Mike Sheffler
GitHub
commit
033a3074a1
3
gtsam.h
3
gtsam.h
|
|
@ -2499,6 +2499,9 @@ virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor {
|
|||
SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
|
||||
const CALIBRATION* K,
|
||||
const gtsam::Pose3& body_P_sensor);
|
||||
SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
|
||||
const CALIBRATION* K,
|
||||
const gtsam::SmartProjectionParams& params);
|
||||
SmartProjectionPoseFactor(const gtsam::noiseModel::Base* noise,
|
||||
const CALIBRATION* K,
|
||||
const gtsam::Pose3& body_P_sensor,
|
||||
|
|
|
|||
|
|
@ -71,8 +71,8 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
|
|||
const Rot3& deltaRij,
|
||||
const Matrix3& delRdelBiasOmega,
|
||||
const Matrix3& preint_meas_cov) :
|
||||
biasHat_(bias_hat),
|
||||
PreintegratedRotation(p, deltaTij, deltaRij, delRdelBiasOmega),
|
||||
biasHat_(bias_hat),
|
||||
preintMeasCov_(preint_meas_cov) {}
|
||||
|
||||
const Params& p() const { return *boost::static_pointer_cast<const Params>(p_);}
|
||||
|
|
|
|||
|
|
@ -75,15 +75,12 @@ protected:
|
|||
*/
|
||||
ZVector measured_;
|
||||
|
||||
/// @name Pose of the camera in the body frame
|
||||
boost::optional<Pose3> body_P_sensor_; ///< Pose of the camera in the body frame
|
||||
/// @}
|
||||
boost::optional<Pose3> body_P_sensor_; ///< Pose of the camera in the body frame
|
||||
|
||||
// Cache for Fblocks, to avoid a malloc ever time we re-linearize
|
||||
mutable FBlocks Fs;
|
||||
|
||||
public:
|
||||
|
||||
public:
|
||||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
||||
|
||||
/// shorthand for a smart pointer to a factor
|
||||
|
|
@ -200,17 +197,20 @@ public:
|
|||
return e && Base::equals(p, tol) && areMeasurementsEqual;
|
||||
}
|
||||
|
||||
/// Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and derivatives
|
||||
template<class POINT>
|
||||
Vector unwhitenedError(const Cameras& cameras, const POINT& point,
|
||||
boost::optional<typename Cameras::FBlocks&> Fs = boost::none, //
|
||||
/// Compute reprojection errors [h(x)-z] = [cameras.project(p)-z] and
|
||||
/// derivatives
|
||||
template <class POINT>
|
||||
Vector unwhitenedError(
|
||||
const Cameras& cameras, const POINT& point,
|
||||
boost::optional<typename Cameras::FBlocks&> Fs = boost::none, //
|
||||
boost::optional<Matrix&> E = boost::none) const {
|
||||
Vector ue = cameras.reprojectionError(point, measured_, Fs, E);
|
||||
if(body_P_sensor_ && Fs){
|
||||
for(size_t i=0; i < Fs->size(); i++){
|
||||
Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse());
|
||||
if (body_P_sensor_ && Fs) {
|
||||
const Pose3 sensor_P_body = body_P_sensor_->inverse();
|
||||
for (size_t i = 0; i < Fs->size(); i++) {
|
||||
const Pose3 w_Pose_body = cameras[i].pose() * sensor_P_body;
|
||||
Matrix J(6, 6);
|
||||
Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J);
|
||||
const Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J);
|
||||
Fs->at(i) = Fs->at(i) * J;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -79,15 +79,15 @@ public:
|
|||
|
||||
/**
|
||||
* Constructor
|
||||
* @param body_P_sensor pose of the camera in the body frame
|
||||
* @param params internal parameters of the smart factors
|
||||
* @param sharedNoiseModel isotropic noise model for the 2D feature measurements
|
||||
* @param params parameters for the smart projection factors
|
||||
*/
|
||||
SmartProjectionFactor(const SharedNoiseModel& sharedNoiseModel,
|
||||
const boost::optional<Pose3> body_P_sensor = boost::none,
|
||||
const SmartProjectionParams& params = SmartProjectionParams()) :
|
||||
Base(sharedNoiseModel, body_P_sensor), params_(params), //
|
||||
result_(TriangulationResult::Degenerate()) {
|
||||
}
|
||||
SmartProjectionFactor(
|
||||
const SharedNoiseModel& sharedNoiseModel,
|
||||
const SmartProjectionParams& params = SmartProjectionParams())
|
||||
: Base(sharedNoiseModel),
|
||||
params_(params),
|
||||
result_(TriangulationResult::Degenerate()) {}
|
||||
|
||||
/** Virtual destructor */
|
||||
virtual ~SmartProjectionFactor() {
|
||||
|
|
@ -443,7 +443,26 @@ public:
|
|||
/** return the farPoint state */
|
||||
bool isFarPoint() const { return result_.farPoint(); }
|
||||
|
||||
private:
|
||||
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
|
||||
/// @name Deprecated
|
||||
/// @{
|
||||
// It does not make sense to optimize for a camera where the pose would not be
|
||||
// the actual pose of the camera. An unfortunate consequence of deprecating
|
||||
// this constructor means that we cannot optimize for calibration when the
|
||||
// camera is offset from the body pose. That would need a new factor with
|
||||
// (body) pose and calibration as variables. However, that use case is
|
||||
// unlikely: when a global offset is know, calibration is typically known.
|
||||
SmartProjectionFactor(
|
||||
const SharedNoiseModel& sharedNoiseModel,
|
||||
const boost::optional<Pose3> body_P_sensor,
|
||||
const SmartProjectionParams& params = SmartProjectionParams())
|
||||
: Base(sharedNoiseModel, body_P_sensor),
|
||||
params_(params),
|
||||
result_(TriangulationResult::Degenerate()) {}
|
||||
/// @}
|
||||
#endif
|
||||
|
||||
private:
|
||||
|
||||
/// Serialization function
|
||||
friend class boost::serialization::access;
|
||||
|
|
|
|||
|
|
@ -66,16 +66,31 @@ public:
|
|||
|
||||
/**
|
||||
* Constructor
|
||||
* @param Isotropic measurement noise
|
||||
* @param sharedNoiseModel isotropic noise model for the 2D feature measurements
|
||||
* @param K (fixed) calibration, assumed to be the same for all cameras
|
||||
* @param body_P_sensor pose of the camera in the body frame
|
||||
* @param params internal parameters of the smart factors
|
||||
* @param params parameters for the smart projection factors
|
||||
*/
|
||||
SmartProjectionPoseFactor(const SharedNoiseModel& sharedNoiseModel,
|
||||
SmartProjectionPoseFactor(
|
||||
const SharedNoiseModel& sharedNoiseModel,
|
||||
const boost::shared_ptr<CALIBRATION> K,
|
||||
const boost::optional<Pose3> body_P_sensor = boost::none,
|
||||
const SmartProjectionParams& params = SmartProjectionParams()) :
|
||||
Base(sharedNoiseModel, body_P_sensor, params), K_(K) {
|
||||
const SmartProjectionParams& params = SmartProjectionParams())
|
||||
: Base(sharedNoiseModel, params), K_(K) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
* @param sharedNoiseModel isotropic noise model for the 2D feature measurements
|
||||
* @param K (fixed) calibration, assumed to be the same for all cameras
|
||||
* @param body_P_sensor pose of the camera in the body frame (optional)
|
||||
* @param params parameters for the smart projection factors
|
||||
*/
|
||||
SmartProjectionPoseFactor(
|
||||
const SharedNoiseModel& sharedNoiseModel,
|
||||
const boost::shared_ptr<CALIBRATION> K,
|
||||
const boost::optional<Pose3> body_P_sensor,
|
||||
const SmartProjectionParams& params = SmartProjectionParams())
|
||||
: SmartProjectionPoseFactor(sharedNoiseModel, K, params) {
|
||||
this->body_P_sensor_ = body_P_sensor;
|
||||
}
|
||||
|
||||
/** Virtual destructor */
|
||||
|
|
@ -123,18 +138,16 @@ public:
|
|||
*/
|
||||
typename Base::Cameras cameras(const Values& values) const {
|
||||
typename Base::Cameras cameras;
|
||||
for(const Key& k: this->keys_) {
|
||||
Pose3 pose = values.at<Pose3>(k);
|
||||
if (Base::body_P_sensor_)
|
||||
pose = pose.compose(*(Base::body_P_sensor_));
|
||||
|
||||
Camera camera(pose, K_);
|
||||
cameras.push_back(camera);
|
||||
for (const Key& k : this->keys_) {
|
||||
const Pose3 world_P_sensor_k =
|
||||
Base::body_P_sensor_ ? values.at<Pose3>(k) * *Base::body_P_sensor_
|
||||
: values.at<Pose3>(k);
|
||||
cameras.emplace_back(world_P_sensor_k, K_);
|
||||
}
|
||||
return cameras;
|
||||
}
|
||||
|
||||
private:
|
||||
private:
|
||||
|
||||
/// Serialization function
|
||||
friend class boost::serialization::access;
|
||||
|
|
|
|||
|
|
@ -10,8 +10,8 @@
|
|||
* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @file testSmartProjectionCameraFactor.cpp
|
||||
* @brief Unit tests for SmartProjectionCameraFactor Class
|
||||
* @file testSmartProjectionFactor.cpp
|
||||
* @brief Unit tests for SmartProjectionFactor Class
|
||||
* @author Chris Beall
|
||||
* @author Luca Carlone
|
||||
* @author Zsolt Kira
|
||||
|
|
@ -29,19 +29,11 @@
|
|||
|
||||
using namespace boost::assign;
|
||||
|
||||
static bool isDebugTest = false;
|
||||
|
||||
// Convenience for named keys
|
||||
using symbol_shorthand::X;
|
||||
using symbol_shorthand::L;
|
||||
|
||||
static Key x1(1);
|
||||
Symbol l1('l', 1), l2('l', 2), l3('l', 3);
|
||||
Key c1 = 1, c2 = 2, c3 = 3;
|
||||
|
||||
static Point2 measurement1(323.0, 240.0);
|
||||
|
||||
static double rankTol = 1.0;
|
||||
static const bool isDebugTest = false;
|
||||
static const Symbol l1('l', 1), l2('l', 2), l3('l', 3);
|
||||
static const Key c1 = 1, c2 = 2, c3 = 3;
|
||||
static const Point2 measurement1(323.0, 240.0);
|
||||
static const double rankTol = 1.0;
|
||||
|
||||
template<class CALIBRATION>
|
||||
PinholeCamera<CALIBRATION> perturbCameraPoseAndCalibration(
|
||||
|
|
@ -58,7 +50,7 @@ PinholeCamera<CALIBRATION> perturbCameraPoseAndCalibration(
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionCameraFactor, perturbCameraPose) {
|
||||
TEST(SmartProjectionFactor, perturbCameraPose) {
|
||||
using namespace vanilla;
|
||||
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10),
|
||||
Point3(0.5, 0.1, 0.3));
|
||||
|
|
@ -70,45 +62,45 @@ TEST( SmartProjectionCameraFactor, perturbCameraPose) {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionCameraFactor, Constructor) {
|
||||
TEST(SmartProjectionFactor, Constructor) {
|
||||
using namespace vanilla;
|
||||
SmartFactor::shared_ptr factor1(new SmartFactor(unit2));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionCameraFactor, Constructor2) {
|
||||
TEST(SmartProjectionFactor, Constructor2) {
|
||||
using namespace vanilla;
|
||||
params.setRankTolerance(rankTol);
|
||||
SmartFactor factor1(unit2, boost::none, params);
|
||||
SmartFactor factor1(unit2, params);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionCameraFactor, Constructor3) {
|
||||
TEST(SmartProjectionFactor, Constructor3) {
|
||||
using namespace vanilla;
|
||||
SmartFactor::shared_ptr factor1(new SmartFactor(unit2));
|
||||
factor1->add(measurement1, x1);
|
||||
factor1->add(measurement1, c1);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionCameraFactor, Constructor4) {
|
||||
TEST(SmartProjectionFactor, Constructor4) {
|
||||
using namespace vanilla;
|
||||
params.setRankTolerance(rankTol);
|
||||
SmartFactor factor1(unit2, boost::none, params);
|
||||
factor1.add(measurement1, x1);
|
||||
SmartFactor factor1(unit2, params);
|
||||
factor1.add(measurement1, c1);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionCameraFactor, Equals ) {
|
||||
TEST(SmartProjectionFactor, Equals ) {
|
||||
using namespace vanilla;
|
||||
SmartFactor::shared_ptr factor1(new SmartFactor(unit2));
|
||||
factor1->add(measurement1, x1);
|
||||
factor1->add(measurement1, c1);
|
||||
|
||||
SmartFactor::shared_ptr factor2(new SmartFactor(unit2));
|
||||
factor2->add(measurement1, x1);
|
||||
factor2->add(measurement1, c1);
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, noiseless ) {
|
||||
TEST(SmartProjectionFactor, noiseless ) {
|
||||
using namespace vanilla;
|
||||
|
||||
Values values;
|
||||
|
|
@ -127,7 +119,7 @@ TEST( SmartProjectionCameraFactor, noiseless ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, noisy ) {
|
||||
TEST(SmartProjectionFactor, noisy ) {
|
||||
|
||||
using namespace vanilla;
|
||||
|
||||
|
|
@ -178,7 +170,7 @@ TEST( SmartProjectionCameraFactor, noisy ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) {
|
||||
TEST(SmartProjectionFactor, perturbPoseAndOptimize ) {
|
||||
|
||||
using namespace vanilla;
|
||||
|
||||
|
|
@ -277,7 +269,7 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimize ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) {
|
||||
TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) {
|
||||
|
||||
using namespace vanilla;
|
||||
|
||||
|
|
@ -347,7 +339,7 @@ TEST( SmartProjectionCameraFactor, perturbPoseAndOptimizeFromSfM_tracks ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) {
|
||||
TEST(SmartProjectionFactor, perturbCamerasAndOptimize ) {
|
||||
|
||||
using namespace vanilla;
|
||||
|
||||
|
|
@ -424,7 +416,7 @@ TEST( SmartProjectionCameraFactor, perturbCamerasAndOptimize ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, Cal3Bundler ) {
|
||||
TEST(SmartProjectionFactor, Cal3Bundler ) {
|
||||
|
||||
using namespace bundler;
|
||||
|
||||
|
|
@ -497,7 +489,7 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) {
|
||||
TEST(SmartProjectionFactor, Cal3Bundler2 ) {
|
||||
|
||||
using namespace bundler;
|
||||
|
||||
|
|
@ -570,7 +562,7 @@ TEST( SmartProjectionCameraFactor, Cal3Bundler2 ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, noiselessBundler ) {
|
||||
TEST(SmartProjectionFactor, noiselessBundler ) {
|
||||
|
||||
using namespace bundler;
|
||||
Values values;
|
||||
|
|
@ -598,7 +590,7 @@ TEST( SmartProjectionCameraFactor, noiselessBundler ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) {
|
||||
TEST(SmartProjectionFactor, comparisonGeneralSfMFactor ) {
|
||||
|
||||
using namespace bundler;
|
||||
Values values;
|
||||
|
|
@ -637,7 +629,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) {
|
||||
TEST(SmartProjectionFactor, comparisonGeneralSfMFactor1 ) {
|
||||
|
||||
using namespace bundler;
|
||||
Values values;
|
||||
|
|
@ -681,7 +673,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) {
|
|||
|
||||
/* *************************************************************************/
|
||||
// Have to think about how to compare multiplyHessianAdd in generalSfMFactor and smartFactors
|
||||
//TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor2 ){
|
||||
//TEST(SmartProjectionFactor, comparisonGeneralSfMFactor2 ){
|
||||
//
|
||||
// Values values;
|
||||
// values.insert(c1, level_camera);
|
||||
|
|
@ -729,7 +721,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor1 ) {
|
|||
// EXPECT(assert_equal(yActual,yExpected, 1e-7));
|
||||
//}
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) {
|
||||
TEST(SmartProjectionFactor, computeImplicitJacobian ) {
|
||||
|
||||
using namespace bundler;
|
||||
Values values;
|
||||
|
|
@ -767,7 +759,7 @@ TEST( SmartProjectionCameraFactor, computeImplicitJacobian ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) {
|
||||
TEST(SmartProjectionFactor, implicitJacobianFactor ) {
|
||||
|
||||
using namespace bundler;
|
||||
|
||||
|
|
@ -785,7 +777,7 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) {
|
|||
params.setEnableEPI(useEPI);
|
||||
|
||||
SmartFactor::shared_ptr explicitFactor(
|
||||
new SmartFactor(unit2, boost::none, params));
|
||||
new SmartFactor(unit2, params));
|
||||
explicitFactor->add(level_uv, c1);
|
||||
explicitFactor->add(level_uv_right, c2);
|
||||
|
||||
|
|
@ -797,7 +789,7 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) {
|
|||
// Implicit Schur version
|
||||
params.setLinearizationMode(gtsam::IMPLICIT_SCHUR);
|
||||
SmartFactor::shared_ptr implicitFactor(
|
||||
new SmartFactor(unit2, boost::none, params));
|
||||
new SmartFactor(unit2, params));
|
||||
implicitFactor->add(level_uv, c1);
|
||||
implicitFactor->add(level_uv_right, c2);
|
||||
GaussianFactor::shared_ptr gaussianImplicitSchurFactor =
|
||||
|
|
@ -818,7 +810,6 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) {
|
|||
EXPECT(assert_equal(yActual, yExpected, 1e-7));
|
||||
}
|
||||
|
||||
|
||||
/* ************************************************************************* */
|
||||
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
|
||||
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
|
||||
|
|
@ -828,7 +819,7 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropi
|
|||
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
|
||||
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
|
||||
|
||||
TEST( SmartProjectionCameraFactor, serialize) {
|
||||
TEST(SmartProjectionFactor, serialize) {
|
||||
using namespace vanilla;
|
||||
using namespace gtsam::serializationTestHelpers;
|
||||
SmartFactor factor(unit2);
|
||||
|
|
@ -62,7 +62,7 @@ TEST( SmartProjectionPoseFactor, Constructor2) {
|
|||
using namespace vanillaPose;
|
||||
SmartProjectionParams params;
|
||||
params.setRankTolerance(rankTol);
|
||||
SmartFactor factor1(model, sharedK, boost::none, params);
|
||||
SmartFactor factor1(model, sharedK, params);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -77,7 +77,7 @@ TEST( SmartProjectionPoseFactor, Constructor4) {
|
|||
using namespace vanillaPose;
|
||||
SmartProjectionParams params;
|
||||
params.setRankTolerance(rankTol);
|
||||
SmartFactor factor1(model, sharedK, boost::none, params);
|
||||
SmartFactor factor1(model, sharedK, params);
|
||||
factor1.add(measurement1, x1);
|
||||
}
|
||||
|
||||
|
|
@ -189,9 +189,7 @@ TEST( SmartProjectionPoseFactor, noisy ) {
|
|||
measurements.push_back(level_uv);
|
||||
measurements.push_back(level_uv_right);
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
KeyVector views {x1, x2};
|
||||
|
||||
factor2->add(measurements, views);
|
||||
double actualError2 = factor2->error(values);
|
||||
|
|
@ -199,34 +197,20 @@ TEST( SmartProjectionPoseFactor, noisy ) {
|
|||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){
|
||||
// make a realistic calibration matrix
|
||||
double fov = 60; // degrees
|
||||
size_t w=640,h=480;
|
||||
TEST(SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform) {
|
||||
using namespace vanillaPose;
|
||||
|
||||
Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h));
|
||||
|
||||
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
Pose3 cameraPose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses
|
||||
Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0));
|
||||
Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0));
|
||||
|
||||
SimpleCamera cam1(cameraPose1, *K); // with camera poses
|
||||
SimpleCamera cam2(cameraPose2, *K);
|
||||
SimpleCamera cam3(cameraPose3, *K);
|
||||
|
||||
// create arbitrary body_Pose_sensor (transforms from sensor to body)
|
||||
Pose3 sensor_to_body = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); //
|
||||
// create arbitrary body_T_sensor (transforms from sensor to body)
|
||||
Pose3 body_T_sensor = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(1, 1, 1));
|
||||
|
||||
// These are the poses we want to estimate, from camera measurements
|
||||
Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse());
|
||||
Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse());
|
||||
Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse());
|
||||
const Pose3 sensor_T_body = body_T_sensor.inverse();
|
||||
Pose3 wTb1 = cam1.pose() * sensor_T_body;
|
||||
Pose3 wTb2 = cam2.pose() * sensor_T_body;
|
||||
Pose3 wTb3 = cam3.pose() * sensor_T_body;
|
||||
|
||||
// three landmarks ~5 meters infront of camera
|
||||
Point3 landmark1(5, 0.5, 1.2);
|
||||
Point3 landmark2(5, -0.5, 1.2);
|
||||
Point3 landmark3(5, 0, 3.0);
|
||||
Point3 landmark1(5, 0.5, 1.2), landmark2(5, -0.5, 1.2), landmark3(5, 0, 3.0);
|
||||
|
||||
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
|
|
@ -236,23 +220,20 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){
|
|||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
||||
// Create smart factors
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
SmartProjectionParams params;
|
||||
params.setRankTolerance(1.0);
|
||||
params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY);
|
||||
params.setDegeneracyMode(IGNORE_DEGENERACY);
|
||||
params.setEnableEPI(false);
|
||||
|
||||
SmartProjectionPoseFactor<Cal3_S2> smartFactor1(model, K, sensor_to_body, params);
|
||||
SmartFactor smartFactor1(model, sharedK, body_T_sensor, params);
|
||||
smartFactor1.add(measurements_cam1, views);
|
||||
|
||||
SmartProjectionPoseFactor<Cal3_S2> smartFactor2(model, K, sensor_to_body, params);
|
||||
SmartFactor smartFactor2(model, sharedK, body_T_sensor, params);
|
||||
smartFactor2.add(measurements_cam2, views);
|
||||
|
||||
SmartProjectionPoseFactor<Cal3_S2> smartFactor3(model, K, sensor_to_body, params);
|
||||
SmartFactor smartFactor3(model, sharedK, body_T_sensor, params);
|
||||
smartFactor3.add(measurements_cam3, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -262,30 +243,32 @@ TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){
|
|||
graph.push_back(smartFactor1);
|
||||
graph.push_back(smartFactor2);
|
||||
graph.push_back(smartFactor3);
|
||||
graph.emplace_shared<PriorFactor<Pose3> >(x1, bodyPose1, noisePrior);
|
||||
graph.emplace_shared<PriorFactor<Pose3> >(x2, bodyPose2, noisePrior);
|
||||
graph.emplace_shared<PriorFactor<Pose3> >(x1, wTb1, noisePrior);
|
||||
graph.emplace_shared<PriorFactor<Pose3> >(x2, wTb2, noisePrior);
|
||||
|
||||
// Check errors at ground truth poses
|
||||
Values gtValues;
|
||||
gtValues.insert(x1, bodyPose1);
|
||||
gtValues.insert(x2, bodyPose2);
|
||||
gtValues.insert(x3, bodyPose3);
|
||||
gtValues.insert(x1, wTb1);
|
||||
gtValues.insert(x2, wTb2);
|
||||
gtValues.insert(x3, wTb3);
|
||||
double actualError = graph.error(gtValues);
|
||||
double expectedError = 0.0;
|
||||
DOUBLES_EQUAL(expectedError, actualError, 1e-7)
|
||||
|
||||
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1));
|
||||
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
|
||||
Point3(0.1, 0.1, 0.1));
|
||||
Values values;
|
||||
values.insert(x1, bodyPose1);
|
||||
values.insert(x2, bodyPose2);
|
||||
// initialize third pose with some noise, we expect it to move back to original pose3
|
||||
values.insert(x3, bodyPose3*noise_pose);
|
||||
values.insert(x1, wTb1);
|
||||
values.insert(x2, wTb2);
|
||||
// initialize third pose with some noise, we expect it to move back to
|
||||
// original pose3
|
||||
values.insert(x3, wTb3 * noise_pose);
|
||||
|
||||
LevenbergMarquardtParams lmParams;
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
|
||||
result = optimizer.optimize();
|
||||
EXPECT(assert_equal(bodyPose3,result.at<Pose3>(x3)));
|
||||
EXPECT(assert_equal(wTb3, result.at<Pose3>(x3)));
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
|
|
@ -370,9 +353,7 @@ TEST( SmartProjectionPoseFactor, Factors ) {
|
|||
measurements_cam1.push_back(cam2.project(landmark1));
|
||||
|
||||
// Create smart factors
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
KeyVector views {x1, x2};
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1 = boost::make_shared<SmartFactor>(model, sharedK);
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
|
@ -520,10 +501,7 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
|
|||
|
||||
using namespace vanillaPose;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
|
|
@ -577,10 +555,7 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
|
|||
|
||||
using namespace vanillaPose;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
|
|
@ -594,18 +569,18 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
|
|||
params.setLinearizationMode(gtsam::JACOBIAN_SVD);
|
||||
params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY);
|
||||
params.setEnableEPI(false);
|
||||
SmartFactor factor1(model, sharedK, boost::none, params);
|
||||
SmartFactor factor1(model, sharedK, params);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -638,10 +613,7 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) {
|
|||
|
||||
double excludeLandmarksFutherThanDist = 2;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
|
|
@ -658,15 +630,15 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) {
|
|||
params.setEnableEPI(false);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -701,10 +673,7 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) {
|
|||
double excludeLandmarksFutherThanDist = 1e10;
|
||||
double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
// add fourth landmark
|
||||
Point3 landmark4(5, -0.5, 1);
|
||||
|
|
@ -725,19 +694,19 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) {
|
|||
params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor4(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor4->add(measurements_cam4, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -767,10 +736,7 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) {
|
|||
|
||||
using namespace vanillaPose;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
|
|
@ -783,15 +749,15 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) {
|
|||
params.setLinearizationMode(gtsam::JACOBIAN_Q);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -821,10 +787,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) {
|
|||
|
||||
using namespace vanillaPose2;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
typedef GenericProjectionFactor<Pose3, Point3> ProjectionFactor;
|
||||
NonlinearFactorGraph graph;
|
||||
|
|
@ -869,10 +832,7 @@ TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) {
|
|||
/* *************************************************************************/
|
||||
TEST( SmartProjectionPoseFactor, CheckHessian) {
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
using namespace vanillaPose;
|
||||
|
||||
|
|
@ -894,15 +854,15 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
|
|||
params.setRankTolerance(10);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK, boost::none, params)); // HESSIAN, by default
|
||||
new SmartFactor(model, sharedK, params)); // HESSIAN, by default
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK, boost::none, params)); // HESSIAN, by default
|
||||
new SmartFactor(model, sharedK, params)); // HESSIAN, by default
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedK, boost::none, params)); // HESSIAN, by default
|
||||
new SmartFactor(model, sharedK, params)); // HESSIAN, by default
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
NonlinearFactorGraph graph;
|
||||
|
|
@ -955,10 +915,7 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
|
|||
TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) {
|
||||
using namespace vanillaPose2;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
// Two different cameras, at the same position, but different rotations
|
||||
Pose3 pose2 = level_pose * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0));
|
||||
|
|
@ -977,11 +934,11 @@ TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_fac
|
|||
params.setDegeneracyMode(gtsam::HANDLE_INFINITY);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK2, boost::none, params));
|
||||
new SmartFactor(model, sharedK2, params));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK2, boost::none, params));
|
||||
new SmartFactor(model, sharedK2, params));
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -1014,10 +971,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
|
|||
// this test considers a condition in which the cheirality constraint is triggered
|
||||
using namespace vanillaPose;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
// Two different cameras, at the same position, but different rotations
|
||||
Pose3 pose2 = level_pose
|
||||
|
|
@ -1038,15 +992,15 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
|
|||
params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedK, boost::none, params));
|
||||
new SmartFactor(model, sharedK, params));
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -1099,9 +1053,7 @@ TEST( SmartProjectionPoseFactor, Hessian ) {
|
|||
|
||||
using namespace vanillaPose2;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
KeyVector views {x1, x2};
|
||||
|
||||
// Project three landmarks into 2 cameras
|
||||
Point2 cam1_uv1 = cam1.project(landmark1);
|
||||
|
|
@ -1133,10 +1085,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) {
|
|||
|
||||
using namespace vanillaPose;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
|
||||
|
|
@ -1186,10 +1135,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
|
|||
|
||||
using namespace vanillaPose2;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
// All cameras have the same pose so will be degenerate !
|
||||
Camera cam2(level_pose, sharedK2);
|
||||
|
|
@ -1241,7 +1187,7 @@ TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) {
|
|||
using namespace bundlerPose;
|
||||
SmartProjectionParams params;
|
||||
params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY);
|
||||
SmartFactor factor(model, sharedBundlerK, boost::none, params);
|
||||
SmartFactor factor(model, sharedBundlerK, params);
|
||||
factor.add(measurement1, x1);
|
||||
}
|
||||
|
||||
|
|
@ -1260,10 +1206,7 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
|
|||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedBundlerK));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
|
@ -1309,10 +1252,7 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
|
||||
using namespace bundlerPose;
|
||||
|
||||
KeyVector views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
KeyVector views {x1, x2, x3};
|
||||
|
||||
// Two different cameras
|
||||
Pose3 pose2 = level_pose
|
||||
|
|
@ -1336,15 +1276,15 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedBundlerK, boost::none, params));
|
||||
new SmartFactor(model, sharedBundlerK, params));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedBundlerK, boost::none, params));
|
||||
new SmartFactor(model, sharedBundlerK, params));
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedBundlerK, boost::none, params));
|
||||
new SmartFactor(model, sharedBundlerK, params));
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -1405,7 +1345,7 @@ TEST(SmartProjectionPoseFactor, serialize) {
|
|||
using namespace gtsam::serializationTestHelpers;
|
||||
SmartProjectionParams params;
|
||||
params.setRankTolerance(rankTol);
|
||||
SmartFactor factor(model, sharedK, boost::none, params);
|
||||
SmartFactor factor(model, sharedK, params);
|
||||
|
||||
EXPECT(equalsObj(factor));
|
||||
EXPECT(equalsXML(factor));
|
||||
|
|
|
|||
Loading…
Reference in New Issue