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gtsam/timing/timeIncremental.cpp

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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, 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 timeIncremental.cpp
* @brief Overall timing tests for incremental solving
* @author Richard Roberts
*/
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/base/timing.h>
#include <fstream>
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/serialization/export.hpp>
#include <boost/range/adaptor/reversed.hpp>
using namespace std;
using namespace gtsam;
using namespace gtsam::symbol_shorthand;
typedef Pose2 Pose;
typedef NoiseModelFactor1<Pose> NM1;
typedef NoiseModelFactor2<Pose,Pose> NM2;
typedef BearingRangeFactor<Pose,Point2> BR;
//GTSAM_VALUE_EXPORT(Value);
//GTSAM_VALUE_EXPORT(Pose);
//GTSAM_VALUE_EXPORT(NonlinearFactor);
//GTSAM_VALUE_EXPORT(NoiseModelFactor);
//GTSAM_VALUE_EXPORT(NM1);
//GTSAM_VALUE_EXPORT(NM2);
//GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
//GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
//GTSAM_VALUE_EXPORT(BR);
//GTSAM_VALUE_EXPORT(noiseModel::Base);
//GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
//GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
//GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
//GTSAM_VALUE_EXPORT(noiseModel::Unit);
double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) {
// Compute degrees of freedom (observations - variables)
// In ocaml, +1 was added to the observations to account for the prior, but
// the factor graph already includes a factor for the prior/equality constraint.
// double dof = graph.size() - config.size();
int graph_dim = 0;
for(const boost::shared_ptr<gtsam::NonlinearFactor>& nlf: graph) {
graph_dim += nlf->dim();
}
double dof = graph_dim - config.dim(); // kaess: changed to dim
return 2. * graph.error(config) / dof; // kaess: added factor 2, graph.error returns half of actual error
}
int main(int argc, char *argv[]) {
cout << "Loading data..." << endl;
gttic_(Find_datafile);
//string datasetFile = findExampleDataFile("w10000-odom");
string datasetFile = findExampleDataFile("victoria_park");
std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr> data =
load2D(datasetFile);
gttoc_(Find_datafile);
NonlinearFactorGraph measurements = *data.first;
Values initial = *data.second;
cout << "Playing forward time steps..." << endl;
ISAM2 isam2;
size_t nextMeasurement = 0;
for(size_t step=1; nextMeasurement < measurements.size(); ++step) {
Values newVariables;
NonlinearFactorGraph newFactors;
// Collect measurements and new variables for the current step
gttic_(Collect_measurements);
if(step == 1) {
// cout << "Initializing " << 0 << endl;
newVariables.insert(0, Pose());
// Add prior
newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(3)));
}
while(nextMeasurement < measurements.size()) {
NonlinearFactor::shared_ptr measurementf = measurements[nextMeasurement];
if(BetweenFactor<Pose>::shared_ptr measurement =
boost::dynamic_pointer_cast<BetweenFactor<Pose> >(measurementf))
{
// Stop collecting measurements that are for future steps
if(measurement->key1() > step || measurement->key2() > step)
break;
// Require that one of the nodes is the current one
if(measurement->key1() != step && measurement->key2() != step)
throw runtime_error("Problem in data file, out-of-sequence measurements");
// Add a new factor
newFactors.push_back(measurement);
// Initialize the new variable
if(measurement->key1() == step && measurement->key2() == step-1) {
if(step == 1)
newVariables.insert(step, measurement->measured().inverse());
else {
Pose prevPose = isam2.calculateEstimate<Pose>(step-1);
newVariables.insert(step, prevPose * measurement->measured().inverse());
}
// cout << "Initializing " << step << endl;
} else if(measurement->key2() == step && measurement->key1() == step-1) {
if(step == 1)
newVariables.insert(step, measurement->measured());
else {
Pose prevPose = isam2.calculateEstimate<Pose>(step-1);
newVariables.insert(step, prevPose * measurement->measured());
}
// cout << "Initializing " << step << endl;
}
}
else if(BearingRangeFactor<Pose, Point2>::shared_ptr measurement =
boost::dynamic_pointer_cast<BearingRangeFactor<Pose, Point2> >(measurementf))
{
Key poseKey = measurement->keys()[0], lmKey = measurement->keys()[1];
// Stop collecting measurements that are for future steps
if(poseKey > step)
throw runtime_error("Problem in data file, out-of-sequence measurements");
// Add new factor
newFactors.push_back(measurement);
// Initialize new landmark
if(!isam2.getLinearizationPoint().exists(lmKey))
{
Pose pose = isam2.calculateEstimate<Pose>(poseKey);
Rot2 measuredBearing = measurement->measured().bearing();
double measuredRange = measurement->measured().range();
newVariables.insert(lmKey,
pose.transform_from(measuredBearing.rotate(Point2(measuredRange, 0.0))));
}
}
else
{
throw std::runtime_error("Unknown factor type read from data file");
}
++ nextMeasurement;
}
gttoc_(Collect_measurements);
// Update iSAM2
gttic_(Update_ISAM2);
isam2.update(newFactors, newVariables);
gttoc_(Update_ISAM2);
if(step % 100 == 0) {
gttic_(chi2);
Values estimate(isam2.calculateEstimate());
double chi2 = chi2_red(isam2.getFactorsUnsafe(), estimate);
cout << "chi2 = " << chi2 << endl;
gttoc_(chi2);
}
tictoc_finishedIteration_();
if(step % 1000 == 0) {
cout << "Step " << step << endl;
tictoc_print_();
}
}
//try {
// {
// std::ofstream writerStream("incremental_init", ios::binary);
// boost::archive::binary_oarchive writer(writerStream);
// writer << isam2.calculateEstimate();
// writerStream.close();
// }
// {
// std::ofstream writerStream("incremental_graph", ios::binary);
// boost::archive::binary_oarchive writer(writerStream);
// writer << isam2.getFactorsUnsafe();
// writerStream.close();
// }
//} catch(std::exception& e) {
// cout << e.what() << endl;
//}
NonlinearFactorGraph graph;
Values values;
//{
// std::ifstream readerStream("incremental_init", ios::binary);
// boost::archive::binary_iarchive reader(readerStream);
// reader >> values;
//}
//{
// std::ifstream readerStream("incremental_graph", ios::binary);
// boost::archive::binary_iarchive reader(readerStream);
// reader >> graph;
//}
graph = isam2.getFactorsUnsafe();
values = isam2.calculateEstimate();
// Compute marginals
try {
Marginals marginals(graph, values);
int i=0;
for (Key key1: boost::adaptors::reverse(values.keys())) {
int j=0;
for (Key key2: boost::adaptors::reverse(values.keys())) {
if(i != j) {
gttic_(jointMarginalInformation);
KeyVector keys(2);
keys[0] = key1;
keys[1] = key2;
JointMarginal info = marginals.jointMarginalInformation(keys);
gttoc_(jointMarginalInformation);
tictoc_finishedIteration_();
}
++j;
if(j >= 50)
break;
}
++i;
if(i >= 50)
break;
}
tictoc_print_();
for(Key key: values.keys()) {
gttic_(marginalInformation);
Matrix info = marginals.marginalInformation(key);
gttoc_(marginalInformation);
tictoc_finishedIteration_();
++i;
}
} catch(std::exception& e) {
cout << e.what() << endl;
}
tictoc_print_();
return 0;
}
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