applied formatting to modified files
lcarlone
parent
78a8b7dc0e
commit
78a4075a54
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@ -28,9 +28,7 @@ bool SphericalCamera::equals(const SphericalCamera &camera, double tol) const {
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}
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/* ************************************************************************* */
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void SphericalCamera::print(const string& s) const {
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pose_.print(s + ".pose");
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}
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void SphericalCamera::print(const string& s) const { pose_.print(s + ".pose"); }
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/* ************************************************************************* */
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pair<Unit3, bool> SphericalCamera::projectSafe(const Point3& pw) const {
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@ -42,36 +40,32 @@ pair<Unit3, bool> SphericalCamera::projectSafe(const Point3& pw) const {
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/* ************************************************************************* */
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Unit3 SphericalCamera::project2(const Point3& pw, OptionalJacobian<2, 6> Dpose,
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OptionalJacobian<2, 3> Dpoint) const {
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Matrix36 Dtf_pose;
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Matrix3 Dtf_point; // calculated by transformTo if needed
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const Point3 pc = pose().transformTo(pw, Dpose ? &Dtf_pose : 0, Dpoint ? &Dtf_point : 0);
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const Point3 pc =
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pose().transformTo(pw, Dpose ? &Dtf_pose : 0, Dpoint ? &Dtf_point : 0);
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if (pc.norm() <= 1e-8)
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throw("point cannot be at the center of the camera");
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if (pc.norm() <= 1e-8) throw("point cannot be at the center of the camera");
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Matrix23 Dunit; // calculated by FromPoint3 if needed
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Unit3 pu = Unit3::FromPoint3(Point3(pc), Dpoint ? &Dunit : 0);
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if (Dpose)
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*Dpose = Dunit * Dtf_pose; //2x3 * 3x6 = 2x6
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if (Dpoint)
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*Dpoint = Dunit * Dtf_point; //2x3 * 3x3 = 2x3
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if (Dpose) *Dpose = Dunit * Dtf_pose; // 2x3 * 3x6 = 2x6
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if (Dpoint) *Dpoint = Dunit * Dtf_point; // 2x3 * 3x3 = 2x3
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return pu;
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}
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/* ************************************************************************* */
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Unit3 SphericalCamera::project2(const Unit3& pwu, OptionalJacobian<2, 6> Dpose,
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OptionalJacobian<2, 2> Dpoint) const {
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Matrix23 Dtf_rot;
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Matrix2 Dtf_point; // calculated by transformTo if needed
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const Unit3 pu = pose().rotation().unrotate(pwu, Dpose ? &Dtf_rot : 0, Dpoint ? &Dtf_point : 0);
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const Unit3 pu = pose().rotation().unrotate(pwu, Dpose ? &Dtf_rot : 0,
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Dpoint ? &Dtf_point : 0);
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if (Dpose)
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*Dpose << Dtf_rot, Matrix::Zero(2, 3); // 2x6 (translation part is zero)
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if (Dpoint)
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*Dpoint = Dtf_point; //2x2
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if (Dpoint) *Dpoint = Dtf_point; // 2x2
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return pu;
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}
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@ -87,7 +81,8 @@ Unit3 SphericalCamera::backprojectPointAtInfinity(const Unit3& p) const {
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/* ************************************************************************* */
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Unit3 SphericalCamera::project(const Point3& point,
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OptionalJacobian<2, 6> Dcamera, OptionalJacobian<2, 3> Dpoint) const {
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OptionalJacobian<2, 6> Dcamera,
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OptionalJacobian<2, 3> Dpoint) const {
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return project2(point, Dcamera, Dpoint);
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}
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@ -102,10 +97,8 @@ Vector2 SphericalCamera::reprojectionError(
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Matrix22 H_error;
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Unit3 projected = project2(point, H_project_pose, H_project_point);
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Vector2 error = measured.errorVector(projected, boost::none, H_error);
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if (Dpose)
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*Dpose = H_error * H_project_pose;
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if (Dpoint)
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*Dpoint = H_error * H_project_point;
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if (Dpose) *Dpose = H_error * H_project_pose;
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if (Dpoint) *Dpoint = H_error * H_project_point;
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return error;
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} else {
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return measured.errorVector(project2(point, Dpose, Dpoint));
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@ -113,4 +106,4 @@ Vector2 SphericalCamera::reprojectionError(
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}
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/* ************************************************************************* */
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}
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} // namespace gtsam
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@ -18,13 +18,14 @@
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#pragma once
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#include <gtsam/geometry/BearingRange.h>
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#include <gtsam/geometry/Unit3.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/base/concepts.h>
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#include <gtsam/base/Manifold.h>
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#include <gtsam/base/ThreadsafeException.h>
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#include <gtsam/base/concepts.h>
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#include <gtsam/dllexport.h>
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#include <gtsam/geometry/BearingRange.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Unit3.h>
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#include <boost/serialization/nvp.hpp>
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namespace gtsam {
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@ -46,56 +47,41 @@ class GTSAM_EXPORT EmptyCal {
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* \nosubgrouping
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*/
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class GTSAM_EXPORT SphericalCamera {
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public:
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enum {
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dimension = 6
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};
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enum { dimension = 6 };
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typedef Unit3 Measurement;
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typedef std::vector<Unit3> MeasurementVector;
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typedef EmptyCal CalibrationType;
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private:
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Pose3 pose_; ///< 3D pose of camera
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protected:
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EmptyCal::shared_ptr emptyCal_;
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public:
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/// @}
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/// @name Standard Constructors
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/// @{
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/// Default constructor
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SphericalCamera()
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: pose_(Pose3::identity()),
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emptyCal_(boost::make_shared<EmptyCal>()) {
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}
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: pose_(Pose3::identity()), emptyCal_(boost::make_shared<EmptyCal>()) {}
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/// Constructor with pose
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explicit SphericalCamera(const Pose3& pose)
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: pose_(pose),
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emptyCal_(boost::make_shared<EmptyCal>()) {
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}
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: pose_(pose), emptyCal_(boost::make_shared<EmptyCal>()) {}
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/// Constructor with empty intrinsics (needed for smart factors)
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explicit SphericalCamera(const Pose3& pose,
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const boost::shared_ptr<EmptyCal>& cal)
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: pose_(pose),
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emptyCal_(boost::make_shared<EmptyCal>()) {
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}
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: pose_(pose), emptyCal_(boost::make_shared<EmptyCal>()) {}
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/// @}
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/// @name Advanced Constructors
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/// @{
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explicit SphericalCamera(const Vector& v)
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: pose_(Pose3::Expmap(v)) {
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}
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explicit SphericalCamera(const Vector& v) : pose_(Pose3::Expmap(v)) {}
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/// Default destructor
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virtual ~SphericalCamera() = default;
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@ -106,9 +92,7 @@ class GTSAM_EXPORT SphericalCamera {
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}
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/// return calibration
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const EmptyCal& calibration() const {
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return *emptyCal_;
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}
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const EmptyCal& calibration() const { return *emptyCal_; }
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/// @}
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/// @name Testable
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@ -125,19 +109,13 @@ class GTSAM_EXPORT SphericalCamera {
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/// @{
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/// return pose, constant version
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const Pose3& pose() const {
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return pose_;
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}
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const Pose3& pose() const { return pose_; }
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/// get rotation
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const Rot3& rotation() const {
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return pose_.rotation();
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}
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const Rot3& rotation() const { return pose_.rotation(); }
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/// get translation
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const Point3& translation() const {
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return pose_.translation();
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}
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const Point3& translation() const { return pose_.translation(); }
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// /// return pose, with derivative
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// const Pose3& getPose(OptionalJacobian<6, 6> H) const;
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@ -200,7 +178,8 @@ class GTSAM_EXPORT SphericalCamera {
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/// for Canonical
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static SphericalCamera identity() {
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return SphericalCamera(Pose3::identity()); // assumes that the default constructor is valid
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return SphericalCamera(
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Pose3::identity()); // assumes that the default constructor is valid
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}
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/// for Linear Triangulation
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@ -214,17 +193,12 @@ class GTSAM_EXPORT SphericalCamera {
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}
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/// @deprecated
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size_t dim() const {
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return 6;
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}
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size_t dim() const { return 6; }
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/// @deprecated
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static size_t Dim() {
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return 6;
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}
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static size_t Dim() { return 6; }
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template <class Archive>
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@ -235,11 +209,9 @@ class GTSAM_EXPORT SphericalCamera {
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// end of class SphericalCamera
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template <>
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struct traits<SphericalCamera> : public internal::LieGroup<Pose3> {
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};
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struct traits<SphericalCamera> : public internal::LieGroup<Pose3> {};
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template <>
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struct traits<const SphericalCamera> : public internal::LieGroup<Pose3> {
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};
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struct traits<const SphericalCamera> : public internal::LieGroup<Pose3> {};
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}
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} // namespace gtsam
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@ -16,11 +16,10 @@
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* @author Luca Carlone
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*/
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#include <gtsam/geometry/SphericalCamera.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/geometry/SphericalCamera.h>
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#include <cmath>
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#include <iostream>
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@ -33,7 +32,8 @@ typedef SphericalCamera Camera;
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// static const Cal3_S2 K(625, 625, 0, 0, 0);
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//
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static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
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static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()),
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Point3(0, 0, 0.5));
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static const Camera camera(pose);
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//
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static const Pose3 pose1(Rot3(), Point3(0, 1, 0.5));
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@ -45,21 +45,23 @@ static const Point3 point3( 0.08, 0.08, 0.0);
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static const Point3 point4(0.08, -0.08, 0.0);
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// manually computed in matlab
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static const Unit3 bearing1(-0.156054862928174, 0.156054862928174, 0.975342893301088);
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static const Unit3 bearing2(-0.156054862928174,-0.156054862928174,0.975342893301088);
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static const Unit3 bearing3(0.156054862928174,-0.156054862928174,0.975342893301088);
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static const Unit3 bearing4(0.156054862928174, 0.156054862928174, 0.975342893301088);
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static const Unit3 bearing1(-0.156054862928174, 0.156054862928174,
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0.975342893301088);
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static const Unit3 bearing2(-0.156054862928174, -0.156054862928174,
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0.975342893301088);
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static const Unit3 bearing3(0.156054862928174, -0.156054862928174,
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0.975342893301088);
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static const Unit3 bearing4(0.156054862928174, 0.156054862928174,
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0.975342893301088);
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static double depth = 0.512640224719052;
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/* ************************************************************************* */
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TEST( SphericalCamera, constructor)
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{
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TEST(SphericalCamera, constructor) {
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EXPECT(assert_equal(pose, camera.pose()));
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}
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/* ************************************************************************* */
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TEST( SphericalCamera, project)
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{
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TEST(SphericalCamera, project) {
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// expected from manual calculation in Matlab
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EXPECT(assert_equal(camera.project(point1), bearing1));
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EXPECT(assert_equal(camera.project(point2), bearing2));
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@ -68,8 +70,7 @@ TEST( SphericalCamera, project)
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}
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/* ************************************************************************* */
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TEST( SphericalCamera, backproject)
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{
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TEST(SphericalCamera, backproject) {
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EXPECT(assert_equal(camera.backproject(bearing1, depth), point1));
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EXPECT(assert_equal(camera.backproject(bearing2, depth), point2));
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EXPECT(assert_equal(camera.backproject(bearing3, depth), point3));
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@ -77,8 +78,7 @@ TEST( SphericalCamera, backproject)
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}
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/* ************************************************************************* */
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TEST( SphericalCamera, backproject2)
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{
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TEST(SphericalCamera, backproject2) {
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Point3 origin(0, 0, 0);
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Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down
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Camera camera(Pose3(rot, origin));
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@ -98,8 +98,7 @@ static Unit3 project3(const Pose3& pose, const Point3& point) {
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}
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/* ************************************************************************* */
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TEST( SphericalCamera, Dproject)
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{
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TEST(SphericalCamera, Dproject) {
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Matrix Dpose, Dpoint;
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Unit3 result = camera.project(point1, Dpose, Dpoint);
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Matrix numerical_pose = numericalDerivative21(project3, pose, point1);
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@ -110,7 +109,8 @@ TEST( SphericalCamera, Dproject)
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}
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/* ************************************************************************* */
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static Vector2 reprojectionError2(const Pose3& pose, const Point3& point, const Unit3& measured) {
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static Vector2 reprojectionError2(const Pose3& pose, const Point3& point,
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const Unit3& measured) {
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return Camera(pose).reprojectionError(point, measured);
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}
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@ -118,10 +118,10 @@ static Vector2 reprojectionError2(const Pose3& pose, const Point3& point, const
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TEST(SphericalCamera, reprojectionError) {
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Matrix Dpose, Dpoint;
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Vector2 result = camera.reprojectionError(point1, bearing1, Dpose, Dpoint);
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Matrix numerical_pose = numericalDerivative31(reprojectionError2, pose,
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point1, bearing1);
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Matrix numerical_point = numericalDerivative32(reprojectionError2, pose,
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point1, bearing1);
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Matrix numerical_pose =
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numericalDerivative31(reprojectionError2, pose, point1, bearing1);
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Matrix numerical_point =
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numericalDerivative32(reprojectionError2, pose, point1, bearing1);
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EXPECT(assert_equal(Vector2(0.0, 0.0), result));
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EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
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EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
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@ -131,12 +131,12 @@ TEST( SphericalCamera, reprojectionError) {
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TEST(SphericalCamera, reprojectionError_noisy) {
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Matrix Dpose, Dpoint;
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Unit3 bearing_noisy = bearing1.retract(Vector2(0.01, 0.05));
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Vector2 result = camera.reprojectionError(point1, bearing_noisy, Dpose,
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Dpoint);
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Matrix numerical_pose = numericalDerivative31(reprojectionError2, pose,
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point1, bearing_noisy);
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Matrix numerical_point = numericalDerivative32(reprojectionError2, pose,
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point1, bearing_noisy);
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Vector2 result =
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camera.reprojectionError(point1, bearing_noisy, Dpose, Dpoint);
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Matrix numerical_pose =
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numericalDerivative31(reprojectionError2, pose, point1, bearing_noisy);
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Matrix numerical_point =
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numericalDerivative32(reprojectionError2, pose, point1, bearing_noisy);
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EXPECT(assert_equal(Vector2(-0.050282, 0.00833482), result, 1e-5));
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EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
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EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
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@ -144,8 +144,7 @@ TEST( SphericalCamera, reprojectionError_noisy) {
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/* ************************************************************************* */
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// Add a test with more arbitrary rotation
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TEST( SphericalCamera, Dproject2)
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{
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TEST(SphericalCamera, Dproject2) {
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static const Pose3 pose1(Rot3::Ypr(0.1, -0.1, 0.4), Point3(0, 0, -10));
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static const Camera camera(pose1);
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Matrix Dpose, Dpoint;
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@ -157,7 +156,8 @@ TEST( SphericalCamera, Dproject2)
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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@ -17,17 +17,16 @@
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* @author Luca Carlone
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*/
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#include <gtsam/geometry/triangulation.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/geometry/CameraSet.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/SphericalCamera.h>
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#include <gtsam/geometry/StereoCamera.h>
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#include <gtsam/geometry/CameraSet.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/slam/StereoFactor.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/geometry/triangulation.h>
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/slam/StereoFactor.h>
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#include <boost/assign.hpp>
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#include <boost/assign/std/vector.hpp>
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@ -60,7 +59,6 @@ Point2 z2 = camera2.project(landmark);
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//******************************************************************************
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// Simple test with a well-behaved two camera situation
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TEST(triangulation, twoPoses) {
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vector<Pose3> poses;
|
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Point2Vector measurements;
|
||||
|
||||
|
|
@ -81,7 +79,8 @@ TEST( triangulation, twoPoses) {
|
|||
triangulatePoint3(poses, sharedCal, measurements, rank_tol, optimize);
|
||||
EXPECT(assert_equal(landmark, *actual2, 1e-7));
|
||||
|
||||
// 3. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
|
||||
// 3. Add some noise and try again: result should be ~ (4.995,
|
||||
// 0.499167, 1.19814)
|
||||
measurements.at(0) += Point2(0.1, 0.5);
|
||||
measurements.at(1) += Point2(-0.2, 0.3);
|
||||
optimize = false;
|
||||
|
|
@ -99,7 +98,6 @@ TEST( triangulation, twoPoses) {
|
|||
//******************************************************************************
|
||||
// Similar, but now with Bundler calibration
|
||||
TEST(triangulation, twoPosesBundler) {
|
||||
|
||||
boost::shared_ptr<Cal3Bundler> bundlerCal = //
|
||||
boost::make_shared<Cal3Bundler>(1500, 0, 0, 640, 480);
|
||||
PinholeCamera<Cal3Bundler> camera1(pose1, *bundlerCal);
|
||||
|
|
@ -139,11 +137,12 @@ TEST( triangulation, fourPoses) {
|
|||
poses += pose1, pose2;
|
||||
measurements += z1, z2;
|
||||
|
||||
boost::optional<Point3> actual = triangulatePoint3(poses, sharedCal,
|
||||
measurements);
|
||||
boost::optional<Point3> actual =
|
||||
triangulatePoint3(poses, sharedCal, measurements);
|
||||
EXPECT(assert_equal(landmark, *actual, 1e-2));
|
||||
|
||||
// 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
|
||||
// 2. Add some noise and try again: result should be ~ (4.995,
|
||||
// 0.499167, 1.19814)
|
||||
measurements.at(0) += Point2(0.1, 0.5);
|
||||
measurements.at(1) += Point2(-0.2, 0.3);
|
||||
|
||||
|
|
@ -164,8 +163,8 @@ TEST( triangulation, fourPoses) {
|
|||
EXPECT(assert_equal(landmark, *triangulated_3cameras, 1e-2));
|
||||
|
||||
// Again with nonlinear optimization
|
||||
boost::optional<Point3> triangulated_3cameras_opt = triangulatePoint3(poses,
|
||||
sharedCal, measurements, 1e-9, true);
|
||||
boost::optional<Point3> triangulated_3cameras_opt =
|
||||
triangulatePoint3(poses, sharedCal, measurements, 1e-9, true);
|
||||
EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2));
|
||||
|
||||
// 4. Test failure: Add a 4th camera facing the wrong way
|
||||
|
|
@ -207,7 +206,8 @@ TEST( triangulation, fourPoses_distinct_Ks) {
|
|||
triangulatePoint3(cameras, measurements);
|
||||
EXPECT(assert_equal(landmark, *actual, 1e-2));
|
||||
|
||||
// 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
|
||||
// 2. Add some noise and try again: result should be ~ (4.995,
|
||||
// 0.499167, 1.19814)
|
||||
measurements.at(0) += Point2(0.1, 0.5);
|
||||
measurements.at(1) += Point2(-0.2, 0.3);
|
||||
|
||||
|
|
@ -229,8 +229,8 @@ TEST( triangulation, fourPoses_distinct_Ks) {
|
|||
EXPECT(assert_equal(landmark, *triangulated_3cameras, 1e-2));
|
||||
|
||||
// Again with nonlinear optimization
|
||||
boost::optional<Point3> triangulated_3cameras_opt = triangulatePoint3(cameras,
|
||||
measurements, 1e-9, true);
|
||||
boost::optional<Point3> triangulated_3cameras_opt =
|
||||
triangulatePoint3(cameras, measurements, 1e-9, true);
|
||||
EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2));
|
||||
|
||||
// 4. Test failure: Add a 4th camera facing the wrong way
|
||||
|
|
@ -269,17 +269,22 @@ TEST( triangulation, outliersAndFarLandmarks) {
|
|||
measurements += z1, z2;
|
||||
|
||||
double landmarkDistanceThreshold = 10; // landmark is closer than that
|
||||
TriangulationParameters params(1.0, false, landmarkDistanceThreshold); // all default except landmarkDistanceThreshold
|
||||
TriangulationParameters params(
|
||||
1.0, false, landmarkDistanceThreshold); // all default except
|
||||
// landmarkDistanceThreshold
|
||||
TriangulationResult actual = triangulateSafe(cameras, measurements, params);
|
||||
EXPECT(assert_equal(landmark, *actual, 1e-2));
|
||||
EXPECT(actual.valid());
|
||||
|
||||
landmarkDistanceThreshold = 4; // landmark is farther than that
|
||||
TriangulationParameters params2(1.0, false, landmarkDistanceThreshold); // all default except landmarkDistanceThreshold
|
||||
TriangulationParameters params2(
|
||||
1.0, false, landmarkDistanceThreshold); // all default except
|
||||
// landmarkDistanceThreshold
|
||||
actual = triangulateSafe(cameras, measurements, params2);
|
||||
EXPECT(actual.farPoint());
|
||||
|
||||
// 3. Add a slightly rotated third camera above with a wrong measurement (OUTLIER)
|
||||
// 3. Add a slightly rotated third camera above with a wrong measurement
|
||||
// (OUTLIER)
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
|
||||
Cal3_S2 K3(700, 500, 0, 640, 480);
|
||||
PinholeCamera<Cal3_S2> camera3(pose3, K3);
|
||||
|
|
@ -290,13 +295,15 @@ TEST( triangulation, outliersAndFarLandmarks) {
|
|||
|
||||
landmarkDistanceThreshold = 10; // landmark is closer than that
|
||||
double outlierThreshold = 100; // loose, the outlier is going to pass
|
||||
TriangulationParameters params3(1.0, false, landmarkDistanceThreshold,outlierThreshold);
|
||||
TriangulationParameters params3(1.0, false, landmarkDistanceThreshold,
|
||||
outlierThreshold);
|
||||
actual = triangulateSafe(cameras, measurements, params3);
|
||||
EXPECT(actual.valid());
|
||||
|
||||
// now set stricter threshold for outlier rejection
|
||||
outlierThreshold = 5; // tighter, the outlier is not going to pass
|
||||
TriangulationParameters params4(1.0, false, landmarkDistanceThreshold,outlierThreshold);
|
||||
TriangulationParameters params4(1.0, false, landmarkDistanceThreshold,
|
||||
outlierThreshold);
|
||||
actual = triangulateSafe(cameras, measurements, params4);
|
||||
EXPECT(actual.outlier());
|
||||
}
|
||||
|
|
@ -336,20 +343,18 @@ TEST( triangulation, onePose) {
|
|||
|
||||
//******************************************************************************
|
||||
TEST(triangulation, StereotriangulateNonlinear) {
|
||||
|
||||
auto stereoK = boost::make_shared<Cal3_S2Stereo>(1733.75, 1733.75, 0, 689.645, 508.835, 0.0699612);
|
||||
auto stereoK = boost::make_shared<Cal3_S2Stereo>(1733.75, 1733.75, 0, 689.645,
|
||||
508.835, 0.0699612);
|
||||
|
||||
// two camera poses m1, m2
|
||||
Matrix4 m1, m2;
|
||||
m1 << 0.796888717, 0.603404026, -0.0295271487, 46.6673779,
|
||||
0.592783835, -0.77156583, 0.230856632, 66.2186159,
|
||||
0.116517574, -0.201470143, -0.9725393, -4.28382528,
|
||||
0, 0, 0, 1;
|
||||
m1 << 0.796888717, 0.603404026, -0.0295271487, 46.6673779, 0.592783835,
|
||||
-0.77156583, 0.230856632, 66.2186159, 0.116517574, -0.201470143,
|
||||
-0.9725393, -4.28382528, 0, 0, 0, 1;
|
||||
|
||||
m2 << -0.955959025, -0.29288915, -0.0189328569, 45.7169799,
|
||||
-0.29277519, 0.947083213, 0.131587097, 65.843136,
|
||||
-0.0206094928, 0.131334858, -0.991123524, -4.3525033,
|
||||
0, 0, 0, 1;
|
||||
m2 << -0.955959025, -0.29288915, -0.0189328569, 45.7169799, -0.29277519,
|
||||
0.947083213, 0.131587097, 65.843136, -0.0206094928, 0.131334858,
|
||||
-0.991123524, -4.3525033, 0, 0, 0, 1;
|
||||
|
||||
typedef CameraSet<StereoCamera> Cameras;
|
||||
Cameras cameras;
|
||||
|
|
@ -360,15 +365,16 @@ TEST( triangulation, StereotriangulateNonlinear ) {
|
|||
measurements += StereoPoint2(226.936, 175.212, 424.469);
|
||||
measurements += StereoPoint2(339.571, 285.547, 669.973);
|
||||
|
||||
Point3 initial = Point3(46.0536958, 66.4621179, -6.56285929); // error: 96.5715555191
|
||||
Point3 initial =
|
||||
Point3(46.0536958, 66.4621179, -6.56285929); // error: 96.5715555191
|
||||
|
||||
Point3 actual = triangulateNonlinear(cameras, measurements, initial);
|
||||
|
||||
Point3 expected(46.0484569, 66.4710686, -6.55046613); // error: 0.763510644187
|
||||
Point3 expected(46.0484569, 66.4710686,
|
||||
-6.55046613); // error: 0.763510644187
|
||||
|
||||
EXPECT(assert_equal(expected, actual, 1e-4));
|
||||
|
||||
|
||||
// regular stereo factor comparison - expect very similar result as above
|
||||
{
|
||||
typedef GenericStereoFactor<Pose3, Point3> StereoFactor;
|
||||
|
|
@ -380,8 +386,10 @@ TEST( triangulation, StereotriangulateNonlinear ) {
|
|||
|
||||
NonlinearFactorGraph graph;
|
||||
static SharedNoiseModel unit(noiseModel::Unit::Create(3));
|
||||
graph.emplace_shared<StereoFactor>(measurements[0], unit, Symbol('x',1), Symbol('l',1), stereoK);
|
||||
graph.emplace_shared<StereoFactor>(measurements[1], unit, Symbol('x',2), Symbol('l',1), stereoK);
|
||||
graph.emplace_shared<StereoFactor>(measurements[0], unit, Symbol('x', 1),
|
||||
Symbol('l', 1), stereoK);
|
||||
graph.emplace_shared<StereoFactor>(measurements[1], unit, Symbol('x', 2),
|
||||
Symbol('l', 1), stereoK);
|
||||
|
||||
const SharedDiagonal posePrior = noiseModel::Isotropic::Sigma(6, 1e-9);
|
||||
graph.addPrior(Symbol('x', 1), Pose3(m1), posePrior);
|
||||
|
|
@ -401,8 +409,10 @@ TEST( triangulation, StereotriangulateNonlinear ) {
|
|||
NonlinearFactorGraph graph;
|
||||
static SharedNoiseModel unit(noiseModel::Unit::Create(3));
|
||||
|
||||
graph.emplace_shared<TriangulationFactor<StereoCamera> >(cameras[0], measurements[0], unit, Symbol('l',1));
|
||||
graph.emplace_shared<TriangulationFactor<StereoCamera> >(cameras[1], measurements[1], unit, Symbol('l',1));
|
||||
graph.emplace_shared<TriangulationFactor<StereoCamera>>(
|
||||
cameras[0], measurements[0], unit, Symbol('l', 1));
|
||||
graph.emplace_shared<TriangulationFactor<StereoCamera>>(
|
||||
cameras[1], measurements[1], unit, Symbol('l', 1));
|
||||
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values);
|
||||
Values result = optimizer.optimize();
|
||||
|
|
@ -421,8 +431,10 @@ TEST( triangulation, StereotriangulateNonlinear ) {
|
|||
Expression<Point3> point_(Symbol('l', 1));
|
||||
Expression<StereoCamera> camera0_(cameras[0]);
|
||||
Expression<StereoCamera> camera1_(cameras[1]);
|
||||
Expression<StereoPoint2> project0_(camera0_, &StereoCamera::project2, point_);
|
||||
Expression<StereoPoint2> project1_(camera1_, &StereoCamera::project2, point_);
|
||||
Expression<StereoPoint2> project0_(camera0_, &StereoCamera::project2,
|
||||
point_);
|
||||
Expression<StereoPoint2> project1_(camera1_, &StereoCamera::project2,
|
||||
point_);
|
||||
|
||||
graph.addExpressionFactor(unit, measurements[0], project0_);
|
||||
graph.addExpressionFactor(unit, measurements[1], project1_);
|
||||
|
|
@ -437,7 +449,6 @@ TEST( triangulation, StereotriangulateNonlinear ) {
|
|||
//******************************************************************************
|
||||
// Simple test with a well-behaved two camera situation
|
||||
TEST(triangulation, twoPoses_sphericalCamera) {
|
||||
|
||||
vector<Pose3> poses;
|
||||
std::vector<Unit3> measurements;
|
||||
|
||||
|
|
@ -457,7 +468,8 @@ TEST( triangulation, twoPoses_sphericalCamera) {
|
|||
double rank_tol = 1e-9;
|
||||
|
||||
// 1. Test linear triangulation via DLT
|
||||
std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projection_matrices =
|
||||
std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>
|
||||
projection_matrices =
|
||||
getCameraProjectionMatrices<SphericalCamera>(cameras);
|
||||
Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol);
|
||||
EXPECT(assert_equal(landmark, point, 1e-7));
|
||||
|
|
@ -469,47 +481,59 @@ TEST( triangulation, twoPoses_sphericalCamera) {
|
|||
// 3. Test simple DLT, now within triangulatePoint3
|
||||
bool optimize = false;
|
||||
boost::optional<Point3> actual1 = //
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize);
|
||||
EXPECT(assert_equal(landmark, *actual1, 1e-7));
|
||||
|
||||
// 4. test with optimization on, same answer
|
||||
optimize = true;
|
||||
boost::optional<Point3> actual2 = //
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize);
|
||||
EXPECT(assert_equal(landmark, *actual2, 1e-7));
|
||||
|
||||
// 5. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
|
||||
measurements.at(0) = u1.retract(Vector2(0.01, 0.05)); //note: perturbation smaller for Unit3
|
||||
// 5. Add some noise and try again: result should be ~ (4.995,
|
||||
// 0.499167, 1.19814)
|
||||
measurements.at(0) =
|
||||
u1.retract(Vector2(0.01, 0.05)); // note: perturbation smaller for Unit3
|
||||
measurements.at(1) = u2.retract(Vector2(-0.02, 0.03));
|
||||
optimize = false;
|
||||
boost::optional<Point3> actual3 = //
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize);
|
||||
EXPECT(assert_equal(Point3(5.9432, 0.654319, 1.48192), *actual3, 1e-3));
|
||||
|
||||
// 6. Now with optimization on
|
||||
optimize = true;
|
||||
boost::optional<Point3> actual4 = //
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize);
|
||||
EXPECT(assert_equal(Point3(5.9432, 0.654334, 1.48192), *actual4, 1e-3));
|
||||
}
|
||||
|
||||
//******************************************************************************
|
||||
TEST(triangulation, twoPoses_sphericalCamera_extremeFOV) {
|
||||
|
||||
vector<Pose3> poses;
|
||||
std::vector<Unit3> measurements;
|
||||
|
||||
// Project landmark into two cameras and triangulate
|
||||
Pose3 poseA = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0.0,0.0,0.0)); // with z pointing along x axis of global frame
|
||||
Pose3 poseB = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(2.0,0.0,0.0)); // 2m in front of poseA
|
||||
Point3 landmarkL(1.0,-1.0,0.0);// 1m to the right of both cameras, in front of poseA, behind poseB
|
||||
Pose3 poseA = Pose3(
|
||||
Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
|
||||
Point3(0.0, 0.0, 0.0)); // with z pointing along x axis of global frame
|
||||
Pose3 poseB = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
|
||||
Point3(2.0, 0.0, 0.0)); // 2m in front of poseA
|
||||
Point3 landmarkL(
|
||||
1.0, -1.0,
|
||||
0.0); // 1m to the right of both cameras, in front of poseA, behind poseB
|
||||
SphericalCamera cam1(poseA);
|
||||
SphericalCamera cam2(poseB);
|
||||
Unit3 u1 = cam1.project(landmarkL);
|
||||
Unit3 u2 = cam2.project(landmarkL);
|
||||
|
||||
EXPECT(assert_equal(Unit3(Point3(1.0,0.0,1.0)), u1, 1e-7)); // in front and to the right of PoseA
|
||||
EXPECT(assert_equal(Unit3(Point3(1.0,0.0,-1.0)), u2, 1e-7));// behind and to the right of PoseB
|
||||
EXPECT(assert_equal(Unit3(Point3(1.0, 0.0, 1.0)), u1,
|
||||
1e-7)); // in front and to the right of PoseA
|
||||
EXPECT(assert_equal(Unit3(Point3(1.0, 0.0, -1.0)), u2,
|
||||
1e-7)); // behind and to the right of PoseB
|
||||
|
||||
poses += pose1, pose2;
|
||||
measurements += u1, u2;
|
||||
|
|
@ -524,12 +548,13 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
|
|||
// 1. Test simple DLT, when 1 point is behind spherical camera
|
||||
bool optimize = false;
|
||||
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
|
||||
CHECK_EXCEPTION(
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize), TriangulationCheiralityException);
|
||||
CHECK_EXCEPTION(triangulatePoint3<SphericalCamera>(cameras, measurements,
|
||||
rank_tol, optimize),
|
||||
TriangulationCheiralityException);
|
||||
#else // otherwise project should not throw the exception
|
||||
boost::optional<Point3> actual1 = //
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize);
|
||||
EXPECT(assert_equal(landmarkL, *actual1, 1e-7));
|
||||
#endif
|
||||
}
|
||||
|
|
@ -537,12 +562,13 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
|
|||
// 2. test with optimization on, same answer
|
||||
bool optimize = true;
|
||||
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
|
||||
CHECK_EXCEPTION(
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize), TriangulationCheiralityException);
|
||||
CHECK_EXCEPTION(triangulatePoint3<SphericalCamera>(cameras, measurements,
|
||||
rank_tol, optimize),
|
||||
TriangulationCheiralityException);
|
||||
#else // otherwise project should not throw the exception
|
||||
boost::optional<Point3> actual1 = //
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol, optimize);
|
||||
triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
|
||||
optimize);
|
||||
EXPECT(assert_equal(landmarkL, *actual1, 1e-7));
|
||||
#endif
|
||||
}
|
||||
|
|
@ -550,8 +576,9 @@ TEST( triangulation, twoPoses_sphericalCamera_extremeFOV) {
|
|||
|
||||
//******************************************************************************
|
||||
TEST(triangulation, reprojectionError_cameraComparison) {
|
||||
|
||||
Pose3 poseA = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0.0,0.0,0.0)); // with z pointing along x axis of global frame
|
||||
Pose3 poseA = Pose3(
|
||||
Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
|
||||
Point3(0.0, 0.0, 0.0)); // with z pointing along x axis of global frame
|
||||
Point3 landmarkL(5.0, 0.0, 0.0); // 1m in front of poseA
|
||||
SphericalCamera sphericalCamera(poseA);
|
||||
Unit3 u = sphericalCamera.project(landmarkL);
|
||||
|
|
@ -564,14 +591,19 @@ TEST( triangulation, reprojectionError_cameraComparison) {
|
|||
Vector2 px_noise(1.0, 1.0); // 1px perturbation vertically and horizontally
|
||||
Vector2 measured_px = px + px_noise;
|
||||
Vector2 measured_px_calibrated = sharedK->calibrate(measured_px);
|
||||
Unit3 measured_u = Unit3(measured_px_calibrated[0],measured_px_calibrated[1],1.0);
|
||||
Unit3 measured_u =
|
||||
Unit3(measured_px_calibrated[0], measured_px_calibrated[1], 1.0);
|
||||
|
||||
Vector2 actualErrorPinhole = pinholeCamera.reprojectionError(landmarkL,measured_px);
|
||||
Vector2 actualErrorPinhole =
|
||||
pinholeCamera.reprojectionError(landmarkL, measured_px);
|
||||
Vector2 expectedErrorPinhole = Vector2(-px_noise[0], -px_noise[1]);
|
||||
EXPECT(assert_equal(expectedErrorPinhole, actualErrorPinhole, 1e-7)); //- sign due to definition of error
|
||||
EXPECT(assert_equal(expectedErrorPinhole, actualErrorPinhole,
|
||||
1e-7)); //- sign due to definition of error
|
||||
|
||||
Vector2 actualErrorSpherical = sphericalCamera.reprojectionError(landmarkL,measured_u);
|
||||
Vector2 expectedErrorSpherical = Vector2(px_noise[0]/sharedK->fx(),px_noise[1]/sharedK->fy());
|
||||
Vector2 actualErrorSpherical =
|
||||
sphericalCamera.reprojectionError(landmarkL, measured_u);
|
||||
Vector2 expectedErrorSpherical =
|
||||
Vector2(px_noise[0] / sharedK->fx(), px_noise[1] / sharedK->fy());
|
||||
EXPECT(assert_equal(expectedErrorSpherical, actualErrorSpherical, 1e-7));
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -17,12 +17,13 @@
|
|||
*/
|
||||
|
||||
#pragma once
|
||||
#include <gtsam/slam/SmartProjectionPoseFactor.h>
|
||||
#include <gtsam/slam/SmartProjectionFactor.h>
|
||||
#include <gtsam/slam/GeneralSFMFactor.h>
|
||||
#include <gtsam/geometry/Cal3_S2.h>
|
||||
#include <gtsam/geometry/Cal3Bundler.h>
|
||||
#include <gtsam/geometry/Cal3_S2.h>
|
||||
#include <gtsam/geometry/SphericalCamera.h>
|
||||
#include <gtsam/slam/GeneralSFMFactor.h>
|
||||
#include <gtsam/slam/SmartProjectionFactor.h>
|
||||
#include <gtsam/slam/SmartProjectionPoseFactor.h>
|
||||
|
||||
#include "../SmartProjectionRigFactor.h"
|
||||
|
||||
using namespace std;
|
||||
|
|
@ -64,7 +65,7 @@ Camera cam2(pose_right, K2);
|
|||
Camera cam3(pose_above, K2);
|
||||
typedef GeneralSFMFactor<Camera, Point3> SFMFactor;
|
||||
SmartProjectionParams params;
|
||||
}
|
||||
} // namespace vanilla
|
||||
|
||||
/* ************************************************************************* */
|
||||
// default Cal3_S2 poses
|
||||
|
|
@ -79,7 +80,7 @@ Camera level_camera_right(pose_right, sharedK);
|
|||
Camera cam1(level_pose, sharedK);
|
||||
Camera cam2(pose_right, sharedK);
|
||||
Camera cam3(pose_above, sharedK);
|
||||
}
|
||||
} // namespace vanillaPose
|
||||
|
||||
/* ************************************************************************* */
|
||||
// default Cal3_S2 poses
|
||||
|
|
@ -94,7 +95,7 @@ Camera level_camera_right(pose_right, sharedK2);
|
|||
Camera cam1(level_pose, sharedK2);
|
||||
Camera cam2(pose_right, sharedK2);
|
||||
Camera cam3(pose_above, sharedK2);
|
||||
}
|
||||
} // namespace vanillaPose2
|
||||
|
||||
/* *************************************************************************/
|
||||
// Cal3Bundler cameras
|
||||
|
|
@ -112,7 +113,7 @@ Camera cam1(level_pose, K);
|
|||
Camera cam2(pose_right, K);
|
||||
Camera cam3(pose_above, K);
|
||||
typedef GeneralSFMFactor<Camera, Point3> SFMFactor;
|
||||
}
|
||||
} // namespace bundler
|
||||
|
||||
/* *************************************************************************/
|
||||
// Cal3Bundler poses
|
||||
|
|
@ -121,14 +122,15 @@ typedef PinholePose<Cal3Bundler> Camera;
|
|||
typedef CameraSet<Camera> Cameras;
|
||||
typedef SmartProjectionPoseFactor<Cal3Bundler> SmartFactor;
|
||||
typedef SmartProjectionRigFactor<Camera> SmartRigFactor;
|
||||
static boost::shared_ptr<Cal3Bundler> sharedBundlerK(
|
||||
new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
|
||||
static boost::shared_ptr<Cal3Bundler> sharedBundlerK(new Cal3Bundler(500, 1e-3,
|
||||
1e-3, 1000,
|
||||
2000));
|
||||
Camera level_camera(level_pose, sharedBundlerK);
|
||||
Camera level_camera_right(pose_right, sharedBundlerK);
|
||||
Camera cam1(level_pose, sharedBundlerK);
|
||||
Camera cam2(pose_right, sharedBundlerK);
|
||||
Camera cam3(pose_above, sharedBundlerK);
|
||||
}
|
||||
} // namespace bundlerPose
|
||||
|
||||
/* ************************************************************************* */
|
||||
// sphericalCamera
|
||||
|
|
@ -142,21 +144,22 @@ Camera level_camera_right(pose_right);
|
|||
Camera cam1(level_pose);
|
||||
Camera cam2(pose_right);
|
||||
Camera cam3(pose_above);
|
||||
}
|
||||
} // namespace sphericalCamera
|
||||
/* *************************************************************************/
|
||||
|
||||
template <class CAMERA>
|
||||
CAMERA perturbCameraPose(const CAMERA& camera) {
|
||||
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10),
|
||||
Point3(0.5, 0.1, 0.3));
|
||||
Pose3 noise_pose =
|
||||
Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.5, 0.1, 0.3));
|
||||
Pose3 cameraPose = camera.pose();
|
||||
Pose3 perturbedCameraPose = cameraPose.compose(noise_pose);
|
||||
return CAMERA(perturbedCameraPose, camera.calibration());
|
||||
}
|
||||
|
||||
template <class CAMERA>
|
||||
void projectToMultipleCameras(const CAMERA& cam1, const CAMERA& cam2,
|
||||
const CAMERA& cam3, Point3 landmark, typename CAMERA::MeasurementVector& measurements_cam) {
|
||||
void projectToMultipleCameras(
|
||||
const CAMERA& cam1, const CAMERA& cam2, const CAMERA& cam3, Point3 landmark,
|
||||
typename CAMERA::MeasurementVector& measurements_cam) {
|
||||
typename CAMERA::Measurement cam1_uv1 = cam1.project(landmark);
|
||||
typename CAMERA::Measurement cam2_uv1 = cam2.project(landmark);
|
||||
typename CAMERA::Measurement cam3_uv1 = cam3.project(landmark);
|
||||
|
|
@ -166,4 +169,3 @@ void projectToMultipleCameras(const CAMERA& cam1, const CAMERA& cam2,
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
||||
|
|
|
|||
|
|
@ -1195,8 +1195,9 @@ TEST(SmartProjectionRigFactor, optimization_3poses_measurementsFromSamePose) {
|
|||
// this factor is slightly slower (but comparable) to original
|
||||
// SmartProjectionPoseFactor
|
||||
//-Total: 0 CPU (0 times, 0 wall, 0.17 children, min: 0 max: 0)
|
||||
//| -SmartRigFactor LINEARIZE: 0.05 CPU (10000 times, 0.057952 wall, 0.05 children, min: 0 max: 0)
|
||||
//| -SmartPoseFactor LINEARIZE: 0.05 CPU (10000 times, 0.069647 wall, 0.05 children, min: 0 max: 0)
|
||||
//| -SmartRigFactor LINEARIZE: 0.05 CPU (10000 times, 0.057952 wall, 0.05
|
||||
// children, min: 0 max: 0) | -SmartPoseFactor LINEARIZE: 0.05 CPU (10000
|
||||
// times, 0.069647 wall, 0.05 children, min: 0 max: 0)
|
||||
/* *************************************************************************/
|
||||
TEST(SmartProjectionRigFactor, timing) {
|
||||
using namespace vanillaRig;
|
||||
|
|
@ -1257,14 +1258,17 @@ TEST(SmartProjectionRigFactor, timing) {
|
|||
|
||||
/* *************************************************************************/
|
||||
TEST(SmartProjectionFactorP, optimization_3poses_sphericalCamera) {
|
||||
|
||||
using namespace sphericalCamera;
|
||||
Camera::MeasurementVector measurements_lmk1, measurements_lmk2, measurements_lmk3;
|
||||
Camera::MeasurementVector measurements_lmk1, measurements_lmk2,
|
||||
measurements_lmk3;
|
||||
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark1, measurements_lmk1);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark2, measurements_lmk2);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark3, measurements_lmk3);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark1,
|
||||
measurements_lmk1);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark2,
|
||||
measurements_lmk2);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark3,
|
||||
measurements_lmk3);
|
||||
|
||||
// create inputs
|
||||
KeyVector keys;
|
||||
|
|
@ -1280,13 +1284,16 @@ TEST( SmartProjectionFactorP, optimization_3poses_sphericalCamera ) {
|
|||
gtsam::ZERO_ON_DEGENERACY); // only config that works with rig factors
|
||||
params.setRankTolerance(0.1);
|
||||
|
||||
SmartFactorP::shared_ptr smartFactor1(new SmartFactorP(model, cameraRig, params));
|
||||
SmartFactorP::shared_ptr smartFactor1(
|
||||
new SmartFactorP(model, cameraRig, params));
|
||||
smartFactor1->add(measurements_lmk1, keys);
|
||||
|
||||
SmartFactorP::shared_ptr smartFactor2(new SmartFactorP(model, cameraRig, params));
|
||||
SmartFactorP::shared_ptr smartFactor2(
|
||||
new SmartFactorP(model, cameraRig, params));
|
||||
smartFactor2->add(measurements_lmk2, keys);
|
||||
|
||||
SmartFactorP::shared_ptr smartFactor3(new SmartFactorP(model, cameraRig, params));
|
||||
SmartFactorP::shared_ptr smartFactor3(
|
||||
new SmartFactorP(model, cameraRig, params));
|
||||
smartFactor3->add(measurements_lmk3, keys);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -1310,7 +1317,8 @@ TEST( SmartProjectionFactorP, optimization_3poses_sphericalCamera ) {
|
|||
Values values;
|
||||
values.insert(x1, level_pose);
|
||||
values.insert(x2, pose_right);
|
||||
// initialize third pose with some noise, we expect it to move back to original pose_above
|
||||
// initialize third pose with some noise, we expect it to move back to
|
||||
// original pose_above
|
||||
values.insert(x3, pose_above * noise_pose);
|
||||
|
||||
DOUBLES_EQUAL(0.94148963675515274, graph.error(values), 1e-9);
|
||||
|
|
@ -1324,12 +1332,13 @@ TEST( SmartProjectionFactorP, optimization_3poses_sphericalCamera ) {
|
|||
|
||||
#ifndef DISABLE_TIMING
|
||||
#include <gtsam/base/timing.h>
|
||||
// using spherical camera is slightly slower (but comparable) to PinholePose<Cal3_S2>
|
||||
//| -SmartFactorP spherical LINEARIZE: 0.01 CPU (1000 times, 0.008178 wall, 0.01 children, min: 0 max: 0)
|
||||
//| -SmartFactorP pinhole LINEARIZE: 0.01 CPU (1000 times, 0.005717 wall, 0.01 children, min: 0 max: 0)
|
||||
// using spherical camera is slightly slower (but comparable) to
|
||||
// PinholePose<Cal3_S2>
|
||||
//| -SmartFactorP spherical LINEARIZE: 0.01 CPU (1000 times, 0.008178 wall,
|
||||
// 0.01 children, min: 0 max: 0) | -SmartFactorP pinhole LINEARIZE: 0.01 CPU
|
||||
//(1000 times, 0.005717 wall, 0.01 children, min: 0 max: 0)
|
||||
/* *************************************************************************/
|
||||
TEST(SmartProjectionFactorP, timing_sphericalCamera) {
|
||||
|
||||
// create common data
|
||||
Rot3 R = Rot3::identity();
|
||||
Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
|
||||
|
|
@ -1400,12 +1409,16 @@ TEST( SmartProjectionFactorP, timing_sphericalCamera ) {
|
|||
|
||||
/* *************************************************************************/
|
||||
TEST(SmartProjectionFactorP, 2poses_rankTol) {
|
||||
Pose3 poseA = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0.0,0.0,0.0)); // with z pointing along x axis of global frame
|
||||
Pose3 poseB = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0.0,-0.1,0.0)); // 10cm to the right of poseA
|
||||
Pose3 poseA = Pose3(
|
||||
Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
|
||||
Point3(0.0, 0.0, 0.0)); // with z pointing along x axis of global frame
|
||||
Pose3 poseB = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
|
||||
Point3(0.0, -0.1, 0.0)); // 10cm to the right of poseA
|
||||
Point3 landmarkL = Point3(5.0, 0.0, 0.0); // 5m in front of poseA
|
||||
|
||||
// triangulate from a stereo with 10cm baseline, assuming standard calibration
|
||||
{// default rankTol = 1 gives a valid point (compare with calibrated and spherical cameras below)
|
||||
{ // default rankTol = 1 gives a valid point (compare with calibrated and
|
||||
// spherical cameras below)
|
||||
using namespace vanillaPose; // pinhole with Cal3_S2 calibration
|
||||
|
||||
Camera cam1(poseA, sharedK);
|
||||
|
|
@ -1419,7 +1432,8 @@ TEST( SmartProjectionFactorP, 2poses_rankTol ) {
|
|||
CameraSet<PinholePose<Cal3_S2>> cameraRig; // single camera in the rig
|
||||
cameraRig.push_back(PinholePose<Cal3_S2>(Pose3::identity(), sharedK));
|
||||
|
||||
SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model,cameraRig,params));
|
||||
SmartRigFactor::shared_ptr smartFactor1(
|
||||
new SmartRigFactor(model, cameraRig, params));
|
||||
smartFactor1->add(cam1.project(landmarkL), x1);
|
||||
smartFactor1->add(cam2.project(landmarkL), x2);
|
||||
|
||||
|
|
@ -1436,10 +1450,13 @@ TEST( SmartProjectionFactorP, 2poses_rankTol ) {
|
|||
EXPECT(point.valid()); // valid triangulation
|
||||
EXPECT(assert_equal(landmarkL, *point, 1e-7));
|
||||
}
|
||||
// triangulate from a stereo with 10cm baseline, assuming canonical calibration
|
||||
{// default rankTol = 1 or 0.1 gives a degenerate point, which is undesirable for a point 5m away and 10cm baseline
|
||||
// triangulate from a stereo with 10cm baseline, assuming canonical
|
||||
// calibration
|
||||
{ // default rankTol = 1 or 0.1 gives a degenerate point, which is
|
||||
// undesirable for a point 5m away and 10cm baseline
|
||||
using namespace vanillaPose; // pinhole with Cal3_S2 calibration
|
||||
static Cal3_S2::shared_ptr canonicalK(new Cal3_S2(1.0,1.0,0.0,0.0,0.0)); //canonical camera
|
||||
static Cal3_S2::shared_ptr canonicalK(
|
||||
new Cal3_S2(1.0, 1.0, 0.0, 0.0, 0.0)); // canonical camera
|
||||
|
||||
Camera cam1(poseA, canonicalK);
|
||||
Camera cam2(poseB, canonicalK);
|
||||
|
|
@ -1452,7 +1469,8 @@ TEST( SmartProjectionFactorP, 2poses_rankTol ) {
|
|||
CameraSet<PinholePose<Cal3_S2>> cameraRig; // single camera in the rig
|
||||
cameraRig.push_back(PinholePose<Cal3_S2>(Pose3::identity(), canonicalK));
|
||||
|
||||
SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model,cameraRig,params));
|
||||
SmartRigFactor::shared_ptr smartFactor1(
|
||||
new SmartRigFactor(model, cameraRig, params));
|
||||
smartFactor1->add(cam1.project(landmarkL), x1);
|
||||
smartFactor1->add(cam2.project(landmarkL), x2);
|
||||
|
||||
|
|
@ -1468,10 +1486,13 @@ TEST( SmartProjectionFactorP, 2poses_rankTol ) {
|
|||
TriangulationResult point = smartFactor1->point();
|
||||
EXPECT(point.degenerate()); // valid triangulation
|
||||
}
|
||||
// triangulate from a stereo with 10cm baseline, assuming canonical calibration
|
||||
{// smaller rankTol = 0.01 gives a valid point (compare with calibrated and spherical cameras below)
|
||||
// triangulate from a stereo with 10cm baseline, assuming canonical
|
||||
// calibration
|
||||
{ // smaller rankTol = 0.01 gives a valid point (compare with calibrated and
|
||||
// spherical cameras below)
|
||||
using namespace vanillaPose; // pinhole with Cal3_S2 calibration
|
||||
static Cal3_S2::shared_ptr canonicalK(new Cal3_S2(1.0,1.0,0.0,0.0,0.0)); //canonical camera
|
||||
static Cal3_S2::shared_ptr canonicalK(
|
||||
new Cal3_S2(1.0, 1.0, 0.0, 0.0, 0.0)); // canonical camera
|
||||
|
||||
Camera cam1(poseA, canonicalK);
|
||||
Camera cam2(poseB, canonicalK);
|
||||
|
|
@ -1484,7 +1505,8 @@ TEST( SmartProjectionFactorP, 2poses_rankTol ) {
|
|||
CameraSet<PinholePose<Cal3_S2>> cameraRig; // single camera in the rig
|
||||
cameraRig.push_back(PinholePose<Cal3_S2>(Pose3::identity(), canonicalK));
|
||||
|
||||
SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model,cameraRig,params));
|
||||
SmartRigFactor::shared_ptr smartFactor1(
|
||||
new SmartRigFactor(model, cameraRig, params));
|
||||
smartFactor1->add(cam1.project(landmarkL), x1);
|
||||
smartFactor1->add(cam2.project(landmarkL), x2);
|
||||
|
||||
|
|
@ -1508,8 +1530,11 @@ TEST( SmartProjectionFactorP, 2poses_sphericalCamera_rankTol ) {
|
|||
typedef SphericalCamera Camera;
|
||||
typedef SmartProjectionRigFactor<Camera> SmartRigFactor;
|
||||
static EmptyCal::shared_ptr emptyK;
|
||||
Pose3 poseA = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0.0,0.0,0.0)); // with z pointing along x axis of global frame
|
||||
Pose3 poseB = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0.0,-0.1,0.0)); // 10cm to the right of poseA
|
||||
Pose3 poseA = Pose3(
|
||||
Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
|
||||
Point3(0.0, 0.0, 0.0)); // with z pointing along x axis of global frame
|
||||
Pose3 poseB = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
|
||||
Point3(0.0, -0.1, 0.0)); // 10cm to the right of poseA
|
||||
Point3 landmarkL = Point3(5.0, 0.0, 0.0); // 5m in front of poseA
|
||||
|
||||
Camera cam1(poseA);
|
||||
|
|
@ -1519,13 +1544,15 @@ TEST( SmartProjectionFactorP, 2poses_sphericalCamera_rankTol ) {
|
|||
cameraRig.push_back(SphericalCamera(Pose3::identity(), emptyK));
|
||||
|
||||
// TRIANGULATION TEST WITH DEFAULT RANK TOL
|
||||
{// rankTol = 1 or 0.1 gives a degenerate point, which is undesirable for a point 5m away and 10cm baseline
|
||||
{ // rankTol = 1 or 0.1 gives a degenerate point, which is undesirable for a
|
||||
// point 5m away and 10cm baseline
|
||||
SmartProjectionParams params(
|
||||
gtsam::HESSIAN,
|
||||
gtsam::ZERO_ON_DEGENERACY); // only config that works with rig factors
|
||||
params.setRankTolerance(0.1);
|
||||
|
||||
SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model,cameraRig,params));
|
||||
SmartRigFactor::shared_ptr smartFactor1(
|
||||
new SmartRigFactor(model, cameraRig, params));
|
||||
smartFactor1->add(cam1.project(landmarkL), x1);
|
||||
smartFactor1->add(cam2.project(landmarkL), x2);
|
||||
|
||||
|
|
@ -1543,15 +1570,17 @@ TEST( SmartProjectionFactorP, 2poses_sphericalCamera_rankTol ) {
|
|||
}
|
||||
// SAME TEST WITH SMALLER RANK TOL
|
||||
{ // rankTol = 0.01 gives a valid point
|
||||
// By playing with this test, we can show we can triangulate also with a baseline of 5cm (even for points
|
||||
// far away, >100m), but the test fails when the baseline becomes 1cm. This suggests using
|
||||
// rankTol = 0.01 and setting a reasonable max landmark distance to obtain best results.
|
||||
// By playing with this test, we can show we can triangulate also with a
|
||||
// baseline of 5cm (even for points far away, >100m), but the test fails
|
||||
// when the baseline becomes 1cm. This suggests using rankTol = 0.01 and
|
||||
// setting a reasonable max landmark distance to obtain best results.
|
||||
SmartProjectionParams params(
|
||||
gtsam::HESSIAN,
|
||||
gtsam::ZERO_ON_DEGENERACY); // only config that works with rig factors
|
||||
params.setRankTolerance(0.01);
|
||||
|
||||
SmartRigFactor::shared_ptr smartFactor1(new SmartRigFactor(model,cameraRig,params));
|
||||
SmartRigFactor::shared_ptr smartFactor1(
|
||||
new SmartRigFactor(model, cameraRig, params));
|
||||
smartFactor1->add(cam1.project(landmarkL), x1);
|
||||
smartFactor1->add(cam2.project(landmarkL), x2);
|
||||
|
||||
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@ -1571,11 +1600,15 @@ TEST( SmartProjectionFactorP, 2poses_sphericalCamera_rankTol ) {
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}
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/* ************************************************************************* */
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//BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
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//BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
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//BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
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// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained,
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// "gtsam_noiseModel_Constrained");
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// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal,
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// "gtsam_noiseModel_Diagonal");
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// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian,
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// "gtsam_noiseModel_Gaussian");
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// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
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//BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
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// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,
|
||||
// "gtsam_noiseModel_Isotropic");
|
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// BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
|
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// BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
|
||||
//
|
||||
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|
@ -1585,7 +1618,8 @@ TEST( SmartProjectionFactorP, 2poses_sphericalCamera_rankTol ) {
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|||
// using namespace gtsam::serializationTestHelpers;
|
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// SmartProjectionParams params(
|
||||
// gtsam::HESSIAN,
|
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// gtsam::ZERO_ON_DEGENERACY); // only config that works with rig factors
|
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// gtsam::ZERO_ON_DEGENERACY); // only config that works with rig
|
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// factors
|
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// params.setRankTolerance(rankTol);
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//
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// CameraSet<PinholePose<Cal3_S2>> cameraRig; // single camera in the rig
|
||||
|
|
|
|||
|
|
@ -1359,18 +1359,21 @@ static EmptyCal::shared_ptr emptyK;
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|||
Camera cam1(interp_pose1, emptyK);
|
||||
Camera cam2(interp_pose2, emptyK);
|
||||
Camera cam3(interp_pose3, emptyK);
|
||||
}
|
||||
} // namespace sphericalCameraRS
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_sphericalCameras ) {
|
||||
|
||||
TEST(SmartProjectionPoseFactorRollingShutter,
|
||||
optimization_3poses_sphericalCameras) {
|
||||
using namespace sphericalCameraRS;
|
||||
std::vector<Unit3> measurements_lmk1, measurements_lmk2, measurements_lmk3;
|
||||
|
||||
// Project three landmarks into three cameras
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark1, measurements_lmk1);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark2, measurements_lmk2);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark3, measurements_lmk3);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark1,
|
||||
measurements_lmk1);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark2,
|
||||
measurements_lmk2);
|
||||
projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark3,
|
||||
measurements_lmk3);
|
||||
|
||||
// create inputs
|
||||
std::vector<std::pair<Key, Key>> key_pairs;
|
||||
|
|
@ -1418,20 +1421,22 @@ TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses_sphericalCame
|
|||
groundTruth.insert(x3, pose_above);
|
||||
DOUBLES_EQUAL(0, graph.error(groundTruth), 1e-9);
|
||||
|
||||
// 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/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, level_pose);
|
||||
values.insert(x2, pose_right);
|
||||
// initialize third pose with some noise, we expect it to move back to original pose_above
|
||||
// initialize third pose with some noise, we expect it to move back to
|
||||
// original pose_above
|
||||
values.insert(x3, pose_above * noise_pose);
|
||||
EXPECT( // check that the pose is actually noisy
|
||||
assert_equal(
|
||||
Pose3(
|
||||
Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598,
|
||||
-0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
|
||||
Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
|
||||
assert_equal(Pose3(Rot3(0, -0.0314107591, 0.99950656, -0.99950656,
|
||||
-0.0313952598, -0.000986635786, 0.0314107591,
|
||||
-0.999013364, -0.0313952598),
|
||||
Point3(0.1, -0.1, 1.9)),
|
||||
values.at<Pose3>(x3)));
|
||||
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, lmParams);
|
||||
|
|
|
|||
Loading…
Reference in New Issue