From 67e0e718027cebf5319315634b0aaeb438664be0 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Fri, 13 Jun 2014 12:17:45 -0400 Subject: [PATCH] First script to experiment with Concurrent calibration estimation --- examples/Data/VO_calibration00.txt | 1 + examples/Data/VO_calibration00s.txt | 1 + examples/Data/VO_camera_poses00.txt | 135 + examples/Data/VO_camera_poses00s.txt | 77 + examples/Data/VO_stereo_factors00.txt | 88781 ++++++++++++++++ examples/Data/VO_stereo_factors00s.txt | 52544 +++++++++ .../examples/ConcurrentCalibration.cpp | 155 + 7 files changed, 141694 insertions(+) create mode 100644 examples/Data/VO_calibration00.txt create mode 100644 examples/Data/VO_calibration00s.txt create mode 100644 examples/Data/VO_camera_poses00.txt create mode 100644 examples/Data/VO_camera_poses00s.txt create mode 100644 examples/Data/VO_stereo_factors00.txt create mode 100644 examples/Data/VO_stereo_factors00s.txt create mode 100644 gtsam_unstable/examples/ConcurrentCalibration.cpp diff --git a/examples/Data/VO_calibration00.txt b/examples/Data/VO_calibration00.txt new file mode 100644 index 000000000..b7291fefc --- /dev/null +++ b/examples/Data/VO_calibration00.txt @@ -0,0 +1 @@ +718.856 718.856 0.0 607.1928 185.2157 0.5371657189 \ No newline at end of file diff --git a/examples/Data/VO_calibration00s.txt b/examples/Data/VO_calibration00s.txt new file mode 100644 index 000000000..b7291fefc --- /dev/null +++ b/examples/Data/VO_calibration00s.txt @@ -0,0 +1 @@ +718.856 718.856 0.0 607.1928 185.2157 0.5371657189 \ No newline at end of file diff --git a/examples/Data/VO_camera_poses00.txt b/examples/Data/VO_camera_poses00.txt new file mode 100644 index 000000000..95c40dd00 --- /dev/null +++ b/examples/Data/VO_camera_poses00.txt @@ -0,0 +1,135 @@ +0 1 0 0 0 0 1 0 0 -0 0 1 0 0 0 0 1 +1 0.99999 -0.00268679 -0.00354618 6.43221e-05 0.00267957 0.999994 -0.00204036 -0.0073023 0.00355164 0.00203084 0.999992 0.676456 0 0 0 1 +2 0.999969 -0.00120771 -0.00772489 -0.0100328 0.00117985 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276.305 240.796 -4.66276 0.87345 11.2969 +76 47994 289.899 253.454 242.563 -4.67661 0.845241 10.5953 +75 47998 617.762 587.526 260.768 0.187768 1.34224 12.771 +76 47998 619.996 587.655 263.897 0.212653 1.30687 11.9399 +75 48001 356.414 312.803 310.584 -3.0889 1.54419 8.85431 +76 48001 333.752 285.97 320.78 -3.074 1.524 8.08134 +75 48009 790.466 777.417 86.8997 7.54419 -4.04703 29.5906 +76 48009 796.98 783.679 81.4558 7.66464 -4.19039 29.0313 +75 48011 532.263 523.427 112.015 -4.55531 -4.45019 43.7022 +76 48011 531.74 522.227 107.855 -4.2604 -4.36814 40.59 +75 48021 524.792 519.808 164.15 -8.88165 -2.27058 77.4824 +76 48021 524.929 519.904 161.063 -8.79383 -2.58189 76.8444 +75 48023 184.998 169.973 166.196 -15.0946 -0.679998 25.701 +76 48023 173.143 157.57 162.647 -14.9718 -0.778468 24.7958 +75 48024 198.015 183.551 170.787 -15.1956 -0.535847 26.696 +76 48024 186.667 172.103 167.698 -15.5111 -0.646149 26.515 +75 48025 582.166 579.267 172.247 -4.63725 -2.40289 133.197 +76 48025 582.901 579.869 169.372 -4.30422 -2.80732 127.373 +75 48028 432.091 422.766 176.554 -10.0862 -0.498916 41.4075 +76 48028 429.826 420.419 173.338 -10.1279 -0.678235 41.0475 +75 48031 312.122 295.922 191.315 -9.78353 0.202239 23.8348 +76 48031 303.458 287.346 188.599 -10.1259 0.112807 23.9653 +75 48039 402.139 374.885 260.686 -4.04146 1.48746 14.1682 +76 48039 391.218 362.232 262.426 -4.00241 1.43085 13.3217 +75 48042 369.403 326.933 305.551 -3.00758 1.52201 9.09213 +76 48042 348.708 302.368 314.76 -2.99635 1.50167 8.33295 +75 48044 442.615 393.828 322.053 -1.81206 1.50663 7.91486 +76 48044 426.031 371.954 335.418 -1.79957 1.49203 7.14074 +75 48061 785.706 773.343 151.159 7.75672 -1.47984 31.2357 +76 48061 791.909 779.127 148.154 7.76217 -1.55742 30.2078 +75 48062 287.846 271.166 156.862 -10.2844 -0.913101 23.1503 +76 48062 277.922 260.912 153.113 -10.398 -1.01377 22.7006 +75 48063 556.174 551.836 157.463 -6.3182 -3.43693 89.023 +76 48063 556.651 552.434 154.208 -6.43701 -3.9492 91.5545 +75 48065 495.184 486.342 165.792 -6.80478 -1.18006 43.6721 +76 48065 494.018 485.449 162.534 -7.0943 -1.4218 45.0612 +75 48067 297.744 280.244 185.868 -9.49866 0.0200145 22.0656 +76 48067 287.302 272.144 183.88 -11.336 -0.0473505 25.4742 +75 48072 308.719 269.785 297.649 -4.11796 1.55121 9.91785 +76 48072 284.345 242.161 305.093 -4.11111 1.5265 9.15384 +75 48074 120.687 69.3153 319.579 -5.0871 1.40496 7.51666 +76 48074 65.8229 8.64731 333.382 -5.08618 1.39202 6.75366 +75 48078 647.913 592.727 338.426 0.39636 1.49131 6.99719 +76 48078 655.437 593.125 356.841 0.415894 1.47951 6.19696 +75 48079 517.243 460.946 343.603 -0.858258 1.51126 6.859 +76 48079 507.21 443.526 362.706 -0.84334 1.49711 6.06345 +75 48081 180.604 124.981 349.071 -4.11963 1.58238 6.9421 +76 48081 128.543 66.0739 367.26 -4.11584 1.56538 6.18135 +75 48083 723.136 717.9 36.5107 11.8966 -15.2582 73.7598 +76 48083 725.158 719.7 30.7166 11.6104 -15.2062 70.7515 +75 48085 98.2345 83.963 55.3153 -19.1568 -4.88935 27.0572 +76 48085 84.107 68.7497 48.2077 -18.2964 -4.79225 25.1441 +75 48086 444.808 431.917 79.1512 -6.76672 -4.4198 29.9553 +76 48086 442.013 429.011 73.8539 -6.82429 -4.60083 29.699 +75 48090 953.141 929.283 108.382 7.78914 -1.72993 16.1853 +76 48090 973.349 948.007 103.528 7.76133 -1.73151 15.2374 +75 48091 953.141 929.283 108.382 7.78914 -1.72993 16.1853 +76 48091 973.349 948.007 103.528 7.76133 -1.73151 15.2374 +75 48092 785.219 772.602 138.096 7.57956 -2.00614 30.6057 +76 48092 791.276 778.46 134.729 7.71586 -2.11616 30.131 +75 48093 517.409 510.422 145.201 -6.90197 -3.07607 55.2609 +76 48093 517.002 510.107 141.682 -7.02655 -3.39163 56.0042 +75 48097 392.565 381.201 161.636 -10.1454 -1.11463 33.9802 +76 48097 388.713 377.243 158.334 -10.2313 -1.25888 33.6638 +75 48105 321.857 287.772 242.96 -4.49675 0.91002 11.3288 +76 48105 301.884 265.947 244.468 -4.56362 0.885681 10.7451 +75 48106 321.857 287.772 242.96 -4.49675 0.91002 11.3288 +76 48106 301.884 265.947 244.468 -4.56362 0.885681 10.7451 +75 48109 417.373 365.642 332.032 -1.97105 1.52451 7.46446 +76 48109 395.466 339.08 348.109 -2.01705 1.55183 6.8483 +75 48110 482.867 429.63 332.866 -1.25445 1.4898 7.2533 +76 48110 469.956 410.103 348.874 -1.23167 1.46879 6.45158 +75 48115 880.74 866.322 143.39 10.1914 -1.55827 26.7822 +76 48115 890.586 875.905 139.688 10.3692 -1.66582 26.3025 +75 48126 387.087 375.858 29.3795 -10.529 -7.45463 34.3874 +76 48126 383.011 371.922 22.8585 -10.8596 -7.86478 34.8223 +75 48128 427.854 418.241 107.626 -10.0205 -4.33529 40.1659 +76 48128 425.375 415.538 103.185 -9.92887 -4.47963 39.2559 +75 48132 150.428 135.95 163.896 -16.9469 -0.791001 26.671 +76 48132 137.717 122.722 160.351 -16.8179 -0.89073 25.7514 +75 48134 371.694 357.351 204.654 -8.81995 0.727996 26.9228 +76 48134 365.904 351.154 202.311 -8.78723 0.622566 26.1793 +75 48138 818.43 802.996 23.9383 7.352 -5.61317 25.0194 +76 48138 826.377 811.291 16.3141 7.80426 -6.01389 25.5955 +75 48141 265.03 223.573 279.452 -4.43347 1.22104 9.31437 +76 48141 235.775 189.897 284.542 -4.34873 1.16296 8.4167 +75 48143 200.191 185.144 47.2538 -14.5292 -4.92499 25.6619 +76 48143 189.303 174.711 39.7066 -15.3831 -5.3564 26.4621 +75 48144 856.485 842.336 61.2989 9.46433 -4.70448 27.2912 +76 48144 866.585 851.254 54.9716 9.08891 -4.56366 25.1882 +75 48146 704.416 696.379 118.865 6.49833 -4.4348 48.0478 +76 48146 707.346 699.243 115.083 6.63922 -4.64913 47.6533 +75 48148 91.6364 78.8827 165.94 -21.7145 -0.81186 30.2772 +76 48148 78.8734 63.1402 160.006 -18.0379 -0.860704 24.5432 +75 48149 480.366 472.071 162.375 -8.2125 -1.47904 46.5487 +76 48149 479.27 470.932 158.993 -8.24187 -1.68946 46.3148 +75 48152 396.52 384.537 77.7168 -9.44407 -4.81897 32.225 +76 48152 392.823 380.604 72.0819 -9.42409 -4.97356 31.6022 +75 48153 456.65 445.224 103.159 -7.07747 -3.85774 33.7956 +76 48153 454.512 443.264 98.3692 -7.2912 -4.14733 34.3287 +75 48154 674.462 636.074 296.9 0.941295 1.56279 10.059 +76 48154 680.707 639.496 303.353 0.95822 1.53987 9.36995 +75 48155 618.43 615.218 135.367 1.87944 -8.33762 120.234 +76 48155 619.482 616.377 131.631 2.12595 -9.26955 124.353 +75 48156 404.797 379.857 246.634 -4.35925 1.32284 15.4829 +76 48156 395.019 368.303 247.534 -4.26608 1.253 14.4537 +75 48161 289.062 248.309 302.532 -4.19323 1.54633 9.47514 +76 48161 262.687 218.298 310.414 -4.16901 1.51508 8.69918 diff --git a/gtsam_unstable/examples/ConcurrentCalibration.cpp b/gtsam_unstable/examples/ConcurrentCalibration.cpp new file mode 100644 index 000000000..710dd4a10 --- /dev/null +++ b/gtsam_unstable/examples/ConcurrentCalibration.cpp @@ -0,0 +1,155 @@ +/* ---------------------------------------------------------------------------- + +* GTSAM Copyright 2010, Georgia Tech Research Corporation, +* Atlanta, Georgia 30332-0415 +* All Rights Reserved +* Authors: Frank Dellaert, et al. (see THANKS for the full author list) + +* See LICENSE for the license information + +* -------------------------------------------------------------------------- */ + +/** +* @file ConcurrentCalibration.cpp +* @brief First step towards estimating monocular calibration in concurrent +* filter/smoother framework. To start with, just batch LM. +* @date June 11, 2014 +* @author Chris Beall +*/ + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char** argv){ + + Values initial_estimate; + NonlinearFactorGraph graph; + const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,1); + + string calibration_loc = findExampleDataFile("VO_calibration00s.txt"); + string pose_loc = findExampleDataFile("VO_camera_poses00s.txt"); + string factor_loc = findExampleDataFile("VO_stereo_factors00s.txt"); + + //read camera calibration info from file + // focal lengths fx, fy, skew s, principal point u0, v0, baseline b + double fx, fy, s, u0, v0, b; + ifstream calibration_file(calibration_loc.c_str()); + cout << "Reading calibration info" << endl; + calibration_file >> fx >> fy >> s >> u0 >> v0 >> b; + + //create stereo camera calibration object + const Cal3_S2::shared_ptr K(new Cal3_S2(fx,fy,s,u0,v0)); + const Cal3_S2::shared_ptr noisy_K(new Cal3_S2(fx*1.2,fy*1.2,s,u0-10,v0+10)); + + initial_estimate.insert(Symbol('K', 0), *noisy_K); + + noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 1e-5, 100, 100)); + graph.push_back(PriorFactor(Symbol('K', 0), *noisy_K, calNoise)); + + + ifstream pose_file(pose_loc.c_str()); + cout << "Reading camera poses" << endl; + int pose_id; + MatrixRowMajor m(4,4); + //read camera pose parameters and use to make initial estimates of camera poses + while (pose_file >> pose_id) { + for (int i = 0; i < 16; i++) { + pose_file >> m.data()[i]; + } + initial_estimate.insert(Symbol('x', pose_id), Pose3(m)); + } + + noiseModel::Isotropic::shared_ptr poseNoise = noiseModel::Isotropic::Sigma(6, 0.01); + graph.push_back(PriorFactor(Symbol('x', pose_id), Pose3(m), poseNoise)); + + // camera and landmark keys + size_t x, l; + + // pixel coordinates uL, uR, v (same for left/right images due to rectification) + // landmark coordinates X, Y, Z in camera frame, resulting from triangulation + double uL, uR, v, X, Y, Z; + ifstream factor_file(factor_loc.c_str()); + cout << "Reading stereo factors" << endl; + //read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation + while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) { +// graph.push_back( GenericStereoFactor(StereoPoint2(uL, uR, v), model, Symbol('x', x), Symbol('l', l), K)); + + graph.push_back(GeneralSFMFactor2(Point2(uL,v), model, Symbol('x', x), Symbol('l', l), Symbol('K', 0))); + + + //if the landmark variable included in this factor has not yet been added to the initial variable value estimate, add it + if (!initial_estimate.exists(Symbol('l', l))) { + Pose3 camPose = initial_estimate.at(Symbol('x', x)); + //transform_from() transforms the input Point3 from the camera pose space, camPose, to the global space + Point3 worldPoint = camPose.transform_from(Point3(X, Y, Z)); + initial_estimate.insert(Symbol('l', l), worldPoint); + } + } + + Pose3 first_pose = initial_estimate.at(Symbol('x',1)); + //constrain the first pose such that it cannot change from its original value during optimization + // NOTE: NonlinearEquality forces the optimizer to use QR rather than Cholesky + // QR is much slower than Cholesky, but numerically more stable + graph.push_back(NonlinearEquality(Symbol('x',1),first_pose)); + + cout << "Optimizing" << endl; + LevenbergMarquardtParams params; + params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA; + params.verbosity = NonlinearOptimizerParams::ERROR; + + //create Levenberg-Marquardt optimizer to optimize the factor graph + LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate,params); +// Values result = optimizer.optimize(); + + string K_values_file = "K_values.txt"; + ofstream stream_K(K_values_file.c_str()); + + double currentError; + + + stream_K << optimizer.iterations() << " " << optimizer.values().at(Symbol('K',0)).vector().transpose() << endl; + + + // Iterative loop + do { + // Do next iteration + currentError = optimizer.error(); + optimizer.iterate(); + + stream_K << optimizer.iterations() << " " << optimizer.values().at(Symbol('K',0)).vector().transpose() << endl; + + if(params.verbosity >= NonlinearOptimizerParams::ERROR) cout << "newError: " << optimizer.error() << endl; + } while(optimizer.iterations() < params.maxIterations && + !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, + params.errorTol, currentError, optimizer.error(), params.verbosity)); + + Values result = optimizer.values(); + + cout << "Final result sample:" << endl; + Values pose_values = result.filter(); + pose_values.print("Final camera poses:\n"); + + Values(result.filter()).print("Final K\n"); + + noisy_K->print("Initial noisy K\n"); + K->print("Initial correct K\n"); + + return 0; +}