332 lines
12 KiB
C++
332 lines
12 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010-2020, 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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* @file testTranslationRecovery.cpp
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* @author Frank Dellaert, Akshay Krishnan
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* @date March 2020
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* @brief test recovering translations when rotations are given.
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/sfm/SfmData.h>
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#include <gtsam/sfm/TranslationRecovery.h>
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#include <gtsam/slam/dataset.h>
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using namespace std;
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using namespace gtsam;
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// Returns the Unit3 direction as measured in the binary measurement, but
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// computed from the input poses. Helper function used in the unit tests.
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Unit3 GetDirectionFromPoses(const Values& poses,
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const BinaryMeasurement<Unit3>& unitTranslation) {
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const Pose3 wTa = poses.at<Pose3>(unitTranslation.key1()),
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wTb = poses.at<Pose3>(unitTranslation.key2());
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const Point3 Ta = wTa.translation(), Tb = wTb.translation();
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return Unit3(Tb - Ta);
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}
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/* ************************************************************************* */
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// We read the BAL file, which has 3 cameras in it, with poses. We then assume
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// the rotations are correct, but translations have to be estimated from
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// translation directions only. Since we have 3 cameras, A, B, and C, we can at
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// most create three relative measurements, let's call them w_aZb, w_aZc, and
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// bZc. These will be of type Unit3. We then call `recoverTranslations` which
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// sets up an optimization problem for the three unknown translations.
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TEST(TranslationRecovery, BAL) {
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const string filename = findExampleDataFile("dubrovnik-3-7-pre");
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SfmData db = SfmData::FromBalFile(filename);
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// Get camera poses, as Values
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size_t j = 0;
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Values poses;
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for (auto camera : db.cameras) {
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poses.insert(j++, camera.pose());
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}
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// Simulate measurements
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const auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
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poses, {{0, 1}, {0, 2}, {1, 2}});
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// Check simulated measurements.
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for (auto& unitTranslation : relativeTranslations) {
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EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation),
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unitTranslation.measured()));
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}
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TranslationRecovery algorithm;
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const auto graph = algorithm.buildGraph(relativeTranslations);
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EXPECT_LONGS_EQUAL(3, graph.size());
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// Run translation recovery
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const double scale = 2.0;
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const auto result = algorithm.run(relativeTranslations, scale);
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// Check result for first two translations, determined by prior
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0)));
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EXPECT(assert_equal(
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Point3(2 * GetDirectionFromPoses(poses, relativeTranslations[0])),
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result.at<Point3>(1)));
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// Check that the third translations is correct
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Point3 Ta = poses.at<Pose3>(0).translation();
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Point3 Tb = poses.at<Pose3>(1).translation();
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Point3 Tc = poses.at<Pose3>(2).translation();
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Point3 expected = (Tc - Ta) * (scale / (Tb - Ta).norm());
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EXPECT(assert_equal(expected, result.at<Point3>(2), 1e-4));
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// TODO(frank): how to get stats back?
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// EXPECT_DOUBLES_EQUAL(0.0199833, actualError, 1e-5);
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}
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TEST(TranslationRecovery, TwoPoseTest) {
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// Create a dataset with 2 poses.
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// __ __
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// \/ \/
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// 0 _____ 1
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//
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// 0 and 1 face in the same direction but have a translation offset.
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Values poses;
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poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
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poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
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auto relativeTranslations =
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TranslationRecovery::SimulateMeasurements(poses, {{0, 1}});
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// Check simulated measurements.
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for (auto& unitTranslation : relativeTranslations) {
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EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation),
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unitTranslation.measured()));
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}
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TranslationRecovery algorithm;
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const auto graph = algorithm.buildGraph(relativeTranslations);
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EXPECT_LONGS_EQUAL(1, graph.size());
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// Run translation recovery
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const auto result = algorithm.run(relativeTranslations, /*scale=*/3.0);
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// Check result for first two translations, determined by prior
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-8));
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EXPECT(assert_equal(Point3(3, 0, 0), result.at<Point3>(1), 1e-8));
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}
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TEST(TranslationRecovery, ThreePoseTest) {
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// Create a dataset with 3 poses.
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// __ __
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// \/ \/
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// 0 _____ 1
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// \ __ /
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// \\//
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// 3
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//
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// 0 and 1 face in the same direction but have a translation offset. 3 is in
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// the same direction as 0 and 1, in between 0 and 1, with some Y axis offset.
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Values poses;
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poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
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poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
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poses.insert<Pose3>(3, Pose3(Rot3(), Point3(1, -1, 0)));
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auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
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poses, {{0, 1}, {1, 3}, {3, 0}});
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// Check simulated measurements.
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for (auto& unitTranslation : relativeTranslations) {
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EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation),
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unitTranslation.measured()));
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}
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TranslationRecovery algorithm;
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const auto graph = algorithm.buildGraph(relativeTranslations);
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EXPECT_LONGS_EQUAL(3, graph.size());
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const auto result = algorithm.run(relativeTranslations, /*scale=*/3.0);
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// Check result
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-8));
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EXPECT(assert_equal(Point3(3, 0, 0), result.at<Point3>(1), 1e-8));
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EXPECT(assert_equal(Point3(1.5, -1.5, 0), result.at<Point3>(3), 1e-8));
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}
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TEST(TranslationRecovery, ThreePosesIncludingZeroTranslation) {
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// Create a dataset with 3 poses.
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// __ __
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// \/ \/
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// 0 _____ 1
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// 2 <|
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//
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// 0 and 1 face in the same direction but have a translation offset. 2 is at
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// the same point as 1 but is rotated, with little FOV overlap.
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Values poses;
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poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
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poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
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poses.insert<Pose3>(2, Pose3(Rot3::RzRyRx(-M_PI / 2, 0, 0), Point3(2, 0, 0)));
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auto relativeTranslations =
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TranslationRecovery::SimulateMeasurements(poses, {{0, 1}, {1, 2}});
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// Check simulated measurements.
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for (auto& unitTranslation : relativeTranslations) {
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EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation),
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unitTranslation.measured()));
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}
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TranslationRecovery algorithm;
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// Run translation recovery
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const auto result = algorithm.run(relativeTranslations, /*scale=*/3.0);
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// Check result
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-8));
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EXPECT(assert_equal(Point3(3, 0, 0), result.at<Point3>(1), 1e-8));
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EXPECT(assert_equal(Point3(3, 0, 0), result.at<Point3>(2), 1e-8));
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}
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TEST(TranslationRecovery, FourPosesIncludingZeroTranslation) {
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// Create a dataset with 4 poses.
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// __ __
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// \/ \/
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// 0 _____ 1
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// \ __ 2 <|
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// \\//
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// 3
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//
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// 0 and 1 face in the same direction but have a translation offset. 2 is at
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// the same point as 1 but is rotated, with very little FOV overlap. 3 is in
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// the same direction as 0 and 1, in between 0 and 1, with some Y axis offset.
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Values poses;
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poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
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poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
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poses.insert<Pose3>(2, Pose3(Rot3::RzRyRx(-M_PI / 2, 0, 0), Point3(2, 0, 0)));
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poses.insert<Pose3>(3, Pose3(Rot3(), Point3(1, -1, 0)));
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auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
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poses, {{0, 1}, {1, 2}, {1, 3}, {3, 0}});
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// Check simulated measurements.
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for (auto& unitTranslation : relativeTranslations) {
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EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation),
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unitTranslation.measured()));
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}
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TranslationRecovery algorithm;
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// Run translation recovery
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const auto result = algorithm.run(relativeTranslations, /*scale=*/4.0);
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// Check result
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-8));
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EXPECT(assert_equal(Point3(4, 0, 0), result.at<Point3>(1), 1e-8));
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EXPECT(assert_equal(Point3(4, 0, 0), result.at<Point3>(2), 1e-8));
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EXPECT(assert_equal(Point3(2, -2, 0), result.at<Point3>(3), 1e-8));
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}
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TEST(TranslationRecovery, ThreePosesWithZeroTranslation) {
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Values poses;
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poses.insert<Pose3>(0, Pose3(Rot3::RzRyRx(-M_PI / 6, 0, 0), Point3(0, 0, 0)));
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poses.insert<Pose3>(1, Pose3(Rot3(), Point3(0, 0, 0)));
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poses.insert<Pose3>(2, Pose3(Rot3::RzRyRx(M_PI / 6, 0, 0), Point3(0, 0, 0)));
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auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
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poses, {{0, 1}, {1, 2}, {2, 0}});
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// Check simulated measurements.
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for (auto& unitTranslation : relativeTranslations) {
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EXPECT(assert_equal(GetDirectionFromPoses(poses, unitTranslation),
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unitTranslation.measured()));
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}
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TranslationRecovery algorithm;
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// Run translation recovery
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const auto result = algorithm.run(relativeTranslations, /*scale=*/4.0);
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// Check result
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-8));
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(1), 1e-8));
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(2), 1e-8));
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}
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TEST(TranslationRecovery, ThreePosesWithOneSoftConstraint) {
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// Create a dataset with 3 poses.
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// __ __
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// \/ \/
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// 0 _____ 1
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// \ __ /
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// \\//
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// 3
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//
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// 0 and 1 face in the same direction but have a translation offset. 3 is in
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// the same direction as 0 and 1, in between 0 and 1, with some Y axis offset.
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Values poses;
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poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
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poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
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poses.insert<Pose3>(3, Pose3(Rot3(), Point3(1, -1, 0)));
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auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
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poses, {{0, 1}, {0, 3}, {1, 3}});
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std::vector<BinaryMeasurement<Point3>> betweenTranslations;
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betweenTranslations.emplace_back(0, 3, Point3(1, -1, 0),
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noiseModel::Isotropic::Sigma(3, 1e-2));
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TranslationRecovery algorithm;
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auto result =
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algorithm.run(relativeTranslations, /*scale=*/0.0, betweenTranslations);
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// Check result
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-4));
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EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(1), 1e-4));
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EXPECT(assert_equal(Point3(1, -1, 0), result.at<Point3>(3), 1e-4));
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}
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TEST(TranslationRecovery, ThreePosesWithOneHardConstraint) {
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// Create a dataset with 3 poses.
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// __ __
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// \/ \/
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// 0 _____ 1
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// \ __ /
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// \\//
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// 3
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//
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// 0 and 1 face in the same direction but have a translation offset. 3 is in
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// the same direction as 0 and 1, in between 0 and 1, with some Y axis offset.
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Values poses;
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poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
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poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
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poses.insert<Pose3>(3, Pose3(Rot3(), Point3(1, -1, 0)));
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auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
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poses, {{0, 1}, {0, 3}, {1, 3}});
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std::vector<BinaryMeasurement<Point3>> betweenTranslations;
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betweenTranslations.emplace_back(0, 1, Point3(2, 0, 0),
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noiseModel::Constrained::All(3, 1e2));
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TranslationRecovery algorithm;
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auto result =
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algorithm.run(relativeTranslations, /*scale=*/0.0, betweenTranslations);
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// Check result
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EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-4));
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EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(1), 1e-4));
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EXPECT(assert_equal(Point3(1, -1, 0), result.at<Point3>(3), 1e-4));
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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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