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Feature/update variable estimates #421

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merged 19 commits into from
Nov 18, 2019
Merged

Feature/update variable estimates #421

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0136f23
update setVariablePosteriorEstimates!
Affie Oct 11, 2019
b092a0e
call setVariablePosteriorEstimates in doautoinit!
Affie Oct 11, 2019
4b5dfae
Defautl initfg set by InMemDFGType constant
Affie Oct 17, 2019
1b1c980
VariableEstimate -> MeanMaxPPE
Affie Oct 25, 2019
16542aa
expanding on variable estimates PPE
dehann Nov 17, 2019
186262e
Merge branch 'master' into feature/updateVariableEstimates
dehann Nov 17, 2019
0c12eb1
upstreamed
dehann Nov 17, 2019
505621d
Merge branch 'master' into feature/updateVariableEstimates
dehann Nov 17, 2019
aa93e45
use MeanMaxPPE as method
dehann Nov 18, 2019
ea1aa42
updates, still to test
dehann Nov 18, 2019
88bb33e
Merge branch 'feature/updateVariableEstimates' of https://github.com/…
dehann Nov 18, 2019
5d98fec
fix UndefVarError: compareFactorGraphs not defined
dehann Nov 18, 2019
ab919ee
remove excess export
dehann Nov 18, 2019
38a3a7b
Fix for tests - note that having different estimates will fail in com…
GearsAD Nov 18, 2019
aea4fa0
Merge pull request #434 from JuliaRobotics/bug/missingimportandskipes…
dehann Nov 18, 2019
537d11e
Moving compare factor data to DFG
GearsAD Nov 18, 2019
b2788ac
Merge pull request #435 from JuliaRobotics/enhancement/movingcomparef…
dehann Nov 18, 2019
d942aa5
Import compare before export to avoid conflict
GearsAD Nov 18, 2019
49f0a49
Merge pull request #436 from JuliaRobotics/bug/importcomparebeforeexport
dehann Nov 18, 2019
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27 changes: 14 additions & 13 deletions src/CliqStateMachineUtils.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -638,28 +638,29 @@ function areSiblingsRemaingNeedDownOnly(tree::BayesTree,
return true
end

function setVariablePosteriorEstimates!(var::DFG.DFGVariable )::Nothing

function setVariablePosteriorEstimates!(subfg::G,
sym::Symbol )::Nothing where G <: AbstractDFG
#

var = getVariable(subfg, sym)
bel = getKDE(var)
ops = buildHybridManifoldCallbacks(getManifolds(var))

@show varMax = getKDEMax(bel, addop=ops[1], diffop=ops[2])
@show varMean = getKDEMean(bel)
# TODO: We need to populate PPE.
@show varPpe = deepcopy(varMax) #TODO
varMax = getKDEMax(bel, addop=ops[1], diffop=ops[2])
varMean = getKDEMean(bel)
# TODO: We need to populate varModeMeans.
# varModeMeans = ...

var.estimateDict[:default] = Dict{Symbol, VariableEstimate}(
:max => VariableEstimate(:default, :max, varMax),
:mean => VariableEstimate(:default, :mean, varMean),
:ppe => VariableEstimate(:default, :ppe, varPpe))
defaultestdict = get!(var.estimateDict, :default, Dict{Symbol, VariableEstimate}())
defaultestdict[:max] = VariableEstimate(:default, :max, varMax)
defaultestdict[:mean] = VariableEstimate(:default, :mean, varMean)
#FIXME defaultestdict[:mode_means] = VariableEstimate(:default, softtype, varModeMeans)

return nothing
end

function setVariablePosteriorEstimates!(subfg::AbstractDFG,
sym::Symbol )::Nothing
setVariablePosteriorEstimates!(getVariable(subfg, sym))
end

"""
$SIGNATURES

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2 changes: 2 additions & 0 deletions src/FactorGraph01.jl
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Expand Up @@ -737,6 +737,8 @@ function doautoinit!(dfg::T,
end
pts,inferdim = predictbelief(dfg, vsym, useinitfct, logger=logger)
setValKDE!(xi, pts, true, inferdim)
#TODO test
setVariablePosteriorEstimates!(xi)
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@dehann, I think adding extra data breaks compare test, but I haven't had time to dig into the details.

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these compare functions recently moved to DFG, so we should just tie up there too -- thanks!

didinit = true
end
end
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2 changes: 1 addition & 1 deletion src/FactorGraphTypes.jl
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Expand Up @@ -156,7 +156,7 @@ end

Initialize an empty in-memory DistributedFactorGraph `::DistributedFactorGraph` object.
"""
function initfg(dfg::T=GraphsDFG{SolverParams}(params=SolverParams());
function initfg(dfg::T=InMemDFGType(params=SolverParams());
sessionname="NA",
robotname="",
username="",
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