RANSAC Outlier Detection

CMakeLists.txt

@@ -40,6 +40,7 @@ set(albatross_HEADERS
     albatross/tuning_metrics.h
     albatross/map_utils.h
     albatross/csv_utils.h
+    albatross/outlier.h
     albatross/core/keys.h
     albatross/core/dataset.h
     albatross/core/model.h

albatross/core/indexing.h

@@ -15,15 +15,17 @@
 
 #include "core/dataset.h"
 #include <Eigen/Core>
+#include <algorithm>
 #include <functional>
 #include <iostream>
+#include <iterator>
 #include <map>
+#include <numeric>
 #include <vector>
 
 namespace albatross {
 
-using s32 = int32_t;
-using FoldIndices = std::vector<s32>;
+using FoldIndices = std::vector<std::size_t>;
 using FoldName = std::string;
 using FoldIndexer = std::map<FoldName, FoldIndices>;
 
@@ -83,7 +85,7 @@ inline Eigen::MatrixXd subset(const std::vector<SizeType> &row_indices,
       auto ii = static_cast<Eigen::Index>(i);
       auto jj = static_cast<Eigen::Index>(j);
       auto row_index = static_cast<Eigen::Index>(row_indices[i]);
-      auto col_index = static_cast<Eigen::Index>(col_indices[i]);
+      auto col_index = static_cast<Eigen::Index>(col_indices[j]);
       out(ii, jj) = v(row_index, col_index);
     }
   }
@@ -141,20 +143,26 @@ template <typename FeatureType> struct RegressionFold {
         test_indices(test_indices_){};
 };
 
-inline FoldIndices get_train_indices(const FoldIndices &test_indices,
-                                     const int n) {
-  const s32 k = static_cast<s32>(test_indices.size());
-  // The train indices are all the indices that are not test indices.
-  FoldIndices train_indices(n - k);
-  s32 train_cnt = 0;
-  for (s32 j = 0; j < n; j++) {
-    if (std::find(test_indices.begin(), test_indices.end(), j) ==
-        test_indices.end()) {
-      train_indices[train_cnt] = j;
-      train_cnt++;
-    }
-  }
-  return train_indices;
+template <typename X>
+inline std::vector<X> vector_set_difference(const std::vector<X> &x,
+                                            const std::vector<X> &y) {
+  std::vector<X> diff;
+  std::set_difference(x.begin(), x.end(), y.begin(), y.end(),
+                      std::inserter(diff, diff.begin()));
+  return diff;
+}
+
+/*
+ * Computes the indices between 0 and n - 1 which are NOT contained
+ * in `indices`.  Here complement is the mathematical interpretation
+ * of the word meaning "the part required to make something whole".
+ * In other words, indices and indices_complement(indices) should
+ * contain all the numbers between 0 and n-1
+ */
+inline FoldIndices indices_complement(const FoldIndices &indices, const int n) {
+  FoldIndices all_indices(n);
+  std::iota(all_indices.begin(), all_indices.end(), 0);
+  return vector_set_difference(all_indices, indices);
 }
 
 /*
@@ -168,7 +176,7 @@ static inline std::vector<RegressionFold<FeatureType>>
 folds_from_fold_indexer(const RegressionDataset<FeatureType> &dataset,
                         const FoldIndexer &groups) {
   // For a dataset with n features, we'll have n folds.
-  const s32 n = static_cast<s32>(dataset.features.size());
+  const std::size_t n = dataset.features.size();
   std::vector<RegressionFold<FeatureType>> folds;
   // For each fold, partition into train and test sets.
   for (const auto &pair : groups) {
@@ -177,7 +185,7 @@ folds_from_fold_indexer(const RegressionDataset<FeatureType> &dataset,
     // from changing the input FoldIndexer we perform a copy here.
     const FoldName group_name(pair.first);
     const FoldIndices test_indices(pair.second);
-    const auto train_indices = get_train_indices(test_indices, n);
+    const auto train_indices = indices_complement(test_indices, n);
 
     std::vector<FeatureType> train_features =
         subset(train_indices, dataset.features);
@@ -205,7 +213,7 @@ template <typename FeatureType>
 static inline FoldIndexer
 leave_one_out_indexer(const RegressionDataset<FeatureType> &dataset) {
   FoldIndexer groups;
-  for (s32 i = 0; i < static_cast<s32>(dataset.features.size()); i++) {
+  for (std::size_t i = 0; i < dataset.features.size(); i++) {
     FoldName group_name = std::to_string(i);
     groups[group_name] = {i};
   }
@@ -221,9 +229,8 @@ static inline FoldIndexer leave_one_group_out_indexer(
     const RegressionDataset<FeatureType> &dataset,
     const std::function<FoldName(const FeatureType &)> &get_group_name) {
   FoldIndexer groups;
-  for (s32 i = 0; i < static_cast<s32>(dataset.features.size()); i++) {
-    const std::string k =
-        get_group_name(dataset.features[static_cast<std::size_t>(i)]);
+  for (std::size_t i = 0; i < dataset.features.size(); i++) {
+    const std::string k = get_group_name(dataset.features[i]);
     // Get the existing indices if we've already encountered this group_name
     // otherwise initialize a new one.
     FoldIndices indices;

albatross/core/model.h

@@ -66,8 +66,7 @@ class RegressionModel : public ParameterHandlingMixin {
   void fit(const std::vector<FeatureType> &features,
            const MarginalDistribution &targets) {
     assert(features.size() > 0);
-    assert(static_cast<s32>(features.size()) ==
-           static_cast<s32>(targets.size()));
+    assert(features.size() == static_cast<std::size_t>(targets.size()));
     fit_(features, targets);
     has_been_fit_ = true;
   }
@@ -174,8 +173,7 @@ class RegressionModel : public ParameterHandlingMixin {
           detail::PredictTypeIdentity<JointDistribution> &&identity) const {
     assert(has_been_fit());
     JointDistribution preds = predict_(features);
-    assert(static_cast<s32>(preds.mean.size()) ==
-           static_cast<s32>(features.size()));
+    assert(static_cast<std::size_t>(preds.mean.size()) == features.size());
     return preds;
   }
 
@@ -184,8 +182,7 @@ class RegressionModel : public ParameterHandlingMixin {
           detail::PredictTypeIdentity<MarginalDistribution> &&identity) const {
     assert(has_been_fit());
     MarginalDistribution preds = predict_marginal_(features);
-    assert(static_cast<s32>(preds.mean.size()) ==
-           static_cast<s32>(features.size()));
+    assert(static_cast<std::size_t>(preds.mean.size()) == features.size());
     return preds;
   }
 
@@ -194,7 +191,7 @@ class RegressionModel : public ParameterHandlingMixin {
           detail::PredictTypeIdentity<Eigen::VectorXd> &&identity) const {
     assert(has_been_fit());
     Eigen::VectorXd preds = predict_mean_(features);
-    assert(static_cast<s32>(preds.size()) == static_cast<s32>(features.size()));
+    assert(static_cast<std::size_t>(preds.size()) == features.size());
     return preds;
   }
 

albatross/models/gp.h

@@ -10,8 +10,8 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 
-#ifndef ALBATROSS_GP_GP_H
-#define ALBATROSS_GP_GP_H
+#ifndef ALBATROSS_MODELS_GP_H
+#define ALBATROSS_MODELS_GP_H
 
 #include "evaluate.h"
 #include "stdio.h"
@@ -46,6 +46,35 @@ template <typename FeatureType> struct GaussianProcessFit {
   }
 };
 
+template <typename FeatureType>
+inline JointDistribution predict_from_covariance_and_fit(
+    const Eigen::MatrixXd &cross_cov, const Eigen::MatrixXd &pred_cov,
+    const GaussianProcessFit<FeatureType> &model_fit) {
+  const Eigen::VectorXd pred = cross_cov.transpose() * model_fit.information;
+  auto ldlt = model_fit.train_ldlt;
+  Eigen::MatrixXd posterior_cov = ldlt.solve(cross_cov);
+  posterior_cov = cross_cov.transpose() * posterior_cov;
+  posterior_cov = pred_cov - posterior_cov;
+  return JointDistribution(pred, posterior_cov);
+}
+
+template <typename FeatureType>
+inline GaussianProcessFit<FeatureType>
+fit_from_covariance(const std::vector<FeatureType> &features,
+                    const Eigen::MatrixXd &train_cov,
+                    const MarginalDistribution &targets) {
+  GaussianProcessFit<FeatureType> model_fit;
+  model_fit.train_features = features;
+  Eigen::MatrixXd cov(train_cov);
+  if (targets.has_covariance()) {
+    cov += targets.covariance;
+  }
+  model_fit.train_ldlt = Eigen::SerializableLDLT(cov.ldlt());
+  // Precompute the information vector
+  model_fit.information = model_fit.train_ldlt.solve(targets.mean);
+  return model_fit;
+}
+
 template <typename FeatureType, typename SubFeatureType = FeatureType>
 using SerializableGaussianProcess =
     SerializableRegressionModel<FeatureType,
@@ -101,7 +130,7 @@ class GaussianProcessRegression
         symmetric_covariance(covariance_function_, features);
     auto ldlt = this->model_fit_.train_ldlt;
     pred_cov -= cross_cov * ldlt.solve(cross_cov.transpose());
-    assert(static_cast<s32>(pred.size()) == static_cast<s32>(features.size()));
+    assert(static_cast<std::size_t>(pred.size()) == features.size());
     return InspectionDistribution(pred, pred_cov);
   }
 
@@ -212,27 +241,17 @@ class GaussianProcessRegression
   serializable_fit_(const std::vector<FeatureType> &features,
                     const MarginalDistribution &targets) const override {
     Eigen::MatrixXd cov = symmetric_covariance(covariance_function_, features);
-    FitType model_fit;
-    model_fit.train_features = features;
-    if (targets.has_covariance()) {
-      cov += targets.covariance;
-    }
-    model_fit.train_ldlt = Eigen::SerializableLDLT(cov.ldlt());
-    // Precompute the information vector
-    model_fit.information = model_fit.train_ldlt.solve(targets.mean);
-    return model_fit;
+    return fit_from_covariance(features, cov, targets);
   }
 
   JointDistribution
   predict_(const std::vector<FeatureType> &features) const override {
     const auto cross_cov = asymmetric_covariance(
-        covariance_function_, features, this->model_fit_.train_features);
-    const Eigen::VectorXd pred = cross_cov * this->model_fit_.information;
+        covariance_function_, this->model_fit_.train_features, features);
     Eigen::MatrixXd pred_cov =
         symmetric_covariance(covariance_function_, features);
-    auto ldlt = this->model_fit_.train_ldlt;
-    pred_cov -= cross_cov * ldlt.solve(cross_cov.transpose());
-    return JointDistribution(pred, pred_cov);
+    return predict_from_covariance_and_fit(cross_cov, pred_cov,
+                                           this->model_fit_);
   }
 
   virtual MarginalDistribution
@@ -261,7 +280,6 @@ class GaussianProcessRegression
     return pred;
   }
 
-private:
   CovarianceFunction covariance_function_;
   std::string model_name_;
 };

albatross/models/least_squares.h

@@ -70,11 +70,11 @@ class LeastSquaresRegression
 protected:
   Eigen::VectorXd
   predict_mean_(const std::vector<Eigen::VectorXd> &features) const override {
-    int n = static_cast<s32>(features.size());
+    std::size_t n = features.size();
     Eigen::VectorXd mean(n);
-    for (s32 i = 0; i < n; i++) {
-      mean(i) =
-          features[static_cast<std::size_t>(i)].dot(this->model_fit_.coefs);
+    for (std::size_t i = 0; i < n; i++) {
+      mean(static_cast<Eigen::Index>(i)) =
+          features[i].dot(this->model_fit_.coefs);
     }
     return mean;
   }