diff --git a/gtsam_unstable/slam/InvDepthCamera3.h b/gtsam_unstable/slam/InvDepthCamera3.h new file mode 100644 index 000000000..54f5c2939 --- /dev/null +++ b/gtsam_unstable/slam/InvDepthCamera3.h @@ -0,0 +1,179 @@ + +/** + * @file InvDepthCamera3.h + * @brief + * @author Chris Beall + * @date Apr 14, 2012 + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gtsam { + + /** + * A pinhole camera class that has a Pose3 and a Calibration. + * @ingroup geometry + * \nosubgrouping + */ + template + class InvDepthCamera3 { + private: + Pose3 pose_; + boost::shared_ptr k_; + + public: + + /// @name Standard Constructors + /// @{ + + /** default constructor */ + InvDepthCamera3() {} + + /** constructor with pose and calibration */ + InvDepthCamera3(const Pose3& pose, const boost::shared_ptr& k) : + pose_(pose),k_(k) {} + + /// @} + /// @name Standard Interface + /// @{ + + virtual ~InvDepthCamera3() {} + + /// return pose + inline Pose3& pose() { return pose_; } + + /// return calibration + inline const boost::shared_ptr& calibration() const { return k_; } + + /// print + void print(const std::string& s = "") const { + pose_.print("pose3"); + k_.print("calibration"); + } + + static gtsam::Point3 invDepthTo3D(const gtsam::LieVector& pw, const gtsam::LieScalar& inv) { + gtsam::Point3 ray_base(pw.vector().segment(0,3)); + double theta = pw(3), phi = pw(4); + double rho = inv.value(); // inverse depth + gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); + return ray_base + m/rho; + } + + /** project a point from world InvDepth parameterization to the image + * @param pw is a point in the world coordinate + * @param H1 is the jacobian w.r.t. [pose3 calibration] + * @param H2 is the jacobian w.r.t. inv_depth_landmark + */ + inline gtsam::Point2 project(const gtsam::LieVector& pw, + const gtsam::LieScalar& inv_depth, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none, + boost::optional H3 = boost::none) const { + + gtsam::Point3 ray_base(pw.vector().segment(0,3)); + double theta = pw(3), phi = pw(4); + double rho = inv_depth.value(); // inverse depth + gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); + const gtsam::Point3 landmark = ray_base + m/rho; + + gtsam::PinholeCamera camera(pose_, *k_); + + if (!H1 && !H2 && !H3) { + gtsam::Point2 uv= camera.project(landmark); + return uv; + } + else { + gtsam::Matrix J2; + gtsam::Point2 uv= camera.project(landmark,H1, J2); + if (H1) { + *H1 = (*H1) * gtsam::eye(6); + } + + double cos_theta = cos(theta); + double sin_theta = sin(theta); + double cos_phi = cos(phi); + double sin_phi = sin(phi); + double rho2 = rho * rho; + + if (H2) { + double H11 = 1; + double H12 = 0; + double H13 = 0; + double H14 = -cos_phi*sin_theta/rho; + double H15 = -cos_theta*sin_phi/rho; + + double H21 = 0; + double H22 = 1; + double H23 = 0; + double H24 = cos_phi*cos_theta/rho; + double H25 = -sin_phi*sin_theta/rho; + + double H31 = 0; + double H32 = 0; + double H33 = 1; + double H34 = 0; + double H35 = cos_phi/rho; + + *H2 = J2 * gtsam::Matrix_(3,5, + H11, H12, H13, H14, H15, + H21, H22, H23, H24, H25, + H31, H32, H33, H34, H35); + } + if(H3) { + double H16 = -cos_phi*cos_theta/rho2; + double H26 = -cos_phi*sin_theta/rho2; + double H36 = -sin_phi/rho2; + *H3 = J2 * gtsam::Matrix_(3,1, + H16, + H26, + H36); + } + return uv; + } + } + + /** + * backproject a 2-dimensional point to an Inverse Depth landmark + * useful for point initialization + */ + + inline std::pair backproject(const gtsam::Point2& pi, const double depth) const { + const gtsam::Point2 pn = k_->calibrate(pi); + gtsam::Point3 pc(pn.x(), pn.y(), 1.0); + pc = pc/pc.norm(); + gtsam::Point3 pw = pose_.transform_from(pc); + const gtsam::Point3& pt = pose_.translation(); + gtsam::Point3 ray = pw - pt; + double theta = atan2(ray.y(), ray.x()); // longitude + double phi = atan2(ray.z(), sqrt(ray.x()*ray.x()+ray.y()*ray.y())); + return std::make_pair(gtsam::LieVector(5, pt.x(),pt.y(),pt.z(), theta, phi), + gtsam::LieScalar(1./depth)); + } + +private: + + /// @} + /// @name Advanced Interface + /// @{ + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_NVP(pose_); + ar & BOOST_SERIALIZATION_NVP(k_); + } + /// @} + }; +} diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h new file mode 100644 index 000000000..17875e80d --- /dev/null +++ b/gtsam_unstable/slam/InvDepthFactor3.h @@ -0,0 +1,111 @@ + +/** + * @file InvDepthFactor3.h + * @brief Inverse Depth Factor + * @author Chris Beall + */ + +#pragma once + +#include +#include +#include +#include + +namespace gtsam { + + template + class InvDepthFactor3: public gtsam::NoiseModelFactor3 { + protected: + + // Keep a copy of measurement and calibration for I/O + gtsam::Point2 measured_; ///< 2D measurement + boost::shared_ptr K_; ///< shared pointer to calibration object + + public: + + /// shorthand for base class type + typedef gtsam::NoiseModelFactor3 Base; + + /// shorthand for this class + typedef InvDepthFactor3 This; + + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + /// Default constructor + InvDepthFactor3() : K_(new gtsam::Cal3_S2(444, 555, 666, 777, 888)) {} + + /** + * Constructor + * TODO: Mark argument order standard (keys, measurement, parameters) + * @param z is the 2 dimensional location of point in image (the measurement) + * @param model is the standard deviation + * @param j_pose is basically the frame number + * @param j_landmark is the index of the landmark + * @param K shared pointer to the constant calibration + */ + InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, + const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const gtsam::shared_ptrK& K) : + Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {} + + /** Virtual destructor */ + virtual ~InvDepthFactor3() {} + + /** + * print + * @param s optional string naming the factor + */ + void print(const std::string& s = "InvDepthFactor3", + const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { + Base::print(s, keyFormatter); + measured_.print(s + ".z"); + } + + /// equals + virtual bool equals(const gtsam::NonlinearFactor& p, double tol = 1e-9) const { + const This *e = dynamic_cast(&p); + return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol); + } + + /// Evaluate error h(x)-z and optionally derivatives + gtsam::Vector evaluateError(const POSE& pose, const gtsam::LieVector& point, const INVDEPTH& invDepth, + boost::optional H1=boost::none, + boost::optional H2=boost::none, + boost::optional H3=boost::none) const { + try { + InvDepthCamera3 camera(pose, K_); + gtsam::Point2 reprojectionError(camera.project(point, invDepth, H1, H2, H3) - measured_); + return reprojectionError.vector(); + } catch( CheiralityException& e) { + if (H1) *H1 = gtsam::zeros(2,6); + if (H2) *H2 = gtsam::zeros(2,5); + if (H3) *H2 = gtsam::zeros(2,1); + std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << + " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; + return gtsam::ones(2) * 2.0 * K_->fx(); + } + } + + /** return the measurement */ + const gtsam::Point2& imagePoint() const { + return measured_; + } + + /** return the calibration object */ + inline const gtsam::Cal3_S2::shared_ptr calibration() const { + return K_; + } + + private: + + /// Serialization function + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); + ar & BOOST_SERIALIZATION_NVP(measured_); + ar & BOOST_SERIALIZATION_NVP(K_); + } + }; +} // \ namespace gtsam diff --git a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp new file mode 100644 index 000000000..11986fc6a --- /dev/null +++ b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp @@ -0,0 +1,223 @@ +/* + * testInvDepthFactor.cpp + * + * Created on: Apr 13, 2012 + * Author: cbeall3 + */ + +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); +Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); +SimpleCamera level_camera(level_pose, *K); + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project1) { + + // landmark 5 meters infront of camera + Point3 landmark(5, 0, 1); + + Point2 expected_uv = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector inv_landmark(5, 1., 0., 1., 0., 0.); + LieScalar inv_depth(1./4); + Point2 actual_uv = inv_camera.project(inv_landmark, inv_depth); + CHECK(assert_equal(expected_uv, actual_uv)); + CHECK(assert_equal(Point2(640,480), actual_uv)); + +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project2) { + + // landmark 1m to the left and 1m up from camera + // inv landmark xyz is same as camera xyz, so depth actually doesn't matter + Point3 landmark(1, 1, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1/sqrt(2))); + LieScalar inv_depth(1/sqrt(3)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + CHECK(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project3) { + + // landmark 1m to the left and 1m up from camera + // inv depth landmark xyz at origion + Point3 landmark(1, 1, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2))); + LieScalar inv_depth( 1./sqrt(1+1+4)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + CHECK(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project4) { + + // landmark 4m to the left and 1m up from camera + // inv depth landmark xyz at origion + Point3 landmark(1, 4, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 0., atan(4/1), atan(2./sqrt(1+16))); + LieScalar inv_depth(1./sqrt(1+16+4)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + CHECK(assert_equal(expected, actual)); +} + + +/* ************************************************************************* */ +Point2 project_(const Pose3& pose, const LieVector& landmark, const LieScalar& inv_depth) { + return InvDepthCamera3(pose,K).project(landmark, inv_depth); } + +TEST( InvDepthFactor, Dproject_pose) +{ + LieVector landmark(6,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative31(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, actual, boost::none, boost::none); + CHECK(assert_equal(expected,actual,1e-6)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Dproject_landmark) +{ + LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative32(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, actual, boost::none); + CHECK(assert_equal(expected,actual,1e-7)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Dproject_inv_depth) +{ + LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative33(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, boost::none, actual); + CHECK(assert_equal(expected,actual,1e-7)); +} + +/* ************************************************************************* */ +TEST(InvDepthFactor, backproject) +{ + LieVector expected(5,0.,0.,1., 0.1,0.2); + LieScalar inv_depth(1./4); + InvDepthCamera3 inv_camera(level_pose,K); + Point2 z = inv_camera.project(expected, inv_depth); + + LieVector actual_vec; + LieScalar actual_inv; + boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 4); + CHECK(assert_equal(expected,actual_vec,1e-7)); + CHECK(assert_equal(inv_depth,actual_inv,1e-7)); +} + +/* ************************************************************************* */ +TEST(InvDepthFactor, backproject2) +{ + // backwards facing camera + LieVector expected(5,-5.,-5.,2., 3., -0.1); + LieScalar inv_depth(1./10); + InvDepthCamera3 inv_camera(Pose3(Rot3::ypr(1.5,0.1, -1.5), Point3(-5, -5, 2)),K); + Point2 z = inv_camera.project(expected, inv_depth); + + LieVector actual_vec; + LieScalar actual_inv; + boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 10); + CHECK(assert_equal(expected,actual_vec,1e-7)); + CHECK(assert_equal(inv_depth,actual_inv,1e-7)); +} + +static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); +typedef InvDepthFactor3 InverseDepthFactor; +typedef NonlinearEquality PoseConstraint; + +/* ************************************************************************* */ +TEST( InvDepthFactor, optimize) { + + // landmark 5 meters infront of camera + Point3 landmark(5, 0, 1); + + Point2 expected_uv = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector inv_landmark(5, 1., 0., 1., 0., 0.); + LieScalar inv_depth(1./4); + + gtsam::NonlinearFactorGraph graph; + Values initial; + + InverseDepthFactor::shared_ptr factor(new InverseDepthFactor(expected_uv, sigma, + Symbol('x',1), Symbol('l',1), Symbol('d',1), K)); + graph.push_back(factor); + graph.add(PoseConstraint(Symbol('x',1),level_pose)); + initial.insert(Symbol('x',1), level_pose); + initial.insert(Symbol('l',1), inv_landmark); + initial.insert(Symbol('d',1), inv_depth); + + LevenbergMarquardtParams lmParams; + Values result = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); + CHECK(assert_equal(initial, result, 1e-9)); + + /// Add a second camera + + // add a camera 1 meter to the right + Pose3 right_pose = level_pose * Pose3(Rot3(), Point3(2,0,0)); + SimpleCamera right_camera(right_pose, *K); + + InvDepthCamera3 right_inv_camera(right_pose, K); + + Point3 landmark1(6,0,1); + Point2 right_uv = right_camera.project(landmark1); + + + InverseDepthFactor::shared_ptr factor1(new InverseDepthFactor(right_uv, sigma, + Symbol('x',2), Symbol('l',1),Symbol('d',1),K)); + graph.push_back(factor1); + + graph.add(PoseConstraint(Symbol('x',2),right_pose)); + + initial.insert(Symbol('x',2), right_pose); + + // TODO: need to add priors to make this work with +// Values result2 = optimize(graph, initial, +// NonlinearOptimizationParameters(),MULTIFRONTAL, GN); + + Values result2 = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); + Point3 l1_result2 = InvDepthCamera3::invDepthTo3D( + result2.at(Symbol('l',1)), + result2.at(Symbol('d',1))); + + CHECK(assert_equal(landmark1, l1_result2, 1e-9)); +} + + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr);} +/* ************************************************************************* */