Merged in feature/stereocamera_backproject_addJacobian (pull request #153)

Add optional jacobians to StereoCamera backprojection

gtsam/geometry/StereoCamera.cpp

@@ -91,8 +91,42 @@ namespace gtsam {
     double Z = K_->baseline() * K_->fx() / (measured[0] - measured[1]);
     double X = Z * (measured[0] - K_->px()) / K_->fx();
     double Y = Z * (measured[2] - K_->py()) / K_->fy();
-    Point3 world_point = leftCamPose_.transform_from(Point3(X, Y, Z));
-    return world_point;
+    Point3 point = leftCamPose_.transform_from(Point3(X, Y, Z));
+    return point;
+  }
+
+  /* ************************************************************************* */
+  Point3 StereoCamera::backproject2(const StereoPoint2& z, OptionalJacobian<3, 6> H1,
+                                    OptionalJacobian<3, 3> H2)  const {
+    const Cal3_S2Stereo& K = *K_;
+    const double fx = K.fx(), fy = K.fy(), cx = K.px(), cy = K.py(), b = K.baseline();
+
+    double uL = z.uL(), uR = z.uR(), v = z.v();
+    double disparity = uL - uR;
+
+    double local_z = b * fx / disparity;
+    const Point3 local(local_z * (uL - cx)/ fx, local_z * (v - cy) / fy, local_z);
+
+    if(H1 || H2) {
+      double z_partial_uR = local_z/disparity;
+      double x_partial_uR = local.x()/disparity;
+      double y_partial_uR = local.y()/disparity;
+      Matrix3 D_local_z;
+      D_local_z << -x_partial_uR + local.z()/fx, x_partial_uR, 0,
+          -y_partial_uR, y_partial_uR, local.z() / fy,
+          -z_partial_uR, z_partial_uR, 0;
+
+      Matrix3 D_point_local;
+      const Point3 point = leftCamPose_.transform_from(local, H1, D_point_local);
+
+      if(H2) {
+        *H2 = D_point_local * D_local_z;
+      }
+
+      return point;
+    }
+
+    return leftCamPose_.transform_from(local);
   }
 
 }

gtsam/geometry/StereoCamera.h

@@ -137,6 +137,14 @@ public:
   /// back-project a measurement
   Point3 backproject(const StereoPoint2& z) const;
 
+  /** Back-project the 2D point and compute optional derivatives
+   * @param H1 derivative with respect to pose
+   * @param H2 derivative with respect to point
+   */
+  Point3 backproject2(const StereoPoint2& z,
+                      OptionalJacobian<3, 6> H1 = boost::none,
+                      OptionalJacobian<3, 3> H2 = boost::none) const;
+
   /// @}
   /// @name Deprecated
   /// @{

gtsam/geometry/tests/testStereoCamera.cpp

@@ -99,13 +99,13 @@ TEST( StereoCamera, Dproject)
   Matrix actual1; stereoCam.project2(landmark, actual1, boost::none);
   CHECK(assert_equal(expected1,actual1,1e-7));
 
-  Matrix expected2 = numericalDerivative32(project3,camPose, landmark, *K);
+  Matrix expected2 = numericalDerivative32(project3, camPose, landmark, *K);
   Matrix actual2; stereoCam.project2(landmark, boost::none, actual2);
   CHECK(assert_equal(expected2,actual2,1e-7));
 }
 
 /* ************************************************************************* */
-TEST( StereoCamera, backproject)
+TEST( StereoCamera, backproject_case1)
 {
   Cal3_S2Stereo::shared_ptr K2(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
   StereoCamera stereoCam2(Pose3(), K2);
@@ -117,7 +117,7 @@ TEST( StereoCamera, backproject)
 }
 
 /* ************************************************************************* */
-TEST( StereoCamera, backproject2)
+TEST( StereoCamera, backproject_case2)
 {
   Rot3 R(0.589511291,  -0.804859792,  0.0683931805,
          -0.804435942,  -0.592650676,  -0.0405925523,
@@ -132,6 +132,53 @@ TEST( StereoCamera, backproject2)
   CHECK(assert_equal(z, actual, 1e-3));
 }
 
+static Point3 backproject3(const Pose3& pose, const StereoPoint2& point, const Cal3_S2Stereo& K) {
+  return StereoCamera(pose, boost::make_shared<Cal3_S2Stereo>(K)).backproject(point);
+}
+
+/* ************************************************************************* */
+TEST( StereoCamera, backproject2_case1)
+{
+  Cal3_S2Stereo::shared_ptr K2(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
+  StereoCamera stereoCam2(Pose3(), K2);
+
+  Point3 expected_point(1.2, 2.3, 4.5);
+  StereoPoint2 stereo_point = stereoCam2.project(expected_point);
+
+  Matrix actual_jacobian_1, actual_jacobian_2;
+  Point3 actual_point = stereoCam2.backproject2(stereo_point, actual_jacobian_1, actual_jacobian_2);
+  CHECK(assert_equal(expected_point, actual_point, 1e-8));
+
+  Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, Pose3(), stereo_point, *K2);
+  CHECK(assert_equal(expected_jacobian_to_pose, actual_jacobian_1, 1e-6));
+
+  Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, Pose3(), stereo_point, *K2);
+  CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-6));
+}
+
+TEST( StereoCamera, backproject2_case2)
+{
+  Rot3 R(0.589511291,  -0.804859792,  0.0683931805,
+         -0.804435942,  -0.592650676,  -0.0405925523,
+         0.0732045588,  -0.0310882277,  -0.996832359);
+  Point3 t(53.5239823, 23.7866016, -4.42379876);
+  Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1733.75, 1733.75, 0, 689.645, 508.835, 0.0699612));
+  StereoCamera camera(Pose3(R,t), K);
+  StereoPoint2 z(184.812, 129.068, 714.768);
+
+  Matrix actual_jacobian_1, actual_jacobian_2;
+  Point3 l = camera.backproject2(z, actual_jacobian_1, actual_jacobian_2);
+
+  StereoPoint2 actual = camera.project(l);
+  CHECK(assert_equal(z, actual, 1e-3));
+
+  Matrix expected_jacobian_to_pose = numericalDerivative31(backproject3, Pose3(R,t), z, *K);
+  CHECK(assert_equal(expected_jacobian_to_pose, actual_jacobian_1, 1e-6));
+
+  Matrix expected_jacobian_to_point = numericalDerivative32(backproject3, Pose3(R,t), z, *K);
+  CHECK(assert_equal(expected_jacobian_to_point, actual_jacobian_2, 1e-6));
+}
+
 /* ************************************************************************* */
   int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
 /* ************************************************************************* */