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Cleaned up/naming conventions/docs

release/4.3a0
Frank Dellaert 2018-09-29 00:05:39 -04:00
parent 67ffd65838
commit 224299ccb9
1 changed files with 60 additions and 51 deletions
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111
examples/ISAM2Example_SmartFactor.cpp
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@ -1,5 +1,8 @@
#include <iostream> /**
#include <vector> * @file ISAM2Example_SmartFactor.cpp
* @brief test of iSAM with smart factors, led to bitbucket issue #367
* @author Alexander (pumaking on BitBucket)
*/
#include <gtsam/geometry/SimpleCamera.h> #include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
@ -7,7 +10,13 @@
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
#include <iostream>
#include <vector>
using namespace std;
using namespace gtsam; using namespace gtsam;
using symbol_shorthand::P;
using symbol_shorthand::X;
// Make the typename short so it looks much cleaner // Make the typename short so it looks much cleaner
typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor; typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
@ -15,11 +24,12 @@ typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
int main(int argc, char* argv[]) { int main(int argc, char* argv[]) {
Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
noiseModel::Isotropic::shared_ptr measurement_noise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v auto measurementNoise =
noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
noiseModel::Diagonal::shared_ptr noise = noiseModel::Diagonal::Sigmas( Vector6 sigmas;
(Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)).finished()); sigmas << Vector3::Constant(0.3), Vector3::Constant(0.1);
noiseModel::Isotropic::shared_ptr large_noise = noiseModel::Isotropic::Sigma(6, 100); auto noise = noiseModel::Diagonal::Sigmas(sigmas);
ISAM2Params parameters; ISAM2Params parameters;
parameters.relinearizeThreshold = 0.01; parameters.relinearizeThreshold = 0.01;
@ -31,7 +41,7 @@ int main(int argc, char* argv[]) {
// Create a factor graph // Create a factor graph
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
Values initial_estimate; Values initialEstimate;
Point3 point(0.0, 0.0, 1.0); Point3 point(0.0, 0.0, 1.0);
@ -44,62 +54,61 @@ int main(int argc, char* argv[]) {
Pose3 pose4(Rot3(), Point3(0.0, 0.5, 0.0)); Pose3 pose4(Rot3(), Point3(0.0, 0.5, 0.0));
Pose3 pose5(Rot3(), Point3(0.0, 0.6, 0.0)); Pose3 pose5(Rot3(), Point3(0.0, 0.6, 0.0));
std::vector<Pose3> pose_list = { pose1, pose2, pose3, pose4, pose5 }; vector<Pose3> poses = {pose1, pose2, pose3, pose4, pose5};
SmartFactor::shared_ptr smart_factor(new SmartFactor(measurement_noise, K)); SmartFactor::shared_ptr smartFactor(new SmartFactor(measurementNoise, K));
graph.push_back(smart_factor); graph.push_back(smartFactor);
graph.emplace_shared<PriorFactor<Pose3>>(0, pose_list[0], noise); graph.emplace_shared<PriorFactor<Pose3>>(X(0), poses[0], noise);
initial_estimate.insert(0, pose_list[0].compose(delta)); initialEstimate.insert(X(0), poses[0].compose(delta));
smart_factor->add(PinholePose<Cal3_S2>(pose_list[0], K).project(point), 0); smartFactor->add(PinholePose<Cal3_S2>(poses[0], K).project(point), X(0));
for (int i = 1; i < 5; i++) { for (size_t i = 1; i < 5; i++) {
PinholePose<Cal3_S2> camera(pose_list[i], K); cout << "****************************************************" << endl;
cout << "i = " << i << endl;
// Add measurement to smart factor
PinholePose<Cal3_S2> camera(poses[i], K);
Point2 measurement = camera.project(point); Point2 measurement = camera.project(point);
smartFactor->add(measurement, X(i));
cout << "Measurement " << i << "" << measurement << endl;
std::cout << "****************************************************" << std::endl; // Add prior on new pose
std::cout << "i = " << i << std::endl; graph.emplace_shared<PriorFactor<Pose3>>(X(i), poses[i], noise);
std::cout << "Measurement " << i << " is " << measurement << std::endl; initialEstimate.insert(X(i), poses[i].compose(delta));
graph.emplace_shared<PriorFactor<Pose3>>(i, pose_list[i], noise);
//graph.emplace_shared<BetweenFactor<Pose3>>(i - 1, i, Pose3(), large_noise);
initial_estimate.insert(i, pose_list[i].compose(delta));
smart_factor->add(measurement, i);
ISAM2Result result = isam.update(graph, initial_estimate);
graph.resize(0);
initial_estimate.clear();
// Update iSAM2
ISAM2Result result = isam.update(graph, initialEstimate);
result.print(); result.print();
const auto& var_map = (*(result.detail)).variableStatus; cout << "Detailed results:" << endl;
for (auto keyedStatus : result.detail->variableStatus) {
std::cout << "Detailed results:" << std::endl; const auto& status = keyedStatus.second;
for (int j = 0; j < 3; j++) { cout << keyedStatus.first << " {" << endl;
if (var_map.exists(j)) { cout << "reeliminated: " << status.isReeliminated << endl;
std::cout << j << " is reeliminated: " << var_map.at(j).isReeliminated << std::endl; cout << "relinearized above thresh: " << status.isAboveRelinThreshold
std::cout << j << " is relinearized above thresh: " << var_map.at(j).isAboveRelinThreshold << std::endl; << endl;
std::cout << j << " is relinearized involved: " << var_map.at(j).isRelinearizeInvolved << std::endl; cout << "relinearized involved: " << status.isRelinearizeInvolved << endl;
std::cout << j << " is relinearized: " << var_map.at(j).isRelinearized << std::endl; cout << "relinearized: " << status.isRelinearized << endl;
std::cout << j << " is observed: " << var_map.at(j).isObserved << std::endl; cout << "observed: " << status.isObserved << endl;
std::cout << j << " is new: " << var_map.at(j).isNew << std::endl; cout << "new: " << status.isNew << endl;
std::cout << j << " is in the root clique: " << var_map.at(j).inRootClique << std::endl; cout << "in the root clique: " << status.inRootClique << endl;
} cout << "}" << endl;
else {
std::cout << j << " does not exist in the detailed results map." << std::endl;
}
} }
Values current_estimate = isam.calculateEstimate(); Values currentEstimate = isam.calculateEstimate();
current_estimate.print("Current estimate: "); currentEstimate.print("Current estimate: ");
boost::optional<Point3> point_res = smart_factor->point(current_estimate); boost::optional<Point3> pointEstimate = smartFactor->point(currentEstimate);
if (point_res) { if (pointEstimate) {
std::cout << *point_res << std::endl; cout << *pointEstimate << endl;
} } else {
else { cout << "Point degenerate." << endl;
std::cout << "Point is degenerate." << std::endl;
} }
// Reset graph and initial estimate for next iteration
graph.resize(0);
initialEstimate.clear();
} }
return 0; return 0;