done with tests, now I only have to rename gamma to keep consistency with the projection factors RS
lcarlone
parent
81526e8917
commit
5350e3463e
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@ -10,8 +10,8 @@
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* -------------------------------------------------------------------------- */
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/**
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* @file testSmartProjectionPoseFactorRollingShutterRollingShutter.cpp
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* @brief Unit tests for SmartProjectionPoseFactorRollingShutterRollingShutter Class
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* @file testSmartProjectionPoseFactorRollingShutter.cpp
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* @brief Unit tests for SmartProjectionPoseFactorRollingShutter Class
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* @author Luca Carlone
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* @date July 2021
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*/
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@ -301,12 +301,12 @@ TEST( SmartProjectionPoseFactorRollingShutter, noisyErrorAndJacobians ) {
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TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses ) {
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using namespace vanillaPoseRS;
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Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
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Point2Vector measurements_lmk1, measurements_lmk2, measurements_lmk3;
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// Project three landmarks into three cameras
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_lmk2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3);
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// create inputs
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std::vector<std::pair<Key,Key>> key_pairs;
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@ -320,13 +320,13 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses ) {
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interp_factors.push_back(interp_factor3);
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SmartFactorRS::shared_ptr smartFactor1(new SmartFactorRS(model));
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smartFactor1->add(measurements_cam1, key_pairs, interp_factors, sharedK);
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smartFactor1->add(measurements_lmk1, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor2(new SmartFactorRS(model));
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smartFactor2->add(measurements_cam2, key_pairs, interp_factors, sharedK);
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smartFactor2->add(measurements_lmk2, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor3(new SmartFactorRS(model));
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smartFactor3->add(measurements_cam3, key_pairs, interp_factors, sharedK);
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smartFactor3->add(measurements_lmk3, key_pairs, interp_factors, sharedK);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -384,18 +384,18 @@ TEST( SmartProjectionPoseFactorRollingShutter, hessian_simple_2poses ) {
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// one landmarks 1m in front of camera
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Point3 landmark1(0, 0, 10);
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Point2Vector measurements_cam1;
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Point2Vector measurements_lmk1;
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// Project 2 landmarks into 2 cameras
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measurements_cam1.push_back(cam1.project(landmark1));
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measurements_cam1.push_back(cam2.project(landmark1));
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measurements_lmk1.push_back(cam1.project(landmark1));
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measurements_lmk1.push_back(cam2.project(landmark1));
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SmartFactorRS::shared_ptr smartFactor1(new SmartFactorRS(model));
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double interp_factor = 0; // equivalent to measurement taken at pose 1
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smartFactor1->add(measurements_cam1[0], x1, x2, interp_factor, sharedKSimple,
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smartFactor1->add(measurements_lmk1[0], x1, x2, interp_factor, sharedKSimple,
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body_P_sensorId);
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interp_factor = 1; // equivalent to measurement taken at pose 2
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smartFactor1->add(measurements_cam1[1], x1, x2, interp_factor, sharedKSimple,
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smartFactor1->add(measurements_lmk1[1], x1, x2, interp_factor, sharedKSimple,
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body_P_sensorId);
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SmartFactor::Cameras cameras;
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@ -459,12 +459,12 @@ TEST( SmartProjectionPoseFactorRollingShutter, hessian_simple_2poses ) {
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_EPI ) {
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using namespace vanillaPoseRS;
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Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
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Point2Vector measurements_lmk1, measurements_lmk2, measurements_lmk3;
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// Project three landmarks into three cameras
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_lmk2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3);
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// create inputs
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std::vector<std::pair<Key, Key>> key_pairs;
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@ -486,13 +486,13 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_EPI ) {
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params.setEnableEPI(true);
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SmartFactorRS smartFactor1(model,params);
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smartFactor1.add(measurements_cam1, key_pairs, interp_factors, sharedK);
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smartFactor1.add(measurements_lmk1, key_pairs, interp_factors, sharedK);
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SmartFactorRS smartFactor2(model,params);
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smartFactor2.add(measurements_cam2, key_pairs, interp_factors, sharedK);
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smartFactor2.add(measurements_lmk2, key_pairs, interp_factors, sharedK);
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SmartFactorRS smartFactor3(model,params);
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smartFactor3.add(measurements_cam3, key_pairs, interp_factors, sharedK);
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smartFactor3.add(measurements_lmk3, key_pairs, interp_factors, sharedK);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -521,12 +521,12 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_EPI ) {
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_landmarkDistance ) {
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using namespace vanillaPoseRS;
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Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
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Point2Vector measurements_lmk1, measurements_lmk2, measurements_lmk3;
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// Project three landmarks into three cameras
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_lmk2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3);
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// create inputs
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std::vector<std::pair<Key, Key>> key_pairs;
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@ -548,13 +548,13 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_landmarkDista
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params.setEnableEPI(false);
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SmartFactorRS smartFactor1(model,params);
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smartFactor1.add(measurements_cam1, key_pairs, interp_factors, sharedK);
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smartFactor1.add(measurements_lmk1, key_pairs, interp_factors, sharedK);
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SmartFactorRS smartFactor2(model,params);
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smartFactor2.add(measurements_cam2, key_pairs, interp_factors, sharedK);
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smartFactor2.add(measurements_lmk2, key_pairs, interp_factors, sharedK);
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SmartFactorRS smartFactor3(model,params);
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smartFactor3.add(measurements_cam3, key_pairs, interp_factors, sharedK);
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smartFactor3.add(measurements_lmk3, key_pairs, interp_factors, sharedK);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -580,19 +580,20 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_landmarkDista
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EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3)));
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}
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/* *************************************************************************/
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_dynamicOutlierRejection ) {
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using namespace vanillaPoseRS;
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// add fourth landmark
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Point3 landmark4(5, -0.5, 1);
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Point2Vector measurements_cam1, measurements_cam2, measurements_cam3, measurements_cam4;
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Point2Vector measurements_lmk1, measurements_lmk2, measurements_lmk3,
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measurements_lmk4;
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// Project 4 landmarks into cameras
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_cam4);
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measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_lmk2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3);
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projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_lmk4);
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measurements_lmk4.at(0) = measurements_lmk4.at(0) + Point2(10, 10); // add outlier
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// create inputs
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std::vector<std::pair<Key, Key>> key_pairs;
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@ -616,17 +617,17 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_dynamicOutlie
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params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold);
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params.setEnableEPI(false);
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SmartFactorRS::shared_ptr smartFactor1(new SmartFactorRS(model,params));
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smartFactor1->add(measurements_cam1, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor1(new SmartFactorRS(model, params));
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smartFactor1->add(measurements_lmk1, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor2(new SmartFactorRS(model,params));
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smartFactor2->add(measurements_cam2, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor2(new SmartFactorRS(model, params));
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smartFactor2->add(measurements_lmk2, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor3(new SmartFactorRS(model,params));
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smartFactor3->add(measurements_cam3, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor3(new SmartFactorRS(model, params));
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smartFactor3->add(measurements_lmk3, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor4(new SmartFactorRS(model,params));
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smartFactor4->add(measurements_cam4, key_pairs, interp_factors, sharedK);
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SmartFactorRS::shared_ptr smartFactor4(new SmartFactorRS(model, params));
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smartFactor4->add(measurements_lmk4, key_pairs, interp_factors, sharedK);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -651,170 +652,124 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_dynamicOutlie
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LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
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result = optimizer.optimize();
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EXPECT(assert_equal(pose_above, result.at<Pose3>(x3), 1e-6));
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}
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}
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/* *************************************************************************
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TEST( SmartProjectionPoseFactorRollingShutter, 3poses_projection_factor ) {
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std::cout << "===================" << std::endl;
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactorRollingShutter, hessianComparedToProjFactorsRollingShutter) {
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using namespace vanillaPose2;
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using namespace vanillaPoseRS;
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Point2Vector measurements_lmk1;
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KeyVector views {x1, x2, x3};
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// Project three landmarks into three cameras
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_lmk1);
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typedef GenericProjectionFactor<Pose3, Point3> ProjectionFactor;
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NonlinearFactorGraph graph;
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// create inputs
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std::vector<std::pair<Key, Key>> key_pairs;
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key_pairs.push_back(std::make_pair(x1, x2));
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key_pairs.push_back(std::make_pair(x2, x3));
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key_pairs.push_back(std::make_pair(x3, x1));
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// Project three landmarks into three cameras
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graph.emplace_shared<ProjectionFactor>(cam1.project(landmark1), model, x1, L(1), sharedK2);
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graph.emplace_shared<ProjectionFactor>(cam2.project(landmark1), model, x2, L(1), sharedK2);
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graph.emplace_shared<ProjectionFactor>(cam3.project(landmark1), model, x3, L(1), sharedK2);
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std::vector<double> interp_factors;
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interp_factors.push_back(interp_factor1);
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interp_factors.push_back(interp_factor2);
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interp_factors.push_back(interp_factor3);
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graph.emplace_shared<ProjectionFactor>(cam1.project(landmark2), model, x1, L(2), sharedK2);
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graph.emplace_shared<ProjectionFactor>(cam2.project(landmark2), model, x2, L(2), sharedK2);
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graph.emplace_shared<ProjectionFactor>(cam3.project(landmark2), model, x3, L(2), sharedK2);
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SmartFactorRS::shared_ptr smartFactor1(new SmartFactorRS(model));
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smartFactor1->add(measurements_lmk1, key_pairs, interp_factors, sharedK);
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graph.emplace_shared<ProjectionFactor>(cam1.project(landmark3), model, x1, L(3), sharedK2);
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graph.emplace_shared<ProjectionFactor>(cam2.project(landmark3), model, x2, L(3), sharedK2);
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graph.emplace_shared<ProjectionFactor>(cam3.project(landmark3), model, x3, L(3), sharedK2);
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Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
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Point3(0.1, 0.1, 0.1)); // smaller noise
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Values values;
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values.insert(x1, level_pose);
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values.insert(x2, pose_right);
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// initialize third pose with some noise to get a nontrivial linearization point
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values.insert(x3, pose_above * noise_pose);
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EXPECT( // check that the pose is actually noisy
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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)));
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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graph.addPrior(x1, level_pose, noisePrior);
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graph.addPrior(x2, pose_right, noisePrior);
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// linearization point for the poses
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Pose3 pose1 = level_pose;
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Pose3 pose2 = pose_right;
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Pose3 pose3 = pose_above * noise_pose;
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Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10),
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Point3(0.5, 0.1, 0.3));
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Values values;
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values.insert(x1, level_pose);
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values.insert(x2, pose_right);
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values.insert(x3, pose_above * noise_pose);
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values.insert(L(1), landmark1);
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values.insert(L(2), landmark2);
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values.insert(L(3), landmark3);
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// ==== check Hessian of smartFactor1 =====
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// -- compute actual Hessian
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boost::shared_ptr<GaussianFactor> linearfactor1 = smartFactor1->linearize(
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values);
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Matrix actualHessian = linearfactor1->information();
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DOUBLES_EQUAL(48406055, graph.error(values), 1);
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// -- compute expected Hessian from manual Schur complement from Jacobians
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// linearization point for the 3D point
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smartFactor1->triangulateSafe(smartFactor1->cameras(values));
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TriangulationResult point = smartFactor1->point();
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CHECK(point.valid()); // check triangulated point is valid
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LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
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Values result = optimizer.optimize();
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// Use the factor to calculate the Jacobians
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Matrix F = Matrix::Zero(2 * 3, 6 * 3);
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Matrix E = Matrix::Zero(2 * 3, 3);
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Vector b = Vector::Zero(6);
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DOUBLES_EQUAL(0, graph.error(result), 1e-9);
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// create projection factors rolling shutter
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ProjectionFactorRollingShutter factor11(measurements_lmk1[0], interp_factor1,
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model, x1, x2, l0, sharedK);
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Matrix H1Actual, H2Actual, H3Actual;
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// note: b is minus the reprojection error, cf the smart factor jacobian computation
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b.segment<2>(0) = -factor11.evaluateError(pose1, pose2, *point, H1Actual, H2Actual, H3Actual);
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F.block<2, 6>(0, 0) = H1Actual;
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F.block<2, 6>(0, 6) = H2Actual;
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E.block<2, 3>(0, 0) = H3Actual;
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EXPECT(assert_equal(pose_above, result.at<Pose3>(x3), 1e-7));
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}
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ProjectionFactorRollingShutter factor12(measurements_lmk1[1], interp_factor2,
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model, x2, x3, l0, sharedK);
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b.segment<2>(2) = -factor12.evaluateError(pose2, pose3, *point, H1Actual, H2Actual, H3Actual);
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F.block<2, 6>(2, 6) = H1Actual;
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F.block<2, 6>(2, 12) = H2Actual;
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E.block<2, 3>(2, 0) = H3Actual;
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/* *************************************************************************
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TEST( SmartProjectionPoseFactorRollingShutter, CheckHessian) {
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ProjectionFactorRollingShutter factor13(measurements_lmk1[2], interp_factor3,
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model, x3, x1, l0, sharedK);
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b.segment<2>(4) = -factor13.evaluateError(pose3, pose1, *point, H1Actual, H2Actual, H3Actual);
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F.block<2, 6>(4, 12) = H1Actual;
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F.block<2, 6>(4, 0) = H2Actual;
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E.block<2, 3>(4, 0) = H3Actual;
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KeyVector views {x1, x2, x3};
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// whiten
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F = (1/sigma) * F;
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E = (1/sigma) * E;
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b = (1/sigma) * b;
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//* G = F' * F - F' * E * P * E' * F
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Matrix P = (E.transpose() * E).inverse();
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Matrix expectedHessian = F.transpose() * F
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- (F.transpose() * E * P * E.transpose() * F);
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EXPECT(assert_equal(expectedHessian, actualHessian, 1e-6));
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using namespace vanillaPose;
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// ==== check Information vector of smartFactor1 =====
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GaussianFactorGraph gfg;
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gfg.add(linearfactor1);
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Matrix actualHessian_v2 = gfg.hessian().first;
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EXPECT(assert_equal(actualHessian_v2, actualHessian, 1e-6)); // sanity check on hessian
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// Two slightly different cameras
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Pose3 pose2 = level_pose
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* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
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Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
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Camera cam2(pose2, sharedK);
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Camera cam3(pose3, sharedK);
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||||
// -- compute actual information vector
|
||||
Vector actualInfoVector = gfg.hessian().second;
|
||||
|
||||
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
||||
// -- compute expected information vector from manual Schur complement from Jacobians
|
||||
//* g = F' * (b - E * P * E' * b)
|
||||
Vector expectedInfoVector = F.transpose() * (b - E * P * E.transpose() * b);
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EXPECT(assert_equal(expectedInfoVector, actualInfoVector, 1e-6));
|
||||
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
||||
// ==== check error of smartFactor1 (again) =====
|
||||
NonlinearFactorGraph nfg_projFactorsRS;
|
||||
nfg_projFactorsRS.add(factor11);
|
||||
nfg_projFactorsRS.add(factor12);
|
||||
nfg_projFactorsRS.add(factor13);
|
||||
values.insert(l0, *point);
|
||||
|
||||
SmartProjectionParams params;
|
||||
params.setRankTolerance(10);
|
||||
double actualError = smartFactor1->error(values);
|
||||
double expectedError = nfg_projFactorsRS.error(values);
|
||||
EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7);
|
||||
}
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(model, sharedK, params)); // HESSIAN, by default
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(model, sharedK, params)); // HESSIAN, by default
|
||||
smartFactor2->add(measurements_cam2, views);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(model, sharedK, params)); // HESSIAN, by default
|
||||
smartFactor3->add(measurements_cam3, views);
|
||||
|
||||
NonlinearFactorGraph graph;
|
||||
graph.push_back(smartFactor1);
|
||||
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
|
||||
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
|
||||
Point3(0.1, 0.1, 0.1)); // smaller noise
|
||||
Values values;
|
||||
values.insert(x1, cam1.pose());
|
||||
values.insert(x2, cam2.pose());
|
||||
// initialize third pose with some noise, we expect it to move back to original pose_above
|
||||
values.insert(x3, pose3 * noise_pose);
|
||||
EXPECT(
|
||||
assert_equal(
|
||||
Pose3(
|
||||
Rot3(0.00563056869, -0.130848107, 0.991386438, -0.991390265,
|
||||
-0.130426831, -0.0115837907, 0.130819108, -0.98278564,
|
||||
-0.130455917),
|
||||
Point3(0.0897734171, -0.110201006, 0.901022872)),
|
||||
values.at<Pose3>(x3)));
|
||||
|
||||
boost::shared_ptr<GaussianFactor> factor1 = smartFactor1->linearize(values);
|
||||
boost::shared_ptr<GaussianFactor> factor2 = smartFactor2->linearize(values);
|
||||
boost::shared_ptr<GaussianFactor> factor3 = smartFactor3->linearize(values);
|
||||
|
||||
Matrix CumulativeInformation = factor1->information() + factor2->information()
|
||||
+ factor3->information();
|
||||
|
||||
boost::shared_ptr<GaussianFactorGraph> GaussianGraph = graph.linearize(
|
||||
values);
|
||||
Matrix GraphInformation = GaussianGraph->hessian().first;
|
||||
|
||||
// Check Hessian
|
||||
EXPECT(assert_equal(GraphInformation, CumulativeInformation, 1e-6));
|
||||
|
||||
Matrix AugInformationMatrix = factor1->augmentedInformation()
|
||||
+ factor2->augmentedInformation() + factor3->augmentedInformation();
|
||||
|
||||
// Check Information vector
|
||||
Vector InfoVector = AugInformationMatrix.block(0, 18, 18, 1); // 18x18 Hessian + information vector
|
||||
|
||||
// Check Hessian
|
||||
EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-6));
|
||||
}
|
||||
|
||||
/* *************************************************************************
|
||||
TEST( SmartProjectionPoseFactorRollingShutter, Hessian ) {
|
||||
|
||||
using namespace vanillaPose2;
|
||||
|
||||
KeyVector views {x1, x2};
|
||||
|
||||
// Project three landmarks into 2 cameras
|
||||
Point2 cam1_uv1 = cam1.project(landmark1);
|
||||
Point2 cam2_uv1 = cam2.project(landmark1);
|
||||
Point2Vector measurements_cam1;
|
||||
measurements_cam1.push_back(cam1_uv1);
|
||||
measurements_cam1.push_back(cam2_uv1);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(new SmartFactor(model, sharedK2));
|
||||
smartFactor1->add(measurements_cam1, views);
|
||||
|
||||
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10),
|
||||
Point3(0.5, 0.1, 0.3));
|
||||
Values values;
|
||||
values.insert(x1, cam1.pose());
|
||||
values.insert(x2, cam2.pose());
|
||||
|
||||
boost::shared_ptr<GaussianFactor> factor = smartFactor1->linearize(values);
|
||||
|
||||
// compute triangulation from linearization point
|
||||
// compute reprojection errors (sum squared)
|
||||
// compare with factor.info(): the bottom right element is the squared sum of the reprojection errors (normalized by the covariance)
|
||||
// check that it is correctly scaled when using noiseProjection = [1/4 0; 0 1/4]
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
|
|
|
|||
Loading…
Reference in New Issue