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Revert "code formatted" 

This reverts commit 8be6890b20.
release/4.3a0
Varun Agrawal 2020-12-05 18:08:45 -05:00
parent 858884f1e7
commit b24f943c36
5 changed files with 3116 additions and 3311 deletions
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166
gtsam/geometry/triangulation.h
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@ -27,25 +27,22 @@
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
namespace gtsam namespace gtsam {
{
/// Exception thrown by triangulateDLT when SVD returns rank < 3 /// Exception thrown by triangulateDLT when SVD returns rank < 3
class GTSAM_EXPORT TriangulationUnderconstrainedException : public std::runtime_error class GTSAM_EXPORT TriangulationUnderconstrainedException: public std::runtime_error {
{
public: public:
TriangulationUnderconstrainedException() : std::runtime_error("Triangulation Underconstrained Exception.") TriangulationUnderconstrainedException() :
{ std::runtime_error("Triangulation Underconstrained Exception.") {
} }
}; };
/// Exception thrown by triangulateDLT when landmark is behind one or more of the cameras /// Exception thrown by triangulateDLT when landmark is behind one or more of the cameras
class GTSAM_EXPORT TriangulationCheiralityException : public std::runtime_error class GTSAM_EXPORT TriangulationCheiralityException: public std::runtime_error {
{
public: public:
TriangulationCheiralityException() : std::runtime_error( TriangulationCheiralityException() :
"Triangulation Cheirality Exception: The resulting landmark is behind one or more cameras.") std::runtime_error(
{ "Triangulation Cheirality Exception: The resulting landmark is behind one or more cameras.") {
} }
}; };
@ -85,15 +82,13 @@ namespace gtsam
std::pair<NonlinearFactorGraph, Values> triangulationGraph( std::pair<NonlinearFactorGraph, Values> triangulationGraph(
const std::vector<Pose3>& poses, boost::shared_ptr<CALIBRATION> sharedCal, const std::vector<Pose3>& poses, boost::shared_ptr<CALIBRATION> sharedCal,
const Point2Vector& measurements, Key landmarkKey, const Point2Vector& measurements, Key landmarkKey,
const Point3 &initialEstimate) const Point3& initialEstimate) {
{
Values values; Values values;
values.insert(landmarkKey, initialEstimate); // Initial landmark value values.insert(landmarkKey, initialEstimate); // Initial landmark value
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
static SharedNoiseModel unit2(noiseModel::Unit::Create(2)); static SharedNoiseModel unit2(noiseModel::Unit::Create(2));
static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6));
for (size_t i = 0; i < measurements.size(); i++) for (size_t i = 0; i < measurements.size(); i++) {
{
const Pose3& pose_i = poses[i]; const Pose3& pose_i = poses[i];
typedef PinholePose<CALIBRATION> Camera; typedef PinholePose<CALIBRATION> Camera;
Camera camera_i(pose_i, sharedCal); Camera camera_i(pose_i, sharedCal);
@ -116,15 +111,13 @@ namespace gtsam
std::pair<NonlinearFactorGraph, Values> triangulationGraph( std::pair<NonlinearFactorGraph, Values> triangulationGraph(
const CameraSet<CAMERA>& cameras, const CameraSet<CAMERA>& cameras,
const typename CAMERA::MeasurementVector& measurements, Key landmarkKey, const typename CAMERA::MeasurementVector& measurements, Key landmarkKey,
const Point3 &initialEstimate) const Point3& initialEstimate) {
{
Values values; Values values;
values.insert(landmarkKey, initialEstimate); // Initial landmark value values.insert(landmarkKey, initialEstimate); // Initial landmark value
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
static SharedNoiseModel unit(noiseModel::Unit::Create( static SharedNoiseModel unit(noiseModel::Unit::Create(
traits<typename CAMERA::Measurement>::dimension)); traits<typename CAMERA::Measurement>::dimension));
for (size_t i = 0; i < measurements.size(); i++) for (size_t i = 0; i < measurements.size(); i++) {
{
const CAMERA& camera_i = cameras[i]; const CAMERA& camera_i = cameras[i];
graph.emplace_shared<TriangulationFactor<CAMERA> > // graph.emplace_shared<TriangulationFactor<CAMERA> > //
(camera_i, measurements[i], unit, landmarkKey); (camera_i, measurements[i], unit, landmarkKey);
@ -153,8 +146,7 @@ namespace gtsam
template<class CALIBRATION> template<class CALIBRATION>
Point3 triangulateNonlinear(const std::vector<Pose3>& poses, Point3 triangulateNonlinear(const std::vector<Pose3>& poses,
boost::shared_ptr<CALIBRATION> sharedCal, boost::shared_ptr<CALIBRATION> sharedCal,
const Point2Vector &measurements, const Point3 &initialEstimate) const Point2Vector& measurements, const Point3& initialEstimate) {
{
// Create a factor graph and initial values // Create a factor graph and initial values
Values values; Values values;
@ -175,8 +167,7 @@ namespace gtsam
template<class CAMERA> template<class CAMERA>
Point3 triangulateNonlinear( Point3 triangulateNonlinear(
const CameraSet<CAMERA>& cameras, const CameraSet<CAMERA>& cameras,
const typename CAMERA::MeasurementVector &measurements, const Point3 &initialEstimate) const typename CAMERA::MeasurementVector& measurements, const Point3& initialEstimate) {
{
// Create a factor graph and initial values // Create a factor graph and initial values
Values values; Values values;
@ -195,19 +186,15 @@ namespace gtsam
* @return Returns a Matrix34 * @return Returns a Matrix34
*/ */
template<class CALIBRATION> template<class CALIBRATION>
struct CameraProjectionMatrix struct CameraProjectionMatrix {
{ CameraProjectionMatrix(const CALIBRATION& calibration) :
CameraProjectionMatrix(const CALIBRATION &calibration) : K_(calibration.K()) K_(calibration.K()) {
{
} }
Matrix34 operator()(const Pose3 &pose) const Matrix34 operator()(const Pose3& pose) const {
{
return K_ * (pose.inverse().matrix()).block<3, 4>(0, 0); return K_ * (pose.inverse().matrix()).block<3, 4>(0, 0);
} }
private: private:
const Matrix3 K_; const Matrix3 K_;
public: public:
GTSAM_MAKE_ALIGNED_OPERATOR_NEW GTSAM_MAKE_ALIGNED_OPERATOR_NEW
}; };
@ -228,8 +215,7 @@ namespace gtsam
Point3 triangulatePoint3(const std::vector<Pose3>& poses, Point3 triangulatePoint3(const std::vector<Pose3>& poses,
boost::shared_ptr<CALIBRATION> sharedCal, boost::shared_ptr<CALIBRATION> sharedCal,
const Point2Vector& measurements, double rank_tol = 1e-9, const Point2Vector& measurements, double rank_tol = 1e-9,
bool optimize = false) bool optimize = false) {
{
assert(poses.size() == measurements.size()); assert(poses.size() == measurements.size());
if (poses.size() < 2) if (poses.size() < 2)
@ -251,8 +237,7 @@ namespace gtsam
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
// verify that the triangulated point lies in front of all cameras // verify that the triangulated point lies in front of all cameras
for (const Pose3 &pose : poses) for(const Pose3& pose: poses) {
{
const Point3& p_local = pose.transformTo(point); const Point3& p_local = pose.transformTo(point);
if (p_local.z() <= 0) if (p_local.z() <= 0)
throw(TriangulationCheiralityException()); throw(TriangulationCheiralityException());
@ -278,8 +263,7 @@ namespace gtsam
Point3 triangulatePoint3( Point3 triangulatePoint3(
const CameraSet<CAMERA>& cameras, const CameraSet<CAMERA>& cameras,
const typename CAMERA::MeasurementVector& measurements, double rank_tol = 1e-9, const typename CAMERA::MeasurementVector& measurements, double rank_tol = 1e-9,
bool optimize = false) bool optimize = false) {
{
size_t m = cameras.size(); size_t m = cameras.size();
assert(measurements.size() == m); assert(measurements.size() == m);
@ -301,8 +285,7 @@ namespace gtsam
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
// verify that the triangulated point lies in front of all cameras // verify that the triangulated point lies in front of all cameras
for (const CAMERA &camera : cameras) for(const CAMERA& camera: cameras) {
{
const Point3& p_local = camera.pose().transformTo(point); const Point3& p_local = camera.pose().transformTo(point);
if (p_local.z() <= 0) if (p_local.z() <= 0)
throw(TriangulationCheiralityException()); throw(TriangulationCheiralityException());
@ -317,14 +300,12 @@ namespace gtsam
Point3 triangulatePoint3( Point3 triangulatePoint3(
const CameraSet<PinholeCamera<CALIBRATION> >& cameras, const CameraSet<PinholeCamera<CALIBRATION> >& cameras,
const Point2Vector& measurements, double rank_tol = 1e-9, const Point2Vector& measurements, double rank_tol = 1e-9,
bool optimize = false) bool optimize = false) {
{
return triangulatePoint3<PinholeCamera<CALIBRATION> > // return triangulatePoint3<PinholeCamera<CALIBRATION> > //
(cameras, measurements, rank_tol, optimize); (cameras, measurements, rank_tol, optimize);
} }
struct GTSAM_EXPORT TriangulationParameters struct GTSAM_EXPORT TriangulationParameters {
{
double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate
///< (the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance) ///< (the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance)
@ -353,16 +334,15 @@ namespace gtsam
*/ */
TriangulationParameters(const double _rankTolerance = 1.0, TriangulationParameters(const double _rankTolerance = 1.0,
const bool _enableEPI = false, double _landmarkDistanceThreshold = -1, const bool _enableEPI = false, double _landmarkDistanceThreshold = -1,
double _dynamicOutlierRejectionThreshold = -1) : rankTolerance(_rankTolerance), enableEPI(_enableEPI), // double _dynamicOutlierRejectionThreshold = -1) :
rankTolerance(_rankTolerance), enableEPI(_enableEPI), //
landmarkDistanceThreshold(_landmarkDistanceThreshold), // landmarkDistanceThreshold(_landmarkDistanceThreshold), //
dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold) dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold) {
{
} }
// stream to output // stream to output
friend std::ostream &operator<<(std::ostream &os, friend std::ostream &operator<<(std::ostream &os,
const TriangulationParameters &p) const TriangulationParameters& p) {
{
os << "rankTolerance = " << p.rankTolerance << std::endl; os << "rankTolerance = " << p.rankTolerance << std::endl;
os << "enableEPI = " << p.enableEPI << std::endl; os << "enableEPI = " << p.enableEPI << std::endl;
os << "landmarkDistanceThreshold = " << p.landmarkDistanceThreshold os << "landmarkDistanceThreshold = " << p.landmarkDistanceThreshold
@ -373,11 +353,11 @@ namespace gtsam
} }
private: private:
/// Serialization function /// Serialization function
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE &ar, const unsigned int version) void serialize(ARCHIVE & ar, const unsigned int version) {
{
ar & BOOST_SERIALIZATION_NVP(rankTolerance); ar & BOOST_SERIALIZATION_NVP(rankTolerance);
ar & BOOST_SERIALIZATION_NVP(enableEPI); ar & BOOST_SERIALIZATION_NVP(enableEPI);
ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold); ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold);
@ -388,22 +368,16 @@ namespace gtsam
/** /**
* TriangulationResult is an optional point, along with the reasons why it is invalid. * TriangulationResult is an optional point, along with the reasons why it is invalid.
*/ */
class TriangulationResult : public boost::optional<Point3> class TriangulationResult: public boost::optional<Point3> {
{ enum Status {
enum Status VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT
{
VALID,
DEGENERATE,
BEHIND_CAMERA,
OUTLIER,
FAR_POINT
}; };
Status status_; Status status_;
TriangulationResult(Status s) : status_(s) TriangulationResult(Status s) :
{ status_(s) {
} }
public: public:
/** /**
* Default constructor, only for serialization * Default constructor, only for serialization
*/ */
@ -412,50 +386,40 @@ namespace gtsam
/** /**
* Constructor * Constructor
*/ */
TriangulationResult(const Point3 &p) : status_(VALID) TriangulationResult(const Point3& p) :
{ status_(VALID) {
reset(p); reset(p);
} }
static TriangulationResult Degenerate() static TriangulationResult Degenerate() {
{
return TriangulationResult(DEGENERATE); return TriangulationResult(DEGENERATE);
} }
static TriangulationResult Outlier() static TriangulationResult Outlier() {
{
return TriangulationResult(OUTLIER); return TriangulationResult(OUTLIER);
} }
static TriangulationResult FarPoint() static TriangulationResult FarPoint() {
{
return TriangulationResult(FAR_POINT); return TriangulationResult(FAR_POINT);
} }
static TriangulationResult BehindCamera() static TriangulationResult BehindCamera() {
{
return TriangulationResult(BEHIND_CAMERA); return TriangulationResult(BEHIND_CAMERA);
} }
bool valid() const bool valid() const {
{
return status_ == VALID; return status_ == VALID;
} }
bool degenerate() const bool degenerate() const {
{
return status_ == DEGENERATE; return status_ == DEGENERATE;
} }
bool outlier() const bool outlier() const {
{
return status_ == OUTLIER; return status_ == OUTLIER;
} }
bool farPoint() const bool farPoint() const {
{
return status_ == FAR_POINT; return status_ == FAR_POINT;
} }
bool behindCamera() const bool behindCamera() const {
{
return status_ == BEHIND_CAMERA; return status_ == BEHIND_CAMERA;
} }
// stream to output // stream to output
friend std::ostream &operator<<(std::ostream &os, friend std::ostream &operator<<(std::ostream &os,
const TriangulationResult &result) const TriangulationResult& result) {
{
if (result) if (result)
os << "point = " << *result << std::endl; os << "point = " << *result << std::endl;
else else
@ -464,11 +428,11 @@ namespace gtsam
} }
private: private:
/// Serialization function /// Serialization function
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE &ar, const unsigned int version) void serialize(ARCHIVE & ar, const unsigned int version) {
{
ar & BOOST_SERIALIZATION_NVP(status_); ar & BOOST_SERIALIZATION_NVP(status_);
} }
}; };
@ -477,8 +441,7 @@ namespace gtsam
template<class CAMERA> template<class CAMERA>
TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras, TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras,
const typename CAMERA::MeasurementVector& measured, const typename CAMERA::MeasurementVector& measured,
const TriangulationParameters &params) const TriangulationParameters& params) {
{
size_t m = cameras.size(); size_t m = cameras.size();
@ -487,18 +450,18 @@ namespace gtsam
return TriangulationResult::Degenerate(); return TriangulationResult::Degenerate();
else else
// We triangulate the 3D position of the landmark // We triangulate the 3D position of the landmark
try try {
{
Point3 point = triangulatePoint3<CAMERA>(cameras, measured, Point3 point = triangulatePoint3<CAMERA>(cameras, measured,
params.rankTolerance, params.enableEPI); params.rankTolerance, params.enableEPI);
// Check landmark distance and re-projection errors to avoid outliers // Check landmark distance and re-projection errors to avoid outliers
size_t i = 0; size_t i = 0;
double maxReprojError = 0.0; double maxReprojError = 0.0;
for (const CAMERA &camera : cameras) for(const CAMERA& camera: cameras) {
{
const Pose3& pose = camera.pose(); const Pose3& pose = camera.pose();
if (params.landmarkDistanceThreshold > 0 && distance3(pose.translation(), point) > params.landmarkDistanceThreshold) if (params.landmarkDistanceThreshold > 0
&& distance3(pose.translation(), point)
> params.landmarkDistanceThreshold)
return TriangulationResult::FarPoint(); return TriangulationResult::FarPoint();
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
// verify that the triangulated point lies in front of all cameras // verify that the triangulated point lies in front of all cameras
@ -508,8 +471,7 @@ namespace gtsam
return TriangulationResult::BehindCamera(); return TriangulationResult::BehindCamera();
#endif #endif
// Check reprojection error // Check reprojection error
if (params.dynamicOutlierRejectionThreshold > 0) if (params.dynamicOutlierRejectionThreshold > 0) {
{
const Point2& zi = measured.at(i); const Point2& zi = measured.at(i);
Point2 reprojectionError(camera.project(point) - zi); Point2 reprojectionError(camera.project(point) - zi);
maxReprojError = std::max(maxReprojError, reprojectionError.norm()); maxReprojError = std::max(maxReprojError, reprojectionError.norm());
@ -517,21 +479,18 @@ namespace gtsam
i += 1; i += 1;
} }
// Flag as degenerate if average reprojection error is too large // Flag as degenerate if average reprojection error is too large
if (params.dynamicOutlierRejectionThreshold > 0 && maxReprojError > params.dynamicOutlierRejectionThreshold) if (params.dynamicOutlierRejectionThreshold > 0
&& maxReprojError > params.dynamicOutlierRejectionThreshold)
return TriangulationResult::Outlier(); return TriangulationResult::Outlier();
// all good! // all good!
return TriangulationResult(point); return TriangulationResult(point);
} } catch (TriangulationUnderconstrainedException&) {
catch (TriangulationUnderconstrainedException &)
{
// This exception is thrown if // This exception is thrown if
// 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before // 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before
// 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark) // 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark)
return TriangulationResult::Degenerate(); return TriangulationResult::Degenerate();
} } catch (TriangulationCheiralityException&) {
catch (TriangulationCheiralityException &)
{
// point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers // point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers
return TriangulationResult::BehindCamera(); return TriangulationResult::BehindCamera();
} }
@ -541,4 +500,5 @@ namespace gtsam
using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>; using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>;
using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>; using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>;
} // namespace gtsam } // \namespace gtsam

508
gtsam/gtsam.i
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9
python/gtsam/tests/test_Triangulation.py
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@ -14,10 +14,11 @@ import numpy as np
import gtsam as g import gtsam as g
from gtsam.utils.test_case import GtsamTestCase from gtsam.utils.test_case import GtsamTestCase
from gtsam import Cal3_S2, Cal3Bundler, CameraSetCal3_S2,\ from gtsam import Cal3_S2, Cal3Bundler, Rot3, Pose3, \
CameraSetCal3Bundler, PinholeCameraCal3_S2, PinholeCameraCal3Bundler, \ PinholeCameraCal3_S2, PinholeCameraCal3Bundler, Point3, \
Point3, Pose3, Point2Vector, Pose3Vector, Rot3, triangulatePoint3 Point2Vector, Pose3Vector, triangulatePoint3, \
CameraSetCal3_S2, CameraSetCal3Bundler
from numpy.core.records import array
class TestVisualISAMExample(GtsamTestCase): class TestVisualISAMExample(GtsamTestCase):
""" Tests for triangulation with shared and individual calibrations """ """ Tests for triangulation with shared and individual calibrations """