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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
release/4.3a0
Zsolt Kira 2013-08-18 02:18:32 +00:00
parent a5826dff93
commit fe860be33f
2 changed files with 126 additions and 2 deletions
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23
gtsam_unstable/slam/SmartProjectionFactor.h
View File

@ -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();

105
gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp
View File

@ -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 ){