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all tests work except serialization

release/4.3a0
lcarlone 2021-10-02 23:10:05 -04:00
parent fa4de18742
commit 3758fdaa5d
4 changed files with 395 additions and 398 deletions
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25
gtsam/slam/SmartProjectionRigFactor.h
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@ -38,7 +38,7 @@ namespace gtsam {
/** /**
* This factor assumes that camera calibration is fixed (but each camera * This factor assumes that camera calibration is fixed (but each camera
* measurement can have a different extrinsic and intrinsic calibration). * measurement can have a different extrinsic and intrinsic calibration).
* The factor only constrains poses (variable dimension is 6). * The factor only constrains poses (variable dimension is 6 for each pose).
* This factor requires that values contains the involved poses (Pose3). * This factor requires that values contains the involved poses (Pose3).
* If all measurements share the same calibration (i.e., are from the same camera), use SmartProjectionPoseFactor instead! * If all measurements share the same calibration (i.e., are from the same camera), use SmartProjectionPoseFactor instead!
* If the calibration should be optimized, as well, use SmartProjectionFactor instead! * If the calibration should be optimized, as well, use SmartProjectionFactor instead!
@ -60,7 +60,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
/// vector of keys (one for each observation) with potentially repeated keys /// vector of keys (one for each observation) with potentially repeated keys
KeyVector nonUniqueKeys_; KeyVector nonUniqueKeys_;
/// cameras in the rig (fixed poses wrt body + fixed intrinsics) /// cameras in the rig (fixed poses wrt body + fixed intrinsics, for each camera)
typename Base::Cameras cameraRig_; typename Base::Cameras cameraRig_;
/// vector of camera Ids (one for each observation), identifying which camera took the measurement /// vector of camera Ids (one for each observation), identifying which camera took the measurement
@ -185,13 +185,12 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
*/ */
typename Base::Cameras cameras(const Values& values) const override { typename Base::Cameras cameras(const Values& values) const override {
typename Base::Cameras cameras; typename Base::Cameras cameras;
cameras.reserve(nonUniqueKeys_.size()); // preallocate
for (size_t i = 0; i < nonUniqueKeys_.size(); i++) { for (size_t i = 0; i < nonUniqueKeys_.size(); i++) {
const Key cameraId = cameraIds_[i];
const Pose3& body_P_cam_i = cameraRig_[cameraId].pose();
const Pose3 world_P_sensor_i = values.at<Pose3>(nonUniqueKeys_[i]) const Pose3 world_P_sensor_i = values.at<Pose3>(nonUniqueKeys_[i])
* body_P_cam_i; * cameraRig_[ cameraIds_[i] ].pose(); // cameraRig_[ cameraIds_[i] ].pose() is body_P_cam_i
cameras.emplace_back(world_P_sensor_i, cameras.emplace_back(world_P_sensor_i,
make_shared<typename CAMERA::CalibrationType>(cameraRig_[cameraId].calibration())); make_shared<typename CAMERA::CalibrationType>(cameraRig_[ cameraIds_[i] ].calibration()));
} }
return cameras; return cameras;
} }
@ -223,10 +222,8 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
} else { // valid result: compute jacobians } else { // valid result: compute jacobians
b = -cameras.reprojectionError(*this->result_, this->measured_, Fs, E); b = -cameras.reprojectionError(*this->result_, this->measured_, Fs, E);
for (size_t i = 0; i < Fs.size(); i++) { for (size_t i = 0; i < Fs.size(); i++) {
const Key cameraId = cameraIds_[i]; const Pose3& body_P_sensor = cameraRig_[ cameraIds_[i] ].pose();
const Pose3 body_P_sensor = cameraRig_[cameraId].pose(); const Pose3 world_P_body = cameras[i].pose() * body_P_sensor.inverse();
const Pose3 sensor_P_body = body_P_sensor.inverse();
const Pose3 world_P_body = cameras[i].pose() * sensor_P_body;
Eigen::Matrix<double, DimPose, DimPose> H; Eigen::Matrix<double, DimPose, DimPose> H;
world_P_body.compose(body_P_sensor, H); world_P_body.compose(body_P_sensor, H);
Fs.at(i) = Fs.at(i) * H; Fs.at(i) = Fs.at(i) * H;
@ -246,11 +243,11 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
Cameras cameras = this->cameras(values); Cameras cameras = this->cameras(values);
// Create structures for Hessian Factors // Create structures for Hessian Factors
FastVector<size_t> js; std::vector<size_t> js;
FastVector < Matrix > Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2); std::vector < Matrix > Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
FastVector < Vector > gs(nrUniqueKeys); std::vector < Vector > gs(nrUniqueKeys);
if (this->measured_.size() != this->cameras(values).size()) // 1 observation per camera if (this->measured_.size() != cameras.size()) // 1 observation per camera
throw std::runtime_error("SmartProjectionRigFactor: " throw std::runtime_error("SmartProjectionRigFactor: "
"measured_.size() inconsistent with input"); "measured_.size() inconsistent with input");

8
gtsam/slam/tests/smartFactorScenarios.h
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@ -71,7 +71,7 @@ namespace vanillaPose {
typedef PinholePose<Cal3_S2> Camera; typedef PinholePose<Cal3_S2> Camera;
typedef CameraSet<Camera> Cameras; typedef CameraSet<Camera> Cameras;
typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor; typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
typedef SmartProjectionRigFactor<Camera> SmartFactorP; typedef SmartProjectionRigFactor<Camera> SmartRigFactor;
static Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h)); static Cal3_S2::shared_ptr sharedK(new Cal3_S2(fov, w, h));
Camera level_camera(level_pose, sharedK); Camera level_camera(level_pose, sharedK);
Camera level_camera_right(pose_right, sharedK); Camera level_camera_right(pose_right, sharedK);
@ -86,7 +86,7 @@ namespace vanillaPose2 {
typedef PinholePose<Cal3_S2> Camera; typedef PinholePose<Cal3_S2> Camera;
typedef CameraSet<Camera> Cameras; typedef CameraSet<Camera> Cameras;
typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor; typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
typedef SmartProjectionRigFactor<Camera> SmartFactorP; typedef SmartProjectionRigFactor<Camera> SmartRigFactor;
static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480)); static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480));
Camera level_camera(level_pose, sharedK2); Camera level_camera(level_pose, sharedK2);
Camera level_camera_right(pose_right, sharedK2); Camera level_camera_right(pose_right, sharedK2);
@ -99,6 +99,7 @@ Camera cam3(pose_above, sharedK2);
// Cal3Bundler cameras // Cal3Bundler cameras
namespace bundler { namespace bundler {
typedef PinholeCamera<Cal3Bundler> Camera; typedef PinholeCamera<Cal3Bundler> Camera;
typedef CameraSet<Camera> Cameras;
typedef SmartProjectionFactor<Camera> SmartFactor; typedef SmartProjectionFactor<Camera> SmartFactor;
static Cal3Bundler K(500, 1e-3, 1e-3, 0, 0); static Cal3Bundler K(500, 1e-3, 1e-3, 0, 0);
Camera level_camera(level_pose, K); Camera level_camera(level_pose, K);
@ -115,8 +116,9 @@ typedef GeneralSFMFactor<Camera, Point3> SFMFactor;
// Cal3Bundler poses // Cal3Bundler poses
namespace bundlerPose { namespace bundlerPose {
typedef PinholePose<Cal3Bundler> Camera; typedef PinholePose<Cal3Bundler> Camera;
typedef CameraSet<Camera> Cameras;
typedef SmartProjectionPoseFactor<Cal3Bundler> SmartFactor; typedef SmartProjectionPoseFactor<Cal3Bundler> SmartFactor;
typedef SmartProjectionRigFactor<Camera> SmartFactorP; typedef SmartProjectionRigFactor<Camera> SmartRigFactor;
static boost::shared_ptr<Cal3Bundler> sharedBundlerK( static boost::shared_ptr<Cal3Bundler> sharedBundlerK(
new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000)); new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
Camera level_camera(level_pose, sharedBundlerK); Camera level_camera(level_pose, sharedBundlerK);

754
gtsam/slam/tests/testSmartProjectionRigFactor.cpp
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@ -60,7 +60,7 @@ TEST( SmartProjectionRigFactor, Constructor) {
using namespace vanillaPose; using namespace vanillaPose;
Cameras cameraRig; Cameras cameraRig;
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
SmartFactorP::shared_ptr factor1(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr factor1(new SmartRigFactor(model, cameraRig));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -69,7 +69,7 @@ TEST( SmartProjectionRigFactor, Constructor2) {
Cameras cameraRig; Cameras cameraRig;
SmartProjectionParams params; SmartProjectionParams params;
params.setRankTolerance(rankTol); params.setRankTolerance(rankTol);
SmartFactorP factor1(model, cameraRig, params); SmartRigFactor factor1(model, cameraRig, params);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -77,7 +77,7 @@ TEST( SmartProjectionRigFactor, Constructor3) {
using namespace vanillaPose; using namespace vanillaPose;
Cameras cameraRig; Cameras cameraRig;
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
SmartFactorP::shared_ptr factor1(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr factor1(new SmartRigFactor(model, cameraRig));
factor1->add(measurement1, x1, cameraId1); factor1->add(measurement1, x1, cameraId1);
} }
@ -88,7 +88,7 @@ TEST( SmartProjectionRigFactor, Constructor4) {
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
SmartProjectionParams params; SmartProjectionParams params;
params.setRankTolerance(rankTol); params.setRankTolerance(rankTol);
SmartFactorP factor1(model, cameraRig, params); SmartRigFactor factor1(model, cameraRig, params);
factor1.add(measurement1, x1, cameraId1); factor1.add(measurement1, x1, cameraId1);
} }
@ -98,10 +98,10 @@ TEST( SmartProjectionRigFactor, Equals ) {
Cameras cameraRig; // single camera in the rig Cameras cameraRig; // single camera in the rig
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
SmartFactorP::shared_ptr factor1(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr factor1(new SmartRigFactor(model, cameraRig));
factor1->add(measurement1, x1, cameraId1); factor1->add(measurement1, x1, cameraId1);
SmartFactorP::shared_ptr factor2(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr factor2(new SmartRigFactor(model, cameraRig));
factor2->add(measurement1, x1, cameraId1); factor2->add(measurement1, x1, cameraId1);
CHECK(assert_equal(*factor1, *factor2)); CHECK(assert_equal(*factor1, *factor2));
@ -119,7 +119,7 @@ TEST( SmartProjectionRigFactor, noiseless ) {
Point2 level_uv = level_camera.project(landmark1); Point2 level_uv = level_camera.project(landmark1);
Point2 level_uv_right = level_camera_right.project(landmark1); Point2 level_uv_right = level_camera_right.project(landmark1);
SmartFactorP factor(model, cameraRig); SmartRigFactor factor(model, cameraRig);
factor.add(level_uv, x1, cameraId1); // both taken from the same camera factor.add(level_uv, x1, cameraId1); // both taken from the same camera
factor.add(level_uv_right, x2, cameraId1); factor.add(level_uv_right, x2, cameraId1);
@ -131,13 +131,13 @@ TEST( SmartProjectionRigFactor, noiseless ) {
double expectedError = 0.0; double expectedError = 0.0;
EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7); EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7);
SmartFactorP::Cameras cameras = factor.cameras(values); SmartRigFactor::Cameras cameras = factor.cameras(values);
double actualError2 = factor.totalReprojectionError(cameras); double actualError2 = factor.totalReprojectionError(cameras);
EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7); EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7);
// Calculate expected derivative for point (easiest to check) // Calculate expected derivative for point (easiest to check)
std::function<Vector(Point3)> f = // std::function<Vector(Point3)> f = //
std::bind(&SmartFactorP::whitenedError<Point3>, factor, cameras, std::bind(&SmartRigFactor::whitenedError<Point3>, factor, cameras,
std::placeholders::_1); std::placeholders::_1);
// Calculate using computeEP // Calculate using computeEP
@ -153,7 +153,7 @@ TEST( SmartProjectionRigFactor, noiseless ) {
EXPECT(assert_equal(expectedE, actualE, 1e-7)); EXPECT(assert_equal(expectedE, actualE, 1e-7));
// Calculate using reprojectionError // Calculate using reprojectionError
SmartFactorP::Cameras::FBlocks F; SmartRigFactor::Cameras::FBlocks F;
Matrix E; Matrix E;
Vector actualErrors = factor.unwhitenedError(cameras, *point, F, E); Vector actualErrors = factor.unwhitenedError(cameras, *point, F, E);
EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT(assert_equal(expectedE, E, 1e-7));
@ -162,7 +162,7 @@ TEST( SmartProjectionRigFactor, noiseless ) {
// Calculate using computeJacobians // Calculate using computeJacobians
Vector b; Vector b;
SmartFactorP::FBlocks Fs; SmartRigFactor::FBlocks Fs;
factor.computeJacobians(Fs, E, b, cameras, *point); factor.computeJacobians(Fs, E, b, cameras, *point);
double actualError3 = b.squaredNorm(); double actualError3 = b.squaredNorm();
EXPECT(assert_equal(expectedE, E, 1e-7)); EXPECT(assert_equal(expectedE, E, 1e-7));
@ -188,14 +188,14 @@ TEST( SmartProjectionRigFactor, noisy ) {
Point3(0.5, 0.1, 0.3)); Point3(0.5, 0.1, 0.3));
values.insert(x2, pose_right.compose(noise_pose)); values.insert(x2, pose_right.compose(noise_pose));
SmartFactorP::shared_ptr factor(new SmartFactorP(model,cameraRig)); SmartRigFactor::shared_ptr factor(new SmartRigFactor(model,cameraRig));
factor->add(level_uv, x1, cameraId1); factor->add(level_uv, x1, cameraId1);
factor->add(level_uv_right, x2, cameraId1); factor->add(level_uv_right, x2, cameraId1);
double actualError1 = factor->error(values); double actualError1 = factor->error(values);
// create other factor by passing multiple measurements // create other factor by passing multiple measurements
SmartFactorP::shared_ptr factor2(new SmartFactorP(model,cameraRig)); SmartRigFactor::shared_ptr factor2(new SmartRigFactor(model,cameraRig));
Point2Vector measurements; Point2Vector measurements;
measurements.push_back(level_uv); measurements.push_back(level_uv);
@ -244,13 +244,13 @@ TEST(SmartProjectionRigFactor, smartFactorWithSensorBodyTransform) {
params.setDegeneracyMode(IGNORE_DEGENERACY); params.setDegeneracyMode(IGNORE_DEGENERACY);
params.setEnableEPI(false); params.setEnableEPI(false);
SmartFactorP smartFactor1(model, cameraRig, params); SmartRigFactor smartFactor1(model, cameraRig, params);
smartFactor1.add(measurements_cam1, views, cameraIds); smartFactor1.add(measurements_cam1, views, cameraIds);
SmartFactorP smartFactor2(model, cameraRig, params); SmartRigFactor smartFactor2(model, cameraRig, params);
smartFactor2.add(measurements_cam2, views, cameraIds); smartFactor2.add(measurements_cam2, views, cameraIds);
SmartFactorP smartFactor3(model, cameraRig, params); SmartRigFactor smartFactor3(model, cameraRig, params);
smartFactor3.add(measurements_cam3, views, cameraIds); smartFactor3.add(measurements_cam3, views, cameraIds);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
@ -305,13 +305,13 @@ TEST( SmartProjectionRigFactor, 3poses_smart_projection_factor ) {
KeyVector views {x1,x2,x3}; KeyVector views {x1,x2,x3};
FastVector<size_t> cameraIds{0,0,0};// 3 measurements from the same camera in the rig FastVector<size_t> cameraIds{0,0,0};// 3 measurements from the same camera in the rig
SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model,cameraRig)); SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model,cameraRig));
smartFactor1->add(measurements_cam1, views, cameraIds); smartFactor1->add(measurements_cam1, views, cameraIds);
SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model,cameraRig)); SmartRigFactor::shared_ptr smartFactor2(new SmartRigFactor(model,cameraRig));
smartFactor2->add(measurements_cam2, views, cameraIds); smartFactor2->add(measurements_cam2, views, cameraIds);
SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model,cameraRig)); SmartRigFactor::shared_ptr smartFactor3(new SmartRigFactor(model,cameraRig));
smartFactor3->add(measurements_cam3, views, cameraIds); smartFactor3->add(measurements_cam3, views, cameraIds);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
@ -378,11 +378,11 @@ TEST( SmartProjectionRigFactor, Factors ) {
KeyVector views { x1, x2 }; KeyVector views { x1, x2 };
FastVector<size_t> cameraIds { 0, 0 }; FastVector<size_t> cameraIds { 0, 0 };
SmartFactorP::shared_ptr smartFactor1 = boost::make_shared < SmartFactorP SmartRigFactor::shared_ptr smartFactor1 = boost::make_shared < SmartRigFactor
> (model,cameraRig); > (model,cameraRig);
smartFactor1->add(measurements_cam1, views, cameraIds); smartFactor1->add(measurements_cam1, views, cameraIds);
SmartFactorP::Cameras cameras; SmartRigFactor::Cameras cameras;
cameras.push_back(cam1); cameras.push_back(cam1);
cameras.push_back(cam2); cameras.push_back(cam2);
@ -465,13 +465,13 @@ TEST( SmartProjectionRigFactor, 3poses_iterative_smart_projection_factor ) {
Cameras cameraRig; // single camera in the rig Cameras cameraRig; // single camera in the rig
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
FastVector<size_t> cameraIds { 0, 0, 0}; FastVector<size_t> cameraIds { 0, 0, 0};
SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig));
smartFactor1->add(measurements_cam1, views, cameraIds); smartFactor1->add(measurements_cam1, views, cameraIds);
SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr smartFactor2(new SmartRigFactor(model, cameraRig));
smartFactor2->add(measurements_cam2, views, cameraIds); smartFactor2->add(measurements_cam2, views, cameraIds);
SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr smartFactor3(new SmartRigFactor(model, cameraRig));
smartFactor3->add(measurements_cam3, views, cameraIds); smartFactor3->add(measurements_cam3, views, cameraIds);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
@ -533,13 +533,13 @@ TEST( SmartProjectionRigFactor, landmarkDistance ) {
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
FastVector<size_t> cameraIds { 0, 0, 0}; FastVector<size_t> cameraIds { 0, 0, 0};
SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model, cameraRig, params)); SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig, params));
smartFactor1->add(measurements_cam1, views, cameraIds); smartFactor1->add(measurements_cam1, views, cameraIds);
SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model, cameraRig, params)); SmartRigFactor::shared_ptr smartFactor2(new SmartRigFactor(model, cameraRig, params));
smartFactor2->add(measurements_cam2, views, cameraIds); smartFactor2->add(measurements_cam2, views, cameraIds);
SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model, cameraRig, params)); SmartRigFactor::shared_ptr smartFactor3(new SmartRigFactor(model, cameraRig, params));
smartFactor3->add(measurements_cam3, views, cameraIds); smartFactor3->add(measurements_cam3, views, cameraIds);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
@ -599,16 +599,16 @@ TEST( SmartProjectionRigFactor, dynamicOutlierRejection ) {
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
FastVector<size_t> cameraIds { 0, 0, 0}; FastVector<size_t> cameraIds { 0, 0, 0};
SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model, cameraRig, params)); SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig, params));
smartFactor1->add(measurements_cam1, views, cameraIds); smartFactor1->add(measurements_cam1, views, cameraIds);
SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model, cameraRig, params)); SmartRigFactor::shared_ptr smartFactor2(new SmartRigFactor(model, cameraRig, params));
smartFactor2->add(measurements_cam2, views, cameraIds); smartFactor2->add(measurements_cam2, views, cameraIds);
SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model, cameraRig, params)); SmartRigFactor::shared_ptr smartFactor3(new SmartRigFactor(model, cameraRig, params));
smartFactor3->add(measurements_cam3, views, cameraIds); smartFactor3->add(measurements_cam3, views, cameraIds);
SmartFactorP::shared_ptr smartFactor4(new SmartFactorP(model, cameraRig, params)); SmartRigFactor::shared_ptr smartFactor4(new SmartRigFactor(model, cameraRig, params));
smartFactor4->add(measurements_cam4, views, cameraIds); smartFactor4->add(measurements_cam4, views, cameraIds);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
@ -662,13 +662,13 @@ TEST( SmartProjectionRigFactor, CheckHessian) {
cameraRig.push_back( Camera(Pose3::identity(), sharedK) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
FastVector<size_t> cameraIds { 0, 0, 0}; FastVector<size_t> cameraIds { 0, 0, 0};
SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model, cameraRig, params)); // HESSIAN, by default SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig, params)); // HESSIAN, by default
smartFactor1->add(measurements_cam1, views, cameraIds); smartFactor1->add(measurements_cam1, views, cameraIds);
SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model, cameraRig, params)); // HESSIAN, by default SmartRigFactor::shared_ptr smartFactor2(new SmartRigFactor(model, cameraRig, params)); // HESSIAN, by default
smartFactor2->add(measurements_cam2, views, cameraIds); smartFactor2->add(measurements_cam2, views, cameraIds);
SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model, cameraRig, params)); // HESSIAN, by default SmartRigFactor::shared_ptr smartFactor3(new SmartRigFactor(model, cameraRig, params)); // HESSIAN, by default
smartFactor3->add(measurements_cam3, views, cameraIds); smartFactor3->add(measurements_cam3, views, cameraIds);
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
@ -735,7 +735,7 @@ TEST( SmartProjectionRigFactor, Hessian ) {
cameraRig.push_back( Camera(Pose3::identity(), sharedK2) ); cameraRig.push_back( Camera(Pose3::identity(), sharedK2) );
FastVector<size_t> cameraIds { 0, 0 }; FastVector<size_t> cameraIds { 0, 0 };
SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model, cameraRig)); SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig));
smartFactor1->add(measurements_cam1, views, cameraIds); smartFactor1->add(measurements_cam1, views, cameraIds);
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10),
@ -752,347 +752,340 @@ TEST( SmartProjectionRigFactor, Hessian ) {
// check that it is correctly scaled when using noiseProjection = [1/4 0; 0 1/4] // check that it is correctly scaled when using noiseProjection = [1/4 0; 0 1/4]
} }
///* ************************************************************************* */ /* ************************************************************************* */
//TEST( SmartProjectionRigFactor, ConstructorWithCal3Bundler) { TEST( SmartProjectionRigFactor, ConstructorWithCal3Bundler) {
// using namespace bundlerPose; using namespace bundlerPose;
// SmartProjectionParams params; Cameras cameraRig; // single camera in the rig
// params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY); cameraRig.push_back( Camera(Pose3::identity(), sharedBundlerK) );
// SmartFactorP factor(model, params);
// factor.add(measurement1, x1, sharedBundlerK); SmartProjectionParams params;
//} params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY);
// SmartRigFactor factor(model, cameraRig, params);
///* *************************************************************************/ factor.add(measurement1, x1, cameraId1);
//TEST( SmartProjectionRigFactor, Cal3Bundler ) { }
//
// using namespace bundlerPose; /* *************************************************************************/
// TEST( SmartProjectionRigFactor, Cal3Bundler ) {
// // three landmarks ~5 meters in front of camera
// Point3 landmark3(3, 0, 3.0); using namespace bundlerPose;
//
// Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; // three landmarks ~5 meters in front of camera
// Point3 landmark3(3, 0, 3.0);
// // Project three landmarks into three cameras
// projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1); Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
// projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
// projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3); // Project three landmarks into three cameras
// projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
// KeyVector views { x1, x2, x3 }; projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
// projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
// std::vector < boost::shared_ptr < Cal3Bundler >> sharedBundlerKs;
// sharedBundlerKs.push_back(sharedBundlerK); KeyVector views { x1, x2, x3 };
// sharedBundlerKs.push_back(sharedBundlerK);
// sharedBundlerKs.push_back(sharedBundlerK); Cameras cameraRig; // single camera in the rig
// cameraRig.push_back( Camera(Pose3::identity(), sharedBundlerK) );
// SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model)); FastVector<size_t> cameraIds { 0, 0, 0 };
// smartFactor1->add(measurements_cam1, views, sharedBundlerKs);
// SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig));
// SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model)); smartFactor1->add(measurements_cam1, views, cameraIds);
// smartFactor2->add(measurements_cam2, views, sharedBundlerKs);
// SmartRigFactor::shared_ptr smartFactor2(new SmartRigFactor(model, cameraRig));
// SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model)); smartFactor2->add(measurements_cam2, views, cameraIds);
// smartFactor3->add(measurements_cam3, views, sharedBundlerKs);
// SmartRigFactor::shared_ptr smartFactor3(new SmartRigFactor(model, cameraRig));
// const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); smartFactor3->add(measurements_cam3, views, cameraIds);
//
// NonlinearFactorGraph graph; const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
// graph.push_back(smartFactor1);
// graph.push_back(smartFactor2); NonlinearFactorGraph graph;
// graph.push_back(smartFactor3); graph.push_back(smartFactor1);
// graph.addPrior(x1, cam1.pose(), noisePrior); graph.push_back(smartFactor2);
// graph.addPrior(x2, cam2.pose(), noisePrior); graph.push_back(smartFactor3);
// graph.addPrior(x1, cam1.pose(), 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 graph.addPrior(x2, cam2.pose(), noisePrior);
// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
// Point3(0.1, 0.1, 0.1)); // smaller noise // 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
// Values values; Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
// values.insert(x1, cam1.pose()); Point3(0.1, 0.1, 0.1)); // smaller noise
// values.insert(x2, cam2.pose()); Values values;
// // initialize third pose with some noise, we expect it to move back to original pose_above values.insert(x1, cam1.pose());
// values.insert(x3, pose_above * noise_pose); values.insert(x2, cam2.pose());
// EXPECT( // initialize third pose with some noise, we expect it to move back to original pose_above
// assert_equal( values.insert(x3, pose_above * noise_pose);
// Pose3( EXPECT(
// Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, assert_equal(
// -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Pose3(
// Point3(0.1, -0.1, 1.9)), Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598,
// values.at<Pose3>(x3))); -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
// Point3(0.1, -0.1, 1.9)),
// Values result; values.at<Pose3>(x3)));
// LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
// result = optimizer.optimize(); Values result;
// EXPECT(assert_equal(cam3.pose(), result.at<Pose3>(x3), 1e-6)); LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
//} result = optimizer.optimize();
// EXPECT(assert_equal(cam3.pose(), result.at<Pose3>(x3), 1e-6));
//#include <gtsam/slam/ProjectionFactor.h> }
//typedef GenericProjectionFactor<Pose3, Point3> TestProjectionFactor;
//static Symbol l0('L', 0); #include <gtsam/slam/ProjectionFactor.h>
///* *************************************************************************/ typedef GenericProjectionFactor<Pose3, Point3> TestProjectionFactor;
//TEST( SmartProjectionRigFactor, hessianComparedToProjFactors_measurementsFromSamePose) { static Symbol l0('L', 0);
// // in this test we make sure the fact works even if we have multiple pixel measurements of the same landmark /* *************************************************************************/
// // at a single pose, a setup that occurs in multi-camera systems TEST( SmartProjectionRigFactor, hessianComparedToProjFactors_measurementsFromSamePose) {
// // in this test we make sure the fact works even if we have multiple pixel measurements of the same landmark
// using namespace vanillaPose; // at a single pose, a setup that occurs in multi-camera systems
// Point2Vector measurements_lmk1;
// using namespace vanillaPose;
// // Project three landmarks into three cameras Point2Vector measurements_lmk1;
// projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
// // Project three landmarks into three cameras
// // create redundant measurements: projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
// Camera::MeasurementVector measurements_lmk1_redundant = measurements_lmk1;
// measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement // create redundant measurements:
// Camera::MeasurementVector measurements_lmk1_redundant = measurements_lmk1;
// // create inputs measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement
// std::vector<Key> keys;
// keys.push_back(x1); // create inputs
// keys.push_back(x2); std::vector<Key> keys { x1, x2, x3, x1};
// keys.push_back(x3);
// keys.push_back(x1); Cameras cameraRig; // single camera in the rig
// cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
// std::vector < boost::shared_ptr < Cal3_S2 >> sharedKs; FastVector<size_t> cameraIds { 0, 0, 0, 0 };
// sharedKs.push_back(sharedK);
// sharedKs.push_back(sharedK); SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig));
// sharedKs.push_back(sharedK); smartFactor1->add(measurements_lmk1_redundant, keys, cameraIds);
// sharedKs.push_back(sharedK);
// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
// SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model)); Point3(0.1, 0.1, 0.1)); // smaller noise
// smartFactor1->add(measurements_lmk1_redundant, keys, sharedKs); Values values;
// values.insert(x1, level_pose);
// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), values.insert(x2, pose_right);
// Point3(0.1, 0.1, 0.1)); // smaller noise // initialize third pose with some noise to get a nontrivial linearization point
// Values values; values.insert(x3, pose_above * noise_pose);
// values.insert(x1, level_pose); EXPECT( // check that the pose is actually noisy
// values.insert(x2, pose_right); assert_equal( Pose3( Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
// // initialize third pose with some noise to get a nontrivial linearization point
// values.insert(x3, pose_above * noise_pose); // linearization point for the poses
// EXPECT( // check that the pose is actually noisy Pose3 pose1 = level_pose;
// assert_equal( Pose3( Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3))); Pose3 pose2 = pose_right;
// Pose3 pose3 = pose_above * noise_pose;
// // linearization point for the poses
// Pose3 pose1 = level_pose; // ==== check Hessian of smartFactor1 =====
// Pose3 pose2 = pose_right; // -- compute actual Hessian
// Pose3 pose3 = pose_above * noise_pose; boost::shared_ptr<GaussianFactor> linearfactor1 = smartFactor1->linearize(
// values);
// // ==== check Hessian of smartFactor1 ===== Matrix actualHessian = linearfactor1->information();
// // -- compute actual Hessian
// boost::shared_ptr<GaussianFactor> linearfactor1 = smartFactor1->linearize( // -- compute expected Hessian from manual Schur complement from Jacobians
// values); // linearization point for the 3D point
// Matrix actualHessian = linearfactor1->information(); smartFactor1->triangulateSafe(smartFactor1->cameras(values));
// TriangulationResult point = smartFactor1->point();
// // -- compute expected Hessian from manual Schur complement from Jacobians EXPECT(point.valid()); // check triangulated point is valid
// // linearization point for the 3D point
// smartFactor1->triangulateSafe(smartFactor1->cameras(values)); // Use standard ProjectionFactor factor to calculate the Jacobians
// TriangulationResult point = smartFactor1->point(); Matrix F = Matrix::Zero(2 * 4, 6 * 3);
// EXPECT(point.valid()); // check triangulated point is valid Matrix E = Matrix::Zero(2 * 4, 3);
// Vector b = Vector::Zero(2 * 4);
// // Use standard ProjectionFactor factor to calculate the Jacobians
// Matrix F = Matrix::Zero(2 * 4, 6 * 3); // create projection factors rolling shutter
// Matrix E = Matrix::Zero(2 * 4, 3); TestProjectionFactor factor11(measurements_lmk1_redundant[0], model, x1, l0,
// Vector b = Vector::Zero(2 * 4); sharedK);
// Matrix HPoseActual, HEActual;
// // create projection factors rolling shutter // note: b is minus the reprojection error, cf the smart factor jacobian computation
// TestProjectionFactor factor11(measurements_lmk1_redundant[0], model, x1, l0, b.segment<2>(0) = -factor11.evaluateError(pose1, *point, HPoseActual,
// sharedK); HEActual);
// Matrix HPoseActual, HEActual; F.block<2, 6>(0, 0) = HPoseActual;
// // note: b is minus the reprojection error, cf the smart factor jacobian computation E.block<2, 3>(0, 0) = HEActual;
// b.segment<2>(0) = -factor11.evaluateError(pose1, *point, HPoseActual,
// HEActual); TestProjectionFactor factor12(measurements_lmk1_redundant[1], model, x2, l0,
// F.block<2, 6>(0, 0) = HPoseActual; sharedK);
// E.block<2, 3>(0, 0) = HEActual; b.segment<2>(2) = -factor12.evaluateError(pose2, *point, HPoseActual,
// HEActual);
// TestProjectionFactor factor12(measurements_lmk1_redundant[1], model, x2, l0, F.block<2, 6>(2, 6) = HPoseActual;
// sharedK); E.block<2, 3>(2, 0) = HEActual;
// b.segment<2>(2) = -factor12.evaluateError(pose2, *point, HPoseActual,
// HEActual); TestProjectionFactor factor13(measurements_lmk1_redundant[2], model, x3, l0,
// F.block<2, 6>(2, 6) = HPoseActual; sharedK);
// E.block<2, 3>(2, 0) = HEActual; b.segment<2>(4) = -factor13.evaluateError(pose3, *point, HPoseActual,
// HEActual);
// TestProjectionFactor factor13(measurements_lmk1_redundant[2], model, x3, l0, F.block<2, 6>(4, 12) = HPoseActual;
// sharedK); E.block<2, 3>(4, 0) = HEActual;
// b.segment<2>(4) = -factor13.evaluateError(pose3, *point, HPoseActual,
// HEActual); TestProjectionFactor factor14(measurements_lmk1_redundant[3], model, x1, l0,
// F.block<2, 6>(4, 12) = HPoseActual; sharedK);
// E.block<2, 3>(4, 0) = HEActual; b.segment<2>(6) = -factor11.evaluateError(pose1, *point, HPoseActual,
// HEActual);
// TestProjectionFactor factor14(measurements_lmk1_redundant[3], model, x1, l0, F.block<2, 6>(6, 0) = HPoseActual;
// sharedK); E.block<2, 3>(6, 0) = HEActual;
// b.segment<2>(6) = -factor11.evaluateError(pose1, *point, HPoseActual,
// HEActual); // whiten
// F.block<2, 6>(6, 0) = HPoseActual; F = (1 / sigma) * F;
// E.block<2, 3>(6, 0) = HEActual; E = (1 / sigma) * E;
// b = (1 / sigma) * b;
// // whiten //* G = F' * F - F' * E * P * E' * F
// F = (1 / sigma) * F; Matrix P = (E.transpose() * E).inverse();
// E = (1 / sigma) * E; Matrix expectedHessian = F.transpose() * F
// b = (1 / sigma) * b; - (F.transpose() * E * P * E.transpose() * F);
// //* G = F' * F - F' * E * P * E' * F EXPECT(assert_equal(expectedHessian, actualHessian, 1e-6));
// Matrix P = (E.transpose() * E).inverse();
// Matrix expectedHessian = F.transpose() * F // ==== check Information vector of smartFactor1 =====
// - (F.transpose() * E * P * E.transpose() * F); GaussianFactorGraph gfg;
// EXPECT(assert_equal(expectedHessian, actualHessian, 1e-6)); gfg.add(linearfactor1);
// Matrix actualHessian_v2 = gfg.hessian().first;
// // ==== check Information vector of smartFactor1 ===== EXPECT(assert_equal(actualHessian_v2, actualHessian, 1e-6)); // sanity check on hessian
// GaussianFactorGraph gfg;
// gfg.add(linearfactor1); // -- compute actual information vector
// Matrix actualHessian_v2 = gfg.hessian().first; Vector actualInfoVector = gfg.hessian().second;
// EXPECT(assert_equal(actualHessian_v2, actualHessian, 1e-6)); // sanity check on hessian
// // -- compute expected information vector from manual Schur complement from Jacobians
// // -- compute actual information vector //* g = F' * (b - E * P * E' * b)
// Vector actualInfoVector = gfg.hessian().second; Vector expectedInfoVector = F.transpose() * (b - E * P * E.transpose() * b);
// EXPECT(assert_equal(expectedInfoVector, actualInfoVector, 1e-6));
// // -- compute expected information vector from manual Schur complement from Jacobians
// //* g = F' * (b - E * P * E' * b) // ==== check error of smartFactor1 (again) =====
// Vector expectedInfoVector = F.transpose() * (b - E * P * E.transpose() * b); NonlinearFactorGraph nfg_projFactors;
// EXPECT(assert_equal(expectedInfoVector, actualInfoVector, 1e-6)); nfg_projFactors.add(factor11);
// nfg_projFactors.add(factor12);
// // ==== check error of smartFactor1 (again) ===== nfg_projFactors.add(factor13);
// NonlinearFactorGraph nfg_projFactors; nfg_projFactors.add(factor14);
// nfg_projFactors.add(factor11); values.insert(l0, *point);
// nfg_projFactors.add(factor12);
// nfg_projFactors.add(factor13); double actualError = smartFactor1->error(values);
// nfg_projFactors.add(factor14); double expectedError = nfg_projFactors.error(values);
// values.insert(l0, *point); EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7);
// }
// double actualError = smartFactor1->error(values);
// double expectedError = nfg_projFactors.error(values); /* *************************************************************************/
// EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7); TEST( SmartProjectionRigFactor, optimization_3poses_measurementsFromSamePose ) {
//}
// using namespace vanillaPose;
///* *************************************************************************/ Point2Vector measurements_lmk1, measurements_lmk2, measurements_lmk3;
//TEST( SmartProjectionRigFactor, optimization_3poses_measurementsFromSamePose ) {
// // Project three landmarks into three cameras
// using namespace vanillaPose; projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
// Point2Vector measurements_lmk1, measurements_lmk2, measurements_lmk3; projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_lmk2);
// projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3);
// // Project three landmarks into three cameras
// projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1); // create inputs
// projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_lmk2); std::vector<Key> keys { x1, x2, x3 };
// projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3); Cameras cameraRig; // single camera in the rig
// cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
// // create inputs FastVector<size_t> cameraIds { 0, 0, 0 };
// std::vector<Key> keys; FastVector<size_t> cameraIdsRedundant { 0, 0, 0, 0 };
// keys.push_back(x1);
// keys.push_back(x2); // For first factor, we create redundant measurement (taken by the same keys as factor 1, to
// keys.push_back(x3); // make sure the redundancy in the keys does not create problems)
// Camera::MeasurementVector& measurements_lmk1_redundant = measurements_lmk1;
// std::vector < boost::shared_ptr < Cal3_S2 >> sharedKs; measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement
// sharedKs.push_back(sharedK); std::vector<Key> keys_redundant = keys;
// sharedKs.push_back(sharedK); keys_redundant.push_back(keys.at(0)); // we readd the first key
// sharedKs.push_back(sharedK);
// SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model, cameraRig));
// // For first factor, we create redundant measurement (taken by the same keys as factor 1, to smartFactor1->add(measurements_lmk1_redundant, keys_redundant, cameraIdsRedundant);
// // make sure the redundancy in the keys does not create problems)
// Camera::MeasurementVector& measurements_lmk1_redundant = measurements_lmk1; SmartRigFactor::shared_ptr smartFactor2(new SmartRigFactor(model, cameraRig));
// measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement smartFactor2->add(measurements_lmk2, keys, cameraIds);
// std::vector<Key> keys_redundant = keys;
// keys_redundant.push_back(keys.at(0)); // we readd the first key SmartRigFactor::shared_ptr smartFactor3(new SmartRigFactor(model, cameraRig));
// std::vector < boost::shared_ptr < Cal3_S2 >> sharedKs_redundant = sharedKs; smartFactor3->add(measurements_lmk3, keys, cameraIds);
// sharedKs_redundant.push_back(sharedK);// we readd the first calibration
// const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
// SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model));
// smartFactor1->add(measurements_lmk1_redundant, keys_redundant, sharedKs_redundant); NonlinearFactorGraph graph;
// graph.push_back(smartFactor1);
// SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model)); graph.push_back(smartFactor2);
// smartFactor2->add(measurements_lmk2, keys, sharedKs); graph.push_back(smartFactor3);
// graph.addPrior(x1, level_pose, noisePrior);
// SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model)); graph.addPrior(x2, pose_right, noisePrior);
// smartFactor3->add(measurements_lmk3, keys, sharedKs);
// Values groundTruth;
// const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); groundTruth.insert(x1, level_pose);
// groundTruth.insert(x2, pose_right);
// NonlinearFactorGraph graph; groundTruth.insert(x3, pose_above);
// graph.push_back(smartFactor1); DOUBLES_EQUAL(0, graph.error(groundTruth), 1e-9);
// graph.push_back(smartFactor2);
// graph.push_back(smartFactor3); // 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
// graph.addPrior(x1, level_pose, noisePrior); Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
// graph.addPrior(x2, pose_right, noisePrior); Point3(0.1, 0.1, 0.1)); // smaller noise
// Values values;
// Values groundTruth; values.insert(x1, level_pose);
// groundTruth.insert(x1, level_pose); values.insert(x2, pose_right);
// groundTruth.insert(x2, pose_right); // initialize third pose with some noise, we expect it to move back to original pose_above
// groundTruth.insert(x3, pose_above); values.insert(x3, pose_above * noise_pose);
// DOUBLES_EQUAL(0, graph.error(groundTruth), 1e-9); EXPECT( // check that the pose is actually noisy
// assert_equal(
// // 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(
// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598,
// Point3(0.1, 0.1, 0.1)); // smaller noise -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
// Values values; Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
// values.insert(x1, level_pose);
// values.insert(x2, pose_right); Values result;
// // initialize third pose with some noise, we expect it to move back to original pose_above LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
// values.insert(x3, pose_above * noise_pose); result = optimizer.optimize();
// EXPECT( // check that the pose is actually noisy EXPECT(assert_equal(pose_above, result.at<Pose3>(x3), 1e-5));
// assert_equal( }
// Pose3(
// Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598, #ifndef DISABLE_TIMING
// -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), #include <gtsam/base/timing.h>
// Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3))); // this factor is slightly slower (but comparable) to original SmartProjectionPoseFactor
// //-Total: 0 CPU (0 times, 0 wall, 0.17 children, min: 0 max: 0)
// Values result; //| -SmartRigFactor LINEARIZE: 0.11 CPU (10000 times, 0.086311 wall, 0.11 children, min: 0 max: 0)
// LevenbergMarquardtOptimizer optimizer(graph, values, lmParams); //| -SmartPoseFactor LINEARIZE: 0.06 CPU (10000 times, 0.065103 wall, 0.06 children, min: 0 max: 0)
// result = optimizer.optimize(); /* *************************************************************************/
// EXPECT(assert_equal(pose_above, result.at<Pose3>(x3), 1e-5)); TEST( SmartProjectionRigFactor, timing ) {
//}
// using namespace vanillaPose;
//#ifndef DISABLE_TIMING
//#include <gtsam/base/timing.h> // Default cameras for simple derivatives
//// this factor is actually slightly faster (but comparable) to original SmartProjectionPoseFactor static Cal3_S2::shared_ptr sharedKSimple(new Cal3_S2(100, 100, 0, 0, 0));
////-Total: 0 CPU (0 times, 0 wall, 0.01 children, min: 0 max: 0)
////| -SmartFactorP LINEARIZE: 0 CPU (1000 times, 0.005481 wall, 0 children, min: 0 max: 0) Rot3 R = Rot3::identity();
////| -SmartPoseFactor LINEARIZE: 0.01 CPU (1000 times, 0.007318 wall, 0.01 children, min: 0 max: 0) Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
///* *************************************************************************/ Pose3 pose2 = Pose3(R, Point3(1, 0, 0));
//TEST( SmartProjectionRigFactor, timing ) { Camera cam1(pose1, sharedKSimple), cam2(pose2, sharedKSimple);
// Pose3 body_P_sensorId = Pose3::identity();
// using namespace vanillaPose;
// Cameras cameraRig; // single camera in the rig
// // Default cameras for simple derivatives cameraRig.push_back( Camera(body_P_sensorId, sharedKSimple) );
// static Cal3_S2::shared_ptr sharedKSimple(new Cal3_S2(100, 100, 0, 0, 0));
// // one landmarks 1m in front of camera
// Rot3 R = Rot3::identity(); Point3 landmark1(0, 0, 10);
// Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
// Pose3 pose2 = Pose3(R, Point3(1, 0, 0)); Point2Vector measurements_lmk1;
// Camera cam1(pose1, sharedKSimple), cam2(pose2, sharedKSimple);
// Pose3 body_P_sensorId = Pose3::identity(); // Project 2 landmarks into 2 cameras
// measurements_lmk1.push_back(cam1.project(landmark1));
// // one landmarks 1m in front of camera measurements_lmk1.push_back(cam2.project(landmark1));
// Point3 landmark1(0, 0, 10);
// size_t nrTests = 10000;
// Point2Vector measurements_lmk1;
// for(size_t i = 0; i<nrTests; i++){
// // Project 2 landmarks into 2 cameras SmartRigFactor::shared_ptr smartFactorP(new SmartRigFactor(model, cameraRig));
// measurements_lmk1.push_back(cam1.project(landmark1)); smartFactorP->add(measurements_lmk1[0], x1, cameraId1);
// measurements_lmk1.push_back(cam2.project(landmark1)); smartFactorP->add(measurements_lmk1[1], x1, cameraId1);
//
// size_t nrTests = 1000; Values values;
// values.insert(x1, pose1);
// for(size_t i = 0; i<nrTests; i++){ values.insert(x2, pose2);
// SmartFactorP::shared_ptr smartFactorP(new SmartFactorP(model)); gttic_(SmartRigFactor_LINEARIZE);
// smartFactorP->add(measurements_lmk1[0], x1, sharedKSimple, body_P_sensorId); smartFactorP->linearize(values);
// smartFactorP->add(measurements_lmk1[1], x1, sharedKSimple, body_P_sensorId); gttoc_(SmartRigFactor_LINEARIZE);
// }
// Values values;
// values.insert(x1, pose1); for(size_t i = 0; i<nrTests; i++){
// values.insert(x2, pose2); SmartFactor::shared_ptr smartFactor(new SmartFactor(model, sharedKSimple));
// gttic_(SmartFactorP_LINEARIZE); smartFactor->add(measurements_lmk1[0], x1);
// smartFactorP->linearize(values); smartFactor->add(measurements_lmk1[1], x2);
// gttoc_(SmartFactorP_LINEARIZE);
// } Values values;
// values.insert(x1, pose1);
// for(size_t i = 0; i<nrTests; i++){ values.insert(x2, pose2);
// SmartFactor::shared_ptr smartFactor(new SmartFactor(model, sharedKSimple)); gttic_(SmartPoseFactor_LINEARIZE);
// smartFactor->add(measurements_lmk1[0], x1); smartFactor->linearize(values);
// smartFactor->add(measurements_lmk1[1], x2); gttoc_(SmartPoseFactor_LINEARIZE);
// }
// Values values; tictoc_print_();
// values.insert(x1, pose1); }
// values.insert(x2, pose2); #endif
// gttic_(SmartPoseFactor_LINEARIZE);
// smartFactor->linearize(values);
// gttoc_(SmartPoseFactor_LINEARIZE);
// }
// tictoc_print_();
//}
//#endif
//
///* ************************************************************************* */ ///* ************************************************************************* */
//BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); //BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
//BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); //BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
@ -1107,7 +1100,11 @@ TEST( SmartProjectionRigFactor, Hessian ) {
// using namespace gtsam::serializationTestHelpers; // using namespace gtsam::serializationTestHelpers;
// SmartProjectionParams params; // SmartProjectionParams params;
// params.setRankTolerance(rankTol); // params.setRankTolerance(rankTol);
// SmartFactorP factor(model, params); //
// Cameras cameraRig; // single camera in the rig
// cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
//
// SmartRigFactor factor(model, cameraRig, params);
// //
// EXPECT(equalsObj(factor)); // EXPECT(equalsObj(factor));
// EXPECT(equalsXML(factor)); // EXPECT(equalsXML(factor));
@ -1120,14 +1117,13 @@ TEST( SmartProjectionRigFactor, Hessian ) {
//// using namespace gtsam::serializationTestHelpers; //// using namespace gtsam::serializationTestHelpers;
//// SmartProjectionParams params; //// SmartProjectionParams params;
//// params.setRankTolerance(rankTol); //// params.setRankTolerance(rankTol);
//// SmartFactorP factor(model, params); //// SmartRigFactor factor(model, params);
//// ////
//// // insert some measurements //// // insert some measurements
//// KeyVector key_view; //// KeyVector key_view;
//// Point2Vector meas_view; //// Point2Vector meas_view;
//// std::vector<boost::shared_ptr<Cal3_S2>> sharedKs; //// std::vector<boost::shared_ptr<Cal3_S2>> sharedKs;
//// ////
////
//// key_view.push_back(Symbol('x', 1)); //// key_view.push_back(Symbol('x', 1));
//// meas_view.push_back(Point2(10, 10)); //// meas_view.push_back(Point2(10, 10));
//// sharedKs.push_back(sharedK); //// sharedKs.push_back(sharedK);

6
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
View File

@ -341,19 +341,21 @@ class SmartProjectionPoseFactorRollingShutter
this->keys_ this->keys_
.size(); // note: by construction, keys_ only contains unique keys .size(); // note: by construction, keys_ only contains unique keys
typename Base::Cameras cameras = this->cameras(values);
// Create structures for Hessian Factors // Create structures for Hessian Factors
KeyVector js; KeyVector js;
std::vector<Matrix> Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2); std::vector<Matrix> Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
std::vector<Vector> gs(nrUniqueKeys); std::vector<Vector> gs(nrUniqueKeys);
if (this->measured_.size() != if (this->measured_.size() !=
this->cameras(values).size()) // 1 observation per interpolated camera cameras.size()) // 1 observation per interpolated camera
throw std::runtime_error( throw std::runtime_error(
"SmartProjectionPoseFactorRollingShutter: " "SmartProjectionPoseFactorRollingShutter: "
"measured_.size() inconsistent with input"); "measured_.size() inconsistent with input");
// triangulate 3D point at given linearization point // triangulate 3D point at given linearization point
this->triangulateSafe(this->cameras(values)); this->triangulateSafe(cameras);
if (!this->result_) { // failed: return "empty/zero" Hessian if (!this->result_) { // failed: return "empty/zero" Hessian
if (this->params_.degeneracyMode == ZERO_ON_DEGENERACY) { if (this->params_.degeneracyMode == ZERO_ON_DEGENERACY) {