included calibration in constructor SmartProjectionPoseFactor
Luca
parent
391386a654
commit
66083f5e18
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@ -48,8 +48,8 @@ private:
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protected:
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boost::shared_ptr<CALIBRATION> K_; ///< calibration object (one for all cameras)
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boost::optional<Pose3> body_P_sensor_; ///< Pose of the camera in the body frame
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std::vector<boost::shared_ptr<CALIBRATION> > sharedKs_; ///< shared pointer to calibration object (one for each camera)
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public:
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@ -65,13 +65,13 @@ public:
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* @param enableEPI if set to true linear triangulation is refined with embedded LM iterations
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* @param body_P_sensor is the transform from sensor to body frame (default identity)
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*/
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SmartProjectionPoseFactor(const double rankTol = 1,
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SmartProjectionPoseFactor(const boost::shared_ptr<CALIBRATION> K, const double rankTol = 1,
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const double linThreshold = -1, const DegeneracyMode manageDegeneracy = IGNORE_DEGENERACY,
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const bool enableEPI = false, boost::optional<Pose3> body_P_sensor = boost::none,
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LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10,
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double dynamicOutlierRejectionThreshold = -1) :
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Base(linearizeTo, rankTol, manageDegeneracy, enableEPI,
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landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), body_P_sensor_(body_P_sensor) {}
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Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, landmarkDistanceThreshold,
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dynamicOutlierRejectionThreshold), K_(K), body_P_sensor_(body_P_sensor) {}
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/** Virtual destructor */
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virtual ~SmartProjectionPoseFactor() {}
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@ -128,8 +128,8 @@ public:
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}
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/** return calibration shared pointers */
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inline const std::vector<boost::shared_ptr<CALIBRATION> > calibration() const {
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return sharedKs_;
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inline const boost::shared_ptr<CALIBRATION> calibration() const {
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return K_;
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}
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Pose3 body_P_sensor() const{
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@ -146,7 +146,7 @@ private:
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
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ar & BOOST_SERIALIZATION_NVP(sharedKs_);
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ar & BOOST_SERIALIZATION_NVP(K_);
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}
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}; // end of class declaration
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@ -53,36 +53,36 @@ LevenbergMarquardtParams params;
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor) {
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using namespace vanillaPose;
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SmartFactor::shared_ptr factor1(new SmartFactor());
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SmartFactor::shared_ptr factor1(new SmartFactor(sharedK));
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor2) {
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using namespace vanillaPose;
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SmartFactor factor1(gtsam::HESSIAN, rankTol);
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SmartFactor factor1(sharedK, rankTol);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor3) {
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using namespace vanillaPose;
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SmartFactor::shared_ptr factor1(new SmartFactor());
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SmartFactor::shared_ptr factor1(new SmartFactor(sharedK));
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factor1->add(measurement1, x1, model);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor4) {
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using namespace vanillaPose;
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SmartFactor factor1(gtsam::HESSIAN, rankTol);
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SmartFactor factor1(sharedK, rankTol);
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factor1.add(measurement1, x1, model);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Equals ) {
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using namespace vanillaPose;
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SmartFactor::shared_ptr factor1(new SmartFactor());
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SmartFactor::shared_ptr factor1(new SmartFactor(sharedK));
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factor1->add(measurement1, x1, model);
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SmartFactor::shared_ptr factor2(new SmartFactor());
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SmartFactor::shared_ptr factor2(new SmartFactor(sharedK));
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factor2->add(measurement1, x1, model);
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CHECK(assert_equal(*factor1, *factor2));
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@ -97,7 +97,7 @@ TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) {
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Point2 level_uv = level_camera.project(landmark1);
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Point2 level_uv_right = level_camera_right.project(landmark1);
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SmartFactor factor;
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SmartFactor factor(sharedK);
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factor.add(level_uv, x1, model);
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factor.add(level_uv_right, x2, model);
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@ -162,13 +162,13 @@ TEST( SmartProjectionPoseFactor, noisy ) {
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Point3(0.5, 0.1, 0.3));
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values.insert(x2, Camera(pose_right.compose(noise_pose), sharedK));
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SmartFactor::shared_ptr factor(new SmartFactor());
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SmartFactor::shared_ptr factor(new SmartFactor((sharedK)));
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factor->add(level_uv, x1, model);
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factor->add(level_uv_right, x2, model);
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double actualError1 = factor->error(values);
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SmartFactor::shared_ptr factor2(new SmartFactor());
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SmartFactor::shared_ptr factor2(new SmartFactor((sharedK)));
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vector<Point2> measurements;
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measurements.push_back(level_uv);
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measurements.push_back(level_uv_right);
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@ -186,6 +186,96 @@ TEST( SmartProjectionPoseFactor, noisy ) {
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DOUBLES_EQUAL(actualError1, actualError2, 1e-7);
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){
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// make a realistic calibration matrix
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double fov = 60; // degrees
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size_t w=640,h=480;
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Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h));
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 cameraPose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses
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Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0));
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Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0));
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SimpleCamera cam1(cameraPose1, *K); // with camera poses
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SimpleCamera cam2(cameraPose2, *K);
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SimpleCamera cam3(cameraPose3, *K);
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// create arbitrary body_Pose_sensor (transforms from sensor to body)
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Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); //
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// These are the poses we want to estimate, from camera measurements
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Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse());
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Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse());
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Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse());
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// three landmarks ~5 meters infront of camera
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Point3 landmark1(5, 0.5, 1.2);
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Point3 landmark2(5, -0.5, 1.2);
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Point3 landmark3(5, 0, 3.0);
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vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
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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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// Create smart factors
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std::vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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bool enableEPI = false;
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SmartProjectionPoseFactor<Cal3_S2> smartFactor1(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body);
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smartFactor1.add(measurements_cam1, views, model);
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SmartProjectionPoseFactor<Cal3_S2> smartFactor2(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body);
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smartFactor2.add(measurements_cam2, views, model);
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SmartProjectionPoseFactor<Cal3_S2> smartFactor3(K, 1.0, -1.0, gtsam::IGNORE_DEGENERACY, enableEPI, sensor_to_body);
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smartFactor3.add(measurements_cam3, views, model);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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// Put all factors in factor graph, adding priors
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NonlinearFactorGraph graph;
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graph.push_back(smartFactor1);
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graph.push_back(smartFactor2);
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graph.push_back(smartFactor3);
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graph.push_back(PriorFactor<Pose3>(x1, bodyPose1, noisePrior));
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graph.push_back(PriorFactor<Pose3>(x2, bodyPose2, noisePrior));
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// Check errors at ground truth poses
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Values gtValues;
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gtValues.insert(x1, bodyPose1);
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gtValues.insert(x2, bodyPose2);
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gtValues.insert(x3, bodyPose3);
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double actualError = graph.error(gtValues);
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double expectedError = 0.0;
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DOUBLES_EQUAL(expectedError, actualError, 1e-7)
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1));
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Values values;
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values.insert(x1, bodyPose1);
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values.insert(x2, bodyPose2);
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// initialize third pose with some noise, we expect it to move back to original pose3
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values.insert(x3, bodyPose3*noise_pose);
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LevenbergMarquardtParams params;
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Values result;
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LevenbergMarquardtOptimizer optimizer(graph, values, params);
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result = optimizer.optimize();
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// result.print("results of 3 camera, 3 landmark optimization \n");
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// result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
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EXPECT(assert_equal(bodyPose3,result.at<Pose3>(x3)));
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) {
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@ -277,7 +367,7 @@ TEST( SmartProjectionPoseFactor, Factors ) {
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views.push_back(x1);
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views.push_back(x2);
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SmartFactor::shared_ptr smartFactor1 = boost::make_shared<SmartFactor>();
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SmartFactor::shared_ptr smartFactor1 = boost::make_shared<SmartFactor>(sharedK);
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::Cameras cameras;
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@ -435,13 +525,13 @@ TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
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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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SmartFactor::shared_ptr smartFactor1(new SmartFactor());
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SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedK));
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::shared_ptr smartFactor2(new SmartFactor());
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SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedK));
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smartFactor2->add(measurements_cam2, views, model);
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SmartFactor::shared_ptr smartFactor3(new SmartFactor());
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SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedK));
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smartFactor3->add(measurements_cam3, views, model);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -495,15 +585,15 @@ TEST( SmartProjectionPoseFactor, jacobianSVD ) {
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(gtsam::JACOBIAN_SVD));
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD));
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(gtsam::JACOBIAN_SVD));
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD));
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smartFactor2->add(measurements_cam2, views, model);
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(gtsam::JACOBIAN_SVD));
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(), gtsam::JACOBIAN_SVD));
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smartFactor3->add(measurements_cam3, views, model);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -549,17 +639,17 @@ TEST( SmartProjectionPoseFactor, landmarkDistance ) {
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist));
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist));
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smartFactor2->add(measurements_cam2, views, model);
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist));
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smartFactor3->add(measurements_cam3, views, model);
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@ -614,22 +704,22 @@ TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) {
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measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
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smartFactor2->add(measurements_cam2, views, model);
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
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smartFactor3->add(measurements_cam3, views, model);
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SmartFactor::shared_ptr smartFactor4(
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new SmartFactor(1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY, false, Pose3(),
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gtsam::JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
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smartFactor4->add(measurements_cam4, views, model);
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@ -673,15 +763,19 @@ TEST( SmartProjectionPoseFactor, jacobianQ ) {
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(gtsam::JACOBIAN_Q));
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY,
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false, Pose3(), gtsam::JACOBIAN_Q));
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(gtsam::JACOBIAN_Q));
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY,
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false, Pose3(), gtsam::JACOBIAN_Q));
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smartFactor2->add(measurements_cam2, views, model);
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(gtsam::JACOBIAN_Q));
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new SmartFactor(sharedK, 1, -1, gtsam::IGNORE_DEGENERACY,
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false, Pose3(), gtsam::JACOBIAN_Q));
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smartFactor3->add(measurements_cam3, views, model);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -792,15 +886,15 @@ TEST( SmartProjectionPoseFactor, CheckHessian) {
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double rankTol = 10;
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(gtsam::HESSIAN, rankTol));
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new SmartFactor(sharedK, rankTol)); // HESSIAN, by default
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(gtsam::HESSIAN, rankTol));
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new SmartFactor(sharedK, rankTol)); // HESSIAN, by default
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smartFactor2->add(measurements_cam2, views, model);
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(gtsam::HESSIAN, rankTol));
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new SmartFactor(sharedK, rankTol)); // HESSIAN, by default
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smartFactor3->add(measurements_cam3, views, model);
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NonlinearFactorGraph graph;
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@ -954,18 +1048,15 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
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double rankTol = 10;
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(gtsam::HESSIAN, rankTol,
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gtsam::ZERO_ON_DEGENERACY));
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new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY));
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smartFactor1->add(measurements_cam1, views, model);
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(gtsam::HESSIAN, rankTol,
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gtsam::ZERO_ON_DEGENERACY));
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new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY));
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smartFactor2->add(measurements_cam2, views, model);
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(gtsam::HESSIAN, rankTol,
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gtsam::ZERO_ON_DEGENERACY));
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new SmartFactor(sharedK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY));
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smartFactor3->add(measurements_cam3, views, model);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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||||
|
|
@ -1062,7 +1153,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotation ) {
|
|||
|
||||
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
||||
|
||||
SmartFactor::shared_ptr smartFactorInstance(new SmartFactor());
|
||||
SmartFactor::shared_ptr smartFactorInstance(new SmartFactor(sharedK));
|
||||
smartFactorInstance->add(measurements_cam1, views, model);
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||||
|
||||
Values values;
|
||||
|
|
@ -1161,7 +1252,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
|
|||
/* ************************************************************************* */
|
||||
TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) {
|
||||
using namespace bundlerPose;
|
||||
SmartFactor factor(gtsam::HESSIAN, rankTol);
|
||||
SmartFactor factor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY, false, Pose3(), gtsam::HESSIAN);
|
||||
factor.add(measurement1, x1, model);
|
||||
}
|
||||
|
||||
|
|
@ -1185,13 +1276,13 @@ TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
|
|||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(new SmartFactor());
|
||||
SmartFactor::shared_ptr smartFactor1(new SmartFactor(sharedBundlerK));
|
||||
smartFactor1->add(measurements_cam1, views, model);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(new SmartFactor());
|
||||
SmartFactor::shared_ptr smartFactor2(new SmartFactor(sharedBundlerK));
|
||||
smartFactor2->add(measurements_cam2, views, model);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(new SmartFactor());
|
||||
SmartFactor::shared_ptr smartFactor3(new SmartFactor(sharedBundlerK));
|
||||
smartFactor3->add(measurements_cam3, views, model);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -1255,17 +1346,17 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|||
double rankTol = 10;
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(rankTol, -1.0, gtsam::ZERO_ON_DEGENERACY,
|
||||
new SmartFactor(sharedBundlerK, rankTol, -1.0, gtsam::ZERO_ON_DEGENERACY,
|
||||
false, Pose3(), gtsam::HESSIAN));
|
||||
smartFactor1->add(measurements_cam1, views, model);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(rankTol, -1, gtsam::ZERO_ON_DEGENERACY,
|
||||
new SmartFactor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY,
|
||||
false, Pose3(), gtsam::HESSIAN));
|
||||
smartFactor2->add(measurements_cam2, views, model);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(rankTol, -1, gtsam::ZERO_ON_DEGENERACY,
|
||||
new SmartFactor(sharedBundlerK, rankTol, -1, gtsam::ZERO_ON_DEGENERACY,
|
||||
false, Pose3(), gtsam::HESSIAN));
|
||||
smartFactor3->add(measurements_cam3, views, model);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue