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Perturb

release/4.3a0
Frank Dellaert 2024-10-27 00:39:43 -07:00
parent 77dfa446a9
commit 398ff31d54
1 changed files with 11 additions and 5 deletions
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16
python/gtsam/examples/ViewGraphComparison.py
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@ -109,7 +109,7 @@ def build_factor_graph(method, num_cameras, measurements):
return graph return graph
def get_initial_estimate(method, num_cameras, ground_truth, cal): def get_initial_estimate(method, num_cameras, ground_truth, cal, std=1e-6):
"""get initial estimate for method""" """get initial estimate for method"""
initialEstimate = Values() initialEstimate = Values()
total_dimension = 0 total_dimension = 0
@ -119,16 +119,22 @@ def get_initial_estimate(method, num_cameras, ground_truth, cal):
for a in range(num_cameras): for a in range(num_cameras):
b = (a + 1) % num_cameras # Next camera b = (a + 1) % num_cameras # Next camera
c = (a + 2) % num_cameras # Camera after next c = (a + 2) % num_cameras # Camera after next
initialEstimate.insert(EdgeKey(a, b).key(), F1) # Retract with delta drawn from zero-mean normal
initialEstimate.insert(EdgeKey(a, c).key(), F2) F1_perturbed = F1.retract(np.random.normal(0, std, F1.dim()))
F2_perturbed = F2.retract(np.random.normal(0, 1e-4, F2.dim()))
initialEstimate.insert(EdgeKey(a, b).key(), F1_perturbed)
initialEstimate.insert(EdgeKey(a, c).key(), F2_perturbed)
total_dimension += F1.dim() + F2.dim() total_dimension += F1.dim() + F2.dim()
elif method == "EssentialMatrix": elif method == "EssentialMatrix":
E1, E2 = ground_truth E1, E2 = ground_truth
for a in range(num_cameras): for a in range(num_cameras):
b = (a + 1) % num_cameras # Next camera b = (a + 1) % num_cameras # Next camera
c = (a + 2) % num_cameras # Camera after next c = (a + 2) % num_cameras # Camera after next
initialEstimate.insert(EdgeKey(a, b).key(), E1) # Retract with delta drawn from zero-mean normal
initialEstimate.insert(EdgeKey(a, c).key(), E2) E1_perturbed = E1.retract(np.random.normal(0, std, E1.dim()))
E2_perturbed = E2.retract(np.random.normal(0, 1e-4, E2.dim()))
initialEstimate.insert(EdgeKey(a, b).key(), E1_perturbed)
initialEstimate.insert(EdgeKey(a, c).key(), E2_perturbed)
total_dimension += E1.dim() + E2.dim() total_dimension += E1.dim() + E2.dim()
# Insert initial calibrations # Insert initial calibrations
for i in range(num_cameras): for i in range(num_cameras):