e58189c1d00db1fd024c31952cbe9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 27 Jan 2016 22:07:46 -0800 Subject: [PATCH 896/964] Added definition --- CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 71f2dd939..9d543b87b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -318,6 +318,10 @@ if(GTSAM_ENABLE_CONSISTENCY_CHECKS) add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS) endif() +if(GTSAM_ENABLE_CONSISTENCY_CHECKS) + add_definitions(-DGTSAM_ALLOW_DEPRECATED_SINCE_V4) +endif() + ############################################################################### # Add components From 85e231bea57cc660fac9936f21f8e666c5069833 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 00:29:18 -0800 Subject: [PATCH 897/964] Fully working ! --- python/gtsam_examples/ImuFactorExample.py | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index 5ba4067aa..c1181d980 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -25,6 +25,13 @@ class ImuFactorExample(PreintegrationExample): forward_twist = (np.zeros(3), self.velocity) loop_twist = (np.array([0, -math.radians(30), 0]), self.velocity) super(ImuFactorExample, self).__init__(loop_twist) + self.priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1) + self.velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) + + def addPrior(self, i, graph): + state = self.scenario.navState(i) + graph.push_back(gtsam.PriorFactorPose3(X(i), state.pose(), self.priorNoise)) + graph.push_back(gtsam.PriorFactorVector3(V(i), state.velocity(), self.velNoise)) def run(self): graph = gtsam.NonlinearFactorGraph() @@ -35,7 +42,7 @@ class ImuFactorExample(PreintegrationExample): pim = gtsam.PreintegratedImuMeasurements(self.params, self.actualBias) # simulate the loop - T = 3 + T = 12 actual_state_i = self.scenario.navState(0) for k, t in enumerate(np.arange(0, T, self.dt)): # get measurements and add them to PIM @@ -43,12 +50,15 @@ class ImuFactorExample(PreintegrationExample): measuredAcc = self.runner.measuredSpecificForce(t) pim.integrateMeasurement(measuredAcc, measuredOmega, self.dt) + # Plot IMU many times + if k % 10 == 0: + self.plotImu(t, measuredOmega, measuredAcc) + # Plot every second if k % 100 == 0: - self.plotImu(t, measuredOmega, measuredAcc) self.plotGroundTruthPose(t) - # create factor every second + # create IMU factor every second if (k + 1) % 100 == 0: factor = gtsam.ImuFactor(X(i), V(i), X(i + 1), V(i + 1), BIAS_KEY, pim) graph.push_back(factor) @@ -63,11 +73,8 @@ class ImuFactorExample(PreintegrationExample): # add priors on beginning and end num_poses = i + 1 - priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1) - velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) - for i, pose in [(0, self.scenario.pose(0)), (num_poses - 1, self.scenario.pose(T))]: - graph.push_back(gtsam.PriorFactorPose3(X(i), pose, priorNoise)) - graph.push_back(gtsam.PriorFactorVector3(V(i), self.velocity, velNoise)) + self.addPrior(0, graph) + self.addPrior(num_poses - 1, graph) # graph.print("\Graph:\n") From 9dbe61a05e63808f6b5da33a26bf918b35f527aa Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 00:57:24 -0800 Subject: [PATCH 898/964] Cleaned up plot --- python/gtsam_utils/__init__.py | 2 +- python/gtsam_utils/{_plot.py => plot.py} | 34 ++++++++++++------------ 2 files changed, 18 insertions(+), 18 deletions(-) rename python/gtsam_utils/{_plot.py => plot.py} (66%) diff --git a/python/gtsam_utils/__init__.py b/python/gtsam_utils/__init__.py index 0ef2dfcd3..56c55aa94 100644 --- a/python/gtsam_utils/__init__.py +++ b/python/gtsam_utils/__init__.py @@ -1 +1 @@ -from ._plot import * +from .plot import * diff --git a/python/gtsam_utils/_plot.py b/python/gtsam_utils/plot.py similarity index 66% rename from python/gtsam_utils/_plot.py rename to python/gtsam_utils/plot.py index f1603bbf5..84a388bbb 100644 --- a/python/gtsam_utils/_plot.py +++ b/python/gtsam_utils/plot.py @@ -1,11 +1,11 @@ -import numpy as _np -import matplotlib.pyplot as _plt +import numpy as np +import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D as _Axes3D def plotPoint3(fignum, point, linespec): - fig = _plt.figure(fignum) + fig = plt.figure(fignum) ax = fig.gca(projection='3d') - ax.plot([point.x()],[point.y()],[point.z()], linespec) + ax.plot([point.x()], [point.y()], [point.z()], linespec) def plot3DPoints(fignum, values, linespec, marginals=None): @@ -19,7 +19,7 @@ def plot3DPoints(fignum, values, linespec, marginals=None): # Plot points and covariance matrices for key in keys: try: - p = values.point3_at(key); + p = values.atPoint3(key); # if haveMarginals # P = marginals.marginalCovariance(key); # gtsam.plotPoint3(p, linespec, P); @@ -27,11 +27,11 @@ def plot3DPoints(fignum, values, linespec, marginals=None): plotPoint3(fignum, p, linespec); except RuntimeError: continue - #I guess it's not a Point3 + # I guess it's not a Point3 def plotPose3(fignum, pose, axisLength=0.1): # get figure object - fig = _plt.figure(fignum) + fig = plt.figure(fignum) ax = fig.gca(projection='3d') # get rotation and translation (center) @@ -39,21 +39,21 @@ def plotPose3(fignum, pose, axisLength=0.1): C = pose.translation().vector() # draw the camera axes - xAxis = C+gRp[:,0]*axisLength - L = _np.append(C[_np.newaxis], xAxis[_np.newaxis], axis=0) - ax.plot(L[:,0],L[:,1],L[:,2],'r-') + xAxis = C + gRp[:, 0] * axisLength + L = np.append(C[np.newaxis], xAxis[np.newaxis], axis=0) + ax.plot(L[:, 0], L[:, 1], L[:, 2], 'r-') - yAxis = C+gRp[:,1]*axisLength - L = _np.append(C[_np.newaxis], yAxis[_np.newaxis], axis=0) - ax.plot(L[:,0],L[:,1],L[:,2],'g-') + yAxis = C + gRp[:, 1] * axisLength + L = np.append(C[np.newaxis], yAxis[np.newaxis], axis=0) + ax.plot(L[:, 0], L[:, 1], L[:, 2], 'g-') - zAxis = C+gRp[:,2]*axisLength - L = _np.append(C[_np.newaxis], zAxis[_np.newaxis], axis=0) - ax.plot(L[:,0],L[:,1],L[:,2],'b-') + zAxis = C + gRp[:, 2] * axisLength + L = np.append(C[np.newaxis], zAxis[np.newaxis], axis=0) + ax.plot(L[:, 0], L[:, 1], L[:, 2], 'b-') # # plot the covariance # if (nargin>2) && (~isempty(P)) # pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame # gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame # gtsam.covarianceEllipse3D(C,gPp); - # end \ No newline at end of file + # end From dbe2fe59a3408dc0ec1f6534d16cc2459e076d69 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 00:57:48 -0800 Subject: [PATCH 899/964] Cleaned up, committed to atT --- python/gtsam_examples/VisualISAM2Example.py | 6 +- python/handwritten/nonlinear/Values.cpp | 71 ++++----------------- 2 files changed, 14 insertions(+), 63 deletions(-) diff --git a/python/gtsam_examples/VisualISAM2Example.py b/python/gtsam_examples/VisualISAM2Example.py index 29a8180ad..9dafa13e7 100644 --- a/python/gtsam_examples/VisualISAM2Example.py +++ b/python/gtsam_examples/VisualISAM2Example.py @@ -34,7 +34,7 @@ def visual_ISAM2_plot(poses, points, result): # Plot cameras i = 0 while result.exists(X(i)): - pose_i = result.pose3_at(X(i)) + pose_i = result.atPose3(X(i)) gtsam_utils.plotPose3(fignum, pose_i, 10) i += 1 @@ -114,10 +114,10 @@ def visual_ISAM2_example(): print("****************************************************") print("Frame", i, ":") for j in range(i + 1): - print(X(j), ":", currentEstimate.pose3_at(X(j))) + print(X(j), ":", currentEstimate.atPose3(X(j))) for j in range(len(points)): - print(L(j), ":", currentEstimate.point3_at(L(j))) + print(L(j), ":", currentEstimate.atPoint3(L(j))) visual_ISAM2_plot(poses, points, currentEstimate) diff --git a/python/handwritten/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp index 83d33ca3c..84e82f376 100644 --- a/python/handwritten/nonlinear/Values.cpp +++ b/python/handwritten/nonlinear/Values.cpp @@ -31,57 +31,12 @@ using namespace boost::python; using namespace gtsam; -/** The function ValuesAt is a workaround to be able to call the correct templated version - * of Values::at. Without it, python would only try to match the last 'at' metho defined - * below. With this wrapper function we can call 'at' in python passing an extra type, - * which will define the type to be returned. Example: - * - * >>> import gtsam - * >>> v = gtsam.nonlinear.Values() - * >>> v.insert(1,gtsam.geometry.Point3()) - * >>> v.insert(2,gtsam.geometry.Rot3()) - * >>> v.insert(3,gtsam.geometry.Pose3()) - * >>> v.at(1,gtsam.geometry.Point3()) - * >>> v.at(2,gtsam.geometry.Rot3()) - * >>> v.at(3,gtsam.geometry.Pose3()) - * - * A more 'pythonic' way I think would be to not use this function and define different - * 'at' methods below using the name of the type in the function name, like: - * - * .def("point3_at", &Values::at, return_internal_reference<>()) - * .def("rot3_at", &Values::at, return_internal_reference<>()) - * .def("pose3_at", &Values::at, return_internal_reference<>()) - * - * and then they could be accessed from python as - * - * >>> import gtsam - * >>> v = gtsam.nonlinear.Values() - * >>> v.insert(1,gtsam.geometry.Point3()) - * >>> v.insert(2,gtsam.geometry.Rot3()) - * >>> v.insert(3,gtsam.geometry.Pose3()) - * >>> v.point3_at(1) - * >>> v.rot3_at(2) - * >>> v.pose3_at(3) - * - * In fact, I just saw the pythonic way sounds more clear, so I'm sticking with this and - * leaving the comments here for future reference. I'm using the PEP0008 for method naming. - * See: https://www.python.org/dev/peps/pep-0008/#function-and-method-arguments - */ -// template -// const T & ValuesAt( const Values & v, Key j, T /*type*/) -// { -// return v.at(j); -// } - BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Values::print, 0, 1); void exportValues(){ - // NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below - // will compile, but are useless in the python wrapper. We need to use specific - // 'at' and 'insert' methods for each type. - // const Value& (Values::*at1)(Key) const = &Values::at; - // void (Values::*insert1)(Key, const Value&) = &Values::insert; + typedef imuBias::ConstantBias Bias; + bool (Values::*exists1)(Key) const = &Values::exists; void (Values::*insert_point2)(Key, const gtsam::Point2&) = &Values::insert; void (Values::*insert_rot2) (Key, const gtsam::Rot2&) = &Values::insert; @@ -89,10 +44,9 @@ void exportValues(){ void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert; void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert; void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert; - void (Values::*insert_bias) (Key, const gtsam::imuBias::ConstantBias&) = &Values::insert; + void (Values::*insert_bias) (Key, const Bias&) = &Values::insert; void (Values::*insert_vector3) (Key, const gtsam::Vector3&) = &Values::insert; - class_("Values", init<>()) .def(init()) .def("clear", &Values::clear) @@ -104,9 +58,6 @@ void exportValues(){ .def("print", &Values::print, print_overloads(args("s"))) .def("size", &Values::size) .def("swap", &Values::swap) - // NOTE: Following commented lines add useless methods on Values - // .def("insert", insert1) - // .def("at", at1, return_value_policy()) .def("insert", insert_point2) .def("insert", insert_rot2) .def("insert", insert_pose2) @@ -115,14 +66,14 @@ void exportValues(){ .def("insert", insert_pose3) .def("insert", insert_bias) .def("insert", insert_vector3) - // NOTE: The following commented lines are another way of specializing the return type. - // See long comment above. - // .def("at", &ValuesAt, return_internal_reference<>()) - // .def("at", &ValuesAt, return_internal_reference<>()) - // .def("at", &ValuesAt, return_internal_reference<>()) - .def("point3_at", &Values::at, return_value_policy()) - .def("rot3_at", &Values::at, return_value_policy()) - .def("pose3_at", &Values::at, return_value_policy()) + .def("atPoint2", &Values::at, return_value_policy()) + .def("atRot2", &Values::at, return_value_policy()) + .def("atPose2", &Values::at, return_value_policy()) + .def("atPoint3", &Values::at, return_value_policy()) + .def("atRot3", &Values::at, return_value_policy()) + .def("atPose3", &Values::at, return_value_policy()) + .def("atConstantBias", &Values::at, return_value_policy()) + .def("atVector3", &Values::at, return_value_policy()) .def("exists", exists1) .def("keys", &Values::keys) ; From 1e1c0dbff1615356970fb2fbaa5d64b7f8983d98 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 00:58:31 -0800 Subject: [PATCH 900/964] Works with bias on all 6 axes ! --- python/gtsam_examples/ImuFactorExample.py | 32 ++++++++----------- .../gtsam_examples/PreintegrationExample.py | 13 +++++--- 2 files changed, 22 insertions(+), 23 deletions(-) diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py index c1181d980..ca5e524ee 100644 --- a/python/gtsam_examples/ImuFactorExample.py +++ b/python/gtsam_examples/ImuFactorExample.py @@ -22,12 +22,18 @@ class ImuFactorExample(PreintegrationExample): def __init__(self): self.velocity = np.array([2, 0, 0]) - forward_twist = (np.zeros(3), self.velocity) - loop_twist = (np.array([0, -math.radians(30), 0]), self.velocity) - super(ImuFactorExample, self).__init__(loop_twist) self.priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1) self.velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) - + + forward_twist = (np.zeros(3), self.velocity) + loop_twist = (np.array([0, -math.radians(30), 0]), self.velocity) + + accBias = np.array([-0.3, 0.1, 0.2]) + gyroBias = np.array([0.1, 0.3, -0.1]) + bias = gtsam.ConstantBias(accBias, gyroBias) + + super(ImuFactorExample, self).__init__(loop_twist, bias) + def addPrior(self, i, graph): state = self.scenario.navState(i) graph.push_back(gtsam.PriorFactorPose3(X(i), state.pose(), self.priorNoise)) @@ -62,11 +68,6 @@ class ImuFactorExample(PreintegrationExample): if (k + 1) % 100 == 0: factor = gtsam.ImuFactor(X(i), V(i), X(i + 1), V(i + 1), BIAS_KEY, pim) graph.push_back(factor) - H1 = gtsam.OptionalJacobian9() - H2 = gtsam.OptionalJacobian96() - predicted_state_j = pim.predict(actual_state_i, self.actualBias, H1, H2) - error = pim.computeError(actual_state_i, predicted_state_j, self.actualBias, H1, H1, H2) - print("error={}, norm ={}".format(error, np.linalg.norm(error))) pim.resetIntegration() actual_state_i = self.scenario.navState(t + self.dt) i += 1 @@ -76,33 +77,26 @@ class ImuFactorExample(PreintegrationExample): self.addPrior(0, graph) self.addPrior(num_poses - 1, graph) -# graph.print("\Graph:\n") - initial = gtsam.Values() initial.insert(BIAS_KEY, self.actualBias) for i in range(num_poses): state_i = self.scenario.navState(float(i)) - plotPose3(POSES_FIG, state_i.pose(), 0.9) initial.insert(X(i), state_i.pose()) initial.insert(V(i), state_i.velocity()) - for idx in range(num_poses - 1): - ff = gtsam.getNonlinearFactor(graph, idx) - print(ff.error(initial)) - # optimize using Levenberg-Marquardt optimization params = gtsam.LevenbergMarquardtParams() params.setVerbosityLM("SUMMARY") optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params) result = optimizer.optimize() - result.print("\Result:\n") - # Plot cameras + # Plot resulting poses i = 0 while result.exists(X(i)): - pose_i = result.pose3_at(X(i)) + pose_i = result.atPose3(X(i)) plotPose3(POSES_FIG, pose_i, 0.1) i += 1 + print(result.atConstantBias(BIAS_KEY)) plt.ioff() plt.show() diff --git a/python/gtsam_examples/PreintegrationExample.py b/python/gtsam_examples/PreintegrationExample.py index 808063a94..7095dc59e 100644 --- a/python/gtsam_examples/PreintegrationExample.py +++ b/python/gtsam_examples/PreintegrationExample.py @@ -27,7 +27,7 @@ class PreintegrationExample(object): params.integrationCovariance = 0.0000001 ** 2 * np.identity(3, np.float) return params - def __init__(self, twist=None): + def __init__(self, twist=None, bias=None): """Initialize with given twist, a pair(angularVelocityVector, velocityVector).""" # setup interactive plotting @@ -53,9 +53,14 @@ class PreintegrationExample(object): self.g = 10 # simple gravity constant self.params = self.defaultParams(self.g) ptr = gtsam.ScenarioPointer(self.scenario) - accBias = np.array([0, 0.1, 0]) - gyroBias = np.array([0, 0, 0]) - self.actualBias = gtsam.ConstantBias(accBias, gyroBias) + + if bias is not None: + self.actualBias = bias + else: + accBias = np.array([0, 0.1, 0]) + gyroBias = np.array([0, 0, 0]) + self.actualBias = gtsam.ConstantBias(accBias, gyroBias) + self.runner = gtsam.ScenarioRunner(ptr, self.params, self.dt, self.actualBias) def plotImu(self, t, measuredOmega, measuredAcc): From ad01b73eba5a7d888bb9a44e053a56ed713d6e1e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:13:55 -0800 Subject: [PATCH 901/964] Use new deprecated flag --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/CombinedImuFactor.h | 2 +- gtsam/navigation/ImuFactor.cpp | 4 ++-- gtsam/navigation/ImuFactor.h | 4 ++-- gtsam/navigation/PreintegrationBase.cpp | 4 ++-- gtsam/navigation/PreintegrationBase.h | 8 ++++---- gtsam/navigation/tests/testPoseVelocityBias.cpp | 2 +- 7 files changed, 13 insertions(+), 13 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index bab83a0fb..21bfcbd1e 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -241,7 +241,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 CombinedImuFactor::CombinedImuFactor( Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index bc353c7d9..5fbd619cf 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -278,7 +278,7 @@ public: boost::optional H4 = boost::none, boost::optional H5 = boost::none, boost::optional H6 = boost::none) const; -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated typename typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements; diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index a03dd92f8..7e05c6d41 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -82,7 +82,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 PreintegratedImuMeasurements::PreintegratedImuMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, @@ -159,7 +159,7 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements& pim, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor, diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index b0b37d73b..616577c36 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -120,7 +120,7 @@ public: /// Return pre-integrated measurement covariance Matrix preintMeasCov() const { return preintMeasCov_; } -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated constructor /// NOTE(frank): assumes Z-Down convention, only second order integration supported PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, @@ -225,7 +225,7 @@ public: boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const; -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index a26498500..a6d0964dc 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -20,7 +20,7 @@ **/ #include "PreintegrationBase.h" -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 #include #endif @@ -359,7 +359,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, } //------------------------------------------------------------------------------ -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const Vector3& omegaCoriolis, diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 92f1db8aa..55866bc62 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -30,7 +30,7 @@ namespace gtsam { -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated struct PoseVelocityBias { Pose3 pose; @@ -102,7 +102,7 @@ class PreintegrationBase { /// Parameters. Declared mutable only for deprecated predict method. /// TODO(frank): make const once deprecated method is removed -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 mutable #endif boost::shared_ptr p_; @@ -181,7 +181,7 @@ public: return *boost::static_pointer_cast(p_); } -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 void set_body_P_sensor(const Pose3& body_P_sensor) { p_->body_P_sensor = body_P_sensor; } @@ -280,7 +280,7 @@ public: /// @} -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @name Deprecated /// @{ diff --git a/gtsam/navigation/tests/testPoseVelocityBias.cpp b/gtsam/navigation/tests/testPoseVelocityBias.cpp index 877769c2e..cc2a47498 100644 --- a/gtsam/navigation/tests/testPoseVelocityBias.cpp +++ b/gtsam/navigation/tests/testPoseVelocityBias.cpp @@ -25,7 +25,7 @@ using namespace std; using namespace gtsam; -#ifdef ALLOW_DEPRECATED_IN_GTSAM4 +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 // Should be seen as between(pvb1,pvb2), i.e., written as pvb2 \omin pvb1 Vector9 error(const PoseVelocityBias& pvb1, const PoseVelocityBias& pvb2) { From 0470c318a4102b28bee7e082fa65d5ab9637580e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:14:04 -0800 Subject: [PATCH 902/964] Typos --- gtsam/navigation/tests/testCombinedImuFactor.cpp | 2 +- gtsam/navigation/tests/testImuFactor.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 77ae0bb65..c1dbb7c6c 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -280,7 +280,7 @@ TEST(CombinedImuFactor, PredictRotation) { Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2; Vector3 v(0, 0, 0), v2; NavState actual = pim.predict(NavState(x, v), bias); - Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); + Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); EXPECT(assert_equal(expectedPose, actual.pose(), tol)); } diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index e40c9adea..7e24aff17 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -684,7 +684,7 @@ TEST(ImuFactor, PredictRotation) { // Predict NavState actual = pim.predict(NavState(), bias); - NavState expected(Rot3().ypr(M_PI / 10, 0, 0), Point3(), Vector3::Zero()); + NavState expected(Rot3::Ypr(M_PI / 10, 0, 0), Point3(), Vector3::Zero()); EXPECT(assert_equal(expected, actual)); } @@ -768,7 +768,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { // Predict NavState actual = pim.predict(NavState(), bias); - Pose3 expectedPose(Rot3().ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0)); + Pose3 expectedPose(Rot3::Ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0)); EXPECT(assert_equal(expectedPose, actual.pose())); Vector3 expectedVelocity(0, 0, 0); From 569b608a51be55de50e0d5d7b2b17c9f92aaa89e Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:21:29 -0800 Subject: [PATCH 903/964] Got rid of .cproject changes --- .cproject | 3482 ++++++++++++++++++++++++++--------------------------- 1 file changed, 1738 insertions(+), 1744 deletions(-) diff --git a/.cproject b/.cproject index 7aae42663..10b16f91c 100644 --- a/.cproject +++ b/.cproject @@ -484,6 +484,54 @@ + + make + -j5 + SmartProjectionFactorExample_kitti_nonbatch.run + true + true + true + + + make + -j5 + SmartProjectionFactorExample_kitti.run + true + true + true + + + make + -j5 + SmartProjectionFactorTesting.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testSPQRUtil.run + true + true + true + + + make + -j2 + clean + true + true + true + make -j4 @@ -516,343 +564,7 @@ true true - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testSPQRUtil.run - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - timeCalibratedCamera.run - true - true - true - - - make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j5 - testGaussianFactorGraphUnordered.run - true - true - true - - - make - -j5 - testGaussianBayesNetUnordered.run - true - true - true - - - make - -j5 - testGaussianConditional.run - true - true - true - - - make - -j5 - testGaussianDensity.run - true - true - true - - - make - -j5 - testGaussianJunctionTree.run - true - true - true - - - make - -j5 - testHessianFactor.run - true - true - true - - - make - -j5 - testJacobianFactor.run - true - true - true - - - make - -j5 - testKalmanFilter.run - true - true - true - - - make - -j5 - testNoiseModel.run - true - true - true - - - make - -j5 - testSampler.run - true - true - true - - - make - -j5 - testSerializationLinear.run - true - true - true - - - make - -j5 - testVectorValues.run - true - true - true - - - make - -j5 - testGaussianBayesTree.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - testMethod.run - true - true - true - - - make - -j5 - testClass.run - true - true - true - - - make - -j4 - testType.run - true - true - true - - - make - -j4 - testArgument.run - true - true - true - - - make - -j4 - testReturnValue.run - true - true - true - - - make - -j4 - testTemplate.run - true - true - true - - - make - -j4 - testGlobalFunction.run - true - true - true - - - make - -j5 - schedulingExample.run - true - true - true - - - make - -j5 - schedulingQuals12.run - true - true - true - - - make - -j5 - schedulingQuals13.run - true - true - true - - - make - -j5 - testCSP.run - true - true - true - - - make - -j5 - testScheduler.run - true - true - true - - - make - -j5 - testSudoku.run - true - true - true - - - make - -j5 - testCombinedImuFactor.run - true - true - true - - - make - -j5 - testImuFactor.run - true - true - true - - - make - -j5 - testAHRSFactor.run - true - true - true - - - make - -j8 - testAttitudeFactor.run - true - true - true - - - make - -j4 - testAggregateImuReadings.run - true - true - true - - - make - -j4 - testScenarioRunner.run - true - true - true - - + make -j2 all @@ -860,7 +572,7 @@ true true - + make -j2 clean @@ -868,151 +580,127 @@ true true - + make - -j2 - testVSLAMGraph - true - true - true - - - make - -j5 - testMatrix.run - true - true - true - - - make - -j5 - testVector.run - true - true - true - - - make - -j5 - testNumericalDerivative.run - true - true - true - - - make - -j5 - testVerticalBlockMatrix.run - true - true - true - - - make - -j4 - testOptionalJacobian.run - true - true - true - - - make - -j4 - testGroup.run - true - true - true - - - make - -j5 - clean - true - true - true - - - make - -j5 - all - true - true - true - - - make - -j1 - testDiscreteBayesTree.run + -k + check true false true - + make - -j5 - testDiscreteConditional.run + + tests/testBayesTree.run + true + false + true + + + make + + testBinaryBayesNet.run + true + false + true + + + make + -j2 + testFactorGraph.run true true true - + make - -j5 - testDiscreteFactor.run + -j2 + testISAM.run true true true - + make - -j5 - testDiscreteFactorGraph.run + -j2 + testJunctionTree.run true true true - + make - -j5 - testDiscreteMarginals.run + -j2 + testKey.run true true true - + make - -j5 - testIMUSystem.run + -j2 + testOrdering.run true true true - + make - -j5 - testPoseRTV.run + + testSymbolicBayesNet.run + true + false + true + + + make + + tests/testSymbolicFactor.run + true + false + true + + + make + + testSymbolicFactorGraph.run + true + false + true + + + make + -j2 + timeSymbolMaps.run true true true - + make - -j5 - testVelocityConstraint.run + + tests/testBayesTree + true + false + true + + + make + -j2 + tests/testPose2.run true true true - + make - -j5 - testVelocityConstraint3.run + -j2 + tests/testPose3.run true true true - + make -j2 all @@ -1020,7 +708,15 @@ true true - + + make + -j2 + check + true + true + true + + make -j2 clean @@ -1028,38 +724,6 @@ true true - - make - -j2 - clean all - true - true - true - - - make - -j5 - SmartProjectionFactorExample_kitti_nonbatch.run - true - true - true - - - make - -j5 - SmartProjectionFactorExample_kitti.run - true - true - true - - - make - -j5 - SmartProjectionFactorTesting.run - true - true - true - make -j5 @@ -1204,15 +868,159 @@ true true - + make - -j2 - testGaussianFactor.run + -j5 + testGaussianFactorGraphUnordered.run true true true - + + make + -j5 + testGaussianBayesNetUnordered.run + true + true + true + + + make + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testJacobianFactor.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testNoiseModel.run + true + true + true + + + make + -j5 + testSampler.run + true + true + true + + + make + -j5 + testSerializationLinear.run + true + true + true + + + make + -j5 + testVectorValues.run + true + true + true + + + make + -j5 + testGaussianBayesTree.run + true + true + true + + + make + -j5 + testCombinedImuFactor.run + true + true + true + + + make + -j5 + testImuFactor.run + true + true + true + + + make + -j5 + testAHRSFactor.run + true + true + true + + + make + -j8 + testAttitudeFactor.run + true + true + true + + + make + -j5 + clean + true + true + true + + + make + -j5 + all + true + true + true + + make -j2 all @@ -1220,7 +1028,7 @@ true true - + make -j2 clean @@ -1228,45 +1036,223 @@ true true - + make - -k + -j2 check true - false + true true - - make - tests/testBayesTree.run - true - false - true - - - make - testBinaryBayesNet.run - true - false - true - - + make -j2 - testFactorGraph.run + testGaussianConditional.run true true true - + make -j2 - testISAM.run + testGaussianFactor.run true true true - + + make + -j2 + timeGaussianFactor.run + true + true + true + + + make + -j2 + timeVectorConfig.run + true + true + true + + + make + -j2 + testVectorBTree.run + true + true + true + + + make + -j2 + testVectorMap.run + true + true + true + + + make + -j2 + testNoiseModel.run + true + true + true + + + make + -j2 + testBayesNetPreconditioner.run + true + true + true + + + make + + testErrors.run + true + false + true + + + make + -j2 + check + true + true + true + + + make + -j2 + tests/testGaussianJunctionTree.run + true + true + true + + + make + -j2 + tests/testGaussianFactor.run + true + true + true + + + make + -j2 + tests/testGaussianConditional.run + true + true + true + + + make + -j2 + tests/timeSLAMlike.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testBTree.run + true + true + true + + + make + -j2 + testDSF.run + true + true + true + + + make + -j2 + testDSFVector.run + true + true + true + + + make + -j2 + testMatrix.run + true + true + true + + + make + -j2 + testSPQRUtil.run + true + true + true + + + make + -j2 + testVector.run + true + true + true + + + make + -j2 + timeMatrix.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + testClusterTree.run + true + true + true + + make -j2 testJunctionTree.run @@ -1274,58 +1260,793 @@ true true - + make -j2 + tests/testEliminationTree.run + true + true + true + + + make + -j2 + tests/testSymbolicFactor.run + true + true + true + + + make + -j2 + tests/testVariableSlots.run + true + true + true + + + make + -j2 + tests/testConditional.run + true + true + true + + + make + -j2 + tests/testSymbolicFactorGraph.run + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + testNonlinearConstraint.run + true + true + true + + + make + -j2 + testLieConfig.run + true + true + true + + + make + -j2 + testConstraintOptimizer.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testPlanarSLAM.run + true + true + true + + + make + -j2 + testPose2Config.run + true + true + true + + + make + -j2 + testPose2Factor.run + true + true + true + + + make + -j2 + testPose2Prior.run + true + true + true + + + make + -j2 + testPose2SLAM.run + true + true + true + + + make + -j2 + testPose3Config.run + true + true + true + + + make + -j2 + testPose3SLAM.run + true + true + true + + + make + testSimulated2DOriented.run + true + false + true + + + make + -j2 + testVSLAMConfig.run + true + true + true + + + make + -j2 + testVSLAMFactor.run + true + true + true + + + make + -j2 + testVSLAMGraph.run + true + true + true + + + make + -j2 + testPose3Factor.run + true + true + true + + + make + testSimulated2D.run + true + false + true + + + make + testSimulated3D.run + true + false + true + + + make + -j2 + tests/testGaussianISAM2 + true + true + true + + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFMap.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + + + make + -j5 + testEliminationTree.run + true + true + true + + + make + -j5 + testInference.run + true + true + true + + + make + -j5 testKey.run true true true - + make - -j2 - testOrdering.run + -j1 + testSymbolicBayesTree.run + true + false + true + + + make + -j1 + testSymbolicSequentialSolver.run + true + false + true + + + make + -j4 + testLabeledSymbol.run true true true - - make - testSymbolicBayesNet.run - true - false - true - - - make - tests/testSymbolicFactor.run - true - false - true - - - make - testSymbolicFactorGraph.run - true - false - true - - + make -j2 - timeSymbolMaps.run + check true true true - + make - tests/testBayesTree + -j2 + tests/testLieConfig.run + true + true + true + + + make + -j3 + install true false true + + make + -j2 + clean + true + true + true + + + make + -j1 + check + true + false + true + + + make + -j5 + all + true + true + true + + + cmake + .. + true + false + true + + + make + -j5 + gtsam-shared + true + true + true + + + make + -j5 + gtsam-static + true + true + true + + + make + -j5 + timing + true + true + true + + + make + -j5 + examples + true + true + true + + + make + -j5 + VERBOSE=1 all + true + true + true + + + make + -j5 + VERBOSE=1 check + true + true + true + + + make + -j5 + check.base + true + true + true + + + make + -j5 + timing.base + true + true + true + + + make + -j2 VERBOSE=1 + check.geometry + true + false + true + + + make + -j5 + timing.geometry + true + true + true + + + make + -j2 VERBOSE=1 + check.inference + true + false + true + + + make + -j5 + timing.inference + true + true + true + + + make + -j2 VERBOSE=1 + check.linear + true + false + true + + + make + -j5 + timing.linear + true + true + true + + + make + -j2 VERBOSE=1 + check.nonlinear + true + false + true + + + make + -j5 + timing.nonlinear + true + true + true + + + make + -j2 VERBOSE=1 + check.slam + true + false + true + + + make + -j5 + timing.slam + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + VERBOSE=1 + wrap_gtsam + true + false + true + + + cpack + + -G DEB + true + false + true + + + cpack + + -G RPM + true + false + true + + + cpack + + -G TGZ + true + false + true + + + cpack + + --config CPackSourceConfig.cmake + true + false + true + + + make + -j5 + check.discrete + true + true + true + + + make + -j5 + check.discrete_unstable + true + true + true + + + make + -j5 + check.base_unstable + true + true + true + + + make + -j5 + check.dynamics_unstable + true + true + true + + + make + -j5 + check.slam_unstable + true + true + true + + + make + -j5 + check.unstable + true + true + true + + + make + -j5 + wrap_gtsam_build + true + true + true + + + make + -j5 + wrap_gtsam_unstable_build + true + true + true + + + make + -j5 + wrap_gtsam_unstable + true + true + true + + + make + -j5 + wrap + true + true + true + + + make + -j5 + wrap_gtsam_distclean + true + true + true + + + make + -j5 + wrap_gtsam_unstable_distclean + true + true + true + + + make + -j5 + doc + true + true + true + + + make + -j5 + doc_clean + true + true + true + + + make + -j5 + check + true + true + true + + + make + -j5 + check.geometry_unstable + true + true + true + + + make + -j5 + check.linear_unstable + true + true + true + + + make + -j6 -j8 + gtsam_unstable-shared + true + true + true + + + make + -j6 -j8 + gtsam_unstable-static + true + true + true + + + make + -j6 -j8 + check.nonlinear_unstable + true + true + true + + + make + -j5 + check.tests + true + true + true + + + make + -j2 VERBOSE=1 + check.navigation + true + false + true + + + make + -j4 + check.sam + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + install + true + true + true + + + make + -j2 + all + true + true + true + + + cmake + .. + true + false + true + + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -1558,6 +2279,278 @@ false true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + clean all + true + true + true + + + make + -j1 + testDiscreteBayesTree.run + true + false + true + + + make + -j5 + testDiscreteConditional.run + true + true + true + + + make + -j5 + testDiscreteFactor.run + true + true + true + + + make + -j5 + testDiscreteFactorGraph.run + true + true + true + + + make + -j5 + testDiscreteMarginals.run + true + true + true + + + make + -j5 + testIMUSystem.run + true + true + true + + + make + -j5 + testPoseRTV.run + true + true + true + + + make + -j5 + testVelocityConstraint.run + true + true + true + + + make + -j5 + testVelocityConstraint3.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + timeCalibratedCamera.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + testMethod.run + true + true + true + + + make + -j5 + testClass.run + true + true + true + + + make + -j4 + testType.run + true + true + true + + + make + -j4 + testArgument.run + true + true + true + + + make + -j4 + testReturnValue.run + true + true + true + + + make + -j4 + testTemplate.run + true + true + true + + + make + -j4 + testGlobalFunction.run + true + true + true + + + make + -j5 + schedulingExample.run + true + true + true + + + make + -j5 + schedulingQuals12.run + true + true + true + + + make + -j5 + schedulingQuals13.run + true + true + true + + + make + -j5 + testCSP.run + true + true + true + + + make + -j5 + testScheduler.run + true + true + true + + + make + -j5 + testSudoku.run + true + true + true + make -j2 @@ -1566,50 +2559,58 @@ true true - + make -j2 - tests/testPose2.run + testVSLAMGraph true true true - - make - -j2 - tests/testPose3.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - + make -j5 - testParticleFactor.run + testMatrix.run + true + true + true + + + make + -j5 + testVector.run + true + true + true + + + make + -j5 + testNumericalDerivative.run + true + true + true + + + make + -j5 + testVerticalBlockMatrix.run + true + true + true + + + make + -j4 + testOptionalJacobian.run + true + true + true + + + make + -j4 + testGroup.run true true true @@ -1752,6 +2753,7 @@ make + testGraph.run true false @@ -1759,6 +2761,7 @@ make + testJunctionTree.run true false @@ -1766,6 +2769,7 @@ make + testSymbolicBayesNetB.run true false @@ -1851,42 +2855,170 @@ true true - + make - -j2 - check + -j5 + testParticleFactor.run true true true - + make -j2 - tests/testGaussianJunctionTree.run + testGaussianFactor.run true true true - + make -j2 - tests/testGaussianFactor.run + install true true true - + make -j2 - tests/testGaussianConditional.run + clean true true true - + make -j2 - tests/timeSLAMlike.run + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j5 + testAntiFactor.run + true + true + true + + + make + -j5 + testPriorFactor.run + true + true + true + + + make + -j5 + testDataset.run + true + true + true + + + make + -j5 + testEssentialMatrixFactor.run + true + true + true + + + make + -j5 + testGeneralSFMFactor_Cal3Bundler.run + true + true + true + + + make + -j5 + testGeneralSFMFactor.run + true + true + true + + + make + -j5 + testProjectionFactor.run + true + true + true + + + make + -j5 + testRotateFactor.run + true + true + true + + + make + -j5 + testPoseRotationPrior.run + true + true + true + + + make + -j5 + testImplicitSchurFactor.run + true + true + true + + + make + -j4 + testOrientedPlane3Factor.run + true + true + true + + + make + -j4 + testSmartProjectionPoseFactor.run + true + true + true + + + make + -j4 + testInitializePose3.run true true true @@ -2091,70 +3223,6 @@ true true - - make - -j5 - testEliminationTree.run - true - true - true - - - make - -j5 - testInference.run - true - true - true - - - make - -j5 - testKey.run - true - true - true - - - make - -j1 - testSymbolicBayesTree.run - true - false - true - - - make - -j1 - testSymbolicSequentialSolver.run - true - false - true - - - make - -j4 - testLabeledSymbol.run - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - clean - true - true - true - make -j5 @@ -2243,6 +3311,29 @@ true true + + make + -j4 + testImuFactor.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + tests/testGaussianISAM2 + true + false + true + make -j5 @@ -2339,983 +3430,6 @@ true true - - make - -j4 - testImuFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - tests/testLieConfig.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - - - cmake - .. - true - false - true - - - make - -j5 - testBTree.run - true - true - true - - - make - -j5 - testDSF.run - true - true - true - - - make - -j5 - testDSFMap.run - true - true - true - - - make - -j5 - testDSFVector.run - true - true - true - - - make - -j5 - testFixedVector.run - true - true - true - - - make - -j4 - testBearingFactor.run - true - true - true - - - make - -j4 - testRangeFactor.run - true - true - true - - - make - -j4 - testBearingRangeFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testGaussianConditional.run - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - timeGaussianFactor.run - true - true - true - - - make - -j2 - timeVectorConfig.run - true - true - true - - - make - -j2 - testVectorBTree.run - true - true - true - - - make - -j2 - testVectorMap.run - true - true - true - - - make - -j2 - testNoiseModel.run - true - true - true - - - make - -j2 - testBayesNetPreconditioner.run - true - true - true - - - make - testErrors.run - true - false - true - - - make - -j2 - check - true - true - true - - - make - -j2 - testClusterTree.run - true - true - true - - - make - -j2 - testJunctionTree.run - true - true - true - - - make - -j2 - tests/testEliminationTree.run - true - true - true - - - make - -j2 - tests/testSymbolicFactor.run - true - true - true - - - make - -j2 - tests/testVariableSlots.run - true - true - true - - - make - -j2 - tests/testConditional.run - true - true - true - - - make - -j2 - tests/testSymbolicFactorGraph.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testBTree.run - true - true - true - - - make - -j2 - testDSF.run - true - true - true - - - make - -j2 - testDSFVector.run - true - true - true - - - make - -j2 - testMatrix.run - true - true - true - - - make - -j2 - testSPQRUtil.run - true - true - true - - - make - -j2 - testVector.run - true - true - true - - - make - -j2 - timeMatrix.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testGaussianFactor.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - testNonlinearConstraint.run - true - true - true - - - make - -j2 - testLieConfig.run - true - true - true - - - make - -j2 - testConstraintOptimizer.run - true - true - true - - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - check - true - true - true - - - make - - tests/testGaussianISAM2 - true - false - true - - - make - -j3 - install - true - false - true - - - make - -j2 - clean - true - true - true - - - make - -j1 - check - true - false - true - - - make - -j5 - all - true - true - true - - - cmake - .. - true - false - true - - - make - -j5 - gtsam-shared - true - true - true - - - make - -j5 - gtsam-static - true - true - true - - - make - -j5 - timing - true - true - true - - - make - -j5 - examples - true - true - true - - - make - -j5 - VERBOSE=1 all - true - true - true - - - make - -j5 - VERBOSE=1 check - true - true - true - - - make - -j5 - check.base - true - true - true - - - make - -j5 - timing.base - true - true - true - - - make - -j2 VERBOSE=1 - check.geometry - true - false - true - - - make - -j5 - timing.geometry - true - true - true - - - make - -j2 VERBOSE=1 - check.inference - true - false - true - - - make - -j5 - timing.inference - true - true - true - - - make - -j2 VERBOSE=1 - check.linear - true - false - true - - - make - -j5 - timing.linear - true - true - true - - - make - -j2 VERBOSE=1 - check.nonlinear - true - false - true - - - make - -j5 - timing.nonlinear - true - true - true - - - make - -j2 VERBOSE=1 - check.slam - true - false - true - - - make - -j5 - timing.slam - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - VERBOSE=1 - wrap_gtsam - true - false - true - - - cpack - -G DEB - true - false - true - - - cpack - -G RPM - true - false - true - - - cpack - -G TGZ - true - false - true - - - cpack - --config CPackSourceConfig.cmake - true - false - true - - - make - -j5 - check.discrete - true - true - true - - - make - -j5 - check.discrete_unstable - true - true - true - - - make - -j5 - check.base_unstable - true - true - true - - - make - -j5 - check.dynamics_unstable - true - true - true - - - make - -j5 - check.slam_unstable - true - true - true - - - make - -j5 - check.unstable - true - true - true - - - make - -j5 - wrap_gtsam_build - true - true - true - - - make - -j5 - wrap_gtsam_unstable_build - true - true - true - - - make - -j5 - wrap_gtsam_unstable - true - true - true - - - make - -j5 - wrap - true - true - true - - - make - -j5 - wrap_gtsam_distclean - true - true - true - - - make - -j5 - wrap_gtsam_unstable_distclean - true - true - true - - - make - -j5 - doc - true - true - true - - - make - -j5 - doc_clean - true - true - true - - - make - -j5 - check - true - true - true - - - make - -j5 - check.geometry_unstable - true - true - true - - - make - -j5 - check.linear_unstable - true - true - true - - - make - -j6 -j8 - gtsam_unstable-shared - true - true - true - - - make - -j6 -j8 - gtsam_unstable-static - true - true - true - - - make - -j6 -j8 - check.nonlinear_unstable - true - true - true - - - make - -j5 - check.tests - true - true - true - - - make - -j2 VERBOSE=1 - check.navigation - true - false - true - - - make - -j4 - check.sam - true - true - true - - - make - -j5 - testAntiFactor.run - true - true - true - - - make - -j5 - testPriorFactor.run - true - true - true - - - make - -j5 - testDataset.run - true - true - true - - - make - -j5 - testEssentialMatrixFactor.run - true - true - true - - - make - -j5 - testGeneralSFMFactor_Cal3Bundler.run - true - true - true - - - make - -j5 - testGeneralSFMFactor.run - true - true - true - - - make - -j5 - testProjectionFactor.run - true - true - true - - - make - -j5 - testRotateFactor.run - true - true - true - - - make - -j5 - testPoseRotationPrior.run - true - true - true - - - make - -j5 - testImplicitSchurFactor.run - true - true - true - - - make - -j4 - testOrientedPlane3Factor.run - true - true - true - - - make - -j4 - testSmartProjectionPoseFactor.run - true - true - true - - - make - -j4 - testInitializePose3.run - true - true - true - make -j2 @@ -3412,146 +3526,26 @@ true true - + make - -j2 - all + -j4 + testBearingFactor.run true true true - + make - -j2 - check + -j4 + testRangeFactor.run true true true - + make - -j2 - clean - true - true - true - - - make - -j2 - testPlanarSLAM.run - true - true - true - - - make - -j2 - testPose2Config.run - true - true - true - - - make - -j2 - testPose2Factor.run - true - true - true - - - make - -j2 - testPose2Prior.run - true - true - true - - - make - -j2 - testPose2SLAM.run - true - true - true - - - make - -j2 - testPose3Config.run - true - true - true - - - make - -j2 - testPose3SLAM.run - true - true - true - - - make - - testSimulated2DOriented.run - true - false - true - - - make - -j2 - testVSLAMConfig.run - true - true - true - - - make - -j2 - testVSLAMFactor.run - true - true - true - - - make - -j2 - testVSLAMGraph.run - true - true - true - - - make - -j2 - testPose3Factor.run - true - true - true - - - make - - testSimulated2D.run - true - false - true - - - make - - testSimulated3D.run - true - false - true - - - make - -j2 - tests/testGaussianISAM2 + -j4 + testBearingRangeFactor.run true true true From 73f9b9d3fb75386997d2b08953efea7d6a50ec08 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:26:43 -0800 Subject: [PATCH 904/964] Better behaved numerics --- gtsam/geometry/SO3.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index a417164e4..ca80167f4 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -47,7 +47,7 @@ SO3 SO3::AxisAngle(const Vector3& axis, double theta) { // get components of axis \omega, where is a unit vector const double& wx = axis.x(), wy = axis.y(), wz = axis.z(); - const double costheta = cos(theta), sintheta = sin(theta), c_1 = 1 - costheta; + const double costheta = cos(theta), sintheta = sin(theta), s2 = sin(theta/2.0), c_1 = 2.0*s2*s2; const double wx_sintheta = wx * sintheta, wy_sintheta = wy * sintheta, wz_sintheta = wz * sintheta; @@ -130,7 +130,6 @@ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { /* ************************************************************************* */ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { - using std::cos; using std::sin; const double theta2 = omega.dot(omega); From 27405fc1852acb1754b8d30a645c6cbf25117bc2 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:26:57 -0800 Subject: [PATCH 905/964] renaming variables --- gtsam/geometry/Pose3.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index f373e5ad4..9954240fd 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -120,9 +120,9 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> H) { Rot3 R = Rot3::Expmap(omega.vector()); double theta2 = omega.dot(omega); if (theta2 > std::numeric_limits::epsilon()) { - double omega_v = omega.dot(v); // translation parallel to axis - Point3 omega_cross_v = omega.cross(v); // points towards axis - Point3 t = (omega_cross_v - R * omega_cross_v + omega_v * omega) / theta2; + Point3 t_parallel = omega * omega.dot(v); // translation parallel to axis + Point3 omega_cross_v = omega.cross(v); // points towards axis + Point3 t = (omega_cross_v - R * omega_cross_v + t_parallel) / theta2; return Pose3(R, t); } else { return Pose3(R, v); From e66fcf8612fcc9a6a20eff1339a4b44a374276b6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:27:18 -0800 Subject: [PATCH 906/964] New tests --- gtsam/geometry/tests/testPoint3.cpp | 11 ++++ gtsam/geometry/tests/testPose3.cpp | 37 ++++++++++- gtsam/geometry/tests/testRot3.cpp | 99 +++++++++++++++++++++++------ 3 files changed, 125 insertions(+), 22 deletions(-) diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp index 6811ed122..246d23c9a 100644 --- a/gtsam/geometry/tests/testPoint3.cpp +++ b/gtsam/geometry/tests/testPoint3.cpp @@ -133,6 +133,17 @@ TEST (Point3, distance) { EXPECT(assert_equal(numH2, H2, 1e-8)); } +/* ************************************************************************* */ +TEST(Point3, cross) { + Matrix aH1, aH2; + boost::function f = + boost::bind(&Point3::cross, _1, _2, boost::none, boost::none); + const Point3 omega(0, 1, 0), theta(4, 6, 8); + omega.cross(theta, aH1, aH2); + EXPECT(assert_equal(numericalDerivative21(f, omega, theta), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, theta), aH2)); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index fb3907df3..56e1e022c 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -715,7 +715,42 @@ TEST( Pose3, ExpmapDerivative1) { } /* ************************************************************************* */ -TEST( Pose3, LogmapDerivative1) { +TEST(Pose3, ExpmapDerivative2) { + // Iserles05an (Lie-group Methods) says: + // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) + // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) + // where A(t): T -> se(3) is a trajectory in the tangent space of SE(3) + // and dexp[A] is a linear map from 4*4 to 4*4 derivatives of se(3) + // Hence, the above matrix equation is typed: 4*4 = SE(3) * linear_map(4*4) + + // In GTSAM, we don't work with the Lie-algebra elements A directly, but with 6-vectors. + // xi is easy: d Expmap(xi(t)) / dt = ExmapDerivative[xi(t)] * xi'(t) + + // Let's verify the above formula. + + auto xi = [](double t) { + Vector6 v; + v << 2 * t, sin(t), 4 * t * t, 2 * t, sin(t), 4 * t * t; + return v; + }; + auto xi_dot = [](double t) { + Vector6 v; + v << 2, cos(t), 8 * t, 2, cos(t), 8 * t; + return v; + }; + + // We define a function T + auto T = [xi](double t) { return Pose3::Expmap(xi(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(T, t); + const Matrix actual = Pose3::ExpmapDerivative(xi(t)) * xi_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } +} + +/* ************************************************************************* */ +TEST( Pose3, LogmapDerivative) { Matrix6 actualH; Vector6 w; w << 0.1, 0.2, 0.3, 4.0, 5.0, 6.0; Pose3 p = Pose3::Expmap(w); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 3cf3f9387..25ddd16ce 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -244,44 +244,99 @@ TEST(Rot3, retract_localCoordinates2) EXPECT(assert_equal(t1, t2.retract(d21))); } /* ************************************************************************* */ -Vector w = Vector3(0.1, 0.27, -0.2); - -// Left trivialization Derivative of exp(w) wrpt w: +namespace exmap_derivative { +static const Vector3 w(0.1, 0.27, -0.2); +} +// Left trivialized Derivative of exp(w) wrpt w: // How does exp(w) change when w changes? // We find a y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0 // => y = log (exp(-w) * exp(w+dw)) Vector3 testDexpL(const Vector3& dw) { + using exmap_derivative::w; return Rot3::Logmap(Rot3::Expmap(-w) * Rot3::Expmap(w + dw)); } TEST( Rot3, ExpmapDerivative) { - Matrix actualDexpL = Rot3::ExpmapDerivative(w); - Matrix expectedDexpL = numericalDerivative11(testDexpL, + using exmap_derivative::w; + const Matrix actualDexpL = Rot3::ExpmapDerivative(w); + const Matrix expectedDexpL = numericalDerivative11(testDexpL, Vector3::Zero(), 1e-2); EXPECT(assert_equal(expectedDexpL, actualDexpL,1e-7)); - Matrix actualDexpInvL = Rot3::LogmapDerivative(w); + const Matrix actualDexpInvL = Rot3::LogmapDerivative(w); EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL,1e-7)); + } + +/* ************************************************************************* */ +TEST( Rot3, ExpmapDerivative2) +{ + const Vector3 theta(0.1, 0, 0.1); + const Matrix Jexpected = numericalDerivative11( + boost::bind(&Rot3::Expmap, _1, boost::none), theta); + + CHECK(assert_equal(Jexpected, Rot3::ExpmapDerivative(theta))); + CHECK(assert_equal(Matrix3(Jexpected.transpose()), Rot3::ExpmapDerivative(-theta))); } /* ************************************************************************* */ -Vector3 thetahat(0.1, 0, 0.1); -TEST( Rot3, ExpmapDerivative2) +TEST( Rot3, ExpmapDerivative3) { - Matrix Jexpected = numericalDerivative11( - boost::bind(&Rot3::Expmap, _1, boost::none), thetahat); + const Vector3 theta(10, 20, 30); + const Matrix Jexpected = numericalDerivative11( + boost::bind(&Rot3::Expmap, _1, boost::none), theta); - Matrix Jactual = Rot3::ExpmapDerivative(thetahat); - CHECK(assert_equal(Jexpected, Jactual)); + CHECK(assert_equal(Jexpected, Rot3::ExpmapDerivative(theta))); + CHECK(assert_equal(Matrix3(Jexpected.transpose()), Rot3::ExpmapDerivative(-theta))); +} - Matrix Jactual2 = Rot3::ExpmapDerivative(thetahat); - CHECK(assert_equal(Jexpected, Jactual2)); +/* ************************************************************************* */ +TEST(Rot3, ExpmapDerivative4) { + // Iserles05an (Lie-group Methods) says: + // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) + // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) + // where A(t): R -> so(3) is a trajectory in the tangent space of SO(3) + // and dexp[A] is a linear map from 3*3 to 3*3 derivatives of se(3) + // Hence, the above matrix equation is typed: 3*3 = SO(3) * linear_map(3*3) + + // In GTSAM, we don't work with the skew-symmetric matrices A directly, but with 3-vectors. + // omega is easy: d Expmap(w(t)) / dt = ExmapDerivative[w(t)] * w'(t) + + // Let's verify the above formula. + + auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; + auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + + // We define a function R + auto R = [w](double t) { return Rot3::Expmap(w(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(R, t); + const Matrix actual = Rot3::ExpmapDerivative(w(t)) * w_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } +} + +/* ************************************************************************* */ +TEST(Rot3, ExpmapDerivative5) { + auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; + auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + + // Same as above, but define R as mapping local coordinates to neighborhood aroud R0. + const Rot3 R0 = Rot3::Rodrigues(0.1, 0.4, 0.2); + auto R = [R0, w](double t) { return R0.expmap(w(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(R, t); + const Matrix actual = Rot3::ExpmapDerivative(w(t)) * w_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } } /* ************************************************************************* */ TEST( Rot3, jacobianExpmap ) { - Matrix Jexpected = numericalDerivative11(boost::bind( + const Vector3 thetahat(0.1, 0, 0.1); + const Matrix Jexpected = numericalDerivative11(boost::bind( &Rot3::Expmap, _1, boost::none), thetahat); Matrix3 Jactual; const Rot3 R = Rot3::Expmap(thetahat, Jactual); @@ -291,18 +346,20 @@ TEST( Rot3, jacobianExpmap ) /* ************************************************************************* */ TEST( Rot3, LogmapDerivative ) { - Rot3 R = Rot3::Expmap(thetahat); // some rotation - Matrix Jexpected = numericalDerivative11(boost::bind( + const Vector3 thetahat(0.1, 0, 0.1); + const Rot3 R = Rot3::Expmap(thetahat); // some rotation + const Matrix Jexpected = numericalDerivative11(boost::bind( &Rot3::Logmap, _1, boost::none), R); - Matrix3 Jactual = Rot3::LogmapDerivative(thetahat); + const Matrix3 Jactual = Rot3::LogmapDerivative(thetahat); EXPECT(assert_equal(Jexpected, Jactual)); } /* ************************************************************************* */ -TEST( Rot3, jacobianLogmap ) +TEST( Rot3, JacobianLogmap ) { - Rot3 R = Rot3::Expmap(thetahat); // some rotation - Matrix Jexpected = numericalDerivative11(boost::bind( + const Vector3 thetahat(0.1, 0, 0.1); + const Rot3 R = Rot3::Expmap(thetahat); // some rotation + const Matrix Jexpected = numericalDerivative11(boost::bind( &Rot3::Logmap, _1, boost::none), R); Matrix3 Jactual; Rot3::Logmap(R, Jactual); From a1b23b24bc6a6da5757da1f97e7a98d0e2f62722 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:27:33 -0800 Subject: [PATCH 907/964] Take ordering into account --- gtsam/linear/GaussianBayesNet.cpp | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index b3b8b9a41..6db13adb6 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -141,7 +141,20 @@ namespace gtsam { /* ************************************************************************* */ pair GaussianBayesNet::matrix() const { - return GaussianFactorGraph(*this).jacobian(); + GaussianFactorGraph factorGraph(*this); + KeySet keys = factorGraph.keys(); + // add frontal keys in order + Ordering ordering; + BOOST_FOREACH (const sharedConditional& cg, *this) + BOOST_FOREACH (Key key, cg->frontals()) { + ordering.push_back(key); + keys.erase(key); + } + // add remaining keys in case Bayes net is incomplete + BOOST_FOREACH (Key key, keys) + ordering.push_back(key); + // return matrix and RHS + return factorGraph.jacobian(ordering); } ///* ************************************************************************* */ From 361101fdd9bb96c6ff225a7f489287d27e164e83 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:31:05 -0800 Subject: [PATCH 908/964] Improved/refactored example --- python/gtsam_examples/VisualISAM2Example.py | 72 +++++++++++---------- 1 file changed, 37 insertions(+), 35 deletions(-) diff --git a/python/gtsam_examples/VisualISAM2Example.py b/python/gtsam_examples/VisualISAM2Example.py index 4d7889e9b..9dafa13e7 100644 --- a/python/gtsam_examples/VisualISAM2Example.py +++ b/python/gtsam_examples/VisualISAM2Example.py @@ -3,19 +3,23 @@ from __future__ import print_function import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D import numpy as np -import time # for sleep() +import time # for sleep() import gtsam from gtsam_examples import SFMdata import gtsam_utils +# shorthand symbols: +X = lambda i: int(gtsam.Symbol('x', i)) +L = lambda j: int(gtsam.Symbol('l', j)) + def visual_ISAM2_plot(poses, points, result): # VisualISAMPlot plots current state of ISAM2 object # Author: Ellon Paiva # Based on MATLAB version by: Duy Nguyen Ta and Frank Dellaert # Declare an id for the figure - fignum = 0; + fignum = 0 fig = plt.figure(fignum) ax = fig.gca(projection='3d') @@ -23,33 +27,31 @@ def visual_ISAM2_plot(poses, points, result): # Plot points # Can't use data because current frame might not see all points - # marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()); # TODO - this is slow - # gtsam.plot3DPoints(result, [], marginals); - gtsam_utils.plot3DPoints(fignum, result, 'rx'); + # marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()) # TODO - this is slow + # gtsam.plot3DPoints(result, [], marginals) + gtsam_utils.plot3DPoints(fignum, result, 'rx') # Plot cameras - M = 0; - while result.exists(int(gtsam.Symbol('x',M))): - ii = int(gtsam.Symbol('x',M)); - pose_i = result.pose3_at(ii); - gtsam_utils.plotPose3(fignum, pose_i, 10); - - M = M + 1; + i = 0 + while result.exists(X(i)): + pose_i = result.atPose3(X(i)) + gtsam_utils.plotPose3(fignum, pose_i, 10) + i += 1 # draw ax.set_xlim3d(-40, 40) ax.set_ylim3d(-40, 40) ax.set_zlim3d(-40, 40) - plt.ion() - plt.show() - plt.draw() + plt.pause(1) def visual_ISAM2_example(): + plt.ion() + # Define the camera calibration parameters K = gtsam.Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0) # Define the camera observation noise model - measurementNoise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v + measurementNoise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v # Create the set of ground-truth landmarks points = SFMdata.createPoints() @@ -78,29 +80,29 @@ def visual_ISAM2_example(): for j, point in enumerate(points): camera = gtsam.PinholeCameraCal3_S2(pose, K) measurement = camera.project(point) - graph.push_back(gtsam.GenericProjectionFactorCal3_S2(measurement, measurementNoise, int(gtsam.Symbol('x', i)), int(gtsam.Symbol('l', j)), K)) + graph.push_back(gtsam.GenericProjectionFactorCal3_S2(measurement, measurementNoise, X(i), L(j), K)) # Add an initial guess for the current pose # Intentionally initialize the variables off from the ground truth - initialEstimate.insert(int(gtsam.Symbol('x', i)), pose.compose(gtsam.Pose3(gtsam.Rot3.Rodrigues(-0.1, 0.2, 0.25), gtsam.Point3(0.05, -0.10, 0.20)))) + initialEstimate.insert(X(i), pose.compose(gtsam.Pose3(gtsam.Rot3.Rodrigues(-0.1, 0.2, 0.25), gtsam.Point3(0.05, -0.10, 0.20)))) # If this is the first iteration, add a prior on the first pose to set the coordinate frame # and a prior on the first landmark to set the scale # Also, as iSAM solves incrementally, we must wait until each is observed at least twice before # adding it to iSAM. - if( i == 0): + if(i == 0): # Add a prior on pose x0 - poseNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw - graph.push_back(gtsam.PriorFactorPose3(int(gtsam.Symbol('x', 0)), poses[0], poseNoise)) + poseNoise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1])) # 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + graph.push_back(gtsam.PriorFactorPose3(X(0), poses[0], poseNoise)) # Add a prior on landmark l0 pointNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1) - graph.push_back(gtsam.PriorFactorPoint3(int(gtsam.Symbol('l', 0)), points[0], pointNoise)) # add directly to graph + graph.push_back(gtsam.PriorFactorPoint3(L(0), points[0], pointNoise)) # add directly to graph # Add initial guesses to all observed landmarks # Intentionally initialize the variables off from the ground truth for j, point in enumerate(points): - initialEstimate.insert(int(gtsam.Symbol('l', j)), point + gtsam.Point3(-0.25, 0.20, 0.15)); + initialEstimate.insert(L(j), point + gtsam.Point3(-0.25, 0.20, 0.15)) else: # Update iSAM with the new factors isam.update(graph, initialEstimate) @@ -108,23 +110,23 @@ def visual_ISAM2_example(): # If accuracy is desired at the expense of time, update(*) can be called additional times # to perform multiple optimizer iterations every step. isam.update() - currentEstimate = isam.calculate_estimate(); - print( "****************************************************" ) - print( "Frame", i, ":" ) - for j in range(i+1): - print( gtsam.Symbol('x',j) ) - print( currentEstimate.pose3_at(int(gtsam.Symbol('x',j))) ) + currentEstimate = isam.calculate_estimate() + print("****************************************************") + print("Frame", i, ":") + for j in range(i + 1): + print(X(j), ":", currentEstimate.atPose3(X(j))) for j in range(len(points)): - print( gtsam.Symbol('l',j) ) - print( currentEstimate.point3_at(int(gtsam.Symbol('l',j))) ) + print(L(j), ":", currentEstimate.atPoint3(L(j))) - visual_ISAM2_plot(poses, points, currentEstimate); - time.sleep(1) + visual_ISAM2_plot(poses, points, currentEstimate) # Clear the factor graph and values for the next iteration - graph.resize(0); - initialEstimate.clear(); + graph.resize(0) + initialEstimate.clear() + + plt.ioff() + plt.show() if __name__ == '__main__': visual_ISAM2_example() From 1b9b90803abc4807765c63ffab1a7dfb0713e12f Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:31:44 -0800 Subject: [PATCH 909/964] Committed to MATLAB atT methods --- python/handwritten/nonlinear/Values.cpp | 76 ++++++------------------- 1 file changed, 16 insertions(+), 60 deletions(-) diff --git a/python/handwritten/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp index 6715fb071..84e82f376 100644 --- a/python/handwritten/nonlinear/Values.cpp +++ b/python/handwritten/nonlinear/Values.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -26,61 +26,17 @@ #include "gtsam/geometry/Point3.h" #include "gtsam/geometry/Rot3.h" #include "gtsam/geometry/Pose3.h" +#include "gtsam/navigation/ImuBias.h" using namespace boost::python; using namespace gtsam; -/** The function ValuesAt is a workaround to be able to call the correct templated version - * of Values::at. Without it, python would only try to match the last 'at' metho defined - * below. With this wrapper function we can call 'at' in python passing an extra type, - * which will define the type to be returned. Example: - * - * >>> import gtsam - * >>> v = gtsam.nonlinear.Values() - * >>> v.insert(1,gtsam.geometry.Point3()) - * >>> v.insert(2,gtsam.geometry.Rot3()) - * >>> v.insert(3,gtsam.geometry.Pose3()) - * >>> v.at(1,gtsam.geometry.Point3()) - * >>> v.at(2,gtsam.geometry.Rot3()) - * >>> v.at(3,gtsam.geometry.Pose3()) - * - * A more 'pythonic' way I think would be to not use this function and define different - * 'at' methods below using the name of the type in the function name, like: - * - * .def("point3_at", &Values::at, return_internal_reference<>()) - * .def("rot3_at", &Values::at, return_internal_reference<>()) - * .def("pose3_at", &Values::at, return_internal_reference<>()) - * - * and then they could be accessed from python as - * - * >>> import gtsam - * >>> v = gtsam.nonlinear.Values() - * >>> v.insert(1,gtsam.geometry.Point3()) - * >>> v.insert(2,gtsam.geometry.Rot3()) - * >>> v.insert(3,gtsam.geometry.Pose3()) - * >>> v.point3_at(1) - * >>> v.rot3_at(2) - * >>> v.pose3_at(3) - * - * In fact, I just saw the pythonic way sounds more clear, so I'm sticking with this and - * leaving the comments here for future reference. I'm using the PEP0008 for method naming. - * See: https://www.python.org/dev/peps/pep-0008/#function-and-method-arguments - */ -// template -// const T & ValuesAt( const Values & v, Key j, T /*type*/) -// { -// return v.at(j); -// } - BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Values::print, 0, 1); void exportValues(){ - // NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below - // will compile, but are useless in the python wrapper. We need to use specific - // 'at' and 'insert' methods for each type. - // const Value& (Values::*at1)(Key) const = &Values::at; - // void (Values::*insert1)(Key, const Value&) = &Values::insert; + typedef imuBias::ConstantBias Bias; + bool (Values::*exists1)(Key) const = &Values::exists; void (Values::*insert_point2)(Key, const gtsam::Point2&) = &Values::insert; void (Values::*insert_rot2) (Key, const gtsam::Rot2&) = &Values::insert; @@ -88,7 +44,8 @@ void exportValues(){ void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert; void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert; void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert; - + void (Values::*insert_bias) (Key, const Bias&) = &Values::insert; + void (Values::*insert_vector3) (Key, const gtsam::Vector3&) = &Values::insert; class_("Values", init<>()) .def(init()) @@ -101,23 +58,22 @@ void exportValues(){ .def("print", &Values::print, print_overloads(args("s"))) .def("size", &Values::size) .def("swap", &Values::swap) - // NOTE: Following commented lines add useless methods on Values - // .def("insert", insert1) - // .def("at", at1, return_value_policy()) .def("insert", insert_point2) .def("insert", insert_rot2) .def("insert", insert_pose2) .def("insert", insert_point3) .def("insert", insert_rot3) .def("insert", insert_pose3) - // NOTE: The following commented lines are another way of specializing the return type. - // See long comment above. - // .def("at", &ValuesAt, return_internal_reference<>()) - // .def("at", &ValuesAt, return_internal_reference<>()) - // .def("at", &ValuesAt, return_internal_reference<>()) - .def("point3_at", &Values::at, return_value_policy()) - .def("rot3_at", &Values::at, return_value_policy()) - .def("pose3_at", &Values::at, return_value_policy()) + .def("insert", insert_bias) + .def("insert", insert_vector3) + .def("atPoint2", &Values::at, return_value_policy()) + .def("atRot2", &Values::at, return_value_policy()) + .def("atPose2", &Values::at, return_value_policy()) + .def("atPoint3", &Values::at, return_value_policy()) + .def("atRot3", &Values::at, return_value_policy()) + .def("atPose3", &Values::at, return_value_policy()) + .def("atConstantBias", &Values::at, return_value_policy()) + .def("atVector3", &Values::at, return_value_policy()) .def("exists", exists1) .def("keys", &Values::keys) ; From 659caa58c1d838bf092052b379ee336991169984 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:32:02 -0800 Subject: [PATCH 910/964] getNonlinearFactor --- .../nonlinear/NonlinearFactorGraph.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp index f1e14deda..4ba4ba008 100644 --- a/python/handwritten/nonlinear/NonlinearFactorGraph.cpp +++ b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -11,7 +11,7 @@ /** * @brief exports NonlinearFactorGraph class to python - * @author Andrew Melim + * @author Andrew Melim * @author Ellon Paiva Mendes (LAAS-CNRS) **/ @@ -28,6 +28,13 @@ using namespace gtsam; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, NonlinearFactorGraph::print, 0, 1); +boost::shared_ptr getNonlinearFactor( + const NonlinearFactorGraph& graph, size_t idx) { + auto p = boost::dynamic_pointer_cast(graph.at(idx)); + if (!p) throw std::runtime_error("No NonlinearFactor at requested index"); + return p; +}; + void exportNonlinearFactorGraph(){ typedef NonlinearFactorGraph::sharedFactor sharedFactor; @@ -36,7 +43,7 @@ void exportNonlinearFactorGraph(){ void (NonlinearFactorGraph::*add1)(const sharedFactor&) = &NonlinearFactorGraph::add; class_("NonlinearFactorGraph", init<>()) - .def("size",&NonlinearFactorGraph::size) + .def("size",&NonlinearFactorGraph::size) .def("push_back", push_back1) .def("add", add1) .def("resize", &NonlinearFactorGraph::resize) @@ -44,4 +51,6 @@ void exportNonlinearFactorGraph(){ .def("print", &NonlinearFactorGraph::print, print_overloads(args("s"))) ; + def("getNonlinearFactor", getNonlinearFactor); + } From c4494ba9691a6c132d0d1be9ee72f550e606f626 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:32:20 -0800 Subject: [PATCH 911/964] Small changes --- python/handwritten/slam/BetweenFactor.cpp | 18 +++++++++--------- python/handwritten/slam/PriorFactor.cpp | 7 ++++--- 2 files changed, 13 insertions(+), 12 deletions(-) diff --git a/python/handwritten/slam/BetweenFactor.cpp b/python/handwritten/slam/BetweenFactor.cpp index b6fc552a0..0e0949fb5 100644 --- a/python/handwritten/slam/BetweenFactor.cpp +++ b/python/handwritten/slam/BetweenFactor.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -11,7 +11,7 @@ /** * @brief wraps BetweenFactor for several values to python - * @author Andrew Melim + * @author Andrew Melim * @author Ellon Paiva Mendes (LAAS-CNRS) **/ @@ -33,17 +33,17 @@ using namespace gtsam; using namespace std; -// template +// template // void exportBetweenFactor(const std::string& name){ -// class_(name, init<>()) -// .def(init()) +// class_(name, init<>()) +// .def(init()) // ; // } -#define BETWEENFACTOR(VALUE) \ - class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#VALUE) \ - .def(init()) \ - .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ +#define BETWEENFACTOR(T) \ + class_< BetweenFactor, bases, boost::shared_ptr< BetweenFactor > >("BetweenFactor"#T) \ + .def(init()) \ + .def("measured", &BetweenFactor::measured, return_internal_reference<>()) \ ; void exportBetweenFactors() diff --git a/python/handwritten/slam/PriorFactor.cpp b/python/handwritten/slam/PriorFactor.cpp index dcb9de8ea..3ada91f43 100644 --- a/python/handwritten/slam/PriorFactor.cpp +++ b/python/handwritten/slam/PriorFactor.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -11,7 +11,7 @@ /** * @brief wraps PriorFactor for several values to python - * @author Andrew Melim + * @author Andrew Melim * @author Ellon Paiva Mendes (LAAS-CNRS) **/ @@ -54,4 +54,5 @@ void exportPriorFactors() PRIORFACTOR(Point3) PRIORFACTOR(Rot3) PRIORFACTOR(Pose3) -} \ No newline at end of file + PRIORFACTOR(Vector3) +} From 1d62faa5a5a055e32ea34a96ffad0c2056fdf4c1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:32:36 -0800 Subject: [PATCH 912/964] Refactored plot without underscores --- python/gtsam_utils/__init__.py | 2 +- python/gtsam_utils/plot.py | 59 ++++++++++++++++++++++++++++++++++ 2 files changed, 60 insertions(+), 1 deletion(-) create mode 100644 python/gtsam_utils/plot.py diff --git a/python/gtsam_utils/__init__.py b/python/gtsam_utils/__init__.py index 0ef2dfcd3..56c55aa94 100644 --- a/python/gtsam_utils/__init__.py +++ b/python/gtsam_utils/__init__.py @@ -1 +1 @@ -from ._plot import * +from .plot import * diff --git a/python/gtsam_utils/plot.py b/python/gtsam_utils/plot.py new file mode 100644 index 000000000..84a388bbb --- /dev/null +++ b/python/gtsam_utils/plot.py @@ -0,0 +1,59 @@ +import numpy as np +import matplotlib.pyplot as plt +from mpl_toolkits.mplot3d import Axes3D as _Axes3D + +def plotPoint3(fignum, point, linespec): + fig = plt.figure(fignum) + ax = fig.gca(projection='3d') + ax.plot([point.x()], [point.y()], [point.z()], linespec) + + +def plot3DPoints(fignum, values, linespec, marginals=None): + # PLOT3DPOINTS Plots the Point3's in a values, with optional covariances + # Finds all the Point3 objects in the given Values object and plots them. + # If a Marginals object is given, this function will also plot marginal + # covariance ellipses for each point. + + keys = values.keys() + + # Plot points and covariance matrices + for key in keys: + try: + p = values.atPoint3(key); + # if haveMarginals + # P = marginals.marginalCovariance(key); + # gtsam.plotPoint3(p, linespec, P); + # else + plotPoint3(fignum, p, linespec); + except RuntimeError: + continue + # I guess it's not a Point3 + +def plotPose3(fignum, pose, axisLength=0.1): + # get figure object + fig = plt.figure(fignum) + ax = fig.gca(projection='3d') + + # get rotation and translation (center) + gRp = pose.rotation().matrix() # rotation from pose to global + C = pose.translation().vector() + + # draw the camera axes + xAxis = C + gRp[:, 0] * axisLength + L = np.append(C[np.newaxis], xAxis[np.newaxis], axis=0) + ax.plot(L[:, 0], L[:, 1], L[:, 2], 'r-') + + yAxis = C + gRp[:, 1] * axisLength + L = np.append(C[np.newaxis], yAxis[np.newaxis], axis=0) + ax.plot(L[:, 0], L[:, 1], L[:, 2], 'g-') + + zAxis = C + gRp[:, 2] * axisLength + L = np.append(C[np.newaxis], zAxis[np.newaxis], axis=0) + ax.plot(L[:, 0], L[:, 1], L[:, 2], 'b-') + + # # plot the covariance + # if (nargin>2) && (~isempty(P)) + # pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame + # gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame + # gtsam.covarianceEllipse3D(C,gPp); + # end From 8333172ee62ffa472faa07ac212e0c971089b0cc Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 01:45:50 -0800 Subject: [PATCH 913/964] Comment out IMU things for now to have Jenkins check everything else --- gtsam.h | 186 ++++++++++++++++++++++++++++---------------------------- 1 file changed, 93 insertions(+), 93 deletions(-) diff --git a/gtsam.h b/gtsam.h index 57a1e09be..7aada0dc5 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2479,99 +2479,99 @@ class ConstantBias { }///\namespace imuBias -#include -class PoseVelocityBias{ - PoseVelocityBias(const gtsam::Pose3& pose, Vector velocity, const gtsam::imuBias::ConstantBias& bias); - }; -class PreintegratedImuMeasurements { - // Standard Constructor - PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration); - PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance); - // PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements& rhs); - - // Testable - void print(string s) const; - bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); - - double deltaTij() const; - gtsam::Rot3 deltaRij() const; - Vector deltaPij() const; - Vector deltaVij() const; - Vector biasHatVector() const; - Matrix delPdelBiasAcc() const; - Matrix delPdelBiasOmega() const; - Matrix delVdelBiasAcc() const; - Matrix delVdelBiasOmega() const; - Matrix delRdelBiasOmega() const; - Matrix preintMeasCov() const; - - // Standard Interface - void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); - gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, - Vector gravity, Vector omegaCoriolis) const; -}; - -virtual class ImuFactor : gtsam::NonlinearFactor { - ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, - const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis); - ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, - const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis, - const gtsam::Pose3& body_P_sensor); - // Standard Interface - gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; -}; - -#include -class PreintegratedCombinedMeasurements { - // Standard Constructor - PreintegratedCombinedMeasurements( - const gtsam::imuBias::ConstantBias& bias, - Matrix measuredAccCovariance, - Matrix measuredOmegaCovariance, - Matrix integrationErrorCovariance, - Matrix biasAccCovariance, - Matrix biasOmegaCovariance, - Matrix biasAccOmegaInit); - PreintegratedCombinedMeasurements( - const gtsam::imuBias::ConstantBias& bias, - Matrix measuredAccCovariance, - Matrix measuredOmegaCovariance, - Matrix integrationErrorCovariance, - Matrix biasAccCovariance, - Matrix biasOmegaCovariance, - Matrix biasAccOmegaInit, - bool use2ndOrderIntegration); - // PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& rhs); - - // Testable - void print(string s) const; - bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol); - - double deltaTij() const; - gtsam::Rot3 deltaRij() const; - Vector deltaPij() const; - Vector deltaVij() const; - Vector biasHatVector() const; - Matrix delPdelBiasAcc() const; - Matrix delPdelBiasOmega() const; - Matrix delVdelBiasAcc() const; - Matrix delVdelBiasOmega() const; - Matrix delRdelBiasOmega() const; - Matrix preintMeasCov() const; - - // Standard Interface - void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); - gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, - Vector gravity, Vector omegaCoriolis) const; -}; - -virtual class CombinedImuFactor : gtsam::NonlinearFactor { - CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j, - const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); - // Standard Interface - gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; -}; - +//#include +//class PoseVelocityBias{ +// PoseVelocityBias(const gtsam::Pose3& pose, Vector velocity, const gtsam::imuBias::ConstantBias& bias); +// }; +//class PreintegratedImuMeasurements { +// // Standard Constructor +// PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration); +// PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance); +// // PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements& rhs); +// +// // Testable +// void print(string s) const; +// bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); +// +// double deltaTij() const; +// gtsam::Rot3 deltaRij() const; +// Vector deltaPij() const; +// Vector deltaVij() const; +// Vector biasHatVector() const; +// Matrix delPdelBiasAcc() const; +// Matrix delPdelBiasOmega() const; +// Matrix delVdelBiasAcc() const; +// Matrix delVdelBiasOmega() const; +// Matrix delRdelBiasOmega() const; +// Matrix preintMeasCov() const; +// +// // Standard Interface +// void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); +// gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, +// Vector gravity, Vector omegaCoriolis) const; +//}; +// +//virtual class ImuFactor : gtsam::NonlinearFactor { +// ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, +// const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis); +// ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, +// const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis, +// const gtsam::Pose3& body_P_sensor); +// // Standard Interface +// gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; +//}; +// +//#include +//class PreintegratedCombinedMeasurements { +// // Standard Constructor +// PreintegratedCombinedMeasurements( +// const gtsam::imuBias::ConstantBias& bias, +// Matrix measuredAccCovariance, +// Matrix measuredOmegaCovariance, +// Matrix integrationErrorCovariance, +// Matrix biasAccCovariance, +// Matrix biasOmegaCovariance, +// Matrix biasAccOmegaInit); +// PreintegratedCombinedMeasurements( +// const gtsam::imuBias::ConstantBias& bias, +// Matrix measuredAccCovariance, +// Matrix measuredOmegaCovariance, +// Matrix integrationErrorCovariance, +// Matrix biasAccCovariance, +// Matrix biasOmegaCovariance, +// Matrix biasAccOmegaInit, +// bool use2ndOrderIntegration); +// // PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& rhs); +// +// // Testable +// void print(string s) const; +// bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol); +// +// double deltaTij() const; +// gtsam::Rot3 deltaRij() const; +// Vector deltaPij() const; +// Vector deltaVij() const; +// Vector biasHatVector() const; +// Matrix delPdelBiasAcc() const; +// Matrix delPdelBiasOmega() const; +// Matrix delVdelBiasAcc() const; +// Matrix delVdelBiasOmega() const; +// Matrix delRdelBiasOmega() const; +// Matrix preintMeasCov() const; +// +// // Standard Interface +// void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); +// gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, +// Vector gravity, Vector omegaCoriolis) const; +//}; +// +//virtual class CombinedImuFactor : gtsam::NonlinearFactor { +// CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j, +// const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); +// // Standard Interface +// gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; +//}; +// #include class PreintegratedAhrsMeasurements { // Standard Constructor From da9a5e274667d64e27328ea653b617708ffd1414 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 08:24:00 -0800 Subject: [PATCH 914/964] Moved ostream and print to cpp to not pollute includes --- gtsam/navigation/ImuBias.cpp | 82 ++++++++++++++++++++++++++++++++++++ gtsam/navigation/ImuBias.h | 53 ++--------------------- 2 files changed, 86 insertions(+), 49 deletions(-) create mode 100644 gtsam/navigation/ImuBias.cpp diff --git a/gtsam/navigation/ImuBias.cpp b/gtsam/navigation/ImuBias.cpp new file mode 100644 index 000000000..0dbc5736f --- /dev/null +++ b/gtsam/navigation/ImuBias.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 ImuBias.cpp + * @date Feb 2, 2012 + * @author Vadim Indelman, Stephen Williams + */ + +#include "ImuBias.h" + +#include +#include + +namespace gtsam { + +/// All bias models live in the imuBias namespace +namespace imuBias { + +/* + * NOTES: + * - Earth-rate correction: + * + Currently the user should supply R_ECEF_to_G, which is the rotation from ECEF to Local-Level system (NED or ENU as defined by the user). + * + R_ECEF_to_G can be calculated by approximated values of latitude and longitude of the system. + * + A relatively small distance is traveled w.r.t. to initial pose is assumed, since R_ECEF_to_G is constant. + * Otherwise, R_ECEF_to_G should be updated each time using the current lat-lon. + * + * - Currently, an empty constructed is not enabled so that the user is forced to specify R_ECEF_to_G. + */ +// // H1: Jacobian w.r.t. IMUBias +// // H2: Jacobian w.r.t. pose +// Vector CorrectGyroWithEarthRotRate(Vector measurement, const Pose3& pose, const Vector& w_earth_rate_G, +// boost::optional H1=boost::none, boost::optional H2=boost::none) const { +// +// Matrix R_G_to_I( pose.rotation().matrix().transpose() ); +// Vector w_earth_rate_I = R_G_to_I * w_earth_rate_G; +// +// if (H1){ +// Matrix zeros3_3(zeros(3,3)); +// Matrix m_eye3(-eye(3)); +// +// *H1 = collect(2, &zeros3_3, &m_eye3); +// } +// +// if (H2){ +// Matrix zeros3_3(zeros(3,3)); +// Matrix H = -skewSymmetric(w_earth_rate_I); +// +// *H2 = collect(2, &H, &zeros3_3); +// } +// +// //TODO: Make sure H2 is correct. +// +// return measurement - biasGyro_ - w_earth_rate_I; +// +//// Vector bias_gyro_temp((Vector(3) << -bias_gyro_(0), bias_gyro_(1), bias_gyro_(2))); +//// return measurement - bias_gyro_temp - R_G_to_I * w_earth_rate_G; +// } +/// ostream operator +std::ostream& operator<<(std::ostream& os, const ConstantBias& bias) { + os << "acc = " << Point3(bias.accelerometer()); + os << " gyro = " << Point3(bias.gyroscope()); + return os; +} + +/// print with optional string +void ConstantBias::print(const std::string& s) const { + std::cout << s << *this << std::endl; +} + +} // namespace imuBias + +} // namespace gtsam + diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h index 929b7ac22..11799f310 100644 --- a/gtsam/navigation/ImuBias.h +++ b/gtsam/navigation/ImuBias.h @@ -17,22 +17,11 @@ #pragma once -#include -#include +#include #include +#include #include -/* - * NOTES: - * - Earth-rate correction: - * + Currently the user should supply R_ECEF_to_G, which is the rotation from ECEF to Local-Level system (NED or ENU as defined by the user). - * + R_ECEF_to_G can be calculated by approximated values of latitude and longitude of the system. - * + A relatively small distance is traveled w.r.t. to initial pose is assumed, since R_ECEF_to_G is constant. - * Otherwise, R_ECEF_to_G should be updated each time using the current lat-lon. - * - * - Currently, an empty constructed is not enabled so that the user is forced to specify R_ECEF_to_G. - */ - namespace gtsam { /// All bias models live in the imuBias namespace @@ -94,50 +83,16 @@ public: return measurement - biasGyro_; } -// // H1: Jacobian w.r.t. IMUBias -// // H2: Jacobian w.r.t. pose -// Vector CorrectGyroWithEarthRotRate(Vector measurement, const Pose3& pose, const Vector& w_earth_rate_G, -// boost::optional H1=boost::none, boost::optional H2=boost::none) const { -// -// Matrix R_G_to_I( pose.rotation().matrix().transpose() ); -// Vector w_earth_rate_I = R_G_to_I * w_earth_rate_G; -// -// if (H1){ -// Matrix zeros3_3(zeros(3,3)); -// Matrix m_eye3(-eye(3)); -// -// *H1 = collect(2, &zeros3_3, &m_eye3); -// } -// -// if (H2){ -// Matrix zeros3_3(zeros(3,3)); -// Matrix H = -skewSymmetric(w_earth_rate_I); -// -// *H2 = collect(2, &H, &zeros3_3); -// } -// -// //TODO: Make sure H2 is correct. -// -// return measurement - biasGyro_ - w_earth_rate_I; -// -//// Vector bias_gyro_temp((Vector(3) << -bias_gyro_(0), bias_gyro_(1), bias_gyro_(2))); -//// return measurement - bias_gyro_temp - R_G_to_I * w_earth_rate_G; -// } - /// @} /// @name Testable /// @{ /// ostream operator GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, - const ConstantBias& bias) { - os << "acc = " << Point3(bias.accelerometer()); - os << " gyro = " << Point3(bias.gyroscope()); - return os; - } + const ConstantBias& bias); /// print with optional string - void print(const std::string& s = "") const { std::cout << s << *this << std::endl; } + void print(const std::string& s = "") const; /** equality up to tolerance */ inline bool equals(const ConstantBias& expected, double tol = 1e-5) const { From 4ce2fdcdc7b401ce2e6121414e8361eb84ad0302 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 08:24:54 -0800 Subject: [PATCH 915/964] Ignore pydev file --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 7850df41b..04e8e76d1 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,4 @@ *.txt.user *.txt.user.6d59f0c /python-build/ +*.pydevproject From 47261290e97bfa3c44712e95084bb7f1fc752c0b Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 08:36:30 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z;Ks^U8DJ1lIQ=*RyM{UP9guyF*C^PV0Lh1hPBC}2{g$3t({ zMcB$SFcYKb#|9+P1ah^|;bDP~89fXKOgh_OXf!<@7MTBjvr`(C;6Nr)ndRg_K%Ble zadR;Mg6LByG!UR6kUj{a;Y^}{0O^ACf!r@DATv2A6sL;ADZ`XdD6BF9t*WA=rm6x1 oObG)!g+L?G3ja5TIWtfo%9Tc-(ta*Mu$avyh=_=)jvDj-136~G!2kdN literal 0 HcmV?d00001 From 4eeedd31fcaa6d83235ebac0238112bde5374767 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 28 Jan 2016 12:00:39 -0500 Subject: [PATCH 917/964] Fix GTSAM_ALLOW_DEPRECATED_SINCE_V4 flag typo --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9d543b87b..9bfa9a758 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -318,7 +318,7 @@ if(GTSAM_ENABLE_CONSISTENCY_CHECKS) add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS) endif() -if(GTSAM_ENABLE_CONSISTENCY_CHECKS) +if(GTSAM_ALLOW_DEPRECATED_SINCE_V4) add_definitions(-DGTSAM_ALLOW_DEPRECATED_SINCE_V4) endif() From 56992899af64b385808ad11ea46fcaed1e9afe22 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 28 Jan 2016 12:35:57 -0500 Subject: [PATCH 918/964] fix trivial compiler error --- gtsam/geometry/Rot3.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 5b7acb4be..264be1537 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -493,7 +493,7 @@ namespace gtsam { static Rot3 roll (double t) { return Roll(t); } static Rot3 ypr(double y, double p, double r) { return Ypr(r,p,y);} static Rot3 quaternion(double w, double x, double y, double z) { - return Rot3::Quaternion q(w, x, y, z); + return Rot3::Quaternion(w, x, y, z); } /// @} #endif From 127cfdcfde441f2018f880f608b3dbda53468cca Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 09:53:03 -0800 Subject: [PATCH 919/964] Fix Rot3 statics --- gtsam/navigation/tests/testImuFactor.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 7e24aff17..6f6cde59f 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -747,7 +747,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { // Rotate sensor (z-down) to body (same as navigation) i.e. z-up auto p = defaultParams(); p->n_gravity = Vector3(0, 0, -kGravity); // z-up nav frame - p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3(0, 0, 0)); + p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3(0, 0, 0)); // Measurements // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame @@ -802,7 +802,7 @@ TEST(ImuFactor, bodyPSensorWithBias) { auto p = defaultParams(); p->n_gravity = Vector3(0, 0, -kGravity); - p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3()); + p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3()); p->accelerometerCovariance = 1e-7 * I_3x3; p->gyroscopeCovariance = 1e-8 * I_3x3; p->integrationCovariance = 1e-9 * I_3x3; @@ -885,7 +885,7 @@ TEST(ImuFactor, serialization) { auto p = defaultParams(); p->n_gravity = Vector3(0, 0, -9.81); - p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3()); + p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3()); p->accelerometerCovariance = 1e-7 * I_3x3; p->gyroscopeCovariance = 1e-8 * I_3x3; p->integrationCovariance = 1e-9 * I_3x3; From 8a45320ae26bc29982d41c94e6fcb438cc95febd Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 09:54:47 -0800 Subject: [PATCH 920/964] Fixed MATLAB wrapper --- gtsam.h | 209 ++++++++++++++------------ gtsam/navigation/PreintegrationBase.h | 6 + 2 files changed, 121 insertions(+), 94 deletions(-) diff --git a/gtsam.h b/gtsam.h index 7aada0dc5..ce2e225f7 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2447,7 +2447,7 @@ namespace imuBias { #include class ConstantBias { - // Standard Constructor + // Constructors ConstantBias(); ConstantBias(Vector biasAcc, Vector biasGyro); @@ -2479,99 +2479,120 @@ class ConstantBias { }///\namespace imuBias -//#include -//class PoseVelocityBias{ -// PoseVelocityBias(const gtsam::Pose3& pose, Vector velocity, const gtsam::imuBias::ConstantBias& bias); -// }; -//class PreintegratedImuMeasurements { -// // Standard Constructor -// PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration); -// PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance); -// // PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements& rhs); -// -// // Testable -// void print(string s) const; -// bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); -// -// double deltaTij() const; -// gtsam::Rot3 deltaRij() const; -// Vector deltaPij() const; -// Vector deltaVij() const; -// Vector biasHatVector() const; -// Matrix delPdelBiasAcc() const; -// Matrix delPdelBiasOmega() const; -// Matrix delVdelBiasAcc() const; -// Matrix delVdelBiasOmega() const; -// Matrix delRdelBiasOmega() const; -// Matrix preintMeasCov() const; -// -// // Standard Interface -// void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); -// gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, -// Vector gravity, Vector omegaCoriolis) const; -//}; -// -//virtual class ImuFactor : gtsam::NonlinearFactor { -// ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, -// const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis); -// ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias, -// const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis, -// const gtsam::Pose3& body_P_sensor); -// // Standard Interface -// gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; -//}; -// -//#include -//class PreintegratedCombinedMeasurements { -// // Standard Constructor -// PreintegratedCombinedMeasurements( -// const gtsam::imuBias::ConstantBias& bias, -// Matrix measuredAccCovariance, -// Matrix measuredOmegaCovariance, -// Matrix integrationErrorCovariance, -// Matrix biasAccCovariance, -// Matrix biasOmegaCovariance, -// Matrix biasAccOmegaInit); -// PreintegratedCombinedMeasurements( -// const gtsam::imuBias::ConstantBias& bias, -// Matrix measuredAccCovariance, -// Matrix measuredOmegaCovariance, -// Matrix integrationErrorCovariance, -// Matrix biasAccCovariance, -// Matrix biasOmegaCovariance, -// Matrix biasAccOmegaInit, -// bool use2ndOrderIntegration); -// // PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& rhs); -// -// // Testable -// void print(string s) const; -// bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol); -// -// double deltaTij() const; -// gtsam::Rot3 deltaRij() const; -// Vector deltaPij() const; -// Vector deltaVij() const; -// Vector biasHatVector() const; -// Matrix delPdelBiasAcc() const; -// Matrix delPdelBiasOmega() const; -// Matrix delVdelBiasAcc() const; -// Matrix delVdelBiasOmega() const; -// Matrix delRdelBiasOmega() const; -// Matrix preintMeasCov() const; -// -// // Standard Interface -// void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); -// gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias, -// Vector gravity, Vector omegaCoriolis) const; -//}; -// -//virtual class CombinedImuFactor : gtsam::NonlinearFactor { -// CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j, -// const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); -// // Standard Interface -// gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; -//}; -// +#include +class NavState { + // Constructors + NavState(); + NavState(const gtsam::Rot3& R, const gtsam::Point3& t, Vector v); + NavState(const gtsam::Pose3& pose, Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::NavState& expected, double tol) const; + + // Access + gtsam::Rot3 attitude() const; + gtsam::Point3 position() const; + Vector velocity() const; + gtsam::Pose3 pose() const; +}; + +#include +class PreintegrationParams { + PreintegrationParams(Vector n_gravity); + // TODO(frank): add setters/getters or make this MATLAB wrapper feature +}; + +#include +virtual class PreintegrationBase { + // Constructors + PreintegrationBase(const gtsam::PreintegrationParams* params); + PreintegrationBase(const gtsam::PreintegrationParams* params, + const gtsam::imuBias::ConstantBias& bias); + + // Testable + void print(string s) const; + bool equals(const gtsam::PreintegrationBase& expected, double tol); + + double deltaTij() const; + gtsam::Rot3 deltaRij() const; + Vector deltaPij() const; + Vector deltaVij() const; + Vector biasHatVector() const; + Matrix delPdelBiasAcc() const; + Matrix delPdelBiasOmega() const; + Matrix delVdelBiasAcc() const; + Matrix delVdelBiasOmega() const; + Matrix delRdelBiasOmega() const; + + // Standard Interface + gtsam::NavState predict(const gtsam::NavState& state_i, + const gtsam::imuBias::ConstantBias& bias) const; +}; + +#include +virtual class PreintegratedImuMeasurements: gtsam::PreintegrationBase { + // Constructors + PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params); + PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params, + const gtsam::imuBias::ConstantBias& bias); + + // Testable + void print(string s) const; + bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); + + // Standard Interface + void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, + double deltaT); + void resetIntegration(); + Matrix preintMeasCov() const; +}; + +virtual class ImuFactor: gtsam::NonlinearFactor { + ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, + size_t bias, + const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements); + + // Standard Interface + gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; + Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, + const gtsam::Pose3& pose_j, Vector vel_j, + const gtsam::imuBias::ConstantBias& bias); +}; + +#include +virtual class PreintegratedCombinedMeasurements: gtsam::PreintegrationBase { + // Standard Constructor + PreintegratedCombinedMeasurements(const gtsam::imuBias::ConstantBias& bias, + Matrix measuredAccCovariance, Matrix measuredOmegaCovariance, + Matrix integrationErrorCovariance, Matrix biasAccCovariance, + Matrix biasOmegaCovariance, Matrix biasAccOmegaInit); + + // Testable + void print(string s) const; + bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, + double tol); + + // Standard Interface + void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, + double deltaT); + void resetIntegration(); + Matrix preintMeasCov() const; +}; + +virtual class CombinedImuFactor: gtsam::NonlinearFactor { + CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, + size_t bias_i, size_t bias_j, + const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements); + + // Standard Interface + gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; + Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, + const gtsam::Pose3& pose_j, Vector vel_j, + const gtsam::imuBias::ConstantBias& bias_i, + const gtsam::imuBias::ConstantBias& bias_j); +}; + #include class PreintegratedAhrsMeasurements { // Standard Constructor diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 55866bc62..97e12c7ad 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -280,6 +280,12 @@ public: /// @} + /** Dummy clone for MATLAB */ + virtual boost::shared_ptr clone() const { + return boost::shared_ptr(); + } + + #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @name Deprecated /// @{ From 52f3432988f46c884d641a94a0ad6f9dffbf952e Mon Sep 17 00:00:00 2001 From: Frank Date: Thu, 28 Jan 2016 16:47:12 -0800 Subject: [PATCH 921/964] Moved numpy_eigen headers to a more logical place --- .gitignore | 1 + python/CMakeLists.txt | 2 +- python/handwritten/slam/BearingFactor.cpp | 11 +++++------ .../include/numpy_eigen/NumpyEigenConverter.hpp | 0 .../3rdparty => python/include}/numpy_eigen/README.md | 0 .../include/numpy_eigen/boost_python_headers.hpp | 0 .../include/numpy_eigen/copy_routines.hpp | 0 .../include/numpy_eigen/type_traits.hpp | 0 8 files changed, 7 insertions(+), 7 deletions(-) rename {gtsam/3rdparty/numpy_eigen => python}/include/numpy_eigen/NumpyEigenConverter.hpp (100%) rename {gtsam/3rdparty => python/include}/numpy_eigen/README.md (100%) rename {gtsam/3rdparty/numpy_eigen => python}/include/numpy_eigen/boost_python_headers.hpp (100%) rename {gtsam/3rdparty/numpy_eigen => python}/include/numpy_eigen/copy_routines.hpp (100%) rename {gtsam/3rdparty/numpy_eigen => python}/include/numpy_eigen/type_traits.hpp (100%) diff --git a/.gitignore b/.gitignore index 7850df41b..04e8e76d1 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,4 @@ *.txt.user *.txt.user.6d59f0c /python-build/ +*.pydevproject diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 01141973a..f7ceb62b3 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -48,7 +48,7 @@ if(Boost_PYTHON${BOOST_PYTHON_VERSION_SUFFIX_UPPERCASE}_FOUND AND PYTHONLIBS_FOU include_directories(${NUMPY_INCLUDE_DIRS}) include_directories(${PYTHON_INCLUDE_DIRS}) include_directories(${Boost_INCLUDE_DIRS}) - include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/) + include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/) # Build the python module library add_subdirectory(handwritten) diff --git a/python/handwritten/slam/BearingFactor.cpp b/python/handwritten/slam/BearingFactor.cpp index 84c67d522..2d4688bde 100644 --- a/python/handwritten/slam/BearingFactor.cpp +++ b/python/handwritten/slam/BearingFactor.cpp @@ -3,15 +3,14 @@ #define NO_IMPORT_ARRAY #include -#include +#include using namespace boost::python; using namespace gtsam; using namespace std; -template -void exportBearingFactor(const std::string& name){ - class_(name, init<>()) - ; -} \ No newline at end of file +template +void exportBearingFactor(const std::string& name) { + class_(name, init<>()); +} diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp b/python/include/numpy_eigen/NumpyEigenConverter.hpp similarity index 100% rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp rename to python/include/numpy_eigen/NumpyEigenConverter.hpp diff --git a/gtsam/3rdparty/numpy_eigen/README.md b/python/include/numpy_eigen/README.md similarity index 100% rename from gtsam/3rdparty/numpy_eigen/README.md rename to python/include/numpy_eigen/README.md diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp b/python/include/numpy_eigen/boost_python_headers.hpp similarity index 100% rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/boost_python_headers.hpp rename to python/include/numpy_eigen/boost_python_headers.hpp diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp b/python/include/numpy_eigen/copy_routines.hpp similarity index 100% rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp rename to python/include/numpy_eigen/copy_routines.hpp diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp b/python/include/numpy_eigen/type_traits.hpp similarity index 100% rename from gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp rename to python/include/numpy_eigen/type_traits.hpp From 23e76efdc43b25a210d8055664d313a970648491 Mon Sep 17 00:00:00 2001 From: Frank Date: Fri, 29 Jan 2016 17:42:19 -0800 Subject: [PATCH 922/964] Some instrumentation --- gtsam/navigation/PreintegrationBase.cpp | 29 ++++++++++++++++++------- 1 file changed, 21 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index a6d0964dc..c826f2010 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -227,22 +227,35 @@ void PreintegrationBase::update(const Vector3& j_measuredAcc, boost::tie(j_correctedAcc, j_correctedOmega) = correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega); + double dt22 = 0.5 * dt * dt; + const Matrix3 dRij = oldRij.matrix(); // expensive + delPdelBiasAcc_ += delVdelBiasAcc_ * dt - dt22 * dRij; + delVdelBiasAcc_ += -dRij * dt; + + cout << "B:" << endl; + cout << -(*B) << endl; + cout << "update:" << endl; + cout << - dt22 * dRij << endl; + cout << -dRij * dt << endl; + Matrix3 D_acc_R; oldRij.rotate(j_correctedAcc, D_acc_R); const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; - const Vector3 integratedOmega = j_correctedOmega * dt; - const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! + const Rot3 incrR = + Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - - *D_incrR_integratedOmega * dt; - double dt22 = 0.5 * dt * dt; - const Matrix3 dRij = oldRij.matrix(); // expensive - delPdelBiasAcc_ += delVdelBiasAcc_ * dt - dt22 * dRij; + delRdelBiasOmega_ = + incrRt * delRdelBiasOmega_ - *D_incrR_integratedOmega * dt; delPdelBiasOmega_ += dt * delVdelBiasOmega_ + dt22 * D_acc_biasOmega; - delVdelBiasAcc_ += -dRij * dt; delVdelBiasOmega_ += D_acc_biasOmega * dt; + cout << "C:" << endl; + cout << -(*C) << endl; + cout << "update:" << endl; + cout << - *D_incrR_integratedOmega* dt << endl; + cout << dt22 * D_acc_biasOmega << endl; + cout << D_acc_biasOmega * dt << endl; } //------------------------------------------------------------------------------ From d2d65908543ccf5ad162ad131920b2a2d423d57d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 29 Jan 2016 23:27:59 -0800 Subject: [PATCH 923/964] Refactor of bias derivatives. New bias derivatives work for acc but not omega --- gtsam/navigation/PreintegrationBase.cpp | 99 +++++++-------- gtsam/navigation/PreintegrationBase.h | 6 +- gtsam/navigation/tests/testImuFactor.cpp | 113 +++++++++--------- .../tests/testPreintegrationBase.cpp | 2 +- 4 files changed, 110 insertions(+), 110 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index c826f2010..269e16390 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -20,9 +20,8 @@ **/ #include "PreintegrationBase.h" -#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 +#include #include -#endif using namespace std; @@ -78,14 +77,14 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, //------------------------------------------------------------------------------ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, + const Vector3& measuredAcc, const Vector3& measuredOmega, OptionalJacobian<3, 3> D_correctedAcc_measuredAcc, OptionalJacobian<3, 3> D_correctedAcc_measuredOmega, OptionalJacobian<3, 3> D_correctedOmega_measuredOmega) const { // Correct for bias in the sensor frame - Vector3 j_correctedAcc = biasHat_.correctAccelerometer(j_measuredAcc); - Vector3 j_correctedOmega = biasHat_.correctGyroscope(j_measuredOmega); + Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); + Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); // Compensate for sensor-body displacement if needed: we express the quantities // (originally in the IMU frame) into the body frame @@ -95,8 +94,8 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); // Convert angular velocity and acceleration from sensor to body frame - j_correctedOmega = bRs * j_correctedOmega; - j_correctedAcc = bRs * j_correctedAcc; + correctedOmega = bRs * correctedOmega; + correctedAcc = bRs * correctedAcc; // Jacobians if (D_correctedAcc_measuredAcc) *D_correctedAcc_measuredAcc = bRs; @@ -108,21 +107,21 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos if (!b_arm.isZero()) { // Subtract out the the centripetal acceleration from the measured one // to get linear acceleration vector in the body frame: - const Matrix3 body_Omega_body = skewSymmetric(j_correctedOmega); + const Matrix3 body_Omega_body = skewSymmetric(correctedOmega); const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm - j_correctedAcc -= body_Omega_body * b_velocity_bs; + correctedAcc -= body_Omega_body * b_velocity_bs; // Update derivative: centrifugal causes the correlation between acc and omega!!! if (D_correctedAcc_measuredOmega) { - double wdp = j_correctedOmega.dot(b_arm); + double wdp = correctedOmega.dot(b_arm); *D_correctedAcc_measuredOmega = -(diag(Vector3::Constant(wdp)) - + j_correctedOmega * b_arm.transpose()) * bRs.matrix() - + 2 * b_arm * j_measuredOmega.transpose(); + + correctedOmega * b_arm.transpose()) * bRs.matrix() + + 2 * b_arm * measuredOmega.transpose(); } } } - return make_pair(j_correctedAcc, j_correctedOmega); + return make_pair(correctedAcc, correctedOmega); } //------------------------------------------------------------------------------ @@ -144,15 +143,24 @@ PreintegrationBase::TangentVector PreintegrationBase::UpdateEstimate( if (A) { // First order (small angle) approximation of derivative of invH*w: - const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); +// const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); + // NOTE(frank): Rot3::ExpmapDerivative(w_body) is also an approximation (but less accurate): + // If we replace approximation with numerical derivative we get better accuracy: + auto f = [w_body](const Vector3& theta) { + return Rot3::ExpmapDerivative(theta).inverse() * w_body; + }; + const Matrix3 invHw_H_theta = numericalDerivative11(f, zeta.theta()); // Exact derivative of R*a with respect to theta: const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; A->setIdentity(); + // theta: A->block<3, 3>(0, 0).noalias() += invHw_H_theta * dt; + // position: A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; A->block<3, 3>(3, 6) = I_3x3 * dt; + // velocity: A->block<3, 3>(6, 0) = a_nav_H_theta * dt; } if (B) { @@ -176,8 +184,8 @@ PreintegrationBase::TangentVector PreintegrationBase::updatedDeltaXij( OptionalJacobian<9, 3> C) const { if (!p().body_P_sensor) { // Correct for bias in the sensor frame - Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); + const Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); + const Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); // Do update in one fell swoop return UpdateEstimate(correctedAcc, correctedOmega, dt, deltaXij_, A, B, C); @@ -209,8 +217,8 @@ PreintegrationBase::TangentVector PreintegrationBase::updatedDeltaXij( } //------------------------------------------------------------------------------ -void PreintegrationBase::update(const Vector3& j_measuredAcc, - const Vector3& j_measuredOmega, double dt, +void PreintegrationBase::update(const Vector3& measuredAcc, + const Vector3& measuredOmega, double dt, Matrix3* D_incrR_integratedOmega, Matrix9* A, Matrix93* B, Matrix93* C) { // Save current rotation for updating Jacobians @@ -218,44 +226,41 @@ void PreintegrationBase::update(const Vector3& j_measuredAcc, // Do update deltaTij_ += dt; - deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt, A, B, C); + deltaXij_ = updatedDeltaXij(measuredAcc, measuredOmega, dt, A, B, C); - // Update Jacobians - // TODO(frank): we are repeating some computation here: accessible in A ? - // Possibly: derivatives are just -B and -C ?? - Vector3 j_correctedAcc, j_correctedOmega; - boost::tie(j_correctedAcc, j_correctedOmega) = - correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega); + // D_plus_abias = D_plus_zeta * D_zeta_abias + D_plus_a * D_a_abias + Matrix93 D_zeta_abias, D_plus_abias; + D_zeta_abias << Z_3x3, delPdelBiasAcc_, delVdelBiasAcc_; + D_plus_abias = (*A) * D_zeta_abias - (*B); + delPdelBiasAcc_ = D_plus_abias.middleRows<3>(3); + delVdelBiasAcc_ = D_plus_abias.middleRows<3>(6); - double dt22 = 0.5 * dt * dt; - const Matrix3 dRij = oldRij.matrix(); // expensive - delPdelBiasAcc_ += delVdelBiasAcc_ * dt - dt22 * dRij; - delVdelBiasAcc_ += -dRij * dt; - - cout << "B:" << endl; - cout << -(*B) << endl; - cout << "update:" << endl; - cout << - dt22 * dRij << endl; - cout << -dRij * dt << endl; +#ifdef USE_NEW_WAY_FOR_OMEGA + // D_plus_wbias = D_plus_zeta * D_zeta_wbias + D_plus_w * D_w_wbias + Matrix93 D_zeta_wbias, D_plus_wbias; + D_zeta_wbias << delRdelBiasOmega_, delPdelBiasOmega_, delVdelBiasOmega_; + D_plus_wbias = (*A) * D_zeta_wbias - (*C); + delRdelBiasOmega_ = D_plus_wbias.middleRows<3>(0); + delPdelBiasOmega_ = D_plus_wbias.middleRows<3>(3); + delVdelBiasOmega_ = D_plus_wbias.middleRows<3>(6); +#else + // The old way matches the derivatives of deltaRij() + Vector3 correctedAcc, correctedOmega; + boost::tie(correctedAcc, correctedOmega) = + correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); Matrix3 D_acc_R; - oldRij.rotate(j_correctedAcc, D_acc_R); + double dt22 = 0.5 * dt * dt; + oldRij.rotate(correctedAcc, D_acc_R); const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; - const Vector3 integratedOmega = j_correctedOmega * dt; - const Rot3 incrR = - Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !! + const Vector3 integratedOmega = correctedOmega * dt; + const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); const Matrix3 incrRt = incrR.transpose(); - delRdelBiasOmega_ = - incrRt * delRdelBiasOmega_ - *D_incrR_integratedOmega * dt; + delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - *D_incrR_integratedOmega * dt; delPdelBiasOmega_ += dt * delVdelBiasOmega_ + dt22 * D_acc_biasOmega; delVdelBiasOmega_ += D_acc_biasOmega * dt; - cout << "C:" << endl; - cout << -(*C) << endl; - cout << "update:" << endl; - cout << - *D_incrR_integratedOmega* dt << endl; - cout << dt22 * D_acc_biasOmega << endl; - cout << D_acc_biasOmega * dt << endl; +#endif } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 97e12c7ad..177c9b8f3 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -226,7 +226,7 @@ public: /// Compute the derivatives due to non-identity body_P_sensor (rotation and centrifugal acc) /// Ignore D_correctedOmega_measuredAcc as it is trivially zero std::pair correctMeasurementsByBiasAndSensorPose( - const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, + const Vector3& measuredAcc, const Vector3& measuredOmega, OptionalJacobian<3, 3> D_correctedAcc_measuredAcc = boost::none, OptionalJacobian<3, 3> D_correctedAcc_measuredOmega = boost::none, OptionalJacobian<3, 3> D_correctedOmega_measuredOmega = boost::none) const; @@ -243,14 +243,14 @@ public: /// Calculate the updated preintegrated measurement, does not modify /// It takes measured quantities in the j frame PreintegrationBase::TangentVector updatedDeltaXij( - const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, double dt, + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, OptionalJacobian<9, 9> A = boost::none, OptionalJacobian<9, 3> B = boost::none, OptionalJacobian<9, 3> C = boost::none) const; /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame - void update(const Vector3& j_measuredAcc, const Vector3& j_measuredOmega, + void update(const Vector3& measuredAcc, const Vector3& measuredOmega, const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* A, Matrix93* B, Matrix93* C); diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 6f6cde59f..853860516 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -34,6 +34,8 @@ using namespace std; using namespace gtsam; +typedef imuBias::ConstantBias Bias; + // Convenience for named keys using symbol_shorthand::X; using symbol_shorthand::V; @@ -43,7 +45,8 @@ static const double kGravity = 10; static const Vector3 kGravityAlongNavZDown(0, 0, kGravity); static const Vector3 kZeroOmegaCoriolis(0, 0, 0); static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); -static const imuBias::ConstantBias kZeroBiasHat, kZeroBias; +static const Bias kZeroBiasHat, kZeroBias; +static const Vector3 Z_3x1 = Vector3::Zero(); /* ************************************************************************* */ namespace { @@ -51,7 +54,7 @@ namespace { /* ************************************************************************* */ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, - const imuBias::ConstantBias& bias) { + const Bias& bias) { return Rot3::Expmap( factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).head(3)); } @@ -75,7 +78,7 @@ static boost::shared_ptr defaultParams() { // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ PreintegratedImuMeasurements evaluatePreintegratedMeasurements( - const imuBias::ConstantBias& bias, const list& measuredAccs, + const Bias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { PreintegratedImuMeasurements result(defaultParams(), bias); @@ -89,27 +92,19 @@ PreintegratedImuMeasurements evaluatePreintegratedMeasurements( } Vector3 evaluatePreintegratedMeasurementsPosition( - const imuBias::ConstantBias& bias, const list& measuredAccs, + const Bias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaPij(); } Vector3 evaluatePreintegratedMeasurementsVelocity( - const imuBias::ConstantBias& bias, const list& measuredAccs, + const Bias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs).deltaVij(); } -Rot3 evaluatePreintegratedMeasurementsRotation( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return Rot3( - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaRij()); -} - Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, const double deltaT) { return Rot3::Expmap((measuredOmega - biasOmega) * deltaT); @@ -168,7 +163,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-9); // Check derivatives of computeError - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + Bias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) NavState x1, x2 = actual1.predict(x1, bias); { @@ -176,7 +171,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { Matrix96 aH3; actual1.computeError(x1, x2, bias, aH1, aH2, aH3); boost::function f = + const Bias&)> f = boost::bind(&PreintegrationBase::computeError, actual1, _1, _2, _3, boost::none, boost::none, boost::none); // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 @@ -237,7 +232,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { // biasCorrectedDelta Matrix96 actualH; pim.biasCorrectedDelta(kZeroBias, actualH); - Matrix expectedH = numericalDerivative11( + Matrix expectedH = numericalDerivative11( boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, boost::none), kZeroBias); EXPECT(assert_equal(expectedH, actualH)); @@ -249,7 +244,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { boost::bind(&PreintegrationBase::predict, pim, _1, kZeroBias, boost::none, boost::none), state1); EXPECT(assert_equal(eH1, aH1)); - Matrix eH2 = numericalDerivative11( + Matrix eH2 = numericalDerivative11( boost::bind(&PreintegrationBase::predict, pim, state1, _1, boost::none, boost::none), kZeroBias); EXPECT(assert_equal(eH2, aH2)); @@ -328,7 +323,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { using common::x1; using common::v1; using common::v2; - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + Bias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); @@ -342,14 +337,14 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { auto p = defaultParams(); p->omegaCoriolis = kNonZeroOmegaCoriolis; - imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)); + Bias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)); PreintegratedImuMeasurements pim(p, biasHat); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Make sure of biasCorrectedDelta Matrix96 actualH; pim.biasCorrectedDelta(bias, actualH); - Matrix expectedH = numericalDerivative11( + Matrix expectedH = numericalDerivative11( boost::bind(&PreintegrationBase::biasCorrectedDelta, pim, _1, boost::none), bias); EXPECT(assert_equal(expectedH, actualH)); @@ -374,7 +369,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { using common::x1; using common::v1; using common::v2; - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) + Bias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 10.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); @@ -390,7 +385,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { p->use2ndOrderCoriolis = true; PreintegratedImuMeasurements pim(p, - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1))); + Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1))); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor @@ -502,40 +497,40 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { // Actual pre-integrated values PreintegratedImuMeasurements preintegrated = evaluatePreintegratedMeasurements(kZeroBias, measuredAccs, measuredOmegas, - deltaTs); + deltaTs); - // Compute numerical derivatives - Matrix expectedDelPdelBias = numericalDerivative11( + // Check derivative of rotation + boost::function theta = [=]( + const Vector3& a, const Vector3& w) { + return evaluatePreintegratedMeasurements( + Bias(a, w), measuredAccs, measuredOmegas, deltaTs).deltaRij(); + }; + EXPECT( + assert_equal(numericalDerivative21(theta, Z_3x1, Z_3x1), Matrix(Z_3x3))); + EXPECT(assert_equal(numericalDerivative22(theta, Z_3x1, Z_3x1), + preintegrated.delRdelBiasOmega(), 1e-7)); + + // Check derivative of translation + Matrix expectedDelPdelBias = numericalDerivative11( boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, - measuredOmegas, deltaTs), kZeroBias); + measuredOmegas, deltaTs), + kZeroBias); Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); + EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); + EXPECT(assert_equal(expectedDelPdelBiasOmega, + preintegrated.delPdelBiasOmega(), 1e-8)); - Matrix expectedDelVdelBias = numericalDerivative11( + // Check derivative of velocity + Matrix expectedDelVdelBias = numericalDerivative11( boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, - measuredOmegas, deltaTs), kZeroBias); + measuredOmegas, deltaTs), + kZeroBias); Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); - - Matrix expectedDelRdelBias = - numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, - measuredAccs, measuredOmegas, deltaTs), kZeroBias); - Matrix expectedDelRdelBiasAcc = expectedDelRdelBias.leftCols(3); - Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3); - - // Compare Jacobians - EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); - EXPECT( - assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega(),1e-8)); EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc())); - EXPECT( - assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega(),1e-8)); - EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); - EXPECT( - assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(),1e-7)); + EXPECT(assert_equal(expectedDelVdelBiasOmega, + preintegrated.delVdelBiasOmega(), 1e-8)); } /* ************************************************************************* */ @@ -558,7 +553,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { Point3(0.1, 0.05, 0.01)); p->omegaCoriolis = kNonZeroOmegaCoriolis; - imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); + Bias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); const double T = 3.0; // seconds ScenarioRunner runner(&scenario, p, T / 10); @@ -608,7 +603,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // measuredOmega, 1e-6); // EXPECT(assert_equal(expectedG2, G2, 1e-5)); - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) + Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) // integrate at least twice to get position information // otherwise factor cov noise from preint_cov is not positive definite @@ -636,7 +631,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { /* ************************************************************************* */ TEST(ImuFactor, PredictPositionAndVelocity) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) // Measurements Vector3 measuredOmega; @@ -646,7 +641,7 @@ TEST(ImuFactor, PredictPositionAndVelocity) { double deltaT = 0.001; PreintegratedImuMeasurements pim(defaultParams(), - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); + Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -664,7 +659,7 @@ TEST(ImuFactor, PredictPositionAndVelocity) { /* ************************************************************************* */ TEST(ImuFactor, PredictRotation) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) // Measurements Vector3 measuredOmega; @@ -674,7 +669,7 @@ TEST(ImuFactor, PredictRotation) { double deltaT = 0.001; PreintegratedImuMeasurements pim(defaultParams(), - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); + Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -684,7 +679,7 @@ TEST(ImuFactor, PredictRotation) { // Predict NavState actual = pim.predict(NavState(), bias); - NavState expected(Rot3::Ypr(M_PI / 10, 0, 0), Point3(), Vector3::Zero()); + NavState expected(Rot3::Ypr(M_PI / 10, 0, 0), Point3(), Z_3x1); EXPECT(assert_equal(expected, actual)); } @@ -706,7 +701,7 @@ TEST(ImuFactor, PredictArbitrary) { // EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1)); ////////////////////////////////////////////////////////////////////////////////// - imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); + Bias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Measurements Vector3 measuredOmega = runner.actualAngularVelocity(0); @@ -715,7 +710,7 @@ TEST(ImuFactor, PredictArbitrary) { auto p = defaultParams(); p->integrationCovariance = Z_3x3; // MonteCarlo does not sample integration noise PreintegratedImuMeasurements pim(p, biasHat); - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); + Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega, // Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000)); @@ -742,7 +737,7 @@ TEST(ImuFactor, PredictArbitrary) { /* ************************************************************************* */ TEST(ImuFactor, bodyPSensorNoBias) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) + Bias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) // Rotate sensor (z-down) to body (same as navigation) i.e. z-up auto p = defaultParams(); @@ -784,7 +779,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { TEST(ImuFactor, bodyPSensorWithBias) { using noiseModel::Diagonal; - typedef imuBias::ConstantBias Bias; + typedef Bias Bias; int numFactors = 80; Vector6 noiseBetweenBiasSigma; @@ -890,7 +885,7 @@ TEST(ImuFactor, serialization) { p->gyroscopeCovariance = 1e-8 * I_3x3; p->integrationCovariance = 1e-9 * I_3x3; double deltaT = 0.005; - imuBias::ConstantBias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) + Bias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) PreintegratedImuMeasurements pim(p, priorBias); diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index 5363f6b9f..bc67091ae 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -69,7 +69,7 @@ TEST(PreintegrationBase, UpdateEstimate2) { pim.UpdateEstimate(acc, omega, kDt, zeta, aH1, aH2, aH3); // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); - EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-7)); + EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-8)); EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); } From 3af7e80f9720503b252d246893b2222b5e6bc150 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 09:52:13 -0800 Subject: [PATCH 924/964] Derivatives match! --- gtsam/navigation/PreintegrationBase.cpp | 22 ------------- .../tests/testCombinedImuFactor.cpp | 32 +++++++++---------- gtsam/navigation/tests/testImuFactor.cpp | 12 +++---- 3 files changed, 21 insertions(+), 45 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 269e16390..2a64074ff 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -221,9 +221,6 @@ void PreintegrationBase::update(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, Matrix3* D_incrR_integratedOmega, Matrix9* A, Matrix93* B, Matrix93* C) { - // Save current rotation for updating Jacobians - const Rot3 oldRij = deltaRij(); - // Do update deltaTij_ += dt; deltaXij_ = updatedDeltaXij(measuredAcc, measuredOmega, dt, A, B, C); @@ -235,7 +232,6 @@ void PreintegrationBase::update(const Vector3& measuredAcc, delPdelBiasAcc_ = D_plus_abias.middleRows<3>(3); delVdelBiasAcc_ = D_plus_abias.middleRows<3>(6); -#ifdef USE_NEW_WAY_FOR_OMEGA // D_plus_wbias = D_plus_zeta * D_zeta_wbias + D_plus_w * D_w_wbias Matrix93 D_zeta_wbias, D_plus_wbias; D_zeta_wbias << delRdelBiasOmega_, delPdelBiasOmega_, delVdelBiasOmega_; @@ -243,24 +239,6 @@ void PreintegrationBase::update(const Vector3& measuredAcc, delRdelBiasOmega_ = D_plus_wbias.middleRows<3>(0); delPdelBiasOmega_ = D_plus_wbias.middleRows<3>(3); delVdelBiasOmega_ = D_plus_wbias.middleRows<3>(6); -#else - // The old way matches the derivatives of deltaRij() - Vector3 correctedAcc, correctedOmega; - boost::tie(correctedAcc, correctedOmega) = - correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega); - - Matrix3 D_acc_R; - double dt22 = 0.5 * dt * dt; - oldRij.rotate(correctedAcc, D_acc_R); - const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_; - const Vector3 integratedOmega = correctedOmega * dt; - const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); - const Matrix3 incrRt = incrR.transpose(); - - delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - *D_incrR_integratedOmega * dt; - delPdelBiasOmega_ += dt * delVdelBiasOmega_ + dt22 * D_acc_biasOmega; - delVdelBiasOmega_ += D_acc_biasOmega * dt; -#endif } //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index c1dbb7c6c..2a4e00048 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -39,6 +39,10 @@ using symbol_shorthand::X; using symbol_shorthand::V; using symbol_shorthand::B; +typedef imuBias::ConstantBias Bias; +static const Vector3 Z_3x1 = Vector3::Zero(); +static const Bias kZeroBiasHat, kZeroBias; + namespace { // Auxiliary functions to test preintegrated Jacobians @@ -73,14 +77,6 @@ Vector3 evaluatePreintegratedMeasurementsVelocity( deltaTs).deltaVij(); } -Rot3 evaluatePreintegratedMeasurementsRotation( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return Rot3( - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaRij()); -} - } /* ************************************************************************* */ @@ -197,6 +193,17 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs); + // Check derivative of rotation + boost::function theta = [=]( + const Vector3& a, const Vector3& w) { + return evaluatePreintegratedMeasurements( + Bias(a, w), measuredAccs, measuredOmegas, deltaTs).theta(); + }; + EXPECT( + assert_equal(numericalDerivative21(theta, Z_3x1, Z_3x1), Matrix(Z_3x3))); + EXPECT(assert_equal(numericalDerivative22(theta, Z_3x1, Z_3x1), + pim.delRdelBiasOmega(), 1e-7)); + // Compute numerical derivatives Matrix expectedDelPdelBias = numericalDerivative11( @@ -212,20 +219,11 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); - Matrix expectedDelRdelBias = - numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, - measuredAccs, measuredOmegas, deltaTs), bias); - Matrix expectedDelRdelBiasAcc = expectedDelRdelBias.leftCols(3); - Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3); - // Compare Jacobians EXPECT(assert_equal(expectedDelPdelBiasAcc, pim.delPdelBiasAcc())); EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega(),1e-8)); EXPECT(assert_equal(expectedDelVdelBiasAcc, pim.delVdelBiasAcc())); EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega(),1e-8)); - EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3))); - EXPECT(assert_equal(expectedDelRdelBiasOmega, pim.delRdelBiasOmega(), 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 853860516..0829fbc37 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -34,19 +34,19 @@ using namespace std; using namespace gtsam; -typedef imuBias::ConstantBias Bias; - // Convenience for named keys using symbol_shorthand::X; using symbol_shorthand::V; using symbol_shorthand::B; +typedef imuBias::ConstantBias Bias; +static const Vector3 Z_3x1 = Vector3::Zero(); +static const Bias kZeroBiasHat, kZeroBias; + static const double kGravity = 10; static const Vector3 kGravityAlongNavZDown(0, 0, kGravity); static const Vector3 kZeroOmegaCoriolis(0, 0, 0); static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); -static const Bias kZeroBiasHat, kZeroBias; -static const Vector3 Z_3x1 = Vector3::Zero(); /* ************************************************************************* */ namespace { @@ -500,10 +500,10 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { deltaTs); // Check derivative of rotation - boost::function theta = [=]( + boost::function theta = [=]( const Vector3& a, const Vector3& w) { return evaluatePreintegratedMeasurements( - Bias(a, w), measuredAccs, measuredOmegas, deltaTs).deltaRij(); + Bias(a, w), measuredAccs, measuredOmegas, deltaTs).theta(); }; EXPECT( assert_equal(numericalDerivative21(theta, Z_3x1, Z_3x1), Matrix(Z_3x3))); From 3a2c2e23bee0d4e69b656713e1731dd1733f70dd Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 10:10:43 -0800 Subject: [PATCH 925/964] Small refactor for clarity --- gtsam/navigation/CombinedImuFactor.cpp | 37 ++++++++++++++------------ 1 file changed, 20 insertions(+), 17 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 21bfcbd1e..b65810aae 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -66,14 +66,14 @@ void PreintegratedCombinedMeasurements::resetIntegration() { //------------------------------------------------------------------------------ void PreintegratedCombinedMeasurements::integrateMeasurement( - const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT) { + const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { const Matrix3 dRij = deltaRij().matrix(); // expensive when quaternion // Update preintegrated measurements. Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 B, C; - PreintegrationBase::update(measuredAcc, measuredOmega, deltaT, + PreintegrationBase::update(measuredAcc, measuredOmega, dt, &D_incrR_integratedOmega, &A, &B, &C); // Update preintegrated measurements covariance: as in [2] we consider a first @@ -83,8 +83,8 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // and preintegrated measurements // Single Jacobians to propagate covariance - Matrix3 H_vel_biasacc = -dRij * deltaT; - Matrix3 H_angles_biasomega = -D_incrR_integratedOmega * deltaT; + Matrix3 H_vel_biasacc = -dRij * dt; + Matrix3 H_angles_biasomega = -D_incrR_integratedOmega * dt; // overall Jacobian wrt preintegrated measurements (df/dx) Eigen::Matrix F; @@ -94,24 +94,27 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( F.block<3, 3>(6, 9) = H_vel_biasacc; F.block<6, 6>(9, 9) = I_6x6; + // propagate uncertainty + // TODO(frank): use noiseModel routine so we can have arbitrary noise models. + const Matrix3& aCov = p().accelerometerCovariance; + const Matrix3& wCov = p().gyroscopeCovariance; + const Matrix3& iCov = p().integrationCovariance; + // first order uncertainty propagation - // Optimized matrix multiplication (1/deltaT) * G * measurementCovariance * - // G.transpose() + // Optimized matrix multiplication (1/dt) * G * measurementCovariance * G.transpose() Eigen::Matrix G_measCov_Gt; G_measCov_Gt.setZero(15, 15); // BLOCK DIAGONAL TERMS - D_t_t(&G_measCov_Gt) = deltaT * p().integrationCovariance; - D_v_v(&G_measCov_Gt) = - (1 / deltaT) * (H_vel_biasacc) * - (p().accelerometerCovariance + p().biasAccOmegaInit.block<3, 3>(0, 0)) * - (H_vel_biasacc.transpose()); - D_R_R(&G_measCov_Gt) = - (1 / deltaT) * (H_angles_biasomega) * - (p().gyroscopeCovariance + p().biasAccOmegaInit.block<3, 3>(3, 3)) * - (H_angles_biasomega.transpose()); - D_a_a(&G_measCov_Gt) = deltaT * p().biasAccCovariance; - D_g_g(&G_measCov_Gt) = deltaT * p().biasOmegaCovariance; + D_t_t(&G_measCov_Gt) = dt * iCov; + D_v_v(&G_measCov_Gt) = (1 / dt) * H_vel_biasacc * + (aCov + p().biasAccOmegaInit.block<3, 3>(0, 0)) * + (H_vel_biasacc.transpose()); + D_R_R(&G_measCov_Gt) = (1 / dt) * H_angles_biasomega * + (wCov + p().biasAccOmegaInit.block<3, 3>(3, 3)) * + (H_angles_biasomega.transpose()); + D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance; + D_g_g(&G_measCov_Gt) = dt * p().biasOmegaCovariance; // OFF BLOCK DIAGONAL TERMS Matrix3 temp = H_vel_biasacc * p().biasAccOmegaInit.block<3, 3>(3, 0) * From 984a90672fbc5e202e66159750ad5c0c0c2af116 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 10:19:04 -0800 Subject: [PATCH 926/964] Deprecated constructor + fixed parameter name --- gtsam/navigation/CombinedImuFactor.cpp | 12 +++++++----- gtsam/navigation/CombinedImuFactor.h | 15 ++++++--------- gtsam/navigation/tests/testCombinedImuFactor.cpp | 7 ++++--- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index b65810aae..42ea41b86 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -108,16 +108,16 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // BLOCK DIAGONAL TERMS D_t_t(&G_measCov_Gt) = dt * iCov; D_v_v(&G_measCov_Gt) = (1 / dt) * H_vel_biasacc * - (aCov + p().biasAccOmegaInit.block<3, 3>(0, 0)) * + (aCov + p().biasAccOmegaInt.block<3, 3>(0, 0)) * (H_vel_biasacc.transpose()); D_R_R(&G_measCov_Gt) = (1 / dt) * H_angles_biasomega * - (wCov + p().biasAccOmegaInit.block<3, 3>(3, 3)) * + (wCov + p().biasAccOmegaInt.block<3, 3>(3, 3)) * (H_angles_biasomega.transpose()); D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance; D_g_g(&G_measCov_Gt) = dt * p().biasOmegaCovariance; // OFF BLOCK DIAGONAL TERMS - Matrix3 temp = H_vel_biasacc * p().biasAccOmegaInit.block<3, 3>(3, 0) * + Matrix3 temp = H_vel_biasacc * p().biasAccOmegaInt.block<3, 3>(3, 0) * H_angles_biasomega.transpose(); D_v_R(&G_measCov_Gt) = temp; D_R_v(&G_measCov_Gt) = temp.transpose(); @@ -125,11 +125,12 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( } //------------------------------------------------------------------------------ +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements( const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, const Matrix3& biasAccCovariance, - const Matrix3& biasOmegaCovariance, const Matrix6& biasAccOmegaInit, + const Matrix3& biasOmegaCovariance, const Matrix6& biasAccOmegaInt, const bool use2ndOrderIntegration) { if (!use2ndOrderIntegration) throw("PreintegratedImuMeasurements no longer supports first-order integration: it incorrectly compensated for gravity"); @@ -140,11 +141,12 @@ PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements( p->integrationCovariance = integrationErrorCovariance; p->biasAccCovariance = biasAccCovariance; p->biasOmegaCovariance = biasOmegaCovariance; - p->biasAccOmegaInit = biasAccOmegaInit; + p->biasAccOmegaInt = biasAccOmegaInt; p_ = p; resetIntegration(); preintMeasCov_.setZero(); } +#endif //------------------------------------------------------------------------------ // CombinedImuFactor methods //------------------------------------------------------------------------------ diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 5fbd619cf..f7b6aa43f 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -66,12 +66,12 @@ public: struct Params : PreintegrationParams { Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk - Matrix6 biasAccOmegaInit; ///< covariance of bias used for pre-integration + Matrix6 biasAccOmegaInt; ///< covariance of bias used for pre-integration /// See two named constructors below for good values of n_gravity in body frame Params(const Vector3& n_gravity) : PreintegrationParams(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( - I_3x3), biasAccOmegaInit(I_6x6) { + I_3x3), biasAccOmegaInt(I_6x6) { } // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis @@ -95,7 +95,7 @@ public: ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation::Params); ar& BOOST_SERIALIZATION_NVP(biasAccCovariance); ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance); - ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInit); + ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt); } }; @@ -166,9 +166,7 @@ public: /// @} - /// @name Deprecated - /// @{ - +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// deprecated constructor /// NOTE(frank): assumes Z-Down convention, only second order integration supported PreintegratedCombinedMeasurements(const imuBias::ConstantBias& biasHat, @@ -176,9 +174,8 @@ public: const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, const Matrix3& biasAccCovariance, const Matrix3& biasOmegaCovariance, - const Matrix6& biasAccOmegaInit, const bool use2ndOrderIntegration = true); - - /// @} + const Matrix6& biasAccOmegaInt, const bool use2ndOrderIntegration = true); +#endif private: /// Serialization function diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 2a4e00048..c25086eea 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -13,8 +13,9 @@ * @file testCombinedImuFactor.cpp * @brief Unit test for Lupton-style combined IMU factor * @author Luca Carlone - * @author Stephen Williams + * @author Frank Dellaert * @author Richard Roberts + * @author Stephen Williams */ #include @@ -51,8 +52,8 @@ namespace { PreintegratedCombinedMeasurements evaluatePreintegratedMeasurements( const imuBias::ConstantBias& bias, const list& measuredAccs, const list& measuredOmegas, const list& deltaTs) { - PreintegratedCombinedMeasurements result(bias, I_3x3, - I_3x3, I_3x3, I_3x3, I_3x3, I_6x6); + auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + PreintegratedCombinedMeasurements result(p, bias); list::const_iterator itAcc = measuredAccs.begin(); list::const_iterator itOmega = measuredOmegas.begin(); From 5d95d66077f7d459d41897cd94377af7a084b3a3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 11:00:25 -0800 Subject: [PATCH 927/964] Simplifying bias tests --- gtsam/navigation/tests/imuFactorTesting.h | 67 +++++++++++++ .../tests/testCombinedImuFactor.cpp | 93 +++++-------------- gtsam/navigation/tests/testImuFactor.cpp | 86 ++++------------- 3 files changed, 110 insertions(+), 136 deletions(-) create mode 100644 gtsam/navigation/tests/imuFactorTesting.h diff --git a/gtsam/navigation/tests/imuFactorTesting.h b/gtsam/navigation/tests/imuFactorTesting.h new file mode 100644 index 000000000..fae2400b5 --- /dev/null +++ b/gtsam/navigation/tests/imuFactorTesting.h @@ -0,0 +1,67 @@ +/* ---------------------------------------------------------------------------- + + * 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 imuFactorTesting.h + * @brief Common testing infrastructure + * @author Frank Dellaert + */ + +#pragma once + +#include +#include + +using namespace std; +using namespace gtsam; + +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::V; +using symbol_shorthand::B; + +typedef imuBias::ConstantBias Bias; +static const Vector3 Z_3x1 = Vector3::Zero(); +static const Bias kZeroBiasHat, kZeroBias; + +static const Vector3 kZeroOmegaCoriolis(0, 0, 0); +static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); + +namespace testing { + +struct ImuMeasurement { + ImuMeasurement(const Vector3& acc, const Vector3& gyro, double dt) + : acc(acc), gyro(gyro), dt(dt) {} + const Vector3 acc, gyro; + const double dt; +}; + +template +void integrateMeasurements(const vector& measurements, + PIM* pim) { + for (const auto& m : measurements) + pim->integrateMeasurement(m.acc, m.gyro, m.dt); +} + +struct SomeMeasurements : vector { + SomeMeasurements() { + reserve(102); + const double dt = 0.01, pi100 = M_PI / 100; + emplace_back(Vector3(0.1, 0, 0), Vector3(pi100, 0, 0), dt); + emplace_back(Vector3(0.1, 0, 0), Vector3(pi100, 0, 0), dt); + for (int i = 1; i < 100; i++) { + emplace_back(Vector3(0.05, 0.09, 0.01), + Vector3(pi100, pi100 * 3, 2 * pi100), dt); + } + } +}; + +} // namespace testing diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index c25086eea..8ed0f751f 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -32,17 +32,7 @@ #include #include -using namespace std; -using namespace gtsam; - -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::V; -using symbol_shorthand::B; - -typedef imuBias::ConstantBias Bias; -static const Vector3 Z_3x1 = Vector3::Zero(); -static const Bias kZeroBiasHat, kZeroBias; +#include "imuFactorTesting.h" namespace { @@ -50,34 +40,22 @@ namespace { // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ PreintegratedCombinedMeasurements evaluatePreintegratedMeasurements( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { + const imuBias::ConstantBias& bias) { auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); - PreintegratedCombinedMeasurements result(p, bias); - - list::const_iterator itAcc = measuredAccs.begin(); - list::const_iterator itOmega = measuredOmegas.begin(); - list::const_iterator itDeltaT = deltaTs.begin(); - for (; itAcc != measuredAccs.end(); ++itAcc, ++itOmega, ++itDeltaT) { - result.integrateMeasurement(*itAcc, *itOmega, *itDeltaT); - } - return result; + PreintegratedCombinedMeasurements pim(p, bias); + integrateMeasurements(testing::SomeMeasurements(), &pim); + return pim; } Vector3 evaluatePreintegratedMeasurementsPosition( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaPij(); + const imuBias::ConstantBias& bias) { + return evaluatePreintegratedMeasurements(bias).deltaPij(); } Vector3 evaluatePreintegratedMeasurementsVelocity( - const imuBias::ConstantBias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaVij(); + const imuBias::ConstantBias& bias) { + return evaluatePreintegratedMeasurements(bias).deltaVij(); } - } /* ************************************************************************* */ @@ -167,64 +145,39 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { } /* ************************************************************************* */ -TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) { - // Linearization point - imuBias::ConstantBias bias; ///< Current estimate of acceleration and rotation rate biases - - Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1)); - - // Measurements - list measuredAccs, measuredOmegas; - list deltaTs; - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - for (int i = 1; i < 100; i++) { - measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); - deltaTs.push_back(0.01); - } - +TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) { // Actual preintegrated values PreintegratedCombinedMeasurements pim = - evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs); + evaluatePreintegratedMeasurements(kZeroBiasHat); // Check derivative of rotation - boost::function theta = [=]( - const Vector3& a, const Vector3& w) { - return evaluatePreintegratedMeasurements( - Bias(a, w), measuredAccs, measuredOmegas, deltaTs).theta(); - }; + boost::function theta = + [=](const Vector3& a, const Vector3& w) { + return evaluatePreintegratedMeasurements(Bias(a, w)).theta(); + }; EXPECT( assert_equal(numericalDerivative21(theta, Z_3x1, Z_3x1), Matrix(Z_3x3))); EXPECT(assert_equal(numericalDerivative22(theta, Z_3x1, Z_3x1), pim.delRdelBiasOmega(), 1e-7)); // Compute numerical derivatives - Matrix expectedDelPdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, - measuredOmegas, deltaTs), bias); + Matrix expectedDelPdelBias = + numericalDerivative11( + evaluatePreintegratedMeasurementsPosition, kZeroBiasHat); Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); - Matrix expectedDelVdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, - measuredOmegas, deltaTs), bias); + Matrix expectedDelVdelBias = + numericalDerivative11( + &evaluatePreintegratedMeasurementsVelocity, kZeroBiasHat); Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); // Compare Jacobians EXPECT(assert_equal(expectedDelPdelBiasAcc, pim.delPdelBiasAcc())); - EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega(),1e-8)); + EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega(), 1e-8)); EXPECT(assert_equal(expectedDelVdelBiasAcc, pim.delVdelBiasAcc())); - EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega(),1e-8)); + EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega(), 1e-8)); } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 0829fbc37..80c7f6502 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -12,17 +12,18 @@ /** * @file testImuFactor.cpp * @brief Unit test for ImuFactor - * @author Luca Carlone, Stephen Williams, Richard Roberts, Frank Dellaert + * @author Luca Carlone + * @author Frank Dellaert + * @author Richard Roberts + * @author Stephen Williams */ #include -#include #include #include #include #include #include -#include #include #include @@ -31,22 +32,10 @@ #include #include -using namespace std; -using namespace gtsam; - -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::V; -using symbol_shorthand::B; - -typedef imuBias::ConstantBias Bias; -static const Vector3 Z_3x1 = Vector3::Zero(); -static const Bias kZeroBiasHat, kZeroBias; +#include "imuFactorTesting.h" static const double kGravity = 10; static const Vector3 kGravityAlongNavZDown(0, 0, kGravity); -static const Vector3 kZeroOmegaCoriolis(0, 0, 0); -static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); /* ************************************************************************* */ namespace { @@ -78,31 +67,18 @@ static boost::shared_ptr defaultParams() { // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ PreintegratedImuMeasurements evaluatePreintegratedMeasurements( - const Bias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - PreintegratedImuMeasurements result(defaultParams(), bias); - - list::const_iterator itAcc = measuredAccs.begin(); - list::const_iterator itOmega = measuredOmegas.begin(); - list::const_iterator itDeltaT = deltaTs.begin(); - for (; itAcc != measuredAccs.end(); ++itAcc, ++itOmega, ++itDeltaT) { - result.integrateMeasurement(*itAcc, *itOmega, *itDeltaT); - } - return result; + const Bias& bias) { + PreintegratedImuMeasurements pim(defaultParams(), bias); + integrateMeasurements(testing::SomeMeasurements(), &pim); + return pim; } -Vector3 evaluatePreintegratedMeasurementsPosition( - const Bias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaPij(); +Vector3 evaluatePreintegratedMeasurementsPosition(const Bias& bias) { + return evaluatePreintegratedMeasurements(bias).deltaPij(); } -Vector3 evaluatePreintegratedMeasurementsVelocity( - const Bias& bias, const list& measuredAccs, - const list& measuredOmegas, const list& deltaTs) { - return evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, - deltaTs).deltaVij(); +Vector3 evaluatePreintegratedMeasurementsVelocity(const Bias& bias) { + return evaluatePreintegratedMeasurements(bias).deltaVij(); } Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, @@ -478,33 +454,15 @@ TEST(ImuFactor, fistOrderExponential) { /* ************************************************************************* */ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { - // Measurements - list measuredAccs, measuredOmegas; - list deltaTs; - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - measuredAccs.push_back(Vector3(0.1, 0.0, 0.0)); - measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0)); - deltaTs.push_back(0.01); - for (int i = 1; i < 100; i++) { - measuredAccs.push_back(Vector3(0.05, 0.09, 0.01)); - measuredOmegas.push_back( - Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0)); - deltaTs.push_back(0.01); - } - // Actual pre-integrated values PreintegratedImuMeasurements preintegrated = - evaluatePreintegratedMeasurements(kZeroBias, measuredAccs, measuredOmegas, - deltaTs); + evaluatePreintegratedMeasurements(kZeroBias); // Check derivative of rotation - boost::function theta = [=]( - const Vector3& a, const Vector3& w) { - return evaluatePreintegratedMeasurements( - Bias(a, w), measuredAccs, measuredOmegas, deltaTs).theta(); - }; + boost::function theta = + [=](const Vector3& a, const Vector3& w) { + return evaluatePreintegratedMeasurements(Bias(a, w)).theta(); + }; EXPECT( assert_equal(numericalDerivative21(theta, Z_3x1, Z_3x1), Matrix(Z_3x3))); EXPECT(assert_equal(numericalDerivative22(theta, Z_3x1, Z_3x1), @@ -512,9 +470,7 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { // Check derivative of translation Matrix expectedDelPdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, - measuredOmegas, deltaTs), - kZeroBias); + &evaluatePreintegratedMeasurementsPosition, kZeroBias); Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); @@ -523,9 +479,7 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { // Check derivative of velocity Matrix expectedDelVdelBias = numericalDerivative11( - boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, - measuredOmegas, deltaTs), - kZeroBias); + &evaluatePreintegratedMeasurementsVelocity, kZeroBias); Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc())); From b7d54e60b68aa6cc828150a53758cf5783eeb226 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 11:19:49 -0800 Subject: [PATCH 928/964] Radically simplified bias derivative tests --- gtsam/navigation/CombinedImuFactor.h | 5 +- gtsam/navigation/ImuFactor.cpp | 4 +- gtsam/navigation/PreintegrationBase.h | 11 ++-- .../tests/testCombinedImuFactor.cpp | 64 ++++--------------- gtsam/navigation/tests/testImuFactor.cpp | 55 ++++------------ 5 files changed, 35 insertions(+), 104 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index f7b6aa43f..3141f8245 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -120,8 +120,9 @@ public: * Default constructor, initializes the class with no measurements * @param bias Current estimate of acceleration and rotation rate biases */ - PreintegratedCombinedMeasurements(const boost::shared_ptr& p, - const imuBias::ConstantBias& biasHat) + PreintegratedCombinedMeasurements( + const boost::shared_ptr& p, + const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : PreintegrationBase(p, biasHat) { preintMeasCov_.setZero(); } diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 7e05c6d41..aeda774d5 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -69,9 +69,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( const Matrix3& wCov = p().gyroscopeCovariance; const Matrix3& iCov = p().integrationCovariance; - // NOTE(luca): (1/dt) allows to pass from continuous time noise to discrete - // time noise - // measurementCovariance_discrete = measurementCovariance_contTime/dt + // (1/dt) allows to pass from continuous time noise to discrete time noise preintMeasCov_ = A * preintMeasCov_ * A.transpose(); preintMeasCov_.noalias() += B * (aCov / dt) * B.transpose(); preintMeasCov_.noalias() += C * (wCov / dt) * C.transpose(); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 177c9b8f3..f2d031dc0 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -202,11 +202,12 @@ public: Rot3 deltaRij() const { return Rot3::Expmap(deltaXij_.theta()); } NavState deltaXij() const { return NavState::Retract(deltaXij_.vector()); } - const Matrix3& delRdelBiasOmega() const { return delRdelBiasOmega_; } - const Matrix3& delPdelBiasAcc() const { return delPdelBiasAcc_; } - const Matrix3& delPdelBiasOmega() const { return delPdelBiasOmega_; } - const Matrix3& delVdelBiasAcc() const { return delVdelBiasAcc_; } - const Matrix3& delVdelBiasOmega() const { return delVdelBiasOmega_; } + const Matrix93 zeta_H_biasAcc() { + return (Matrix93() << Z_3x3, delPdelBiasAcc_, delVdelBiasAcc_).finished(); + } + const Matrix93 zeta_H_biasOmega() { + return (Matrix93() << delRdelBiasOmega_, delPdelBiasOmega_, delVdelBiasOmega_).finished(); + } // Exposed for MATLAB Vector6 biasHatVector() const { return biasHat_.vector(); } diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 8ed0f751f..06ceef994 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -34,30 +34,6 @@ #include "imuFactorTesting.h" -namespace { - -// Auxiliary functions to test preintegrated Jacobians -// delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ -/* ************************************************************************* */ -PreintegratedCombinedMeasurements evaluatePreintegratedMeasurements( - const imuBias::ConstantBias& bias) { - auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); - PreintegratedCombinedMeasurements pim(p, bias); - integrateMeasurements(testing::SomeMeasurements(), &pim); - return pim; -} - -Vector3 evaluatePreintegratedMeasurementsPosition( - const imuBias::ConstantBias& bias) { - return evaluatePreintegratedMeasurements(bias).deltaPij(); -} - -Vector3 evaluatePreintegratedMeasurementsVelocity( - const imuBias::ConstantBias& bias) { - return evaluatePreintegratedMeasurements(bias).deltaVij(); -} -} - /* ************************************************************************* */ TEST( CombinedImuFactor, PreintegratedMeasurements ) { // Linearization point @@ -146,38 +122,24 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { /* ************************************************************************* */ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) { - // Actual preintegrated values - PreintegratedCombinedMeasurements pim = - evaluatePreintegratedMeasurements(kZeroBiasHat); + auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + testing::SomeMeasurements measurements; - // Check derivative of rotation - boost::function theta = + boost::function zeta = [=](const Vector3& a, const Vector3& w) { - return evaluatePreintegratedMeasurements(Bias(a, w)).theta(); + PreintegratedImuMeasurements pim(p, Bias(a, w)); + testing::integrateMeasurements(measurements, &pim); + return pim.zeta(); }; - EXPECT( - assert_equal(numericalDerivative21(theta, Z_3x1, Z_3x1), Matrix(Z_3x3))); - EXPECT(assert_equal(numericalDerivative22(theta, Z_3x1, Z_3x1), - pim.delRdelBiasOmega(), 1e-7)); - // Compute numerical derivatives - Matrix expectedDelPdelBias = - numericalDerivative11( - evaluatePreintegratedMeasurementsPosition, kZeroBiasHat); - Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); - Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); + // Actual pre-integrated values + PreintegratedCombinedMeasurements pim(p); + testing::integrateMeasurements(measurements, &pim); - Matrix expectedDelVdelBias = - numericalDerivative11( - &evaluatePreintegratedMeasurementsVelocity, kZeroBiasHat); - Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); - Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); - - // Compare Jacobians - EXPECT(assert_equal(expectedDelPdelBiasAcc, pim.delPdelBiasAcc())); - EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega(), 1e-8)); - EXPECT(assert_equal(expectedDelVdelBiasAcc, pim.delVdelBiasAcc())); - EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega(), 1e-8)); + EXPECT(assert_equal(numericalDerivative21(zeta, Z_3x1, Z_3x1), + pim.zeta_H_biasAcc())); + EXPECT(assert_equal(numericalDerivative22(zeta, Z_3x1, Z_3x1), + pim.zeta_H_biasOmega(), 1e-7)); } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 80c7f6502..c02b49fbf 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -63,24 +63,7 @@ static boost::shared_ptr defaultParams() { return p; } -// Auxiliary functions to test pre-integrated Jacobians -// delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ /* ************************************************************************* */ -PreintegratedImuMeasurements evaluatePreintegratedMeasurements( - const Bias& bias) { - PreintegratedImuMeasurements pim(defaultParams(), bias); - integrateMeasurements(testing::SomeMeasurements(), &pim); - return pim; -} - -Vector3 evaluatePreintegratedMeasurementsPosition(const Bias& bias) { - return evaluatePreintegratedMeasurements(bias).deltaPij(); -} - -Vector3 evaluatePreintegratedMeasurementsVelocity(const Bias& bias) { - return evaluatePreintegratedMeasurements(bias).deltaVij(); -} - Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, const double deltaT) { return Rot3::Expmap((measuredOmega - biasOmega) * deltaT); @@ -454,37 +437,23 @@ TEST(ImuFactor, fistOrderExponential) { /* ************************************************************************* */ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { - // Actual pre-integrated values - PreintegratedImuMeasurements preintegrated = - evaluatePreintegratedMeasurements(kZeroBias); + testing::SomeMeasurements measurements; - // Check derivative of rotation - boost::function theta = + boost::function zeta = [=](const Vector3& a, const Vector3& w) { - return evaluatePreintegratedMeasurements(Bias(a, w)).theta(); + PreintegratedImuMeasurements pim(defaultParams(), Bias(a, w)); + testing::integrateMeasurements(measurements, &pim); + return pim.zeta(); }; - EXPECT( - assert_equal(numericalDerivative21(theta, Z_3x1, Z_3x1), Matrix(Z_3x3))); - EXPECT(assert_equal(numericalDerivative22(theta, Z_3x1, Z_3x1), - preintegrated.delRdelBiasOmega(), 1e-7)); - // Check derivative of translation - Matrix expectedDelPdelBias = numericalDerivative11( - &evaluatePreintegratedMeasurementsPosition, kZeroBias); - Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3); - Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3); - EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc())); - EXPECT(assert_equal(expectedDelPdelBiasOmega, - preintegrated.delPdelBiasOmega(), 1e-8)); + // Actual pre-integrated values + PreintegratedImuMeasurements pim(defaultParams()); + testing::integrateMeasurements(measurements, &pim); - // Check derivative of velocity - Matrix expectedDelVdelBias = numericalDerivative11( - &evaluatePreintegratedMeasurementsVelocity, kZeroBias); - Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3); - Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3); - EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc())); - EXPECT(assert_equal(expectedDelVdelBiasOmega, - preintegrated.delVdelBiasOmega(), 1e-8)); + EXPECT(assert_equal(numericalDerivative21(zeta, Z_3x1, Z_3x1), + pim.zeta_H_biasAcc())); + EXPECT(assert_equal(numericalDerivative22(zeta, Z_3x1, Z_3x1), + pim.zeta_H_biasOmega(), 1e-7)); } /* ************************************************************************* */ From 2a244cac12a039dc1416acad4beae83c4e7e43e2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 11:58:11 -0800 Subject: [PATCH 929/964] Drastic simplification triumph ! --- gtsam/navigation/PreintegrationBase.cpp | 54 +++++-------------------- gtsam/navigation/PreintegrationBase.h | 37 +++-------------- 2 files changed, 17 insertions(+), 74 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 2a64074ff..57afbcdbe 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -38,11 +38,8 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; deltaXij_ = TangentVector(); - delRdelBiasOmega_ = Z_3x3; - delPdelBiasAcc_ = Z_3x3; - delPdelBiasOmega_ = Z_3x3; - delVdelBiasAcc_ = Z_3x3; - delVdelBiasOmega_ = Z_3x3; + zeta_H_biasAcc_.setZero(); + zeta_H_biasOmega_.setZero(); } //------------------------------------------------------------------------------ @@ -68,11 +65,8 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, return params_match && fabs(deltaTij_ - other.deltaTij_) < tol && biasHat_.equals(other.biasHat_, tol) && equal_with_abs_tol(deltaXij_.vector(), other.deltaXij_.vector(), tol) - && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol) - && equal_with_abs_tol(delPdelBiasAcc_, other.delPdelBiasAcc_, tol) - && equal_with_abs_tol(delPdelBiasOmega_, other.delPdelBiasOmega_, tol) - && equal_with_abs_tol(delVdelBiasAcc_, other.delVdelBiasAcc_, tol) - && equal_with_abs_tol(delVdelBiasOmega_, other.delVdelBiasOmega_, tol); + && equal_with_abs_tol(zeta_H_biasAcc_, other.zeta_H_biasAcc_, tol) + && equal_with_abs_tol(zeta_H_biasOmega_, other.zeta_H_biasOmega_, tol); } //------------------------------------------------------------------------------ @@ -226,49 +220,23 @@ void PreintegrationBase::update(const Vector3& measuredAcc, deltaXij_ = updatedDeltaXij(measuredAcc, measuredOmega, dt, A, B, C); // D_plus_abias = D_plus_zeta * D_zeta_abias + D_plus_a * D_a_abias - Matrix93 D_zeta_abias, D_plus_abias; - D_zeta_abias << Z_3x3, delPdelBiasAcc_, delVdelBiasAcc_; - D_plus_abias = (*A) * D_zeta_abias - (*B); - delPdelBiasAcc_ = D_plus_abias.middleRows<3>(3); - delVdelBiasAcc_ = D_plus_abias.middleRows<3>(6); + zeta_H_biasAcc_ = (*A) * zeta_H_biasAcc_ - (*B); // D_plus_wbias = D_plus_zeta * D_zeta_wbias + D_plus_w * D_w_wbias - Matrix93 D_zeta_wbias, D_plus_wbias; - D_zeta_wbias << delRdelBiasOmega_, delPdelBiasOmega_, delVdelBiasOmega_; - D_plus_wbias = (*A) * D_zeta_wbias - (*C); - delRdelBiasOmega_ = D_plus_wbias.middleRows<3>(0); - delPdelBiasOmega_ = D_plus_wbias.middleRows<3>(3); - delVdelBiasOmega_ = D_plus_wbias.middleRows<3>(6); + zeta_H_biasOmega_ = (*A) * zeta_H_biasOmega_ - (*C); } //------------------------------------------------------------------------------ Vector9 PreintegrationBase::biasCorrectedDelta( const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H) const { -// Correct deltaRij, derivative is delRdelBiasOmega_ + // We correct for a change between bias_i and the biasHat_ used to integrate + // This is a simple linear correction with obvious derivatives const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - Matrix3 D_correctedRij_bias; - const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasIncr.gyroscope(); - const Rot3 correctedRij = deltaRij().expmap(biasInducedOmega, boost::none, - H ? &D_correctedRij_bias : 0); - if (H) - D_correctedRij_bias *= delRdelBiasOmega_; - - Vector9 xi; - Matrix3 D_dR_correctedRij; - // TODO(frank): could line below be simplified? It is equivalent to - // LogMap(deltaRij_.compose(Expmap(biasInducedOmega))) - NavState::dR(xi) = Rot3::Logmap(correctedRij, H ? &D_dR_correctedRij : 0); - NavState::dP(xi) = deltaPij() + delPdelBiasAcc_ * biasIncr.accelerometer() - + delPdelBiasOmega_ * biasIncr.gyroscope(); - NavState::dV(xi) = deltaVij() + delVdelBiasAcc_ * biasIncr.accelerometer() - + delVdelBiasOmega_ * biasIncr.gyroscope(); + const Vector9 xi = zeta() + zeta_H_biasAcc_ * biasIncr.accelerometer() + + zeta_H_biasOmega_ * biasIncr.gyroscope(); if (H) { - Matrix36 D_dR_bias, D_dP_bias, D_dV_bias; - D_dR_bias << Z_3x3, D_dR_correctedRij * D_correctedRij_bias; - D_dP_bias << delPdelBiasAcc_, delPdelBiasOmega_; - D_dV_bias << delVdelBiasAcc_, delVdelBiasOmega_; - (*H) << D_dR_bias, D_dP_bias, D_dV_bias; + (*H) << zeta_H_biasAcc_, zeta_H_biasOmega_; } return xi; } diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index f2d031dc0..3a4d99752 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -121,11 +121,8 @@ class PreintegrationBase { /// Current estimate of deltaXij_k TangentVector deltaXij_; - Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias - Matrix3 delPdelBiasAcc_; ///< Jacobian of preintegrated position w.r.t. acceleration bias - Matrix3 delPdelBiasOmega_; ///< Jacobian of preintegrated position w.r.t. angular rate bias - Matrix3 delVdelBiasAcc_; ///< Jacobian of preintegrated velocity w.r.t. acceleration bias - Matrix3 delVdelBiasOmega_; ///< Jacobian of preintegrated velocity w.r.t. angular rate bias + Matrix93 zeta_H_biasAcc_; ///< Jacobian of preintegrated zeta w.r.t. acceleration bias + Matrix93 zeta_H_biasOmega_; ///< Jacobian of preintegrated zeta w.r.t. angular rate bias /// Default constructor for serialization PreintegrationBase() { @@ -144,21 +141,6 @@ public: PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()); - /** - * Constructor which takes in all members for generic construction - */ - PreintegrationBase(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat, - double deltaTij, const TangentVector& zeta, const Matrix3& delPdelBiasAcc, - const Matrix3& delPdelBiasOmega, const Matrix3& delVdelBiasAcc, - const Matrix3& delVdelBiasOmega) - : p_(p), - biasHat_(biasHat), - deltaTij_(deltaTij), - deltaXij_(zeta), - delPdelBiasAcc_(delPdelBiasAcc), - delPdelBiasOmega_(delPdelBiasOmega), - delVdelBiasAcc_(delVdelBiasAcc), - delVdelBiasOmega_(delVdelBiasOmega) {} /// @} /// @name Basic utilities @@ -202,12 +184,8 @@ public: Rot3 deltaRij() const { return Rot3::Expmap(deltaXij_.theta()); } NavState deltaXij() const { return NavState::Retract(deltaXij_.vector()); } - const Matrix93 zeta_H_biasAcc() { - return (Matrix93() << Z_3x3, delPdelBiasAcc_, delVdelBiasAcc_).finished(); - } - const Matrix93 zeta_H_biasOmega() { - return (Matrix93() << delRdelBiasOmega_, delPdelBiasOmega_, delVdelBiasOmega_).finished(); - } + const Matrix93& zeta_H_biasAcc() const { return zeta_H_biasAcc_; } + const Matrix93& zeta_H_biasOmega() const { return zeta_H_biasOmega_; } // Exposed for MATLAB Vector6 biasHatVector() const { return biasHat_.vector(); } @@ -309,11 +287,8 @@ 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 & bs::make_nvp("zeta_H_biasAcc_", bs::make_array(zeta_H_biasAcc_.data(), zeta_H_biasAcc_.size())); + ar & bs::make_nvp("zeta_H_biasOmega_", bs::make_array(zeta_H_biasOmega_.data(), zeta_H_biasOmega_.size())); } }; From f498a96582d65f5ac4819d0608b053020bfb7a06 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 12:42:01 -0800 Subject: [PATCH 930/964] Got rid of cumbersome TangentVector struct --- gtsam/navigation/PreintegrationBase.cpp | 68 +++++++++------- gtsam/navigation/PreintegrationBase.h | 79 +++++-------------- .../tests/testPreintegrationBase.cpp | 4 +- 3 files changed, 59 insertions(+), 92 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 57afbcdbe..c3c73e9d8 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -37,7 +37,7 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, //------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; - deltaXij_ = TangentVector(); + zeta_ = Vector9(); zeta_H_biasAcc_.setZero(); zeta_H_biasOmega_.setZero(); } @@ -64,7 +64,7 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, const bool params_match = p_->equals(*other.p_, tol); return params_match && fabs(deltaTij_ - other.deltaTij_) < tol && biasHat_.equals(other.biasHat_, tol) - && equal_with_abs_tol(deltaXij_.vector(), other.deltaXij_.vector(), tol) + && equal_with_abs_tol(zeta_, other.zeta_, tol) && equal_with_abs_tol(zeta_H_biasAcc_, other.zeta_H_biasAcc_, tol) && equal_with_abs_tol(zeta_H_biasOmega_, other.zeta_H_biasOmega_, tol); } @@ -120,42 +120,52 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos //------------------------------------------------------------------------------ // See extensive discussion in ImuFactor.lyx -PreintegrationBase::TangentVector PreintegrationBase::UpdateEstimate( - const Vector3& a_body, const Vector3& w_body, double dt, - const TangentVector& zeta, OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { +Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, + const Vector3& w_body, double dt, + const Vector9& zeta, + OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, + OptionalJacobian<9, 3> C) { + const auto theta = zeta.segment<3>(0); + const auto position = zeta.segment<3>(3); + const auto velocity = zeta.segment<3>(6); + // Calculate exact mean propagation Matrix3 H; - const Matrix3 R = Rot3::Expmap(zeta.theta(), H).matrix(); + const Matrix3 R = Rot3::Expmap(theta, H).matrix(); const Matrix3 invH = H.inverse(); const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; - TangentVector zetaPlus(zeta.theta() + invH * w_body * dt, - zeta.position() + zeta.velocity() * dt + a_nav * dt22, - zeta.velocity() + a_nav * dt); + Vector9 zetaPlus; + zetaPlus << // + theta + invH* w_body* dt, // theta + position + velocity* dt + a_nav* dt22, // position + velocity + a_nav* dt; // velocity if (A) { +#define USE_NUMERICAL_DERIVATIVE +#ifdef USE_NUMERICAL_DERIVATIVE + auto f = [w_body](const Vector3& theta) { + return Rot3::ExpmapDerivative(theta).inverse() * w_body; + }; + const Matrix3 invHw_H_theta = + numericalDerivative11(f, theta); +#else // First order (small angle) approximation of derivative of invH*w: -// const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); - // NOTE(frank): Rot3::ExpmapDerivative(w_body) is also an approximation (but less accurate): - // If we replace approximation with numerical derivative we get better accuracy: - auto f = [w_body](const Vector3& theta) { - return Rot3::ExpmapDerivative(theta).inverse() * w_body; - }; - const Matrix3 invHw_H_theta = numericalDerivative11(f, zeta.theta()); + // TODO(frank): find a cheap closed form solution (look at Iserles) + // NOTE(frank): Rot3::ExpmapDerivative(w_body) is a less accurate approximation + const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); +#endif // Exact derivative of R*a with respect to theta: const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; A->setIdentity(); - // theta: - A->block<3, 3>(0, 0).noalias() += invHw_H_theta * dt; - // position: - A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; - A->block<3, 3>(3, 6) = I_3x3 * dt; - // velocity: - A->block<3, 3>(6, 0) = a_nav_H_theta * dt; + A->block<3, 3>(0, 0).noalias() += invHw_H_theta * dt; // theta + A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; // position wrpt theta... + A->block<3, 3>(3, 6) = I_3x3 * dt; // .. and velocity + A->block<3, 3>(6, 0) = a_nav_H_theta * dt; // velocity wrpt theta } if (B) { B->block<3, 3>(0, 0) = Z_3x3; @@ -172,7 +182,7 @@ PreintegrationBase::TangentVector PreintegrationBase::UpdateEstimate( } //------------------------------------------------------------------------------ -PreintegrationBase::TangentVector PreintegrationBase::updatedDeltaXij( +Vector9 PreintegrationBase::updatedZeta( const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) const { @@ -182,7 +192,7 @@ PreintegrationBase::TangentVector PreintegrationBase::updatedDeltaXij( const Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); // Do update in one fell swoop - return UpdateEstimate(correctedAcc, correctedOmega, dt, deltaXij_, A, B, C); + return UpdateEstimate(correctedAcc, correctedOmega, dt, zeta_, A, B, C); } else { // More complicated derivatives in case of sensor displacement Vector3 correctedAcc, correctedOmega; @@ -196,8 +206,8 @@ PreintegrationBase::TangentVector PreintegrationBase::updatedDeltaXij( // Do update in one fell swoop Matrix93 D_updated_correctedAcc, D_updated_correctedOmega; - const PreintegrationBase::TangentVector updated = - UpdateEstimate(correctedAcc, correctedOmega, dt, deltaXij_, A, + const Vector9 updated = + UpdateEstimate(correctedAcc, correctedOmega, dt, zeta_, A, ((B || C) ? &D_updated_correctedAcc : 0), (C ? &D_updated_correctedOmega : 0)); if (B) *B = D_updated_correctedAcc* D_correctedAcc_measuredAcc; @@ -217,7 +227,7 @@ void PreintegrationBase::update(const Vector3& measuredAcc, Matrix93* B, Matrix93* C) { // Do update deltaTij_ += dt; - deltaXij_ = updatedDeltaXij(measuredAcc, measuredOmega, dt, A, B, C); + zeta_ = updatedZeta(measuredAcc, measuredOmega, dt, A, B, C); // D_plus_abias = D_plus_zeta * D_zeta_abias + D_plus_a * D_a_abias zeta_H_biasAcc_ = (*A) * zeta_H_biasAcc_ - (*B); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 3a4d99752..110f1ae1d 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -60,44 +60,6 @@ class PreintegrationBase { typedef imuBias::ConstantBias Bias; typedef PreintegrationParams Params; - /// The IMU is integrated in the tangent space, represented by a Vector9 - /// This small inner class provides some convenient constructors and efficient - /// access to the orientation, position, and velocity components - class TangentVector { - Vector9 v_; - typedef const Vector9 constV9; - - public: - TangentVector() { v_.setZero(); } - TangentVector(const Vector9& v) : v_(v) {} - TangentVector(const Vector3& theta, const Vector3& pos, - const Vector3& vel) { - this->theta() = theta; - this->position() = pos; - this->velocity() = vel; - } - - const Vector9& vector() const { return v_; } - - Eigen::Block theta() { return v_.segment<3>(0); } - Eigen::Block theta() const { return v_.segment<3>(0); } - - Eigen::Block position() { return v_.segment<3>(3); } - Eigen::Block position() const { return v_.segment<3>(3); } - - Eigen::Block velocity() { return v_.segment<3>(6); } - Eigen::Block velocity() const { return v_.segment<3>(6); } - - private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE& ar, const unsigned int /*version*/) { - namespace bs = ::boost::serialization; - ar & bs::make_nvp("v_", bs::make_array(v_.data(), v_.size())); - } - }; - protected: /// Parameters. Declared mutable only for deprecated predict method. @@ -108,7 +70,7 @@ class PreintegrationBase { boost::shared_ptr p_; /// Acceleration and gyro bias used for preintegration - imuBias::ConstantBias biasHat_; + Bias biasHat_; /// Time interval from i to j double deltaTij_; @@ -118,8 +80,7 @@ class PreintegrationBase { * Note: relative position does not take into account velocity at time i, see deltap+, in [2] * Note: velocity is now also in frame i, as opposed to deltaVij in [2] */ - /// Current estimate of deltaXij_k - TangentVector deltaXij_; + Vector9 zeta_; Matrix93 zeta_H_biasAcc_; ///< Jacobian of preintegrated zeta w.r.t. acceleration bias Matrix93 zeta_H_biasOmega_; ///< Jacobian of preintegrated zeta w.r.t. angular rate bias @@ -175,14 +136,14 @@ public: const imuBias::ConstantBias& biasHat() const { return biasHat_; } const double& deltaTij() const { return deltaTij_; } - const Vector9& zeta() const { return deltaXij_.vector(); } + const Vector9& zeta() const { return zeta_; } - Vector3 theta() const { return deltaXij_.theta(); } - Vector3 deltaPij() const { return deltaXij_.position(); } - Vector3 deltaVij() const { return deltaXij_.velocity(); } + Vector3 theta() const { return zeta_.head<3>(); } + Vector3 deltaPij() const { return zeta_.segment<3>(3); } + Vector3 deltaVij() const { return zeta_.tail<3>(); } - Rot3 deltaRij() const { return Rot3::Expmap(deltaXij_.theta()); } - NavState deltaXij() const { return NavState::Retract(deltaXij_.vector()); } + Rot3 deltaRij() const { return Rot3::Expmap(theta()); } + NavState deltaXij() const { return NavState::Retract(zeta_); } const Matrix93& zeta_H_biasAcc() const { return zeta_H_biasAcc_; } const Matrix93& zeta_H_biasOmega() const { return zeta_H_biasOmega_; } @@ -212,20 +173,18 @@ public: // Update integrated vector on tangent manifold zeta with acceleration // readings a_body and gyro readings w_body, bias-corrected in body frame. - static TangentVector UpdateEstimate(const Vector3& a_body, - const Vector3& w_body, double dt, - const TangentVector& zeta, - OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none); + static Vector9 UpdateEstimate(const Vector3& a_body, const Vector3& w_body, + double dt, const Vector9& zeta, + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none); /// Calculate the updated preintegrated measurement, does not modify /// It takes measured quantities in the j frame - PreintegrationBase::TangentVector updatedDeltaXij( - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, - OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none) const; + Vector9 updatedZeta(const Vector3& measuredAcc, const Vector3& measuredOmega, + double dt, OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none) const; /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame @@ -284,9 +243,9 @@ private: 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_NVP(deltaXij_); ar & BOOST_SERIALIZATION_NVP(biasHat_); + ar & BOOST_SERIALIZATION_NVP(deltaTij_); + ar & bs::make_nvp("zeta_", bs::make_array(zeta_.data(), zeta_.size())); ar & bs::make_nvp("zeta_H_biasAcc_", bs::make_array(zeta_H_biasAcc_.data(), zeta_H_biasAcc_.size())); ar & bs::make_nvp("zeta_H_biasOmega_", bs::make_array(zeta_H_biasOmega_.data(), zeta_H_biasOmega_.size())); } diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index bc67091ae..3327bfdb6 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -39,9 +39,7 @@ static boost::shared_ptr defaultParams() { } Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { - PreintegrationBase::TangentVector zeta_plus = - PreintegrationBase::UpdateEstimate(a, w, kDt, zeta); - return zeta_plus.vector(); + return PreintegrationBase::UpdateEstimate(a, w, kDt, zeta); } /* ************************************************************************* */ From ba5d4ffa6c0f8d897d4d032050dd86aaf3cdad03 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 12:45:27 -0800 Subject: [PATCH 931/964] Don't use numerical derivative --- gtsam/navigation/PreintegrationBase.cpp | 4 ++-- gtsam/navigation/tests/testCombinedImuFactor.cpp | 2 +- gtsam/navigation/tests/testImuFactor.cpp | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index c3c73e9d8..ed4ed583e 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -144,8 +144,9 @@ Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, velocity + a_nav* dt; // velocity if (A) { -#define USE_NUMERICAL_DERIVATIVE #ifdef USE_NUMERICAL_DERIVATIVE + // The use of this yields much more accurate derivatives, but it's slow! + // TODO(frank): find a cheap closed form solution (look at Iserles) auto f = [w_body](const Vector3& theta) { return Rot3::ExpmapDerivative(theta).inverse() * w_body; }; @@ -153,7 +154,6 @@ Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, numericalDerivative11(f, theta); #else // First order (small angle) approximation of derivative of invH*w: - // TODO(frank): find a cheap closed form solution (look at Iserles) // NOTE(frank): Rot3::ExpmapDerivative(w_body) is a less accurate approximation const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); #endif diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 06ceef994..036afcdb9 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -139,7 +139,7 @@ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) { EXPECT(assert_equal(numericalDerivative21(zeta, Z_3x1, Z_3x1), pim.zeta_H_biasAcc())); EXPECT(assert_equal(numericalDerivative22(zeta, Z_3x1, Z_3x1), - pim.zeta_H_biasOmega(), 1e-7)); + pim.zeta_H_biasOmega(), 1e-3)); } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index c02b49fbf..78e9c5ddd 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -453,7 +453,7 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { EXPECT(assert_equal(numericalDerivative21(zeta, Z_3x1, Z_3x1), pim.zeta_H_biasAcc())); EXPECT(assert_equal(numericalDerivative22(zeta, Z_3x1, Z_3x1), - pim.zeta_H_biasOmega(), 1e-7)); + pim.zeta_H_biasOmega(), 1e-3)); } /* ************************************************************************* */ From 14a87c4ecc805a6fe26955356a1f4f25afe77e90 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 13:13:48 -0800 Subject: [PATCH 932/964] Renamed zeta to preintegrated Simplified sensor pose handling --- gtsam/navigation/PreintegrationBase.cpp | 163 ++++++++---------- gtsam/navigation/PreintegrationBase.h | 47 +++-- .../tests/testCombinedImuFactor.cpp | 12 +- gtsam/navigation/tests/testImuFactor.cpp | 18 +- 4 files changed, 115 insertions(+), 125 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index ed4ed583e..f042aeae0 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -37,9 +37,9 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, //------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; - zeta_ = Vector9(); - zeta_H_biasAcc_.setZero(); - zeta_H_biasOmega_.setZero(); + preintegrated_ = Vector9(); + preintegrated_H_biasAcc_.setZero(); + preintegrated_H_biasOmega_.setZero(); } //------------------------------------------------------------------------------ @@ -64,54 +64,50 @@ bool PreintegrationBase::equals(const PreintegrationBase& other, const bool params_match = p_->equals(*other.p_, tol); return params_match && fabs(deltaTij_ - other.deltaTij_) < tol && biasHat_.equals(other.biasHat_, tol) - && equal_with_abs_tol(zeta_, other.zeta_, tol) - && equal_with_abs_tol(zeta_H_biasAcc_, other.zeta_H_biasAcc_, tol) - && equal_with_abs_tol(zeta_H_biasOmega_, other.zeta_H_biasOmega_, tol); + && equal_with_abs_tol(preintegrated_, other.preintegrated_, tol) + && equal_with_abs_tol(preintegrated_H_biasAcc_, other.preintegrated_H_biasAcc_, tol) + && equal_with_abs_tol(preintegrated_H_biasOmega_, other.preintegrated_H_biasOmega_, tol); } //------------------------------------------------------------------------------ -pair PreintegrationBase::correctMeasurementsByBiasAndSensorPose( - const Vector3& measuredAcc, const Vector3& measuredOmega, - OptionalJacobian<3, 3> D_correctedAcc_measuredAcc, - OptionalJacobian<3, 3> D_correctedAcc_measuredOmega, - OptionalJacobian<3, 3> D_correctedOmega_measuredOmega) const { - - // Correct for bias in the sensor frame - Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); +pair PreintegrationBase::correctMeasurementsBySensorPose( + const Vector3& unbiasedAcc, const Vector3& unbiasedOmega, + OptionalJacobian<3, 3> D_correctedAcc_unbiasedAcc, + OptionalJacobian<3, 3> D_correctedAcc_unbiasedOmega, + OptionalJacobian<3, 3> D_correctedOmega_unbiasedOmega) const { + assert(p().body_P_sensor); // Compensate for sensor-body displacement if needed: we express the quantities // (originally in the IMU frame) into the body frame // Equations below assume the "body" frame is the CG - if (p().body_P_sensor) { - // Get sensor to body rotation matrix - const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - // Convert angular velocity and acceleration from sensor to body frame - correctedOmega = bRs * correctedOmega; - correctedAcc = bRs * correctedAcc; + // Get sensor to body rotation matrix + const Matrix3 bRs = p().body_P_sensor->rotation().matrix(); - // Jacobians - if (D_correctedAcc_measuredAcc) *D_correctedAcc_measuredAcc = bRs; - if (D_correctedAcc_measuredOmega) *D_correctedAcc_measuredOmega = Z_3x3; - if (D_correctedOmega_measuredOmega) *D_correctedOmega_measuredOmega = bRs; + // Convert angular velocity and acceleration from sensor to body frame + Vector3 correctedAcc = bRs * unbiasedAcc; + const Vector3 correctedOmega = bRs * unbiasedOmega; - // Centrifugal acceleration - const Vector3 b_arm = p().body_P_sensor->translation().vector(); - if (!b_arm.isZero()) { - // Subtract out the the centripetal acceleration from the measured one - // to get linear acceleration vector in the body frame: - const Matrix3 body_Omega_body = skewSymmetric(correctedOmega); - const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm - correctedAcc -= body_Omega_body * b_velocity_bs; + // Jacobians + if (D_correctedAcc_unbiasedAcc) *D_correctedAcc_unbiasedAcc = bRs; + if (D_correctedAcc_unbiasedOmega) *D_correctedAcc_unbiasedOmega = Z_3x3; + if (D_correctedOmega_unbiasedOmega) *D_correctedOmega_unbiasedOmega = bRs; - // Update derivative: centrifugal causes the correlation between acc and omega!!! - if (D_correctedAcc_measuredOmega) { - double wdp = correctedOmega.dot(b_arm); - *D_correctedAcc_measuredOmega = -(diag(Vector3::Constant(wdp)) - + correctedOmega * b_arm.transpose()) * bRs.matrix() - + 2 * b_arm * measuredOmega.transpose(); - } + // Centrifugal acceleration + const Vector3 b_arm = p().body_P_sensor->translation().vector(); + if (!b_arm.isZero()) { + // Subtract out the the centripetal acceleration from the unbiased one + // to get linear acceleration vector in the body frame: + const Matrix3 body_Omega_body = skewSymmetric(correctedOmega); + const Vector3 b_velocity_bs = body_Omega_body * b_arm; // magnitude: omega * arm + correctedAcc -= body_Omega_body * b_velocity_bs; + + // Update derivative: centrifugal causes the correlation between acc and omega!!! + if (D_correctedAcc_unbiasedOmega) { + double wdp = correctedOmega.dot(b_arm); + *D_correctedAcc_unbiasedOmega = -(diag(Vector3::Constant(wdp)) + + correctedOmega * b_arm.transpose()) * bRs.matrix() + + 2 * b_arm * unbiasedOmega.transpose(); } } @@ -122,13 +118,13 @@ pair PreintegrationBase::correctMeasurementsByBiasAndSensorPos // See extensive discussion in ImuFactor.lyx Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, const Vector3& w_body, double dt, - const Vector9& zeta, + const Vector9& preintegrated, OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { - const auto theta = zeta.segment<3>(0); - const auto position = zeta.segment<3>(3); - const auto velocity = zeta.segment<3>(6); + const auto theta = preintegrated.segment<3>(0); + const auto position = preintegrated.segment<3>(3); + const auto velocity = preintegrated.segment<3>(6); // Calculate exact mean propagation Matrix3 H; @@ -137,8 +133,8 @@ Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; - Vector9 zetaPlus; - zetaPlus << // + Vector9 preintegratedPlus; + preintegratedPlus << // theta + invH* w_body* dt, // theta position + velocity* dt + a_nav* dt22, // position velocity + a_nav* dt; // velocity @@ -178,44 +174,36 @@ Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, C->block<3, 3>(6, 0) = Z_3x3; } - return zetaPlus; + return preintegratedPlus; } //------------------------------------------------------------------------------ -Vector9 PreintegrationBase::updatedZeta( - const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, - OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> B, - OptionalJacobian<9, 3> C) const { - if (!p().body_P_sensor) { - // Correct for bias in the sensor frame - const Vector3 correctedAcc = biasHat_.correctAccelerometer(measuredAcc); - const Vector3 correctedOmega = biasHat_.correctGyroscope(measuredOmega); +Vector9 PreintegrationBase::updatedPreintegrated(const Vector3& measuredAcc, + const Vector3& measuredOmega, + double dt, Matrix9* A, + Matrix93* B, Matrix93* C) const { + // Correct for bias in the sensor frame + Vector3 unbiasedAcc = biasHat_.correctAccelerometer(measuredAcc); + Vector3 unbiasedOmega = biasHat_.correctGyroscope(measuredOmega); - // Do update in one fell swoop - return UpdateEstimate(correctedAcc, correctedOmega, dt, zeta_, A, B, C); + if (!p().body_P_sensor) { + return UpdateEstimate(unbiasedAcc, unbiasedOmega, dt, preintegrated_, A, B, + C); } else { // More complicated derivatives in case of sensor displacement - Vector3 correctedAcc, correctedOmega; - Matrix3 D_correctedAcc_measuredAcc, D_correctedAcc_measuredOmega, - D_correctedOmega_measuredOmega; - boost::tie(correctedAcc, correctedOmega) = - correctMeasurementsByBiasAndSensorPose( - measuredAcc, measuredOmega, (B ? &D_correctedAcc_measuredAcc : 0), - (C ? &D_correctedAcc_measuredOmega : 0), - (C ? &D_correctedOmega_measuredOmega : 0)); + Matrix3 D_correctedAcc_unbiasedAcc, D_correctedAcc_unbiasedOmega, + D_correctedOmega_unbiasedOmega; + auto corrected = correctMeasurementsBySensorPose( + unbiasedAcc, unbiasedOmega, D_correctedAcc_unbiasedAcc, + D_correctedAcc_unbiasedOmega, D_correctedOmega_unbiasedOmega); - // Do update in one fell swoop - Matrix93 D_updated_correctedAcc, D_updated_correctedOmega; - const Vector9 updated = - UpdateEstimate(correctedAcc, correctedOmega, dt, zeta_, A, - ((B || C) ? &D_updated_correctedAcc : 0), - (C ? &D_updated_correctedOmega : 0)); - if (B) *B = D_updated_correctedAcc* D_correctedAcc_measuredAcc; - if (C) { - *C = D_updated_correctedOmega* D_correctedOmega_measuredOmega; - if (!p().body_P_sensor->translation().vector().isZero()) - *C += D_updated_correctedAcc* D_correctedAcc_measuredOmega; - } + const Vector9 updated = UpdateEstimate(corrected.first, corrected.second, dt, + preintegrated_, A, B, C); + + *C *= D_correctedOmega_unbiasedOmega; + if (!p().body_P_sensor->translation().vector().isZero()) + *C += *B* D_correctedAcc_unbiasedOmega; + *B *= D_correctedAcc_unbiasedAcc; // NOTE(frank): needs to be last return updated; } } @@ -227,13 +215,13 @@ void PreintegrationBase::update(const Vector3& measuredAcc, Matrix93* B, Matrix93* C) { // Do update deltaTij_ += dt; - zeta_ = updatedZeta(measuredAcc, measuredOmega, dt, A, B, C); + preintegrated_ = updatedPreintegrated(measuredAcc, measuredOmega, dt, A, B, C); - // D_plus_abias = D_plus_zeta * D_zeta_abias + D_plus_a * D_a_abias - zeta_H_biasAcc_ = (*A) * zeta_H_biasAcc_ - (*B); + // D_plus_abias = D_plus_preintegrated * D_preintegrated_abias + D_plus_a * D_a_abias + preintegrated_H_biasAcc_ = (*A) * preintegrated_H_biasAcc_ - (*B); - // D_plus_wbias = D_plus_zeta * D_zeta_wbias + D_plus_w * D_w_wbias - zeta_H_biasOmega_ = (*A) * zeta_H_biasOmega_ - (*C); + // D_plus_wbias = D_plus_preintegrated * D_preintegrated_wbias + D_plus_w * D_w_wbias + preintegrated_H_biasOmega_ = (*A) * preintegrated_H_biasOmega_ - (*C); } //------------------------------------------------------------------------------ @@ -242,13 +230,14 @@ Vector9 PreintegrationBase::biasCorrectedDelta( // We correct for a change between bias_i and the biasHat_ used to integrate // This is a simple linear correction with obvious derivatives const imuBias::ConstantBias biasIncr = bias_i - biasHat_; - const Vector9 xi = zeta() + zeta_H_biasAcc_ * biasIncr.accelerometer() + - zeta_H_biasOmega_ * biasIncr.gyroscope(); + const Vector9 biasCorrected = + preintegrated() + preintegrated_H_biasAcc_ * biasIncr.accelerometer() + + preintegrated_H_biasOmega_ * biasIncr.gyroscope(); if (H) { - (*H) << zeta_H_biasAcc_, zeta_H_biasOmega_; + (*H) << preintegrated_H_biasAcc_, preintegrated_H_biasOmega_; } - return xi; + return biasCorrected; } //------------------------------------------------------------------------------ @@ -272,7 +261,7 @@ NavState PreintegrationBase::predict(const NavState& state_i, Matrix9 D_predict_state, D_predict_delta; NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta); if (H1) *H1 = D_predict_state + D_predict_delta* D_delta_state; - if (H2) *H2 = D_predict_delta* D_delta_biasCorrected * D_biasCorrected_bias; + if (H2) *H2 = D_predict_delta* D_delta_biasCorrected* D_biasCorrected_bias; return state_j; } diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 110f1ae1d..6d77cb3e0 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -80,10 +80,10 @@ class PreintegrationBase { * Note: relative position does not take into account velocity at time i, see deltap+, in [2] * Note: velocity is now also in frame i, as opposed to deltaVij in [2] */ - Vector9 zeta_; + Vector9 preintegrated_; - Matrix93 zeta_H_biasAcc_; ///< Jacobian of preintegrated zeta w.r.t. acceleration bias - Matrix93 zeta_H_biasOmega_; ///< Jacobian of preintegrated zeta w.r.t. angular rate bias + Matrix93 preintegrated_H_biasAcc_; ///< Jacobian of preintegrated preintegrated w.r.t. acceleration bias + Matrix93 preintegrated_H_biasOmega_; ///< Jacobian of preintegrated preintegrated w.r.t. angular rate bias /// Default constructor for serialization PreintegrationBase() { @@ -136,17 +136,17 @@ public: const imuBias::ConstantBias& biasHat() const { return biasHat_; } const double& deltaTij() const { return deltaTij_; } - const Vector9& zeta() const { return zeta_; } + const Vector9& preintegrated() const { return preintegrated_; } - Vector3 theta() const { return zeta_.head<3>(); } - Vector3 deltaPij() const { return zeta_.segment<3>(3); } - Vector3 deltaVij() const { return zeta_.tail<3>(); } + Vector3 theta() const { return preintegrated_.head<3>(); } + Vector3 deltaPij() const { return preintegrated_.segment<3>(3); } + Vector3 deltaVij() const { return preintegrated_.tail<3>(); } Rot3 deltaRij() const { return Rot3::Expmap(theta()); } - NavState deltaXij() const { return NavState::Retract(zeta_); } + NavState deltaXij() const { return NavState::Retract(preintegrated_); } - const Matrix93& zeta_H_biasAcc() const { return zeta_H_biasAcc_; } - const Matrix93& zeta_H_biasOmega() const { return zeta_H_biasOmega_; } + const Matrix93& preintegrated_H_biasAcc() const { return preintegrated_H_biasAcc_; } + const Matrix93& preintegrated_H_biasOmega() const { return preintegrated_H_biasOmega_; } // Exposed for MATLAB Vector6 biasHatVector() const { return biasHat_.vector(); } @@ -165,26 +165,25 @@ public: /// Subtract estimate and correct for sensor pose /// Compute the derivatives due to non-identity body_P_sensor (rotation and centrifugal acc) /// Ignore D_correctedOmega_measuredAcc as it is trivially zero - std::pair correctMeasurementsByBiasAndSensorPose( - const Vector3& measuredAcc, const Vector3& measuredOmega, - OptionalJacobian<3, 3> D_correctedAcc_measuredAcc = boost::none, - OptionalJacobian<3, 3> D_correctedAcc_measuredOmega = boost::none, - OptionalJacobian<3, 3> D_correctedOmega_measuredOmega = boost::none) const; + std::pair correctMeasurementsBySensorPose( + const Vector3& unbiasedAcc, const Vector3& unbiasedOmega, + OptionalJacobian<3, 3> D_correctedAcc_unbiasedAcc = boost::none, + OptionalJacobian<3, 3> D_correctedAcc_unbiasedOmega = boost::none, + OptionalJacobian<3, 3> D_correctedOmega_unbiasedOmega = boost::none) const; - // Update integrated vector on tangent manifold zeta with acceleration + // Update integrated vector on tangent manifold preintegrated with acceleration // readings a_body and gyro readings w_body, bias-corrected in body frame. static Vector9 UpdateEstimate(const Vector3& a_body, const Vector3& w_body, - double dt, const Vector9& zeta, + double dt, const Vector9& preintegrated, OptionalJacobian<9, 9> A = boost::none, OptionalJacobian<9, 3> B = boost::none, OptionalJacobian<9, 3> C = boost::none); /// Calculate the updated preintegrated measurement, does not modify /// It takes measured quantities in the j frame - Vector9 updatedZeta(const Vector3& measuredAcc, const Vector3& measuredOmega, - double dt, OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none) const; + Vector9 updatedPreintegrated(const Vector3& measuredAcc, + const Vector3& measuredOmega, double dt, + Matrix9* A, Matrix93* B, Matrix93* C) const; /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame @@ -245,9 +244,9 @@ private: ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_NVP(biasHat_); ar & BOOST_SERIALIZATION_NVP(deltaTij_); - ar & bs::make_nvp("zeta_", bs::make_array(zeta_.data(), zeta_.size())); - ar & bs::make_nvp("zeta_H_biasAcc_", bs::make_array(zeta_H_biasAcc_.data(), zeta_H_biasAcc_.size())); - ar & bs::make_nvp("zeta_H_biasOmega_", bs::make_array(zeta_H_biasOmega_.data(), zeta_H_biasOmega_.size())); + 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())); } }; diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 036afcdb9..44ec48eda 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -125,21 +125,21 @@ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) { auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); testing::SomeMeasurements measurements; - boost::function zeta = + boost::function preintegrated = [=](const Vector3& a, const Vector3& w) { PreintegratedImuMeasurements pim(p, Bias(a, w)); testing::integrateMeasurements(measurements, &pim); - return pim.zeta(); + return pim.preintegrated(); }; // Actual pre-integrated values PreintegratedCombinedMeasurements pim(p); testing::integrateMeasurements(measurements, &pim); - EXPECT(assert_equal(numericalDerivative21(zeta, Z_3x1, Z_3x1), - pim.zeta_H_biasAcc())); - EXPECT(assert_equal(numericalDerivative22(zeta, Z_3x1, Z_3x1), - pim.zeta_H_biasOmega(), 1e-3)); + EXPECT(assert_equal(numericalDerivative21(preintegrated, Z_3x1, Z_3x1), + pim.preintegrated_H_biasAcc())); + EXPECT(assert_equal(numericalDerivative22(preintegrated, Z_3x1, Z_3x1), + pim.preintegrated_H_biasOmega(), 1e-3)); } /* ************************************************************************* */ diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 78e9c5ddd..449c87ff1 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -439,27 +439,29 @@ TEST(ImuFactor, fistOrderExponential) { TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { testing::SomeMeasurements measurements; - boost::function zeta = + boost::function preintegrated = [=](const Vector3& a, const Vector3& w) { PreintegratedImuMeasurements pim(defaultParams(), Bias(a, w)); testing::integrateMeasurements(measurements, &pim); - return pim.zeta(); + return pim.preintegrated(); }; // Actual pre-integrated values PreintegratedImuMeasurements pim(defaultParams()); testing::integrateMeasurements(measurements, &pim); - EXPECT(assert_equal(numericalDerivative21(zeta, Z_3x1, Z_3x1), - pim.zeta_H_biasAcc())); - EXPECT(assert_equal(numericalDerivative22(zeta, Z_3x1, Z_3x1), - pim.zeta_H_biasOmega(), 1e-3)); + EXPECT(assert_equal(numericalDerivative21(preintegrated, Z_3x1, Z_3x1), + pim.preintegrated_H_biasAcc())); + EXPECT(assert_equal(numericalDerivative22(preintegrated, Z_3x1, Z_3x1), + pim.preintegrated_H_biasOmega(), 1e-3)); } /* ************************************************************************* */ Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, const Vector3& measuredAcc, const Vector3& measuredOmega) { - return pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega).first; + Vector3 correctedAcc = pim.biasHat().correctAccelerometer(measuredAcc); + Vector3 correctedOmega = pim.biasHat().correctGyroscope(measuredOmega); + return pim.correctMeasurementsBySensorPose(correctedAcc, correctedOmega).first; } TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { @@ -501,7 +503,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // Check updatedDeltaXij derivatives Matrix3 D_correctedAcc_measuredOmega = Z_3x3; - pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, + pim.correctMeasurementsBySensorPose(measuredAcc, measuredOmega, boost::none, D_correctedAcc_measuredOmega, boost::none); Matrix3 expectedD = numericalDerivative11( boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); From 77d4e4c33ed396ff36f0522db6d3c9692392cef0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 13:29:02 -0800 Subject: [PATCH 933/964] Got rid of spurious argument --- gtsam/navigation/CombinedImuFactor.cpp | 32 ++++++++++++------------- gtsam/navigation/ImuFactor.cpp | 4 +--- gtsam/navigation/PreintegrationBase.cpp | 3 +-- gtsam/navigation/PreintegrationBase.h | 3 +-- 4 files changed, 18 insertions(+), 24 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 42ea41b86..9c266e7a1 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -67,31 +67,28 @@ void PreintegratedCombinedMeasurements::resetIntegration() { //------------------------------------------------------------------------------ void PreintegratedCombinedMeasurements::integrateMeasurement( const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { - const Matrix3 dRij = deltaRij().matrix(); // expensive when quaternion - // Update preintegrated measurements. - Matrix3 D_incrR_integratedOmega; // Right jacobian computed at theta_incr Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 B, C; - PreintegrationBase::update(measuredAcc, measuredOmega, dt, - &D_incrR_integratedOmega, &A, &B, &C); + PreintegrationBase::update(measuredAcc, measuredOmega, dt, &A, &B, &C); // Update preintegrated measurements covariance: as in [2] we consider a first // order propagation that can be seen as a prediction phase in an EKF - // framework. In this implementation, contrarily to [2] we consider the + // framework. In this implementation, in contrast to [2], we consider the // uncertainty of the bias selection and we keep correlation between biases // and preintegrated measurements // Single Jacobians to propagate covariance - Matrix3 H_vel_biasacc = -dRij * dt; - Matrix3 H_angles_biasomega = -D_incrR_integratedOmega * dt; + // TODO(frank): should we not also accout for bias on position? + Matrix3 theta_H_biasOmega = - C.topRows<3>(); + Matrix3 vel_H_biasAcc = -B.bottomRows<3>(); // overall Jacobian wrt preintegrated measurements (df/dx) Eigen::Matrix F; F.setZero(); F.block<9, 9>(0, 0) = A; - F.block<3, 3>(0, 12) = H_angles_biasomega; - F.block<3, 3>(6, 9) = H_vel_biasacc; + F.block<3, 3>(0, 12) = theta_H_biasOmega; + F.block<3, 3>(6, 9) = vel_H_biasAcc; F.block<6, 6>(9, 9) = I_6x6; // propagate uncertainty @@ -101,24 +98,25 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( const Matrix3& iCov = p().integrationCovariance; // first order uncertainty propagation - // Optimized matrix multiplication (1/dt) * G * measurementCovariance * G.transpose() + // Optimized matrix multiplication (1/dt) * G * measurementCovariance * + // G.transpose() Eigen::Matrix G_measCov_Gt; G_measCov_Gt.setZero(15, 15); // BLOCK DIAGONAL TERMS D_t_t(&G_measCov_Gt) = dt * iCov; - D_v_v(&G_measCov_Gt) = (1 / dt) * H_vel_biasacc * + D_v_v(&G_measCov_Gt) = (1 / dt) * vel_H_biasAcc * (aCov + p().biasAccOmegaInt.block<3, 3>(0, 0)) * - (H_vel_biasacc.transpose()); - D_R_R(&G_measCov_Gt) = (1 / dt) * H_angles_biasomega * + (vel_H_biasAcc.transpose()); + D_R_R(&G_measCov_Gt) = (1 / dt) * theta_H_biasOmega * (wCov + p().biasAccOmegaInt.block<3, 3>(3, 3)) * - (H_angles_biasomega.transpose()); + (theta_H_biasOmega.transpose()); D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance; D_g_g(&G_measCov_Gt) = dt * p().biasOmegaCovariance; // OFF BLOCK DIAGONAL TERMS - Matrix3 temp = H_vel_biasacc * p().biasAccOmegaInt.block<3, 3>(3, 0) * - H_angles_biasomega.transpose(); + Matrix3 temp = vel_H_biasAcc * p().biasAccOmegaInt.block<3, 3>(3, 0) * + theta_H_biasOmega.transpose(); D_v_R(&G_measCov_Gt) = temp; D_R_v(&G_measCov_Gt) = temp.transpose(); preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G_measCov_Gt; diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index aeda774d5..626b2f5c5 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -55,9 +55,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( // Update preintegrated measurements (also get Jacobian) Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 B, C; - Matrix3 D_incrR_integratedOmega; - PreintegrationBase::update(measuredAcc, measuredOmega, dt, - &D_incrR_integratedOmega, &A, &B, &C); + PreintegrationBase::update(measuredAcc, measuredOmega, dt, &A, &B, &C); // first order covariance propagation: // as in [2] we consider a first order propagation that can be seen as a diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f042aeae0..c96e39c9b 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -211,8 +211,7 @@ Vector9 PreintegrationBase::updatedPreintegrated(const Vector3& measuredAcc, //------------------------------------------------------------------------------ void PreintegrationBase::update(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, - Matrix3* D_incrR_integratedOmega, Matrix9* A, - Matrix93* B, Matrix93* C) { + Matrix9* A, Matrix93* B, Matrix93* C) { // Do update deltaTij_ += dt; preintegrated_ = updatedPreintegrated(measuredAcc, measuredOmega, dt, A, B, C); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 6d77cb3e0..2f3e9cd41 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -188,8 +188,7 @@ public: /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame void update(const Vector3& measuredAcc, const Vector3& measuredOmega, - const double deltaT, Matrix3* D_incrR_integratedOmega, Matrix9* A, - Matrix93* B, Matrix93* C); + const double deltaT, Matrix9* A, Matrix93* B, Matrix93* C); /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far From 5cf98313bd957f5d662a22875a8a5c5f7ee2d7ad Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 13:43:46 -0800 Subject: [PATCH 934/964] Combined two methods and renamed static method --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/ImuFactor.cpp | 2 +- gtsam/navigation/PreintegrationBase.cpp | 56 ++++++++----------- gtsam/navigation/PreintegrationBase.h | 25 ++++----- .../tests/testPreintegrationBase.cpp | 6 +- 5 files changed, 38 insertions(+), 53 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 9c266e7a1..db0e6d34a 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -70,7 +70,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // Update preintegrated measurements. Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 B, C; - PreintegrationBase::update(measuredAcc, measuredOmega, dt, &A, &B, &C); + updatedPreintegrated(measuredAcc, measuredOmega, dt, &A, &B, &C); // Update preintegrated measurements covariance: as in [2] we consider a first // order propagation that can be seen as a prediction phase in an EKF diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 626b2f5c5..c87df4c37 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -55,7 +55,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( // Update preintegrated measurements (also get Jacobian) Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 B, C; - PreintegrationBase::update(measuredAcc, measuredOmega, dt, &A, &B, &C); + updatedPreintegrated(measuredAcc, measuredOmega, dt, &A, &B, &C); // first order covariance propagation: // as in [2] we consider a first order propagation that can be seen as a diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index c96e39c9b..c31120ffc 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -116,7 +116,7 @@ pair PreintegrationBase::correctMeasurementsBySensorPose( //------------------------------------------------------------------------------ // See extensive discussion in ImuFactor.lyx -Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, +Vector9 PreintegrationBase::UpdatePreintegrated(const Vector3& a_body, const Vector3& w_body, double dt, const Vector9& preintegrated, OptionalJacobian<9, 9> A, @@ -178,43 +178,31 @@ Vector9 PreintegrationBase::UpdateEstimate(const Vector3& a_body, } //------------------------------------------------------------------------------ -Vector9 PreintegrationBase::updatedPreintegrated(const Vector3& measuredAcc, - const Vector3& measuredOmega, - double dt, Matrix9* A, - Matrix93* B, Matrix93* C) const { +void PreintegrationBase::updatedPreintegrated(const Vector3& measuredAcc, + const Vector3& measuredOmega, + double dt, Matrix9* A, + Matrix93* B, Matrix93* C) { // Correct for bias in the sensor frame - Vector3 unbiasedAcc = biasHat_.correctAccelerometer(measuredAcc); - Vector3 unbiasedOmega = biasHat_.correctGyroscope(measuredOmega); + Vector3 acc = biasHat_.correctAccelerometer(measuredAcc); + Vector3 omega = biasHat_.correctGyroscope(measuredOmega); - if (!p().body_P_sensor) { - return UpdateEstimate(unbiasedAcc, unbiasedOmega, dt, preintegrated_, A, B, - C); - } else { - // More complicated derivatives in case of sensor displacement - Matrix3 D_correctedAcc_unbiasedAcc, D_correctedAcc_unbiasedOmega, - D_correctedOmega_unbiasedOmega; - auto corrected = correctMeasurementsBySensorPose( - unbiasedAcc, unbiasedOmega, D_correctedAcc_unbiasedAcc, - D_correctedAcc_unbiasedOmega, D_correctedOmega_unbiasedOmega); + // Possibly correct for sensor pose + Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega; + if (p().body_P_sensor) + boost::tie(acc, omega) = correctMeasurementsBySensorPose( acc, omega, + D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega); - const Vector9 updated = UpdateEstimate(corrected.first, corrected.second, dt, - preintegrated_, A, B, C); - - *C *= D_correctedOmega_unbiasedOmega; - if (!p().body_P_sensor->translation().vector().isZero()) - *C += *B* D_correctedAcc_unbiasedOmega; - *B *= D_correctedAcc_unbiasedAcc; // NOTE(frank): needs to be last - return updated; - } -} - -//------------------------------------------------------------------------------ -void PreintegrationBase::update(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt, - Matrix9* A, Matrix93* B, Matrix93* C) { - // Do update + // Do update deltaTij_ += dt; - preintegrated_ = updatedPreintegrated(measuredAcc, measuredOmega, dt, A, B, C); + preintegrated_ = UpdatePreintegrated(acc, omega, dt, preintegrated_, A, B, C); + + if (p().body_P_sensor) { + // More complicated derivatives in case of non-trivial sensor pose + *C *= D_correctedOmega_omega; + if (!p().body_P_sensor->translation().vector().isZero()) + *C += *B* D_correctedAcc_omega; + *B *= D_correctedAcc_acc; // NOTE(frank): needs to be last + } // D_plus_abias = D_plus_preintegrated * D_preintegrated_abias + D_plus_a * D_a_abias preintegrated_H_biasAcc_ = (*A) * preintegrated_H_biasAcc_ - (*B); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 2f3e9cd41..70b12ccdb 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -172,23 +172,20 @@ public: OptionalJacobian<3, 3> D_correctedOmega_unbiasedOmega = boost::none) const; // Update integrated vector on tangent manifold preintegrated with acceleration - // readings a_body and gyro readings w_body, bias-corrected in body frame. - static Vector9 UpdateEstimate(const Vector3& a_body, const Vector3& w_body, - double dt, const Vector9& preintegrated, - OptionalJacobian<9, 9> A = boost::none, - OptionalJacobian<9, 3> B = boost::none, - OptionalJacobian<9, 3> C = boost::none); - - /// Calculate the updated preintegrated measurement, does not modify - /// It takes measured quantities in the j frame - Vector9 updatedPreintegrated(const Vector3& measuredAcc, - const Vector3& measuredOmega, double dt, - Matrix9* A, Matrix93* B, Matrix93* C) const; + // Static, functional version. + static Vector9 UpdatePreintegrated(const Vector3& a_body, + const Vector3& w_body, double dt, + const Vector9& preintegrated, + OptionalJacobian<9, 9> A = boost::none, + OptionalJacobian<9, 3> B = boost::none, + OptionalJacobian<9, 3> C = boost::none); /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame - void update(const Vector3& measuredAcc, const Vector3& measuredOmega, - const double deltaT, Matrix9* A, Matrix93* B, Matrix93* C); + /// Modifies preintegrated_ in place after correcting for bias and possibly sensor pose + void updatedPreintegrated(const Vector3& measuredAcc, + const Vector3& measuredOmega, const double deltaT, + Matrix9* A, Matrix93* B, Matrix93* C); /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index 3327bfdb6..e9b611ef0 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -39,7 +39,7 @@ static boost::shared_ptr defaultParams() { } Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { - return PreintegrationBase::UpdateEstimate(a, w, kDt, zeta); + return PreintegrationBase::UpdatePreintegrated(a, w, kDt, zeta); } /* ************************************************************************* */ @@ -50,7 +50,7 @@ TEST(PreintegrationBase, UpdateEstimate1) { zeta.setZero(); Matrix9 aH1; Matrix93 aH2, aH3; - pim.UpdateEstimate(acc, omega, kDt, zeta, aH1, aH2, aH3); + pim.UpdatePreintegrated(acc, omega, kDt, zeta, aH1, aH2, aH3); EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-9)); EXPECT(assert_equal(numericalDerivative33(f, zeta, acc, omega), aH3, 1e-9)); @@ -64,7 +64,7 @@ TEST(PreintegrationBase, UpdateEstimate2) { zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; Matrix9 aH1; Matrix93 aH2, aH3; - pim.UpdateEstimate(acc, omega, kDt, zeta, aH1, aH2, aH3); + pim.UpdatePreintegrated(acc, omega, kDt, zeta, aH1, aH2, aH3); // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, zeta, acc, omega), aH1, 1e-3)); EXPECT(assert_equal(numericalDerivative32(f, zeta, acc, omega), aH2, 1e-8)); From d9128fe461c2c588ca384879195aa7de2973de07 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 14:14:30 -0800 Subject: [PATCH 935/964] Isolated (slow to compile) serialization tests --- .../tests/testImuFactorSerialization.cpp | 77 +++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100644 gtsam/navigation/tests/testImuFactorSerialization.cpp diff --git a/gtsam/navigation/tests/testImuFactorSerialization.cpp b/gtsam/navigation/tests/testImuFactorSerialization.cpp new file mode 100644 index 000000000..a7796d1b2 --- /dev/null +++ b/gtsam/navigation/tests/testImuFactorSerialization.cpp @@ -0,0 +1,77 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testImuFactor.cpp + * @brief Unit test for ImuFactor + * @author Luca Carlone + * @author Frank Dellaert + * @author Richard Roberts + * @author Stephen Williams + */ + +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, + "gtsam_noiseModel_Constrained"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, + "gtsam_noiseModel_Diagonal"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, + "gtsam_noiseModel_Gaussian"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); +BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, + "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; + + // 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()); + 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); + + // measurements are needed for non-inf noise model, otherwise will throw err + // when deserialize + const Vector3 measuredOmega(0, 0.01, 0); + const Vector3 measuredAcc(0, 0, -9.81); + + for (int j = 0; j < 200; ++j) + pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + + ImuFactor factor(1, 2, 3, 4, 5, pim); + + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From e626de696a0c2abc0196f4b894601107727a128d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 14:52:49 -0800 Subject: [PATCH 936/964] Start of Merging measurements: means match --- gtsam/navigation/ImuFactor.cpp | 24 ++++ gtsam/navigation/ImuFactor.h | 5 + gtsam/navigation/tests/testImuFactor.cpp | 157 ++++++++++++++--------- 3 files changed, 128 insertions(+), 58 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index c87df4c37..c37ea532f 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -154,6 +154,30 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, H1, H2, H3, H4, H5); } +//------------------------------------------------------------------------------ +PreintegratedImuMeasurements ImuFactor::Merge( + const PreintegratedImuMeasurements& pim01, + const PreintegratedImuMeasurements& pim12) { + if(!pim01.matchesParamsWith(pim12)) + throw std::domain_error("Cannot merge PreintegratedImuMeasurements with different params"); + + if(pim01.params()->body_P_sensor) + throw std::domain_error("Cannot merge PreintegratedImuMeasurements with sensor pose yet"); + + // the bias for the merged factor will be the bias from 01 + PreintegratedImuMeasurements pim02(pim01.params(), pim01.biasHat()); + + const double& t01 = pim01.deltaTij(); + const double& t12 = pim12.deltaTij(); + pim02.deltaTij_ = t01 + t12; + + const Rot3 R01 = pim01.deltaRij(), R12 = pim12.deltaRij(); + pim02.preintegrated_ << Rot3::Logmap(R01 * R12), + pim01.deltaPij() + pim01.deltaVij() * t12 + R01 * pim12.deltaPij(), + pim01.deltaVij() + R01 * pim12.deltaVij(); + + return pim02; +} //------------------------------------------------------------------------------ #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 616577c36..73b5c8987 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -225,6 +225,11 @@ public: boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const; + // Merge two pre-integrated measurement classes + static PreintegratedImuMeasurements Merge( + const PreintegratedImuMeasurements& pim01, + const PreintegratedImuMeasurements& pim12); + #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 449c87ff1..da9ed6a75 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -30,7 +30,6 @@ #include #include #include -#include #include "imuFactorTesting.h" @@ -63,16 +62,6 @@ static boost::shared_ptr defaultParams() { return p; } -/* ************************************************************************* */ -Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, - const double deltaT) { - return Rot3::Expmap((measuredOmega - biasOmega) * deltaT); -} - -Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) { - return Rot3::Logmap(Rot3::Expmap(thetahat).compose(Rot3::Expmap(deltatheta))); -} - } // namespace /* ************************************************************************* */ @@ -371,13 +360,16 @@ TEST(ImuFactor, PartialDerivative_wrt_Bias) { Vector3 measuredOmega(0.1, 0, 0); double deltaT = 0.5; - // Compute numerical derivatives - Matrix expectedDelRdelBiasOmega = numericalDerivative11( - boost::bind(&evaluateRotation, measuredOmega, _1, deltaT), - Vector3(biasOmega)); + auto evaluateRotation = [=](const Vector3 biasOmega) { + return Rot3::Expmap((measuredOmega - biasOmega) * deltaT); + }; - const Matrix3 Jr = Rot3::ExpmapDerivative( - (measuredOmega - biasOmega) * deltaT); + // Compute numerical derivatives + Matrix expectedDelRdelBiasOmega = + numericalDerivative11(evaluateRotation, biasOmega); + + const Matrix3 Jr = + Rot3::ExpmapDerivative((measuredOmega - biasOmega) * deltaT); Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign @@ -393,9 +385,14 @@ TEST(ImuFactor, PartialDerivativeLogmap) { // Measurements Vector3 deltatheta(0, 0, 0); + auto evaluateLogRotation = [=](const Vector3 deltatheta) { + return Rot3::Logmap( + Rot3::Expmap(thetahat).compose(Rot3::Expmap(deltatheta))); + }; + // Compute numerical derivatives - Matrix expectedDelFdeltheta = numericalDerivative11( - boost::bind(&evaluateLogRotation, thetahat, _1), Vector3(deltatheta)); + Matrix expectedDelFdeltheta = + numericalDerivative11(evaluateLogRotation, deltatheta); Matrix3 actualDelFdeltheta = Rot3::LogmapDerivative(thetahat); @@ -513,7 +510,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { // TODO(frank): revive derivative tests // Matrix93 G1, G2; -// PreintegrationBase::TangentVector preint = +// Vector9 preint = // pim.updatedDeltaXij(measuredAcc, measuredOmega, dt, boost::none, G1, G2); // // Matrix93 expectedG1 = numericalDerivative21( @@ -785,54 +782,98 @@ TEST(ImuFactor, bodyPSensorWithBias) { EXPECT(assert_equal(biasExpected, biasActual, 1e-3)); } -/* ************************************************************************** */ -#include +/* ************************************************************************* */ +static const double kVelocity = 2.0, kAngularVelocity = M_PI / 6; -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, - "gtsam_noiseModel_Constrained"); -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, - "gtsam_noiseModel_Diagonal"); -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, - "gtsam_noiseModel_Gaussian"); -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); -BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, - "gtsam_noiseModel_Isotropic"); -BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); -BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); +struct ImuFactorMergeTest { + boost::shared_ptr p_; + const ConstantTwistScenario forward_, loop_; -TEST(ImuFactor, serialization) { - using namespace gtsam::serializationTestHelpers; + ImuFactorMergeTest() + : p_(PreintegratedImuMeasurements::Params::MakeSharedU(kGravity)), + forward_(Z_3x1, Vector3(kVelocity, 0, 0)), + loop_(Vector3(0, -kAngularVelocity, 0), Vector3(kVelocity, 0, 0)) { + // arbitrary noise values + p_->gyroscopeCovariance = I_3x3 * 0.01; + p_->accelerometerCovariance = I_3x3 * 0.02; + p_->accelerometerCovariance = I_3x3 * 0.03; + } - auto p = defaultParams(); - p->n_gravity = Vector3(0, 0, -9.81); - p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3()); - p->accelerometerCovariance = 1e-7 * I_3x3; - p->gyroscopeCovariance = 1e-8 * I_3x3; - p->integrationCovariance = 1e-9 * I_3x3; - double deltaT = 0.005; - Bias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) + void TestScenarioBiasCase(TestResult& result_, const std::string& name_, + const Scenario& scenario, + const imuBias::ConstantBias& bias01, + const imuBias::ConstantBias& bias12, double tol) { + // Test merge by creating a 01, 12, and 02 PreintegratedRotation, + // then checking the merge of 01-12 matches 02. + PreintegratedImuMeasurements pim01(p_, bias01); + PreintegratedImuMeasurements pim12(p_, bias12); + PreintegratedImuMeasurements expected_pim02(p_, bias01); - PreintegratedImuMeasurements pim(p, priorBias); + double deltaT = 0.05; + ScenarioRunner runner(&scenario, p_, deltaT); + // TODO(frank) can this loop just go into runner ? + for (int i = 0; i < 100; i++) { + double t = i * deltaT; + // integrate the measurements appropriately + Vector3 accel_meas = runner.actualSpecificForce(t); + Vector3 omega_meas = runner.actualAngularVelocity(t); + expected_pim02.integrateMeasurement(accel_meas, omega_meas, deltaT); + if (i < 50) { + pim01.integrateMeasurement(accel_meas, omega_meas, deltaT); + } else { + pim12.integrateMeasurement(accel_meas, omega_meas, deltaT); + } + } + auto actual_pim02 = ImuFactor::Merge(pim01, pim12); + EXPECT(assert_equal(expected_pim02.preintegrated(), actual_pim02.preintegrated(), tol)); +// EXPECT(assert_equal(expected_pim02, actual_pim02, tol)); - // measurements are needed for non-inf noise model, otherwise will throw err when deserialize + ImuFactor::shared_ptr factor_01 = + boost::make_shared(X(0), V(0), X(1), V(1), B(0), pim01); + ImuFactor::shared_ptr factor_12 = + boost::make_shared(X(1), V(1), X(2), V(2), B(0), pim12); + ImuFactor::shared_ptr factor_02_true = boost::make_shared( + X(0), V(0), X(2), V(2), B(0), expected_pim02); - // Sensor frame is z-down - // Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame - Vector3 measuredOmega(0, 0.01, 0); - // Acc measurement is acceleration of sensor in the sensor frame, when stationary, - // table exerts an equal and opposite force w.r.t gravity - Vector3 measuredAcc(0, 0, -9.81); + // ImuFactor::shared_ptr factor_02_merged = factor01.mergeWith(factor_12); + // EXPECT(assert_equal(*factor_02_true, *factor_02_merged, tol)); + } - for (int j = 0; j < 200; ++j) - pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + void TestScenarios(TestResult& result_, const std::string& name_, + const imuBias::ConstantBias& bias01, + const imuBias::ConstantBias& bias12, double tol) { + for (auto scenario : {forward_, loop_}) + TestScenarioBiasCase(result_, name_, scenario, bias01, bias12, tol); + } +}; - ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim); - - EXPECT(equalsObj(factor)); - EXPECT(equalsXML(factor)); - EXPECT(equalsBinary(factor)); +/* ************************************************************************* */ +// Test case with identical biases where there is no approximation so we expect +// an exact answer. +TEST(ImuFactor, MergeZeroBias) { + ImuFactorMergeTest mergeTest; + mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-6); } +//// Test case with different biases where we expect there to be some variation. +//TEST(ImuFactor, MergeChangingBias) { +// ImuFactorMergeTest mergeTest; +// mergeTest.TestScenarios( +// result_, name_, imuBias::ConstantBias(Vector3(0.03, -0.02, 0.01), +// Vector3(-0.01, 0.02, -0.03)), +// imuBias::ConstantBias(Vector3(0.01, 0.02, 0.03), +// Vector3(0.03, -0.02, 0.01)), +// 0.4); +//} +// +//// Test case with non-zero coriolis +//TEST(ImuFactor, MergeWithCoriolis) { +// ImuFactorMergeTest mergeTest; +// mergeTest.p_->omegaCoriolis.reset(Vector3(0.1, 0.2, -0.1)); +// mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, +// 1e-6); +//} + /* ************************************************************************* */ int main() { TestResult tr; From 0d07e8764dfe37047ebdc70706b4a1f6c97c33a3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 16:58:28 -0800 Subject: [PATCH 937/964] mergeWith prototype --- gtsam/navigation/ImuFactor.cpp | 24 +++++------ gtsam/navigation/PreintegrationBase.cpp | 57 +++++++++++++++++++++++++ gtsam/navigation/PreintegrationBase.h | 3 ++ 3 files changed, 72 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index c37ea532f..523809b1d 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -158,26 +158,26 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, PreintegratedImuMeasurements ImuFactor::Merge( const PreintegratedImuMeasurements& pim01, const PreintegratedImuMeasurements& pim12) { - if(!pim01.matchesParamsWith(pim12)) - throw std::domain_error("Cannot merge PreintegratedImuMeasurements with different params"); + if (!pim01.matchesParamsWith(pim12)) + throw std::domain_error( + "Cannot merge PreintegratedImuMeasurements with different params"); - if(pim01.params()->body_P_sensor) - throw std::domain_error("Cannot merge PreintegratedImuMeasurements with sensor pose yet"); + if (pim01.params()->body_P_sensor) + throw std::domain_error( + "Cannot merge PreintegratedImuMeasurements with sensor pose yet"); // the bias for the merged factor will be the bias from 01 - PreintegratedImuMeasurements pim02(pim01.params(), pim01.biasHat()); + PreintegratedImuMeasurements pim02 = pim01; - const double& t01 = pim01.deltaTij(); - const double& t12 = pim12.deltaTij(); - pim02.deltaTij_ = t01 + t12; + Matrix9 H1, H2; + pim02.mergeWith(pim12, &H1, &H2); - const Rot3 R01 = pim01.deltaRij(), R12 = pim12.deltaRij(); - pim02.preintegrated_ << Rot3::Logmap(R01 * R12), - pim01.deltaPij() + pim01.deltaVij() * t12 + R01 * pim12.deltaPij(), - pim01.deltaVij() + R01 * pim12.deltaVij(); + pim02.preintMeasCov_ = H1 * pim01.preintMeasCov_ * H1.transpose() + + H2 * pim12.preintMeasCov_ * H2.transpose(); return pim02; } + //------------------------------------------------------------------------------ #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index c31120ffc..751dd3fa3 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -308,6 +308,63 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, return error; } +//------------------------------------------------------------------------------ +// sugar for derivative blocks +#define D_R_R(H) (H)->block<3,3>(0,0) +#define D_R_t(H) (H)->block<3,3>(0,3) +#define D_R_v(H) (H)->block<3,3>(0,6) +#define D_t_R(H) (H)->block<3,3>(3,0) +#define D_t_t(H) (H)->block<3,3>(3,3) +#define D_t_v(H) (H)->block<3,3>(3,6) +#define D_v_R(H) (H)->block<3,3>(6,0) +#define D_v_t(H) (H)->block<3,3>(6,3) +#define D_v_v(H) (H)->block<3,3>(6,6) + +//------------------------------------------------------------------------------ +void PreintegrationBase::mergeWith(const PreintegrationBase& pim12, Matrix9* H1, + Matrix9* H2) { + if (!matchesParamsWith(pim12)) + throw std::domain_error( + "Cannot merge preintegrated measurements with different params"); + + if (params()->body_P_sensor) + throw std::domain_error( + "Cannot merge preintegrated measurements with sensor pose yet"); + + const double& t01 = deltaTij(); + const double& t12 = pim12.deltaTij(); + deltaTij_ = t01 + t12; + + Matrix3 R01_H_theta01, R12_H_theta12; + const Rot3 R01 = Rot3::Expmap(theta(), R01_H_theta01); + const Rot3 R12 = Rot3::Expmap(pim12.theta(), R12_H_theta12); + + Matrix3 R02_H_R01, R02_H_R12; + const Rot3 R02 = R01.compose(R12, R02_H_R01, R02_H_R12); + + Matrix3 theta02_H_R02; + preintegrated_ << Rot3::Logmap(R02, theta02_H_R02), + deltaPij() + deltaVij() * t12 + R01 * pim12.deltaPij(), + deltaVij() + R01 * pim12.deltaVij(); + + H1->setZero(); + D_R_R(H1) = theta02_H_R02 * R02_H_R01 * R01_H_theta01; + D_t_t(H1) = I_3x3; + D_t_v(H1) = I_3x3 * t12; + D_v_v(H1) = I_3x3; + + H2->setZero(); + D_R_R(H2) = theta02_H_R02 * R02_H_R12 * R12_H_theta12; // I_3x3 ?? + D_t_t(H2) = R01.matrix(); // + rotated_H_theta1 ?? + D_v_v(H2) = R01.matrix(); // + rotated_H_theta1 ?? + + preintegrated_H_biasAcc_ = + (*H1) * preintegrated_H_biasAcc_ + (*H2) * pim12.preintegrated_H_biasAcc_; + + preintegrated_H_biasOmega_ = (*H1) * preintegrated_H_biasOmega_ + + (*H2) * pim12.preintegrated_H_biasOmega_; +} + //------------------------------------------------------------------------------ #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 70b12ccdb..97e1d76f4 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -211,6 +211,9 @@ public: OptionalJacobian<9, 6> H3 = boost::none, OptionalJacobian<9, 3> H4 = boost::none, OptionalJacobian<9, 6> H5 = boost::none) const; + /// Merge in a different set of measurements and update bias derivatives accordingly + /// The derivatives apply to the preintegrated Vector9 + void mergeWith(const PreintegrationBase& pim, Matrix9* H1, Matrix9* H2); /// @} /** Dummy clone for MATLAB */ From 2fe803a62e12e16298f6a1d8b04391fe23ce0f55 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 16:59:10 -0800 Subject: [PATCH 938/964] More common parameters, realistic noise parameters --- gtsam/navigation/tests/imuFactorTesting.h | 9 +++ .../tests/testCombinedImuFactor.cpp | 77 ++++++++++--------- gtsam/navigation/tests/testImuFactor.cpp | 61 +++++++-------- .../tests/testPreintegrationBase.cpp | 32 ++++---- gtsam/navigation/tests/testScenarios.cpp | 36 ++++----- 5 files changed, 110 insertions(+), 105 deletions(-) diff --git a/gtsam/navigation/tests/imuFactorTesting.h b/gtsam/navigation/tests/imuFactorTesting.h index fae2400b5..3247b56ee 100644 --- a/gtsam/navigation/tests/imuFactorTesting.h +++ b/gtsam/navigation/tests/imuFactorTesting.h @@ -35,6 +35,15 @@ static const Bias kZeroBiasHat, kZeroBias; static const Vector3 kZeroOmegaCoriolis(0, 0, 0); static const Vector3 kNonZeroOmegaCoriolis(0, 0.1, 0.1); +static const double kGravity = 10; +static const Vector3 kGravityAlongNavZDown(0, 0, kGravity); + +// Realistic MEMS white noise characteristics. Angular and velocity random walk +// expressed in degrees respectively m/s per sqrt(hr). +auto radians = [](double t) { return t * M_PI / 180; }; +static const double kGyroSigma = radians(0.5) / 60; // 0.5 degree ARW +static const double kAccelSigma = 0.1 / 60; // 10 cm VRW + namespace testing { struct ImuMeasurement { diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 44ec48eda..743fc9baf 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -34,10 +34,21 @@ #include "imuFactorTesting.h" +namespace testing { +// Create default parameters with Z-down and above noise parameters +static boost::shared_ptr Params() { + auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(kGravity); + p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; + p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; + p->integrationCovariance = 0.0001 * I_3x3; + return p; +} +} + /* ************************************************************************* */ TEST( CombinedImuFactor, PreintegratedMeasurements ) { // Linearization point - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases + Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases // Measurements Vector3 measuredAcc(0.1, 0.0, 0.0); @@ -45,7 +56,7 @@ TEST( CombinedImuFactor, PreintegratedMeasurements ) { double deltaT = 0.5; double tol = 1e-6; - auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + auto p = testing::Params(); // Actual preintegrated values PreintegratedImuMeasurements expected1(p, bias); @@ -63,18 +74,18 @@ TEST( CombinedImuFactor, PreintegratedMeasurements ) { /* ************************************************************************* */ TEST( CombinedImuFactor, ErrorWithBiases ) { - imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) - imuBias::ConstantBias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot) + Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot) + Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot) Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0)); Vector3 v1(0.5, 0.0, 0.0); Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)), Point3(5.5, 1.0, -50.0)); Vector3 v2(0.5, 0.0, 0.0); - auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + auto p = testing::Params(); p->omegaCoriolis = Vector3(0,0.1,0.1); PreintegratedImuMeasurements pim( - p, imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); + p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); // Measurements Vector3 measuredOmega; @@ -87,7 +98,7 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); PreintegratedCombinedMeasurements combined_pim(p, - imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); + Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); @@ -122,7 +133,7 @@ TEST( CombinedImuFactor, ErrorWithBiases ) { /* ************************************************************************* */ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) { - auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + auto p = testing::Params(); testing::SomeMeasurements measurements; boost::function preintegrated = @@ -144,16 +155,14 @@ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) { /* ************************************************************************* */ TEST(CombinedImuFactor, PredictPositionAndVelocity) { - imuBias::ConstantBias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) + const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) - auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + auto p = testing::Params(); // Measurements - Vector3 measuredOmega; - measuredOmega << 0, 0.1, 0; //M_PI/10.0+0.3; - Vector3 measuredAcc; - measuredAcc << 0, 1.1, -9.81; - double deltaT = 0.001; + const Vector3 measuredOmega(0, 0.1, 0); // M_PI/10.0+0.3; + const Vector3 measuredAcc(0, 1.1, -kGravity); + const double deltaT = 0.001; PreintegratedCombinedMeasurements pim(p, bias); @@ -161,40 +170,36 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) { pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); // Create factor - noiseModel::Gaussian::shared_ptr combinedmodel = + const noiseModel::Gaussian::shared_ptr combinedmodel = noiseModel::Gaussian::Covariance(pim.preintMeasCov()); - CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim); + const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim); // Predict - NavState actual = pim.predict(NavState(), bias); - Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); - Vector3 expectedVelocity; - expectedVelocity << 0, 1, 0; + const NavState actual = pim.predict(NavState(), bias); + const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); + const Vector3 expectedVelocity(0, 1, 0); EXPECT(assert_equal(expectedPose, actual.pose())); - EXPECT( - assert_equal(Vector(expectedVelocity), Vector(actual.velocity()))); + EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity()))); } /* ************************************************************************* */ TEST(CombinedImuFactor, PredictRotation) { - imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) - auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(9.81); + const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot) + auto p = testing::Params(); PreintegratedCombinedMeasurements pim(p, bias); - Vector3 measuredAcc; - measuredAcc << 0, 0, -9.81; - Vector3 measuredOmega; - measuredOmega << 0, 0, M_PI / 10.0; - double deltaT = 0.001; - double tol = 1e-4; + const Vector3 measuredAcc = - kGravityAlongNavZDown; + const Vector3 measuredOmega(0, 0, M_PI / 10.0); + const double deltaT = 0.001; + const double tol = 1e-4; for (int i = 0; i < 1000; ++i) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim); + const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim); // Predict - Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2; - Vector3 v(0, 0, 0), v2; - NavState actual = pim.predict(NavState(x, v), bias); - Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); + const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2; + const Vector3 v(0, 0, 0), v2; + const NavState actual = pim.predict(NavState(x, v), bias); + const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); EXPECT(assert_equal(expectedPose, actual.pose(), tol)); } diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index da9ed6a75..fb15e3b2f 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -33,8 +33,16 @@ #include "imuFactorTesting.h" -static const double kGravity = 10; -static const Vector3 kGravityAlongNavZDown(0, 0, kGravity); +namespace testing { +// Create default parameters with Z-down and above noise parameters +static boost::shared_ptr Params() { + auto p = PreintegrationParams::MakeSharedD(kGravity); + p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; + p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; + p->integrationCovariance = 0.0001 * I_3x3; + return p; +} +} /* ************************************************************************* */ namespace { @@ -47,21 +55,6 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i, factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).head(3)); } -// Define covariance matrices -/* ************************************************************************* */ -static const double kGyroSigma = 0.02; -static const double kAccelerometerSigma = 0.1; - -// Create default parameters with Z-down and above noise paramaters -static boost::shared_ptr defaultParams() { - auto p = PreintegrationParams::MakeSharedD(kGravity); - p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; - p->accelerometerCovariance = kAccelerometerSigma * kAccelerometerSigma - * I_3x3; - p->integrationCovariance = 0.0001 * I_3x3; - return p; -} - } // namespace /* ************************************************************************* */ @@ -78,7 +71,7 @@ TEST(ImuFactor, Accelerating) { Vector3(a, 0, 0)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); PreintegratedImuMeasurements pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -102,7 +95,7 @@ TEST(ImuFactor, PreintegratedMeasurements) { double expectedDeltaT1(0.5); // Actual pre-integrated values - PreintegratedImuMeasurements actual1(defaultParams()); + PreintegratedImuMeasurements actual1(testing::Params()); actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); EXPECT(assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()))); @@ -169,7 +162,7 @@ static const NavState state2(x2, v2); /* ************************************************************************* */ TEST(ImuFactor, PreintegrationBaseMethods) { using namespace common; - auto p = defaultParams(); + auto p = testing::Params(); p->omegaCoriolis = Vector3(0.02, 0.03, 0.04); p->use2ndOrderCoriolis = true; @@ -203,7 +196,7 @@ TEST(ImuFactor, PreintegrationBaseMethods) { /* ************************************************************************* */ TEST(ImuFactor, ErrorAndJacobians) { using namespace common; - PreintegratedImuMeasurements pim(defaultParams()); + PreintegratedImuMeasurements pim(testing::Params()); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); EXPECT(assert_equal(state2, pim.predict(state1, kZeroBias))); @@ -260,7 +253,7 @@ TEST(ImuFactor, ErrorAndJacobians) { Matrix cov = pim.preintMeasCov(); Matrix R = RtR(cov.inverse()); Vector whitened = R * expectedError; - EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values), 1e-5)); + EXPECT(assert_equal(0.5 * whitened.squaredNorm(), factor.error(values), 1e-4)); // Make sure linearization is correct EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3); @@ -282,7 +275,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - auto p = defaultParams(); + auto p = testing::Params(); p->omegaCoriolis = kNonZeroOmegaCoriolis; Bias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.1)); @@ -328,7 +321,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) { + Vector3(0.2, 0.0, 0.0); double deltaT = 1.0; - auto p = defaultParams(); + auto p = testing::Params(); p->omegaCoriolis = kNonZeroOmegaCoriolis; p->use2ndOrderCoriolis = true; @@ -438,13 +431,13 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) { boost::function preintegrated = [=](const Vector3& a, const Vector3& w) { - PreintegratedImuMeasurements pim(defaultParams(), Bias(a, w)); + PreintegratedImuMeasurements pim(testing::Params(), Bias(a, w)); testing::integrateMeasurements(measurements, &pim); return pim.preintegrated(); }; // Actual pre-integrated values - PreintegratedImuMeasurements pim(defaultParams()); + PreintegratedImuMeasurements pim(testing::Params()); testing::integrateMeasurements(measurements, &pim); EXPECT(assert_equal(numericalDerivative21(preintegrated, Z_3x1, Z_3x1), @@ -470,7 +463,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { const AcceleratingScenario scenario(nRb, p1, v1, a, Vector3(0, 0, M_PI / 10.0 + 0.3)); - auto p = defaultParams(); + auto p = testing::Params(); p->body_P_sensor = Pose3(Rot3::Expmap(Vector3(0, M_PI / 2, 0)), Point3(0.1, 0.05, 0.01)); p->omegaCoriolis = kNonZeroOmegaCoriolis; @@ -562,7 +555,7 @@ TEST(ImuFactor, PredictPositionAndVelocity) { measuredAcc << 0, 1, -kGravity; double deltaT = 0.001; - PreintegratedImuMeasurements pim(defaultParams(), + PreintegratedImuMeasurements pim(testing::Params(), Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); for (int i = 0; i < 1000; ++i) @@ -590,7 +583,7 @@ TEST(ImuFactor, PredictRotation) { measuredAcc << 0, 0, -kGravity; double deltaT = 0.001; - PreintegratedImuMeasurements pim(defaultParams(), + PreintegratedImuMeasurements pim(testing::Params(), Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0))); for (int i = 0; i < 1000; ++i) @@ -614,7 +607,7 @@ TEST(ImuFactor, PredictArbitrary) { Vector3(0.1, 0.2, 0), Vector3(M_PI / 10, M_PI / 10, M_PI / 10)); const double T = 3.0; // seconds - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); // // PreintegratedImuMeasurements pim = runner.integrate(T); // EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); @@ -629,7 +622,7 @@ TEST(ImuFactor, PredictArbitrary) { Vector3 measuredOmega = runner.actualAngularVelocity(0); Vector3 measuredAcc = runner.actualSpecificForce(0); - auto p = defaultParams(); + auto p = testing::Params(); p->integrationCovariance = Z_3x3; // MonteCarlo does not sample integration noise PreintegratedImuMeasurements pim(p, biasHat); Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); @@ -662,7 +655,7 @@ TEST(ImuFactor, bodyPSensorNoBias) { Bias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot) // Rotate sensor (z-down) to body (same as navigation) i.e. z-up - auto p = defaultParams(); + auto p = testing::Params(); p->n_gravity = Vector3(0, 0, -kGravity); // z-up nav frame p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3(0, 0, 0)); @@ -717,7 +710,7 @@ TEST(ImuFactor, bodyPSensorWithBias) { // table exerts an equal and opposite force w.r.t gravity Vector3 measuredAcc(0, 0, -kGravity); - auto p = defaultParams(); + auto p = testing::Params(); p->n_gravity = Vector3(0, 0, -kGravity); p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3()); p->accelerometerCovariance = 1e-7 * I_3x3; @@ -826,7 +819,7 @@ struct ImuFactorMergeTest { } auto actual_pim02 = ImuFactor::Merge(pim01, pim12); EXPECT(assert_equal(expected_pim02.preintegrated(), actual_pim02.preintegrated(), tol)); -// EXPECT(assert_equal(expected_pim02, actual_pim02, tol)); + EXPECT(assert_equal(expected_pim02, actual_pim02, tol)); ImuFactor::shared_ptr factor_01 = boost::make_shared(X(0), V(0), X(1), V(1), B(0), pim01); diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index e9b611ef0..17b34c0d3 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -21,30 +21,28 @@ #include #include -using namespace std; -using namespace gtsam; +#include "imuFactorTesting.h" static const double kDt = 0.1; -static const double kGyroSigma = 0.02; -static const double kAccelSigma = 0.1; - -// Create default parameters with Z-down and above noise parameters -static boost::shared_ptr defaultParams() { - auto p = PreintegrationParams::MakeSharedD(10); - p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; - p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; - p->integrationCovariance = 0.0000001 * I_3x3; - return p; -} - Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { return PreintegrationBase::UpdatePreintegrated(a, w, kDt, zeta); } +namespace testing { +// Create default parameters with Z-down and above noise parameters +static boost::shared_ptr Params() { + auto p = PreintegrationParams::MakeSharedD(kGravity); + p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; + p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; + p->integrationCovariance = 0.0001 * I_3x3; + return p; +} +} + /* ************************************************************************* */ TEST(PreintegrationBase, UpdateEstimate1) { - PreintegrationBase pim(defaultParams()); + PreintegrationBase pim(testing::Params()); const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta.setZero(); @@ -58,7 +56,7 @@ TEST(PreintegrationBase, UpdateEstimate1) { /* ************************************************************************* */ TEST(PreintegrationBase, UpdateEstimate2) { - PreintegrationBase pim(defaultParams()); + PreintegrationBase pim(testing::Params()); const Vector3 acc(0.1, 0.2, 10), omega(0.1, 0.2, 0.3); Vector9 zeta; zeta << 0.01, 0.02, 0.03, 100, 200, 300, 10, 5, 3; @@ -73,7 +71,7 @@ TEST(PreintegrationBase, UpdateEstimate2) { /* ************************************************************************* */ TEST(PreintegrationBase, computeError) { - PreintegrationBase pim(defaultParams()); + PreintegrationBase pim(testing::Params()); NavState x1, x2; imuBias::ConstantBias bias; Matrix9 aH1, aH2; diff --git a/gtsam/navigation/tests/testScenarios.cpp b/gtsam/navigation/tests/testScenarios.cpp index c2fdb963d..a700f0979 100644 --- a/gtsam/navigation/tests/testScenarios.cpp +++ b/gtsam/navigation/tests/testScenarios.cpp @@ -34,7 +34,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); // Create default parameters with Z-up and above noise parameters -static boost::shared_ptr defaultParams() { +static boost::shared_ptr testing::Params() { auto p = PreintegrationParams::MakeSharedU(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; @@ -51,7 +51,7 @@ TEST(ScenarioRunner, Spin) { const Vector3 W(0, 0, w), V(0, 0, 0); const ConstantTwistScenario scenario(W, V); - auto p = defaultParams(); + auto p = testing::Params(); ScenarioRunner runner(&scenario, p, kDt); const double T = 2 * kDt; // seconds @@ -80,7 +80,7 @@ ConstantTwistScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { using namespace forward; - ScenarioRunner runner(&scenario, defaultParams(), kDt); + ScenarioRunner runner(&scenario, testing::Params(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); @@ -94,7 +94,7 @@ TEST(ScenarioRunner, Forward) { /* ************************************************************************* */ TEST(ScenarioRunner, ForwardWithBias) { using namespace forward; - ScenarioRunner runner(&scenario, defaultParams(), kDt); + ScenarioRunner runner(&scenario, testing::Params(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T, kNonZeroBias); @@ -108,7 +108,7 @@ TEST(ScenarioRunner, Circle) { const double v = 2, w = 6 * kDegree; ConstantTwistScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, defaultParams(), kDt); + ScenarioRunner runner(&scenario, testing::Params(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); @@ -126,7 +126,7 @@ TEST(ScenarioRunner, Loop) { const double v = 2, w = 6 * kDegree; ConstantTwistScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, defaultParams(), kDt); + ScenarioRunner runner(&scenario, testing::Params(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); @@ -157,7 +157,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating) { using namespace accelerating; - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -170,7 +170,7 @@ TEST(ScenarioRunner, Accelerating) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias) { using namespace accelerating; - ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -185,7 +185,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -216,7 +216,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating2) { using namespace accelerating2; - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -229,7 +229,7 @@ TEST(ScenarioRunner, Accelerating2) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias2) { using namespace accelerating2; - ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -244,7 +244,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating2) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -276,7 +276,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating3) { using namespace accelerating3; - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -289,7 +289,7 @@ TEST(ScenarioRunner, Accelerating3) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias3) { using namespace accelerating3; - ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -304,7 +304,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating3) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -337,7 +337,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating4) { using namespace accelerating4; - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -350,7 +350,7 @@ TEST(ScenarioRunner, Accelerating4) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias4) { using namespace accelerating4; - ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -365,7 +365,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating4) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, defaultParams(), T / 10); + ScenarioRunner runner(&scenario, testing::Params(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); From 3819b292eccca151cd87869e515b074638ac9e24 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 16:59:28 -0800 Subject: [PATCH 939/964] Removed some obsolete methods --- gtsam.h | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/gtsam.h b/gtsam.h index ce2e225f7..16f247a34 100644 --- a/gtsam.h +++ b/gtsam.h @@ -2519,11 +2519,6 @@ virtual class PreintegrationBase { Vector deltaPij() const; Vector deltaVij() const; Vector biasHatVector() const; - Matrix delPdelBiasAcc() const; - Matrix delPdelBiasOmega() const; - Matrix delVdelBiasAcc() const; - Matrix delVdelBiasOmega() const; - Matrix delRdelBiasOmega() const; // Standard Interface gtsam::NavState predict(const gtsam::NavState& state_i, @@ -2562,12 +2557,6 @@ virtual class ImuFactor: gtsam::NonlinearFactor { #include virtual class PreintegratedCombinedMeasurements: gtsam::PreintegrationBase { - // Standard Constructor - PreintegratedCombinedMeasurements(const gtsam::imuBias::ConstantBias& bias, - Matrix measuredAccCovariance, Matrix measuredOmegaCovariance, - Matrix integrationErrorCovariance, Matrix biasAccCovariance, - Matrix biasOmegaCovariance, Matrix biasAccOmegaInit); - // Testable void print(string s) const; bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, From ebba015227357381911f808ee89994e8c830f695 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jan 2016 18:29:04 -0800 Subject: [PATCH 940/964] Rename key method --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/ImuFactor.cpp | 2 +- gtsam/navigation/PreintegrationBase.cpp | 82 +++++++++++++------ gtsam/navigation/PreintegrationBase.h | 12 ++- .../tests/testPreintegrationBase.cpp | 52 ++++++++++++ 5 files changed, 124 insertions(+), 26 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index db0e6d34a..a961a79bd 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -70,7 +70,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // Update preintegrated measurements. Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 B, C; - updatedPreintegrated(measuredAcc, measuredOmega, dt, &A, &B, &C); + PreintegrationBase::integrateMeasurement(measuredAcc, measuredOmega, dt, &A, &B, &C); // Update preintegrated measurements covariance: as in [2] we consider a first // order propagation that can be seen as a prediction phase in an EKF diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 523809b1d..2f8e42917 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -55,7 +55,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( // Update preintegrated measurements (also get Jacobian) Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx) Matrix93 B, C; - updatedPreintegrated(measuredAcc, measuredOmega, dt, &A, &B, &C); + PreintegrationBase::integrateMeasurement(measuredAcc, measuredOmega, dt, &A, &B, &C); // first order covariance propagation: // as in [2] we consider a first order propagation that can be seen as a diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 751dd3fa3..2536e1993 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -178,7 +178,7 @@ Vector9 PreintegrationBase::UpdatePreintegrated(const Vector3& a_body, } //------------------------------------------------------------------------------ -void PreintegrationBase::updatedPreintegrated(const Vector3& measuredAcc, +void PreintegrationBase::integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, double dt, Matrix9* A, Matrix93* B, Matrix93* C) { @@ -211,6 +211,15 @@ void PreintegrationBase::updatedPreintegrated(const Vector3& measuredAcc, preintegrated_H_biasOmega_ = (*A) * preintegrated_H_biasOmega_ - (*C); } +void PreintegrationBase::integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, + double dt) { + // NOTE(frank): integrateMeasuremtn always needs to compute the derivatives, + // even when not of interest to the caller. Provide scratch space here. + Matrix9 A; + Matrix93 B, C; + integrateMeasurement(measuredAcc, measuredOmega, dt, &A, &B, &C); +} //------------------------------------------------------------------------------ Vector9 PreintegrationBase::biasCorrectedDelta( const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H) const { @@ -320,6 +329,53 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, #define D_v_t(H) (H)->block<3,3>(6,3) #define D_v_v(H) (H)->block<3,3>(6,6) +//------------------------------------------------------------------------------ +Vector9 PreintegrationBase::Compose(const Vector9& zeta01, + const Vector9& zeta12, double deltaT12, + OptionalJacobian<9, 9> H1, + OptionalJacobian<9, 9> H2) { + const auto t01 = zeta01.segment<3>(0); + const auto p01 = zeta01.segment<3>(3); + const auto v01 = zeta01.segment<3>(6); + + const auto t12 = zeta12.segment<3>(0); + const auto p12 = zeta12.segment<3>(3); + const auto v12 = zeta12.segment<3>(6); + + Matrix3 R01_H_t01, R12_H_t12; + const Rot3 R01 = Rot3::Expmap(t01, R01_H_t01); + const Rot3 R12 = Rot3::Expmap(t12, R12_H_t12); + + Matrix3 R02_H_R01, R02_H_R12; + const Rot3 R02 = R01.compose(R12, R02_H_R01, R02_H_R12); + + Matrix3 t02_H_R02; + Vector9 zeta02; + const Matrix3 R = R01.matrix(); + zeta02 << Rot3::Logmap(R02, t02_H_R02), // theta + p01 + v01 * deltaT12 + R * p12, // position + v01 + R * v12; // velocity + + if (H1) { + H1->setZero(); + D_R_R(H1) = t02_H_R02 * R02_H_R01 * R01_H_t01; + D_t_R(H1) = R * skewSymmetric(-p12) * R01_H_t01; + D_t_t(H1) = I_3x3; + D_t_v(H1) = I_3x3 * deltaT12; + D_v_R(H1) = R * skewSymmetric(-v12) * R01_H_t01; + D_v_v(H1) = I_3x3; + } + + if (H2) { + H2->setZero(); + D_R_R(H2) = t02_H_R02 * R02_H_R12 * R12_H_t12; + D_t_t(H2) = R; + D_v_v(H2) = R; + } + + return zeta02; +} + //------------------------------------------------------------------------------ void PreintegrationBase::mergeWith(const PreintegrationBase& pim12, Matrix9* H1, Matrix9* H2) { @@ -335,28 +391,8 @@ void PreintegrationBase::mergeWith(const PreintegrationBase& pim12, Matrix9* H1, const double& t12 = pim12.deltaTij(); deltaTij_ = t01 + t12; - Matrix3 R01_H_theta01, R12_H_theta12; - const Rot3 R01 = Rot3::Expmap(theta(), R01_H_theta01); - const Rot3 R12 = Rot3::Expmap(pim12.theta(), R12_H_theta12); - - Matrix3 R02_H_R01, R02_H_R12; - const Rot3 R02 = R01.compose(R12, R02_H_R01, R02_H_R12); - - Matrix3 theta02_H_R02; - preintegrated_ << Rot3::Logmap(R02, theta02_H_R02), - deltaPij() + deltaVij() * t12 + R01 * pim12.deltaPij(), - deltaVij() + R01 * pim12.deltaVij(); - - H1->setZero(); - D_R_R(H1) = theta02_H_R02 * R02_H_R01 * R01_H_theta01; - D_t_t(H1) = I_3x3; - D_t_v(H1) = I_3x3 * t12; - D_v_v(H1) = I_3x3; - - H2->setZero(); - D_R_R(H2) = theta02_H_R02 * R02_H_R12 * R12_H_theta12; // I_3x3 ?? - D_t_t(H2) = R01.matrix(); // + rotated_H_theta1 ?? - D_v_v(H2) = R01.matrix(); // + rotated_H_theta1 ?? + preintegrated_ << PreintegrationBase::Compose( + preintegrated(), pim12.preintegrated(), t12, H1, H2); preintegrated_H_biasAcc_ = (*H1) * preintegrated_H_biasAcc_ + (*H2) * pim12.preintegrated_H_biasAcc_; diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index 97e1d76f4..f8639cf79 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -183,10 +183,14 @@ public: /// Update preintegrated measurements and get derivatives /// It takes measured quantities in the j frame /// Modifies preintegrated_ in place after correcting for bias and possibly sensor pose - void updatedPreintegrated(const Vector3& measuredAcc, + void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, const double deltaT, Matrix9* A, Matrix93* B, Matrix93* C); + // Version without derivatives + void integrateMeasurement(const Vector3& measuredAcc, + const Vector3& measuredOmega, const double deltaT); + /// Given the estimate of the bias, return a NavState tangent vector /// summarizing the preintegrated IMU measurements so far Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i, @@ -211,6 +215,12 @@ public: OptionalJacobian<9, 6> H3 = boost::none, OptionalJacobian<9, 3> H4 = boost::none, OptionalJacobian<9, 6> H5 = boost::none) const; + // Compose the two preintegrated vectors + static Vector9 Compose(const Vector9& zeta01, const Vector9& zeta12, + double deltaT12, + OptionalJacobian<9, 9> H1 = boost::none, + OptionalJacobian<9, 9> H2 = boost::none); + /// Merge in a different set of measurements and update bias derivatives accordingly /// The derivatives apply to the preintegrated Vector9 void mergeWith(const PreintegrationBase& pim, Matrix9* H1, Matrix9* H2); diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index 17b34c0d3..ad1aae3db 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -87,6 +87,58 @@ TEST(PreintegrationBase, computeError) { EXPECT(assert_equal(numericalDerivative33(f, x1, x2, bias), aH3, 1e-9)); } +/* ************************************************************************* */ +TEST(PreintegrationBase, Compose) { + testing::SomeMeasurements measurements; + PreintegrationBase pim(testing::Params()); + testing::integrateMeasurements(measurements, &pim); + + boost::function f = + [pim](const Vector9& zeta01, const Vector9& zeta12) { + return PreintegrationBase::Compose(zeta01, zeta12, pim.deltaTij()); + }; + + // Expected merge result + PreintegrationBase expected_pim02(testing::Params()); + testing::integrateMeasurements(measurements, &expected_pim02); + testing::integrateMeasurements(measurements, &expected_pim02); + + // Actual result + Matrix9 H1, H2; + PreintegrationBase actual_pim02 = pim; + actual_pim02.mergeWith(pim, &H1, &H2); + + const Vector9 zeta = pim.preintegrated(); + const Vector9 actual_zeta = + PreintegrationBase::Compose(zeta, zeta, pim.deltaTij()); + EXPECT(assert_equal(expected_pim02.preintegrated(), actual_zeta, 1e-7)); + EXPECT(assert_equal(numericalDerivative21(f, zeta, zeta), H1, 1e-7)); + EXPECT(assert_equal(numericalDerivative22(f, zeta, zeta), H2, 1e-7)); +} + +/* ************************************************************************* */ + TEST(PreintegrationBase, MergedBiasDerivatives) { + testing::SomeMeasurements measurements; + + boost::function f = + [=](const Vector3& a, const Vector3& w) { + PreintegrationBase pim02(testing::Params(), Bias(a, w)); + testing::integrateMeasurements(measurements, &pim02); + testing::integrateMeasurements(measurements, &pim02); + return pim02.preintegrated(); + }; + + // Expected merge result + PreintegrationBase expected_pim02(testing::Params()); + testing::integrateMeasurements(measurements, &expected_pim02); + testing::integrateMeasurements(measurements, &expected_pim02); + + EXPECT(assert_equal(numericalDerivative21(f, Z_3x1, Z_3x1), + expected_pim02.preintegrated_H_biasAcc())); + EXPECT(assert_equal(numericalDerivative22(f, Z_3x1, Z_3x1), + expected_pim02.preintegrated_H_biasOmega(), 1e-3)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 77969f97d97eb42720383e169a633d76d85b2938 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 01:24:30 -0800 Subject: [PATCH 941/964] Merging works great with numerical derivative of keystone block --- gtsam/navigation/PreintegrationBase.cpp | 1 + gtsam/navigation/tests/testImuFactor.cpp | 36 ++++++++++--------- .../tests/testPreintegrationBase.cpp | 2 +- 3 files changed, 21 insertions(+), 18 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 2536e1993..46c8191a7 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -140,6 +140,7 @@ Vector9 PreintegrationBase::UpdatePreintegrated(const Vector3& a_body, velocity + a_nav* dt; // velocity if (A) { +#define USE_NUMERICAL_DERIVATIVE #ifdef USE_NUMERICAL_DERIVATIVE // The use of this yields much more accurate derivatives, but it's slow! // TODO(frank): find a cheap closed form solution (look at Iserles) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index fb15e3b2f..02a5bb870 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -792,15 +792,15 @@ struct ImuFactorMergeTest { p_->accelerometerCovariance = I_3x3 * 0.03; } - void TestScenarioBiasCase(TestResult& result_, const std::string& name_, - const Scenario& scenario, - const imuBias::ConstantBias& bias01, - const imuBias::ConstantBias& bias12, double tol) { + int TestScenario(TestResult& result_, const std::string& name_, + const Scenario& scenario, + const imuBias::ConstantBias& bias01, + const imuBias::ConstantBias& bias12, double tol) { // Test merge by creating a 01, 12, and 02 PreintegratedRotation, // then checking the merge of 01-12 matches 02. PreintegratedImuMeasurements pim01(p_, bias01); PreintegratedImuMeasurements pim12(p_, bias12); - PreintegratedImuMeasurements expected_pim02(p_, bias01); + PreintegratedImuMeasurements pim02_expected(p_, bias01); double deltaT = 0.05; ScenarioRunner runner(&scenario, p_, deltaT); @@ -810,7 +810,7 @@ struct ImuFactorMergeTest { // integrate the measurements appropriately Vector3 accel_meas = runner.actualSpecificForce(t); Vector3 omega_meas = runner.actualAngularVelocity(t); - expected_pim02.integrateMeasurement(accel_meas, omega_meas, deltaT); + pim02_expected.integrateMeasurement(accel_meas, omega_meas, deltaT); if (i < 50) { pim01.integrateMeasurement(accel_meas, omega_meas, deltaT); } else { @@ -818,25 +818,27 @@ struct ImuFactorMergeTest { } } auto actual_pim02 = ImuFactor::Merge(pim01, pim12); - EXPECT(assert_equal(expected_pim02.preintegrated(), actual_pim02.preintegrated(), tol)); - EXPECT(assert_equal(expected_pim02, actual_pim02, tol)); + EXPECT(assert_equal(pim02_expected.preintegrated(), + actual_pim02.preintegrated(), tol)); + EXPECT(assert_equal(pim02_expected, actual_pim02, tol)); - ImuFactor::shared_ptr factor_01 = + ImuFactor::shared_ptr factor01 = boost::make_shared(X(0), V(0), X(1), V(1), B(0), pim01); - ImuFactor::shared_ptr factor_12 = + ImuFactor::shared_ptr factor12 = boost::make_shared(X(1), V(1), X(2), V(2), B(0), pim12); - ImuFactor::shared_ptr factor_02_true = boost::make_shared( - X(0), V(0), X(2), V(2), B(0), expected_pim02); + ImuFactor::shared_ptr factor02_expected = boost::make_shared( + X(0), V(0), X(2), V(2), B(0), pim02_expected); - // ImuFactor::shared_ptr factor_02_merged = factor01.mergeWith(factor_12); - // EXPECT(assert_equal(*factor_02_true, *factor_02_merged, tol)); +// ImuFactor::shared_ptr factor02_merged = factor01.mergeWith(factor12); +// EXPECT(assert_equal(*factor02_expected, *factor02_merged, tol)); + return result_.getFailureCount(); } void TestScenarios(TestResult& result_, const std::string& name_, const imuBias::ConstantBias& bias01, const imuBias::ConstantBias& bias12, double tol) { - for (auto scenario : {forward_, loop_}) - TestScenarioBiasCase(result_, name_, scenario, bias01, bias12, tol); + for (auto scenario : {forward_}) + EXPECT_LONGS_EQUAL(0,TestScenario(result_, name_, scenario, bias01, bias12, tol)); } }; @@ -845,7 +847,7 @@ struct ImuFactorMergeTest { // an exact answer. TEST(ImuFactor, MergeZeroBias) { ImuFactorMergeTest mergeTest; - mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-6); + mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-5); } //// Test case with different biases where we expect there to be some variation. diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index ad1aae3db..0ad4d4903 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -136,7 +136,7 @@ TEST(PreintegrationBase, Compose) { EXPECT(assert_equal(numericalDerivative21(f, Z_3x1, Z_3x1), expected_pim02.preintegrated_H_biasAcc())); EXPECT(assert_equal(numericalDerivative22(f, Z_3x1, Z_3x1), - expected_pim02.preintegrated_H_biasOmega(), 1e-3)); + expected_pim02.preintegrated_H_biasOmega(), 1e-7)); } /* ************************************************************************* */ From e9f6b52620a225c2a7b8da13c195bcbf0e633d04 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 01:25:14 -0800 Subject: [PATCH 942/964] Fixed incorrect name change --- gtsam/navigation/tests/testScenarios.cpp | 36 ++++++++++++------------ 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/gtsam/navigation/tests/testScenarios.cpp b/gtsam/navigation/tests/testScenarios.cpp index a700f0979..c2fdb963d 100644 --- a/gtsam/navigation/tests/testScenarios.cpp +++ b/gtsam/navigation/tests/testScenarios.cpp @@ -34,7 +34,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); // Create default parameters with Z-up and above noise parameters -static boost::shared_ptr testing::Params() { +static boost::shared_ptr defaultParams() { auto p = PreintegrationParams::MakeSharedU(10); p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; @@ -51,7 +51,7 @@ TEST(ScenarioRunner, Spin) { const Vector3 W(0, 0, w), V(0, 0, 0); const ConstantTwistScenario scenario(W, V); - auto p = testing::Params(); + auto p = defaultParams(); ScenarioRunner runner(&scenario, p, kDt); const double T = 2 * kDt; // seconds @@ -80,7 +80,7 @@ ConstantTwistScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); /* ************************************************************************* */ TEST(ScenarioRunner, Forward) { using namespace forward; - ScenarioRunner runner(&scenario, testing::Params(), kDt); + ScenarioRunner runner(&scenario, defaultParams(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); @@ -94,7 +94,7 @@ TEST(ScenarioRunner, Forward) { /* ************************************************************************* */ TEST(ScenarioRunner, ForwardWithBias) { using namespace forward; - ScenarioRunner runner(&scenario, testing::Params(), kDt); + ScenarioRunner runner(&scenario, defaultParams(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T, kNonZeroBias); @@ -108,7 +108,7 @@ TEST(ScenarioRunner, Circle) { const double v = 2, w = 6 * kDegree; ConstantTwistScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, testing::Params(), kDt); + ScenarioRunner runner(&scenario, defaultParams(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); @@ -126,7 +126,7 @@ TEST(ScenarioRunner, Loop) { const double v = 2, w = 6 * kDegree; ConstantTwistScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); - ScenarioRunner runner(&scenario, testing::Params(), kDt); + ScenarioRunner runner(&scenario, defaultParams(), kDt); const double T = 0.1; // seconds auto pim = runner.integrate(T); @@ -157,7 +157,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating) { using namespace accelerating; - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -170,7 +170,7 @@ TEST(ScenarioRunner, Accelerating) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias) { using namespace accelerating; - ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -185,7 +185,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -216,7 +216,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating2) { using namespace accelerating2; - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -229,7 +229,7 @@ TEST(ScenarioRunner, Accelerating2) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias2) { using namespace accelerating2; - ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -244,7 +244,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating2) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -276,7 +276,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating3) { using namespace accelerating3; - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -289,7 +289,7 @@ TEST(ScenarioRunner, Accelerating3) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias3) { using namespace accelerating3; - ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -304,7 +304,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating3) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -337,7 +337,7 @@ const double T = 3; // seconds /* ************************************************************************* */ TEST(ScenarioRunner, Accelerating4) { using namespace accelerating4; - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); @@ -350,7 +350,7 @@ TEST(ScenarioRunner, Accelerating4) { /* ************************************************************************* */ TEST(ScenarioRunner, AcceleratingWithBias4) { using namespace accelerating4; - ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); + ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); auto pim = runner.integrate(T, kNonZeroBias); Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); @@ -365,7 +365,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating4) { const AcceleratingScenario scenario(nRb, P0, V0, A, W); const double T = 10; // seconds - ScenarioRunner runner(&scenario, testing::Params(), T / 10); + ScenarioRunner runner(&scenario, defaultParams(), T / 10); auto pim = runner.integrate(T); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); From 15e3b2ea344c7fe3beec6afa0e48b18cdd103007 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 02:01:17 -0800 Subject: [PATCH 943/964] Merging factors --- gtsam/navigation/ImuFactor.cpp | 29 +++++++++++++++++++++--- gtsam/navigation/ImuFactor.h | 5 +++- gtsam/navigation/tests/testImuFactor.cpp | 4 ++-- 3 files changed, 32 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 2f8e42917..145359d91 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -113,9 +113,9 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, } //------------------------------------------------------------------------------ -gtsam::NonlinearFactor::shared_ptr ImuFactor::clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); +NonlinearFactor::shared_ptr ImuFactor::clone() const { + return boost::static_pointer_cast( + NonlinearFactor::shared_ptr(new This(*this))); } //------------------------------------------------------------------------------ @@ -178,6 +178,29 @@ PreintegratedImuMeasurements ImuFactor::Merge( return pim02; } +//------------------------------------------------------------------------------ +ImuFactor::shared_ptr ImuFactor::Merge(const shared_ptr& f01, + const shared_ptr& f12) { + // IMU bias keys must be the same. + if (f01->key5() != f12->key5()) + throw std::domain_error("ImuFactor::Merge: IMU bias keys must be the same"); + + // expect intermediate pose, velocity keys to matchup. + if (f01->key3() != f12->key1() || f01->key4() != f12->key2()) + throw std::domain_error( + "ImuFactor::Merge: intermediate pose, velocity keys need to match up"); + + // return new factor + auto pim02 = + Merge(f01->preintegratedMeasurements(), f12->preintegratedMeasurements()); + return boost::make_shared(f01->key1(), // P0 + f01->key2(), // V0 + f12->key3(), // P2 + f12->key4(), // V2 + f01->key5(), // B + pim02); +} + //------------------------------------------------------------------------------ #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 73b5c8987..73a2f05d2 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -225,11 +225,14 @@ public: boost::optional H3 = boost::none, boost::optional H4 = boost::none, boost::optional H5 = boost::none) const; - // Merge two pre-integrated measurement classes + /// Merge two pre-integrated measurement classes static PreintegratedImuMeasurements Merge( const PreintegratedImuMeasurements& pim01, const PreintegratedImuMeasurements& pim12); + /// Merge two factors + static shared_ptr Merge(const shared_ptr& f01, const shared_ptr& f12); + #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 02a5bb870..066f96831 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -829,8 +829,8 @@ struct ImuFactorMergeTest { ImuFactor::shared_ptr factor02_expected = boost::make_shared( X(0), V(0), X(2), V(2), B(0), pim02_expected); -// ImuFactor::shared_ptr factor02_merged = factor01.mergeWith(factor12); -// EXPECT(assert_equal(*factor02_expected, *factor02_merged, tol)); + ImuFactor::shared_ptr factor02_merged = ImuFactor::Merge(factor01, factor12); + EXPECT(assert_equal(*factor02_expected, *factor02_merged, tol)); return result_.getFailureCount(); } From fc500eea3305f8477bd663319a66b66a42af8800 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 16:18:52 -0800 Subject: [PATCH 944/964] Fixed init bug --- gtsam/navigation/PreintegrationBase.cpp | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 46c8191a7..7b50647e4 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -37,7 +37,7 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, //------------------------------------------------------------------------------ void PreintegrationBase::resetIntegration() { deltaTij_ = 0.0; - preintegrated_ = Vector9(); + preintegrated_.setZero(); preintegrated_H_biasAcc_.setZero(); preintegrated_H_biasOmega_.setZero(); } @@ -347,7 +347,7 @@ Vector9 PreintegrationBase::Compose(const Vector9& zeta01, const Rot3 R01 = Rot3::Expmap(t01, R01_H_t01); const Rot3 R12 = Rot3::Expmap(t12, R12_H_t12); - Matrix3 R02_H_R01, R02_H_R12; + Matrix3 R02_H_R01, R02_H_R12; // NOTE(frank): R02_H_R12 == Identity const Rot3 R02 = R01.compose(R12, R02_H_R01, R02_H_R12); Matrix3 t02_H_R02; @@ -358,13 +358,11 @@ Vector9 PreintegrationBase::Compose(const Vector9& zeta01, v01 + R * v12; // velocity if (H1) { - H1->setZero(); + H1->setIdentity(); D_R_R(H1) = t02_H_R02 * R02_H_R01 * R01_H_t01; D_t_R(H1) = R * skewSymmetric(-p12) * R01_H_t01; - D_t_t(H1) = I_3x3; D_t_v(H1) = I_3x3 * deltaT12; D_v_R(H1) = R * skewSymmetric(-v12) * R01_H_t01; - D_v_v(H1) = I_3x3; } if (H2) { @@ -392,8 +390,15 @@ void PreintegrationBase::mergeWith(const PreintegrationBase& pim12, Matrix9* H1, const double& t12 = pim12.deltaTij(); deltaTij_ = t01 + t12; - preintegrated_ << PreintegrationBase::Compose( - preintegrated(), pim12.preintegrated(), t12, H1, H2); + Vector9 zeta01 = preintegrated(); + Vector9 zeta12 = pim12.preintegrated(); + + // TODO(frank): adjust zeta12 due to bias difference +// const imuBias::ConstantBias bias_incr_for_12 = biasHat() - pim12.biasHat(); +// zeta12 += pim12.delPdelBiasAcc() * bias_incr_for_12.accelerometer() + +// pim12.delPdelBiasOmega() * bias_incr_for_12.gyroscope(); + + preintegrated_ << PreintegrationBase::Compose(zeta01, zeta12, t12, H1, H2); preintegrated_H_biasAcc_ = (*H1) * preintegrated_H_biasAcc_ + (*H2) * pim12.preintegrated_H_biasAcc_; From 7dce902f2fb940a765e2ab0ed501222cb3b84ab4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 16:19:16 -0800 Subject: [PATCH 945/964] Cleaned up a test, added loop case --- gtsam/navigation/tests/testImuFactor.cpp | 63 +++++++++++------------- 1 file changed, 30 insertions(+), 33 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 066f96831..b83c91e55 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -88,55 +88,51 @@ TEST(ImuFactor, PreintegratedMeasurements) { double deltaT = 0.5; // Expected pre-integrated values - Vector3 expectedDeltaP1; - expectedDeltaP1 << 0.5 * 0.1 * 0.5 * 0.5, 0, 0; + Vector3 expectedDeltaR1(0.5 * M_PI / 100.0, 0.0, 0.0); + Vector3 expectedDeltaP1(0.5 * 0.1 * 0.5 * 0.5, 0, 0); Vector3 expectedDeltaV1(0.05, 0.0, 0.0); - Rot3 expectedDeltaR1 = Rot3::RzRyRx(0.5 * M_PI / 100.0, 0.0, 0.0); - double expectedDeltaT1(0.5); // Actual pre-integrated values - PreintegratedImuMeasurements actual1(testing::Params()); - actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + PreintegratedImuMeasurements actual(testing::Params()); + EXPECT(assert_equal(Z_3x1, actual.theta())); + EXPECT(assert_equal(Z_3x1, actual.deltaPij())); + EXPECT(assert_equal(Z_3x1, actual.deltaVij())); + DOUBLES_EQUAL(0.0, actual.deltaTij(), 1e-9); - EXPECT(assert_equal(Vector(expectedDeltaP1), Vector(actual1.deltaPij()))); - EXPECT(assert_equal(Vector(expectedDeltaV1), Vector(actual1.deltaVij()))); - EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()))); - DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-9); + actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + EXPECT(assert_equal(expectedDeltaR1, actual.theta())); + EXPECT(assert_equal(expectedDeltaP1, actual.deltaPij())); + EXPECT(assert_equal(expectedDeltaV1, actual.deltaVij())); + DOUBLES_EQUAL(0.5, actual.deltaTij(), 1e-9); // Check derivatives of computeError Bias bias(Vector3(0.2, 0, 0), Vector3(0.1, 0, 0.3)); // Biases (acc, rot) - NavState x1, x2 = actual1.predict(x1, bias); + NavState x1, x2 = actual.predict(x1, bias); { Matrix9 aH1, aH2; Matrix96 aH3; - actual1.computeError(x1, x2, bias, aH1, aH2, aH3); - boost::function f = - boost::bind(&PreintegrationBase::computeError, actual1, _1, _2, _3, + actual.computeError(x1, x2, bias, aH1, aH2, aH3); + boost::function f = + boost::bind(&PreintegrationBase::computeError, actual, _1, _2, _3, boost::none, boost::none, boost::none); - // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative32(f, x1, x2, bias), aH2, 1e-9)); EXPECT(assert_equal(numericalDerivative33(f, x1, x2, bias), aH3, 1e-9)); } // Integrate again - Vector3 expectedDeltaP2; - expectedDeltaP2 << 0.025 + expectedDeltaP1(0) + 0.5 * 0.1 * 0.5 * 0.5, 0, 0; - Vector3 expectedDeltaV2 = Vector3(0.05, 0.0, 0.0) - + expectedDeltaR1.matrix() * measuredAcc * 0.5; - Rot3 expectedDeltaR2 = Rot3::RzRyRx(2.0 * 0.5 * M_PI / 100.0, 0.0, 0.0); - double expectedDeltaT2(1); + Vector3 expectedDeltaR2(2.0 * 0.5 * M_PI / 100.0, 0.0, 0.0); + Vector3 expectedDeltaP2(0.025 + expectedDeltaP1(0) + 0.5 * 0.1 * 0.5 * 0.5, 0, 0); + Vector3 expectedDeltaV2 = Vector3(0.05, 0.0, 0.0) + + Rot3::Expmap(expectedDeltaR1) * measuredAcc * 0.5; // Actual pre-integrated values - PreintegratedImuMeasurements actual2 = actual1; - actual2.integrateMeasurement(measuredAcc, measuredOmega, deltaT); - - EXPECT(assert_equal(Vector(expectedDeltaP2), Vector(actual2.deltaPij()))); - EXPECT(assert_equal(Vector(expectedDeltaV2), Vector(actual2.deltaVij()))); - EXPECT(assert_equal(expectedDeltaR2, Rot3(actual2.deltaRij()))); - DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-9); + actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + EXPECT(assert_equal(expectedDeltaR2, actual.theta())); + EXPECT(assert_equal(expectedDeltaP2, actual.deltaPij())); + EXPECT(assert_equal(expectedDeltaV2, actual.deltaVij())); + DOUBLES_EQUAL(1.0, actual.deltaTij(), 1e-9); } /* ************************************************************************* */ // Common linearization point and measurements for tests @@ -802,7 +798,7 @@ struct ImuFactorMergeTest { PreintegratedImuMeasurements pim12(p_, bias12); PreintegratedImuMeasurements pim02_expected(p_, bias01); - double deltaT = 0.05; + double deltaT = 0.01; ScenarioRunner runner(&scenario, p_, deltaT); // TODO(frank) can this loop just go into runner ? for (int i = 0; i < 100; i++) { @@ -837,8 +833,8 @@ struct ImuFactorMergeTest { void TestScenarios(TestResult& result_, const std::string& name_, const imuBias::ConstantBias& bias01, const imuBias::ConstantBias& bias12, double tol) { - for (auto scenario : {forward_}) - EXPECT_LONGS_EQUAL(0,TestScenario(result_, name_, scenario, bias01, bias12, tol)); + for (auto scenario : {forward_, loop_}) + TestScenario(result_, name_, scenario, bias01, bias12, tol); } }; @@ -847,7 +843,8 @@ struct ImuFactorMergeTest { // an exact answer. TEST(ImuFactor, MergeZeroBias) { ImuFactorMergeTest mergeTest; - mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-5); + // TODO(frank): not too happy with large tolerance (needed for loop case) + mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-3); } //// Test case with different biases where we expect there to be some variation. From e6521703e6f258f1d179151d72e47b66e3a8eb1b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 16:24:55 -0800 Subject: [PATCH 946/964] Derivative of multiplying with inverse of matrix --- gtsam/nonlinear/expressions.h | 40 ++++++++++++++++++++++++++++++++-- tests/testExpressionFactor.cpp | 20 ++++++++++++++++- 2 files changed, 57 insertions(+), 3 deletions(-) diff --git a/gtsam/nonlinear/expressions.h b/gtsam/nonlinear/expressions.h index 2f46d6d74..b4c9a244c 100644 --- a/gtsam/nonlinear/expressions.h +++ b/gtsam/nonlinear/expressions.h @@ -12,18 +12,54 @@ namespace gtsam { -// Generics +// Generic between, assumes existence of traits::Between template Expression between(const Expression& t1, const Expression& t2) { return Expression(traits::Between, t1, t2); } -// Generics +// Generic compose, assumes existence of traits::Compose template Expression compose(const Expression& t1, const Expression& t2) { return Expression(traits::Compose, t1, t2); } +/** + * Functor that implements multiplication of a vector b with the inverse of a + * matrix A. The derivatives are inspired by Mike Giles' "An extended collection + * of matrix derivative results for forward and reverse mode algorithmic + * differentiation", at https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf + * + * Usage example: + * Expression expression = MultiplyWithInverse<3>()(Key(0), Key(1)); + */ +template +struct MultiplyWithInverse { + typedef Eigen::Matrix VectorN; + typedef Eigen::Matrix MatrixN; + + /// A.inverse() * b, with optional derivatives + VectorN operator()(const MatrixN& A, const VectorN& b, + OptionalJacobian H1 = boost::none, + OptionalJacobian H2 = boost::none) const { + const MatrixN invA = A.inverse(); + const VectorN c = invA * b; + // The derivative in A is just -[c[0]*invA c[1]*invA ... c[N-1]*invA] + if (H1) + for (size_t j = 0; j < N; j++) + H1->template middleCols(N * j) = -c[j] * invA; + // The derivative in b is easy, as invA*b is just a linear map: + if (H2) *H2 = invA; + return c; + } + + /// Create expression + Expression operator()(const Expression& A_, + const Expression& b_) const { + return Expression(*this, A_, b_); + } +}; + typedef Expression double_; typedef Expression Vector3_; diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index 48cf03f8c..cef0d0ceb 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -345,7 +345,6 @@ TEST(ExpressionFactor, tree) { } /* ************************************************************************* */ - TEST(ExpressionFactor, Compose1) { // Create expression @@ -600,6 +599,25 @@ TEST(Expression, testMultipleCompositions2) { EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum4_, values, fd_step, tolerance); } +/* ************************************************************************* */ +// Test multiplication with a matrix +TEST(ExpressionFactor, MultiplyWithInverse) { + // Create expression + auto model = noiseModel::Isotropic::Sigma(3, 1); + auto f_expr = MultiplyWithInverse<3>()(Key(0), Key(1)); + + // Check derivatives + Values values; + Matrix3 A = Vector3(1, 2, 3).asDiagonal(); + A(0, 1) = 0.1; + A(0, 2) = 0.1; + const Vector3 b(0.1, 0.2, 0.3); + values.insert(0, A); + values.insert(1, b); + ExpressionFactor factor(model, Vector3::Zero(), f_expr); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); // another way +} + /* ************************************************************************* */ int main() { TestResult tr; From cb93c2bfc1f30ee8947f2c1e383b70260212dd24 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 20:11:17 -0800 Subject: [PATCH 947/964] Multiplying with the inverse of a matrix function --- gtsam/nonlinear/expressions.h | 64 +++++++++++++++++++++++++++++++--- tests/testExpressionFactor.cpp | 46 ++++++++++++++++++++++-- 2 files changed, 103 insertions(+), 7 deletions(-) diff --git a/gtsam/nonlinear/expressions.h b/gtsam/nonlinear/expressions.h index b4c9a244c..a6e2e66b6 100644 --- a/gtsam/nonlinear/expressions.h +++ b/gtsam/nonlinear/expressions.h @@ -13,13 +13,13 @@ namespace gtsam { // Generic between, assumes existence of traits::Between -template +template Expression between(const Expression& t1, const Expression& t2) { return Expression(traits::Between, t1, t2); } // Generic compose, assumes existence of traits::Compose -template +template Expression compose(const Expression& t1, const Expression& t2) { return Expression(traits::Compose, t1, t2); } @@ -60,8 +60,64 @@ struct MultiplyWithInverse { } }; +/** + * Functor that implements multiplication with the inverse of a matrix, itself + * the result of a function f. It turn out we only need the derivatives of the + * operator phi(a): b -> f(a) * b + */ +template +struct MultiplyWithInverseFunction { + enum { M = traits::dimension }; + typedef Eigen::Matrix VectorN; + typedef Eigen::Matrix MatrixN; + + // The function phi should calculate f(a)*b, with derivatives in a and b. + // Naturally, the derivative in b is f(a). + typedef boost::function, OptionalJacobian)> + Operator; + + /// Construct with function as explained above + MultiplyWithInverseFunction(const Operator& phi) : phi_(phi) {} + + /// f(a).inverse() * b, with optional derivatives + VectorN operator()(const T& a, const VectorN& b, + OptionalJacobian H1 = boost::none, + OptionalJacobian H2 = boost::none) const { + MatrixN A; + phi_(a, b, boost::none, A); // get A = f(a) by calling f once + const MatrixN invA = A.inverse(); + const VectorN c = invA * b; + + if (H1) { + Eigen::Matrix H; + phi_(a, c, H, boost::none); // get derivative H of forward mapping + *H1 = -invA* H; + } + if (H2) *H2 = invA; + return c; + } + + /// Create expression + Expression operator()(const Expression& a_, + const Expression& b_) const { + return Expression(*this, a_, b_); + } + + private: + const Operator phi_; +}; + +// Some typedefs typedef Expression double_; +typedef Expression Vector1_; +typedef Expression Vector2_; typedef Expression Vector3_; +typedef Expression Vector4_; +typedef Expression Vector5_; +typedef Expression Vector6_; +typedef Expression Vector7_; +typedef Expression Vector8_; +typedef Expression Vector9_; -} // \namespace gtsam - +} // \namespace gtsam diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index cef0d0ceb..5fd1a9cb5 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -600,10 +600,11 @@ TEST(Expression, testMultipleCompositions2) { } /* ************************************************************************* */ -// Test multiplication with a matrix +// Test multiplication with the inverse of a matrix TEST(ExpressionFactor, MultiplyWithInverse) { - // Create expression auto model = noiseModel::Isotropic::Sigma(3, 1); + + // Create expression auto f_expr = MultiplyWithInverse<3>()(Key(0), Key(1)); // Check derivatives @@ -615,7 +616,46 @@ TEST(ExpressionFactor, MultiplyWithInverse) { values.insert(0, A); values.insert(1, b); ExpressionFactor factor(model, Vector3::Zero(), f_expr); - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); // another way + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); +} + +/* ************************************************************************* */ +// Test multiplication with the inverse of a matrix function +namespace test_operator { +Vector3 f(const Point2& a, const Vector3& b, OptionalJacobian<3, 2> H1, + OptionalJacobian<3, 3> H2) { + Matrix3 A = Vector3(1, 2, 3).asDiagonal(); + A(0, 1) = a.x(); + A(0, 2) = a.y(); + A(1, 0) = a.x(); + if (H1) *H1 << b.y(), b.z(), b.x(), 0, 0, 0; + if (H2) *H2 = A; + return A * b; +}; +} + +TEST(ExpressionFactor, MultiplyWithInverseFunction) { + auto model = noiseModel::Isotropic::Sigma(3, 1); + + using test_operator::f; + auto f_expr = MultiplyWithInverseFunction(f)(Key(0), Key(1)); + + // Check derivatives + Point2 a(1, 2); + const Vector3 b(0.1, 0.2, 0.3); + Matrix32 H1; + Matrix3 A; + const Vector Ab = f(a, b, H1, A); + CHECK(assert_equal(A * b, Ab)); + CHECK(assert_equal(numericalDerivative11( + boost::bind(f, _1, b, boost::none, boost::none), a), + H1)); + + Values values; + values.insert(0, a); + values.insert(1, b); + ExpressionFactor factor(model, Vector3::Zero(), f_expr); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); } /* ************************************************************************* */ From 29416436eb0728bc87056422cfeaf5edc9ce95aa Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 23:29:51 -0800 Subject: [PATCH 948/964] Modernized all of Expmap, moved tests from SO3, added ApplyExpmapDerivative --- gtsam/geometry/SO3.cpp | 178 +++++++++++------------ gtsam/geometry/SO3.h | 13 +- gtsam/geometry/tests/testRot3.cpp | 123 ---------------- gtsam/geometry/tests/testSO3.cpp | 233 ++++++++++++++++++++++++++---- 4 files changed, 298 insertions(+), 249 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index ca80167f4..233ca3339 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -11,8 +11,10 @@ /** * @file SO3.cpp - * @brief 3*3 matrix representation o SO(3) + * @brief 3*3 matrix representation of SO(3) * @author Frank Dellaert + * @author Luca Carlone + * @author Duy Nguyen Ta * @date December 2014 */ @@ -24,65 +26,94 @@ namespace gtsam { /* ************************************************************************* */ -// Near zero, we just have I + skew(omega) -static SO3 FirstOrder(const Vector3& omega) { - Matrix3 R; - R(0, 0) = 1.; - R(1, 0) = omega.z(); - R(2, 0) = -omega.y(); - R(0, 1) = -omega.z(); - R(1, 1) = 1.; - R(2, 1) = omega.x(); - R(0, 2) = omega.y(); - R(1, 2) = -omega.x(); - R(2, 2) = 1.; - return R; -} +// Functor that helps implement Exponential map and its derivatives +struct ExpmapImpl { + const Vector3 omega; + const double theta2; + Matrix3 W; + bool nearZero; + double theta, s1, s2, c_1; + + // omega: element of Lie algebra so(3): W = omega^, normalized by normx + ExpmapImpl(const Vector3& omega) : omega(omega), theta2(omega.dot(omega)) { + const double wx = omega.x(), wy = omega.y(), wz = omega.z(); + W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; // Skew[omega] + nearZero = (theta2 <= std::numeric_limits::epsilon()); + if (!nearZero) { + theta = std::sqrt(theta2); // rotation angle + s1 = std::sin(theta) / theta; + s2 = std::sin(theta / 2.0); + c_1 = 2.0 * s2 * s2; // numerically better behaved than [1 - cos(theta)] + } + } + + SO3 operator()() const { + if (nearZero) + return I_3x3 + W; + else + return I_3x3 + s1 * W + c_1 * W * W / theta2; + } + + // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation + // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, + // Information Theory, and Lie Groups", Volume 2, 2008. + // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) + // This maps a perturbation v in the tangent space to + // a perturbation on the manifold Expmap(dexp * v) */ + SO3 dexp() const { + if (nearZero) { + return I_3x3 - 0.5 * W; + } else { + const double a = c_1 / theta2; + const double b = (1.0 - s1) / theta2; + return I_3x3 - a * W + b * W * W; + } + } + + // Just multiplies with dexp() + Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const { + if (nearZero) { + if (H1) *H1 = 0.5 * skewSymmetric(v); + if (H2) *H2 = I_3x3; + return v; + } else { + const double a = c_1 / theta2; + const double b = (1.0 - s1) / theta2; + Matrix3 dexp = I_3x3 - a * W + b * W * W; + if (H1) { + const Vector3 Wv = omega.cross(v); + const Vector3 WWv = omega.cross(Wv); + const Matrix3 T = skewSymmetric(v); + const double Da = (s1 - 2.0 * a) / theta2; + const double Db = (3.0 * s1 - std::cos(theta) - 2.0) / theta2 / theta2; + *H1 = (-Da * Wv + Db * WWv) * omega.transpose() + a * T - + b * skewSymmetric(Wv) - b * W * T; + } + if (H2) *H2 = dexp; + return dexp * v; + } + } +}; SO3 SO3::AxisAngle(const Vector3& axis, double theta) { - if (theta*theta > std::numeric_limits::epsilon()) { - using std::cos; - using std::sin; - - // get components of axis \omega, where is a unit vector - const double& wx = axis.x(), wy = axis.y(), wz = axis.z(); - - const double costheta = cos(theta), sintheta = sin(theta), s2 = sin(theta/2.0), c_1 = 2.0*s2*s2; - const double wx_sintheta = wx * sintheta, wy_sintheta = wy * sintheta, - wz_sintheta = wz * sintheta; - - const double C00 = c_1 * wx * wx, C01 = c_1 * wx * wy, C02 = c_1 * wx * wz; - const double C11 = c_1 * wy * wy, C12 = c_1 * wy * wz; - const double C22 = c_1 * wz * wz; - - Matrix3 R; - R(0, 0) = costheta + C00; - R(1, 0) = wz_sintheta + C01; - R(2, 0) = -wy_sintheta + C02; - R(0, 1) = -wz_sintheta + C01; - R(1, 1) = costheta + C11; - R(2, 1) = wx_sintheta + C12; - R(0, 2) = wy_sintheta + C02; - R(1, 2) = -wx_sintheta + C12; - R(2, 2) = costheta + C22; - return R; - } else { - return FirstOrder(axis*theta); - } - + return ExpmapImpl(axis*theta)(); } -/// simply convert omega to axis/angle representation SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { - if (H) *H = ExpmapDerivative(omega); + ExpmapImpl impl(omega); + if (H) *H = impl.dexp(); + return impl(); +} - double theta2 = omega.dot(omega); - if (theta2 > std::numeric_limits::epsilon()) { - double theta = std::sqrt(theta2); - return AxisAngle(omega / theta, theta); - } else { - return FirstOrder(omega); - } +Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { + return ExpmapImpl(omega).dexp(); +} + +Vector3 SO3::ApplyExpmapDerivative(const Vector3& omega, const Vector3& v, + OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) { + return ExpmapImpl(omega).applyDexp(v, H1, H2); } /* ************************************************************************* */ @@ -129,44 +160,7 @@ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { } /* ************************************************************************* */ -Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { - using std::sin; - - const double theta2 = omega.dot(omega); - if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; - const double theta = std::sqrt(theta2); // rotation angle -#ifdef DUY_VERSION - /// Follow Iserles05an, B10, pg 147, with a sign change in the second term (left version) - Matrix3 X = skewSymmetric(omega); - Matrix3 X2 = X*X; - double vi = theta/2.0; - double s1 = sin(vi)/vi; - double s2 = (theta - sin(theta))/(theta*theta*theta); - return I_3x3 - 0.5*s1*s1*X + s2*X2; -#else // Luca's version - /** - * Right Jacobian for Exponential map in SO(3) - equation (10.86) and following equations in - * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008. - * expmap(thetahat + omega) \approx expmap(thetahat) * expmap(Jr * omega) - * where Jr = ExpmapDerivative(thetahat); - * This maps a perturbation in the tangent space (omega) to - * a perturbation on the manifold (expmap(Jr * omega)) - */ - // element of Lie algebra so(3): X = omega^, normalized by normx - const double wx = omega.x(), wy = omega.y(), wz = omega.z(); - Matrix3 Y; - Y << 0.0, -wz, +wy, - +wz, 0.0, -wx, - -wy, +wx, 0.0; - const double s2 = sin(theta / 2.0); - const double a = (2.0 * s2 * s2 / theta2); - const double b = (1.0 - sin(theta) / theta) / theta2; - return I_3x3 - a * Y + b * Y * Y; -#endif -} - -/* ************************************************************************* */ -Matrix3 SO3::LogmapDerivative(const Vector3& omega) { +Matrix3 SO3::LogmapDerivative(const Vector3& omega) { using std::cos; using std::sin; diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 580287eac..92c290d02 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -13,6 +13,8 @@ * @file SO3.h * @brief 3*3 matrix representation of SO(3) * @author Frank Dellaert + * @author Luca Carlone + * @author Duy Nguyen Ta * @date December 2014 */ @@ -97,15 +99,20 @@ public: */ static SO3 Expmap(const Vector3& omega, ChartJacobian H = boost::none); + /// Derivative of Expmap + static Matrix3 ExpmapDerivative(const Vector3& omega); + + /// Implement ExpmapDerivative(omega) * v, with derivatives + static Vector3 ApplyExpmapDerivative(const Vector3& omega, const Vector3& v, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none); + /** * Log map at identity - returns the canonical coordinates * \f$ [R_x,R_y,R_z] \f$ of this rotation */ static Vector3 Logmap(const SO3& R, ChartJacobian H = boost::none); - /// Derivative of Expmap - static Matrix3 ExpmapDerivative(const Vector3& omega); - /// Derivative of Logmap static Matrix3 LogmapDerivative(const Vector3& omega); diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 25ddd16ce..4b3c84e01 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -243,129 +243,6 @@ TEST(Rot3, retract_localCoordinates2) Vector d21 = t2.localCoordinates(t1); EXPECT(assert_equal(t1, t2.retract(d21))); } -/* ************************************************************************* */ -namespace exmap_derivative { -static const Vector3 w(0.1, 0.27, -0.2); -} -// Left trivialized Derivative of exp(w) wrpt w: -// How does exp(w) change when w changes? -// We find a y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0 -// => y = log (exp(-w) * exp(w+dw)) -Vector3 testDexpL(const Vector3& dw) { - using exmap_derivative::w; - return Rot3::Logmap(Rot3::Expmap(-w) * Rot3::Expmap(w + dw)); -} - -TEST( Rot3, ExpmapDerivative) { - using exmap_derivative::w; - const Matrix actualDexpL = Rot3::ExpmapDerivative(w); - const Matrix expectedDexpL = numericalDerivative11(testDexpL, - Vector3::Zero(), 1e-2); - EXPECT(assert_equal(expectedDexpL, actualDexpL,1e-7)); - - const Matrix actualDexpInvL = Rot3::LogmapDerivative(w); - EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL,1e-7)); - } - -/* ************************************************************************* */ -TEST( Rot3, ExpmapDerivative2) -{ - const Vector3 theta(0.1, 0, 0.1); - const Matrix Jexpected = numericalDerivative11( - boost::bind(&Rot3::Expmap, _1, boost::none), theta); - - CHECK(assert_equal(Jexpected, Rot3::ExpmapDerivative(theta))); - CHECK(assert_equal(Matrix3(Jexpected.transpose()), Rot3::ExpmapDerivative(-theta))); -} - -/* ************************************************************************* */ -TEST( Rot3, ExpmapDerivative3) -{ - const Vector3 theta(10, 20, 30); - const Matrix Jexpected = numericalDerivative11( - boost::bind(&Rot3::Expmap, _1, boost::none), theta); - - CHECK(assert_equal(Jexpected, Rot3::ExpmapDerivative(theta))); - CHECK(assert_equal(Matrix3(Jexpected.transpose()), Rot3::ExpmapDerivative(-theta))); -} - -/* ************************************************************************* */ -TEST(Rot3, ExpmapDerivative4) { - // Iserles05an (Lie-group Methods) says: - // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) - // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) - // where A(t): R -> so(3) is a trajectory in the tangent space of SO(3) - // and dexp[A] is a linear map from 3*3 to 3*3 derivatives of se(3) - // Hence, the above matrix equation is typed: 3*3 = SO(3) * linear_map(3*3) - - // In GTSAM, we don't work with the skew-symmetric matrices A directly, but with 3-vectors. - // omega is easy: d Expmap(w(t)) / dt = ExmapDerivative[w(t)] * w'(t) - - // Let's verify the above formula. - - auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; - auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; - - // We define a function R - auto R = [w](double t) { return Rot3::Expmap(w(t)); }; - - for (double t = -2.0; t < 2.0; t += 0.3) { - const Matrix expected = numericalDerivative11(R, t); - const Matrix actual = Rot3::ExpmapDerivative(w(t)) * w_dot(t); - CHECK(assert_equal(expected, actual, 1e-7)); - } -} - -/* ************************************************************************* */ -TEST(Rot3, ExpmapDerivative5) { - auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; - auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; - - // Same as above, but define R as mapping local coordinates to neighborhood aroud R0. - const Rot3 R0 = Rot3::Rodrigues(0.1, 0.4, 0.2); - auto R = [R0, w](double t) { return R0.expmap(w(t)); }; - - for (double t = -2.0; t < 2.0; t += 0.3) { - const Matrix expected = numericalDerivative11(R, t); - const Matrix actual = Rot3::ExpmapDerivative(w(t)) * w_dot(t); - CHECK(assert_equal(expected, actual, 1e-7)); - } -} - -/* ************************************************************************* */ -TEST( Rot3, jacobianExpmap ) -{ - const Vector3 thetahat(0.1, 0, 0.1); - const Matrix Jexpected = numericalDerivative11(boost::bind( - &Rot3::Expmap, _1, boost::none), thetahat); - Matrix3 Jactual; - const Rot3 R = Rot3::Expmap(thetahat, Jactual); - EXPECT(assert_equal(Jexpected, Jactual)); -} - -/* ************************************************************************* */ -TEST( Rot3, LogmapDerivative ) -{ - const Vector3 thetahat(0.1, 0, 0.1); - const Rot3 R = Rot3::Expmap(thetahat); // some rotation - const Matrix Jexpected = numericalDerivative11(boost::bind( - &Rot3::Logmap, _1, boost::none), R); - const Matrix3 Jactual = Rot3::LogmapDerivative(thetahat); - EXPECT(assert_equal(Jexpected, Jactual)); -} - -/* ************************************************************************* */ -TEST( Rot3, JacobianLogmap ) -{ - const Vector3 thetahat(0.1, 0, 0.1); - const Rot3 R = Rot3::Expmap(thetahat); // some rotation - const Matrix Jexpected = numericalDerivative11(boost::bind( - &Rot3::Logmap, _1, boost::none), R); - Matrix3 Jactual; - Rot3::Logmap(R, Jactual); - EXPECT(assert_equal(Jexpected, Jactual)); -} - /* ************************************************************************* */ TEST(Rot3, manifold_expmap) { diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index bc32e0df0..0075a76e8 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) @@ -24,16 +24,14 @@ using namespace std; using namespace gtsam; //****************************************************************************** -TEST(SO3 , Concept) { - BOOST_CONCEPT_ASSERT((IsGroup)); - BOOST_CONCEPT_ASSERT((IsManifold)); - BOOST_CONCEPT_ASSERT((IsLieGroup)); +TEST(SO3, Concept) { + BOOST_CONCEPT_ASSERT((IsGroup)); + BOOST_CONCEPT_ASSERT((IsManifold)); + BOOST_CONCEPT_ASSERT((IsLieGroup)); } //****************************************************************************** -TEST(SO3 , Constructor) { - SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); -} +TEST(SO3, Constructor) { SO3 q(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); } //****************************************************************************** SO3 id; @@ -42,46 +40,220 @@ SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); //****************************************************************************** -TEST(SO3 , Local) { +TEST(SO3, Local) { Vector3 expected(0, 0, 0.1); Vector3 actual = traits::Local(R1, R2); - EXPECT(assert_equal((Vector)expected,actual)); + EXPECT(assert_equal((Vector)expected, actual)); } //****************************************************************************** -TEST(SO3 , Retract) { +TEST(SO3, Retract) { Vector3 v(0, 0, 0.1); SO3 actual = traits::Retract(R1, v); EXPECT(actual.isApprox(R2)); } //****************************************************************************** -TEST(SO3 , Invariants) { - EXPECT(check_group_invariants(id,id)); - EXPECT(check_group_invariants(id,R1)); - EXPECT(check_group_invariants(R2,id)); - EXPECT(check_group_invariants(R2,R1)); +TEST(SO3, Invariants) { + EXPECT(check_group_invariants(id, id)); + EXPECT(check_group_invariants(id, R1)); + EXPECT(check_group_invariants(R2, id)); + EXPECT(check_group_invariants(R2, R1)); - EXPECT(check_manifold_invariants(id,id)); - EXPECT(check_manifold_invariants(id,R1)); - EXPECT(check_manifold_invariants(R2,id)); - EXPECT(check_manifold_invariants(R2,R1)); + EXPECT(check_manifold_invariants(id, id)); + EXPECT(check_manifold_invariants(id, R1)); + EXPECT(check_manifold_invariants(R2, id)); + EXPECT(check_manifold_invariants(R2, R1)); } //****************************************************************************** -TEST(SO3 , LieGroupDerivatives) { - CHECK_LIE_GROUP_DERIVATIVES(id,id); - CHECK_LIE_GROUP_DERIVATIVES(id,R2); - CHECK_LIE_GROUP_DERIVATIVES(R2,id); - CHECK_LIE_GROUP_DERIVATIVES(R2,R1); +TEST(SO3, LieGroupDerivatives) { + CHECK_LIE_GROUP_DERIVATIVES(id, id); + CHECK_LIE_GROUP_DERIVATIVES(id, R2); + CHECK_LIE_GROUP_DERIVATIVES(R2, id); + CHECK_LIE_GROUP_DERIVATIVES(R2, R1); } //****************************************************************************** -TEST(SO3 , ChartDerivatives) { - CHECK_CHART_DERIVATIVES(id,id); - CHECK_CHART_DERIVATIVES(id,R2); - CHECK_CHART_DERIVATIVES(R2,id); - CHECK_CHART_DERIVATIVES(R2,R1); +TEST(SO3, ChartDerivatives) { + CHECK_CHART_DERIVATIVES(id, id); + CHECK_CHART_DERIVATIVES(id, R2); + CHECK_CHART_DERIVATIVES(R2, id); + CHECK_CHART_DERIVATIVES(R2, R1); +} + +/* ************************************************************************* */ +namespace exmap_derivative { +static const Vector3 w(0.1, 0.27, -0.2); +} +// Left trivialized Derivative of exp(w) wrpt w: +// How does exp(w) change when w changes? +// We find a y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0 +// => y = log (exp(-w) * exp(w+dw)) +Vector3 testDexpL(const Vector3& dw) { + using exmap_derivative::w; + return SO3::Logmap(SO3::Expmap(-w) * SO3::Expmap(w + dw)); +} + +TEST(SO3, ExpmapDerivative) { + using exmap_derivative::w; + const Matrix actualDexpL = SO3::ExpmapDerivative(w); + const Matrix expectedDexpL = + numericalDerivative11(testDexpL, Vector3::Zero(), 1e-2); + EXPECT(assert_equal(expectedDexpL, actualDexpL, 1e-7)); + + const Matrix actualDexpInvL = SO3::LogmapDerivative(w); + EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL, 1e-7)); +} + +/* ************************************************************************* */ +TEST(SO3, ExpmapDerivative2) { + const Vector3 theta(0.1, 0, 0.1); + const Matrix Jexpected = numericalDerivative11( + boost::bind(&SO3::Expmap, _1, boost::none), theta); + + CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); + CHECK(assert_equal(Matrix3(Jexpected.transpose()), + SO3::ExpmapDerivative(-theta))); +} + +/* ************************************************************************* */ +TEST(SO3, ExpmapDerivative3) { + const Vector3 theta(10, 20, 30); + const Matrix Jexpected = numericalDerivative11( + boost::bind(&SO3::Expmap, _1, boost::none), theta); + + CHECK(assert_equal(Jexpected, SO3::ExpmapDerivative(theta))); + CHECK(assert_equal(Matrix3(Jexpected.transpose()), + SO3::ExpmapDerivative(-theta))); +} + +/* ************************************************************************* */ +TEST(SO3, ExpmapDerivative4) { + // Iserles05an (Lie-group Methods) says: + // scalar is easy: d exp(a(t)) / dt = exp(a(t)) a'(t) + // matrix is hard: d exp(A(t)) / dt = exp(A(t)) dexp[-A(t)] A'(t) + // where A(t): R -> so(3) is a trajectory in the tangent space of SO(3) + // and dexp[A] is a linear map from 3*3 to 3*3 derivatives of se(3) + // Hence, the above matrix equation is typed: 3*3 = SO(3) * linear_map(3*3) + + // In GTSAM, we don't work with the skew-symmetric matrices A directly, but + // with 3-vectors. + // omega is easy: d Expmap(w(t)) / dt = ExmapDerivative[w(t)] * w'(t) + + // Let's verify the above formula. + + auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; + auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + + // We define a function R + auto R = [w](double t) { return SO3::Expmap(w(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(R, t); + const Matrix actual = SO3::ExpmapDerivative(w(t)) * w_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } +} + +/* ************************************************************************* */ +TEST(SO3, ExpmapDerivative5) { + auto w = [](double t) { return Vector3(2 * t, sin(t), 4 * t * t); }; + auto w_dot = [](double t) { return Vector3(2, cos(t), 8 * t); }; + + // Now define R as mapping local coordinates to neighborhood around R0. + const SO3 R0 = SO3::Expmap(Vector3(0.1, 0.4, 0.2)); + auto R = [R0, w](double t) { return R0.expmap(w(t)); }; + + for (double t = -2.0; t < 2.0; t += 0.3) { + const Matrix expected = numericalDerivative11(R, t); + const Matrix actual = SO3::ExpmapDerivative(w(t)) * w_dot(t); + CHECK(assert_equal(expected, actual, 1e-7)); + } +} + +/* ************************************************************************* */ +TEST(SO3, ExpmapDerivative6) { + const Vector3 thetahat(0.1, 0, 0.1); + const Matrix Jexpected = numericalDerivative11( + boost::bind(&SO3::Expmap, _1, boost::none), thetahat); + Matrix3 Jactual; + SO3::Expmap(thetahat, Jactual); + EXPECT(assert_equal(Jexpected, Jactual)); +} + +/* ************************************************************************* */ +TEST(SO3, LogmapDerivative) { + const Vector3 thetahat(0.1, 0, 0.1); + const SO3 R = SO3::Expmap(thetahat); // some rotation + const Matrix Jexpected = numericalDerivative11( + boost::bind(&SO3::Logmap, _1, boost::none), R); + const Matrix3 Jactual = SO3::LogmapDerivative(thetahat); + EXPECT(assert_equal(Jexpected, Jactual)); +} + +/* ************************************************************************* */ +TEST(SO3, JacobianLogmap) { + const Vector3 thetahat(0.1, 0, 0.1); + const SO3 R = SO3::Expmap(thetahat); // some rotation + const Matrix Jexpected = numericalDerivative11( + boost::bind(&SO3::Logmap, _1, boost::none), R); + Matrix3 Jactual; + SO3::Logmap(R, Jactual); + EXPECT(assert_equal(Jexpected, Jactual)); +} + +/* ************************************************************************* */ +TEST(SO3, ApplyExpmapDerivative1) { + Matrix aH1, aH2; + boost::function f = + boost::bind(SO3::ApplyExpmapDerivative, _1, _2, boost::none, boost::none); + for (Vector3 omega : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { + Matrix3 H = SO3::ExpmapDerivative(omega); + Vector3 expected = H * v; + EXPECT(assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v))); + EXPECT(assert_equal(expected, + SO3::ApplyExpmapDerivative(omega, v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); + EXPECT(assert_equal(H, aH2)); + } + } +} + +/* ************************************************************************* */ +TEST(SO3, ApplyExpmapDerivative2) { + Matrix aH1, aH2; + boost::function f = + boost::bind(SO3::ApplyExpmapDerivative, _1, _2, boost::none, boost::none); + const Vector3 omega(0, 0, 0); + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { + Matrix3 H = SO3::ExpmapDerivative(omega); + Vector3 expected = H * v; + EXPECT(assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v))); + EXPECT( + assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); + EXPECT(assert_equal(H, aH2)); + } +} + +/* ************************************************************************* */ +TEST(SO3, ApplyExpmapDerivative3) { + Matrix aH1, aH2; + boost::function f = + boost::bind(SO3::ApplyExpmapDerivative, _1, _2, boost::none, boost::none); + const Vector3 omega(0.1, 0.2, 0.3), v(0.4, 0.3, 0.2); + Matrix3 H = SO3::ExpmapDerivative(omega); + Vector3 expected = H * v; + EXPECT(assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v))); + EXPECT( + assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); + EXPECT(assert_equal(H, aH2)); } //****************************************************************************** @@ -90,4 +262,3 @@ int main() { return TestRegistry::runAllTests(tr); } //****************************************************************************** - From f054a004577d2cfd356adb9b1b7fda2e1f6a7e86 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 31 Jan 2016 23:39:42 -0800 Subject: [PATCH 949/964] Initialize --- gtsam/geometry/SO3.cpp | 62 ++++++++++++++++++++++-------------------- 1 file changed, 33 insertions(+), 29 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 233ca3339..76cae09d9 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -32,26 +32,38 @@ struct ExpmapImpl { const double theta2; Matrix3 W; bool nearZero; - double theta, s1, s2, c_1; + double theta, sin_over_theta, one_minus_cos; - // omega: element of Lie algebra so(3): W = omega^, normalized by normx - ExpmapImpl(const Vector3& omega) : omega(omega), theta2(omega.dot(omega)) { + void Initialize() { const double wx = omega.x(), wy = omega.y(), wz = omega.z(); W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; // Skew[omega] nearZero = (theta2 <= std::numeric_limits::epsilon()); if (!nearZero) { theta = std::sqrt(theta2); // rotation angle - s1 = std::sin(theta) / theta; - s2 = std::sin(theta / 2.0); - c_1 = 2.0 * s2 * s2; // numerically better behaved than [1 - cos(theta)] + sin_over_theta = std::sin(theta) / theta; + const double s2 = std::sin(theta / 2.0); + one_minus_cos = + 2.0 * s2 * s2; // numerically better behaved than [1 - cos(theta)] } } + // Constructor with element of Lie algebra so(3): W = omega^, normalized by + // normx + ExpmapImpl(const Vector3& omega) : omega(omega), theta2(omega.dot(omega)) { + Initialize(); + } + + // Constructor with axis-angle + ExpmapImpl(const Vector3& axis, double theta) + : omega(axis * theta), theta2(theta * theta) { + Initialize(); + } + SO3 operator()() const { if (nearZero) return I_3x3 + W; else - return I_3x3 + s1 * W + c_1 * W * W / theta2; + return I_3x3 + sin_over_theta * W + one_minus_cos * W * W / theta2; } // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation @@ -64,8 +76,8 @@ struct ExpmapImpl { if (nearZero) { return I_3x3 - 0.5 * W; } else { - const double a = c_1 / theta2; - const double b = (1.0 - s1) / theta2; + const double a = one_minus_cos / theta2; + const double b = (1.0 - sin_over_theta) / theta2; return I_3x3 - a * W + b * W * W; } } @@ -78,15 +90,16 @@ struct ExpmapImpl { if (H2) *H2 = I_3x3; return v; } else { - const double a = c_1 / theta2; - const double b = (1.0 - s1) / theta2; + const double a = one_minus_cos / theta2; + const double b = (1.0 - sin_over_theta) / theta2; Matrix3 dexp = I_3x3 - a * W + b * W * W; if (H1) { const Vector3 Wv = omega.cross(v); const Vector3 WWv = omega.cross(Wv); const Matrix3 T = skewSymmetric(v); - const double Da = (s1 - 2.0 * a) / theta2; - const double Db = (3.0 * s1 - std::cos(theta) - 2.0) / theta2 / theta2; + const double Da = (sin_over_theta - 2.0 * a) / theta2; + const double Db = + (3.0 * sin_over_theta - std::cos(theta) - 2.0) / theta2 / theta2; *H1 = (-Da * Wv + Db * WWv) * omega.transpose() + a * T - b * skewSymmetric(Wv) - b * W * T; } @@ -97,7 +110,7 @@ struct ExpmapImpl { }; SO3 SO3::AxisAngle(const Vector3& axis, double theta) { - return ExpmapImpl(axis*theta)(); + return ExpmapImpl(axis, theta)(); } SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { @@ -127,7 +140,7 @@ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { const double& R31 = R(2, 0), R32 = R(2, 1), R33 = R(2, 2); // Get trace(R) - double tr = R.trace(); + const double tr = R.trace(); Vector3 omega; @@ -143,7 +156,7 @@ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { omega = (M_PI / sqrt(2.0 + 2.0 * R11)) * Vector3(1.0 + R11, R21, R31); } else { double magnitude; - double tr_3 = tr - 3.0; // always negative + const double tr_3 = tr - 3.0; // always negative if (tr_3 < -1e-7) { double theta = acos((tr - 1.0) / 2.0); magnitude = theta / (2.0 * sin(theta)); @@ -167,14 +180,6 @@ Matrix3 SO3::LogmapDerivative(const Vector3& omega) { double theta2 = omega.dot(omega); if (theta2 <= std::numeric_limits::epsilon()) return I_3x3; double theta = std::sqrt(theta2); // rotation angle -#ifdef DUY_VERSION - /// Follow Iserles05an, B11, pg 147, with a sign change in the second term (left version) - Matrix3 X = skewSymmetric(omega); - Matrix3 X2 = X*X; - double vi = theta/2.0; - double s2 = (theta*tan(M_PI_2-vi) - 2)/(2*theta*theta); - return I_3x3 + 0.5*X - s2*X2; -#else // Luca's version /** Right Jacobian for Log map in SO(3) - equation (10.86) and following equations in * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008. * logmap( Rhat * expmap(omega) ) \approx logmap( Rhat ) + Jrinv * omega @@ -182,11 +187,10 @@ Matrix3 SO3::LogmapDerivative(const Vector3& omega) { * This maps a perturbation on the manifold (expmap(omega)) * to a perturbation in the tangent space (Jrinv * omega) */ - const Matrix3 X = skewSymmetric(omega); // element of Lie algebra so(3): X = omega^ - return I_3x3 + 0.5 * X - + (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) * X - * X; -#endif + const Matrix3 W = skewSymmetric(omega); // element of Lie algebra so(3): W = omega^ + return I_3x3 + 0.5 * W + + (1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) * + W * W; } /* ************************************************************************* */ From c838d7c1336116485c0ab72b679d5171be4a4997 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 00:48:47 -0800 Subject: [PATCH 950/964] Switch to Skew[axis] = Skew[omega/angle] for simpler forms --- gtsam/geometry/SO3.cpp | 80 +++++++++++++++++++++++------------------- 1 file changed, 44 insertions(+), 36 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 76cae09d9..35b2c15b5 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -30,40 +30,55 @@ namespace gtsam { struct ExpmapImpl { const Vector3 omega; const double theta2; - Matrix3 W; + Matrix3 W, K, KK; bool nearZero; - double theta, sin_over_theta, one_minus_cos; + double theta, sin_theta, sin_over_theta, one_minus_cos, a, b; - void Initialize() { - const double wx = omega.x(), wy = omega.y(), wz = omega.z(); - W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; // Skew[omega] + void init() { nearZero = (theta2 <= std::numeric_limits::epsilon()); if (!nearZero) { theta = std::sqrt(theta2); // rotation angle - sin_over_theta = std::sin(theta) / theta; + sin_theta = std::sin(theta); + sin_over_theta = sin_theta / theta; const double s2 = std::sin(theta / 2.0); one_minus_cos = - 2.0 * s2 * s2; // numerically better behaved than [1 - cos(theta)] + 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] + a = one_minus_cos / theta; + b = 1.0 - sin_over_theta; } } // Constructor with element of Lie algebra so(3): W = omega^, normalized by // normx ExpmapImpl(const Vector3& omega) : omega(omega), theta2(omega.dot(omega)) { - Initialize(); + const double wx = omega.x(), wy = omega.y(), wz = omega.z(); + W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; + init(); + if (!nearZero) { + theta = std::sqrt(theta2); + K = W / theta; + KK = K * K; + } } // Constructor with axis-angle - ExpmapImpl(const Vector3& axis, double theta) - : omega(axis * theta), theta2(theta * theta) { - Initialize(); + ExpmapImpl(const Vector3& axis, double angle) + : omega(axis * angle), theta2(angle * angle) { + const double ax = axis.x(), ay = axis.y(), az = axis.z(); + K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; + W = K * angle; + init(); + if (!nearZero) { + theta = angle; + KK = K * K; + } } SO3 operator()() const { if (nearZero) return I_3x3 + W; else - return I_3x3 + sin_over_theta * W + one_minus_cos * W * W / theta2; + return I_3x3 + sin_theta * K + one_minus_cos * K * K; } // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation @@ -73,39 +88,32 @@ struct ExpmapImpl { // This maps a perturbation v in the tangent space to // a perturbation on the manifold Expmap(dexp * v) */ SO3 dexp() const { - if (nearZero) { + if (nearZero) return I_3x3 - 0.5 * W; - } else { - const double a = one_minus_cos / theta2; - const double b = (1.0 - sin_over_theta) / theta2; - return I_3x3 - a * W + b * W * W; - } + else + return I_3x3 - a * K + b * KK; } // Just multiplies with dexp() - Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none) const { + Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const { if (nearZero) { if (H1) *H1 = 0.5 * skewSymmetric(v); if (H2) *H2 = I_3x3; return v; - } else { - const double a = one_minus_cos / theta2; - const double b = (1.0 - sin_over_theta) / theta2; - Matrix3 dexp = I_3x3 - a * W + b * W * W; - if (H1) { - const Vector3 Wv = omega.cross(v); - const Vector3 WWv = omega.cross(Wv); - const Matrix3 T = skewSymmetric(v); - const double Da = (sin_over_theta - 2.0 * a) / theta2; - const double Db = - (3.0 * sin_over_theta - std::cos(theta) - 2.0) / theta2 / theta2; - *H1 = (-Da * Wv + Db * WWv) * omega.transpose() + a * T - - b * skewSymmetric(Wv) - b * W * T; - } - if (H2) *H2 = dexp; - return dexp * v; } + Matrix3 dexp = I_3x3 - a * K + b * KK; + if (H1) { + const Vector3 Kv = omega.cross(v / theta); + const Vector3 KKv = omega.cross(Kv / theta); + const Matrix3 T = skewSymmetric(v / theta); + const double Da = (sin_over_theta - 2.0 * a / theta) / theta; + const double Db = (3.0 * sin_over_theta - std::cos(theta) - 2.0) / theta2; + *H1 = (-Da * Kv + Db * KKv) * omega.transpose() + a * T - + skewSymmetric(Kv * b / theta) - b * K * T; + } + if (H2) *H2 = dexp; + return dexp * v; } }; From 85fbde030bbf05b8dbb1ecd2876ec7711d1308d3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 08:38:19 -0800 Subject: [PATCH 951/964] Made expmap only path faster by splitting functor. --- gtsam/geometry/SO3.cpp | 84 ++++++++++++++++++++++++------------------ 1 file changed, 48 insertions(+), 36 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 35b2c15b5..b269e3021 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -26,31 +26,24 @@ namespace gtsam { /* ************************************************************************* */ -// Functor that helps implement Exponential map and its derivatives +// Functor implementing Exponential map struct ExpmapImpl { - const Vector3 omega; const double theta2; Matrix3 W, K, KK; bool nearZero; - double theta, sin_theta, sin_over_theta, one_minus_cos, a, b; + double theta, sin_theta, one_minus_cos; // only defined if !nearZero void init() { nearZero = (theta2 <= std::numeric_limits::epsilon()); - if (!nearZero) { - theta = std::sqrt(theta2); // rotation angle - sin_theta = std::sin(theta); - sin_over_theta = sin_theta / theta; - const double s2 = std::sin(theta / 2.0); - one_minus_cos = - 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] - a = one_minus_cos / theta; - b = 1.0 - sin_over_theta; - } + if (nearZero) return; + theta = std::sqrt(theta2); // rotation angle + sin_theta = std::sin(theta); + const double s2 = std::sin(theta / 2.0); + one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] } - // Constructor with element of Lie algebra so(3): W = omega^, normalized by - // normx - ExpmapImpl(const Vector3& omega) : omega(omega), theta2(omega.dot(omega)) { + // Constructor with element of Lie algebra so(3) + ExpmapImpl(const Vector3& omega) : theta2(omega.dot(omega)) { const double wx = omega.x(), wy = omega.y(), wz = omega.z(); W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; init(); @@ -62,8 +55,7 @@ struct ExpmapImpl { } // Constructor with axis-angle - ExpmapImpl(const Vector3& axis, double angle) - : omega(axis * angle), theta2(angle * angle) { + ExpmapImpl(const Vector3& axis, double angle) : theta2(angle * angle) { const double ax = axis.x(), ay = axis.y(), az = axis.z(); K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; W = K * angle; @@ -74,12 +66,32 @@ struct ExpmapImpl { } } - SO3 operator()() const { + // Rodrgues formula + SO3 expmap() const { if (nearZero) return I_3x3 + W; else return I_3x3 + sin_theta * K + one_minus_cos * K * K; } +}; + +/* ************************************************************************* */ +SO3 SO3::AxisAngle(const Vector3& axis, double theta) { + return ExpmapImpl(axis, theta).expmap(); +} + +/* ************************************************************************* */ +// Functor that implements Exponential map *and* its derivatives +struct DexpImpl : ExpmapImpl { + const Vector3 omega; + double a, b; // constants used in dexp and applyDexp + + // Constructor with element of Lie algebra so(3) + DexpImpl(const Vector3& omega) : ExpmapImpl(omega), omega(omega) { + if (nearZero) return; + a = one_minus_cos / theta; + b = 1.0 - sin_theta / theta; + } // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, @@ -100,41 +112,41 @@ struct ExpmapImpl { if (nearZero) { if (H1) *H1 = 0.5 * skewSymmetric(v); if (H2) *H2 = I_3x3; - return v; + return v - 0.5 * omega.cross(v); } - Matrix3 dexp = I_3x3 - a * K + b * KK; + const Vector3 Kv = omega.cross(v / theta); + const Vector3 KKv = omega.cross(Kv / theta); if (H1) { - const Vector3 Kv = omega.cross(v / theta); - const Vector3 KKv = omega.cross(Kv / theta); + // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK const Matrix3 T = skewSymmetric(v / theta); - const double Da = (sin_over_theta - 2.0 * a / theta) / theta; - const double Db = (3.0 * sin_over_theta - std::cos(theta) - 2.0) / theta2; + const double Da = (sin_theta - 2.0 * a) / theta2; + const double Db = (one_minus_cos - 3.0 * b) / theta2; *H1 = (-Da * Kv + Db * KKv) * omega.transpose() + a * T - skewSymmetric(Kv * b / theta) - b * K * T; } - if (H2) *H2 = dexp; - return dexp * v; + if (H2) *H2 = dexp(); + return v - a * Kv + b * KKv; } }; -SO3 SO3::AxisAngle(const Vector3& axis, double theta) { - return ExpmapImpl(axis, theta)(); -} - +/* ************************************************************************* */ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { - ExpmapImpl impl(omega); - if (H) *H = impl.dexp(); - return impl(); + if (H) { + DexpImpl impl(omega); + *H = impl.dexp(); + return impl.expmap(); + } else + return ExpmapImpl(omega).expmap(); } Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { - return ExpmapImpl(omega).dexp(); + return DexpImpl(omega).dexp(); } Vector3 SO3::ApplyExpmapDerivative(const Vector3& omega, const Vector3& v, OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2) { - return ExpmapImpl(omega).applyDexp(v, H1, H2); + return DexpImpl(omega).applyDexp(v, H1, H2); } /* ************************************************************************* */ From 063e0a47ee689c823bcc319857b1745fa6155b19 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 09:13:25 -0800 Subject: [PATCH 952/964] Moved functors to Matrix.h, without Expression sugar --- gtsam/base/Matrix.h | 73 ++++++++++++++++++++++++++++- gtsam/nonlinear/expressions.h | 84 ---------------------------------- tests/testExpressionFactor.cpp | 5 +- 3 files changed, 75 insertions(+), 87 deletions(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index e2b40b02b..37a0d28b8 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -21,15 +21,17 @@ // \callgraph #pragma once +#include #include #include // Configuration from CMake -#include #include #include #include #include +#include #include +#include /** @@ -532,6 +534,75 @@ GTSAM_EXPORT Matrix expm(const Matrix& A, size_t K=7); std::string formatMatrixIndented(const std::string& label, const Matrix& matrix, bool makeVectorHorizontal = false); +/** + * Functor that implements multiplication of a vector b with the inverse of a + * matrix A. The derivatives are inspired by Mike Giles' "An extended collection + * of matrix derivative results for forward and reverse mode algorithmic + * differentiation", at https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf + */ +template +struct MultiplyWithInverse { + typedef Eigen::Matrix VectorN; + typedef Eigen::Matrix MatrixN; + + /// A.inverse() * b, with optional derivatives + VectorN operator()(const MatrixN& A, const VectorN& b, + OptionalJacobian H1 = boost::none, + OptionalJacobian H2 = boost::none) const { + const MatrixN invA = A.inverse(); + const VectorN c = invA * b; + // The derivative in A is just -[c[0]*invA c[1]*invA ... c[N-1]*invA] + if (H1) + for (size_t j = 0; j < N; j++) + H1->template middleCols(N * j) = -c[j] * invA; + // The derivative in b is easy, as invA*b is just a linear map: + if (H2) *H2 = invA; + return c; + } +}; + +/** + * Functor that implements multiplication with the inverse of a matrix, itself + * the result of a function f. It turn out we only need the derivatives of the + * operator phi(a): b -> f(a) * b + */ +template +struct MultiplyWithInverseFunction { + enum { M = traits::dimension }; + typedef Eigen::Matrix VectorN; + typedef Eigen::Matrix MatrixN; + + // The function phi should calculate f(a)*b, with derivatives in a and b. + // Naturally, the derivative in b is f(a). + typedef boost::function, OptionalJacobian)> + Operator; + + /// Construct with function as explained above + MultiplyWithInverseFunction(const Operator& phi) : phi_(phi) {} + + /// f(a).inverse() * b, with optional derivatives + VectorN operator()(const T& a, const VectorN& b, + OptionalJacobian H1 = boost::none, + OptionalJacobian H2 = boost::none) const { + MatrixN A; + phi_(a, b, boost::none, A); // get A = f(a) by calling f once + const MatrixN invA = A.inverse(); + const VectorN c = invA * b; + + if (H1) { + Eigen::Matrix H; + phi_(a, c, H, boost::none); // get derivative H of forward mapping + *H1 = -invA* H; + } + if (H2) *H2 = invA; + return c; + } + + private: + const Operator phi_; +}; + } // namespace gtsam #include diff --git a/gtsam/nonlinear/expressions.h b/gtsam/nonlinear/expressions.h index a6e2e66b6..5b591bcf0 100644 --- a/gtsam/nonlinear/expressions.h +++ b/gtsam/nonlinear/expressions.h @@ -24,90 +24,6 @@ Expression compose(const Expression& t1, const Expression& t2) { return Expression(traits::Compose, t1, t2); } -/** - * Functor that implements multiplication of a vector b with the inverse of a - * matrix A. The derivatives are inspired by Mike Giles' "An extended collection - * of matrix derivative results for forward and reverse mode algorithmic - * differentiation", at https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf - * - * Usage example: - * Expression expression = MultiplyWithInverse<3>()(Key(0), Key(1)); - */ -template -struct MultiplyWithInverse { - typedef Eigen::Matrix VectorN; - typedef Eigen::Matrix MatrixN; - - /// A.inverse() * b, with optional derivatives - VectorN operator()(const MatrixN& A, const VectorN& b, - OptionalJacobian H1 = boost::none, - OptionalJacobian H2 = boost::none) const { - const MatrixN invA = A.inverse(); - const VectorN c = invA * b; - // The derivative in A is just -[c[0]*invA c[1]*invA ... c[N-1]*invA] - if (H1) - for (size_t j = 0; j < N; j++) - H1->template middleCols(N * j) = -c[j] * invA; - // The derivative in b is easy, as invA*b is just a linear map: - if (H2) *H2 = invA; - return c; - } - - /// Create expression - Expression operator()(const Expression& A_, - const Expression& b_) const { - return Expression(*this, A_, b_); - } -}; - -/** - * Functor that implements multiplication with the inverse of a matrix, itself - * the result of a function f. It turn out we only need the derivatives of the - * operator phi(a): b -> f(a) * b - */ -template -struct MultiplyWithInverseFunction { - enum { M = traits::dimension }; - typedef Eigen::Matrix VectorN; - typedef Eigen::Matrix MatrixN; - - // The function phi should calculate f(a)*b, with derivatives in a and b. - // Naturally, the derivative in b is f(a). - typedef boost::function, OptionalJacobian)> - Operator; - - /// Construct with function as explained above - MultiplyWithInverseFunction(const Operator& phi) : phi_(phi) {} - - /// f(a).inverse() * b, with optional derivatives - VectorN operator()(const T& a, const VectorN& b, - OptionalJacobian H1 = boost::none, - OptionalJacobian H2 = boost::none) const { - MatrixN A; - phi_(a, b, boost::none, A); // get A = f(a) by calling f once - const MatrixN invA = A.inverse(); - const VectorN c = invA * b; - - if (H1) { - Eigen::Matrix H; - phi_(a, c, H, boost::none); // get derivative H of forward mapping - *H1 = -invA* H; - } - if (H2) *H2 = invA; - return c; - } - - /// Create expression - Expression operator()(const Expression& a_, - const Expression& b_) const { - return Expression(*this, a_, b_); - } - - private: - const Operator phi_; -}; - // Some typedefs typedef Expression double_; typedef Expression Vector1_; diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp index 5fd1a9cb5..bef69edb6 100644 --- a/tests/testExpressionFactor.cpp +++ b/tests/testExpressionFactor.cpp @@ -605,7 +605,7 @@ TEST(ExpressionFactor, MultiplyWithInverse) { auto model = noiseModel::Isotropic::Sigma(3, 1); // Create expression - auto f_expr = MultiplyWithInverse<3>()(Key(0), Key(1)); + Vector3_ f_expr(MultiplyWithInverse<3>(), Expression(0), Vector3_(1)); // Check derivatives Values values; @@ -638,7 +638,8 @@ TEST(ExpressionFactor, MultiplyWithInverseFunction) { auto model = noiseModel::Isotropic::Sigma(3, 1); using test_operator::f; - auto f_expr = MultiplyWithInverseFunction(f)(Key(0), Key(1)); + Vector3_ f_expr(MultiplyWithInverseFunction(f), + Expression(0), Vector3_(1)); // Check derivatives Point2 a(1, 2); From 3ed5d05b5b9423a87c670fcd0f93282598ee5f2d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 09:13:38 -0800 Subject: [PATCH 953/964] ApplyInvDexp works !!! --- .../tests/testPreintegrationBase.cpp | 24 +++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index 0ad4d4903..ea362e5ee 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -17,6 +17,9 @@ #include #include +#include +#include +#include #include #include @@ -40,6 +43,27 @@ static boost::shared_ptr Params() { } } +/* ************************************************************************* */ +TEST(ExpressionFactor, ApplyInvDexp) { + auto model = noiseModel::Isotropic::Sigma(3, 1); + + /// Functor implements ExpmapDerivative(omega).inverse() * v, with derivatives + MultiplyWithInverseFunction applyInvDexp(SO3::ApplyExpmapDerivative); + Vector3_ f_expr(applyInvDexp, Vector3_(0), Vector3_(1)); + + // Check derivatives + Vector3 omega(1, 2, 3); + const Vector3 v(0.1, 0.2, 0.3); + const Vector3 expected = SO3::ExpmapDerivative(omega).inverse() * v; + CHECK(assert_equal(expected, applyInvDexp(omega,v))); + + Values values; + values.insert(0, omega); + values.insert(1, v); + ExpressionFactor factor(model, Vector3::Zero(), f_expr); + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); +} + /* ************************************************************************* */ TEST(PreintegrationBase, UpdateEstimate1) { PreintegrationBase pim(testing::Params()); From 7c2560e9770be586ee68827d6def66b9de021385 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 09:29:50 -0800 Subject: [PATCH 954/964] Now exact derivatives with beautiful functor --- gtsam/navigation/PreintegrationBase.cpp | 38 ++++++++----------------- 1 file changed, 12 insertions(+), 26 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 7b50647e4..f7e8728cc 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -116,45 +116,31 @@ pair PreintegrationBase::correctMeasurementsBySensorPose( //------------------------------------------------------------------------------ // See extensive discussion in ImuFactor.lyx -Vector9 PreintegrationBase::UpdatePreintegrated(const Vector3& a_body, - const Vector3& w_body, double dt, - const Vector9& preintegrated, - OptionalJacobian<9, 9> A, - OptionalJacobian<9, 3> B, - OptionalJacobian<9, 3> C) { +Vector9 PreintegrationBase::UpdatePreintegrated( + const Vector3& a_body, const Vector3& w_body, double dt, + const Vector9& preintegrated, OptionalJacobian<9, 9> A, + OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { + // TODO(frank): expose DexpImpl functor and save on computation + static const MultiplyWithInverseFunction applyInvDexp(SO3::ApplyExpmapDerivative); + const auto theta = preintegrated.segment<3>(0); const auto position = preintegrated.segment<3>(3); const auto velocity = preintegrated.segment<3>(6); // Calculate exact mean propagation - Matrix3 H; - const Matrix3 R = Rot3::Expmap(theta, H).matrix(); - const Matrix3 invH = H.inverse(); + Matrix3 H, invH, invHw_H_theta; + const Vector invHw = applyInvDexp(theta, w_body, A ? &invHw_H_theta : 0, invH); + const Matrix3 R = Rot3::Expmap(theta, A ? &H : 0).matrix(); const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; Vector9 preintegratedPlus; - preintegratedPlus << // - theta + invH* w_body* dt, // theta + preintegratedPlus << // + theta + invHw* dt, // theta position + velocity* dt + a_nav* dt22, // position velocity + a_nav* dt; // velocity if (A) { -#define USE_NUMERICAL_DERIVATIVE -#ifdef USE_NUMERICAL_DERIVATIVE - // The use of this yields much more accurate derivatives, but it's slow! - // TODO(frank): find a cheap closed form solution (look at Iserles) - auto f = [w_body](const Vector3& theta) { - return Rot3::ExpmapDerivative(theta).inverse() * w_body; - }; - const Matrix3 invHw_H_theta = - numericalDerivative11(f, theta); -#else - // First order (small angle) approximation of derivative of invH*w: - // NOTE(frank): Rot3::ExpmapDerivative(w_body) is a less accurate approximation - const Matrix3 invHw_H_theta = skewSymmetric(-0.5 * w_body); -#endif - // Exact derivative of R*a with respect to theta: const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; From 8c6383c7111e17c433c47896093e5ed287f50740 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 09:47:57 -0800 Subject: [PATCH 955/964] Expose functor for outside use --- gtsam/geometry/SO3.cpp | 172 ++++++++++++++++++----------------------- gtsam/geometry/SO3.h | 48 ++++++++++++ 2 files changed, 123 insertions(+), 97 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index b269e3021..7a59184bd 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -25,128 +25,106 @@ namespace gtsam { -/* ************************************************************************* */ -// Functor implementing Exponential map -struct ExpmapImpl { - const double theta2; - Matrix3 W, K, KK; - bool nearZero; - double theta, sin_theta, one_minus_cos; // only defined if !nearZero +namespace so3 { - void init() { - nearZero = (theta2 <= std::numeric_limits::epsilon()); - if (nearZero) return; - theta = std::sqrt(theta2); // rotation angle - sin_theta = std::sin(theta); - const double s2 = std::sin(theta / 2.0); - one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] - } +void ExpmapFunctor::init() { + nearZero = (theta2 <= std::numeric_limits::epsilon()); + if (nearZero) return; + theta = std::sqrt(theta2); // rotation angle + sin_theta = std::sin(theta); + const double s2 = std::sin(theta / 2.0); + one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] +} - // Constructor with element of Lie algebra so(3) - ExpmapImpl(const Vector3& omega) : theta2(omega.dot(omega)) { - const double wx = omega.x(), wy = omega.y(), wz = omega.z(); - W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; - init(); - if (!nearZero) { - theta = std::sqrt(theta2); - K = W / theta; - KK = K * K; - } +ExpmapFunctor::ExpmapFunctor(const Vector3& omega) : theta2(omega.dot(omega)) { + const double wx = omega.x(), wy = omega.y(), wz = omega.z(); + W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; + init(); + if (!nearZero) { + theta = std::sqrt(theta2); + K = W / theta; + KK = K * K; } +} - // Constructor with axis-angle - ExpmapImpl(const Vector3& axis, double angle) : theta2(angle * angle) { - const double ax = axis.x(), ay = axis.y(), az = axis.z(); - K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; - W = K * angle; - init(); - if (!nearZero) { - theta = angle; - KK = K * K; - } +ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle) + : theta2(angle * angle) { + const double ax = axis.x(), ay = axis.y(), az = axis.z(); + K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; + W = K * angle; + init(); + if (!nearZero) { + theta = angle; + KK = K * K; } +} - // Rodrgues formula - SO3 expmap() const { - if (nearZero) - return I_3x3 + W; - else - return I_3x3 + sin_theta * K + one_minus_cos * K * K; +SO3 ExpmapFunctor::expmap() const { + if (nearZero) + return I_3x3 + W; + else + return I_3x3 + sin_theta * K + one_minus_cos * K * K; +} + +DexpFunctor::DexpFunctor(const Vector3& omega) + : ExpmapFunctor(omega), omega(omega) { + if (nearZero) return; + a = one_minus_cos / theta; + b = 1.0 - sin_theta / theta; +} + +SO3 DexpFunctor::dexp() const { + if (nearZero) + return I_3x3 - 0.5 * W; + else + return I_3x3 - a * K + b * KK; +} + +Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const { + if (nearZero) { + if (H1) *H1 = 0.5 * skewSymmetric(v); + if (H2) *H2 = I_3x3; + return v - 0.5 * omega.cross(v); } -}; + const Vector3 Kv = omega.cross(v / theta); + const Vector3 KKv = omega.cross(Kv / theta); + if (H1) { + // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK + const Matrix3 T = skewSymmetric(v / theta); + const double Da = (sin_theta - 2.0 * a) / theta2; + const double Db = (one_minus_cos - 3.0 * b) / theta2; + *H1 = (-Da * Kv + Db * KKv) * omega.transpose() + a * T - + skewSymmetric(Kv * b / theta) - b * K * T; + } + if (H2) *H2 = dexp(); + return v - a * Kv + b * KKv; +} + +} // namespace so3 /* ************************************************************************* */ SO3 SO3::AxisAngle(const Vector3& axis, double theta) { - return ExpmapImpl(axis, theta).expmap(); + return so3::ExpmapFunctor(axis, theta).expmap(); } -/* ************************************************************************* */ -// Functor that implements Exponential map *and* its derivatives -struct DexpImpl : ExpmapImpl { - const Vector3 omega; - double a, b; // constants used in dexp and applyDexp - - // Constructor with element of Lie algebra so(3) - DexpImpl(const Vector3& omega) : ExpmapImpl(omega), omega(omega) { - if (nearZero) return; - a = one_minus_cos / theta; - b = 1.0 - sin_theta / theta; - } - - // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation - // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, - // Information Theory, and Lie Groups", Volume 2, 2008. - // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) - // This maps a perturbation v in the tangent space to - // a perturbation on the manifold Expmap(dexp * v) */ - SO3 dexp() const { - if (nearZero) - return I_3x3 - 0.5 * W; - else - return I_3x3 - a * K + b * KK; - } - - // Just multiplies with dexp() - Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, - OptionalJacobian<3, 3> H2) const { - if (nearZero) { - if (H1) *H1 = 0.5 * skewSymmetric(v); - if (H2) *H2 = I_3x3; - return v - 0.5 * omega.cross(v); - } - const Vector3 Kv = omega.cross(v / theta); - const Vector3 KKv = omega.cross(Kv / theta); - if (H1) { - // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK - const Matrix3 T = skewSymmetric(v / theta); - const double Da = (sin_theta - 2.0 * a) / theta2; - const double Db = (one_minus_cos - 3.0 * b) / theta2; - *H1 = (-Da * Kv + Db * KKv) * omega.transpose() + a * T - - skewSymmetric(Kv * b / theta) - b * K * T; - } - if (H2) *H2 = dexp(); - return v - a * Kv + b * KKv; - } -}; - -/* ************************************************************************* */ SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { if (H) { - DexpImpl impl(omega); + so3::DexpFunctor impl(omega); *H = impl.dexp(); return impl.expmap(); } else - return ExpmapImpl(omega).expmap(); + return so3::ExpmapFunctor(omega).expmap(); } Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { - return DexpImpl(omega).dexp(); + return so3::DexpFunctor(omega).dexp(); } Vector3 SO3::ApplyExpmapDerivative(const Vector3& omega, const Vector3& v, OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2) { - return DexpImpl(omega).applyDexp(v, H1, H2); + return so3::DexpFunctor(omega).applyDexp(v, H1, H2); } /* ************************************************************************* */ diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 92c290d02..a84b16d03 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -135,6 +135,54 @@ public: /// @} }; +// This namespace exposes two functors that allow for saving computation when +// exponential map and its derivatives are needed at the same location in so<3> +namespace so3 { + +/// Functor implementing Exponential map +class ExpmapFunctor { + protected: + const double theta2; + Matrix3 W, K, KK; + bool nearZero; + double theta, sin_theta, one_minus_cos; // only defined if !nearZero + + void init(); + + public: + /// Constructor with element of Lie algebra so(3) + ExpmapFunctor(const Vector3& omega); + + /// Constructor with axis-angle + ExpmapFunctor(const Vector3& axis, double angle); + + /// Rodrgues formula + SO3 expmap() const; +}; + +/// Functor that implements Exponential map *and* its derivatives +class DexpFunctor : public ExpmapFunctor { + const Vector3 omega; + double a, b; + + public: + /// Constructor with element of Lie algebra so(3) + DexpFunctor(const Vector3& omega); + + // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation + // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, + // Information Theory, and Lie Groups", Volume 2, 2008. + // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) + // This maps a perturbation v in the tangent space to + // a perturbation on the manifold Expmap(dexp * v) */ + SO3 dexp() const; + + /// Multiplies with dexp(), with optional derivatives + Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const; +}; +} // namespace so3 + template<> struct traits : public internal::LieGroup { }; From 5e8ff450ee880fd3bc8a0e79a77dbe007e405fa6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 12:43:05 -0800 Subject: [PATCH 956/964] applyInvDexp --- gtsam/geometry/SO3.cpp | 42 ++++++++++-------- gtsam/geometry/SO3.h | 20 +++++---- gtsam/geometry/tests/testSO3.cpp | 74 +++++++++++++++----------------- 3 files changed, 68 insertions(+), 68 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 7a59184bd..2d274c278 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -68,16 +68,13 @@ SO3 ExpmapFunctor::expmap() const { DexpFunctor::DexpFunctor(const Vector3& omega) : ExpmapFunctor(omega), omega(omega) { - if (nearZero) return; - a = one_minus_cos / theta; - b = 1.0 - sin_theta / theta; -} - -SO3 DexpFunctor::dexp() const { if (nearZero) - return I_3x3 - 0.5 * W; - else - return I_3x3 - a * K + b * KK; + dexp_ = I_3x3 - 0.5 * W; + else { + a = one_minus_cos / theta; + b = 1.0 - sin_theta / theta; + dexp_ = I_3x3 - a * K + b * KK; + } } Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, @@ -87,18 +84,31 @@ Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, if (H2) *H2 = I_3x3; return v - 0.5 * omega.cross(v); } - const Vector3 Kv = omega.cross(v / theta); - const Vector3 KKv = omega.cross(Kv / theta); if (H1) { // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK + const Vector3 Kv = omega.cross(v / theta); + const Vector3 KKv = omega.cross(Kv / theta); const Matrix3 T = skewSymmetric(v / theta); const double Da = (sin_theta - 2.0 * a) / theta2; const double Db = (one_minus_cos - 3.0 * b) / theta2; *H1 = (-Da * Kv + Db * KKv) * omega.transpose() + a * T - skewSymmetric(Kv * b / theta) - b * K * T; } - if (H2) *H2 = dexp(); - return v - a * Kv + b * KKv; + if (H2) *H2 = dexp_; + return dexp_ * v; +} + +Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1, + OptionalJacobian<3, 3> H2) const { + const Matrix3 invDexp = dexp_.inverse(); + const Vector3 c = invDexp * v; + if (H1) { + Matrix3 D_dexpv_omega; + applyDexp(c, D_dexpv_omega); // get derivative H of forward mapping + *H1 = -invDexp* D_dexpv_omega; + } + if (H2) *H2 = invDexp; + return c; } } // namespace so3 @@ -121,12 +131,6 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) { return so3::DexpFunctor(omega).dexp(); } -Vector3 SO3::ApplyExpmapDerivative(const Vector3& omega, const Vector3& v, - OptionalJacobian<3, 3> H1, - OptionalJacobian<3, 3> H2) { - return so3::DexpFunctor(omega).applyDexp(v, H1, H2); -} - /* ************************************************************************* */ Vector3 SO3::Logmap(const SO3& R, ChartJacobian H) { using std::sqrt; diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index a84b16d03..13d6d65a7 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -102,11 +102,6 @@ public: /// Derivative of Expmap static Matrix3 ExpmapDerivative(const Vector3& omega); - /// Implement ExpmapDerivative(omega) * v, with derivatives - static Vector3 ApplyExpmapDerivative(const Vector3& omega, const Vector3& v, - OptionalJacobian<3, 3> H1 = boost::none, - OptionalJacobian<3, 3> H2 = boost::none); - /** * Log map at identity - returns the canonical coordinates * \f$ [R_x,R_y,R_z] \f$ of this rotation @@ -137,6 +132,7 @@ public: // This namespace exposes two functors that allow for saving computation when // exponential map and its derivatives are needed at the same location in so<3> +// The second functor also implements dedicated methods to apply dexp and/or inv(dexp) namespace so3 { /// Functor implementing Exponential map @@ -156,7 +152,7 @@ class ExpmapFunctor { /// Constructor with axis-angle ExpmapFunctor(const Vector3& axis, double angle); - /// Rodrgues formula + /// Rodrigues formula SO3 expmap() const; }; @@ -164,6 +160,7 @@ class ExpmapFunctor { class DexpFunctor : public ExpmapFunctor { const Vector3 omega; double a, b; + Matrix3 dexp_; public: /// Constructor with element of Lie algebra so(3) @@ -175,11 +172,16 @@ class DexpFunctor : public ExpmapFunctor { // expmap(omega + v) \approx expmap(omega) * expmap(dexp * v) // This maps a perturbation v in the tangent space to // a perturbation on the manifold Expmap(dexp * v) */ - SO3 dexp() const; + const Matrix3& dexp() const { return dexp_; } /// Multiplies with dexp(), with optional derivatives - Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, - OptionalJacobian<3, 3> H2) const; + Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const; + + /// Multiplies with dexp().inverse(), with optional derivatives + Vector3 applyInvDexp(const Vector3& v, + OptionalJacobian<3, 3> H1 = boost::none, + OptionalJacobian<3, 3> H2 = boost::none) const; }; } // namespace so3 diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index 0075a76e8..defa87281 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -204,56 +204,50 @@ TEST(SO3, JacobianLogmap) { } /* ************************************************************************* */ -TEST(SO3, ApplyExpmapDerivative1) { +Vector3 apply(const Vector3& omega, const Vector3& v) { + so3::DexpFunctor local(omega); + return local.applyDexp(v); +} + +/* ************************************************************************* */ +TEST(SO3, ApplyDexp) { Matrix aH1, aH2; - boost::function f = - boost::bind(SO3::ApplyExpmapDerivative, _1, _2, boost::none, boost::none); - for (Vector3 omega : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - Matrix3 H = SO3::ExpmapDerivative(omega); - Vector3 expected = H * v; - EXPECT(assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v))); - EXPECT(assert_equal(expected, - SO3::ApplyExpmapDerivative(omega, v, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); - EXPECT(assert_equal(H, aH2)); + for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), + Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { + so3::DexpFunctor local(omega); + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), + Vector3(0.4, 0.3, 0.2)}) { + EXPECT(assert_equal(Vector3(local.dexp() * v), + local.applyDexp(v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(apply, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(apply, omega, v), aH2)); + EXPECT(assert_equal(local.dexp(), aH2)); } } } /* ************************************************************************* */ -TEST(SO3, ApplyExpmapDerivative2) { - Matrix aH1, aH2; - boost::function f = - boost::bind(SO3::ApplyExpmapDerivative, _1, _2, boost::none, boost::none); - const Vector3 omega(0, 0, 0); - for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)}) { - Matrix3 H = SO3::ExpmapDerivative(omega); - Vector3 expected = H * v; - EXPECT(assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v))); - EXPECT( - assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); - EXPECT(assert_equal(H, aH2)); - } +Vector3 applyInv(const Vector3& omega, const Vector3& v) { + so3::DexpFunctor local(omega); + return local.applyInvDexp(v); } /* ************************************************************************* */ -TEST(SO3, ApplyExpmapDerivative3) { +TEST(SO3, ApplyInvDexp) { Matrix aH1, aH2; - boost::function f = - boost::bind(SO3::ApplyExpmapDerivative, _1, _2, boost::none, boost::none); - const Vector3 omega(0.1, 0.2, 0.3), v(0.4, 0.3, 0.2); - Matrix3 H = SO3::ExpmapDerivative(omega); - Vector3 expected = H * v; - EXPECT(assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v))); - EXPECT( - assert_equal(expected, SO3::ApplyExpmapDerivative(omega, v, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); - EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); - EXPECT(assert_equal(H, aH2)); + for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), + Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { + so3::DexpFunctor local(omega); + Matrix invDexp = local.dexp().inverse(); + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), + Vector3(0.4, 0.3, 0.2)}) { + EXPECT( + assert_equal(Vector3(invDexp * v), local.applyInvDexp(v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(applyInv, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(applyInv, omega, v), aH2)); + EXPECT(assert_equal(invDexp, aH2)); + } + } } //****************************************************************************** From 4f214ad7d1a396c3278ba87a07167f167ba83095 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 12:55:24 -0800 Subject: [PATCH 957/964] Now use applyInvDexp --- gtsam/navigation/PreintegrationBase.cpp | 22 ++++++++++--------- .../tests/testPreintegrationBase.cpp | 21 ------------------ 2 files changed, 12 insertions(+), 31 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f7e8728cc..dc5fd8647 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -120,32 +120,34 @@ Vector9 PreintegrationBase::UpdatePreintegrated( const Vector3& a_body, const Vector3& w_body, double dt, const Vector9& preintegrated, OptionalJacobian<9, 9> A, OptionalJacobian<9, 3> B, OptionalJacobian<9, 3> C) { - // TODO(frank): expose DexpImpl functor and save on computation - static const MultiplyWithInverseFunction applyInvDexp(SO3::ApplyExpmapDerivative); - const auto theta = preintegrated.segment<3>(0); const auto position = preintegrated.segment<3>(3); const auto velocity = preintegrated.segment<3>(6); + // This functor allows for saving computation when exponential map and its + // derivatives are needed at the same location in so<3> + so3::DexpFunctor local(theta); + // Calculate exact mean propagation - Matrix3 H, invH, invHw_H_theta; - const Vector invHw = applyInvDexp(theta, w_body, A ? &invHw_H_theta : 0, invH); - const Matrix3 R = Rot3::Expmap(theta, A ? &H : 0).matrix(); + Matrix3 w_tangent_H_theta, invH; + const Vector w_tangent = // angular velocity mapped back to tangent space + local.applyInvDexp(w_body, A ? &w_tangent_H_theta : 0, C ? &invH : 0); + const SO3 R = local.expmap(); const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; Vector9 preintegratedPlus; - preintegratedPlus << // - theta + invHw* dt, // theta + preintegratedPlus << // new preintegrated vector: + theta + w_tangent* dt, // theta position + velocity* dt + a_nav* dt22, // position velocity + a_nav* dt; // velocity if (A) { // Exact derivative of R*a with respect to theta: - const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * H; + const Matrix3 a_nav_H_theta = R * skewSymmetric(-a_body) * local.dexp(); A->setIdentity(); - A->block<3, 3>(0, 0).noalias() += invHw_H_theta * dt; // theta + A->block<3, 3>(0, 0).noalias() += w_tangent_H_theta * dt; // theta A->block<3, 3>(3, 0) = a_nav_H_theta * dt22; // position wrpt theta... A->block<3, 3>(3, 6) = I_3x3 * dt; // .. and velocity A->block<3, 3>(6, 0) = a_nav_H_theta * dt; // velocity wrpt theta diff --git a/gtsam/navigation/tests/testPreintegrationBase.cpp b/gtsam/navigation/tests/testPreintegrationBase.cpp index ea362e5ee..b733181ac 100644 --- a/gtsam/navigation/tests/testPreintegrationBase.cpp +++ b/gtsam/navigation/tests/testPreintegrationBase.cpp @@ -43,27 +43,6 @@ static boost::shared_ptr Params() { } } -/* ************************************************************************* */ -TEST(ExpressionFactor, ApplyInvDexp) { - auto model = noiseModel::Isotropic::Sigma(3, 1); - - /// Functor implements ExpmapDerivative(omega).inverse() * v, with derivatives - MultiplyWithInverseFunction applyInvDexp(SO3::ApplyExpmapDerivative); - Vector3_ f_expr(applyInvDexp, Vector3_(0), Vector3_(1)); - - // Check derivatives - Vector3 omega(1, 2, 3); - const Vector3 v(0.1, 0.2, 0.3); - const Vector3 expected = SO3::ExpmapDerivative(omega).inverse() * v; - CHECK(assert_equal(expected, applyInvDexp(omega,v))); - - Values values; - values.insert(0, omega); - values.insert(1, v); - ExpressionFactor factor(model, Vector3::Zero(), f_expr); - EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-5, 1e-5); -} - /* ************************************************************************* */ TEST(PreintegrationBase, UpdateEstimate1) { PreintegrationBase pim(testing::Params()); From b4edfc257672a80a9cc744e697eeb567e8e50376 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 13:04:12 -0800 Subject: [PATCH 958/964] One last improvement before Duy works out the *true* solution :-) --- gtsam/geometry/SO3.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 2d274c278..ceb9eae6a 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -86,13 +86,12 @@ Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, } if (H1) { // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK - const Vector3 Kv = omega.cross(v / theta); - const Vector3 KKv = omega.cross(Kv / theta); - const Matrix3 T = skewSymmetric(v / theta); + const Vector3 Kv = K * v; const double Da = (sin_theta - 2.0 * a) / theta2; const double Db = (one_minus_cos - 3.0 * b) / theta2; - *H1 = (-Da * Kv + Db * KKv) * omega.transpose() + a * T - - skewSymmetric(Kv * b / theta) - b * K * T; + *H1 = (Db * K - Da * I_3x3) * Kv * omega.transpose() - + skewSymmetric(Kv * b / theta) + + (a * I_3x3 - b * K) * skewSymmetric(v / theta); } if (H2) *H2 = dexp_; return dexp_ * v; From e3954d541aa69a0ea9091e552fe903a0ac4a9470 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 21:07:50 +0000 Subject: [PATCH 959/964] SO3.cpp edited online with Bitbucket: KK not K*K --- gtsam/geometry/SO3.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index ceb9eae6a..4d993de8f 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -63,7 +63,7 @@ SO3 ExpmapFunctor::expmap() const { if (nearZero) return I_3x3 + W; else - return I_3x3 + sin_theta * K + one_minus_cos * K * K; + return I_3x3 + sin_theta * K + one_minus_cos * KK; } DexpFunctor::DexpFunctor(const Vector3& omega) From 1556c254643967287ffd85c915e8aca0f58cfa9e Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 1 Feb 2016 14:53:33 -0800 Subject: [PATCH 960/964] Test changing bias and non-zero coriolis --- gtsam/navigation/PreintegrationBase.cpp | 10 ++--- gtsam/navigation/tests/testImuFactor.cpp | 53 ++++++++++++------------ 2 files changed, 32 insertions(+), 31 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index dc5fd8647..f2a8d41fd 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -368,11 +368,11 @@ void PreintegrationBase::mergeWith(const PreintegrationBase& pim12, Matrix9* H1, Matrix9* H2) { if (!matchesParamsWith(pim12)) throw std::domain_error( - "Cannot merge preintegrated measurements with different params"); + "Cannot merge pre-integrated measurements with different params"); if (params()->body_P_sensor) throw std::domain_error( - "Cannot merge preintegrated measurements with sensor pose yet"); + "Cannot merge pre-integrated measurements with sensor pose yet"); const double& t01 = deltaTij(); const double& t12 = pim12.deltaTij(); @@ -382,9 +382,9 @@ void PreintegrationBase::mergeWith(const PreintegrationBase& pim12, Matrix9* H1, Vector9 zeta12 = pim12.preintegrated(); // TODO(frank): adjust zeta12 due to bias difference -// const imuBias::ConstantBias bias_incr_for_12 = biasHat() - pim12.biasHat(); -// zeta12 += pim12.delPdelBiasAcc() * bias_incr_for_12.accelerometer() + -// pim12.delPdelBiasOmega() * bias_incr_for_12.gyroscope(); + const imuBias::ConstantBias bias_incr_for_12 = biasHat() - pim12.biasHat(); + zeta12 += pim12.preintegrated_H_biasOmega_ * bias_incr_for_12.gyroscope() + + pim12.preintegrated_H_biasAcc_ * bias_incr_for_12.accelerometer(); preintegrated_ << PreintegrationBase::Compose(zeta01, zeta12, t12, H1, H2); diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index b83c91e55..f1d761cb0 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -790,8 +790,8 @@ struct ImuFactorMergeTest { int TestScenario(TestResult& result_, const std::string& name_, const Scenario& scenario, - const imuBias::ConstantBias& bias01, - const imuBias::ConstantBias& bias12, double tol) { + const Bias& bias01, + const Bias& bias12, double tol) { // Test merge by creating a 01, 12, and 02 PreintegratedRotation, // then checking the merge of 01-12 matches 02. PreintegratedImuMeasurements pim01(p_, bias01); @@ -831,40 +831,41 @@ struct ImuFactorMergeTest { } void TestScenarios(TestResult& result_, const std::string& name_, - const imuBias::ConstantBias& bias01, - const imuBias::ConstantBias& bias12, double tol) { + const Bias& bias01, + const Bias& bias12, double tol) { for (auto scenario : {forward_, loop_}) TestScenario(result_, name_, scenario, bias01, bias12, tol); } }; /* ************************************************************************* */ -// Test case with identical biases where there is no approximation so we expect -// an exact answer. +// Test case with zero biases TEST(ImuFactor, MergeZeroBias) { ImuFactorMergeTest mergeTest; - // TODO(frank): not too happy with large tolerance (needed for loop case) - mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-3); + mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-4); } -//// Test case with different biases where we expect there to be some variation. -//TEST(ImuFactor, MergeChangingBias) { -// ImuFactorMergeTest mergeTest; -// mergeTest.TestScenarios( -// result_, name_, imuBias::ConstantBias(Vector3(0.03, -0.02, 0.01), -// Vector3(-0.01, 0.02, -0.03)), -// imuBias::ConstantBias(Vector3(0.01, 0.02, 0.03), -// Vector3(0.03, -0.02, 0.01)), -// 0.4); -//} -// -//// Test case with non-zero coriolis -//TEST(ImuFactor, MergeWithCoriolis) { -// ImuFactorMergeTest mergeTest; -// mergeTest.p_->omegaCoriolis.reset(Vector3(0.1, 0.2, -0.1)); -// mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, -// 1e-6); -//} +// Test case with identical biases: we expect an exact answer. +TEST(ImuFactor, MergeConstantBias) { + ImuFactorMergeTest mergeTest; + Bias bias(Vector3(0.03, -0.02, 0.01), Vector3(-0.01, 0.02, -0.03)); + mergeTest.TestScenarios(result_, name_, bias, bias, 1e-4); +} + +// Test case with different biases where we expect there to be some variation. +TEST(ImuFactor, MergeChangingBias) { + ImuFactorMergeTest mergeTest; + mergeTest.TestScenarios(result_, name_, + Bias(Vector3(0.03, -0.02, 0.01), Vector3(-0.01, 0.02, -0.03)), + Bias(Vector3(0.01, 0.02, 0.03), Vector3(0.03, -0.02, 0.01)), 1e-1); +} + +// Test case with non-zero coriolis +TEST(ImuFactor, MergeWithCoriolis) { + ImuFactorMergeTest mergeTest; + mergeTest.p_->omegaCoriolis = Vector3(0.1, 0.2, -0.1); + mergeTest.TestScenarios(result_, name_, kZeroBias, kZeroBias, 1e-4); +} /* ************************************************************************* */ int main() { From adcf60f559404e8f2f2a6e768d276d6cadfebfed Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 1 Feb 2016 15:11:54 -0800 Subject: [PATCH 961/964] Cross-platform check --- gtsam/navigation/tests/testScenario.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/tests/testScenario.cpp b/gtsam/navigation/tests/testScenario.cpp index fb8aa9534..bc965b058 100644 --- a/gtsam/navigation/tests/testScenario.cpp +++ b/gtsam/navigation/tests/testScenario.cpp @@ -95,7 +95,7 @@ TEST(Scenario, Loop) { // R = v/w, so test if loop crests at 2*R const double R = v / w; const Pose3 T30 = scenario.pose(30); - EXPECT(assert_equal(Vector3(-M_PI, 0, -M_PI), T30.rotation().xyz(), 1e-9)); + EXPECT(assert_equal(Rot3::Rodrigues(0, M_PI, 0), T30.rotation(), 1e-9)); EXPECT(assert_equal(Point3(0, 0, 2 * R), T30.translation(), 1e-9)); } From ff1c27ba62fa749d63bff7d20fef2f45beffd310 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 1 Feb 2016 16:47:13 -0800 Subject: [PATCH 962/964] Got rid of spurious malloc (hard to find! Vector should have been Vector3) --- gtsam/navigation/PreintegrationBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f2a8d41fd..c3f203849 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -130,7 +130,7 @@ Vector9 PreintegrationBase::UpdatePreintegrated( // Calculate exact mean propagation Matrix3 w_tangent_H_theta, invH; - const Vector w_tangent = // angular velocity mapped back to tangent space + 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 SO3 R = local.expmap(); const Vector3 a_nav = R * a_body; From 79e29e3d19969e3a9aa3fda5a35ae9eb7d8ae61d Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 2 Feb 2016 01:34:13 -0500 Subject: [PATCH 963/964] Prohibit configuration with GTSAM_BUILD_PYTHON AND GTSAM_ALLOW_DEPRECATED_SINCE_V4 both turned ON --- CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9bfa9a758..75c24f76d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -84,6 +84,10 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_STATIC_LIBRARY) message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_BUILD_STATIC_LIBRARY are both enabled. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of GTSAM_BUILD_STATIC_LIBRARY.") endif() +if(GTSAM_BUILD_PYTHON AND GTSAM_ALLOW_DEPRECATED_SINCE_V4) + message(FATAL_ERROR "GTSAM_BUILD_PYTHON and GTSAM_ALLOW_DEPRECATED_SINCE_V4 are both enabled. The python module cannot be compiled with deprecated functions turned on. Turn one of the two options off.") +endif() + # Flags for choosing default packaging tools set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator") From 4ebd3f48c37d8f38d58065d01129676c5928efa5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 1 Feb 2016 23:51:33 -0800 Subject: [PATCH 964/964] Add nearZeroApprox flag and make sure those cases are covered in tests --- gtsam/geometry/SO3.cpp | 40 +++++++++---------- gtsam/geometry/SO3.h | 8 ++-- gtsam/geometry/tests/testSO3.cpp | 66 ++++++++++++++++---------------- 3 files changed, 57 insertions(+), 57 deletions(-) diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp index 4d993de8f..459f15561 100644 --- a/gtsam/geometry/SO3.cpp +++ b/gtsam/geometry/SO3.cpp @@ -27,8 +27,8 @@ namespace gtsam { namespace so3 { -void ExpmapFunctor::init() { - nearZero = (theta2 <= std::numeric_limits::epsilon()); +void ExpmapFunctor::init(bool nearZeroApprox) { + nearZero = nearZeroApprox || (theta2 <= std::numeric_limits::epsilon()); if (nearZero) return; theta = std::sqrt(theta2); // rotation angle sin_theta = std::sin(theta); @@ -36,10 +36,11 @@ void ExpmapFunctor::init() { one_minus_cos = 2.0 * s2 * s2; // numerically better than [1 - cos(theta)] } -ExpmapFunctor::ExpmapFunctor(const Vector3& omega) : theta2(omega.dot(omega)) { +ExpmapFunctor::ExpmapFunctor(const Vector3& omega, bool nearZeroApprox) + : theta2(omega.dot(omega)) { const double wx = omega.x(), wy = omega.y(), wz = omega.z(); W << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0; - init(); + init(nearZeroApprox); if (!nearZero) { theta = std::sqrt(theta2); K = W / theta; @@ -47,12 +48,12 @@ ExpmapFunctor::ExpmapFunctor(const Vector3& omega) : theta2(omega.dot(omega)) { } } -ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle) +ExpmapFunctor::ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox) : theta2(angle * angle) { const double ax = axis.x(), ay = axis.y(), az = axis.z(); K << 0.0, -az, +ay, +az, 0.0, -ax, -ay, +ax, 0.0; W = K * angle; - init(); + init(nearZeroApprox); if (!nearZero) { theta = angle; KK = K * K; @@ -66,8 +67,8 @@ SO3 ExpmapFunctor::expmap() const { return I_3x3 + sin_theta * K + one_minus_cos * KK; } -DexpFunctor::DexpFunctor(const Vector3& omega) - : ExpmapFunctor(omega), omega(omega) { +DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox) + : ExpmapFunctor(omega, nearZeroApprox), omega(omega) { if (nearZero) dexp_ = I_3x3 - 0.5 * W; else { @@ -79,19 +80,18 @@ DexpFunctor::DexpFunctor(const Vector3& omega) Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2) const { - if (nearZero) { - if (H1) *H1 = 0.5 * skewSymmetric(v); - if (H2) *H2 = I_3x3; - return v - 0.5 * omega.cross(v); - } if (H1) { - // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK - const Vector3 Kv = K * v; - const double Da = (sin_theta - 2.0 * a) / theta2; - const double Db = (one_minus_cos - 3.0 * b) / theta2; - *H1 = (Db * K - Da * I_3x3) * Kv * omega.transpose() - - skewSymmetric(Kv * b / theta) + - (a * I_3x3 - b * K) * skewSymmetric(v / theta); + if (nearZero) { + *H1 = 0.5 * skewSymmetric(v); + } else { + // TODO(frank): Iserles hints that there should be a form I + c*K + d*KK + const Vector3 Kv = K * v; + const double Da = (sin_theta - 2.0 * a) / theta2; + const double Db = (one_minus_cos - 3.0 * b) / theta2; + *H1 = (Db * K - Da * I_3x3) * Kv * omega.transpose() - + skewSymmetric(Kv * b / theta) + + (a * I_3x3 - b * K) * skewSymmetric(v / theta); + } } if (H2) *H2 = dexp_; return dexp_ * v; diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h index 13d6d65a7..3152fa2fb 100644 --- a/gtsam/geometry/SO3.h +++ b/gtsam/geometry/SO3.h @@ -143,14 +143,14 @@ class ExpmapFunctor { bool nearZero; double theta, sin_theta, one_minus_cos; // only defined if !nearZero - void init(); + void init(bool nearZeroApprox = false); public: /// Constructor with element of Lie algebra so(3) - ExpmapFunctor(const Vector3& omega); + ExpmapFunctor(const Vector3& omega, bool nearZeroApprox = false); /// Constructor with axis-angle - ExpmapFunctor(const Vector3& axis, double angle); + ExpmapFunctor(const Vector3& axis, double angle, bool nearZeroApprox = false); /// Rodrigues formula SO3 expmap() const; @@ -164,7 +164,7 @@ class DexpFunctor : public ExpmapFunctor { public: /// Constructor with element of Lie algebra so(3) - DexpFunctor(const Vector3& omega); + DexpFunctor(const Vector3& omega, bool nearZeroApprox = false); // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models, diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp index defa87281..68e87d5ba 100644 --- a/gtsam/geometry/tests/testSO3.cpp +++ b/gtsam/geometry/tests/testSO3.cpp @@ -203,49 +203,49 @@ TEST(SO3, JacobianLogmap) { EXPECT(assert_equal(Jexpected, Jactual)); } -/* ************************************************************************* */ -Vector3 apply(const Vector3& omega, const Vector3& v) { - so3::DexpFunctor local(omega); - return local.applyDexp(v); -} - /* ************************************************************************* */ TEST(SO3, ApplyDexp) { Matrix aH1, aH2; - for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), - Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - so3::DexpFunctor local(omega); - for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), - Vector3(0.4, 0.3, 0.2)}) { - EXPECT(assert_equal(Vector3(local.dexp() * v), - local.applyDexp(v, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(apply, omega, v), aH1)); - EXPECT(assert_equal(numericalDerivative22(apply, omega, v), aH2)); - EXPECT(assert_equal(local.dexp(), aH2)); + for (bool nearZeroApprox : {true, false}) { + boost::function f = + [=](const Vector3& omega, const Vector3& v) { + return so3::DexpFunctor(omega, nearZeroApprox).applyDexp(v); + }; + for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), + Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { + so3::DexpFunctor local(omega, nearZeroApprox); + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), + Vector3(0.4, 0.3, 0.2)}) { + EXPECT(assert_equal(Vector3(local.dexp() * v), + local.applyDexp(v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); + EXPECT(assert_equal(local.dexp(), aH2)); + } } } } -/* ************************************************************************* */ -Vector3 applyInv(const Vector3& omega, const Vector3& v) { - so3::DexpFunctor local(omega); - return local.applyInvDexp(v); -} - /* ************************************************************************* */ TEST(SO3, ApplyInvDexp) { Matrix aH1, aH2; - for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), - Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { - so3::DexpFunctor local(omega); - Matrix invDexp = local.dexp().inverse(); - for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), - Vector3(0.4, 0.3, 0.2)}) { - EXPECT( - assert_equal(Vector3(invDexp * v), local.applyInvDexp(v, aH1, aH2))); - EXPECT(assert_equal(numericalDerivative21(applyInv, omega, v), aH1)); - EXPECT(assert_equal(numericalDerivative22(applyInv, omega, v), aH2)); - EXPECT(assert_equal(invDexp, aH2)); + for (bool nearZeroApprox : {true, false}) { + boost::function f = + [=](const Vector3& omega, const Vector3& v) { + return so3::DexpFunctor(omega, nearZeroApprox).applyInvDexp(v); + }; + for (Vector3 omega : {Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0), + Vector3(0, 0, 1), Vector3(0.1, 0.2, 0.3)}) { + so3::DexpFunctor local(omega, nearZeroApprox); + Matrix invDexp = local.dexp().inverse(); + for (Vector3 v : {Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1), + Vector3(0.4, 0.3, 0.2)}) { + EXPECT(assert_equal(Vector3(invDexp * v), + local.applyInvDexp(v, aH1, aH2))); + EXPECT(assert_equal(numericalDerivative21(f, omega, v), aH1)); + EXPECT(assert_equal(numericalDerivative22(f, omega, v), aH2)); + EXPECT(assert_equal(invDexp, aH2)); + } } } }