Merge pull request #1128 from thomassm/fix/triangulatePoint3-Cal3DS2
Frank Dellaert
GitHub
commit
9be5967e1b
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@ -19,6 +19,7 @@
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/geometry/Cal3DS2.h>
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#include <gtsam/geometry/CameraSet.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/SphericalCamera.h>
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@ -38,7 +39,7 @@ using namespace boost::assign;
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// Some common constants
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static const boost::shared_ptr<Cal3_S2> sharedCal = //
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boost::make_shared<Cal3_S2>(1500, 1200, 0, 640, 480);
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boost::make_shared<Cal3_S2>(1500, 1200, 0.1, 640, 480);
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// Looking along X-axis, 1 meter above ground plane (x-y)
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static const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2);
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@ -95,11 +96,123 @@ TEST(triangulation, twoPoses) {
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EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4));
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}
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//******************************************************************************
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// Simple test with a well-behaved two camera situation with Cal3DS2 calibration.
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TEST(triangulation, twoPosesCal3DS2) {
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static const boost::shared_ptr<Cal3DS2> sharedDistortedCal = //
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boost::make_shared<Cal3DS2>(1500, 1200, 0, 640, 480, -.3, 0.1, 0.0001,
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-0.0003);
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PinholeCamera<Cal3DS2> camera1Distorted(pose1, *sharedDistortedCal);
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PinholeCamera<Cal3DS2> camera2Distorted(pose2, *sharedDistortedCal);
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// 0. Project two landmarks into two cameras and triangulate
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Point2 z1Distorted = camera1Distorted.project(landmark);
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Point2 z2Distorted = camera2Distorted.project(landmark);
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vector<Pose3> poses;
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Point2Vector measurements;
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poses += pose1, pose2;
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measurements += z1Distorted, z2Distorted;
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double rank_tol = 1e-9;
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// 1. Test simple DLT, perfect in no noise situation
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bool optimize = false;
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boost::optional<Point3> actual1 = //
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triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(landmark, *actual1, 1e-7));
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// 2. test with optimization on, same answer
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optimize = true;
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boost::optional<Point3> actual2 = //
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triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(landmark, *actual2, 1e-7));
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// 3. Add some noise and try again: result should be ~ (4.995,
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// 0.499167, 1.19814)
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measurements.at(0) += Point2(0.1, 0.5);
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measurements.at(1) += Point2(-0.2, 0.3);
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optimize = false;
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boost::optional<Point3> actual3 = //
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triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-3));
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// 4. Now with optimization on
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optimize = true;
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boost::optional<Point3> actual4 = //
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triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-3));
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}
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//******************************************************************************
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// Simple test with a well-behaved two camera situation with Fisheye
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// calibration.
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TEST(triangulation, twoPosesFisheye) {
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using Calibration = Cal3Fisheye;
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static const boost::shared_ptr<Calibration> sharedDistortedCal = //
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boost::make_shared<Calibration>(1500, 1200, .1, 640, 480, -.3, 0.1,
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0.0001, -0.0003);
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PinholeCamera<Calibration> camera1Distorted(pose1, *sharedDistortedCal);
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PinholeCamera<Calibration> camera2Distorted(pose2, *sharedDistortedCal);
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// 0. Project two landmarks into two cameras and triangulate
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Point2 z1Distorted = camera1Distorted.project(landmark);
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Point2 z2Distorted = camera2Distorted.project(landmark);
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vector<Pose3> poses;
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Point2Vector measurements;
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poses += pose1, pose2;
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measurements += z1Distorted, z2Distorted;
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double rank_tol = 1e-9;
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// 1. Test simple DLT, perfect in no noise situation
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bool optimize = false;
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boost::optional<Point3> actual1 = //
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triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(landmark, *actual1, 1e-7));
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// 2. test with optimization on, same answer
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optimize = true;
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boost::optional<Point3> actual2 = //
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triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(landmark, *actual2, 1e-7));
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// 3. Add some noise and try again: result should be ~ (4.995,
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// 0.499167, 1.19814)
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measurements.at(0) += Point2(0.1, 0.5);
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measurements.at(1) += Point2(-0.2, 0.3);
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optimize = false;
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boost::optional<Point3> actual3 = //
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triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-3));
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// 4. Now with optimization on
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optimize = true;
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boost::optional<Point3> actual4 = //
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triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
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rank_tol, optimize);
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EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-3));
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}
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//******************************************************************************
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// Similar, but now with Bundler calibration
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TEST(triangulation, twoPosesBundler) {
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boost::shared_ptr<Cal3Bundler> bundlerCal = //
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boost::make_shared<Cal3Bundler>(1500, 0, 0, 640, 480);
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boost::make_shared<Cal3Bundler>(1500, 0.1, 0.2, 640, 480);
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PinholeCamera<Cal3Bundler> camera1(pose1, *bundlerCal);
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PinholeCamera<Cal3Bundler> camera2(pose2, *bundlerCal);
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@ -117,7 +230,8 @@ TEST(triangulation, twoPosesBundler) {
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double rank_tol = 1e-9;
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boost::optional<Point3> actual = //
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triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol, optimize);
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triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol,
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optimize);
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EXPECT(assert_equal(landmark, *actual, 1e-7));
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// Add some noise and try again
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@ -125,8 +239,9 @@ TEST(triangulation, twoPosesBundler) {
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measurements.at(1) += Point2(-0.2, 0.3);
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boost::optional<Point3> actual2 = //
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triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol, optimize);
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EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19847), *actual2, 1e-4));
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triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol,
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optimize);
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EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19847), *actual2, 1e-3));
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}
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//******************************************************************************
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@ -336,6 +451,31 @@ TEST(triangulation, fourPoses_distinct_Ks) {
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#endif
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}
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//******************************************************************************
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TEST(triangulation, fourPoses_distinct_Ks_distortion) {
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Cal3DS2 K1(1500, 1200, 0, 640, 480, -.3, 0.1, 0.0001, -0.0003);
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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PinholeCamera<Cal3DS2> camera1(pose1, K1);
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// create second camera 1 meter to the right of first camera
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Cal3DS2 K2(1600, 1300, 0, 650, 440, -.2, 0.05, 0.0002, -0.0001);
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PinholeCamera<Cal3DS2> camera2(pose2, K2);
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// 1. Project two landmarks into two cameras and triangulate
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Point2 z1 = camera1.project(landmark);
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Point2 z2 = camera2.project(landmark);
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CameraSet<PinholeCamera<Cal3DS2>> cameras;
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Point2Vector measurements;
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cameras += camera1, camera2;
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measurements += z1, z2;
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boost::optional<Point3> actual = //
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triangulatePoint3<Cal3DS2>(cameras, measurements);
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EXPECT(assert_equal(landmark, *actual, 1e-2));
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}
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//******************************************************************************
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TEST(triangulation, outliersAndFarLandmarks) {
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Cal3_S2 K1(1500, 1200, 0, 640, 480);
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@ -227,6 +227,109 @@ std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projectionMatricesFrom
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return projection_matrices;
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}
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/** Create a pinhole calibration from a different Cal3 object, removing
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* distortion.
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*
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* @tparam CALIBRATION Original calibration object.
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* @param cal Input calibration object.
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* @return Cal3_S2 with only the pinhole elements of cal.
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*/
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template <class CALIBRATION>
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Cal3_S2 createPinholeCalibration(const CALIBRATION& cal) {
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const auto& K = cal.K();
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return Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2));
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}
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/** Internal undistortMeasurement to be used by undistortMeasurement and
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* undistortMeasurements */
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template <class CALIBRATION, class MEASUREMENT>
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MEASUREMENT undistortMeasurementInternal(
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const CALIBRATION& cal, const MEASUREMENT& measurement,
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boost::optional<Cal3_S2> pinholeCal = boost::none) {
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if (!pinholeCal) {
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pinholeCal = createPinholeCalibration(cal);
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}
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return pinholeCal->uncalibrate(cal.calibrate(measurement));
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}
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/** Remove distortion for measurements so as if the measurements came from a
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* pinhole camera.
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*
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* Removes distortion but maintains the K matrix of the initial cal. Operates by
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* calibrating using full calibration and uncalibrating with only the pinhole
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* component of the calibration.
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* @tparam CALIBRATION Calibration type to use.
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* @param cal Calibration with which measurements were taken.
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* @param measurements Vector of measurements to undistort.
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* @return measurements with the effect of the distortion of sharedCal removed.
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*/
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template <class CALIBRATION>
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Point2Vector undistortMeasurements(const CALIBRATION& cal,
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const Point2Vector& measurements) {
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Cal3_S2 pinholeCalibration = createPinholeCalibration(cal);
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Point2Vector undistortedMeasurements;
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// Calibrate with cal and uncalibrate with pinhole version of cal so that
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// measurements are undistorted.
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std::transform(measurements.begin(), measurements.end(),
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std::back_inserter(undistortedMeasurements),
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[&cal, &pinholeCalibration](const Point2& measurement) {
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return undistortMeasurementInternal<CALIBRATION>(
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cal, measurement, pinholeCalibration);
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});
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return undistortedMeasurements;
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}
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/** Specialization for Cal3_S2 as it doesn't need to be undistorted. */
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template <>
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inline Point2Vector undistortMeasurements(const Cal3_S2& cal,
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const Point2Vector& measurements) {
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return measurements;
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}
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/** Remove distortion for measurements so as if the measurements came from a
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* pinhole camera.
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*
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* Removes distortion but maintains the K matrix of the initial calibrations.
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* Operates by calibrating using full calibration and uncalibrating with only
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* the pinhole component of the calibration.
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* @tparam CAMERA Camera type to use.
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* @param cameras Cameras corresponding to each measurement.
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* @param measurements Vector of measurements to undistort.
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* @return measurements with the effect of the distortion of the camera removed.
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*/
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template <class CAMERA>
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typename CAMERA::MeasurementVector undistortMeasurements(
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const CameraSet<CAMERA>& cameras,
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const typename CAMERA::MeasurementVector& measurements) {
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const size_t num_meas = cameras.size();
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assert(num_meas == measurements.size());
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typename CAMERA::MeasurementVector undistortedMeasurements(num_meas);
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for (size_t ii = 0; ii < num_meas; ++ii) {
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// Calibrate with cal and uncalibrate with pinhole version of cal so that
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// measurements are undistorted.
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undistortedMeasurements[ii] =
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undistortMeasurementInternal<typename CAMERA::CalibrationType>(
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cameras[ii].calibration(), measurements[ii]);
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}
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return undistortedMeasurements;
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}
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/** Specialize for Cal3_S2 to do nothing. */
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template <class CAMERA = PinholeCamera<Cal3_S2>>
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inline PinholeCamera<Cal3_S2>::MeasurementVector undistortMeasurements(
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const CameraSet<PinholeCamera<Cal3_S2>>& cameras,
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const PinholeCamera<Cal3_S2>::MeasurementVector& measurements) {
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return measurements;
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}
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/** Specialize for SphericalCamera to do nothing. */
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template <class CAMERA = SphericalCamera>
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inline SphericalCamera::MeasurementVector undistortMeasurements(
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const CameraSet<SphericalCamera>& cameras,
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const SphericalCamera::MeasurementVector& measurements) {
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return measurements;
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}
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/**
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* Function to triangulate 3D landmark point from an arbitrary number
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* of poses (at least 2) using the DLT. The function checks that the
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@ -253,8 +356,13 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
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// construct projection matrices from poses & calibration
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auto projection_matrices = projectionMatricesFromPoses(poses, sharedCal);
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// Undistort the measurements, leaving only the pinhole elements in effect.
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auto undistortedMeasurements =
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undistortMeasurements<CALIBRATION>(*sharedCal, measurements);
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// Triangulate linearly
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Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol);
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Point3 point =
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triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
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// Then refine using non-linear optimization
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if (optimize)
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@ -300,7 +408,13 @@ Point3 triangulatePoint3(
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// construct projection matrices from poses & calibration
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auto projection_matrices = projectionMatricesFromCameras(cameras);
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Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol);
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// Undistort the measurements, leaving only the pinhole elements in effect.
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auto undistortedMeasurements =
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undistortMeasurements<CAMERA>(cameras, measurements);
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Point3 point =
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triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
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// The n refine using non-linear optimization
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if (optimize)
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