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refactor fixed_lag_smoother_ext_with_fallback #28

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Oct 29, 2024
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refactor fixed_lag_smoother_ext_with_fallback #28

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50 changes: 35 additions & 15 deletions src/gtsam_points/optimizers/incremental_fixed_lag_smoother_ext_with_fallback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@

#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam_points/factors/linear_damping_factor.hpp>

namespace gtsam_points {

Expand Down Expand Up @@ -151,8 +152,9 @@ void IncrementalFixedLagSmootherExtWithFallback::fallback_smoother() const {
std::cout << "falling back!!" << std::endl;
std::cout << "smoother_lag:" << smoother->smootherLag() << std::endl;

// Find basic value statistics
std::unordered_map<char, double> min_stamps;
std::unordered_map<char, size_t> max_ids;
std::unordered_map<char, std::pair<size_t, size_t>> minmax_ids;
for (const auto& value : values) {
const auto found = stamps.find(value.key);
if (found == stamps.end()) {
Expand All @@ -170,19 +172,23 @@ void IncrementalFixedLagSmootherExtWithFallback::fallback_smoother() const {
min_stamp->second = std::min(min_stamp->second, stamp);
}

auto max_id = max_ids.find(symbol.chr());
if (max_id == max_ids.end()) {
max_ids.emplace_hint(max_id, symbol.chr(), symbol.index());
auto minmax_id = minmax_ids.find(symbol.chr());
if (minmax_id == minmax_ids.end()) {
minmax_ids.emplace_hint(minmax_id, symbol.chr(), std::make_pair(symbol.index(), symbol.index()));
} else {
max_id->second = std::max<size_t>(max_id->second, max_id->second);
minmax_id->second.first = std::min(minmax_id->second.first, symbol.index());
minmax_id->second.second = std::max(minmax_id->second.second, symbol.index());
}
}

std::cout << boost::format("current_stamp:%.6f") % current_stamp << std::endl;
const double fixation_duration = 1.0;
for (const auto& min_stamp : min_stamps) {
std::cout << boost::format("- symbol=%c min_stamp=%.6f fixation=%.6f") % min_stamp.first % min_stamp.second %
(min_stamp.second + fixation_duration)
const char chr = min_stamp.first;
const auto minmax_id = minmax_ids[chr];

std::cout << boost::format("- symbol=%c min_id=%d max_id=%d min_stamp=%.6f fixation=%.6f") % chr % minmax_id.first % minmax_id.second %
min_stamp.second % (min_stamp.second + fixation_duration)
<< std::endl;
}

Expand All @@ -196,12 +202,16 @@ void IncrementalFixedLagSmootherExtWithFallback::fallback_smoother() const {

std::unordered_set<gtsam::Key> traversed_keys;
std::vector<gtsam::NonlinearFactor*> traverse_queue;
for (const auto& max_id : max_ids) {
const gtsam::Symbol symbol(max_id.first, max_id.second);
for (const auto& minmax_id : minmax_ids) {
const auto chr = minmax_id.first;
const auto max_id = minmax_id.second.second;
const gtsam::Symbol symbol(chr, max_id);
const auto found = factormap.find(symbol);
if (found != factormap.end()) {
traversed_keys.insert(symbol);
traverse_queue.insert(traverse_queue.end(), found->second.begin(), found->second.end());
} else {
std::cerr << "symbol not found:" << symbol << std::endl;
}
}

Expand Down Expand Up @@ -235,8 +245,22 @@ void IncrementalFixedLagSmootherExtWithFallback::fallback_smoother() const {
stamps.erase(key);
}

// Copy only valid factors
gtsam::NonlinearFactorGraph new_factors;
new_factors.reserve(factors.size());
for (const auto& factor : factors) {
if (std::all_of(factor->keys().begin(), factor->keys().end(), [&](const auto key) { return values.exists(key); })) {
new_factors.add(factor);
} else {
std::cerr << "remove factor:";
for (const auto key : factor->keys()) {
std::cerr << " " << gtsam::Symbol(key);
}
std::cerr << std::endl;
}
}

// Create fixation factors
gtsam::NonlinearFactorGraph new_factors = factors;
for (const auto& value : values) {
const gtsam::Symbol symbol(value.key);
const double fixation_time = min_stamps[symbol.chr()] + fixation_duration;
Expand All @@ -247,11 +271,7 @@ void IncrementalFixedLagSmootherExtWithFallback::fallback_smoother() const {
}

const int dim = value.value.dim();
gtsam::Matrix G = 1e6 * gtsam::Matrix::Identity(dim, dim);
gtsam::Vector g = gtsam::Vector::Zero(dim);

const gtsam::HessianFactor factor(value.key, G, g, 0.0);
new_factors.emplace_shared<gtsam::LinearContainerFactor>(factor, values);
new_factors.emplace_shared<gtsam_points::LinearDampingFactor>(value.key, dim, 1e6);

if (symbol.chr() == 'x') {
new_factors.emplace_shared<gtsam::PriorFactor<gtsam::Pose3>>(
Expand Down
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