2 tests to go
lcarlone
parent
b10a9d245b
commit
2c1b780a4f
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@ -157,11 +157,10 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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Matrix& E, Vector& b, const Values& values) const {
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if (!result_) {
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throw ("computeJacobiansWithTriangulatedPoint");
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} else {
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} else { // valid result: compute jacobians
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size_t numViews = measured_.size();
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E = Matrix::Zero(3*numViews,3); // a StereoPoint2 for each view
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b = Vector::Zero(3*numViews); // a StereoPoint2 for each view
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// valid result: compute jacobians
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Matrix dPoseCam_dPoseBody,dPoseCam_dPoseExt, dProject_dPoseCam,Ei;
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for (size_t i = 0; i < numViews; i++) { // for each camera/measurement
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@ -184,6 +183,8 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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b.segment<ZDim>(row) = - reprojectionError.vector();
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E.block<3,3>(row,0) = Ei;
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}
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// correct for monocular measurements, where the right pixel measurement is nan
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//Base::CorrectForMissingMeasurements(measured_, cameras, b, Fs, E);
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}
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}
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@ -203,9 +204,10 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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throw std::runtime_error("SmartStereoProjectionHessianFactor: this->"
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"measured_.size() inconsistent with input");
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std::cout << "triangulate" << std::endl;
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triangulateSafe(cameras(values));
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if (params_.degeneracyMode == ZERO_ON_DEGENERACY && !result_) {
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if (!result_) {
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std::cout << "degenerate" << std::endl;
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// failed: return"empty" Hessian
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for(Matrix& m: Gs)
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@ -216,6 +218,7 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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Gs, gs, 0.0);
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}
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std::cout << "params_.degeneracyMode" << params_.degeneracyMode << std::endl;
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// Jacobian could be 3D Point3 OR 2D Unit3, difference is E.cols().
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FBlocks Fs;
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Matrix F, E;
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@ -263,7 +266,7 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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keyToSlotMap[keys_[k]] = k;
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}
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// std::cout << "linearize" << std::endl;
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std::cout << "linearize" << std::endl;
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// for(size_t i=0; i<nrUniqueKeys;i++){
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// std::cout <<"key: " << DefaultKeyFormatter(keys_[i]);
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// std::cout <<" key slot: " << keyToSlotMap[keys_[i]] << std::endl;
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@ -273,24 +276,6 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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// std::cout <<" key slot: " << keyToSlotMap[nonuniqueKeys[i]] << std::endl;
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// }
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/////////////////////////////////////////////////////////////////
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// PROTOTYPING
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size_t numMeasurements = measured_.size();
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Matrix F = Matrix::Zero(3*numMeasurements, 6 * nrUniqueKeys);
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for(size_t k=0; k<numMeasurements; k++){
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Key key_body = w_P_body_keys_.at(k);
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Key key_cal = body_P_cam_keys_.at(k);
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F.block<3,6>( 3*k , 6*keyToSlotMap[key_body] ) = Fs[k].block<3,6>(0,0);
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F.block<3,6>( 3*k , 6*keyToSlotMap[key_cal] ) = Fs[k].block<3,6>(0,6);
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}
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Matrix augH = Matrix::Zero(6*nrUniqueKeys+1,6*nrUniqueKeys+1);
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augH.block(0,0,6*nrUniqueKeys,6*nrUniqueKeys) = F.transpose() * F - F.transpose() * E * P * E.transpose() * F;
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Matrix infoVec = F.transpose() * b - F.transpose() * E * P * E.transpose() * b;
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augH.block(0,6*nrUniqueKeys,6*nrUniqueKeys,1) = infoVec;
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augH.block(6*nrUniqueKeys,0,1,6*nrUniqueKeys) = infoVec.transpose();
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augH(6*nrUniqueKeys,6*nrUniqueKeys) = b.squaredNorm();
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/////////////////////////////////////////////////////////////////
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// initialize matrix to zero
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augmentedHessianUniqueKeys = SymmetricBlockMatrix(dims, Matrix::Zero(6*nrUniqueKeys+1,6*nrUniqueKeys+1));
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@ -317,7 +302,7 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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augmentedHessian.aboveDiagonalBlock(i,j).transpose());
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}
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}
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else{
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else{ //TODO: remove else
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augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j],
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augmentedHessian.aboveDiagonalBlock(j,i).transpose());
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}
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@ -327,12 +312,6 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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//std::cout << "Matrix \n " << Matrix(augmentedHessianUniqueKeys.selfadjointView()) <<std::endl;
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//std::cout << "sq norm " << b.squaredNorm() << std::endl;
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std::cout << "norm diff: \n"<< Matrix(augH - Matrix(augmentedHessianUniqueKeys.selfadjointView())).lpNorm<Eigen::Infinity>() << std::endl;
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//
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//
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// std::cout << "TEST MATRIX:" << std::endl;
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// augmentedHessianUniqueKeys = SymmetricBlockMatrix(dims, augH);
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}
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return boost::make_shared<RegularHessianFactor<DimPose> >(keys_, augmentedHessianUniqueKeys);
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@ -156,7 +156,7 @@ TEST( SmartStereoProjectionFactorPP, Equals ) {
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}
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/* *************************************************************************/
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TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless ) {
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TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless_error_identityExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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@ -193,7 +193,7 @@ TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless ) {
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}
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/* *************************************************************************/
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TEST_UNSAFE( SmartStereoProjectionFactorPP, noiselessNonidenticalExtrinsics ) {
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TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless_error_multipleExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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@ -237,7 +237,7 @@ TEST_UNSAFE( SmartStereoProjectionFactorPP, noiselessNonidenticalExtrinsics ) {
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, noiselessWithMissingMeasurements ) {
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TEST( SmartProjectionPoseFactor, noiseless_error_multipleExtrinsics_missingMeasurements ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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@ -302,7 +302,7 @@ TEST( SmartProjectionPoseFactor, noiselessWithMissingMeasurements ) {
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, noisy ) {
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TEST( SmartStereoProjectionFactorPP, noisy_error_multipleExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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@ -368,7 +368,7 @@ TEST( SmartStereoProjectionFactorPP, noisy ) {
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_optimization ) {
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TEST( SmartStereoProjectionFactorPP, 3poses_optimization_multipleExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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@ -531,7 +531,7 @@ TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_optimization
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_error_sameExtrinsicKey ) {
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TEST( SmartStereoProjectionFactorPP, 3poses_error_sameExtrinsicKey ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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@ -610,7 +610,7 @@ TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_error_sameEx
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_error_sameExtrinsicKey_error_noisy ) {
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TEST( SmartStereoProjectionFactorPP, 3poses_noisy_error_sameExtrinsicKey ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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@ -741,12 +741,12 @@ TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_error_sameEx
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initialError_actual = graph.error(values);
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}
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std::cout << " initialError_expected " << initialError_expected << std::endl;
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//std::cout << " initialError_expected " << initialError_expected << std::endl;
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EXPECT_DOUBLES_EQUAL(initialError_expected, initialError_actual, 1e-7);
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_optimization_sameExtrinsicKey ) {
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TEST( SmartStereoProjectionFactorPP, 3poses_optimization_sameExtrinsicKey ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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@ -825,9 +825,27 @@ TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_optimization
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double initialErrorSmart = graph.error(values);
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EXPECT_DOUBLES_EQUAL(31986.961831653316, initialErrorSmart, 1e-5); // initial guess is noisy, so nonzero error
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std::cout << " 1: " << smartFactor1->error(values) <<std::endl;
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std::cout << " 2: " << smartFactor2->error(values) <<std::endl;
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std::cout << " 3: " << smartFactor3->error(values) <<std::endl;
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/////////////////////////////////////////////////////////////////
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// What the factor is doing is the following Schur complement math (this matches augmentedHessianPP in code):
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// size_t numMeasurements = measured_.size();
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// Matrix F = Matrix::Zero(3*numMeasurements, 6 * nrUniqueKeys);
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// for(size_t k=0; k<numMeasurements; k++){
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// Key key_body = w_P_body_keys_.at(k);
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// Key key_cal = body_P_cam_keys_.at(k);
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// F.block<3,6>( 3*k , 6*keyToSlotMap[key_body] ) = Fs[k].block<3,6>(0,0);
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// F.block<3,6>( 3*k , 6*keyToSlotMap[key_cal] ) = Fs[k].block<3,6>(0,6);
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// }
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// Matrix augH = Matrix::Zero(6*nrUniqueKeys+1,6*nrUniqueKeys+1);
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// augH.block(0,0,6*nrUniqueKeys,6*nrUniqueKeys) = F.transpose() * F - F.transpose() * E * P * E.transpose() * F;
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// Matrix infoVec = F.transpose() * b - F.transpose() * E * P * E.transpose() * b;
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// augH.block(0,6*nrUniqueKeys,6*nrUniqueKeys,1) = infoVec;
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// augH.block(6*nrUniqueKeys,0,1,6*nrUniqueKeys) = infoVec.transpose();
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// augH(6*nrUniqueKeys,6*nrUniqueKeys) = b.squaredNorm();
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// // The following is close to zero:
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// std::cout << "norm diff: \n"<< Matrix(augH - Matrix(augmentedHessianUniqueKeys.selfadjointView())).lpNorm<Eigen::Infinity>() << std::endl;
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// std::cout << "TEST MATRIX:" << std::endl;
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// augmentedHessianUniqueKeys = SymmetricBlockMatrix(dims, augH);
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/////////////////////////////////////////////////////////////////
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Values result;
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gttic_(SmartStereoProjectionFactorPP);
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@ -845,7 +863,7 @@ TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor_optimization
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}
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/* *************************************************************************
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TEST( SmartStereoProjectionFactorPP, body_P_sensor_monocular ){
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TEST( SmartStereoProjectionFactorPP, monocular_multipleExtrinsicKeys ){
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// make a realistic calibration matrix
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double fov = 60; // degrees
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size_t w=640,h=480;
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@ -881,12 +899,6 @@ TEST( SmartStereoProjectionFactorPP, body_P_sensor_monocular ){
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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// Create smart factors
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KeyVector views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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// convert measurement to (degenerate) stereoPoint2 (with right pixel being NaN)
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vector<StereoPoint2> measurements_cam1_stereo, measurements_cam2_stereo, measurements_cam3_stereo;
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for(size_t k=0; k<measurements_cam1.size();k++)
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@ -898,64 +910,81 @@ TEST( SmartStereoProjectionFactorPP, body_P_sensor_monocular ){
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for(size_t k=0; k<measurements_cam3.size();k++)
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measurements_cam3_stereo.push_back(StereoPoint2(measurements_cam3[k].x() , missing_uR , measurements_cam3[k].y()));
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SmartStereoProjectionParams params;
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params.setRankTolerance(1.0);
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params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY);
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params.setEnableEPI(false);
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KeyVector poseKeys;
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poseKeys.push_back(x1);
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poseKeys.push_back(x2);
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poseKeys.push_back(x3);
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Symbol body_P_cam_key('P', 0);
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KeyVector extrinsicKeys;
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extrinsicKeys.push_back(body_P_cam_key);
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extrinsicKeys.push_back(body_P_cam_key);
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extrinsicKeys.push_back(body_P_cam_key);
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SmartStereoProjectionParams smart_params;
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smart_params.setRankTolerance(1.0);
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smart_params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY);
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smart_params.setEnableEPI(false);
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Cal3_S2Stereo::shared_ptr Kmono(new Cal3_S2Stereo(fov,w,h,b));
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SmartStereoProjectionFactorPP smartFactor1(model, params, sensor_to_body);
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smartFactor1.add(measurements_cam1_stereo, views, Kmono);
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SmartStereoProjectionFactorPP smartFactor2(model, params, sensor_to_body);
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smartFactor2.add(measurements_cam2_stereo, views, Kmono);
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SmartStereoProjectionFactorPP smartFactor1(model, smart_params);
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smartFactor1.add(measurements_cam1_stereo, poseKeys, extrinsicKeys, Kmono);
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SmartStereoProjectionFactorPP smartFactor3(model, params, sensor_to_body);
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smartFactor3.add(measurements_cam3_stereo, views, Kmono);
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SmartStereoProjectionFactorPP smartFactor2(model, smart_params);
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smartFactor2.add(measurements_cam2_stereo, poseKeys, extrinsicKeys, Kmono);
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SmartStereoProjectionFactorPP smartFactor3(model, smart_params);
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smartFactor3.add(measurements_cam3_stereo, poseKeys, extrinsicKeys, Kmono);
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// Graph
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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// Put all factors in factor graph, adding priors
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NonlinearFactorGraph graph;
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graph.push_back(smartFactor1);
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graph.push_back(smartFactor2);
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graph.push_back(smartFactor3);
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graph.addPrior(x1, bodyPose1, noisePrior);
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graph.addPrior(x2, bodyPose2, noisePrior);
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graph.addPrior(x3, bodyPose3, noisePrior);
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// we might need some prior on the calibration too
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// graph.addPrior(body_P_cam_key, body_Pose_cam, noisePrior); // no need! the measurements will fix this!
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// Check errors at ground truth poses
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Values gtValues;
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gtValues.insert(x1, bodyPose1);
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gtValues.insert(x2, bodyPose2);
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gtValues.insert(x3, bodyPose3);
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gtValues.insert(body_P_cam_key, sensor_to_body);
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double actualError = graph.error(gtValues);
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double expectedError = 0.0;
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DOUBLES_EQUAL(expectedError, actualError, 1e-7)
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Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1));
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// noisy values
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Values values;
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Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise
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values.insert(x1, bodyPose1);
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values.insert(x2, bodyPose2);
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// initialize third pose with some noise, we expect it to move back to original pose3
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values.insert(x3, bodyPose3*noise_pose);
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values.insert(x3, bodyPose3);
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values.insert(body_P_cam_key, sensor_to_body*noise_pose);
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// cost is large before optimization
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double initialErrorSmart = graph.error(values);
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EXPECT_DOUBLES_EQUAL(2379.0012816261642, initialErrorSmart, 1e-5); // freeze value
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LevenbergMarquardtParams lmParams;
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Values result;
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LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
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gttic_(SmartStereoProjectionFactorPP);
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LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
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result = optimizer.optimize();
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EXPECT(assert_equal(bodyPose3,result.at<Pose3>(x3)));
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gttoc_(SmartStereoProjectionFactorPP);
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tictoc_finishedIteration_();
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EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
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EXPECT(assert_equal(sensor_to_body,result.at<Pose3>(body_P_cam_key)));
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}
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/* *************************************************************************
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, landmarkDistance ) {
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// double excludeLandmarksFutherThanDist = 2;
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KeyVector views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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StereoCamera cam1(pose1, K);
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@ -966,6 +995,17 @@ TEST( SmartStereoProjectionFactorPP, landmarkDistance ) {
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Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
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StereoCamera cam3(pose3, K);
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KeyVector views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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Symbol body_P_cam_key('P', 0);
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KeyVector extrinsicKeys;
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||||
extrinsicKeys.push_back(body_P_cam_key);
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extrinsicKeys.push_back(body_P_cam_key);
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extrinsicKeys.push_back(body_P_cam_key);
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// three landmarks ~5 meters infront of camera
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Point3 landmark1(5, 0.5, 1.2);
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Point3 landmark2(5, -0.5, 1.2);
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|
@ -980,26 +1020,27 @@ TEST( SmartStereoProjectionFactorPP, landmarkDistance ) {
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|||
cam2, cam3, landmark3);
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||||
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||||
SmartStereoProjectionParams params;
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||||
params.setLinearizationMode(JACOBIAN_SVD);
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||||
params.setLinearizationMode(HESSIAN);
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params.setLandmarkDistanceThreshold(2);
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||||
|
||||
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, params));
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||||
smartFactor1->add(measurements_cam1, views, K);
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||||
smartFactor1->add(measurements_cam1, views, extrinsicKeys, K);
|
||||
|
||||
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, params));
|
||||
smartFactor2->add(measurements_cam2, views, K);
|
||||
smartFactor2->add(measurements_cam2, views, extrinsicKeys, K);
|
||||
|
||||
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, params));
|
||||
smartFactor3->add(measurements_cam3, views, K);
|
||||
smartFactor3->add(measurements_cam3, views, extrinsicKeys, K);
|
||||
|
||||
// create graph
|
||||
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);
|
||||
graph.addPrior(body_P_cam_key, Pose3::identity(), 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),
|
||||
|
|
@ -1008,12 +1049,15 @@ TEST( SmartStereoProjectionFactorPP, landmarkDistance ) {
|
|||
values.insert(x1, pose1);
|
||||
values.insert(x2, pose2);
|
||||
values.insert(x3, pose3 * noise_pose);
|
||||
values.insert(body_P_cam_key, Pose3::identity());
|
||||
|
||||
// All factors are disabled and pose should remain where it is
|
||||
std::cout << "optimization " << std::endl;
|
||||
// All smart factors are disabled and pose should remain where it is
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
|
||||
result = optimizer.optimize();
|
||||
EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3)));
|
||||
EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3), 1e-5));
|
||||
EXPECT_DOUBLES_EQUAL(graph.error(values), graph.error(result), 1e-5);
|
||||
}
|
||||
|
||||
/* *************************************************************************
|
||||
|
|
|
|||
Loading…
Reference in New Issue