Add Discrete-Continuous factor graph machinery #973
Conversation
| * https://github.com/borglab/gtsam/blob/43e8f1e5aeaf11890262722c1e5e04a11dbf9d75/gtsam_unstable/discrete/AllDiff.cpp#L43 | ||
| * | ||
| * @param continuousVals - an assignment to the continuous variables | ||
| * @param discreteVals - |
There was a problem hiding this comment.
What is the role for discreteVals here? @keevindoherty should provide this knowledge :-)
There was a problem hiding this comment.
discreteVals is an assignment to the discrete variables. This is useful for a kind of discrete-continuous smart factor where we've eliminated some subset of variables conditioned on a joint discrete and continuous assignment. In our case, we are using these for semantic+geometric measurements with ambiguous associations in semantic SLAM. For max-product elimination, check out this max-mixture factor for example, or for sum-product, we have a discrete-continuous EMFactor here. There are perhaps other applications I haven't thought about yet. Not all DCFactors have to use these values, but we pass them in case they are needed.
| * -------------------------------------------------------------------------- */ | ||
|
|
||
| /** | ||
| * |
There was a problem hiding this comment.
I don’t remember we had added this, @varunagrawal ?
There was a problem hiding this comment.
Yup, I added this. This is point 4 in the PR comment: since DCValues and DCMarginals are structs in DC_types.h, I just moved them to their own file so as to be consistent with the rest of GTSAM.
I took a bit of design liberty here, so I hope that's okay?
There was a problem hiding this comment.
Same comment about authorship...
There was a problem hiding this comment.
This file has Kevin as the sole author as per your recommendation. I only added myself as author to testDCMarginals.cpp since I wrote that file from scatch.
| DiscreteMarginals discrete; | ||
|
|
||
| DCMarginals dc_marginals(continuous, discrete); | ||
| EXPECT(assert_type("gtsam::DCMarginals", dc_marginals)); |
There was a problem hiding this comment.
I don’t understand. Self-fulfilling prophecy?
There was a problem hiding this comment.
This is a barebones test for the default constructor. This ensures that everything is included correctly and that a basic operation works.
The idea is that since this is a test, it should assert something, so just assert that the type is as expected.
There was a problem hiding this comment.
C++ is strongly typed. Test anything, but type is known. Let's cherry pick assert_type in a branch if we ever need it, but please leave out of this PR.
| * -------------------------------------------------------------------------- */ | ||
|
|
||
| /** | ||
| * @file testDCValues.cpp |
There was a problem hiding this comment.
Same: is this something you added Varun? Design review??
There was a problem hiding this comment.
Yes, same reason as for DCMarginals, just an attempt to be consistent. Again, a bit of liberty taken.
There was a problem hiding this comment.
OK, but please list Kevin as author if you did not change the functionality, just the location. If you did change any code, explain what it is.
There was a problem hiding this comment.
Kevin is still the author on DCValues.h. I am the author on testDCValues.cpp since I wrote that whole file by myself (no copy involved).
Same situation for DCMarginals.h.
Signed-off-by: Fan Jiang <prof.fan@foxmail.com>
…tantiate base class for elimination
|
I think we should close this in favor of @ProfFan 's PR, right? If you agree please close, otherwise let's talk over email... |
|
Closing this again until Fan’s PR is merged and then we can re-open a substantially modified PR for this. @varunagrawal please don’t reopen without talking to me first about the pans regarding that. |
This PR adds the following:
DCFactorandDCFactorGraphcode ported fromDCSAM(@keevindoherty has already looked at this part).expNormfunction toDiscreteFactor.[h|cpp].DCSAM_types.hi.e.DCValuesandDCMarginalsto their own files to conform to our codebase structure.assert_typewhich asserts whether an object has a specified type.assert_typefor simple constructor tests for DCValues and DCMarginals.