Merge pull request #1388 from borglab/hybrid/simplify

gtsam/discrete/DiscreteConditional.h

@@ -254,6 +254,13 @@ class GTSAM_EXPORT DiscreteConditional
     return -error(x);
   }
 
+  /**
+   * logNormalizationConstant K is just zero, such that
+   * logProbability(x) = log(evaluate(x)) = - error(x)
+   * and hence error(x) = - log(evaluate(x)) > 0 for all x.
+   */
+  double logNormalizationConstant() const override { return 0.0; }
+
   /// @}
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42

gtsam/hybrid/GaussianMixture.cpp

@@ -35,7 +35,18 @@ GaussianMixture::GaussianMixture(
     : BaseFactor(CollectKeys(continuousFrontals, continuousParents),
                  discreteParents),
       BaseConditional(continuousFrontals.size()),
-      conditionals_(conditionals) {}
+      conditionals_(conditionals) {
+  // Calculate logConstant_ as the maximum of the log constants of the
+  // conditionals, by visiting the decision tree:
+  logConstant_ = -std::numeric_limits<double>::infinity();
+  conditionals_.visit(
+      [this](const GaussianConditional::shared_ptr &conditional) {
+        if (conditional) {
+          this->logConstant_ = std::max(
+              this->logConstant_, conditional->logNormalizationConstant());
+        }
+      });
+}
 
 /* *******************************************************************************/
 const GaussianMixture::Conditionals &GaussianMixture::conditionals() const {
@@ -63,28 +74,22 @@ GaussianMixture::GaussianMixture(
 // GaussianMixtureFactor, no?
 GaussianFactorGraphTree GaussianMixture::add(
     const GaussianFactorGraphTree &sum) const {
-  using Y = GraphAndConstant;
+  using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
-    auto result = graph1.graph;
-    result.push_back(graph2.graph);
-    return Y(result, graph1.constant + graph2.constant);
+    auto result = graph1;
+    result.push_back(graph2);
+    return result;
   };
   const auto tree = asGaussianFactorGraphTree();
   return sum.empty() ? tree : sum.apply(tree, add);
 }
 
 /* *******************************************************************************/
 GaussianFactorGraphTree GaussianMixture::asGaussianFactorGraphTree() const {
-  auto lambda = [](const GaussianConditional::shared_ptr &conditional) {
-    GaussianFactorGraph result;
-    result.push_back(conditional);
-    if (conditional) {
-      return GraphAndConstant(result, conditional->logNormalizationConstant());
-    } else {
-      return GraphAndConstant(result, 0.0);
-    }
+  auto wrap = [](const GaussianConditional::shared_ptr &gc) {
+    return GaussianFactorGraph{gc};
   };
-  return {conditionals_, lambda};
+  return {conditionals_, wrap};
 }
 
 /* *******************************************************************************/
@@ -170,22 +175,43 @@ KeyVector GaussianMixture::continuousParents() const {
 }
 
 /* ************************************************************************* */
-boost::shared_ptr<GaussianMixtureFactor> GaussianMixture::likelihood(
-    const VectorValues &frontals) const {
-  // Check that values has all frontals
-  for (auto &&kv : frontals) {
-    if (frontals.find(kv.first) == frontals.end()) {
-      throw std::runtime_error("GaussianMixture: frontals missing factor key.");
+bool GaussianMixture::allFrontalsGiven(const VectorValues &given) const {
+  for (auto &&kv : given) {
+    if (given.find(kv.first) == given.end()) {
+      return false;
     }
   }
+  return true;
+}
+
+/* ************************************************************************* */
+boost::shared_ptr<GaussianMixtureFactor> GaussianMixture::likelihood(
+    const VectorValues &given) const {
+  if (!allFrontalsGiven(given)) {
+    throw std::runtime_error(
+        "GaussianMixture::likelihood: given values are missing some frontals.");
+  }
 
   const DiscreteKeys discreteParentKeys = discreteKeys();
   const KeyVector continuousParentKeys = continuousParents();
   const GaussianMixtureFactor::Factors likelihoods(
       conditionals_, [&](const GaussianConditional::shared_ptr &conditional) {
-        return GaussianMixtureFactor::FactorAndConstant{
-            conditional->likelihood(frontals),
-            conditional->logNormalizationConstant()};
+        const auto likelihood_m = conditional->likelihood(given);
+        const double Cgm_Kgcm =
+            logConstant_ - conditional->logNormalizationConstant();
+        if (Cgm_Kgcm == 0.0) {
+          return likelihood_m;
+        } else {
+          // Add a constant factor to the likelihood in case the noise models
+          // are not all equal.
+          GaussianFactorGraph gfg;
+          gfg.push_back(likelihood_m);
+          Vector c(1);
+          c << std::sqrt(2.0 * Cgm_Kgcm);
+          auto constantFactor = boost::make_shared<JacobianFactor>(c);
+          gfg.push_back(constantFactor);
+          return boost::make_shared<JacobianFactor>(gfg);
+        }
       });
   return boost::make_shared<GaussianMixtureFactor>(
       continuousParentKeys, discreteParentKeys, likelihoods);
@@ -285,6 +311,16 @@ AlgebraicDecisionTree<Key> GaussianMixture::logProbability(
           return 1e50;
         }
       };
+  return DecisionTree<Key, double>(conditionals_, errorFunc);
+}
+
+/* *******************************************************************************/
+AlgebraicDecisionTree<Key> GaussianMixture::error(
+    const VectorValues &continuousValues) const {
+  auto errorFunc = [&](const GaussianConditional::shared_ptr &conditional) {
+    return conditional->error(continuousValues) +  //
+           logConstant_ - conditional->logNormalizationConstant();
+  };
   DecisionTree<Key, double> errorTree(conditionals_, errorFunc);
   return errorTree;
 }
@@ -293,7 +329,8 @@ AlgebraicDecisionTree<Key> GaussianMixture::logProbability(
 double GaussianMixture::error(const HybridValues &values) const {
   // Directly index to get the conditional, no need to build the whole tree.
   auto conditional = conditionals_(values.discrete());
-  return conditional->error(values.continuous()) - conditional->logNormalizationConstant();
+  return conditional->error(values.continuous()) +  //
+         logConstant_ - conditional->logNormalizationConstant();
 }
 
 /* *******************************************************************************/

gtsam/hybrid/GaussianMixture.h

@@ -63,7 +63,8 @@ class GTSAM_EXPORT GaussianMixture
   using Conditionals = DecisionTree<Key, GaussianConditional::shared_ptr>;
 
  private:
-  Conditionals conditionals_;
+  Conditionals conditionals_;  ///< a decision tree of Gaussian conditionals.
+  double logConstant_;         ///< log of the normalization constant.
 
   /**
    * @brief Convert a DecisionTree of factors into a DT of Gaussian FGs.
@@ -155,10 +156,16 @@ class GTSAM_EXPORT GaussianMixture
   /// Returns the continuous keys among the parents.
   KeyVector continuousParents() const;
 
-  // Create a likelihood factor for a Gaussian mixture, return a Mixture factor
-  // on the parents.
+  /// The log normalization constant is max of the the individual
+  /// log-normalization constants.
+  double logNormalizationConstant() const override { return logConstant_; }
+
+  /**
+   * Create a likelihood factor for a Gaussian mixture, return a Mixture factor
+   * on the parents.
+   */
   boost::shared_ptr<GaussianMixtureFactor> likelihood(
-      const VectorValues &frontals) const;
+      const VectorValues &given) const;
 
   /// Getter for the underlying Conditionals DecisionTree
   const Conditionals &conditionals() const;
@@ -182,21 +189,33 @@ class GTSAM_EXPORT GaussianMixture
    *
    *    error(x;y,m) = K - log(probability(x;y,m))
    *
-   * For all x,y,m. But note that K, for the GaussianMixture, cannot depend on
-   * any arguments. Hence, we delegate to the underlying Gaussian
+   * For all x,y,m. But note that K, the (log) normalization constant defined
+   * in Conditional.h, should not depend on x, y, or m, only on the parameters
+   * of the density. Hence, we delegate to the underlying Gaussian
    * conditionals, indexed by m, which do satisfy:
-   * 
+   *
    *    log(probability_m(x;y)) = K_m - error_m(x;y)
-   * 
-   * We resolve by having K == 0.0 and
-   * 
-   *    error(x;y,m) = error_m(x;y) - K_m
+   *
+   * We resolve by having K == max(K_m) and
+   *
+   *    error(x;y,m) = error_m(x;y) + K - K_m
+   *
+   * which also makes error(x;y,m) >= 0 for all x,y,m.
    *
    * @param values Continuous values and discrete assignment.
    * @return double
    */
   double error(const HybridValues &values) const override;
 
+  /**
+   * @brief Compute error of the GaussianMixture as a tree.
+   *
+   * @param continuousValues The continuous VectorValues.
+   * @return AlgebraicDecisionTree<Key> A decision tree on the discrete keys
+   * only, with the leaf values as the error for each assignment.
+   */
+  AlgebraicDecisionTree<Key> error(const VectorValues &continuousValues) const;
+
   /**
    * @brief Compute the logProbability of this Gaussian Mixture.
    *
@@ -233,6 +252,9 @@ class GTSAM_EXPORT GaussianMixture
   /// @}
 
  private:
+  /// Check whether `given` has values for all frontal keys.
+  bool allFrontalsGiven(const VectorValues &given) const;
+
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>

gtsam/hybrid/GaussianMixtureFactor.cpp

@@ -31,11 +31,8 @@ namespace gtsam {
 /* *******************************************************************************/
 GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
                                              const DiscreteKeys &discreteKeys,
-                                             const Mixture &factors)
-    : Base(continuousKeys, discreteKeys),
-      factors_(factors, [](const GaussianFactor::shared_ptr &gf) {
-        return FactorAndConstant{gf, 0.0};
-      }) {}
+                                             const Factors &factors)
+    : Base(continuousKeys, discreteKeys), factors_(factors) {}
 
 /* *******************************************************************************/
 bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
@@ -48,11 +45,10 @@ bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
 
   // Check the base and the factors:
   return Base::equals(*e, tol) &&
-         factors_.equals(e->factors_, [tol](const FactorAndConstant &f1,
-                                            const FactorAndConstant &f2) {
-           return f1.factor->equals(*(f2.factor), tol) &&
-                  std::abs(f1.constant - f2.constant) < tol;
-         });
+         factors_.equals(e->factors_,
+                         [tol](const sharedFactor &f1, const sharedFactor &f2) {
+                           return f1->equals(*f2, tol);
+                         });
 }
 
 /* *******************************************************************************/
@@ -65,8 +61,7 @@ void GaussianMixtureFactor::print(const std::string &s,
   } else {
     factors_.print(
         "", [&](Key k) { return formatter(k); },
-        [&](const FactorAndConstant &gf_z) -> std::string {
-          auto gf = gf_z.factor;
+        [&](const sharedFactor &gf) -> std::string {
           RedirectCout rd;
           std::cout << ":\n";
           if (gf && !gf->empty()) {
@@ -81,24 +76,19 @@ void GaussianMixtureFactor::print(const std::string &s,
 }
 
 /* *******************************************************************************/
-GaussianFactor::shared_ptr GaussianMixtureFactor::factor(
+GaussianMixtureFactor::sharedFactor GaussianMixtureFactor::operator()(
     const DiscreteValues &assignment) const {
-  return factors_(assignment).factor;
-}
-
-/* *******************************************************************************/
-double GaussianMixtureFactor::constant(const DiscreteValues &assignment) const {
-  return factors_(assignment).constant;
+  return factors_(assignment);
 }
 
 /* *******************************************************************************/
 GaussianFactorGraphTree GaussianMixtureFactor::add(
     const GaussianFactorGraphTree &sum) const {
-  using Y = GraphAndConstant;
+  using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
-    auto result = graph1.graph;
-    result.push_back(graph2.graph);
-    return Y(result, graph1.constant + graph2.constant);
+    auto result = graph1;
+    result.push_back(graph2);
+    return result;
   };
   const auto tree = asGaussianFactorGraphTree();
   return sum.empty() ? tree : sum.apply(tree, add);
@@ -107,29 +97,25 @@ GaussianFactorGraphTree GaussianMixtureFactor::add(
 /* *******************************************************************************/
 GaussianFactorGraphTree GaussianMixtureFactor::asGaussianFactorGraphTree()
     const {
-  auto wrap = [](const FactorAndConstant &factor_z) {
-    GaussianFactorGraph result;
-    result.push_back(factor_z.factor);
-    return GraphAndConstant(result, factor_z.constant);
-  };
+  auto wrap = [](const sharedFactor &gf) { return GaussianFactorGraph{gf}; };
   return {factors_, wrap};
 }
 
 /* *******************************************************************************/
 AlgebraicDecisionTree<Key> GaussianMixtureFactor::error(
     const VectorValues &continuousValues) const {
   // functor to convert from sharedFactor to double error value.
-  auto errorFunc = [continuousValues](const FactorAndConstant &factor_z) {
-    return factor_z.error(continuousValues);
+  auto errorFunc = [&continuousValues](const sharedFactor &gf) {
+    return gf->error(continuousValues);
   };
   DecisionTree<Key, double> errorTree(factors_, errorFunc);
   return errorTree;
 }
 
 /* *******************************************************************************/
 double GaussianMixtureFactor::error(const HybridValues &values) const {
-  const FactorAndConstant factor_z = factors_(values.discrete());
-  return factor_z.error(values.continuous());
+  const sharedFactor gf = factors_(values.discrete());
+  return gf->error(values.continuous());
 }
 /* *******************************************************************************/