re-enable triangulation hack
cbeall3
parent
bd4dd84933
commit
93f7eafaa8
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@ -241,76 +241,74 @@ public:
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bool retriangulate = decideIfTriangulate(cameras);
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if (retriangulate) {
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// We triangulate the 3D position of the landmark
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// try {
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// // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl;
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//
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// //TODO: Chris will replace this with something else for stereo
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//// point_ = triangulatePoint3<CALIBRATION>(cameras, this->measured_,
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//// rankTolerance_, enableEPI_);
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//
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// // // // Temporary hack to use monocular triangulation
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// std::vector<Point2> mono_measurements;
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// BOOST_FOREACH(const StereoPoint2& sp, this->measured_) {
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// mono_measurements.push_back(sp.point2());
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// }
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//
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// std::vector<PinholeCamera<Cal3_S2> > mono_cameras;
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// BOOST_FOREACH(const StereoCamera& camera, cameras) {
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// const Pose3& pose = camera.pose();
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// const Cal3_S2& K = camera.calibration()->calibration();
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// mono_cameras.push_back(PinholeCamera<Cal3_S2>(pose, K));
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// }
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// point_ = triangulatePoint3<PinholeCamera<Cal3_S2> >(mono_cameras, mono_measurements,
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// parameters_.rankTolerance, parameters_.enableEPI);
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//
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// // // // End temporary hack
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//
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// // FIXME: temporary: triangulation using only first camera
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//// const StereoPoint2& z0 = this->measured_.at(0);
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//// point_ = cameras[0].backproject(z0);
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//
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// degenerate_ = false;
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// cheiralityException_ = false;
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//
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// // Check landmark distance and reprojection errors to avoid outliers
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// double totalReprojError = 0.0;
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// size_t i = 0;
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// BOOST_FOREACH(const StereoCamera& camera, cameras) {
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// Point3 cameraTranslation = camera.pose().translation();
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// // we discard smart factors corresponding to points that are far away
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// if (cameraTranslation.distance(point_) > parameters_.landmarkDistanceThreshold) {
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// degenerate_ = true;
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// break;
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// }
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// const StereoPoint2& zi = this->measured_.at(i);
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// try {
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// StereoPoint2 reprojectionError(camera.project(point_) - zi);
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// totalReprojError += reprojectionError.vector().norm();
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// } catch (CheiralityException) {
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// cheiralityException_ = true;
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// }
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// i += 1;
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// }
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// //std::cout << "totalReprojError error: " << totalReprojError << std::endl;
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// // we discard smart factors that have large reprojection error
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// if (parameters_.dynamicOutlierRejectionThreshold > 0
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// && totalReprojError / m > parameters_.dynamicOutlierRejectionThreshold)
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// degenerate_ = true;
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//
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// } catch (TriangulationUnderconstrainedException&) {
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// // if TriangulationUnderconstrainedException can be
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// // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before
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// // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark)
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// // in the second case we want to use a rotation-only smart factor
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// degenerate_ = true;
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// cheiralityException_ = false;
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// } catch (TriangulationCheiralityException&) {
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// // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers
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// // we manage this case by either discarding the smart factor, or imposing a rotation-only constraint
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// cheiralityException_ = true;
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// }
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try {
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// std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl;
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//TODO: Chris will replace this with something else for stereo
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// point_ = triangulatePoint3<CALIBRATION>(cameras, this->measured_,
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// rankTolerance_, enableEPI_);
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// // // Temporary hack to use monocular triangulation
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std::vector<Point2> mono_measurements;
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BOOST_FOREACH(const StereoPoint2& sp, this->measured_) {
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mono_measurements.push_back(sp.point2());
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}
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std::vector<PinholeCamera<Cal3_S2> > mono_cameras;
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BOOST_FOREACH(const StereoCamera& camera, cameras) {
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const Pose3& pose = camera.pose();
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const Cal3_S2& K = camera.calibration()->calibration();
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mono_cameras.push_back(PinholeCamera<Cal3_S2>(pose, K));
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}
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Point3 point = triangulatePoint3<PinholeCamera<Cal3_S2> >(mono_cameras, mono_measurements,
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params_.triangulation.rankTolerance, params_.triangulation.enableEPI);
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// // // End temporary hack
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// FIXME: temporary: triangulation using only first camera
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// const StereoPoint2& z0 = this->measured_.at(0);
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// point_ = cameras[0].backproject(z0);
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// Check landmark distance and reprojection errors to avoid outliers
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double totalReprojError = 0.0;
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size_t i = 0;
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BOOST_FOREACH(const StereoCamera& camera, cameras) {
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Point3 cameraTranslation = camera.pose().translation();
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// we discard smart factors corresponding to points that are far away
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if (cameraTranslation.distance(point) > params_.triangulation.landmarkDistanceThreshold) {
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return TriangulationResult::Degenerate();
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}
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const StereoPoint2& zi = this->measured_.at(i);
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try {
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StereoPoint2 reprojectionError(camera.project(point) - zi);
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totalReprojError += reprojectionError.vector().norm();
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} catch (CheiralityException) {
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return TriangulationResult::BehindCamera();
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}
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i += 1;
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}
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//std::cout << "totalReprojError error: " << totalReprojError << std::endl;
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// we discard smart factors that have large reprojection error
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if (params_.triangulation.dynamicOutlierRejectionThreshold > 0
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&& totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold)
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return TriangulationResult::Degenerate();
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result_ = TriangulationResult(point);
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} catch (TriangulationUnderconstrainedException&) {
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// if TriangulationUnderconstrainedException can be
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// 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before
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// 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark)
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// in the second case we want to use a rotation-only smart factor
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return TriangulationResult::Degenerate();
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} catch (TriangulationCheiralityException&) {
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// point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers
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// we manage this case by either discarding the smart factor, or imposing a rotation-only constraint
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return TriangulationResult::BehindCamera();
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}
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}
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return TriangulationResult(Point3());
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return result_;
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}
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/// triangulate
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