Expression version of SFMExample (in progress)

release/4.3a0
dellaert 2014-10-01 14:10:54 +02:00
parent 2d76f200ce
commit 3f5aa0f23e
2 changed files with 150 additions and 54 deletions

106
.cproject
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@ -518,6 +518,14 @@
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@ -584,7 +592,6 @@
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@ -640,7 +646,6 @@
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@ -648,7 +653,6 @@
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@ -656,7 +660,6 @@
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@ -672,7 +675,6 @@
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@ -1008,7 +1010,6 @@
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@ -1238,46 +1239,6 @@
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@ -1360,6 +1321,7 @@
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@ -1399,6 +1361,7 @@
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@ -1406,6 +1369,7 @@
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@ -1419,6 +1383,46 @@
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@ -1676,7 +1680,6 @@
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@ -1684,7 +1687,6 @@
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@ -1692,7 +1694,6 @@
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@ -1700,7 +1701,6 @@
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@ -2427,7 +2427,6 @@
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@ -2435,7 +2434,6 @@
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@ -2443,7 +2441,6 @@
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@ -2931,6 +2928,7 @@
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@ -0,0 +1,98 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file ExpressionExample.cpp
* @brief A structure-from-motion example done with Expressions
* @author Frank Dellaert
* @author Duy-Nguyen Ta
* @date October 1, 2014
*/
/**
* This is the Expression version of SFMExample
* See detailed description of headers there, this focuses on explaining the AD part
*/
// The two new headers that allow using our Automatic Differentiation Expression framework
#include <gtsam_unstable/slam/expressions.h>
#include <gtsam_unstable/nonlinear/BADFactor.h>
// Header order is close to far
#include <examples/SFMdata.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/DoglegOptimizer.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h>
#include <vector>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
int main(int argc, char* argv[]) {
Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
// Create the set of ground-truth landmarks and poses
vector<Point3> points = createPoints();
vector<Pose3> poses = createPoses();
// Create a factor graph
NonlinearFactorGraph graph;
// Specify uncertainty on first pose prior
noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1)));
// Here we don't use a PriorFactor but directly the BADFactor class
// The object x0 is an Expression, and we create a factor wanting it to be equal to poses[0]
Pose3_ x0('x',0);
// graph.push_back(BADFactor<Pose3>(poses[0], x0, poseNoise));
graph.push_back(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise)); // add directly to graph
// Simulated measurements from each camera pose, adding them to the factor graph
for (size_t i = 0; i < poses.size(); ++i) {
for (size_t j = 0; j < points.size(); ++j) {
SimpleCamera camera(poses[i], *K);
Point2 measurement = camera.project(points[j]);
graph.push_back(GenericProjectionFactor<Pose3, Point3, Cal3_S2>(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K));
}
}
// Because the structure-from-motion problem has a scale ambiguity, the problem is still under-constrained
// Here we add a prior on the position of the first landmark. This fixes the scale by indicating the distance
// between the first camera and the first landmark. All other landmark positions are interpreted using this scale.
noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1);
graph.push_back(PriorFactor<Point3>(Symbol('l', 0), points[0], pointNoise)); // add directly to graph
graph.print("Factor Graph:\n");
// Create the data structure to hold the initial estimate to the solution
// Intentionally initialize the variables off from the ground truth
Values initialEstimate;
for (size_t i = 0; i < poses.size(); ++i)
initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
for (size_t j = 0; j < points.size(); ++j)
initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
initialEstimate.print("Initial Estimates:\n");
/* Optimize the graph and print results */
Values result = DoglegOptimizer(graph, initialEstimate).optimize();
result.print("Final results:\n");
return 0;
}
/* ************************************************************************* */