/// <summary>
/// Calculate the set log-likelihood log(P(Z|X, M)), but do not consider visibility
/// (everything is fully visible). This is used to avoid uninteresting solution to the
/// optimization problem max_X log(P(Z|X, M)). Also gives the pose gradient at the evaluated pose.
/// </summary>
/// <param name="measurements">Sensor measurements in pixel-range form.</param>
/// <param name="map">Map model.</param>
/// <param name="pose">Vehicle pose.</param>
/// <param name="calcgradient">If true, calculate the gradient; otherwise, the gradient param will be null.</param>
/// <param name="gradient">Log-likelihood gradient wrt. the pose.</param>
/// <returns>Set log-likelihood.</returns>
private static double quasiSetLogLikelihood(List <MeasurementT> measurements, IMap map,
SimulatedVehicle <MeasurerT, PoseT, MeasurementT> pose,
bool calcgradient, out double[] gradient)
{
// exact calculation if there are few components/measurements;
// use the most probable components approximation otherwise
SparseMatrix llmatrix = new SparseMatrix(map.Count + measurements.Count, map.Count + measurements.Count, double.NegativeInfinity);
var dlldp = new SparseMatrix <double[]>();
if (calcgradient)
{
dlldp = new SparseMatrix <double[]>(map.Count + measurements.Count, map.Count + measurements.Count, new double[OdoSize]);
}
double logPD = Math.Log(pose.PD);
double log1PD = Math.Log(1 - pose.PD);
double logclutter = Math.Log(pose.ClutterDensity);
Gaussian[] zprobs = new Gaussian[map.Count];
double[][][] zjacobians = (calcgradient) ? new double[map.Count][][] : null;
int n = 0;
foreach (Gaussian landmark in map)
{
MeasurementT m = pose.Measurer.MeasurePerfect(pose.Pose, landmark.Mean);
double[] mlinear = m.ToLinear();
zprobs[n] = new Gaussian(mlinear, pose.MeasurementCovariance, 1);
n++;
}
if (calcgradient)
{
n = 0;
foreach (Gaussian landmark in map)
{
zjacobians[n] = pose.Measurer.MeasurementJacobianP(pose.Pose, landmark.Mean);
n++;
}
}
if (calcgradient)
{
for (int i = 0; i < zprobs.Length; i++)
{
for (int k = 0; k < measurements.Count; k++)
{
double[] m = measurements[k].ToLinear();
double d = zprobs[i].Mahalanobis(m);
if (d < 12)
{
// prob = log (pD * zprob(measurement))
// this way multiplying probabilities equals to adding (negative) profits
llmatrix[i, k] = logPD + Math.Log(zprobs[i].Multiplier) - 0.5 * d * d;
dlldp [i, k] = (m.Subtract(zprobs[i].Mean)).Transpose().
Multiply(zprobs[i].CovarianceInverse).
Multiply(zjacobians[i]).
GetRow(0);
}
}
}
}
else
{
for (int i = 0; i < zprobs.Length; i++)
{
for (int k = 0; k < measurements.Count; k++)
{
double[] m = measurements[k].ToLinear();
double d = zprobs[i].Mahalanobis(m);
if (d < 12)
{
// prob = log (pD * zprob(measurement))
// this way multiplying probabilities equals to adding (negative) profits
llmatrix[i, k] = logPD + Math.Log(zprobs[i].Multiplier) - 0.5 * d * d;
}
}
}
}
for (int i = 0; i < map.Count; i++)
{
llmatrix[i, measurements.Count + i] = log1PD;
}
for (int i = 0; i < measurements.Count; i++)
{
llmatrix[map.Count + i, i] = logclutter;
}
List <SparseMatrix> connectedfull = GraphCombinatorics.ConnectedComponents(llmatrix);
double[] logcomp = new double[200];
double[][] dlogcompdp = (calcgradient) ? new double[200][] : null;
double total = 0;
gradient = (calcgradient) ? new double[OdoSize] : null;
for (int i = 0; i < connectedfull.Count; i++)
{
int[] rows;
int[] cols;
SparseMatrix component = connectedfull[i].Compact(out rows, out cols);
SparseMatrix <double[]> dcomp = (calcgradient) ? dlldp.Submatrix(rows, cols) : null;
// fill the (Misdetection x Clutter) quadrant of the matrix with zeros (don't contribute)
// NOTE this is filled after the connected components partition because
// otherwise everything would be connected through this quadrant
for (int k = 0; k < rows.Length; k++)
{
if (rows[k] >= map.Count)
{
for (int h = 0; h < cols.Length; h++)
{
if (cols[h] >= measurements.Count)
{
component[k, h] = 0;
}
}
}
}
IEnumerable <Tuple <int[], double> > assignments;
bool enumerateall = false;
if (component.Rows.Count <= 5)
{
assignments = GraphCombinatorics.LexicographicalPairing(component, map.Count);
enumerateall = true;
}
else
{
assignments = GraphCombinatorics.MurtyPairing(component);
enumerateall = false;
}
int m = 0;
if (calcgradient)
{
foreach (Tuple <int[], double> assignment in assignments)
{
if (m >= logcomp.Length || (!enumerateall && logcomp[m] - logcomp[0] < -10))
{
break;
}
logcomp [m] = assignment.Item2;
dlogcompdp[m] = new double[OdoSize];
for (int p = 0; p < assignment.Item1.Length; p++)
{
dlogcompdp[m] = dlogcompdp[m].Add(dcomp[p, assignment.Item1[p]]);
}
m++;
}
}
else
{
foreach (Tuple <int[], double> assignment in assignments)
{
if (m >= logcomp.Length || (!enumerateall && logcomp[m] - logcomp[0] < -10))
{
break;
}
logcomp[m] = assignment.Item2;
m++;
}
}
total += logcomp.LogSumExp(0, m);
if (calcgradient)
{
gradient = gradient.Add(dlogcompdp.TemperedAverage(logcomp, 0, m));
}
}
return(total);
}
/// <summary>
/// Find the data association labels from the new valid measurements and
/// the internal previous map model using Mahalanobis association.
/// </summary>
/// <param name="measurements">New measurements.</param>
/// <returns>Association labels.</returns>
public List <int> FindLabels(List <MeasurementT> measurements)
{
if (DAAlgorithm == DataAssociationAlgorithm.Perfect)
{
if (!RefVehicle.HasDataAssociation)
{
var exception = new InvalidOperationException("Tried to use perfect data association when none exists.");
exception.Data["module"] = "association";
throw exception;
}
return(RefVehicle.DataAssociation);
}
double[][] I = 0.001.Multiply(Accord.Math.Matrix.Identity(3).ToArray());
bool[] keepcandidate = new bool[CandidateMapModel.Count];
double[][] R;
Gaussian[] q;
Gaussian[] qcandidate;
var pose = BestEstimate;
IndexedMap visible = new IndexedMap(3);
List <int> visibleLandmarks = new List <int>();
for (int i = 0; i < MapModel.Count; i++)
{
if (pose.Visible(MapModel[i].Mean))
{
visible.Add(MapModel[i]);
visibleLandmarks.Add(i);
}
}
double logPD = Math.Log(pose.PD);
double logclutter = Math.Log(pose.ClutterDensity);
int n = visible.Count + CandidateMapModel.Count;
int m = visible.Count + CandidateMapModel.Count + measurements.Count;
// distances(i, k) = distance between landmark i and measurements k
SparseMatrix distances = new SparseMatrix(n, n, double.NegativeInfinity);
int candidatecount = CandidateMapModel.Count;
// candidate count at the beggining of the process
// this is so the measurements aren't compared with other measurements
// (if one gets promoted to candidate, the next one could think it's similar to it
// but that isn't sensible: one landmark -> hopefully one measurement)
R = pose.MeasurementCovariance;
q = new Gaussian[visible.Count];
qcandidate = new Gaussian[CandidateMapModel.Count];
for (int i = 0; i < q.Length; i++)
{
Gaussian component = visible[i];
if (DAAlgorithm == DataAssociationAlgorithm.Mahalanobis)
{
q[i] = new Gaussian(pose.Measurer.MeasurePerfect(pose.Pose, component.Mean).ToLinear(),
plmodel[visibleLandmarks[i]].Covariance,
1.0);
}
else
{
q[i] = new Gaussian(component.Mean, I, 1.0);
}
}
for (int i = 0; i < qcandidate.Length; i++)
{
Gaussian component = CandidateMapModel[i];
if (DAAlgorithm == DataAssociationAlgorithm.Mahalanobis)
{
// assume the covariance is zero, since there's nothing better to assume here
// note that this is more stringent on the unproven data, as they are given
// less leeway for noise than the already associated landmark
qcandidate[i] = new Gaussian(pose.Measurer.MeasurePerfect(pose.Pose, component.Mean).ToLinear(),
R, component.Weight);
}
else
{
qcandidate[i] = new Gaussian(component.Mean, I, 1.0);
}
}
Gaussian[] vlandmarks = q.Concatenate(qcandidate);
for (int i = 0; i < n; i++)
{
for (int k = 0; k < measurements.Count; k++)
{
double distance2;
if (DAAlgorithm == DataAssociationAlgorithm.Mahalanobis)
{
distance2 = vlandmarks[i].SquareMahalanobis(measurements[k].ToLinear());
}
else
{
distance2 = vlandmarks[i].Mean.SquareEuclidean(pose.Measurer.MeasureToMap(pose.Pose, measurements[k]));
}
if (distance2 < MatchThreshold * MatchThreshold)
{
distances[i, k] = logPD + Math.Log(vlandmarks[i].Multiplier) - 0.5 * distance2;
}
}
}
for (int i = 0; i < vlandmarks.Length; i++)
{
distances[i, measurements.Count + i] = logPD;
}
for (int i = 0; i < measurements.Count; i++)
{
distances[vlandmarks.Length + i, i] = logclutter;
}
// fill the (Misdetection x Clutter) quadrant of the matrix with zeros (don't contribute)
for (int i = vlandmarks.Length; i < m; i++)
{
for (int k = measurements.Count; k < m; k++)
{
distances[i, k] = 0;
}
}
int[] assignments = GraphCombinatorics.LinearAssignment(distances);
// the assignment vector after removing all the clutter variables
List <int> labels = new List <int>();
for (int i = 0; i < measurements.Count; i++)
{
labels.Add(int.MinValue);
}
// proved landmark
for (int i = 0; i < visible.Count; i++)
{
if (assignments[i] < measurements.Count)
{
labels[assignments[i]] = visibleLandmarks[i];
}
}
// candidate landmark
for (int i = visible.Count; i < vlandmarks.Length; i++)
{
if (assignments[i] < measurements.Count)
{
int k = i - visible.Count;
labels[assignments[i]] = -k - 1;
// negative labels are for candidates,
// note that zero is already occupied by the associated landmarks
// improve the estimated landmark by averaging with the new measurement
double w = CandidateMapModel[k].Weight;
CandidateMapModel[k] =
new Gaussian((CandidateMapModel[k].Mean.Multiply(w).Add(
BestEstimate.Measurer.MeasureToMap(BestEstimate.Pose, measurements[assignments[i]]))).Divide(w + 1),
I,
w + 1);
// note the comparison between double and int
// since the weight is only used with integer values (and addition by one)
// there should never be any truncation error, at least while
// the number has less than 23/52 bits (for float/double);
// this amounts to 8388608 and 4.5e15 so it should be always ok.
// In fact, the gtsam key system fails before that
// (it uses three bytes for numbering, one for character)
if (CandidateMapModel[k].Weight >= NewLandmarkThreshold)
{
labels[assignments[i]] = NextLabel;
}
else
{
keepcandidate[k] = true;
// only keep candidates that haven't been added, but are still visible
}
}
}
// else: unmatched measurements, add to candidates
for (int i = 0; i < measurements.Count; i++)
{
if (labels[i] == int.MinValue)
{
// if far from everything, generate a new candidate at the measured point
// note that the covariance is assumed zero, though that would throw an exception,
// as it doesn't have an inverse, so the identity is used instead (dummy value)
CandidateMapModel.Add(new Gaussian(BestEstimate.Measurer.MeasureToMap(BestEstimate.Pose, measurements[i]), I, 1));
if (NewLandmarkThreshold <= 1)
{
CandidateMapModel.RemoveAt(CandidateMapModel.Count - 1);
labels[i] = NextLabel;
}
}
}
// anything that wasn't seen goes away, it was clutter
for (int i = keepcandidate.Length - 1; i >= 0; i--)
{
if (!keepcandidate[i])
{
CandidateMapModel.RemoveAt(i);
}
}
return(labels);
}
/// <summary>
/// Calculate the set log-likelihood log(P(Z|X, M)).
/// </summary>
/// <param name="measurements">Sensor measurements in pixel-range form.</param>
/// <param name="map">Map model.</param>
/// <param name="pose">Vehicle pose.</param>
/// <returns>Set log-likelihood.</returns>
public static double SetLogLikelihood(List <MeasurementT> measurements, IMap map,
SimulatedVehicle <MeasurerT, PoseT, MeasurementT> pose)
{
// exact calculation if there are few components/measurements;
// use the most probable components approximation otherwise
SparseMatrix llmatrix = SetLogLikeMatrix(measurements, map, pose);
List <SparseMatrix> connectedfull = GraphCombinatorics.ConnectedComponents(llmatrix);
double[] logcomp = new double[200];
double total = 0;
for (int i = 0; i < connectedfull.Count; i++)
{
int[] rows;
int[] cols;
SparseMatrix component = connectedfull[i].Compact(out rows, out cols);
// fill the (Misdetection x Clutter) quadrant of the matrix with zeros (don't contribute)
// NOTE this is filled after the connected components partition because
// otherwise everything would be connected through this quadrant
for (int k = 0; k < rows.Length; k++)
{
if (rows[k] >= map.Count)
{
for (int h = 0; h < cols.Length; h++)
{
if (cols[h] >= measurements.Count)
{
component[k, h] = 0;
}
}
}
}
IEnumerable <Tuple <int[], double> > assignments;
bool enumerateall = false;
if (component.Rows.Count <= 5)
{
assignments = GraphCombinatorics.LexicographicalPairing(component, map.Count);
enumerateall = true;
}
else
{
assignments = GraphCombinatorics.MurtyPairing(component);
enumerateall = false;
}
int m = 0;
foreach (Tuple <int[], double> assignment in assignments)
{
if (m >= logcomp.Length || (!enumerateall && logcomp[m] - logcomp[0] < -10))
{
break;
}
logcomp[m] = assignment.Item2;
m++;
}
total += logcomp.LogSumExp(0, m);
}
return(total);
}
