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Merge pull request #389 from jingwuOUO/fix/g2o 

Fix/g2o
release/4.3a0
Varun Agrawal 2020-07-10 05:41:46 -04:00 committed by GitHub
parent f280aec428 a484c910ab
commit 93b9d32ff9
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 124 additions and 97 deletions
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6
examples/Data/Klaus3.g2o Normal file
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@ -0,0 +1,6 @@
VERTEX_SE3:QUAT 0 -3.865747774038187 0.06639337702667497 -0.16064874691945374 0.024595211709139555 0.49179523413089893 -0.06279232989379242 0.8680954132776109
VERTEX_SE3:QUAT 1 -3.614793159814815 0.04774490041587656 -0.2837650367985949 0.00991721787943912 0.4854918961891193 -0.042343290945895576 0.8731588132957809
VERTEX_SE3:QUAT 2 -3.255096913553434 0.013296754286114112 -0.5339792269680574 -0.027851108010665374 0.585478168397957 -0.05088341463532465 0.8086102325762403
EDGE_SE3:QUAT 0 1 0.2509546142233723 -0.01864847661079841 -0.12311628987914114 -0.022048798853273946 -0.01796327847857683 0.010210006313668573 0.9995433591728293 100.0 0.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 25.0 0.0 0.0 25.0 0.0 25.0
EDGE_SE3:QUAT 0 2 0.6106508604847534 -0.05309662274056086 -0.3733304800486037 -0.054972994022992064 0.10432547598981769 -0.02221474884651081 0.9927742290779572 100.0 0.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 25.0 0.0 0.0 25.0 0.0 25.0
EDGE_SE3:QUAT 1 2 0.3596962462613811 -0.03444814612976245 -0.25021419016946256 -0.03174661848656213 0.11646825423134777 -0.02951742735854383 0.9922479626852876 100.0 0.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 25.0 0.0 0.0 25.0 0.0 25.0

11
examples/Data/toyExample.g2o Executable file
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@ -0,0 +1,11 @@
VERTEX_SE3:QUAT 0 0 0 0 0 0 0 1
VERTEX_SE3:QUAT 1 0 0 0 0 0 0 1
VERTEX_SE3:QUAT 2 0 0 0 0.00499994 0.00499994 0.00499994 0.999963
VERTEX_SE3:QUAT 3 0 0 0 -0.00499994 -0.00499994 -0.00499994 0.999963
VERTEX_SE3:QUAT 4 0 0 0 0.00499994 0.00499994 0.00499994 0.999963
EDGE_SE3:QUAT 1 2 1 2 0 0 0 0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
EDGE_SE3:QUAT 2 3 -3.26795e-07 1 0 0 0 0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
EDGE_SE3:QUAT 3 4 1 1 0 0 0 0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
EDGE_SE3:QUAT 3 1 6.9282e-07 2 0 0 0 1 1.73205e-07 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
EDGE_SE3:QUAT 1 4 -1 1 0 0 0 -0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
EDGE_SE3:QUAT 0 1 0 0 0 0 0 0 1 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100

35
gtsam/slam/dataset.cpp
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@ -442,11 +442,11 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
auto p = dynamic_cast<const GenericValue<Pose3>*>(&key_value.value); auto p = dynamic_cast<const GenericValue<Pose3>*>(&key_value.value);
if (!p) continue; if (!p) continue;
const Pose3& pose = p->value(); const Pose3& pose = p->value();
Point3 t = pose.translation(); const Point3 t = pose.translation();
Rot3 R = pose.rotation(); const auto q = pose.rotation().toQuaternion();
stream << "VERTEX_SE3:QUAT " << key_value.key << " " << t.x() << " " << t.y() << " " << t.z() stream << "VERTEX_SE3:QUAT " << key_value.key << " " << t.x() << " "
<< " " << R.toQuaternion().x() << " " << R.toQuaternion().y() << " " << R.toQuaternion().z() << t.y() << " " << t.z() << " " << q.x() << " " << q.y() << " "
<< " " << R.toQuaternion().w() << endl; << q.z() << " " << q.w() << endl;
} }
// save edges (2D or 3D) // save edges (2D or 3D)
@ -486,13 +486,12 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
throw invalid_argument("writeG2o: invalid noise model!"); throw invalid_argument("writeG2o: invalid noise model!");
} }
Matrix Info = gaussianModel->R().transpose() * gaussianModel->R(); Matrix Info = gaussianModel->R().transpose() * gaussianModel->R();
Pose3 pose3D = factor3D->measured(); const Pose3 pose3D = factor3D->measured();
Point3 p = pose3D.translation(); const Point3 p = pose3D.translation();
Rot3 R = pose3D.rotation(); const auto q = pose3D.rotation().toQuaternion();
stream << "EDGE_SE3:QUAT " << factor3D->key1() << " " << factor3D->key2()
stream << "EDGE_SE3:QUAT " << factor3D->key1() << " " << factor3D->key2() << " " << " " << p.x() << " " << p.y() << " " << p.z() << " " << q.x()
<< p.x() << " " << p.y() << " " << p.z() << " " << R.toQuaternion().x() << " " << q.y() << " " << q.z() << " " << q.w();
<< " " << R.toQuaternion().y() << " " << R.toQuaternion().z() << " " << R.toQuaternion().w();
Matrix InfoG2o = I_6x6; Matrix InfoG2o = I_6x6;
InfoG2o.block(0,0,3,3) = Info.block(3,3,3,3); // cov translation InfoG2o.block(0,0,3,3) = Info.block(3,3,3,3); // cov translation
@ -511,6 +510,11 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
stream.close(); stream.close();
} }
/* ************************************************************************* */
static Rot3 NormalizedRot3(double w, double x, double y, double z) {
const double norm = sqrt(w * w + x * x + y * y + z * z), f = 1.0 / norm;
return Rot3::Quaternion(f * w, f * x, f * y, f * z);
}
/* ************************************************************************* */ /* ************************************************************************* */
std::map<Key, Pose3> parse3DPoses(const string& filename) { std::map<Key, Pose3> parse3DPoses(const string& filename) {
ifstream is(filename.c_str()); ifstream is(filename.c_str());
@ -535,14 +539,15 @@ std::map<Key, Pose3> parse3DPoses(const string& filename) {
Key id; Key id;
double x, y, z, qx, qy, qz, qw; double x, y, z, qx, qy, qz, qw;
ls >> id >> x >> y >> z >> qx >> qy >> qz >> qw; ls >> id >> x >> y >> z >> qx >> qy >> qz >> qw;
poses.emplace(id, Pose3(Rot3::Quaternion(qw, qx, qy, qz), {x, y, z})); poses.emplace(id, Pose3(NormalizedRot3(qw, qx, qy, qz), {x, y, z}));
} }
} }
return poses; return poses;
} }
/* ************************************************************************* */ /* ************************************************************************* */
BetweenFactorPose3s parse3DFactors(const string& filename, BetweenFactorPose3s parse3DFactors(
const string& filename,
const noiseModel::Diagonal::shared_ptr& corruptingNoise) { const noiseModel::Diagonal::shared_ptr& corruptingNoise) {
ifstream is(filename.c_str()); ifstream is(filename.c_str());
if (!is) throw invalid_argument("parse3DFactors: can not find file " + filename); if (!is) throw invalid_argument("parse3DFactors: can not find file " + filename);
@ -592,7 +597,7 @@ BetweenFactorPose3s parse3DFactors(const string& filename,
mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(3, 0); // off diagonal mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(3, 0); // off diagonal
SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam); SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);
auto R12 = Rot3::Quaternion(qw, qx, qy, qz); auto R12 = NormalizedRot3(qw, qx, qy, qz);
if (sampler) { if (sampler) {
R12 = R12.retract(sampler->sample()); R12 = R12.retract(sampler->sample());
} }

169
gtsam/slam/tests/testDataset.cpp
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@ -122,45 +122,6 @@ TEST( dataSet, Balbianello)
EXPECT(assert_equal(expected,actual,1)); EXPECT(assert_equal(expected,actual,1));
} }
/* ************************************************************************* */
TEST( dataSet, readG2o)
{
const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile);
Values expectedValues;
expectedValues.insert(0, Pose2(0.000000, 0.000000, 0.000000));
expectedValues.insert(1, Pose2(1.030390, 0.011350, -0.081596));
expectedValues.insert(2, Pose2(2.036137, -0.129733, -0.301887));
expectedValues.insert(3, Pose2(3.015097, -0.442395, -0.345514));
expectedValues.insert(4, Pose2(3.343949, 0.506678, 1.214715));
expectedValues.insert(5, Pose2(3.684491, 1.464049, 1.183785));
expectedValues.insert(6, Pose2(4.064626, 2.414783, 1.176333));
expectedValues.insert(7, Pose2(4.429778, 3.300180, 1.259169));
expectedValues.insert(8, Pose2(4.128877, 2.321481, -1.825391));
expectedValues.insert(9, Pose2(3.884653, 1.327509, -1.953016));
expectedValues.insert(10, Pose2(3.531067, 0.388263, -2.148934));
EXPECT(assert_equal(expectedValues,*actualValues,1e-5));
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Precisions(Vector3(44.721360, 44.721360, 30.901699));
NonlinearFactorGraph expectedGraph;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(0, 1, Pose2(1.030390, 0.011350, -0.081596), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(1, 2, Pose2(1.013900, -0.058639, -0.220291), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(2, 3, Pose2(1.027650, -0.007456, -0.043627), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(4, 5, Pose2(1.016030, 0.014565, -0.030930), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 6, Pose2(1.023890, 0.006808, -0.007452), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(6, 7, Pose2(0.957734, 0.003159, 0.082836), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(8, 9, Pose2(1.023440, 0.013984, -0.127624), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(9,10, Pose2(1.003350, 0.022250, -0.195918), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3,10, Pose2(0.044020, 0.988477, -1.553511), model);
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST(dataSet, readG2o3D) { TEST(dataSet, readG2o3D) {
const string g2oFile = findExampleDataFile("pose3example"); const string g2oFile = findExampleDataFile("pose3example");
@ -273,59 +234,103 @@ TEST( dataSet, readG2o3DNonDiagonalNoise)
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( dataSet, readG2oHuber) TEST(dataSet, readG2oCheckDeterminants) {
{ const string g2oFile = findExampleDataFile("toyExample.g2o");
const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
bool is3D = false;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D, KernelFunctionTypeHUBER);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions(Vector3(44.721360, 44.721360, 30.901699)); // Check determinants in factors
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.345), baseModel); auto factors = parse3DFactors(g2oFile);
EXPECT_LONGS_EQUAL(6, factors.size());
for (const auto& factor : factors) {
const Rot3 R = factor->measured().rotation();
EXPECT_DOUBLES_EQUAL(1.0, R.matrix().determinant(), 1e-9);
}
NonlinearFactorGraph expectedGraph; // Check determinants in initial values
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(0, 1, Pose2(1.030390, 0.011350, -0.081596), model); const map<Key, Pose3> poses = parse3DPoses(g2oFile);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(1, 2, Pose2(1.013900, -0.058639, -0.220291), model); EXPECT_LONGS_EQUAL(5, poses.size());
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(2, 3, Pose2(1.027650, -0.007456, -0.043627), model); for (const auto& key_value : poses) {
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model); const Rot3 R = key_value.second.rotation();
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(4, 5, Pose2(1.016030, 0.014565, -0.030930), model); EXPECT_DOUBLES_EQUAL(1.0, R.matrix().determinant(), 1e-9);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 6, Pose2(1.023890, 0.006808, -0.007452), model); }
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(6, 7, Pose2(0.957734, 0.003159, 0.082836), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(8, 9, Pose2(1.023440, 0.013984, -0.127624), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(9,10, Pose2(1.003350, 0.022250, -0.195918), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3,10, Pose2(0.044020, 0.988477, -1.553511), model);
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( dataSet, readG2oTukey) static NonlinearFactorGraph expectedGraph(const SharedNoiseModel& model) {
{ NonlinearFactorGraph g;
using Factor = BetweenFactor<Pose2>;
g.emplace_shared<Factor>(0, 1, Pose2(1.030390, 0.011350, -0.081596), model);
g.emplace_shared<Factor>(1, 2, Pose2(1.013900, -0.058639, -0.220291), model);
g.emplace_shared<Factor>(2, 3, Pose2(1.027650, -0.007456, -0.043627), model);
g.emplace_shared<Factor>(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model);
g.emplace_shared<Factor>(4, 5, Pose2(1.016030, 0.014565, -0.030930), model);
g.emplace_shared<Factor>(5, 6, Pose2(1.023890, 0.006808, -0.007452), model);
g.emplace_shared<Factor>(6, 7, Pose2(0.957734, 0.003159, 0.082836), model);
g.emplace_shared<Factor>(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model);
g.emplace_shared<Factor>(8, 9, Pose2(1.023440, 0.013984, -0.127624), model);
g.emplace_shared<Factor>(9, 10, Pose2(1.003350, 0.022250, -0.195918), model);
g.emplace_shared<Factor>(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
g.emplace_shared<Factor>(3, 10, Pose2(0.044020, 0.988477, -1.553511), model);
return g;
}
/* ************************************************************************* */
TEST(dataSet, readG2o) {
const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile);
auto model = noiseModel::Diagonal::Precisions(
Vector3(44.721360, 44.721360, 30.901699));
EXPECT(assert_equal(expectedGraph(model), *actualGraph, 1e-5));
Values expectedValues;
expectedValues.insert(0, Pose2(0.000000, 0.000000, 0.000000));
expectedValues.insert(1, Pose2(1.030390, 0.011350, -0.081596));
expectedValues.insert(2, Pose2(2.036137, -0.129733, -0.301887));
expectedValues.insert(3, Pose2(3.015097, -0.442395, -0.345514));
expectedValues.insert(4, Pose2(3.343949, 0.506678, 1.214715));
expectedValues.insert(5, Pose2(3.684491, 1.464049, 1.183785));
expectedValues.insert(6, Pose2(4.064626, 2.414783, 1.176333));
expectedValues.insert(7, Pose2(4.429778, 3.300180, 1.259169));
expectedValues.insert(8, Pose2(4.128877, 2.321481, -1.825391));
expectedValues.insert(9, Pose2(3.884653, 1.327509, -1.953016));
expectedValues.insert(10, Pose2(3.531067, 0.388263, -2.148934));
EXPECT(assert_equal(expectedValues, *actualValues, 1e-5));
}
/* ************************************************************************* */
TEST(dataSet, readG2oHuber) {
const string g2oFile = findExampleDataFile("pose2example"); const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph; NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues; Values::shared_ptr actualValues;
bool is3D = false; bool is3D = false;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D, KernelFunctionTypeTUKEY); boost::tie(actualGraph, actualValues) =
readG2o(g2oFile, is3D, KernelFunctionTypeHUBER);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions(Vector3(44.721360, 44.721360, 30.901699)); auto baseModel = noiseModel::Diagonal::Precisions(
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(4.6851), baseModel); Vector3(44.721360, 44.721360, 30.901699));
auto model = noiseModel::Robust::Create(
noiseModel::mEstimator::Huber::Create(1.345), baseModel);
NonlinearFactorGraph expectedGraph; EXPECT(assert_equal(expectedGraph(model), *actualGraph, 1e-5));
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(0, 1, Pose2(1.030390, 0.011350, -0.081596), model); }
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(1, 2, Pose2(1.013900, -0.058639, -0.220291), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(2, 3, Pose2(1.027650, -0.007456, -0.043627), model); /* ************************************************************************* */
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3, 4, Pose2(-0.012016, 1.004360, 1.560229), model); TEST(dataSet, readG2oTukey) {
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(4, 5, Pose2(1.016030, 0.014565, -0.030930), model); const string g2oFile = findExampleDataFile("pose2example");
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 6, Pose2(1.023890, 0.006808, -0.007452), model); NonlinearFactorGraph::shared_ptr actualGraph;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(6, 7, Pose2(0.957734, 0.003159, 0.082836), model); Values::shared_ptr actualValues;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(7, 8, Pose2(-1.023820, -0.013668, -3.084560), model); bool is3D = false;
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(8, 9, Pose2(1.023440, 0.013984, -0.127624), model); boost::tie(actualGraph, actualValues) =
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(9,10, Pose2(1.003350, 0.022250, -0.195918), model); readG2o(g2oFile, is3D, KernelFunctionTypeTUKEY);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(5, 9, Pose2(0.033943, 0.032439, 3.073637), model);
expectedGraph.emplace_shared<BetweenFactor<Pose2> >(3,10, Pose2(0.044020, 0.988477, -1.553511), model); auto baseModel = noiseModel::Diagonal::Precisions(
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5)); Vector3(44.721360, 44.721360, 30.901699));
auto model = noiseModel::Robust::Create(
noiseModel::mEstimator::Tukey::Create(4.6851), baseModel);
EXPECT(assert_equal(expectedGraph(model), *actualGraph, 1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -495,7 +500,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
SfmData readData; SfmData readData;
readBAL(filenameToRead, readData); readBAL(filenameToRead, readData);
Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.3,0.1,0.3)); Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.3,0.1,0.3));
Values value; Values value;
for(size_t i=0; i < readData.number_cameras(); i++){ // for each camera for(size_t i=0; i < readData.number_cameras(); i++){ // for each camera