Added an optional SensorToBody transformation to the GenericProjectionFactor. This allows the cameras to be rotated and/or translated from the main robot/vehicle frame.
Stephen Williams
parent
98b4da1d95
commit
936081a05d
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@ -22,6 +22,7 @@
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/geometry/SimpleCamera.h>
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#include <boost/optional.hpp>
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namespace gtsam {
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@ -37,6 +38,7 @@ namespace gtsam {
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// Keep a copy of measurement and calibration for I/O
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Point2 measured_; ///< 2D measurement
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boost::shared_ptr<CALIBRATION> K_; ///< shared pointer to calibration object
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boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
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public:
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@ -63,8 +65,9 @@ namespace gtsam {
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* @param K shared pointer to the constant calibration
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*/
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GenericProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
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Key poseKey, Key pointKey, const boost::shared_ptr<CALIBRATION>& K) :
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Base(model, poseKey, pointKey), measured_(measured), K_(K) {
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Key poseKey, Key pointKey, const boost::shared_ptr<CALIBRATION>& K,
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boost::optional<POSE> body_P_sensor = boost::none) :
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Base(model, poseKey, pointKey), measured_(measured), K_(K), body_P_sensor_(body_P_sensor) {
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}
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/** Virtual destructor */
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@ -83,22 +86,42 @@ namespace gtsam {
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void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
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std::cout << s << "GenericProjectionFactor, z = ";
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measured_.print();
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if(this->body_P_sensor_)
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this->body_P_sensor_->print(" sensor pose in body frame: ");
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Base::print("", keyFormatter);
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}
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/// equals
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virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const {
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const This *e = dynamic_cast<const This*>(&p);
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return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol);
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return e
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&& Base::equals(p, tol)
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&& this->measured_.equals(e->measured_, tol)
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&& this->K_->equals(*e->K_, tol)
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&& ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_)));
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}
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/// Evaluate error h(x)-z and optionally derivatives
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Vector evaluateError(const Pose3& pose, const Point3& point,
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boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
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try {
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PinholeCamera<CALIBRATION> camera(pose, *K_);
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Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
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return reprojectionError.vector();
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if(body_P_sensor_) {
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if(H1) {
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gtsam::Matrix H0;
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PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_, H0), *K_);
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Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
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*H1 = *H1 * H0;
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return reprojectionError.vector();
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} else {
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PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_), *K_);
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Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
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return reprojectionError.vector();
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}
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} else {
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PinholeCamera<CALIBRATION> camera(pose, *K_);
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Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
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return reprojectionError.vector();
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}
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} catch( CheiralityException& e) {
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if (H1) *H1 = zeros(2,6);
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if (H2) *H2 = zeros(2,3);
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@ -127,6 +150,7 @@ namespace gtsam {
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
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ar & BOOST_SERIALIZATION_NVP(measured_);
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ar & BOOST_SERIALIZATION_NVP(K_);
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ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
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}
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};
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} // \ namespace gtsam
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@ -17,104 +17,174 @@
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*/
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/geometry/Cal3DS2.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Point2.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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// make cube
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static Point3
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x000(-1, -1, -1), x001(-1, -1, +1), x010(-1, +1, -1), x011(-1, +1, +1),
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x100(-1, -1, -1), x101(-1, -1, +1), x110(-1, +1, -1), x111(-1, +1, +1);
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// make a realistic calibration matrix
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static double fov = 60; // degrees
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static size_t w=640,h=480;
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static Cal3_S2 K(fov,w,h);
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static Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h));
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static SharedNoiseModel sigma(noiseModel::Unit::Create(2));
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static shared_ptrK sK(new Cal3_S2(K));
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// Create a noise model for the pixel error
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static SharedNoiseModel model(noiseModel::Unit::Create(2));
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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typedef GenericProjectionFactor<Pose3, Point3> MyProjectionFactor;
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typedef GenericProjectionFactor<Pose3, Point3> TestProjectionFactor;
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/* ************************************************************************* */
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TEST( ProjectionFactor, nonStandard )
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{
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TEST( ProjectionFactor, nonStandard ) {
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GenericProjectionFactor<Pose3, Point3, Cal3DS2> f;
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, error )
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{
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// Create the factor with a measurement that is 3 pixels off in x
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Point2 z(323.,240.);
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int i=1, j=1;
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boost::shared_ptr<MyProjectionFactor>
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factor(new MyProjectionFactor(z, sigma, X(i), L(j), sK));
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TEST( ProjectionFactor, Constructor) {
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Key poseKey(X(1));
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Key pointKey(L(1));
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// For the following values structure, the factor predicts 320,240
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Values config;
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Rot3 R;Point3 t1(0,0,-6); Pose3 x1(R,t1); config.insert(X(1), x1);
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Point3 l1; config.insert(L(1), l1);
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// Point should project to Point2(320.,240.)
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CHECK(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(config)));
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Point2 measurement(323.0, 240.0);
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// Which yields an error of 3^2/2 = 4.5
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DOUBLES_EQUAL(4.5,factor->error(config),1e-9);
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// Check linearize
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Ordering ordering; ordering += X(1),L(1);
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Matrix Ax1 = Matrix_(2, 6, 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.);
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Matrix Al1 = Matrix_(2, 3, 92.376, 0., 0., 0., 92.376, 0.);
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Vector b = Vector_(2,3.,0.);
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SharedDiagonal probModel1 = noiseModel::Unit::Create(2);
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JacobianFactor expected(ordering[X(1)], Ax1, ordering[L(1)], Al1, b, probModel1);
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JacobianFactor::shared_ptr actual =
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boost::dynamic_pointer_cast<JacobianFactor>(factor->linearize(config, ordering));
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CHECK(assert_equal(expected,*actual,1e-3));
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// linearize graph
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NonlinearFactorGraph graph;
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graph.push_back(factor);
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FactorGraph<GaussianFactor> expected_lfg;
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expected_lfg.push_back(actual);
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boost::shared_ptr<FactorGraph<GaussianFactor> > actual_lfg = graph.linearize(config, ordering);
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CHECK(assert_equal(expected_lfg,*actual_lfg));
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// expmap on a config
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Values expected_config;
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Point3 t2(1,1,-5); Pose3 x2(R,t2); expected_config.insert(X(1), x2);
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Point3 l2(1,2,3); expected_config.insert(L(1), l2);
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VectorValues delta(expected_config.dims(ordering));
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delta[ordering[X(1)]] = Vector_(6, 0.,0.,0., 1.,1.,1.);
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delta[ordering[L(1)]] = Vector_(3, 1.,2.,3.);
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Values actual_config = config.retract(delta, ordering);
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CHECK(assert_equal(expected_config,actual_config,1e-9));
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TestProjectionFactor factor(measurement, model, poseKey, pointKey, K);
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, equals )
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{
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TEST( ProjectionFactor, ConstructorWithTransform) {
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Key poseKey(X(1));
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Key pointKey(L(1));
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Point2 measurement(323.0, 240.0);
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Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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TestProjectionFactor factor(measurement, model, poseKey, pointKey, K, body_P_sensor);
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, Equals ) {
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// Create two identical factors and make sure they're equal
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Vector z = Vector_(2,323.,240.);
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int i=1, j=1;
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boost::shared_ptr<MyProjectionFactor>
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factor1(new MyProjectionFactor(z, sigma, X(i), L(j), sK));
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Point2 measurement(323.0, 240.0);
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boost::shared_ptr<MyProjectionFactor>
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factor2(new MyProjectionFactor(z, sigma, X(i), L(j), sK));
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TestProjectionFactor factor1(measurement, model, X(1), L(1), K);
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TestProjectionFactor factor2(measurement, model, X(1), L(1), K);
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CHECK(assert_equal(*factor1, *factor2));
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CHECK(assert_equal(factor1, factor2));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, EqualsWithTransform ) {
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// Create two identical factors and make sure they're equal
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Point2 measurement(323.0, 240.0);
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Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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TestProjectionFactor factor1(measurement, model, X(1), L(1), K, body_P_sensor);
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TestProjectionFactor factor2(measurement, model, X(1), L(1), K, body_P_sensor);
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CHECK(assert_equal(factor1, factor2));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, Error ) {
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// Create the factor with a measurement that is 3 pixels off in x
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Key poseKey(X(1));
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Key pointKey(L(1));
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Point2 measurement(323.0, 240.0);
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TestProjectionFactor factor(measurement, model, poseKey, pointKey, K);
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// Set the linearization point
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Pose3 pose(Rot3(), Point3(0,0,-6));
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Point3 point(0.0, 0.0, 0.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose, point));
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// The expected error is (-3.0, 0.0) pixels / UnitCovariance
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Vector expectedError = Vector_(2, -3.0, 0.0);
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, ErrorWithTransform ) {
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// Create the factor with a measurement that is 3 pixels off in x
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Key poseKey(X(1));
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Key pointKey(L(1));
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Point2 measurement(323.0, 240.0);
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Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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TestProjectionFactor factor(measurement, model, poseKey, pointKey, K, body_P_sensor);
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// Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
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Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
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Point3 point(0.0, 0.0, 0.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose, point));
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// The expected error is (-3.0, 0.0) pixels / UnitCovariance
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Vector expectedError = Vector_(2, -3.0, 0.0);
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, Jacobian ) {
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// Create the factor with a measurement that is 3 pixels off in x
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Key poseKey(X(1));
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Key pointKey(L(1));
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Point2 measurement(323.0, 240.0);
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TestProjectionFactor factor(measurement, model, poseKey, pointKey, K);
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// Set the linearization point
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Pose3 pose(Rot3(), Point3(0,0,-6));
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Point3 point(0.0, 0.0, 0.0);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual;
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factor.evaluateError(pose, point, H1Actual, H2Actual);
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// The expected Jacobians
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Matrix H1Expected = Matrix_(2, 6, 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.);
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Matrix H2Expected = Matrix_(2, 3, 92.376, 0., 0., 0., 92.376, 0.);
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// Verify the Jacobians are correct
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CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-3));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactor, JacobianWithTransform ) {
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// Create the factor with a measurement that is 3 pixels off in x
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Key poseKey(X(1));
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Key pointKey(L(1));
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Point2 measurement(323.0, 240.0);
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Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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TestProjectionFactor factor(measurement, model, poseKey, pointKey, K, body_P_sensor);
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// Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
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Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
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Point3 point(0.0, 0.0, 0.0);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual;
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factor.evaluateError(pose, point, H1Actual, H2Actual);
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// The expected Jacobians
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Matrix H1Expected = Matrix_(2, 6, -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376);
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Matrix H2Expected = Matrix_(2, 3, 0., -92.376, 0., 0., 0., -92.376);
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// Verify the Jacobians are correct
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CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-3));
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}
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/* ************************************************************************* */
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