Renamed project_to_camera to PinholeBase::Project
dellaert
parent
861ee8fef3
commit
61e8b42249
6
gtsam.h
6
gtsam.h
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@ -778,7 +778,7 @@ class CalibratedCamera {
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// Action on Point3
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gtsam::Point2 project(const gtsam::Point3& point) const;
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static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
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static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
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// Standard Interface
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gtsam::Pose3 pose() const;
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@ -815,7 +815,7 @@ class SimpleCamera {
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static size_t Dim();
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// Transformations and measurement functions
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static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
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static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
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pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
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gtsam::Point2 project(const gtsam::Point3& point);
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gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
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@ -854,7 +854,7 @@ class PinholeCamera {
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static size_t Dim();
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// Transformations and measurement functions
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static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
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static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
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pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
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gtsam::Point2 project(const gtsam::Point3& point);
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gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
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@ -85,8 +85,7 @@ const Pose3& PinholeBase::getPose(OptionalJacobian<6, 6> H) const {
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}
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/* ************************************************************************* */
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Point2 PinholeBase::project_to_camera(const Point3& pc,
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OptionalJacobian<2, 3> Dpoint) {
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Point2 PinholeBase::Project(const Point3& pc, OptionalJacobian<2, 3> Dpoint) {
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double d = 1.0 / pc.z();
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const double u = pc.x() * d, v = pc.y() * d;
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if (Dpoint)
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@ -95,22 +94,27 @@ Point2 PinholeBase::project_to_camera(const Point3& pc,
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}
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/* ************************************************************************* */
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Point2 PinholeBase::project_to_camera(const Unit3& pc,
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OptionalJacobian<2, 2> Dpoint) {
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Point2 PinholeBase::project_to_camera_old(const Point3& pc,
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OptionalJacobian<2, 3> Dpoint) {
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return Project(pc);
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}
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/* ************************************************************************* */
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Point2 PinholeBase::Project(const Unit3& pc, OptionalJacobian<2, 2> Dpoint) {
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if (Dpoint) {
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Matrix32 Dpoint3_pc;
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Matrix23 Duv_point3;
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Point2 uv = project_to_camera(pc.point3(Dpoint3_pc), Duv_point3);
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Point2 uv = Project(pc.point3(Dpoint3_pc), Duv_point3);
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*Dpoint = Duv_point3 * Dpoint3_pc;
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return uv;
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} else
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return project_to_camera(pc.point3());
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return Project(pc.point3());
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}
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/* ************************************************************************* */
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pair<Point2, bool> PinholeBase::projectSafe(const Point3& pw) const {
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const Point3 pc = pose().transform_to(pw);
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const Point2 pn = project_to_camera(pc);
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const Point2 pn = Project(pc);
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return make_pair(pn, pc.z() > 0);
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}
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@ -124,7 +128,7 @@ Point2 PinholeBase::project2(const Point3& point, OptionalJacobian<2, 6> Dpose,
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if (q.z() <= 0)
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throw CheiralityException();
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#endif
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const Point2 pn = project_to_camera(q);
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const Point2 pn = Project(q);
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if (Dpose || Dpoint) {
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const double d = 1.0 / q.z();
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@ -148,8 +152,7 @@ Point2 PinholeBase::project2(const Unit3& pw, OptionalJacobian<2, 6> Dpose,
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// camera to normalized image coordinate
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Matrix2 Dpn_pc;
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const Point2 pn = PinholeBase::project_to_camera(pc,
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Dpose || Dpoint ? &Dpn_pc : 0);
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const Point2 pn = Project(pc, Dpose || Dpoint ? &Dpn_pc : 0);
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// chain the Jacobian matrices
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if (Dpose) {
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@ -164,7 +164,11 @@ public:
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* Does *not* throw a CheiralityException, even if pc behind image plane
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* @param pc point in camera coordinates
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*/
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static Point2 project_to_camera(const Point3& pc, //
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static Point2 Project(const Point3& pc, //
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OptionalJacobian<2, 3> Dpoint = boost::none);
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/// @deprecated not correct naming for static function, use Project above
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static Point2 project_to_camera_old(const Point3& pc, //
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OptionalJacobian<2, 3> Dpoint = boost::none);
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/**
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@ -172,7 +176,7 @@ public:
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* Does *not* throw a CheiralityException, even if pc behind image plane
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* @param pc point in camera coordinates
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*/
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static Point2 project_to_camera(const Unit3& pc, //
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static Point2 Project(const Unit3& pc, //
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OptionalJacobian<2, 2> Dpoint = boost::none);
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/// Project a point into the image and check depth
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@ -193,8 +197,9 @@ public:
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* @param point 3D point in world coordinates
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* @return the intrinsic coordinates of the projected point
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*/
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Point2 project2(const Unit3& point, OptionalJacobian<2, 6> Dpose =
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boost::none, OptionalJacobian<2, 2> Dpoint = boost::none) const;
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Point2 project2(const Unit3& point,
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OptionalJacobian<2, 6> Dpose = boost::none,
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OptionalJacobian<2, 2> Dpoint = boost::none) const;
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/// backproject a 2-dimensional point to a 3-dimensional point at given depth
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static Point3 backproject_from_camera(const Point2& p, const double depth);
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@ -214,7 +219,6 @@ public:
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/// @}
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private:
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/** Serialization function */
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@ -100,7 +100,7 @@ public:
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*/
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Point2 project(const Unit3& pw) const {
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const Unit3 pc = pose().rotation().unrotate(pw); // convert to camera frame
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const Point2 pn = PinholeBase::project_to_camera(pc);
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const Point2 pn = PinholeBase::Project(pc);
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return calibration().uncalibrate(pn);
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}
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@ -88,28 +88,28 @@ TEST( CalibratedCamera, project)
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}
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/* ************************************************************************* */
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static Point2 project_to_camera1(const Point3& point) {
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return PinholeBase::project_to_camera(point);
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static Point2 Project1(const Point3& point) {
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return PinholeBase::Project(point);
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}
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TEST( CalibratedCamera, Dproject_to_camera1) {
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TEST( CalibratedCamera, DProject1) {
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Point3 pp(155, 233, 131);
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Matrix test1;
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CalibratedCamera::project_to_camera(pp, test1);
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Matrix test2 = numericalDerivative11<Point2, Point3>(project_to_camera1, pp);
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CalibratedCamera::Project(pp, test1);
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Matrix test2 = numericalDerivative11<Point2, Point3>(Project1, pp);
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CHECK(assert_equal(test1, test2));
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}
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/* ************************************************************************* */
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static Point2 project_to_camera2(const Unit3& point) {
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return PinholeBase::project_to_camera(point);
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static Point2 Project2(const Unit3& point) {
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return PinholeBase::Project(point);
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}
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Unit3 pointAtInfinity(0, 0, 1000);
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TEST( CalibratedCamera, Dproject_to_cameraInfinity) {
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TEST( CalibratedCamera, DProjectInfinity) {
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Matrix test1;
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CalibratedCamera::project_to_camera(pointAtInfinity, test1);
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Matrix test2 = numericalDerivative11<Point2, Unit3>(project_to_camera2,
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CalibratedCamera::Project(pointAtInfinity, test1);
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Matrix test2 = numericalDerivative11<Point2, Unit3>(Project2,
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pointAtInfinity);
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CHECK(assert_equal(test1, test2));
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}
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@ -166,7 +166,8 @@ using namespace binary;
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Expression<Cal3_S2> K(3);
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// Create expression tree
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Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
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Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project;
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Expression<Point2> projection(f, p_cam);
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Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
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}
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/* ************************************************************************* */
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@ -1,502 +0,0 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testExpressionFactor.cpp
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* @date September 18, 2014
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* @author Frank Dellaert
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* @author Paul Furgale
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* @brief unit tests for Block Automatic Differentiation
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*/
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#include <gtsam/slam/expressions.h>
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#include <gtsam/slam/GeneralSFMFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <gtsam/nonlinear/expressionTesting.h>
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#include <gtsam/base/Testable.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/list_of.hpp>
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using boost::assign::list_of;
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using namespace std;
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using namespace gtsam;
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Point2 measured(-17, 30);
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SharedNoiseModel model = noiseModel::Unit::Create(2);
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namespace leaf {
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// Create some values
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struct MyValues: public Values {
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MyValues() {
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insert(2, Point2(3, 5));
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}
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} values;
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// Create leaf
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Point2_ p(2);
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}
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/* ************************************************************************* */
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// Leaf
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TEST(ExpressionFactor, Leaf) {
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using namespace leaf;
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// Create old-style factor to create expected value and derivatives
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PriorFactor<Point2> old(2, Point2(0, 0), model);
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// Concise version
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ExpressionFactor<Point2> f(model, Point2(0, 0), p);
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EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9);
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EXPECT_LONGS_EQUAL(2, f.dim());
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boost::shared_ptr<GaussianFactor> gf2 = f.linearize(values);
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EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9));
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}
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/* ************************************************************************* */
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// non-zero noise model
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TEST(ExpressionFactor, Model) {
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using namespace leaf;
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SharedNoiseModel model = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.01));
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// Create old-style factor to create expected value and derivatives
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PriorFactor<Point2> old(2, Point2(0, 0), model);
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// Concise version
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ExpressionFactor<Point2> f(model, Point2(0, 0), p);
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// Check values and derivatives
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EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9);
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EXPECT_LONGS_EQUAL(2, f.dim());
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boost::shared_ptr<GaussianFactor> gf2 = f.linearize(values);
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EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9));
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EXPECT_CORRECT_FACTOR_JACOBIANS(f, values, 1e-5, 1e-5); // another way
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}
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/* ************************************************************************* */
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// Constrained noise model
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TEST(ExpressionFactor, Constrained) {
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using namespace leaf;
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SharedDiagonal model = noiseModel::Constrained::MixedSigmas(Vector2(0.2, 0));
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// Create old-style factor to create expected value and derivatives
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PriorFactor<Point2> old(2, Point2(0, 0), model);
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// Concise version
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ExpressionFactor<Point2> f(model, Point2(0, 0), p);
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EXPECT_DOUBLES_EQUAL(old.error(values), f.error(values), 1e-9);
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EXPECT_LONGS_EQUAL(2, f.dim());
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boost::shared_ptr<GaussianFactor> gf2 = f.linearize(values);
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EXPECT( assert_equal(*old.linearize(values), *gf2, 1e-9));
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}
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/* ************************************************************************* */
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// Unary(Leaf))
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TEST(ExpressionFactor, Unary) {
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// Create some values
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Values values;
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values.insert(2, Point3(0, 0, 1));
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JacobianFactor expected( //
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2, (Matrix(2, 3) << 1, 0, 0, 0, 1, 0).finished(), //
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Vector2(-17, 30));
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// Create leaves
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Point3_ p(2);
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// Concise version
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ExpressionFactor<Point2> f(model, measured, project(p));
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EXPECT_LONGS_EQUAL(2, f.dim());
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boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
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boost::shared_ptr<JacobianFactor> jf = //
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boost::dynamic_pointer_cast<JacobianFactor>(gf);
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EXPECT( assert_equal(expected, *jf, 1e-9));
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}
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/* ************************************************************************* */
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// Unary(Leaf)) and Unary(Unary(Leaf)))
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// wide version (not handled in fixed-size pipeline)
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typedef Eigen::Matrix<double,9,3> Matrix93;
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Vector9 wide(const Point3& p, OptionalJacobian<9,3> H) {
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Vector9 v;
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v << p.vector(), p.vector(), p.vector();
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if (H) *H << eye(3), eye(3), eye(3);
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return v;
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}
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typedef Eigen::Matrix<double,9,9> Matrix9;
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Vector9 id9(const Vector9& v, OptionalJacobian<9,9> H) {
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if (H) *H = Matrix9::Identity();
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return v;
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}
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TEST(ExpressionFactor, Wide) {
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// Create some values
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Values values;
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values.insert(2, Point3(0, 0, 1));
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Point3_ point(2);
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Vector9 measured;
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measured.setZero();
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Expression<Vector9> expression(wide,point);
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SharedNoiseModel model = noiseModel::Unit::Create(9);
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ExpressionFactor<Vector9> f1(model, measured, expression);
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EXPECT_CORRECT_FACTOR_JACOBIANS(f1, values, 1e-5, 1e-9);
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Expression<Vector9> expression2(id9,expression);
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ExpressionFactor<Vector9> f2(model, measured, expression2);
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EXPECT_CORRECT_FACTOR_JACOBIANS(f2, values, 1e-5, 1e-9);
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}
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/* ************************************************************************* */
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static Point2 myUncal(const Cal3_S2& K, const Point2& p,
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OptionalJacobian<2,5> Dcal, OptionalJacobian<2,2> Dp) {
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return K.uncalibrate(p, Dcal, Dp);
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}
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// Binary(Leaf,Leaf)
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TEST(ExpressionFactor, Binary) {
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typedef BinaryExpression<Point2, Cal3_S2, Point2> Binary;
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Cal3_S2_ K_(1);
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Point2_ p_(2);
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Binary binary(myUncal, K_, p_);
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// Create some values
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Values values;
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values.insert(1, Cal3_S2());
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values.insert(2, Point2(0, 0));
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// traceRaw will fill raw with [Trace<Point2> | Binary::Record]
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EXPECT_LONGS_EQUAL(8, sizeof(double));
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EXPECT_LONGS_EQUAL(16, sizeof(Point2));
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EXPECT_LONGS_EQUAL(40, sizeof(Cal3_S2));
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EXPECT_LONGS_EQUAL(16, sizeof(ExecutionTrace<Point2>));
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EXPECT_LONGS_EQUAL(16, sizeof(ExecutionTrace<Cal3_S2>));
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EXPECT_LONGS_EQUAL(2*5*8, sizeof(Jacobian<Point2,Cal3_S2>::type));
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EXPECT_LONGS_EQUAL(2*2*8, sizeof(Jacobian<Point2,Point2>::type));
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size_t expectedRecordSize = 16 + 16 + 40 + 2 * 16 + 80 + 32;
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EXPECT_LONGS_EQUAL(expectedRecordSize + 8, sizeof(Binary::Record));
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// Check size
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size_t size = binary.traceSize();
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CHECK(size);
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EXPECT_LONGS_EQUAL(expectedRecordSize + 8, size);
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// Use Variable Length Array, allocated on stack by gcc
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// Note unclear for Clang: http://clang.llvm.org/compatibility.html#vla
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ExecutionTraceStorage traceStorage[size];
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ExecutionTrace<Point2> trace;
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Point2 value = binary.traceExecution(values, trace, traceStorage);
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EXPECT(assert_equal(Point2(),value, 1e-9));
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// trace.print();
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// Expected Jacobians
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Matrix25 expected25;
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expected25 << 0, 0, 0, 1, 0, 0, 0, 0, 0, 1;
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Matrix2 expected22;
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expected22 << 1, 0, 0, 1;
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// Check matrices
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boost::optional<Binary::Record*> r = trace.record<Binary::Record>();
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CHECK(r);
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EXPECT(
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assert_equal(expected25, (Matrix) (*r)-> jacobian<Cal3_S2, 1>(), 1e-9));
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EXPECT( assert_equal(expected22, (Matrix) (*r)->jacobian<Point2, 2>(), 1e-9));
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}
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/* ************************************************************************* */
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// Unary(Binary(Leaf,Leaf))
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TEST(ExpressionFactor, Shallow) {
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// Create some values
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Values values;
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values.insert(1, Pose3());
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values.insert(2, Point3(0, 0, 1));
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// Create old-style factor to create expected value and derivatives
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GenericProjectionFactor<Pose3, Point3> old(measured, model, 1, 2,
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boost::make_shared<Cal3_S2>());
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double expected_error = old.error(values);
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GaussianFactor::shared_ptr expected = old.linearize(values);
|
||||
|
||||
// Create leaves
|
||||
Pose3_ x_(1);
|
||||
Point3_ p_(2);
|
||||
|
||||
// Construct expression, concise evrsion
|
||||
Point2_ expression = project(transform_to(x_, p_));
|
||||
|
||||
// Get and check keys and dims
|
||||
FastVector<Key> keys;
|
||||
FastVector<int> dims;
|
||||
boost::tie(keys, dims) = expression.keysAndDims();
|
||||
LONGS_EQUAL(2,keys.size());
|
||||
LONGS_EQUAL(2,dims.size());
|
||||
LONGS_EQUAL(1,keys[0]);
|
||||
LONGS_EQUAL(2,keys[1]);
|
||||
LONGS_EQUAL(6,dims[0]);
|
||||
LONGS_EQUAL(3,dims[1]);
|
||||
|
||||
// traceExecution of shallow tree
|
||||
typedef UnaryExpression<Point2, Point3> Unary;
|
||||
typedef BinaryExpression<Point3, Pose3, Point3> Binary;
|
||||
size_t expectedTraceSize = sizeof(Unary::Record) + sizeof(Binary::Record);
|
||||
EXPECT_LONGS_EQUAL(112, sizeof(Unary::Record));
|
||||
#ifdef GTSAM_USE_QUATERNIONS
|
||||
EXPECT_LONGS_EQUAL(352, sizeof(Binary::Record));
|
||||
LONGS_EQUAL(112+352, expectedTraceSize);
|
||||
#else
|
||||
EXPECT_LONGS_EQUAL(400, sizeof(Binary::Record));
|
||||
LONGS_EQUAL(112+400, expectedTraceSize);
|
||||
#endif
|
||||
size_t size = expression.traceSize();
|
||||
CHECK(size);
|
||||
EXPECT_LONGS_EQUAL(expectedTraceSize, size);
|
||||
ExecutionTraceStorage traceStorage[size];
|
||||
ExecutionTrace<Point2> trace;
|
||||
Point2 value = expression.traceExecution(values, trace, traceStorage);
|
||||
EXPECT(assert_equal(Point2(),value, 1e-9));
|
||||
// trace.print();
|
||||
|
||||
// Expected Jacobians
|
||||
Matrix23 expected23;
|
||||
expected23 << 1, 0, 0, 0, 1, 0;
|
||||
|
||||
// Check matrices
|
||||
boost::optional<Unary::Record*> r = trace.record<Unary::Record>();
|
||||
CHECK(r);
|
||||
EXPECT(assert_equal(expected23, (Matrix)(*r)->jacobian<Point3, 1>(), 1e-9));
|
||||
|
||||
// Linearization
|
||||
ExpressionFactor<Point2> f2(model, measured, expression);
|
||||
EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9);
|
||||
EXPECT_LONGS_EQUAL(2, f2.dim());
|
||||
boost::shared_ptr<GaussianFactor> gf2 = f2.linearize(values);
|
||||
EXPECT( assert_equal(*expected, *gf2, 1e-9));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Binary(Leaf,Unary(Binary(Leaf,Leaf)))
|
||||
TEST(ExpressionFactor, tree) {
|
||||
|
||||
// Create some values
|
||||
Values values;
|
||||
values.insert(1, Pose3());
|
||||
values.insert(2, Point3(0, 0, 1));
|
||||
values.insert(3, Cal3_S2());
|
||||
|
||||
// Create old-style factor to create expected value and derivatives
|
||||
GeneralSFMFactor2<Cal3_S2> old(measured, model, 1, 2, 3);
|
||||
double expected_error = old.error(values);
|
||||
GaussianFactor::shared_ptr expected = old.linearize(values);
|
||||
|
||||
// Create leaves
|
||||
Pose3_ x(1);
|
||||
Point3_ p(2);
|
||||
Cal3_S2_ K(3);
|
||||
|
||||
// Create expression tree
|
||||
Point3_ p_cam(x, &Pose3::transform_to, p);
|
||||
Point2_ xy_hat(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
|
||||
Point2_ uv_hat(K, &Cal3_S2::uncalibrate, xy_hat);
|
||||
|
||||
// Create factor and check value, dimension, linearization
|
||||
ExpressionFactor<Point2> f(model, measured, uv_hat);
|
||||
EXPECT_DOUBLES_EQUAL(expected_error, f.error(values), 1e-9);
|
||||
EXPECT_LONGS_EQUAL(2, f.dim());
|
||||
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
|
||||
EXPECT( assert_equal(*expected, *gf, 1e-9));
|
||||
|
||||
// Concise version
|
||||
ExpressionFactor<Point2> f2(model, measured,
|
||||
uncalibrate(K, project(transform_to(x, p))));
|
||||
EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9);
|
||||
EXPECT_LONGS_EQUAL(2, f2.dim());
|
||||
boost::shared_ptr<GaussianFactor> gf2 = f2.linearize(values);
|
||||
EXPECT( assert_equal(*expected, *gf2, 1e-9));
|
||||
|
||||
TernaryExpression<Point2, Pose3, Point3, Cal3_S2>::Function fff = project6;
|
||||
|
||||
// Try ternary version
|
||||
ExpressionFactor<Point2> f3(model, measured, project3(x, p, K));
|
||||
EXPECT_DOUBLES_EQUAL(expected_error, f3.error(values), 1e-9);
|
||||
EXPECT_LONGS_EQUAL(2, f3.dim());
|
||||
boost::shared_ptr<GaussianFactor> gf3 = f3.linearize(values);
|
||||
EXPECT( assert_equal(*expected, *gf3, 1e-9));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
||||
TEST(ExpressionFactor, Compose1) {
|
||||
|
||||
// Create expression
|
||||
Rot3_ R1(1), R2(2);
|
||||
Rot3_ R3 = R1 * R2;
|
||||
|
||||
// Create factor
|
||||
ExpressionFactor<Rot3> f(noiseModel::Unit::Create(3), Rot3(), R3);
|
||||
|
||||
// Create some values
|
||||
Values values;
|
||||
values.insert(1, Rot3());
|
||||
values.insert(2, Rot3());
|
||||
|
||||
// Check unwhitenedError
|
||||
std::vector<Matrix> H(2);
|
||||
Vector actual = f.unwhitenedError(values, H);
|
||||
EXPECT( assert_equal(eye(3), H[0],1e-9));
|
||||
EXPECT( assert_equal(eye(3), H[1],1e-9));
|
||||
|
||||
// Check linearization
|
||||
JacobianFactor expected(1, eye(3), 2, eye(3), zero(3));
|
||||
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
|
||||
boost::shared_ptr<JacobianFactor> jf = //
|
||||
boost::dynamic_pointer_cast<JacobianFactor>(gf);
|
||||
EXPECT( assert_equal(expected, *jf,1e-9));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Test compose with arguments referring to the same rotation
|
||||
TEST(ExpressionFactor, compose2) {
|
||||
|
||||
// Create expression
|
||||
Rot3_ R1(1), R2(1);
|
||||
Rot3_ R3 = R1 * R2;
|
||||
|
||||
// Create factor
|
||||
ExpressionFactor<Rot3> f(noiseModel::Unit::Create(3), Rot3(), R3);
|
||||
|
||||
// Create some values
|
||||
Values values;
|
||||
values.insert(1, Rot3());
|
||||
|
||||
// Check unwhitenedError
|
||||
std::vector<Matrix> H(1);
|
||||
Vector actual = f.unwhitenedError(values, H);
|
||||
EXPECT_LONGS_EQUAL(1, H.size());
|
||||
EXPECT( assert_equal(2*eye(3), H[0],1e-9));
|
||||
|
||||
// Check linearization
|
||||
JacobianFactor expected(1, 2 * eye(3), zero(3));
|
||||
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
|
||||
boost::shared_ptr<JacobianFactor> jf = //
|
||||
boost::dynamic_pointer_cast<JacobianFactor>(gf);
|
||||
EXPECT( assert_equal(expected, *jf,1e-9));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Test compose with one arguments referring to a constant same rotation
|
||||
TEST(ExpressionFactor, compose3) {
|
||||
|
||||
// Create expression
|
||||
Rot3_ R1(Rot3::identity()), R2(3);
|
||||
Rot3_ R3 = R1 * R2;
|
||||
|
||||
// Create factor
|
||||
ExpressionFactor<Rot3> f(noiseModel::Unit::Create(3), Rot3(), R3);
|
||||
|
||||
// Create some values
|
||||
Values values;
|
||||
values.insert(3, Rot3());
|
||||
|
||||
// Check unwhitenedError
|
||||
std::vector<Matrix> H(1);
|
||||
Vector actual = f.unwhitenedError(values, H);
|
||||
EXPECT_LONGS_EQUAL(1, H.size());
|
||||
EXPECT( assert_equal(eye(3), H[0],1e-9));
|
||||
|
||||
// Check linearization
|
||||
JacobianFactor expected(3, eye(3), zero(3));
|
||||
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
|
||||
boost::shared_ptr<JacobianFactor> jf = //
|
||||
boost::dynamic_pointer_cast<JacobianFactor>(gf);
|
||||
EXPECT( assert_equal(expected, *jf,1e-9));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Test compose with three arguments
|
||||
Rot3 composeThree(const Rot3& R1, const Rot3& R2, const Rot3& R3,
|
||||
OptionalJacobian<3, 3> H1, OptionalJacobian<3, 3> H2, OptionalJacobian<3, 3> H3) {
|
||||
// return dummy derivatives (not correct, but that's ok for testing here)
|
||||
if (H1)
|
||||
*H1 = eye(3);
|
||||
if (H2)
|
||||
*H2 = eye(3);
|
||||
if (H3)
|
||||
*H3 = eye(3);
|
||||
return R1 * (R2 * R3);
|
||||
}
|
||||
|
||||
TEST(ExpressionFactor, composeTernary) {
|
||||
|
||||
// Create expression
|
||||
Rot3_ A(1), B(2), C(3);
|
||||
Rot3_ ABC(composeThree, A, B, C);
|
||||
|
||||
// Create factor
|
||||
ExpressionFactor<Rot3> f(noiseModel::Unit::Create(3), Rot3(), ABC);
|
||||
|
||||
// Create some values
|
||||
Values values;
|
||||
values.insert(1, Rot3());
|
||||
values.insert(2, Rot3());
|
||||
values.insert(3, Rot3());
|
||||
|
||||
// Check unwhitenedError
|
||||
std::vector<Matrix> H(3);
|
||||
Vector actual = f.unwhitenedError(values, H);
|
||||
EXPECT_LONGS_EQUAL(3, H.size());
|
||||
EXPECT( assert_equal(eye(3), H[0],1e-9));
|
||||
EXPECT( assert_equal(eye(3), H[1],1e-9));
|
||||
EXPECT( assert_equal(eye(3), H[2],1e-9));
|
||||
|
||||
// Check linearization
|
||||
JacobianFactor expected(1, eye(3), 2, eye(3), 3, eye(3), zero(3));
|
||||
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
|
||||
boost::shared_ptr<JacobianFactor> jf = //
|
||||
boost::dynamic_pointer_cast<JacobianFactor>(gf);
|
||||
EXPECT( assert_equal(expected, *jf,1e-9));
|
||||
}
|
||||
|
||||
TEST(ExpressionFactor, tree_finite_differences) {
|
||||
|
||||
// Create some values
|
||||
Values values;
|
||||
values.insert(1, Pose3());
|
||||
values.insert(2, Point3(0, 0, 1));
|
||||
values.insert(3, Cal3_S2());
|
||||
|
||||
// Create leaves
|
||||
Pose3_ x(1);
|
||||
Point3_ p(2);
|
||||
Cal3_S2_ K(3);
|
||||
|
||||
// Create expression tree
|
||||
Point3_ p_cam(x, &Pose3::transform_to, p);
|
||||
Point2_ xy_hat(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
|
||||
Point2_ uv_hat(K, &Cal3_S2::uncalibrate, xy_hat);
|
||||
|
||||
const double fd_step = 1e-5;
|
||||
const double tolerance = 1e-5;
|
||||
EXPECT_CORRECT_EXPRESSION_JACOBIANS(uv_hat, values, fd_step, tolerance);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
||||
|
|
@ -173,7 +173,7 @@ public:
|
|||
Point3 _1T2 = E.direction().point3();
|
||||
Point3 d1T2 = d * _1T2;
|
||||
Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2); // 2R1*((x,y,1)-d*1T2)
|
||||
pn = SimpleCamera::project_to_camera(dP2);
|
||||
pn = PinholeBase::Project(dP2);
|
||||
|
||||
} else {
|
||||
|
||||
|
|
@ -186,7 +186,7 @@ public:
|
|||
Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2, DdP2_rot, DP2_point);
|
||||
|
||||
Matrix23 Dpn_dP2;
|
||||
pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2);
|
||||
pn = PinholeBase::Project(dP2, Dpn_dP2);
|
||||
|
||||
if (DE) {
|
||||
Matrix DdP2_E(3, 5);
|
||||
|
|
|
|||
|
|
@ -28,6 +28,7 @@ inline Point2_ transform_to(const Pose2_& x, const Point2_& p) {
|
|||
// 3D Geometry
|
||||
|
||||
typedef Expression<Point3> Point3_;
|
||||
typedef Expression<Unit3> Unit3_;
|
||||
typedef Expression<Rot3> Rot3_;
|
||||
typedef Expression<Pose3> Pose3_;
|
||||
|
||||
|
|
@ -40,33 +41,52 @@ inline Point3_ transform_to(const Pose3_& x, const Point3_& p) {
|
|||
typedef Expression<Cal3_S2> Cal3_S2_;
|
||||
typedef Expression<Cal3Bundler> Cal3Bundler_;
|
||||
|
||||
/// Expression version of PinholeBase::Project
|
||||
inline Point2_ project(const Point3_& p_cam) {
|
||||
return Point2_(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
|
||||
Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project;
|
||||
return Point2_(f, p_cam);
|
||||
}
|
||||
|
||||
template <class CAMERA>
|
||||
Point2 project4(const CAMERA& camera, const Point3& p,
|
||||
OptionalJacobian<2, CAMERA::dimension> Dcam, OptionalJacobian<2, 3> Dpoint) {
|
||||
inline Point2_ project(const Unit3_& p_cam) {
|
||||
Point2 (*f)(const Unit3&, OptionalJacobian<2, 2>) = &PinholeBase::Project;
|
||||
return Point2_(f, p_cam);
|
||||
}
|
||||
|
||||
namespace internal {
|
||||
// Helper template for project2 expression below
|
||||
template<class CAMERA, class POINT>
|
||||
Point2 project4(const CAMERA& camera, const POINT& p,
|
||||
OptionalJacobian<2, CAMERA::dimension> Dcam,
|
||||
OptionalJacobian<2, FixedDimension<POINT>::value> Dpoint) {
|
||||
return camera.project2(p, Dcam, Dpoint);
|
||||
}
|
||||
|
||||
template <class CAMERA>
|
||||
Point2_ project2(const Expression<CAMERA>& camera_, const Point3_& p_) {
|
||||
return Point2_(project4<CAMERA>, camera_, p_);
|
||||
}
|
||||
|
||||
template<class CAMERA, class POINT>
|
||||
Point2_ project2(const Expression<CAMERA>& camera_,
|
||||
const Expression<POINT>& p_) {
|
||||
return Point2_(internal::project4<CAMERA, POINT>, camera_, p_);
|
||||
}
|
||||
|
||||
namespace internal {
|
||||
// Helper template for project3 expression below
|
||||
template<class CALIBRATION, class POINT>
|
||||
inline Point2 project6(const Pose3& x, const Point3& p, const Cal3_S2& K,
|
||||
OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint, OptionalJacobian<2, 5> Dcal) {
|
||||
OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint,
|
||||
OptionalJacobian<2, 5> Dcal) {
|
||||
return PinholeCamera<Cal3_S2>(x, K).project(p, Dpose, Dpoint, Dcal);
|
||||
}
|
||||
|
||||
inline Point2_ project3(const Pose3_& x, const Point3_& p, const Cal3_S2_& K) {
|
||||
return Point2_(project6, x, p, K);
|
||||
}
|
||||
|
||||
template<class CAL>
|
||||
Point2_ uncalibrate(const Expression<CAL>& K, const Point2_& xy_hat) {
|
||||
return Point2_(K, &CAL::uncalibrate, xy_hat);
|
||||
template<class CALIBRATION, class POINT>
|
||||
inline Point2_ project3(const Pose3_& x, const Expression<POINT>& p,
|
||||
const Expression<CALIBRATION>& K) {
|
||||
return Point2_(internal::project6<CALIBRATION, POINT>, x, p, K);
|
||||
}
|
||||
|
||||
template<class CALIBRATION>
|
||||
Point2_ uncalibrate(const Expression<CALIBRATION>& K, const Point2_& xy_hat) {
|
||||
return Point2_(K, &CALIBRATION::uncalibrate, xy_hat);
|
||||
}
|
||||
|
||||
} // \namespace gtsam
|
||||
|
|
|
|||
Loading…
Reference in New Issue