Working version with between factor and added principal point estimation plot
cbeall3
parent
5f3217ccf8
commit
52a090d1c1
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@ -43,13 +43,13 @@ IMU_metadata.IntegrationSigma = 1e-1;
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curvature = 5.0;
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transformKey = 1000;
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calibrationKey = 2000;
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steps = 30;
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steps = 50;
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fg = NonlinearFactorGraph;
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initial = Values;
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%% intial landmarks and camera trajectory shifted in + y-direction
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y_shift = Point3(0,1.0,0);
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y_shift = Point3(0,0.5,0);
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% insert shifted points
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for i=1:nrPoints
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@ -61,7 +61,7 @@ cla
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hold on;
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%% initial pose priors
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pose_cov = noiseModel.Diagonal.Sigmas([0.1*pi/180; 0.1*pi/180; 0.1*pi/180; 1e-9; 1e-9; 1e-9]);
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pose_cov = noiseModel.Diagonal.Sigmas([0.1*pi/180; 0.1*pi/180; 0.1*pi/180; 1e-4; 1e-4; 1e-4]);
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%% Actual camera translation coincides with odometry, but -90deg Z-X rotation
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camera_transform = Pose3(Rot3.RzRyRx(-pi/2, 0, -pi/2),y_shift);
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@ -133,6 +133,7 @@ for i=1:steps
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result = initial;
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end
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if i == 2
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fg.add(PriorFactorPose3(2, Pose3(Rot3(),Point3(1,0,0)),pose_cov));
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fg.add(PriorFactorLieVector(currentVelKey, currentVelocityGlobal, sigma_init_v));
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fg.add(PriorFactorConstantBias(currentBiasKey, currentBias, sigma_init_b));
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end
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@ -179,7 +180,7 @@ for i=1:steps
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end
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% generate some camera measurements
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cam_pose = initial.at(i).compose(actual_transform);
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cam_pose = currentIMUPoseGlobal.compose(actual_transform);
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% gtsam.plotPose3(cam_pose);
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cam = SimpleCamera(cam_pose,K);
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i
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@ -188,7 +189,7 @@ for i=1:steps
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% All landmarks seen in every frame
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try
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z = cam.project(landmarks{j});
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fg.add(TransformCalProjectionFactorCal3_S2(z, z_cov, i, transformKey, 100+j, calibrationKey));
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fg.add(TransformCalProjectionFactorCal3_S2(z, z_cov, i, transformKey, 100+j, calibrationKey, false, true));
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catch
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cheirality_exception_count = cheirality_exception_count + 1;
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end % end try/catch
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@ -220,36 +221,28 @@ for i=1:steps
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mat = gfg.augmentedJacobian();
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augmented_c(i)= cond(mat, 2);
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for f=0:isam_fg.size()-1
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nonlinear_factor = isam_fg.at(f);
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if strcmp(class(nonlinear_factor),'gtsam.TransformCalProjectionFactorCal3_S2')
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gaussian_factor = nonlinear_factor.linearize(isam_values);
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A = gaussian_factor.getA();
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b = gaussian_factor.getb()
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b = gaussian_factor.getb();
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% Column 17 (fy) in jacobian
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A_col = A(:,17);
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if A_col(2) == 0
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pause
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% pause
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disp('Cheirality Exception!');
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end
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end
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end
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end
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end
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hold off;
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clf;
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figure(1);
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subplot(4,1,1:2);
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subplot(5,1,1:2);
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hold on;
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%% plot the integrated IMU frame (not from
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@ -278,19 +271,23 @@ for i=1:steps
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ty = result.at(transformKey).translation().y();
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fx = result.at(calibrationKey).fx();
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fy = result.at(calibrationKey).fy();
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px = result.at(calibrationKey).px();
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py = result.at(calibrationKey).py();
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text(1,5,5,sprintf('Y-Transform(0.0): %0.2f',ty));
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text(1,5,3,sprintf('fx(900): %.0f',fx));
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text(1,5,1,sprintf('fy(900): %.0f',fy));
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fxs(i) = fx;
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fys(i) = fy;
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subplot(4,1,3);
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pxs(i) = px;
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pys(i) = py;
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subplot(5,1,3);
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hold on;
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p(1) = plot(1:steps,repmat(K.fx,1,steps),'r--');
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p(2) = plot(1:i,fxs,'r','LineWidth',2);
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plot(1:steps,repmat(K.fx,1,steps),'r--');
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p(1) = plot(1:i,fxs,'r','LineWidth',2);
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p(3) = plot(1:steps,repmat(K.fy,1,steps),'g--');
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p(4) = plot(1:i,fys,'g','LineWidth',2);
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plot(1:steps,repmat(K.fy,1,steps),'g--');
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p(2) = plot(1:i,fys,'g','LineWidth',2);
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if i > 1
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plot(2:i,fxs(2:i) + marginal_fx(2:i),'r-.');
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@ -299,20 +296,34 @@ for i=1:steps
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plot(2:i,fys(2:i) + marginal_fy(2:i),'g-.');
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plot(2:i,fys(2:i) - marginal_fy(2:i),'g-.');
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subplot(4,1,4);
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subplot(5,1,5);
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hold on;
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title('Condition Number');
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plot(2:i,c(2:i),'b-');
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plot(2:i,augmented_c(2:i),'r-');
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axis([0 steps 0 max(c(2:i))*1.1]);
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% figure(2);
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% plotBayesTree(isam);
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end
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legend(p, 'f_x', 'f_y', 'Location', 'SouthWest');
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% legend(p, 'f_x', 'f_x''', 'f_y', 'f_y''', 'Location', 'SouthWest');
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legend(p, 'f_x', 'f_x''', 'f_y', 'f_y''', 'Location', 'SouthWest');
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%% plot principal points
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subplot(5,1,4);
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hold on;
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plot(1:steps,repmat(K.px,1,steps),'r--');
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pp(1) = plot(1:i,pxs,'r','LineWidth',2);
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plot(1:steps,repmat(K.py,1,steps),'g--');
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pp(2) = plot(1:i,pys,'g','LineWidth',2);
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title('Principal Point');
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legend(pp, 'p_x', 'p_y', 'Location', 'SouthWest');
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if(write_video)
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currFrame = getframe(gcf);
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