SmartProjectionFactor: Added add(measured, poseKey) method to incrementally add views to the same landmark.

Added unit test for new method and way of creating factor.
Fixed missing negative when calculating b for non-blockwise version of Schur complement

gtsam_unstable/slam/SmartProjectionFactor.h

@@ -101,6 +101,17 @@ namespace gtsam {
           measured_(measured),  K_(K),  noise_(model), point_(point), body_P_sensor_(body_P_sensor),
           throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
 
+    /**
+     * Constructor with exception-handling flags
+     * @param model is the standard deviation (current version assumes that the uncertainty is the same for all views)
+     * @param K shared pointer to the constant calibration
+     */
+    SmartProjectionFactor(const SharedNoiseModel& model, const boost::shared_ptr<CALIBRATION>& K, 
+        boost::optional<LANDMARK> point = boost::none,
+        boost::optional<POSE> body_P_sensor = boost::none) :
+        noise_(model), K_(K), point_(point), body_P_sensor_(body_P_sensor) {
+    }
+
     /** Virtual destructor */
     virtual ~SmartProjectionFactor() {}
 
@@ -109,6 +120,16 @@ namespace gtsam {
 //      return boost::static_pointer_cast<gtsam::NonlinearFactor>(
 //          gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
 
+    /**
+     * add
+     * @param measured is the 2m dimensional location of the projection of a single landmark in the m view (the measurement)
+     * @param poseKey is the index corresponding to the camera observing the same landmark
+     */
+    void add(const Point2 measured, const Key poseKey) {
+      measured_.push_back(measured);
+      keys_.push_back(poseKey);
+    }
+
     /**
      * print
      * @param s optional string naming the factor
@@ -297,7 +318,7 @@ namespace gtsam {
           Pose3 pose = cameraPoses.at(i);
           PinholeCamera<CALIBRATION> camera(pose, *K_);
           Matrix Hxi, Hli;
-           Vector bi = ( camera.project(*point,Hxi,Hli) - measured_.at(i) ).vector();
+           Vector bi = -( camera.project(*point,Hxi,Hli) - measured_.at(i) ).vector();
 
            noise_-> WhitenSystem(Hxi, Hli, bi);
            f += bi.squaredNorm();

gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp

@@ -309,7 +309,6 @@ TEST( SmartProjectionFactor, 3poses_1iteration_projection_factor_comparison ){
 
 }
 
-
 /* ************************************************************************* */
 TEST( SmartProjectionFactor, 3poses_smart_projection_factor ){
   cout << " ************************ SmartProjectionFactor: 3 cams + 3 landmarks **********************" << endl;
@@ -404,6 +403,110 @@ TEST( SmartProjectionFactor, 3poses_smart_projection_factor ){
 
 }
 
+/* ************************************************************************* */
+TEST( SmartProjectionFactor, 3poses_iterative_smart_projection_factor ){
+  cout << " ************************ SmartProjectionFactor: 3 cams + 3 landmarks **********************" << endl;
+
+  Symbol x1('X',  1);
+  Symbol x2('X',  2);
+  Symbol x3('X',  3);
+
+  const SharedDiagonal noiseProjection = noiseModel::Isotropic::Sigma(2, 1);
+
+  std::vector<Key> views;
+  views += x1, x2, x3;
+
+  Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480));
+
+  // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
+  Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
+  SimpleCamera cam1(pose1, *K);
+
+  // create second camera 1 meter to the right of first camera
+  Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
+  SimpleCamera cam2(pose2, *K);
+
+  // create third camera 1 meter above the first camera
+  Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
+  SimpleCamera cam3(pose3, *K);
+
+  // three landmarks ~5 meters infront of camera
+  Point3 landmark1(5, 0.5, 1.2);
+  Point3 landmark2(5, -0.5, 1.2);
+  Point3 landmark3(3, 0, 3.0);
+
+  vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
+
+  // 1. Project three landmarks into three cameras and triangulate
+  Point2 cam1_uv1 = cam1.project(landmark1);
+  Point2 cam2_uv1 = cam2.project(landmark1);
+  Point2 cam3_uv1 = cam3.project(landmark1);
+  measurements_cam1 += cam1_uv1, cam2_uv1, cam3_uv1;
+
+  //
+  Point2 cam1_uv2 = cam1.project(landmark2);
+  Point2 cam2_uv2 = cam2.project(landmark2);
+  Point2 cam3_uv2 = cam3.project(landmark2);
+  measurements_cam2 += cam1_uv2, cam2_uv2, cam3_uv2;
+
+
+  Point2 cam1_uv3 = cam1.project(landmark3);
+  Point2 cam2_uv3 = cam2.project(landmark3);
+  Point2 cam3_uv3 = cam3.project(landmark3);
+  measurements_cam3 += cam1_uv3, cam2_uv3, cam3_uv3;
+
+  typedef SmartProjectionFactor<Pose3, Point3, Cal3_S2> SmartFactor;
+
+  SmartFactor::shared_ptr smartFactor1(new SmartFactor(noiseProjection, K));
+  smartFactor1->add(cam1_uv1, views[0]);
+  smartFactor1->add(cam2_uv1, views[1]);
+  smartFactor1->add(cam3_uv1, views[2]);
+
+  SmartFactor::shared_ptr smartFactor2(new SmartFactor(noiseProjection, K));
+  smartFactor2->add(cam1_uv2, views[0]);
+  smartFactor2->add(cam2_uv2, views[1]);
+  smartFactor2->add(cam3_uv2, views[2]);
+
+  SmartFactor::shared_ptr smartFactor3(new SmartFactor(noiseProjection, K));
+  smartFactor3->add(cam1_uv3, views[0]);
+  smartFactor3->add(cam2_uv3, views[1]);
+  smartFactor3->add(cam3_uv3, views[2]);
+
+  const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
+
+  NonlinearFactorGraph graph;
+  graph.push_back(smartFactor1);
+  graph.push_back(smartFactor2);
+  graph.push_back(smartFactor3);
+  graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
+  graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
+
+//  Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
+  Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
+  Values values;
+  values.insert(x1, pose1);
+  values.insert(x2, pose2);
+  // initialize third pose with some noise, we expect it to move back to original pose3
+  values.insert(x3, pose3*noise_pose);
+  values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
+
+  LevenbergMarquardtParams params;
+  params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
+  params.verbosity = NonlinearOptimizerParams::ERROR;
+
+  Values result;
+  gttic_(SmartProjectionFactor);
+  LevenbergMarquardtOptimizer optimizer(graph, values, params);
+  result = optimizer.optimize();
+  gttoc_(SmartProjectionFactor);
+  tictoc_finishedIteration_();
+
+  // result.print("results of 3 camera, 3 landmark optimization \n");
+  result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
+  EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
+  tictoc_print_();
+
+}
 
 /* ************************************************************************* */
 TEST( SmartProjectionFactor, 3poses_projection_factor ){