294 lines
9.9 KiB
C++
294 lines
9.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* testTriangulation.cpp
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*
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* Created on: July 30th, 2013
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* Author: cbeall3
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*/
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#include <gtsam/geometry/triangulation.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign.hpp>
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#include <boost/assign/std/vector.hpp>
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using namespace std;
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using namespace gtsam;
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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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// 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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static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1));
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PinholeCamera<Cal3_S2> camera1(pose1, *sharedCal);
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// create second camera 1 meter to the right of first camera
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static const Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
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PinholeCamera<Cal3_S2> camera2(pose2, *sharedCal);
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// landmark ~5 meters infront of camera
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static const Point3 landmark(5, 0.5, 1.2);
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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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//******************************************************************************
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TEST( triangulation, twoPoses) {
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vector<Pose3> poses;
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vector<Point2> measurements;
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poses += pose1, pose2;
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measurements += z1, z2;
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bool optimize = true;
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double rank_tol = 1e-9;
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boost::optional<Point3> triangulated_landmark = triangulatePoint3(poses,
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sharedCal, measurements, rank_tol, optimize);
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EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2));
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// 2. Add some noise and try again: result should be ~ (4.995, 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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boost::optional<Point3> triangulated_landmark_noise = triangulatePoint3(poses,
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sharedCal, measurements, rank_tol, optimize);
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EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2));
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}
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//******************************************************************************
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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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PinholeCamera<Cal3Bundler> camera1(pose1, *bundlerCal);
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PinholeCamera<Cal3Bundler> camera2(pose2, *bundlerCal);
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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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vector<Pose3> poses;
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vector<Point2> measurements;
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poses += pose1, pose2;
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measurements += z1, z2;
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bool optimize = true;
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double rank_tol = 1e-9;
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boost::optional<Point3> triangulated_landmark = triangulatePoint3(poses,
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bundlerCal, measurements, rank_tol, optimize);
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EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2));
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// 2. Add some noise and try again: result should be ~ (4.995, 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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boost::optional<Point3> triangulated_landmark_noise = triangulatePoint3(poses,
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bundlerCal, measurements, rank_tol, optimize);
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EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2));
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}
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//******************************************************************************
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TEST( triangulation, fourPoses) {
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vector<Pose3> poses;
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vector<Point2> measurements;
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poses += pose1, pose2;
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measurements += z1, z2;
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boost::optional<Point3> triangulated_landmark = triangulatePoint3(poses,
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sharedCal, measurements);
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EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2));
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// 2. Add some noise and try again: result should be ~ (4.995, 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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boost::optional<Point3> triangulated_landmark_noise = //
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triangulatePoint3(poses, sharedCal, measurements);
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EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2));
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// 3. Add a slightly rotated third camera above, again with measurement noise
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Pose3 pose3 = pose1 * Pose3(Rot3::ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
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SimpleCamera camera3(pose3, *sharedCal);
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Point2 z3 = camera3.project(landmark);
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poses += pose3;
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measurements += z3 + Point2(0.1, -0.1);
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boost::optional<Point3> triangulated_3cameras = //
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triangulatePoint3(poses, sharedCal, measurements);
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EXPECT(assert_equal(landmark, *triangulated_3cameras, 1e-2));
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// Again with nonlinear optimization
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boost::optional<Point3> triangulated_3cameras_opt = triangulatePoint3(poses,
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sharedCal, measurements, 1e-9, true);
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EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2));
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// 4. Test failure: Add a 4th camera facing the wrong way
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Pose3 pose4 = Pose3(Rot3::ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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SimpleCamera camera4(pose4, *sharedCal);
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#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
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CHECK_EXCEPTION(camera4.project(landmark);, CheiralityException);
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poses += pose4;
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measurements += Point2(400, 400);
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CHECK_EXCEPTION(triangulatePoint3(poses, sharedCal, measurements),
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TriangulationCheiralityException);
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#endif
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}
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//******************************************************************************
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TEST( triangulation, fourPoses_distinct_Ks) {
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Cal3_S2 K1(1500, 1200, 0, 640, 480);
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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SimpleCamera camera1(pose1, K1);
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// create second camera 1 meter to the right of first camera
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Cal3_S2 K2(1600, 1300, 0, 650, 440);
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SimpleCamera 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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vector<SimpleCamera> cameras;
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vector<Point2> measurements;
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cameras += camera1, camera2;
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measurements += z1, z2;
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boost::optional<Point3> triangulated_landmark = //
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triangulatePoint3(cameras, measurements);
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EXPECT(assert_equal(landmark, *triangulated_landmark, 1e-2));
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// 2. Add some noise and try again: result should be ~ (4.995, 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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boost::optional<Point3> triangulated_landmark_noise = //
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triangulatePoint3(cameras, measurements);
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EXPECT(assert_equal(landmark, *triangulated_landmark_noise, 1e-2));
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// 3. Add a slightly rotated third camera above, again with measurement noise
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Pose3 pose3 = pose1 * Pose3(Rot3::ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
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Cal3_S2 K3(700, 500, 0, 640, 480);
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SimpleCamera camera3(pose3, K3);
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Point2 z3 = camera3.project(landmark);
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cameras += camera3;
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measurements += z3 + Point2(0.1, -0.1);
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boost::optional<Point3> triangulated_3cameras = //
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triangulatePoint3(cameras, measurements);
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EXPECT(assert_equal(landmark, *triangulated_3cameras, 1e-2));
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// Again with nonlinear optimization
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boost::optional<Point3> triangulated_3cameras_opt = triangulatePoint3(cameras,
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measurements, 1e-9, true);
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EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2));
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// 4. Test failure: Add a 4th camera facing the wrong way
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Pose3 pose4 = Pose3(Rot3::ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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Cal3_S2 K4(700, 500, 0, 640, 480);
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SimpleCamera camera4(pose4, K4);
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#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
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CHECK_EXCEPTION(camera4.project(landmark);, CheiralityException);
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cameras += camera4;
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measurements += Point2(400, 400);
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CHECK_EXCEPTION(triangulatePoint3(cameras, measurements),
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TriangulationCheiralityException);
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#endif
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}
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//******************************************************************************
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TEST( triangulation, twoIdenticalPoses) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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SimpleCamera camera1(pose1, *sharedCal);
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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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vector<Pose3> poses;
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vector<Point2> measurements;
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poses += pose1, pose1;
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measurements += z1, z1;
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CHECK_EXCEPTION(triangulatePoint3(poses, sharedCal, measurements),
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TriangulationUnderconstrainedException);
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}
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//******************************************************************************
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/*
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TEST( triangulation, onePose) {
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// we expect this test to fail with a TriangulationUnderconstrainedException
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// because there's only one camera observation
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Cal3_S2 *sharedCal(1500, 1200, 0, 640, 480);
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vector<Pose3> poses;
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vector<Point2> measurements;
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poses += Pose3();
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measurements += Point2();
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CHECK_EXCEPTION(triangulatePoint3(poses, measurements, *sharedCal),
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TriangulationUnderconstrainedException);
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}
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*/
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//******************************************************************************
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TEST( triangulation, TriangulationFactor ) {
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// Create the factor with a measurement that is 3 pixels off in x
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Key pointKey(1);
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SharedNoiseModel model;
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typedef TriangulationFactor<> Factor;
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Factor factor(camera1, z1, model, pointKey, sharedCal);
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// Use the factor to calculate the Jacobians
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Matrix HActual;
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factor.evaluateError(landmark, HActual);
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// Matrix expectedH1 = numericalDerivative11<Pose3>(
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// boost::bind(&EssentialMatrixConstraint::evaluateError, &factor, _1, pose2,
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// boost::none, boost::none), pose1);
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// The expected Jacobian
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Matrix HExpected = numericalDerivative11<Point3>(
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boost::bind(&Factor::evaluateError, &factor, _1, boost::none), landmark);
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// Verify the Jacobians are correct
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CHECK(assert_equal(HExpected, HActual, 1e-3));
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}
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//******************************************************************************
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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//******************************************************************************
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