Merge pull request #997 from borglab/force-nonnegative-scale-Sim3
Force nonnegative scale for Sim(3)release/4.3a0
John Lambert
GitHub
commit
0ba1d3bcfc
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@ -40,6 +40,8 @@ static Point3Pairs subtractCentroids(const Point3Pairs &abPointPairs,
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}
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/// Form inner products x and y and calculate scale.
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// We force the scale to be a non-negative quantity
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// (see Section 10.1 of https://ethaneade.com/lie_groups.pdf)
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static double calculateScale(const Point3Pairs &d_abPointPairs,
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const Rot3 &aRb) {
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double x = 0, y = 0;
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@ -50,7 +52,7 @@ static double calculateScale(const Point3Pairs &d_abPointPairs,
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y += da.transpose() * da_prime;
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x += da_prime.transpose() * da_prime;
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}
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const double s = y / x;
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const double s = std::fabs(y / x);
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return s;
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}
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@ -10,6 +10,7 @@ Author: John Lambert
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"""
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# pylint: disable=no-name-in-module
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import unittest
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from typing import List, Optional
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import numpy as np
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@ -129,6 +130,587 @@ class TestSim3(GtsamTestCase):
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for aTi, bTi in zip(aTi_list, bTi_list):
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self.gtsamAssertEquals(aTi, aSb.transformFrom(bTi))
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def test_align_via_Sim3_to_poses_skydio32(self) -> None:
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"""Ensure scale estimate of Sim(3) object is non-negative.
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Comes from real data (from Skydio-32 Crane Mast sequence with a SIFT front-end).
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"""
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poses_gt = [
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Pose3(
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Rot3(
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[
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[0.696305769, -0.0106830792, -0.717665705],
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[0.00546412488, 0.999939148, -0.00958346857],
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[0.717724415, 0.00275160848, 0.696321772],
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]
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),
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Point3(5.83077801, -0.94815149, 0.397751679),
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),
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Pose3(
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Rot3(
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[
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[0.692272397, -0.00529704529, -0.721616549],
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[0.00634689669, 0.999979075, -0.00125157022],
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[0.721608079, -0.0037136016, 0.692291531],
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]
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),
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Point3(5.03853323, -0.97547405, -0.348177392),
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),
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Pose3(
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Rot3(
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[
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[0.945991981, -0.00633548292, -0.324128225],
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[0.00450436485, 0.999969379, -0.00639931046],
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[0.324158843, 0.00459370582, 0.945991552],
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]
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),
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Point3(4.13186176, -0.956364218, -0.796029527),
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),
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Pose3(
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Rot3(
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[
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[0.999553623, -0.00346470207, -0.0296740626],
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[0.00346104216, 0.999993995, -0.00017469881],
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[0.0296744897, 7.19175654e-05, 0.999559612],
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]
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),
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Point3(3.1113898, -0.928583423, -0.90539337),
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),
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Pose3(
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Rot3(
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[
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[0.967850252, -0.00144846042, 0.251522892],
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[0.000254511591, 0.999988546, 0.00477934325],
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[-0.251526934, -0.00456167299, 0.967839535],
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]
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),
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Point3(2.10584013, -0.921303194, -0.809322971),
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),
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Pose3(
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Rot3(
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[
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[0.969854065, 0.000629052774, 0.243685716],
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[0.000387180179, 0.999991428, -0.00412234326],
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[-0.243686221, 0.00409242166, 0.969845508],
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]
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),
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Point3(1.0753788, -0.913035975, -0.616584091),
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),
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Pose3(
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Rot3(
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[
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[0.998189342, 0.00110235337, 0.0601400045],
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[-0.00110890447, 0.999999382, 7.55559042e-05],
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[-0.060139884, -0.000142108649, 0.998189948],
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]
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),
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Point3(0.029993558, -0.951495122, -0.425525143),
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),
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Pose3(
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Rot3(
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[
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[0.999999996, -2.62868666e-05, -8.67178281e-05],
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[2.62791334e-05, 0.999999996, -8.91767396e-05],
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[8.67201719e-05, 8.91744604e-05, 0.999999992],
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]
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),
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Point3(-0.973569417, -0.936340994, -0.253464928),
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),
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Pose3(
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Rot3(
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[
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[0.99481227, -0.00153645011, 0.101716252],
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[0.000916919443, 0.999980747, 0.00613725239],
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[-0.101723724, -0.00601214847, 0.994794525],
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]
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),
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Point3(-2.02071256, -0.955446292, -0.240707879),
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),
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Pose3(
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Rot3(
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[
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[0.89795602, -0.00978591184, 0.43997636],
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[0.00645921401, 0.999938116, 0.00905779513],
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[-0.440037771, -0.00529159974, 0.89796366],
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]
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),
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Point3(-2.94096695, -0.939974858, 0.0934225593),
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),
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Pose3(
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Rot3(
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[
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[0.726299119, -0.00916784876, 0.687318077],
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[0.00892018672, 0.999952563, 0.0039118575],
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[-0.687321336, 0.00328981905, 0.726346444],
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]
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),
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Point3(-3.72843416, -0.897889251, 0.685129502),
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),
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Pose3(
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Rot3(
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[
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[0.506756029, -0.000331706105, 0.862089858],
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[0.00613841257, 0.999975964, -0.00322354286],
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[-0.862068067, 0.00692541035, 0.506745885],
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]
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),
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Point3(-4.3909926, -0.890883291, 1.43029524),
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),
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Pose3(
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Rot3(
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[
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[0.129316352, -0.00206958814, 0.991601896],
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[0.00515932597, 0.999985691, 0.00141424797],
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[-0.991590634, 0.00493310721, 0.129325179],
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]
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),
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Point3(-4.58510846, -0.922534227, 2.36884523),
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),
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Pose3(
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Rot3(
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[
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[0.599853194, -0.00890004681, -0.800060263],
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[0.00313716318, 0.999956608, -0.00877161373],
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[0.800103615, 0.00275175707, 0.599855085],
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]
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),
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Point3(5.71559638, 0.486863076, 0.279141372),
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),
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Pose3(
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||||
Rot3(
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[
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[0.762552447, 0.000836438681, -0.646926069],
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[0.00211337894, 0.999990607, 0.00378404105],
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[0.646923157, -0.00425272942, 0.762543517],
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]
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),
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Point3(5.00243443, 0.513321893, -0.466921769),
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),
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Pose3(
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Rot3(
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[
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[0.930381645, -0.00340164355, -0.36657678],
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[0.00425636616, 0.999989781, 0.00152338305],
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[0.366567852, -0.00297761145, 0.930386617],
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]
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),
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Point3(4.05404984, 0.493385291, -0.827904571),
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),
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Pose3(
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Rot3(
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[
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||||
[0.999996073, -0.00278379707, -0.000323508543],
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[0.00278790921, 0.999905063, 0.0134941517],
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[0.000285912831, -0.0134950006, 0.999908897],
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]
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),
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Point3(3.04724478, 0.491451306, -0.989571061),
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),
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Pose3(
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Rot3(
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[
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[0.968578343, -0.002544616, 0.248695527],
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[0.000806130148, 0.999974526, 0.00709200332],
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[-0.248707238, -0.0066686795, 0.968555721],
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]
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),
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Point3(2.05737869, 0.46840177, -0.546344594),
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),
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Pose3(
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Rot3(
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[
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[0.968827882, 0.000182770584, 0.247734722],
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[-0.000558107079, 0.9999988, 0.00144484904],
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[-0.24773416, -0.00153807255, 0.968826821],
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]
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),
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Point3(1.14019947, 0.469674641, -0.0491053805),
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),
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Pose3(
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Rot3(
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[
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||||
[0.991647805, 0.00197867892, 0.128960146],
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||||
[-0.00247518407, 0.999990129, 0.00368991165],
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||||
[-0.128951572, -0.00397829284, 0.991642914],
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||||
]
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),
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||||
Point3(0.150270471, 0.457867448, 0.103628642),
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),
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Pose3(
|
||||
Rot3(
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||||
[
|
||||
[0.992244594, 0.00477781876, -0.124208847],
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||||
[-0.0037682125, 0.999957938, 0.00836195891],
|
||||
[0.124243574, -0.00782906317, 0.992220862],
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||||
]
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),
|
||||
Point3(-0.937954641, 0.440532658, 0.154265069),
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||||
),
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Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[0.999591078, 0.00215462857, -0.0285137564],
|
||||
[-0.00183807224, 0.999936443, 0.0111234301],
|
||||
[0.028535911, -0.0110664711, 0.999531507],
|
||||
]
|
||||
),
|
||||
Point3(-1.95622231, 0.448914367, -0.0859439782),
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||||
),
|
||||
Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[0.931835342, 0.000956922238, 0.362880212],
|
||||
[0.000941640753, 0.99998678, -0.00505501434],
|
||||
[-0.362880252, 0.00505214382, 0.931822122],
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||||
]
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),
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Point3(-2.85557418, 0.434739285, 0.0793777177),
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),
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Pose3(
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Rot3(
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[
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[0.781615218, -0.0109886966, 0.623664238],
|
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[0.00516954657, 0.999924591, 0.011139446],
|
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[-0.623739616, -0.00548270158, 0.781613084],
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]
|
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),
|
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Point3(-3.67524552, 0.444074681, 0.583718622),
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),
|
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Pose3(
|
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Rot3(
|
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[
|
||||
[0.521291761, 0.00264805046, 0.853374051],
|
||||
[0.00659087718, 0.999952868, -0.00712898365],
|
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[-0.853352707, 0.00934076542, 0.521249738],
|
||||
]
|
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),
|
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Point3(-4.35541796, 0.413479707, 1.31179007),
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),
|
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Pose3(
|
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Rot3(
|
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[
|
||||
[0.320164205, -0.00890839482, 0.947319884],
|
||||
[0.00458409304, 0.999958649, 0.007854118],
|
||||
[-0.947350678, 0.00182799903, 0.320191803],
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]
|
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),
|
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Point3(-4.71617526, 0.476674479, 2.16502998),
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),
|
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Pose3(
|
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Rot3(
|
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[
|
||||
[0.464861609, 0.0268597443, -0.884976415],
|
||||
[-0.00947397841, 0.999633409, 0.0253631906],
|
||||
[0.885333239, -0.00340614699, 0.464945663],
|
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]
|
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),
|
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Point3(6.11772094, 1.63029238, 0.491786626),
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),
|
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Pose3(
|
||||
Rot3(
|
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[
|
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[0.691647251, 0.0216006293, -0.721912024],
|
||||
[-0.0093228132, 0.999736395, 0.020981541],
|
||||
[0.722174939, -0.00778156302, 0.691666308],
|
||||
]
|
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),
|
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Point3(5.46912979, 1.68759322, -0.288499782),
|
||||
),
|
||||
Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[0.921208931, 0.00622640471, -0.389018433],
|
||||
[-0.00686296262, 0.999976419, -0.000246683913],
|
||||
[0.389007724, 0.00289706631, 0.92122994],
|
||||
]
|
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),
|
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Point3(4.70156942, 1.72186229, -0.806181015),
|
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),
|
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Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[0.822397705, 0.00276497594, 0.568906142],
|
||||
[0.00804891535, 0.999831556, -0.016494662],
|
||||
[-0.568855921, 0.0181442503, 0.822236923],
|
||||
]
|
||||
),
|
||||
Point3(-3.51368714, 1.59619714, 0.437437437),
|
||||
),
|
||||
Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[0.726822937, -0.00545541524, 0.686803193],
|
||||
[0.00913794245, 0.999956756, -0.00172754968],
|
||||
[-0.686764068, 0.00753159111, 0.726841357],
|
||||
]
|
||||
),
|
||||
Point3(-4.29737821, 1.61462527, 1.11537749),
|
||||
),
|
||||
Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[0.402595481, 0.00697612855, 0.915351441],
|
||||
[0.0114113638, 0.999855006, -0.0126391687],
|
||||
[-0.915306892, 0.0155338804, 0.4024575],
|
||||
]
|
||||
),
|
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Point3(-4.6516433, 1.6323107, 1.96579585),
|
||||
),
|
||||
]
|
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# from estimated cameras
|
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unaligned_pose_dict = {
|
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2: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.681949, -0.568276, 0.460444],
|
||||
[0.572389, -0.0227514, 0.819667],
|
||||
[-0.455321, 0.822524, 0.34079],
|
||||
]
|
||||
),
|
||||
Point3(-1.52189, 0.78906, -1.60608),
|
||||
),
|
||||
4: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.817805393, -0.575044816, 0.022755196],
|
||||
[0.0478829397, -0.0285875849, 0.998443776],
|
||||
[-0.573499401, 0.81762229, 0.0509139174],
|
||||
]
|
||||
),
|
||||
Point3(-1.22653168, 0.686485651, -1.39294168),
|
||||
),
|
||||
3: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.783051568, -0.571905041, 0.244448085],
|
||||
[0.314861464, -0.0255673164, 0.948793218],
|
||||
[-0.536369743, 0.819921299, 0.200091385],
|
||||
]
|
||||
),
|
||||
Point3(-1.37620079, 0.721408674, -1.49945316),
|
||||
),
|
||||
5: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.818916586, -0.572896131, 0.0341415873],
|
||||
[0.0550548476, -0.0192038786, 0.99829864],
|
||||
[-0.571265778, 0.819402974, 0.0472670839],
|
||||
]
|
||||
),
|
||||
Point3(-1.06370243, 0.663084159, -1.27672831),
|
||||
),
|
||||
6: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.798825521, -0.571995242, 0.186277293],
|
||||
[0.243311017, -0.0240196245, 0.969650869],
|
||||
[-0.550161372, 0.819905178, 0.158360233],
|
||||
]
|
||||
),
|
||||
Point3(-0.896250742, 0.640768239, -1.16984756),
|
||||
),
|
||||
7: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.786416666, -0.570215296, 0.237493882],
|
||||
[0.305475635, -0.0248440676, 0.951875732],
|
||||
[-0.536873788, 0.821119534, 0.193724669],
|
||||
]
|
||||
),
|
||||
Point3(-0.740385043, 0.613956842, -1.05908579),
|
||||
),
|
||||
8: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.806252832, -0.57019757, 0.157578877],
|
||||
[0.211046715, -0.0283979846, 0.977063375],
|
||||
[-0.55264424, 0.821016617, 0.143234279],
|
||||
]
|
||||
),
|
||||
Point3(-0.58333517, 0.549832698, -0.9542864),
|
||||
),
|
||||
9: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.821191354, -0.557772774, -0.120558255],
|
||||
[-0.125347331, -0.0297958331, 0.991665395],
|
||||
[-0.556716092, 0.829458703, -0.0454472483],
|
||||
]
|
||||
),
|
||||
Point3(-0.436483039, 0.55003923, -0.850733187),
|
||||
),
|
||||
21: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.778607603, -0.575075476, 0.251114312],
|
||||
[0.334920968, -0.0424301164, 0.941290407],
|
||||
[-0.53065822, 0.816999316, 0.225641247],
|
||||
]
|
||||
),
|
||||
Point3(-0.736735967, 0.571415247, -0.738663611),
|
||||
),
|
||||
17: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.818569806, -0.573904529, 0.0240221722],
|
||||
[0.0512889176, -0.0313725422, 0.998190969],
|
||||
[-0.572112681, 0.818321059, 0.0551155579],
|
||||
]
|
||||
),
|
||||
Point3(-1.36150982, 0.724829031, -1.16055631),
|
||||
),
|
||||
18: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.812668105, -0.582027424, 0.0285417146],
|
||||
[0.0570298244, -0.0306936169, 0.997900547],
|
||||
[-0.579929436, 0.812589675, 0.0581366453],
|
||||
]
|
||||
),
|
||||
Point3(-1.20484771, 0.762370343, -1.05057127),
|
||||
),
|
||||
20: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.748446406, -0.580905382, 0.319963926],
|
||||
[0.416860654, -0.0368374152, 0.908223651],
|
||||
[-0.515805363, 0.813137099, 0.269727429],
|
||||
]
|
||||
),
|
||||
Point3(569.449421, -907.892555, -794.585647),
|
||||
),
|
||||
22: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.826878177, -0.559495019, -0.0569017041],
|
||||
[-0.0452256802, -0.0346974602, 0.99837404],
|
||||
[-0.560559647, 0.828107125, 0.00338702978],
|
||||
]
|
||||
),
|
||||
Point3(-0.591431172, 0.55422253, -0.654656597),
|
||||
),
|
||||
29: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.785759779, -0.574532433, -0.229115805],
|
||||
[-0.246020939, -0.049553424, 0.967996981],
|
||||
[-0.567499134, 0.81698038, -0.102409921],
|
||||
]
|
||||
),
|
||||
Point3(69.4916073, 240.595227, -493.278045),
|
||||
),
|
||||
23: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.783524382, -0.548569702, -0.291823276],
|
||||
[-0.316457553, -0.051878563, 0.94718701],
|
||||
[-0.534737468, 0.834493797, -0.132950906],
|
||||
]
|
||||
),
|
||||
Point3(-5.93496204, 41.9304933, -3.06881633),
|
||||
),
|
||||
10: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.766833992, -0.537641809, -0.350580824],
|
||||
[-0.389506676, -0.0443270797, 0.919956336],
|
||||
[-0.510147213, 0.84200736, -0.175423563],
|
||||
]
|
||||
),
|
||||
Point3(234.185458, 326.007989, -691.769777),
|
||||
),
|
||||
30: Pose3(
|
||||
Rot3(
|
||||
[
|
||||
[-0.754844165, -0.559278755, -0.342662459],
|
||||
[-0.375790683, -0.0594160018, 0.92479787],
|
||||
[-0.537579435, 0.826847636, -0.165321923],
|
||||
]
|
||||
),
|
||||
Point3(-5.93398168, 41.9107972, -3.07385081),
|
||||
),
|
||||
}
|
||||
|
||||
unaligned_pose_list = []
|
||||
for i in range(32):
|
||||
wTi = unaligned_pose_dict.get(i, None)
|
||||
unaligned_pose_list.append(wTi)
|
||||
# GT poses are the reference/target
|
||||
rSe = align_poses_sim3_ignore_missing(aTi_list=poses_gt, bTi_list=unaligned_pose_list)
|
||||
assert rSe.scale() >= 0
|
||||
|
||||
|
||||
def align_poses_sim3_ignore_missing(aTi_list: List[Optional[Pose3]], bTi_list: List[Optional[Pose3]]) -> Similarity3:
|
||||
"""Align by similarity transformation, but allow missing estimated poses in the input.
|
||||
|
||||
Note: this is a wrapper for align_poses_sim3() that allows for missing poses/dropped cameras.
|
||||
This is necessary, as align_poses_sim3() requires a valid pose for every input pair.
|
||||
|
||||
We force SIM(3) alignment rather than SE(3) alignment.
|
||||
We assume the two trajectories are of the exact same length.
|
||||
|
||||
Args:
|
||||
aTi_list: reference poses in frame "a" which are the targets for alignment
|
||||
bTi_list: input poses which need to be aligned to frame "a"
|
||||
|
||||
Returns:
|
||||
aSb: Similarity(3) object that aligns the two pose graphs.
|
||||
"""
|
||||
assert len(aTi_list) == len(bTi_list)
|
||||
|
||||
# only choose target poses for which there is a corresponding estimated pose
|
||||
corresponding_aTi_list = []
|
||||
valid_camera_idxs = []
|
||||
valid_bTi_list = []
|
||||
for i, bTi in enumerate(bTi_list):
|
||||
if bTi is not None:
|
||||
valid_camera_idxs.append(i)
|
||||
valid_bTi_list.append(bTi)
|
||||
corresponding_aTi_list.append(aTi_list[i])
|
||||
|
||||
aSb = align_poses_sim3(aTi_list=corresponding_aTi_list, bTi_list=valid_bTi_list)
|
||||
return aSb
|
||||
|
||||
|
||||
def align_poses_sim3(aTi_list: List[Pose3], bTi_list: List[Pose3]) -> Similarity3:
|
||||
"""Align two pose graphs via similarity transformation. Note: poses cannot be missing/invalid.
|
||||
|
||||
We force SIM(3) alignment rather than SE(3) alignment.
|
||||
We assume the two trajectories are of the exact same length.
|
||||
|
||||
Args:
|
||||
aTi_list: reference poses in frame "a" which are the targets for alignment
|
||||
bTi_list: input poses which need to be aligned to frame "a"
|
||||
|
||||
Returns:
|
||||
aSb: Similarity(3) object that aligns the two pose graphs.
|
||||
"""
|
||||
n_to_align = len(aTi_list)
|
||||
assert len(aTi_list) == len(bTi_list)
|
||||
assert n_to_align >= 2, "SIM(3) alignment uses at least 2 frames"
|
||||
|
||||
ab_pairs = Pose3Pairs(list(zip(aTi_list, bTi_list)))
|
||||
|
||||
aSb = Similarity3.Align(ab_pairs)
|
||||
|
||||
if np.isnan(aSb.scale()) or aSb.scale() == 0:
|
||||
# we have run into a case where points have no translation between them (i.e. panorama).
|
||||
# We will first align the rotations and then align the translation by using centroids.
|
||||
# TODO: handle it in GTSAM
|
||||
|
||||
# align the rotations first, so that we can find the translation between the two panoramas
|
||||
aSb = Similarity3(aSb.rotation(), np.zeros((3,)), 1.0)
|
||||
aTi_list_rot_aligned = [aSb.transformFrom(bTi) for bTi in bTi_list]
|
||||
|
||||
# fit a single translation motion to the centroid
|
||||
aTi_centroid = np.array([aTi.translation() for aTi in aTi_list]).mean(axis=0)
|
||||
aTi_rot_aligned_centroid = np.array([aTi.translation() for aTi in aTi_list_rot_aligned]).mean(axis=0)
|
||||
|
||||
# construct the final SIM3 transform
|
||||
aSb = Similarity3(aSb.rotation(), aTi_centroid - aTi_rot_aligned_centroid, 1.0)
|
||||
|
||||
return aSb
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
|
|||
Loading…
Reference in New Issue