diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp index 19448d706..7a22f6f17 100644 --- a/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp +++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp @@ -699,91 +699,6 @@ TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_optimization EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5); } -/* ************************************************************************* -TEST( SmartStereoProjectionFactorPP, body_P_sensor ) { - - // camera has some displacement - Pose3 body_P_sensor = Pose3(Rot3::Ypr(-0.01, 0., -0.05), Point3(0.1, 0, 0.1)); - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - StereoCamera cam1(pose1.compose(body_P_sensor), K2); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - StereoCamera cam2(pose2.compose(body_P_sensor), K2); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - StereoCamera cam3(pose3.compose(body_P_sensor), K2); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - - // 1. Project three landmarks into three cameras and triangulate - vector measurements_l1 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark1); - vector measurements_l2 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark2); - vector measurements_l3 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark3); - - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); - - SmartStereoProjectionParams smart_params; - smart_params.triangulation.enableEPI = true; - SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params, body_P_sensor)); - smartFactor1->add(measurements_l1, views, K2); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params, body_P_sensor)); - smartFactor2->add(measurements_l2, views, K2); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params, body_P_sensor)); - smartFactor3->add(measurements_l3, views, K2); - - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - - NonlinearFactorGraph graph; - graph.push_back(smartFactor1); - graph.push_back(smartFactor2); - graph.push_back(smartFactor3); - graph.addPrior(x1, pose1, noisePrior); - graph.addPrior(x2, pose2, noisePrior); - - // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), - Point3(0.1, 0.1, 0.1)); // smaller noise - Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - // initialize third pose with some noise, we expect it to move back to original pose3 - values.insert(x3, pose3 * noise_pose); - EXPECT( - assert_equal( - Pose3( - Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, - -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), - Point3(0.1, -0.1, 1.9)), values.at(x3))); - - // cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl; - EXPECT_DOUBLES_EQUAL(953392.32838422502, graph.error(values), 1e-7); // initial error - - Values result; - gttic_(SmartStereoProjectionFactorPP); - LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); - result = optimizer.optimize(); - gttoc_(SmartStereoProjectionFactorPP); - tictoc_finishedIteration_(); - - EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5); - - // result.print("results of 3 camera, 3 landmark optimization \n"); - EXPECT(assert_equal(pose3, result.at(x3))); -} /* ************************************************************************* TEST( SmartStereoProjectionFactorPP, body_P_sensor_monocular ){ // make a realistic calibration matrix @@ -885,143 +800,6 @@ TEST( SmartStereoProjectionFactorPP, body_P_sensor_monocular ){ result = optimizer.optimize(); EXPECT(assert_equal(bodyPose3,result.at(x3))); } -/* ************************************************************************* -TEST( SmartStereoProjectionFactorPP, jacobianSVD ) { - - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); - - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - StereoCamera cam1(pose1, K); - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - StereoCamera cam2(pose2, K); - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - StereoCamera cam3(pose3, K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - - // 1. Project three landmarks into three cameras and triangulate - vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark1); - vector measurements_cam2 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark2); - vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark3); - - SmartStereoProjectionParams params; - params.setLinearizationMode(JACOBIAN_SVD); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor1( new SmartStereoProjectionFactorPP(model, params)); - smartFactor1->add(measurements_cam1, views, K); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, params)); - smartFactor2->add(measurements_cam2, views, K); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, params)); - smartFactor3->add(measurements_cam3, views, K); - - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - - NonlinearFactorGraph graph; - graph.push_back(smartFactor1); - graph.push_back(smartFactor2); - graph.push_back(smartFactor3); - graph.addPrior(x1, pose1, noisePrior); - graph.addPrior(x2, pose2, noisePrior); - - // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), - Point3(0.1, 0.1, 0.1)); // smaller noise - Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3 * noise_pose); - - Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); - result = optimizer.optimize(); - EXPECT(assert_equal(pose3, result.at(x3))); -} - -/* ************************************************************************* -TEST( SmartStereoProjectionFactorPP, jacobianSVDwithMissingValues ) { - - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); - - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - StereoCamera cam1(pose1, K); - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - StereoCamera cam2(pose2, K); - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - StereoCamera cam3(pose3, K); - - // three landmarks ~5 meters infront of camera - Point3 landmark1(5, 0.5, 1.2); - Point3 landmark2(5, -0.5, 1.2); - Point3 landmark3(3, 0, 3.0); - - // 1. Project three landmarks into three cameras and triangulate - vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark1); - vector measurements_cam2 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark2); - vector measurements_cam3 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark3); - - // DELETE SOME MEASUREMENTS - StereoPoint2 sp = measurements_cam1[1]; - measurements_cam1[1] = StereoPoint2(sp.uL(), missing_uR, sp.v()); - sp = measurements_cam2[2]; - measurements_cam2[2] = StereoPoint2(sp.uL(), missing_uR, sp.v()); - - SmartStereoProjectionParams params; - params.setLinearizationMode(JACOBIAN_SVD); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor1( new SmartStereoProjectionFactorPP(model, params)); - smartFactor1->add(measurements_cam1, views, K); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, params)); - smartFactor2->add(measurements_cam2, views, K); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, params)); - smartFactor3->add(measurements_cam3, views, K); - - const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); - - NonlinearFactorGraph graph; - graph.push_back(smartFactor1); - graph.push_back(smartFactor2); - graph.push_back(smartFactor3); - graph.addPrior(x1, pose1, noisePrior); - graph.addPrior(x2, pose2, noisePrior); - - // Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below - Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), - Point3(0.1, 0.1, 0.1)); // smaller noise - Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3 * noise_pose); - - Values result; - LevenbergMarquardtOptimizer optimizer(graph, values, lm_params); - result = optimizer.optimize(); - EXPECT(assert_equal(pose3, result.at(x3),1e-7)); -} /* ************************************************************************* TEST( SmartStereoProjectionFactorPP, landmarkDistance ) { @@ -1278,151 +1056,6 @@ TEST( SmartStereoProjectionFactorPP, CheckHessian) { EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-8)); } -/* ************************************************************************* -TEST( SmartStereoProjectionFactorPP, HessianWithRotation ) { - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); - - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - StereoCamera cam1(pose1, K); - - // create second camera 1 meter to the right of first camera - Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0)); - StereoCamera cam2(pose2, K); - - // create third camera 1 meter above the first camera - Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0)); - StereoCamera cam3(pose3, K); - - Point3 landmark1(5, 0.5, 1.2); - - vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark1); - - SmartStereoProjectionFactorPP::shared_ptr smartFactorInstance(new SmartStereoProjectionFactorPP(model)); - smartFactorInstance->add(measurements_cam1, views, K); - - Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3); - - boost::shared_ptr hessianFactor = - smartFactorInstance->linearize(values); - // hessianFactor->print("Hessian factor \n"); - - Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); - - Values rotValues; - rotValues.insert(x1, poseDrift.compose(pose1)); - rotValues.insert(x2, poseDrift.compose(pose2)); - rotValues.insert(x3, poseDrift.compose(pose3)); - - boost::shared_ptr hessianFactorRot = - smartFactorInstance->linearize(rotValues); - // hessianFactorRot->print("Hessian factor \n"); - - // Hessian is invariant to rotations in the nondegenerate case - EXPECT( - assert_equal(hessianFactor->information(), - hessianFactorRot->information(), 1e-7)); - - Pose3 poseDrift2 = Pose3(Rot3::Ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), - Point3(10, -4, 5)); - - Values tranValues; - tranValues.insert(x1, poseDrift2.compose(pose1)); - tranValues.insert(x2, poseDrift2.compose(pose2)); - tranValues.insert(x3, poseDrift2.compose(pose3)); - - boost::shared_ptr hessianFactorRotTran = - smartFactorInstance->linearize(tranValues); - - // Hessian is invariant to rotations and translations in the nondegenerate case - EXPECT( - assert_equal(hessianFactor->information(), - hessianFactorRotTran->information(), 1e-6)); -} - -/* ************************************************************************* -TEST( SmartStereoProjectionFactorPP, HessianWithRotationNonDegenerate ) { - - KeyVector views; - views.push_back(x1); - views.push_back(x2); - views.push_back(x3); - - // create first camera. Looking along X-axis, 1 meter above ground plane (x-y) - Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1)); - StereoCamera cam1(pose1, K2); - - // Second and third cameras in same place, which is a degenerate configuration - Pose3 pose2 = pose1; - Pose3 pose3 = pose1; - StereoCamera cam2(pose2, K2); - StereoCamera cam3(pose3, K2); - - Point3 landmark1(5, 0.5, 1.2); - - vector measurements_cam1 = stereo_projectToMultipleCameras(cam1, - cam2, cam3, landmark1); - - SmartStereoProjectionFactorPP::shared_ptr smartFactor(new SmartStereoProjectionFactorPP(model)); - smartFactor->add(measurements_cam1, views, K2); - - Values values; - values.insert(x1, pose1); - values.insert(x2, pose2); - values.insert(x3, pose3); - - boost::shared_ptr hessianFactor = smartFactor->linearize( - values); - - // check that it is non degenerate - EXPECT(smartFactor->isValid()); - - Pose3 poseDrift = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0)); - - Values rotValues; - rotValues.insert(x1, poseDrift.compose(pose1)); - rotValues.insert(x2, poseDrift.compose(pose2)); - rotValues.insert(x3, poseDrift.compose(pose3)); - - boost::shared_ptr hessianFactorRot = smartFactor->linearize( - rotValues); - - // check that it is non degenerate - EXPECT(smartFactor->isValid()); - - // Hessian is invariant to rotations in the nondegenerate case - EXPECT( - assert_equal(hessianFactor->information(), - hessianFactorRot->information(), 1e-6)); - - Pose3 poseDrift2 = Pose3(Rot3::Ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2), - Point3(10, -4, 5)); - - Values tranValues; - tranValues.insert(x1, poseDrift2.compose(pose1)); - tranValues.insert(x2, poseDrift2.compose(pose2)); - tranValues.insert(x3, poseDrift2.compose(pose3)); - - boost::shared_ptr hessianFactorRotTran = - smartFactor->linearize(tranValues); - - // Hessian is invariant to rotations and translations in the degenerate case - EXPECT( - assert_equal(hessianFactor->information(), -#ifdef GTSAM_USE_EIGEN_MKL - hessianFactorRotTran->information(), 1e-5)); -#else - hessianFactorRotTran->information(), 1e-6)); -#endif -} - /* ************************************************************************* */ int main() { TestResult tr;