diff --git a/gtsam_unstable/nonlinear/ceres_example.h b/gtsam_unstable/nonlinear/ceres_example.h new file mode 100644 index 000000000..45ec3428e --- /dev/null +++ b/gtsam_unstable/nonlinear/ceres_example.h @@ -0,0 +1,78 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: keir@google.com (Keir Mierle) +// sameeragarwal@google.com (Sameer Agarwal) +// +// Some Ceres Snippets copied for testing + +#pragma once + +#include + +// Templated pinhole camera model for used with Ceres. The camera is +// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for +// focal length and 2 for radial distortion. The principal point is not modeled +// (i.e. it is assumed be located at the image center). +struct SnavelyProjection { + + template + bool operator()(const T* const camera, const T* const point, + T* predicted) const { + // camera[0,1,2] are the angle-axis rotation. + T p[3]; + ceres::AngleAxisRotatePoint(camera, point, p); + + // camera[3,4,5] are the translation. + p[0] += camera[3]; + p[1] += camera[4]; + p[2] += camera[5]; + + // Compute the center of distortion. The sign change comes from + // the camera model that Noah Snavely's Bundler assumes, whereby + // the camera coordinate system has a negative z axis. + T xp = -p[0] / p[2]; + T yp = -p[1] / p[2]; + + // Apply second and fourth order radial distortion. + const T& l1 = camera[7]; + const T& l2 = camera[8]; + T r2 = xp * xp + yp * yp; + T distortion = T(1.0) + r2 * (l1 + l2 * r2); + + // Compute final projected point position. + const T& focal = camera[6]; + predicted[0] = focal * distortion * xp; + predicted[1] = focal * distortion * yp; + + return true; + } + +}; + + diff --git a/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp index 053acdd34..eb5245f35 100644 --- a/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp @@ -7,7 +7,7 @@ * See LICENSE for the license information - * -------------------------------1------------------------------------------- */ + * -------------------------------------------------------------------------- */ /** * @file testExpression.cpp @@ -27,7 +27,7 @@ #include #include -#include +#include #undef CHECK #include @@ -87,55 +87,6 @@ struct Projective { } }; -// Templated pinhole camera model for used with Ceres. The camera is -// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for -// focal length and 2 for radial distortion. The principal point is not modeled -// (i.e. it is assumed be located at the image center). -struct SnavelyProjection { - - template - bool operator()(const T* const camera, const T* const point, - T* predicted) const { - // camera[0,1,2] are the angle-axis rotation. - T p[3]; - ceres::AngleAxisRotatePoint(camera, point, p); - - // camera[3,4,5] are the translation. - p[0] += camera[3]; - p[1] += camera[4]; - p[2] += camera[5]; - - // Compute the center of distortion. The sign change comes from - // the camera model that Noah Snavely's Bundler assumes, whereby - // the camera coordinate system has a negative z axis. - T xp = -p[0] / p[2]; - T yp = -p[1] / p[2]; - - // Apply second and fourth order radial distortion. - const T& l1 = camera[7]; - const T& l2 = camera[8]; - T r2 = xp * xp + yp * yp; - T distortion = T(1.0) + r2 * (l1 + l2 * r2); - - // Compute final projected point position. - const T& focal = camera[6]; - predicted[0] = focal * distortion * xp; - predicted[1] = focal * distortion * yp; - - return true; - } - - // Adapt to GTSAM types - Vector2 operator()(const Vector9& P, const Vector3& X) const { - Vector2 x; - if (operator()(P.data(), X.data(), x.data())) - return x; - else - throw std::runtime_error("Snavely fail"); - } - -}; - /* ************************************************************************* */ // Test Ceres AutoDiff TEST(Expression, AutoDiff) { @@ -171,7 +122,17 @@ TEST(Expression, AutoDiff) { } /* ************************************************************************* */ -// Test Ceres AutoDiff on Snavely +// Test Ceres AutoDiff on Snavely, defined in ceres_example.h +// Adapt to GTSAM types +Vector2 adapted(const Vector9& P, const Vector3& X) { + SnavelyProjection snavely; + Vector2 x; + if (snavely(P.data(), X.data(), x.data())) + return x; + else + throw std::runtime_error("Snavely fail"); +} + TEST(Expression, AutoDiff2) { using ceres::internal::AutoDiff; @@ -185,14 +146,12 @@ TEST(Expression, AutoDiff2) { // Apply the mapping, to get image point b_x. Vector expected = Vector2(2, 1); - Vector2 actual = snavely(P, X); + Vector2 actual = adapted(P, X); EXPECT(assert_equal(expected,actual,1e-9)); // Get expected derivatives - Matrix E1 = numericalDerivative21( - SnavelyProjection(), P, X); - Matrix E2 = numericalDerivative22( - SnavelyProjection(), P, X); + Matrix E1 = numericalDerivative21(adapted, P, X); + Matrix E2 = numericalDerivative22(adapted, P, X); // Get derivatives with AutoDiff Vector2 actual2;