297 lines
13 KiB
C++
297 lines
13 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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* @file ProjectionFactorRollingShutterRollingShutter.cpp
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* @brief Unit tests for ProjectionFactorRollingShutter Class
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* @author Luca Carlone
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* @date July 2021
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*/
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/geometry/Cal3DS2.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Point2.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std::placeholders;
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using namespace std;
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using namespace gtsam;
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// make a realistic calibration matrix
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static double fov = 60; // degrees
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static size_t w=640,h=480;
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static Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h));
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// Create a noise model for the pixel error
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static SharedNoiseModel model(noiseModel::Unit::Create(2));
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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using symbol_shorthand::T;
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// Convenience to define common variables across many tests
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static Key poseKey1(X(1));
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static Key poseKey2(X(2));
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static Key pointKey(L(1));
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static double interp_params = 0.5;
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static Point2 measurement(323.0, 240.0);
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static Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, Constructor) {
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ProjectionFactorRollingShutter factor(measurement, interp_params, model, poseKey1, poseKey2, pointKey, K);
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, ConstructorWithTransform) {
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ProjectionFactorRollingShutter factor(measurement, interp_params, model,
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poseKey1, poseKey2, pointKey, K, body_P_sensor);
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, Equals ) {
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{ // factors are equal
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ProjectionFactorRollingShutter factor1(measurement, interp_params,
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model, poseKey1, poseKey2, pointKey, K);
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ProjectionFactorRollingShutter factor2(measurement, interp_params,
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model, poseKey1, poseKey2, pointKey, K);
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CHECK(assert_equal(factor1, factor2));
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}
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{ // factors are NOT equal (keys are different)
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ProjectionFactorRollingShutter factor1(measurement, interp_params,
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model, poseKey1, poseKey2, pointKey, K);
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ProjectionFactorRollingShutter factor2(measurement, interp_params,
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model, poseKey1, poseKey1, pointKey, K);
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CHECK(!assert_equal(factor1, factor2)); // not equal
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}
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{ // factors are NOT equal (different interpolation)
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ProjectionFactorRollingShutter factor1(measurement, 0.1,
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model, poseKey1, poseKey1, pointKey, K);
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ProjectionFactorRollingShutter factor2(measurement, 0.5,
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model, poseKey1, poseKey2, pointKey, K);
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CHECK(!assert_equal(factor1, factor2)); // not equal
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}
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, EqualsWithTransform ) {
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{ // factors are equal
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ProjectionFactorRollingShutter factor1(measurement, interp_params, model,
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poseKey1, poseKey2, pointKey, K, body_P_sensor);
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ProjectionFactorRollingShutter factor2(measurement, interp_params, model,
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poseKey1, poseKey2, pointKey, K, body_P_sensor);
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CHECK(assert_equal(factor1, factor2));
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}
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{ // factors are NOT equal
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ProjectionFactorRollingShutter factor1(measurement, interp_params, model,
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poseKey1, poseKey2, pointKey, K, body_P_sensor);
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Pose3 body_P_sensor2(Rot3::RzRyRx(0.0, 0.0, 0.0), Point3(0.25, -0.10, 1.0)); // rotation different from body_P_sensor
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ProjectionFactorRollingShutter factor2(measurement, interp_params, model,
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poseKey1, poseKey2, pointKey, K, body_P_sensor2);
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CHECK(!assert_equal(factor1, factor2));
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}
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, Error ) {
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{
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// Create the factor with a measurement that is 3 pixels off in x
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// Camera pose corresponds to the first camera
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double t = 0.0;
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ProjectionFactorRollingShutter factor(measurement, t, model, poseKey1, poseKey2, pointKey, K);
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// Set the linearization point
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Pose3 pose1(Rot3(), Point3(0,0,-6));
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Pose3 pose2(Rot3(), Point3(0,0,-4));
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Point3 point(0.0, 0.0, 0.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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// The expected error is (-3.0, 0.0) pixels / UnitCovariance
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Vector expectedError = Vector2(-3.0, 0.0);
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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{
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// Create the factor with a measurement that is 3 pixels off in x
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// Camera pose is actually interpolated now
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double t = 0.5;
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ProjectionFactorRollingShutter factor(measurement, t, model, poseKey1, poseKey2, pointKey, K);
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// Set the linearization point
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Pose3 pose1(Rot3(), Point3(0,0,-8));
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Pose3 pose2(Rot3(), Point3(0,0,-4));
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Point3 point(0.0, 0.0, 0.0);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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// The expected error is (-3.0, 0.0) pixels / UnitCovariance
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Vector expectedError = Vector2(-3.0, 0.0);
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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{
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// Create measurement by projecting 3D landmark
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double t = 0.3;
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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PinholeCamera<Cal3_S2> camera(poseInterp, *K);
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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Point2 measured = camera.project(point);
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// create factor
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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// The expected error is zero
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Vector expectedError = Vector2(0.0, 0.0);
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, ErrorWithTransform ) {
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// Create measurement by projecting 3D landmark
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double t = 0.3;
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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Pose3 body_P_sensor3(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0.2,0.1));
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PinholeCamera<Cal3_S2> camera(poseInterp*body_P_sensor3, *K);
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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Point2 measured = camera.project(point);
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// create factor
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K, body_P_sensor3);
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// Use the factor to calculate the error
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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// The expected error is zero
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Vector expectedError = Vector2(0.0, 0.0);
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// Verify we get the expected error
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, Jacobian ) {
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// Create measurement by projecting 3D landmark
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double t = 0.3;
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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PinholeCamera<Cal3_S2> camera(poseInterp, *K);
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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Point2 measured = camera.project(point);
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// create factor
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual, H3Actual;
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factor.evaluateError(pose1, pose2, point, H1Actual, H2Actual, H3Actual);
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// Expected Jacobians via numerical derivatives
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Matrix H1Expected = numericalDerivative31<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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Matrix H3Expected = numericalDerivative33<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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CHECK(assert_equal(H1Expected, H1Actual, 1e-5));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-5));
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CHECK(assert_equal(H3Expected, H3Actual, 1e-5));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, JacobianWithTransform ) {
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// Create measurement by projecting 3D landmark
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double t = 0.6;
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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Pose3 body_P_sensor3(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0.2,0.1));
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PinholeCamera<Cal3_S2> camera(poseInterp*body_P_sensor3, *K);
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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Point2 measured = camera.project(point);
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// create factor
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K, body_P_sensor3);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual, H3Actual;
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factor.evaluateError(pose1, pose2, point, H1Actual, H2Actual, H3Actual);
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// Expected Jacobians via numerical derivatives
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Matrix H1Expected = numericalDerivative31<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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Matrix H3Expected = numericalDerivative33<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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CHECK(assert_equal(H1Expected, H1Actual, 1e-5));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-5));
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CHECK(assert_equal(H3Expected, H3Actual, 1e-5));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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