Merge pull request #1749 from JuliaRobotics/23Q3/ext/flux

weakdeps FluxFactorsExt, drop Requires

Author: dehann

Project.toml

@@ -37,7 +37,6 @@ ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
-Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 SparseDiffTools = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
@@ -51,12 +50,14 @@ UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
 [weakdeps]
 DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
+Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"
 Gadfly = "c91e804a-d5a3-530f-b6f0-dfbca275c004"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
 
 [extensions]
 DiffEqFactorExt = "DifferentialEquations"
+FluxFactorsExt = "Flux"
 GadflyExt = "Gadfly"
 InteractiveUtilsExt = "InteractiveUtils"
 InterpolationsExt = "Interpolations"
@@ -88,17 +89,15 @@ PrecompileTools = "1"
 ProgressMeter = "1"
 RecursiveArrayTools = "2.31.1"
 Reexport = "1"
-Requires = "1"
 SparseDiffTools = "2"
 StaticArrays = "1"
 StatsBase = "0.32, 0.33, 0.34"
 StructTypes = "1"
 TensorCast = "0.3.3, 0.4"
 TimeZones = "1.3.1"
-julia = "1.8"
+julia = "1.9"
 
 [extras]
-Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 LineSearches = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"
 Manopt = "0fc0a36d-df90-57f3-8f93-d78a9fc72bb5"

ext/DiffEqFactorExt.jl

@@ -111,7 +111,7 @@ function _solveFactorODE!(measArr, prob, u0pts, Xtra...)
   return sol
 end
 
-getSample(cf::CalcFactor{<:DERelative}) = error("getSample(::CalcFactor{<:DERelative}) not implemented yet")
+getSample(cf::CalcFactor{<:DERelative}) = error("getSample(::CalcFactor{<:DERelative}) must still be implemented in new IIF design")
 
 # FIXME see #1025, `multihypo=` will not work properly yet
 function sampleFactor(cf::CalcFactor{<:DERelative}, N::Int = 1)

src/Flux/FluxModelsDistribution.jl renamed to ext/FluxFactorsExt.jl

@@ -1,18 +1,30 @@
+module FluxFactorsExt
 
-@info "IncrementalInference is adding Flux related functionality."
 
-# the factor definitions
-export FluxModelsDistribution
-export MixtureFluxModels
+@info "IncrementalInference is loading extension functionality related to Flux.jl"
 
 # Required packages
-using .Flux
+using Flux
 using DataStructures: OrderedDict
-using Random, Statistics
+using LinearAlgebra
+using Base64
+using Manifolds
+using DocStringExtensions
+using BSON
+
+import Base: convert
 
 # import Base: convert
+using Random, Statistics
 import Random: rand
 
+using IncrementalInference
+import IncrementalInference: samplePoint, sampleTangent, MixtureFluxModels, getSample
+
+# the factor definitions
+# export FluxModelsDistribution
+export MixtureFluxModels
+
 const _IIFListTypes = Union{<:AbstractVector, <:Tuple, <:NTuple, <:NamedTuple}
 
 function Random.rand(nfb::FluxModelsDistribution, N::Integer = 1)
@@ -164,3 +176,8 @@ function MixtureFluxModels(::Type{F}, w...; kw...) where {F <: AbstractFactor}
 end
 
 #
+
+include("FluxModelsSerialization.jl")
+
+
+end # module

src/Serialization/services/FluxModelsSerialization.jl renamed to ext/FluxModelsSerialization.jl

@@ -2,9 +2,6 @@
 
 # @info "IncrementalInference is adding Flux/BSON serialization functionality."
 
-using Base64
-
-import Base: convert
 
 function _serializeFluxModelBase64(model::Flux.Chain)
   io = IOBuffer()

ext/HeatmapSampler.jl

@@ -1,5 +1,110 @@
 # heatmap sampler (experimental)
 
+
+(hmd::HeatmapGridDensity)(w...; kw...) = hmd.densityFnc(w...; kw...)
+
+function sampleTangent(M::AbstractManifold, hms::HeatmapGridDensity)
+  return sampleTangent(M, hms.densityFnc)
+end
+
+function Base.show(io::IO, x::HeatmapGridDensity{T, H, B}) where {T, H, B}
+  printstyled(io, "HeatmapGridDensity{"; bold = true, color = :blue)
+  println(io)
+  printstyled(io, "    T"; color = :magenta, bold = true)
+  println(io, "      = ", T)
+  printstyled(io, "    H"; color = :magenta, bold = true)
+  println(io, "`int  = ", H)
+  printstyled(io, "    B"; color = :magenta, bold = true)
+  println(io, "      = ", B)
+  printstyled(io, " }"; color = :blue, bold = true)
+  println(io, "(")
+  println(io, "  data:       ", size(x.data))
+  println(
+    io,
+    "    min/max:    ",
+    round(minimum(x.data); digits = 5),
+    " / ",
+    round(maximum(x.data); digits = 5),
+  )
+  println(io, "  domain:     ", size(x.domain[1]), ", ", size(x.domain[2]))
+  println(
+    io,
+    "    min/max:    ",
+    round(minimum(x.domain[1]); digits = 5),
+    " / ",
+    round(maximum(x.domain[1]); digits = 5),
+  )
+  println(
+    io,
+    "    min/max:    ",
+    round(minimum(x.domain[2]); digits = 5),
+    " / ",
+    round(maximum(x.domain[2]); digits = 5),
+  )
+  println(io, "  bw_factor:  ", x.bw_factor)
+  print(io, "  ")
+  show(io, x.densityFnc)
+  return nothing
+end
+
+Base.show(io::IO, ::MIME"text/plain", x::HeatmapGridDensity) = show(io, x)
+Base.show(io::IO, ::MIME"application/prs.juno.inline", x::HeatmapGridDensity) = show(io, x)
+
+"""
+    $SIGNATURES
+
+Internal function for updating HGD.  
+  
+Notes
+- Likely to be used for [unstashing packed factors](@ref section_stash_unstash) via [`preambleCache`](@ref).
+- Counterpart to `AMP._update!` function for stashing of either MKD or HGD.
+"""
+function _update!(
+  dst::HeatmapGridDensity{T, H, B},
+  src::HeatmapGridDensity{T, H, B},
+) where {T, H, B}
+  @assert size(dst.data) == size(src.data) "Updating HeatmapDensityGrid can only be done for data of the same size"
+  dst.data .= src.data
+  if !isapprox(dst.domain[1], src.domain[1])
+    dst.domain[1] .= src.domain[1]
+  end
+  if !isapprox(dst.domain[2], src.domain[2])
+    dst.domain[2] .= src.domain[2]
+  end
+  AMP._update!(dst.densityFnc, src.densityFnc)
+  return dst
+end
+
+
+##
+
+(lsg::LevelSetGridNormal)(w...; kw...) = lsg.densityFnc(w...; kw...)
+
+function sampleTangent(M::AbstractManifold, lsg::LevelSetGridNormal)
+  return sampleTangent(M, lsg.heatmap.densityFnc)
+end
+
+function Base.show(io::IO, x::LevelSetGridNormal{T, H}) where {T, H}
+  printstyled(io, "LevelSetGridNormal{"; bold = true, color = :blue)
+  println(io)
+  printstyled(io, "    T"; color = :magenta, bold = true)
+  println(io, "      = ", T)
+  printstyled(io, "    H"; color = :magenta, bold = true)
+  println(io, "`int  = ", H)
+  printstyled(io, " }"; color = :blue, bold = true)
+  println(io, "(")
+  println(io, "  level:      ", x.level)
+  println(io, "  sigma:      ", x.sigma)
+  println(io, "  sig.scale:  ", x.sigma_scale)
+  println(io, "  heatmap:    ")
+  show(io, x.heatmap)
+  return nothing
+end
+
+Base.show(io::IO, ::MIME"text/plain", x::LevelSetGridNormal) = show(io, x)
+Base.show(io::IO, ::MIME"application/prs.juno.inline", x::LevelSetGridNormal) = show(io, x)
+
+
 ##
 
 getManifold(hgd::HeatmapGridDensity) = getManifold(hgd.densityFnc)

ext/InterpolationsExt.jl

@@ -11,7 +11,8 @@ using ApproxManifoldProducts
 import ApproxManifoldProducts: sample
 const AMP = ApproxManifoldProducts
 
-import IncrementalInference: getManifold
+import Base: show
+import IncrementalInference: getManifold, sampleTangent
 import IncrementalInference: HeatmapGridDensity, PackedHeatmapGridDensity
 import IncrementalInference: LevelSetGridNormal, PackedLevelSetGridNormal
 

ext/WeakDepsPrototypes.jl

@@ -1,31 +1,6 @@
 
-"""
-    $TYPEDEF
-
-Build a full ODE solution into a relative factor to condense possible sensor data into a relative transformation,
-but keeping the parameter estimation process fluid.  Assumes first and second variable in order 
-are of same dimension and compatible manifolds, such that ODE runs from Xi to Xi+1 on all
-dimensions.  Internal state vector can be decoupled onto different domain as needed.
-
-Notes
-- Based on DifferentialEquations.jl
-- `getSample` step does the `solve(ODEProblem)` step.
-- `tspan` is taken from variables only once at object construction -- i.e. won't detect changed timestamps.
-- Regular factor evaluation is done as full dimension `AbstractRelativeRoots`, and is basic linear difference.
-
-DevNotes
-- FIXME see 1025, `multihypo=` will not yet work. 
-- FIXME Lots of consolidation and standardization to do, see RoME.jl #244 regarding Manifolds.jl.
-- TODO does not yet handle case where a factor spans across two timezones.
-"""
-struct DERelative{T <: InferenceVariable, P, D} <: AbstractRelativeMinimize
-  domain::Type{T}
-  forwardProblem::P
-  backwardProblem::P
-  # second element of this data tuple is additional variables that will be passed down as a parameter
-  data::D
-  specialSampler::Function
-end
+# Flux.jl
+function MixtureFluxModels end
 
 # InteractiveUtils.jl
 function getCurrentWorkspaceFactors end