added test which optimize smartStereoFactor with missing measurements (uR)
parent
b90e224f59
commit
6c163b0a4d
|
@ -230,7 +230,6 @@ public:
|
|||
Z z3 = measured_.at(i);
|
||||
if(isnan(z3.vector()[1])){ // .. and the right pixel is invalid
|
||||
// delete influence of right point on jacobian Fs
|
||||
std::cout << "unwhitenedError:: isnan(z3->uR()" << z3.vector() << std::endl;
|
||||
MatrixZD& Fi = Fs->at(i);
|
||||
for(size_t ii=0; ii<Dim; ii++)
|
||||
Fi(1,ii) = 0.0;
|
||||
|
|
|
@ -60,6 +60,8 @@ static StereoPoint2 measurement1(323.0, 300.0, 240.0); //potentially use more re
|
|||
static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
|
||||
Point3(0.25, -0.10, 1.0));
|
||||
|
||||
static double missing_uR = std::numeric_limits<double>::quiet_NaN();
|
||||
|
||||
vector<StereoPoint2> stereo_projectToMultipleCameras(const StereoCamera& cam1,
|
||||
const StereoCamera& cam2, const StereoCamera& cam3, Point3 landmark) {
|
||||
|
||||
|
@ -167,7 +169,6 @@ TEST( SmartProjectionPoseFactor, noiselessWithMissingMeasurements ) {
|
|||
// 1. Project two landmarks into two cameras and triangulate
|
||||
StereoPoint2 level_uv = level_camera.project(landmark);
|
||||
StereoPoint2 level_uv_right = level_camera_right.project(landmark);
|
||||
double missing_uR = std::numeric_limits<double>::quiet_NaN();
|
||||
StereoPoint2 level_uv_right_missing(level_uv_right.uL(),missing_uR,level_uv_right.v());
|
||||
|
||||
Values values;
|
||||
|
@ -462,6 +463,78 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) {
|
|||
EXPECT(assert_equal(pose3, result.at<Pose3>(x3)));
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartStereoProjectionPoseFactor, jacobianSVDwithMissingValues ) {
|
||||
|
||||
vector<Key> views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
|
||||
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
||||
StereoCamera cam1(pose1, K);
|
||||
// create second camera 1 meter to the right of first camera
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
||||
StereoCamera cam2(pose2, K);
|
||||
// create third camera 1 meter above the first camera
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
||||
StereoCamera cam3(pose3, K);
|
||||
|
||||
// three landmarks ~5 meters infront of camera
|
||||
Point3 landmark1(5, 0.5, 1.2);
|
||||
Point3 landmark2(5, -0.5, 1.2);
|
||||
Point3 landmark3(3, 0, 3.0);
|
||||
|
||||
// 1. Project three landmarks into three cameras and triangulate
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark2);
|
||||
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark3);
|
||||
|
||||
// DELETE SOME MEASUREMENTS
|
||||
StereoPoint2 sp = measurements_cam1[1];
|
||||
measurements_cam1[1] = StereoPoint2(sp.uL(), missing_uR, sp.v());
|
||||
sp = measurements_cam2[2];
|
||||
measurements_cam2[2] = StereoPoint2(sp.uL(), missing_uR, sp.v());
|
||||
|
||||
SmartStereoProjectionParams params;
|
||||
params.setLinearizationMode(JACOBIAN_SVD);
|
||||
|
||||
SmartStereoProjectionPoseFactor::shared_ptr smartFactor1( new SmartStereoProjectionPoseFactor(model, params));
|
||||
smartFactor1->add(measurements_cam1, views, K);
|
||||
|
||||
SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(model, params));
|
||||
smartFactor2->add(measurements_cam2, views, K);
|
||||
|
||||
SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(model, params));
|
||||
smartFactor3->add(measurements_cam3, views, K);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
||||
NonlinearFactorGraph graph;
|
||||
graph.push_back(smartFactor1);
|
||||
graph.push_back(smartFactor2);
|
||||
graph.push_back(smartFactor3);
|
||||
graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
|
||||
graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
|
||||
|
||||
// Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
|
||||
Point3(0.1, 0.1, 0.1)); // smaller noise
|
||||
Values values;
|
||||
values.insert(x1, pose1);
|
||||
values.insert(x2, pose2);
|
||||
values.insert(x3, pose3 * noise_pose);
|
||||
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
|
||||
result = optimizer.optimize();
|
||||
EXPECT(assert_equal(pose3, result.at<Pose3>(x3),1e-7));
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) {
|
||||
|
||||
|
|
Loading…
Reference in New Issue