Experimental Parametric RANSAC solver

Author: Affie

IncrementalInference/src/IncrementalInference.jl

@@ -218,6 +218,7 @@ include("parametric/services/ParametricCSMFunctions.jl")
 include("parametric/services/ParametricUtils.jl")
 include("parametric/services/ParametricOptim.jl")
 include("parametric/services/ParametricManopt.jl")
+include("parametric/services/ParametricRANSAC.jl")
 include("services/MaxMixture.jl")
 
 #X-stroke

IncrementalInference/src/parametric/services/ParametricRANSAC.jl

@@ -0,0 +1,122 @@
+
+#TODO upstream to DFG
+function listNeighborhood(fg, variableFactorLabels, distance; filterOrphans=true)
+    allvarfacs = getNeighborhood(fg, variableFactorLabels, distance)
+    variableLabels = intersect(listVariables(fg), allvarfacs)
+    factorLabels = intersect(listFactors(fg), allvarfacs)
+    if filterOrphans
+        filter!(factorLabels) do lbl
+            issubset(getVariableOrder(fg, lbl), variableLabels)
+        end
+    end
+    return  variableLabels, factorLabels
+end
+
+function calcResidualInliers(subfg, faclabels; kσ=1)
+    varlabels =  setdiff(getNeighborhood(subfg, faclabels, 1), faclabels)
+
+    vars = getVariable.(subfg, varlabels)
+    M, varTypes, vartypeslist = IIF.buildGraphSolveManifold(vars)
+    varIntLabel, varlabelsAP = IIF.getVarIntLabelMap(vartypeslist)
+
+    p0 = map(varlabelsAP) do label
+        getVal(subfg, label, solveKey = :parametric)[1]
+    end
+
+    # create an ArrayPartition{CalcFactorResidual} for faclabels
+    calcfacs = IIF.CalcFactorResidualAP(subfg, faclabels, varIntLabel)
+
+    # remember res = cf.sqrt_iΣ * factor res with calcfacs, so should be sigma scaled
+    res = reduce(vcat, map(f -> f(p0), Vector(calcfacs)))
+    # findfirst(==(median(res)), res)
+
+    res_labels = getproperty.(Vector(calcfacs), :faclbl)
+    # findfirst(==(:cD1l2000cD1l2000_cD1l5611f1), res_labels)
+
+    # 3
+    inlierlabels = deepcopy(res_labels)
+    for (i,l) in (enumerate(faclabels))
+        if abs(res[i]) > kσ
+            setdiff!(inlierlabels, [l])
+        end
+    end
+    
+    return res_labels.=>res, inlierlabels
+end
+
+function solveGraphParametricRansac!(
+    fg,
+    comb_on_fac_labels,
+    min_factors = 3,
+    include_vars = Symbol[];
+    n_iters = 50,
+    stop_ratio = 0.7, 
+    kwargs...
+)
+    # intersect!(comb_on_fac_labels, listNeighbors(fg, ls(fg, r"^x")[1]))
+    all_fac_combinations = combinations(comb_on_fac_labels, min_factors)
+
+    do_combinations = length(all_fac_combinations) < n_iters ?
+        collect(all_fac_combinations) : rand(collect(all_fac_combinations), n_iters)
+        # collect(all_fac_combinations) : all_fac_combinations[rand(1:length(all_fac_combinations), n_iters)]
+
+    best_ratio = 0.0
+    best_inlierlabels = Symbol[]
+    for (i, maybe_inliers) = enumerate(do_combinations)
+
+        solveVariableLabels, solveFactorLabels = listNeighborhood(fg, union(include_vars, maybe_inliers), 2)
+        
+        # TODO do better
+        subfg = deepcopy(fg)
+        # @info solveFactorLabels
+        # M, v, r, Σ = IIF.solve_RLM(fg, variableLabels, factorLabels;
+        try
+            IIF.solveGraphParametric!(subfg, solveVariableLabels, solveFactorLabels; kwargs...)
+            # IIF.solveGraphParametric!(subfg, kwargs...)
+        catch er
+            @warn "Error on iter $i" er
+            continue
+        end
+
+        residuals, inlierlabels = calcResidualInliers(subfg, comb_on_fac_labels)
+
+        ratio_inliers = length(inlierlabels) ./ length(comb_on_fac_labels)
+
+        if ratio_inliers > best_ratio
+            best_ratio = ratio_inliers
+            @info "new best $best_ratio"
+            best_inlierlabels = inlierlabels
+        end
+        if ratio_inliers > stop_ratio
+            @info "stop ratio met $best_ratio"
+            break
+        end
+        # res_vals = last.(residuals)
+
+    end
+    try 
+        solveVariableLabels, solveFactorLabels = listNeighborhood(fg, union(include_vars, best_inlierlabels), 2)
+        IIF.solveGraphParametric!(fg, solveVariableLabels, solveFactorLabels; kwargs...)
+    catch er
+        @error "solveGraphParametric of inliers failed" er
+    end
+
+    return best_inlierlabels
+end
+
+if false
+## get factor residuals to solve with
+comb_on_fac_labels = lsfTypesDict(subfg)[:Pose2Point2Bearing]
+# intersect!(faclabels, listNeighbors(subfg, ls(subfg, r"^cD1l\d+$")[1]))
+stopping_criterion=StopAfterIteration(100) | StopWhenGradientNormLess(1e-12) | StopWhenStepsizeLess(1e-12)
+
+inlierlabels = solveGraphParametricRansac!(subfg, comb_on_fac_labels;
+    n_iters = 500,
+    stopping_criterion,
+    # debug,
+    is_sparse=false,
+    damping_term_min=1e-12,
+    finiteDiffCovariance=true
+)
+
+end