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set new code to google style and fix doc 

- new code in triangulation and testTriangulation
- clean up doc number and typos
release/4.3a0
Thomas Sayre-McCord 2022-03-14 09:19:19 +01:00
parent afc406162b
commit bcf49e6243
2 changed files with 72 additions and 46 deletions
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48
gtsam/geometry/tests/testTriangulation.cpp
View File

@ -97,16 +97,17 @@ TEST(triangulation, twoPoses) {
}
//******************************************************************************
// Simple test with a well-behaved two camera situation with Cal3S2 calibration.
TEST(triangulation, twoPosesCal3S2) {
// Simple test with a well-behaved two camera situation with Cal3DS2 calibration.
TEST(triangulation, twoPosesCal3DS2) {
static const boost::shared_ptr<Cal3DS2> sharedDistortedCal = //
boost::make_shared<Cal3DS2>(1500, 1200, 0, 640, 480, -.3, 0.1, 0.0001, -0.0003);
boost::make_shared<Cal3DS2>(1500, 1200, 0, 640, 480, -.3, 0.1, 0.0001,
-0.0003);
PinholeCamera<Cal3DS2> camera1Distorted(pose1, *sharedDistortedCal);
PinholeCamera<Cal3DS2> camera2Distorted(pose2, *sharedDistortedCal);
// 1. Project two landmarks into two cameras and triangulate
// 0. Project two landmarks into two cameras and triangulate
Point2 z1Distorted = camera1Distorted.project(landmark);
Point2 z2Distorted = camera2Distorted.project(landmark);
@ -121,13 +122,15 @@ TEST(triangulation, twoPosesCal3S2) {
// 1. Test simple DLT, perfect in no noise situation
bool optimize = false;
boost::optional<Point3> actual1 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual1, 1e-7));
// 2. test with optimization on, same answer
optimize = true;
boost::optional<Point3> actual2 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual2, 1e-7));
// 3. Add some noise and try again: result should be ~ (4.995,
@ -136,28 +139,32 @@ TEST(triangulation, twoPosesCal3S2) {
measurements.at(1) += Point2(-0.2, 0.3);
optimize = false;
boost::optional<Point3> actual3 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-3));
// 4. Now with optimization on
optimize = true;
boost::optional<Point3> actual4 = //
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-3));
}
//******************************************************************************
// Simple test with a well-behaved two camera situation with Fisheye calibration.
// Simple test with a well-behaved two camera situation with Fisheye
// calibration.
TEST(triangulation, twoPosesFisheye) {
using Calibration = Cal3Fisheye;
static const boost::shared_ptr<Calibration> sharedDistortedCal = //
boost::make_shared<Calibration>(1500, 1200, .1, 640, 480, -.3, 0.1, 0.0001, -0.0003);
boost::make_shared<Calibration>(1500, 1200, .1, 640, 480, -.3, 0.1,
0.0001, -0.0003);
PinholeCamera<Calibration> camera1Distorted(pose1, *sharedDistortedCal);
PinholeCamera<Calibration> camera2Distorted(pose2, *sharedDistortedCal);
// 1. Project two landmarks into two cameras and triangulate
// 0. Project two landmarks into two cameras and triangulate
Point2 z1Distorted = camera1Distorted.project(landmark);
Point2 z2Distorted = camera2Distorted.project(landmark);
@ -172,13 +179,15 @@ TEST(triangulation, twoPosesFisheye) {
// 1. Test simple DLT, perfect in no noise situation
bool optimize = false;
boost::optional<Point3> actual1 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual1, 1e-7));
// 2. test with optimization on, same answer
optimize = true;
boost::optional<Point3> actual2 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(landmark, *actual2, 1e-7));
// 3. Add some noise and try again: result should be ~ (4.995,
@ -187,17 +196,18 @@ TEST(triangulation, twoPosesFisheye) {
measurements.at(1) += Point2(-0.2, 0.3);
optimize = false;
boost::optional<Point3> actual3 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-3));
// 4. Now with optimization on
optimize = true;
boost::optional<Point3> actual4 = //
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements, rank_tol, optimize);
triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
rank_tol, optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-3));
}
//******************************************************************************
// Similar, but now with Bundler calibration
TEST(triangulation, twoPosesBundler) {
@ -220,7 +230,8 @@ TEST(triangulation, twoPosesBundler) {
double rank_tol = 1e-9;
boost::optional<Point3> actual = //
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol, optimize);
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol,
optimize);
EXPECT(assert_equal(landmark, *actual, 1e-7));
// Add some noise and try again
@ -228,7 +239,8 @@ TEST(triangulation, twoPosesBundler) {
measurements.at(1) += Point2(-0.2, 0.3);
boost::optional<Point3> actual2 = //
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol, optimize);
triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol,
optimize);
EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19847), *actual2, 1e-3));
}

70
gtsam/geometry/triangulation.h
View File

@ -227,7 +227,8 @@ std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projectionMatricesFrom
return projection_matrices;
}
/** Create a pinhole calibration from a different Cal3 object, removing distortion.
/** Create a pinhole calibration from a different Cal3 object, removing
* distortion.
*
* @tparam CALIBRATION Original calibration object.
* @param cal Input calibration object.
@ -236,13 +237,14 @@ std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>> projectionMatricesFrom
template <class CALIBRATION>
Cal3_S2 createPinholeCalibration(const CALIBRATION& cal) {
const auto& K = cal.K();
return Cal3_S2(K(0,0), K(1,1), K(0,1), K(0,2), K(1,2));
return Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2));
}
/** Internal undistortMeasurement to be used by undistortMeasurement and undistortMeasurements */
/** Internal undistortMeasurement to be used by undistortMeasurement and
* undistortMeasurements */
template <class CALIBRATION, class MEASUREMENT>
MEASUREMENT undistortMeasurementInternal(const CALIBRATION& cal,
const MEASUREMENT& measurement,
MEASUREMENT undistortMeasurementInternal(
const CALIBRATION& cal, const MEASUREMENT& measurement,
boost::optional<Cal3_S2> pinholeCal = boost::none) {
if (!pinholeCal) {
pinholeCal = createPinholeCalibration(cal);
@ -250,10 +252,12 @@ MEASUREMENT undistortMeasurementInternal(const CALIBRATION& cal,
return pinholeCal->uncalibrate(cal.calibrate(measurement));
}
/** Remove distortion for measurements so as if the measurements came from a pinhole camera.
/** Remove distortion for measurements so as if the measurements came from a
* pinhole camera.
*
* Removes distortion but maintains the K matrix of the initial cal. Operates by calibrating using
* full calibration and uncalibrating with only the pinhole component of the calibration.
* Removes distortion but maintains the K matrix of the initial cal. Operates by
* calibrating using full calibration and uncalibrating with only the pinhole
* component of the calibration.
* @tparam CALIBRATION Calibration type to use.
* @param cal Calibration with which measurements were taken.
* @param measurements Vector of measurements to undistort.
@ -261,14 +265,17 @@ MEASUREMENT undistortMeasurementInternal(const CALIBRATION& cal,
*/
template <class CALIBRATION>
Point2Vector undistortMeasurements(const CALIBRATION& cal,
const Point2Vector& measurements) {
const Point2Vector& measurements) {
Cal3_S2 pinholeCalibration = createPinholeCalibration(cal);
Point2Vector undistortedMeasurements;
// Calibrate with cal and uncalibrate with pinhole version of cal so that measurements are undistorted.
std::transform(measurements.begin(), measurements.end(), std::back_inserter(undistortedMeasurements),
// Calibrate with cal and uncalibrate with pinhole version of cal so that
// measurements are undistorted.
std::transform(measurements.begin(), measurements.end(),
std::back_inserter(undistortedMeasurements),
[&cal, &pinholeCalibration](const Point2& measurement) {
return undistortMeasurementInternal<CALIBRATION>(cal, measurement, pinholeCalibration);
});
return undistortMeasurementInternal<CALIBRATION>(
cal, measurement, pinholeCalibration);
});
return undistortedMeasurements;
}
@ -276,30 +283,33 @@ Point2Vector undistortMeasurements(const CALIBRATION& cal,
template <>
inline Point2Vector undistortMeasurements(const Cal3_S2& cal,
const Point2Vector& measurements) {
return measurements;
return measurements;
}
/** Remove distortion for measurements so as if the measurements came from a pinhole camera.
/** Remove distortion for measurements so as if the measurements came from a
* pinhole camera.
*
* Removes distortion but maintains the K matrix of the initial calibrations. Operates by calibrating using
* full calibration and uncalibrating with only the pinhole component of the calibration.
* Removes distortion but maintains the K matrix of the initial calibrations.
* Operates by calibrating using full calibration and uncalibrating with only
* the pinhole component of the calibration.
* @tparam CAMERA Camera type to use.
* @param cameras Cameras corresponding to each measurement.
* @param measurements Vector of measurements to undistort.
* @return measurements with the effect of the distortion of the camera removed.
*/
template <class CAMERA>
typename CAMERA::MeasurementVector undistortMeasurements(const CameraSet<CAMERA>& cameras,
typename CAMERA::MeasurementVector undistortMeasurements(
const CameraSet<CAMERA>& cameras,
const typename CAMERA::MeasurementVector& measurements) {
const size_t num_meas = cameras.size();
assert(num_meas == measurements.size());
typename CAMERA::MeasurementVector undistortedMeasurements(num_meas);
for (size_t ii = 0; ii < num_meas; ++ii) {
// Calibrate with cal and uncalibrate with pinhole version of cal so that measurements are undistorted.
// Calibrate with cal and uncalibrate with pinhole version of cal so that
// measurements are undistorted.
undistortedMeasurements[ii] =
undistortMeasurementInternal<typename CAMERA::CalibrationType>(cameras[ii].calibration(), measurements[ii]);
undistortMeasurementInternal<typename CAMERA::CalibrationType>(
cameras[ii].calibration(), measurements[ii]);
}
return undistortedMeasurements;
}
@ -315,8 +325,8 @@ inline PinholeCamera<Cal3_S2>::MeasurementVector undistortMeasurements(
/** Specialize for SphericalCamera to do nothing. */
template <class CAMERA = SphericalCamera>
inline SphericalCamera::MeasurementVector undistortMeasurements(
const CameraSet<SphericalCamera>& cameras,
const SphericalCamera::MeasurementVector& measurements) {
const CameraSet<SphericalCamera>& cameras,
const SphericalCamera::MeasurementVector& measurements) {
return measurements;
}
@ -347,10 +357,12 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
auto projection_matrices = projectionMatricesFromPoses(poses, sharedCal);
// Undistort the measurements, leaving only the pinhole elements in effect.
auto undistortedMeasurements = undistortMeasurements<CALIBRATION>(*sharedCal, measurements);
auto undistortedMeasurements =
undistortMeasurements<CALIBRATION>(*sharedCal, measurements);
// Triangulate linearly
Point3 point = triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
Point3 point =
triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
// Then refine using non-linear optimization
if (optimize)
@ -398,9 +410,11 @@ Point3 triangulatePoint3(
auto projection_matrices = projectionMatricesFromCameras(cameras);
// Undistort the measurements, leaving only the pinhole elements in effect.
auto undistortedMeasurements = undistortMeasurements<CAMERA>(cameras, measurements);
auto undistortedMeasurements =
undistortMeasurements<CAMERA>(cameras, measurements);
Point3 point = triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
Point3 point =
triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
// The n refine using non-linear optimization
if (optimize)