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fixed another test, few more to go

release/4.3a0
lcarlone 2021-07-23 15:39:13 -04:00
parent 1c3ff0580b
commit 934413522d
2 changed files with 86 additions and 159 deletions
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18
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
View File

@ -52,7 +52,7 @@ PinholePose<CALIBRATION> > {
std::vector<std::pair<Key, Key>> world_P_body_key_pairs_; std::vector<std::pair<Key, Key>> world_P_body_key_pairs_;
/// interpolation factor (one for each observation) to interpolate between pair of consecutive poses /// interpolation factor (one for each observation) to interpolate between pair of consecutive poses
std::vector<double> gammas_; std::vector<double> interp_param_;
/// Pose of the camera in the body frame /// Pose of the camera in the body frame
std::vector<Pose3> body_P_sensors_; ///< Pose of the camera in the body frame std::vector<Pose3> body_P_sensors_; ///< Pose of the camera in the body frame
@ -117,7 +117,7 @@ PinholePose<CALIBRATION> > {
this->keys_.push_back(world_P_body_key2); // add only unique keys this->keys_.push_back(world_P_body_key2); // add only unique keys
// store interpolation factors // store interpolation factors
gammas_.push_back(gamma); interp_param_.push_back(gamma);
// store fixed calibration // store fixed calibration
K_all_.push_back(K); K_all_.push_back(K);
@ -180,7 +180,7 @@ PinholePose<CALIBRATION> > {
/// return the interpolation factors gammas /// return the interpolation factors gammas
const std::vector<double> getGammas() const { const std::vector<double> getGammas() const {
return gammas_; return interp_param_;
} }
/// return the extrinsic camera calibration body_P_sensors /// return the extrinsic camera calibration body_P_sensors
@ -202,7 +202,7 @@ PinholePose<CALIBRATION> > {
<< keyFormatter(world_P_body_key_pairs_[i].first) << std::endl; << keyFormatter(world_P_body_key_pairs_[i].first) << std::endl;
std::cout << " pose2 key: " std::cout << " pose2 key: "
<< keyFormatter(world_P_body_key_pairs_[i].second) << std::endl; << keyFormatter(world_P_body_key_pairs_[i].second) << std::endl;
std::cout << " gamma: " << gammas_[i] << std::endl; std::cout << " gamma: " << interp_param_[i] << std::endl;
body_P_sensors_[i].print("extrinsic calibration:\n"); body_P_sensors_[i].print("extrinsic calibration:\n");
K_all_[i]->print("intrinsic calibration = "); K_all_[i]->print("intrinsic calibration = ");
} }
@ -237,7 +237,7 @@ PinholePose<CALIBRATION> > {
}else{ extrinsicCalibrationEqual = false; } }else{ extrinsicCalibrationEqual = false; }
return e && Base::equals(p, tol) && K_all_ == e->calibration() return e && Base::equals(p, tol) && K_all_ == e->calibration()
&& gammas_ == e->getGammas() && keyPairsEqual && extrinsicCalibrationEqual; && interp_param_ == e->getGammas() && keyPairsEqual && extrinsicCalibrationEqual;
} }
/** /**
@ -264,7 +264,7 @@ PinholePose<CALIBRATION> > {
for (size_t i = 0; i < numViews; i++) { // for each camera/measurement for (size_t i = 0; i < numViews; i++) { // for each camera/measurement
Pose3 w_P_body1 = values.at<Pose3>(world_P_body_key_pairs_[i].first); Pose3 w_P_body1 = values.at<Pose3>(world_P_body_key_pairs_[i].first);
Pose3 w_P_body2 = values.at<Pose3>(world_P_body_key_pairs_[i].second); Pose3 w_P_body2 = values.at<Pose3>(world_P_body_key_pairs_[i].second);
double interpolationFactor = gammas_[i]; double interpolationFactor = interp_param_[i];
// get interpolated pose: // get interpolated pose:
Pose3 w_P_body = interpolate<Pose3>(w_P_body1, w_P_body2,interpolationFactor, dInterpPose_dPoseBody1, dInterpPose_dPoseBody2); Pose3 w_P_body = interpolate<Pose3>(w_P_body1, w_P_body2,interpolationFactor, dInterpPose_dPoseBody1, dInterpPose_dPoseBody2);
Pose3 body_P_cam = body_P_sensors_[i]; Pose3 body_P_cam = body_P_sensors_[i];
@ -322,7 +322,7 @@ PinholePose<CALIBRATION> > {
// compute Jacobian given triangulated 3D Point // compute Jacobian given triangulated 3D Point
FBlocks Fs; FBlocks Fs;
Matrix F, E; Matrix E;
Vector b; Vector b;
this->computeJacobiansWithTriangulatedPoint(Fs, E, b, values); this->computeJacobiansWithTriangulatedPoint(Fs, E, b, values);
@ -369,7 +369,7 @@ PinholePose<CALIBRATION> > {
typename Base::Cameras cameras(const Values& values) const override { typename Base::Cameras cameras(const Values& values) const override {
size_t numViews = this->measured_.size(); size_t numViews = this->measured_.size();
assert(numViews == K_all_.size()); assert(numViews == K_all_.size());
assert(numViews == gammas_.size()); assert(numViews == interp_param_.size());
assert(numViews == body_P_sensors_.size()); assert(numViews == body_P_sensors_.size());
assert(numViews == world_P_body_key_pairs_.size()); assert(numViews == world_P_body_key_pairs_.size());
@ -377,7 +377,7 @@ PinholePose<CALIBRATION> > {
for (size_t i = 0; i < numViews; i++) { // for each measurement for (size_t i = 0; i < numViews; i++) { // for each measurement
Pose3 w_P_body1 = values.at<Pose3>(world_P_body_key_pairs_[i].first); Pose3 w_P_body1 = values.at<Pose3>(world_P_body_key_pairs_[i].first);
Pose3 w_P_body2 = values.at<Pose3>(world_P_body_key_pairs_[i].second); Pose3 w_P_body2 = values.at<Pose3>(world_P_body_key_pairs_[i].second);
double interpolationFactor = gammas_[i]; double interpolationFactor = interp_param_[i];
Pose3 w_P_body = interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor); Pose3 w_P_body = interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor);
Pose3 body_P_cam = body_P_sensors_[i]; Pose3 body_P_cam = body_P_sensors_[i];
Pose3 w_P_cam = w_P_body.compose(body_P_cam); Pose3 w_P_cam = w_P_body.compose(body_P_cam);

227
gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
View File

@ -298,8 +298,7 @@ TEST( SmartProjectionPoseFactorRollingShutter, noisyErrorAndJacobians ) {
} }
/* *************************************************************************/ /* *************************************************************************/
TEST( SmartProjectionPoseFactorRollingShutter, 3poses_smart_projection_factor ) { TEST( SmartProjectionPoseFactorRollingShutter, optimization_3poses ) {
std::cout << "===================" << std::endl;
using namespace vanillaPoseRS; using namespace vanillaPoseRS;
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3; Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
@ -365,173 +364,101 @@ TEST( SmartProjectionPoseFactorRollingShutter, 3poses_smart_projection_factor )
EXPECT(assert_equal(pose_above, result.at<Pose3>(x3), 1e-6)); EXPECT(assert_equal(pose_above, result.at<Pose3>(x3), 1e-6));
} }
/* ************************************************************************* /* *************************************************************************/
TEST( SmartProjectionPoseFactorRollingShutter, Factors ) { TEST( SmartProjectionPoseFactorRollingShutter, hessian_simple_2poses ) {
// here we replicate a test in SmartProjectionPoseFactor by setting interpolation
// factors to 0 and 1 (such that the rollingShutter measurements falls back to standard pixel measurements)
// Note: this is a quite extreme test since in typical camera you would not have more than
// 1 measurement per landmark at each interpolated pose
using namespace vanillaPose;
using namespace vanillaPose; // Default cameras for simple derivatives
static Cal3_S2::shared_ptr sharedKSimple(new Cal3_S2(100, 100, 0, 0, 0));
// Default cameras for simple derivatives Rot3 R = Rot3::identity();
Rot3 R; Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
static Cal3_S2::shared_ptr sharedK(new Cal3_S2(100, 100, 0, 0, 0)); Pose3 pose2 = Pose3(R, Point3(1, 0, 0));
Camera cam1(Pose3(R, Point3(0, 0, 0)), sharedK), cam2( Camera cam1(pose1, sharedKSimple), cam2(pose2, sharedKSimple);
Pose3(R, Point3(1, 0, 0)), sharedK); Pose3 body_P_sensorId = Pose3::identity();
// one landmarks 1m in front of camera // one landmarks 1m in front of camera
Point3 landmark1(0, 0, 10); Point3 landmark1(0, 0, 10);
Point2Vector measurements_cam1; Point2Vector measurements_cam1;
// Project 2 landmarks into 2 cameras // Project 2 landmarks into 2 cameras
measurements_cam1.push_back(cam1.project(landmark1)); measurements_cam1.push_back(cam1.project(landmark1));
measurements_cam1.push_back(cam2.project(landmark1)); measurements_cam1.push_back(cam2.project(landmark1));
// Create smart factors SmartFactorRS::shared_ptr smartFactor1(new SmartFactorRS(model));
KeyVector views {x1, x2}; double interp_factor = 0; // equivalent to measurement taken at pose 1
smartFactor1->add(measurements_cam1[0], x1, x2, interp_factor, sharedKSimple,
body_P_sensorId);
interp_factor = 1; // equivalent to measurement taken at pose 2
smartFactor1->add(measurements_cam1[1], x1, x2, interp_factor, sharedKSimple,
body_P_sensorId);
SmartFactor::shared_ptr smartFactor1 = boost::make_shared<SmartFactor>(model, sharedK); SmartFactor::Cameras cameras;
smartFactor1->add(measurements_cam1, views); cameras.push_back(cam1);
cameras.push_back(cam2);
SmartFactor::Cameras cameras; // Make sure triangulation works
cameras.push_back(cam1); CHECK(smartFactor1->triangulateSafe(cameras));
cameras.push_back(cam2); CHECK(!smartFactor1->isDegenerate());
CHECK(!smartFactor1->isPointBehindCamera());
boost::optional<Point3> p = smartFactor1->point();
CHECK(p);
EXPECT(assert_equal(landmark1, *p));
// Make sure triangulation works VectorValues zeroDelta;
CHECK(smartFactor1->triangulateSafe(cameras)); Vector6 delta;
CHECK(!smartFactor1->isDegenerate()); delta.setZero();
CHECK(!smartFactor1->isPointBehindCamera()); zeroDelta.insert(x1, delta);
boost::optional<Point3> p = smartFactor1->point(); zeroDelta.insert(x2, delta);
CHECK(p);
EXPECT(assert_equal(landmark1, *p));
VectorValues zeroDelta; VectorValues perturbedDelta;
Vector6 delta; delta.setOnes();
delta.setZero(); perturbedDelta.insert(x1, delta);
zeroDelta.insert(x1, delta); perturbedDelta.insert(x2, delta);
zeroDelta.insert(x2, delta); double expectedError = 2500;
VectorValues perturbedDelta; // After eliminating the point, A1 and A2 contain 2-rank information on cameras:
delta.setOnes(); Matrix16 A1, A2;
perturbedDelta.insert(x1, delta); A1 << -10, 0, 0, 0, 1, 0;
perturbedDelta.insert(x2, delta); A2 << 10, 0, 1, 0, -1, 0;
double expectedError = 2500; A1 *= 10. / sigma;
A2 *= 10. / sigma;
Matrix expectedInformation; // filled below
// After eliminating the point, A1 and A2 contain 2-rank information on cameras: // createHessianFactor
Matrix16 A1, A2; Matrix66 G11 = 0.5 * A1.transpose() * A1;
A1 << -10, 0, 0, 0, 1, 0; Matrix66 G12 = 0.5 * A1.transpose() * A2;
A2 << 10, 0, 1, 0, -1, 0; Matrix66 G22 = 0.5 * A2.transpose() * A2;
A1 *= 10. / sigma;
A2 *= 10. / sigma;
Matrix expectedInformation; // filled below
{
// createHessianFactor
Matrix66 G11 = 0.5 * A1.transpose() * A1;
Matrix66 G12 = 0.5 * A1.transpose() * A2;
Matrix66 G22 = 0.5 * A2.transpose() * A2;
Vector6 g1; Vector6 g1;
g1.setZero(); g1.setZero();
Vector6 g2; Vector6 g2;
g2.setZero(); g2.setZero();
double f = 0; double f = 0;
RegularHessianFactor<6> expected(x1, x2, G11, G12, g1, G22, g2, f); RegularHessianFactor<6> expected(x1, x2, G11, G12, g1, G22, g2, f);
expectedInformation = expected.information(); expectedInformation = expected.information();
boost::shared_ptr<RegularHessianFactor<6> > actual = Values values;
smartFactor1->createHessianFactor(cameras, 0.0); values.insert(x1, pose1);
EXPECT(assert_equal(expectedInformation, actual->information(), 1e-6)); values.insert(x2, pose2);
EXPECT(assert_equal(expected, *actual, 1e-6)); boost::shared_ptr < RegularHessianFactor<6> > actual = smartFactor1
EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-6); ->createHessianFactor(values);
EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6); EXPECT(assert_equal(expectedInformation, actual->information(), 1e-6));
} EXPECT(assert_equal(expected, *actual, 1e-6));
EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-6);
{ EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6);
Matrix26 F1; }
F1.setZero();
F1(0, 1) = -100;
F1(0, 3) = -10;
F1(1, 0) = 100;
F1(1, 4) = -10;
Matrix26 F2;
F2.setZero();
F2(0, 1) = -101;
F2(0, 3) = -10;
F2(0, 5) = -1;
F2(1, 0) = 100;
F2(1, 2) = 10;
F2(1, 4) = -10;
Matrix E(4, 3);
E.setZero();
E(0, 0) = 10;
E(1, 1) = 10;
E(2, 0) = 10;
E(2, 2) = 1;
E(3, 1) = 10;
SmartFactor::FBlocks Fs = list_of<Matrix>(F1)(F2);
Vector b(4);
b.setZero();
// Create smart factors
KeyVector keys;
keys.push_back(x1);
keys.push_back(x2);
// createJacobianQFactor
SharedIsotropic n = noiseModel::Isotropic::Sigma(4, sigma);
Matrix3 P = (E.transpose() * E).inverse();
JacobianFactorQ<6, 2> expectedQ(keys, Fs, E, P, b, n);
EXPECT(assert_equal(expectedInformation, expectedQ.information(), 1e-6));
boost::shared_ptr<JacobianFactorQ<6, 2> > actualQ =
smartFactor1->createJacobianQFactor(cameras, 0.0);
CHECK(actualQ);
EXPECT(assert_equal(expectedInformation, actualQ->information(), 1e-6));
EXPECT(assert_equal(expectedQ, *actualQ));
EXPECT_DOUBLES_EQUAL(0, actualQ->error(zeroDelta), 1e-6);
EXPECT_DOUBLES_EQUAL(expectedError, actualQ->error(perturbedDelta), 1e-6);
// Whiten for RegularImplicitSchurFactor (does not have noise model)
model->WhitenSystem(E, b);
Matrix3 whiteP = (E.transpose() * E).inverse();
Fs[0] = model->Whiten(Fs[0]);
Fs[1] = model->Whiten(Fs[1]);
// createRegularImplicitSchurFactor
RegularImplicitSchurFactor<Camera> expected(keys, Fs, E, whiteP, b);
boost::shared_ptr<RegularImplicitSchurFactor<Camera> > actual =
smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0);
CHECK(actual);
EXPECT(assert_equal(expectedInformation, expected.information(), 1e-6));
EXPECT(assert_equal(expectedInformation, actual->information(), 1e-6));
EXPECT(assert_equal(expected, *actual));
EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-6);
EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6);
}
{
// createJacobianSVDFactor
Vector1 b;
b.setZero();
double s = sigma * sin(M_PI_4);
SharedIsotropic n = noiseModel::Isotropic::Sigma(4 - 3, sigma);
JacobianFactor expected(x1, s * A1, x2, s * A2, b, n);
EXPECT(assert_equal(expectedInformation, expected.information(), 1e-6));
boost::shared_ptr<JacobianFactor> actual =
smartFactor1->createJacobianSVDFactor(cameras, 0.0);
CHECK(actual);
EXPECT(assert_equal(expectedInformation, actual->information(), 1e-6));
EXPECT(assert_equal(expected, *actual));
EXPECT_DOUBLES_EQUAL(0, actual->error(zeroDelta), 1e-6);
EXPECT_DOUBLES_EQUAL(expectedError, actual->error(perturbedDelta), 1e-6);
}
}
/* ************************************************************************* /* *************************************************************************
TEST( SmartProjectionPoseFactorRollingShutter, 3poses_iterative_smart_projection_factor ) { TEST( SmartProjectionPoseFactorRollingShutter, 3poses_iterative_smart_projection_factor ) {
std::cout << "===================" << std::endl;
using namespace vanillaPose; using namespace vanillaPose;
KeyVector views {x1, x2, x3}; KeyVector views {x1, x2, x3};