Commit ⋅ JuliaRobotics/IncrementalInference.jl

                                          firvert::DFGVariable,
                                          Sj=getSolverData(firvert).separator)::DFGVariable
  #
  firstelim = 99999999999
  firstelim = (2^(Sys.WORD_SIZE-1)-1)
  for s in Sj
    temp = something(findfirst(isequal(s), elimorder), 0) # findfirst(p, s)
    if (temp < firstelim)

@@ -211,12 +211,13 @@

                                    destType::Type{<:InferenceVariable},
                                    factor::AbstractRelative;
                                    srcType::Type{<:InferenceVariable} = getVariableType(fg, srcLabel) |> typeof,
                                    doRef::Bool = true,
                                    refKey::Symbol=:simulated,
                                    prior = DFG._getPriorType(srcType)( MvNormal(getPPE(fg[srcLabel], refKey).suggested, diagm(ones(getDimension(srcType)))) ),
                                    prior = !doRef ? nothing : DFG._getPriorType(srcType)( MvNormal(getPPE(fg[srcLabel], refKey).suggested, diagm(ones(getDimension(srcType)))) ),
                                    atol::Real = 1e-2,
                                    destPrefix::Symbol = match(r"[a-zA-Z_]+", destRegex.pattern).match |> Symbol,
                                    srcNumber = match(r"\d+", string(srcLabel)).match |> x->parse(Int,x),
                                    overridePPE=nothing  )
                                    overridePPE = doRef ? nothing : zeros(getDimension(destType))  )
  #
  
  refVal = if overridePPE !== nothing

@@ -238,9 +239,13 @@


  # now check if we already have a landmark at this location
  varLms = ls(fg, destRegex) |> sortDFG
  ppeLms = getPPE.(getVariable.(fg, varLms), refKey) .|> x->x.suggested
  errmask = ppeLms .|> ( x -> isapprox(x, refVal; atol=atol) )
  already = any(errmask)
  already = if doRef
    ppeLms = getPPE.(getVariable.(fg, varLms), refKey) .|> x->x.suggested
    errmask = ppeLms .|> ( x -> isapprox(x, refVal; atol=atol) )
    any(errmask)
  else
    false
  end

  if already
    # does exist, ppe, variableLabel

@@ -260,12 +265,13 @@

                                    destType::Type{<:InferenceVariable},
                                    factor::AbstractPrior;
                                    srcType::Type{<:InferenceVariable} = getVariableType(fg, srcLabel) |> typeof,
                                    doRef::Bool = true,
                                    refKey::Symbol=:simulated,
                                    prior = typeof(factor)( MvNormal(getMeasurementParametric(factor)...) ),
                                    atol::Real = 1e-3,
                                    destPrefix::Symbol = match(r"[a-zA-Z_]+", destRegex.pattern).match |> Symbol,
                                    srcNumber = match(r"\d+", string(srcLabel)).match |> x->parse(Int,x),
                                    overridePPE=nothing  )
                                    overridePPE = doRef ? nothing : zeros(getDimension(destType))  )
  #

  refVal = if overridePPE !== nothing

@@ -484,7 +484,7 @@

  if :ut in fieldnames(T)	
    Base.depwarn("Field `ut` (microseconds) for variable type ($T) has been deprecated please use DFGVariable.nstime, kwarg: nanosecondtime", :addVariable!)	
    if isnothing(nanosecondtime)
      varType.ut == -9999999999 && error("please define a time for type $(T), use FGVariable.nstime, kwarg: nanosecondtime")
      varType.ut == -(2^(Sys.WORD_SIZE-1)-1) && error("please define a time for type $(T), use FGVariable.nstime, kwarg: nanosecondtime")
      nanosecondtime = Nanosecond(varType.ut*1000)	
    else 	
      @warn "Nanosecond time has been specified as $nanosecondtime, ignoring `ut` field value: $(varType.ut)."	

@@ -88,7 +88,7 @@

    Z = s.z
    @info "getMeasurementParametric falls back to using field `.z` by default. Extend it for more complex factors." maxlog=1
  else
    error("$(typeof(s)) not supported, please use non-parametric or open an issue if it should be")
    error("getMeasurementParametric(::$(typeof(s))) not defined, please add it, or use non-parametric, or open an issue for help.")
  end
  
  return getMeasurementParametric(Z)

@@ -37,6 +37,7 @@

DevNotes:
- Generalize to scalar fields on any Manifold.
- Generalize to vector fields if interpolation is sensible.
- TODO standardize with AliasingScalarSampler see IIF #1341
"""
struct HeatmapGridDensity{T <: Real, H <: Union{<:Function, Nothing}, B <: Union{ManifoldKernelDensity, BallTreeDensity}}
  """intensity data, on regular grid"""

@@ -14,7 +14,7 @@

  dimID::Int = 0
  reference::NothingUnion{Dict{Symbol, Tuple{Symbol, Vector{Float64}}}} = nothing
  stateless::Bool = false
  qfl::Int = 99999999999            # Quasi fixed length
  qfl::Int = (2^(Sys.WORD_SIZE-1)-1)# Quasi fixed length
  isfixedlag::Bool = false          # true when adhering to qfl window size for solves
  limitfixeddown::Bool = false      # if true, then fixed lag will also not update marginalized during down (default false)
  incremental::Bool = true          # use incremental tree updates, TODO consolidate with recycling

@@ -21,7 +21,7 @@

Get the grid positions at the specified height (within the provided spreads)

DevNotes
- TODO Should this be consolidated with AliasingScalarSampler?
- TODO Should this be consolidated with AliasingScalarSampler? See IIF #1341
"""
function sampleHeatmap( roi::AbstractMatrix{<:Real},
                        x_grid::AbstractVector{<:Real}, 

@@ -352,7 +352,7 @@

"""
function dontMarginalizeVariablesAll!(fgl::AbstractDFG)
  fgl.solverParams.isfixedlag = false
  fgl.solverParams.qfl = 9999999999
  fgl.solverParams.qfl = (2^(Sys.WORD_SIZE-1)-1)
  fgl.solverParams.limitfixeddown = false
  for sym in ls(fgl)
    setMarginalized!(fgl, sym, false)

Files		•	•	•	Coverage
src	4,938	3,812	0	1,126	77.20%
Project Totals (67 files)	4,938	3,812	0	1,126	77.20%

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354	354		firvert::DFGVariable,
355	355		Sj=getSolverData(firvert).separator)::DFGVariable
356	356		#
357		-	firstelim = 99999999999
	357	+	firstelim = (2^(Sys.WORD_SIZE-1)-1)
358	358		for s in Sj
359	359		temp = something(findfirst(isequal(s), elimorder), 0) # findfirst(p, s)
360	360		if (temp < firstelim)

211	211		destType::Type{<:InferenceVariable},
212	212		factor::AbstractRelative;
213	213		srcType::Type{<:InferenceVariable} = getVariableType(fg, srcLabel) \|> typeof,
	214	+	doRef::Bool = true,
214	215		refKey::Symbol=:simulated,
215		-	prior = DFG._getPriorType(srcType)( MvNormal(getPPE(fg[srcLabel], refKey).suggested, diagm(ones(getDimension(srcType)))) ),
	216	+	prior = !doRef ? nothing : DFG._getPriorType(srcType)( MvNormal(getPPE(fg[srcLabel], refKey).suggested, diagm(ones(getDimension(srcType)))) ),
216	217		atol::Real = 1e-2,
217	218		destPrefix::Symbol = match(r"[a-zA-Z_]+", destRegex.pattern).match \|> Symbol,
218	219		srcNumber = match(r"\d+", string(srcLabel)).match \|> x->parse(Int,x),
219		-	overridePPE=nothing )
	220	+	overridePPE = doRef ? nothing : zeros(getDimension(destType)) )
220	221		#
221	222
222	223		refVal = if overridePPE !== nothing

238	239
239	240		# now check if we already have a landmark at this location
240	241		varLms = ls(fg, destRegex) \|> sortDFG
241		-	ppeLms = getPPE.(getVariable.(fg, varLms), refKey) .\|> x->x.suggested
242		-	errmask = ppeLms .\|> ( x -> isapprox(x, refVal; atol=atol) )
243		-	already = any(errmask)
	242	+	already = if doRef
	243	+	ppeLms = getPPE.(getVariable.(fg, varLms), refKey) .\|> x->x.suggested
	244	+	errmask = ppeLms .\|> ( x -> isapprox(x, refVal; atol=atol) )
	245	+	any(errmask)
	246	+	else
	247	+	false
	248	+	end
244	249
245	250		if already
246	251		# does exist, ppe, variableLabel

260	265		destType::Type{<:InferenceVariable},
261	266		factor::AbstractPrior;
262	267		srcType::Type{<:InferenceVariable} = getVariableType(fg, srcLabel) \|> typeof,
	268	+	doRef::Bool = true,
263	269		refKey::Symbol=:simulated,
264	270		prior = typeof(factor)( MvNormal(getMeasurementParametric(factor)...) ),
265	271		atol::Real = 1e-3,
266	272		destPrefix::Symbol = match(r"[a-zA-Z_]+", destRegex.pattern).match \|> Symbol,
267	273		srcNumber = match(r"\d+", string(srcLabel)).match \|> x->parse(Int,x),
268		-	overridePPE=nothing )
	274	+	overridePPE = doRef ? nothing : zeros(getDimension(destType)) )
269	275		#
270	276
271	277		refVal = if overridePPE !== nothing

484	484		if :ut in fieldnames(T)
485	485		Base.depwarn("Field `ut` (microseconds) for variable type ($T) has been deprecated please use DFGVariable.nstime, kwarg: nanosecondtime", :addVariable!)
486	486		if isnothing(nanosecondtime)
487		-	varType.ut == -9999999999 && error("please define a time for type $(T), use FGVariable.nstime, kwarg: nanosecondtime")
	487	+	varType.ut == -(2^(Sys.WORD_SIZE-1)-1) && error("please define a time for type $(T), use FGVariable.nstime, kwarg: nanosecondtime")
488	488		nanosecondtime = Nanosecond(varType.ut*1000)
489	489		else
490	490		@warn "Nanosecond time has been specified as $nanosecondtime, ignoring `ut` field value: $(varType.ut)."

88	88		Z = s.z
89	89		@info "getMeasurementParametric falls back to using field `.z` by default. Extend it for more complex factors." maxlog=1
90	90		else
91		-	error("$(typeof(s)) not supported, please use non-parametric or open an issue if it should be")
	91	+	error("getMeasurementParametric(::$(typeof(s))) not defined, please add it, or use non-parametric, or open an issue for help.")
92	92		end
93	93
94	94		return getMeasurementParametric(Z)

37	37		DevNotes:
38	38		- Generalize to scalar fields on any Manifold.
39	39		- Generalize to vector fields if interpolation is sensible.
	40	+	- TODO standardize with AliasingScalarSampler see IIF #1341
40	41		"""
41	42		struct HeatmapGridDensity{T <: Real, H <: Union{<:Function, Nothing}, B <: Union{ManifoldKernelDensity, BallTreeDensity}}
42	43		"""intensity data, on regular grid"""

14	14		dimID::Int = 0
15	15		reference::NothingUnion{Dict{Symbol, Tuple{Symbol, Vector{Float64}}}} = nothing
16	16		stateless::Bool = false
17		-	qfl::Int = 99999999999 # Quasi fixed length
	17	+	qfl::Int = (2^(Sys.WORD_SIZE-1)-1)# Quasi fixed length
18	18		isfixedlag::Bool = false # true when adhering to qfl window size for solves
19	19		limitfixeddown::Bool = false # if true, then fixed lag will also not update marginalized during down (default false)
20	20		incremental::Bool = true # use incremental tree updates, TODO consolidate with recycling

21	21		Get the grid positions at the specified height (within the provided spreads)
22	22
23	23		DevNotes
24		-	- TODO Should this be consolidated with AliasingScalarSampler?
	24	+	- TODO Should this be consolidated with AliasingScalarSampler? See IIF #1341
25	25		"""
26	26		function sampleHeatmap( roi::AbstractMatrix{<:Real},
27	27		x_grid::AbstractVector{<:Real},

352	352		"""
353	353		function dontMarginalizeVariablesAll!(fgl::AbstractDFG)
354	354		fgl.solverParams.isfixedlag = false
355		-	fgl.solverParams.qfl = 9999999999
	355	+	fgl.solverParams.qfl = (2^(Sys.WORD_SIZE-1)-1)
356	356		fgl.solverParams.limitfixeddown = false
357	357		for sym in ls(fgl)
358	358		setMarginalized!(fgl, sym, false)

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