1652 lines
61 KiB
C++
1652 lines
61 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 testSmartProjectionPoseFactor.cpp
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* @brief Unit tests for ProjectionFactor Class
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* @author Chris Beall
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* @author Luca Carlone
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* @author Zsolt Kira
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* @date Sept 2013
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*/
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#include "../SmartProjectionPoseFactor.h"
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#include <gtsam/slam/PoseTranslationPrior.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/std/vector.hpp>
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#include <iostream>
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using namespace std;
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using namespace boost::assign;
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using namespace gtsam;
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static bool isDebugTest = true;
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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 sharedK(new Cal3_S2(fov, w, h));
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static Cal3_S2::shared_ptr sharedK2(new Cal3_S2(1500, 1200, 0, 640, 480));
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static boost::shared_ptr<Cal3Bundler> sharedBundlerK(
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new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
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static const double rankTol = 1.0;
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static const double linThreshold = -1.0;
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static const bool manageDegeneracy = true;
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// Create a noise model for the pixel error
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static const double sigma = 0.1;
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static SharedNoiseModel model(noiseModel::Isotropic::Sigma(2, sigma));
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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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// tests data
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static Symbol x1('X', 1);
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static Symbol x2('X', 2);
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static Symbol x3('X', 3);
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static Key poseKey1(x1);
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static Point2 measurement1(323.0, 240.0);
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static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
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Point3(0.25, -0.10, 1.0));
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typedef PinholePose<Cal3_S2> Camera;
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typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
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typedef PinholePose<Cal3Bundler> CameraBundler;
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typedef SmartProjectionPoseFactor<Cal3Bundler> SmartFactorBundler;
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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Camera level_camera(level_pose, sharedK2);
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// create second camera 1 meter to the right of first camera
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Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0));
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Camera level_camera_right(level_pose_right, sharedK2);
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// landmarks ~5 meters in front of camera
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Point3 landmark1(5, 0.5, 1.2);
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Point3 landmark2(5, -0.5, 1.2);
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Point3 landmark3(5, 0, 3.0);
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void projectToMultipleCameras(Camera cam1, Camera cam2, Camera cam3,
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Point3 landmark, vector<Point2>& measurements_cam) {
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Point2 cam1_uv1 = cam1.project(landmark);
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Point2 cam2_uv1 = cam2.project(landmark);
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Point2 cam3_uv1 = cam3.project(landmark);
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measurements_cam.push_back(cam1_uv1);
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measurements_cam.push_back(cam2_uv1);
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measurements_cam.push_back(cam3_uv1);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor) {
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SmartFactor::shared_ptr factor1(new SmartFactor());
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor2) {
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SmartFactor factor1(rankTol, linThreshold);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor3) {
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SmartFactor::shared_ptr factor1(new SmartFactor());
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factor1->add(measurement1, poseKey1, model, sharedK);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Constructor4) {
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SmartFactor factor1(rankTol, linThreshold);
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factor1.add(measurement1, poseKey1, model, sharedK);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, ConstructorWithTransform) {
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bool manageDegeneracy = true;
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bool enableEPI = false;
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SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, enableEPI,
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body_P_sensor1);
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factor1.add(measurement1, poseKey1, model, sharedK);
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}
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, Equals ) {
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SmartFactor::shared_ptr factor1(new SmartFactor());
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factor1->add(measurement1, poseKey1, model, sharedK);
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SmartFactor::shared_ptr factor2(new SmartFactor());
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factor2->add(measurement1, poseKey1, model, sharedK);
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CHECK(assert_equal(*factor1, *factor2));
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}
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/* *************************************************************************/
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TEST_UNSAFE( SmartProjectionPoseFactor, noiseless ) {
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// cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl;
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// Project two landmarks into two cameras
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Point2 level_uv = level_camera.project(landmark1);
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Point2 level_uv_right = level_camera_right.project(landmark1);
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SmartFactor factor;
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factor.add(level_uv, x1, model, sharedK);
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factor.add(level_uv_right, x2, model, sharedK);
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Values values;
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values.insert(x1, level_pose);
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values.insert(x2, level_pose_right);
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double actualError = factor.error(values);
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double expectedError = 0.0;
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EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7);
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SmartFactor::Cameras cameras = factor.cameras(values);
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double actualError2 = factor.totalReprojectionError(cameras);
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EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7);
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// Calculate expected derivative for point (easiest to check)
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boost::function<Vector(Point3)> f = //
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boost::bind(&SmartFactor::whitenedErrors, factor, cameras, _1);
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boost::optional<Point3> point = factor.point();
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CHECK(point);
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// Note ! After refactor the noiseModel is only in the factors, not these matrices
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Matrix expectedE = sigma * numericalDerivative11<Vector, Point3>(f, *point);
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// Calculate using computeEP
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Matrix actualE, PointCov;
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factor.computeEP(actualE, PointCov, values);
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EXPECT(assert_equal(expectedE, actualE, 1e-7));
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// Calculate using reprojectionErrors, note not yet divided by sigma !
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SmartFactor::Cameras::FBlocks F;
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Matrix E;
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Vector actualErrors = factor.reprojectionErrors(cameras, *point, F, E);
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EXPECT(assert_equal(expectedE, E, 1e-7));
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EXPECT(assert_equal(zero(4), actualErrors, 1e-7));
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// Calculate using computeJacobians
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Vector b;
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vector<SmartFactor::KeyMatrix2D> Fblocks;
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double actualError3 = factor.computeJacobians(Fblocks, E, b, cameras);
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EXPECT(assert_equal(expectedE, E, 1e-7));
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EXPECT_DOUBLES_EQUAL(expectedError, actualError3, 1e-8);
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, noisy ) {
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// cout << " ************************ SmartProjectionPoseFactor: noisy ****************************" << endl;
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// 1. Project two landmarks into two cameras and triangulate
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Point2 pixelError(0.2, 0.2);
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Point2 level_uv = level_camera.project(landmark1) + pixelError;
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Point2 level_uv_right = level_camera_right.project(landmark1);
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Values values;
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values.insert(x1, level_pose);
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10),
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Point3(0.5, 0.1, 0.3));
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values.insert(x2, level_pose_right.compose(noise_pose));
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SmartFactor::shared_ptr factor(new SmartFactor());
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factor->add(level_uv, x1, model, sharedK);
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factor->add(level_uv_right, x2, model, sharedK);
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double actualError1 = factor->error(values);
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SmartFactor::shared_ptr factor2(new SmartFactor());
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vector<Point2> measurements;
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measurements.push_back(level_uv);
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measurements.push_back(level_uv_right);
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vector<SharedNoiseModel> noises;
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noises.push_back(model);
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noises.push_back(model);
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vector<boost::shared_ptr<Cal3_S2> > Ks; ///< shared pointer to calibration object (one for each camera)
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Ks.push_back(sharedK);
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Ks.push_back(sharedK);
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vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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factor2->add(measurements, views, noises, Ks);
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double actualError2 = factor2->error(values);
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DOUBLES_EQUAL(actualError1, actualError2, 1e-7);
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ) {
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// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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Camera cam1(pose1, sharedK2);
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// create second camera 1 meter to the right of first camera
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Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
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Camera cam2(pose2, sharedK2);
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// create third camera 1 meter above the first camera
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Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
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Camera cam3(pose3, sharedK2);
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vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
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// 1. Project three landmarks into three cameras and triangulate
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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SmartFactor::shared_ptr smartFactor1(new SmartFactor());
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smartFactor1->add(measurements_cam1, views, model, sharedK2);
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SmartFactor::shared_ptr smartFactor2(new SmartFactor());
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smartFactor2->add(measurements_cam2, views, model, sharedK2);
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SmartFactor::shared_ptr smartFactor3(new SmartFactor());
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smartFactor3->add(measurements_cam3, views, model, sharedK2);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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NonlinearFactorGraph graph;
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graph.push_back(smartFactor1);
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graph.push_back(smartFactor2);
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graph.push_back(smartFactor3);
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graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
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graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
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// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
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Point3(0.1, 0.1, 0.1)); // smaller noise
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Values values;
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values.insert(x1, pose1);
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values.insert(x2, pose2);
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// initialize third pose with some noise, we expect it to move back to original pose3
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values.insert(x3, pose3 * noise_pose);
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if (isDebugTest)
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values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
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LevenbergMarquardtParams params;
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if (isDebugTest)
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params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
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if (isDebugTest)
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params.verbosity = NonlinearOptimizerParams::ERROR;
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Values result;
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gttic_ (SmartProjectionPoseFactor);
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LevenbergMarquardtOptimizer optimizer(graph, values, params);
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result = optimizer.optimize();
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gttoc_(SmartProjectionPoseFactor);
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tictoc_finishedIteration_();
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GaussianFactorGraph::shared_ptr GFG = graph.linearize(values);
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VectorValues delta = GFG->optimize();
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// result.print("results of 3 camera, 3 landmark optimization \n");
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if (isDebugTest)
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result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
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EXPECT(assert_equal(pose3, result.at<Pose3>(x3), 1e-8));
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if (isDebugTest)
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tictoc_print_();
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 cameraPose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1)); // body poses
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Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1, 0, 0));
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Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0, -1, 0));
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Camera cam1(cameraPose1, sharedK); // with camera poses
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Camera cam2(cameraPose2, sharedK);
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Camera cam3(cameraPose3, sharedK);
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// create arbitrary body_Pose_sensor (transforms from sensor to body)
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Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(1, 1, 1)); // Pose3(); //
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// These are the poses we want to estimate, from camera measurements
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Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse());
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Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse());
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Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse());
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vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
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// Project three landmarks into three cameras
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projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
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projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
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// Create smart factors
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vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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double rankTol = 1;
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double linThreshold = -1;
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bool manageDegeneracy = false;
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bool enableEPI = false;
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI,
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sensor_to_body));
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smartFactor1->add(measurements_cam1, views, model, sharedK);
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI,
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sensor_to_body));
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smartFactor2->add(measurements_cam2, views, model, sharedK);
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(rankTol, linThreshold, manageDegeneracy, enableEPI,
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sensor_to_body));
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smartFactor3->add(measurements_cam3, views, model, sharedK);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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// Put all factors in factor graph, adding priors
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NonlinearFactorGraph graph;
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graph.push_back(smartFactor1);
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graph.push_back(smartFactor2);
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graph.push_back(smartFactor3);
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graph.push_back(PriorFactor<Pose3>(x1, bodyPose1, noisePrior));
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graph.push_back(PriorFactor<Pose3>(x2, bodyPose2, noisePrior));
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// Check errors at ground truth poses
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Values gtValues;
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gtValues.insert(x1, bodyPose1);
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gtValues.insert(x2, bodyPose2);
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gtValues.insert(x3, bodyPose3);
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double actualError = graph.error(gtValues);
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double expectedError = 0.0;
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DOUBLES_EQUAL(expectedError, actualError, 1e-7)
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
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Point3(0.1, 0.1, 0.1));
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Values values;
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values.insert(x1, bodyPose1);
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values.insert(x2, bodyPose2);
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// initialize third pose with some noise, we expect it to move back to original pose3
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values.insert(x3, bodyPose3 * noise_pose);
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LevenbergMarquardtParams params;
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Values result;
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LevenbergMarquardtOptimizer optimizer(graph, values, params);
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result = optimizer.optimize();
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// result.print("results of 3 camera, 3 landmark optimization \n");
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if (isDebugTest)
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result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
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EXPECT(assert_equal(bodyPose3, result.at<Pose3>(x3)));
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// Check derivatives
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// Calculate expected derivative for point (easiest to check)
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SmartFactor::Cameras cameras = smartFactor1->cameras(values);
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boost::function<Vector(Point3)> f = //
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boost::bind(&SmartFactor::whitenedErrors, *smartFactor1, cameras, _1);
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boost::optional<Point3> point = smartFactor1->point();
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CHECK(point);
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// Note ! After refactor the noiseModel is only in the factors, not these matrices
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Matrix expectedE = sigma * numericalDerivative11<Vector, Point3>(f, *point);
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// Calculate using computeEP
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Matrix actualE, PointCov;
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smartFactor1->computeEP(actualE, PointCov, values);
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EXPECT(assert_equal(expectedE, actualE, 1e-7));
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// Calculate using whitenedError
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Matrix E;
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SmartFactor::Cameras::FBlocks F;
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Vector actualErrors = smartFactor1->reprojectionErrors(cameras, *point, F, E);
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EXPECT(assert_equal(expectedE, E, 1e-7));
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// Success ! The derivatives of reprojectionErrors now agree with f !
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EXPECT(assert_equal(f(*point) * sigma, actualErrors, 1e-7));
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, Factors ) {
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// Default cameras for simple derivatives
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Rot3 R;
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static Cal3_S2::shared_ptr sharedK(new Cal3_S2(100, 100, 0, 0, 0));
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PinholePose<Cal3_S2> cam1(Pose3(R, Point3(0, 0, 0)), sharedK), cam2(
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Pose3(R, Point3(1, 0, 0)), sharedK);
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// one landmarks 1m in front of camera
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Point3 landmark1(0, 0, 10);
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vector<Point2> measurements_cam1;
|
|
|
|
// Project 2 landmarks into 2 cameras
|
|
measurements_cam1.push_back(cam1.project(landmark1));
|
|
measurements_cam1.push_back(cam2.project(landmark1));
|
|
|
|
// Create smart factors
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
|
|
SmartFactor::shared_ptr smartFactor1 = boost::make_shared<SmartFactor>();
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::Cameras cameras;
|
|
cameras.push_back(cam1);
|
|
cameras.push_back(cam2);
|
|
|
|
// Make sure triangulation works
|
|
LONGS_EQUAL(2, smartFactor1->triangulateSafe(cameras));
|
|
CHECK(!smartFactor1->isDegenerate());
|
|
CHECK(!smartFactor1->isPointBehindCamera());
|
|
boost::optional<Point3> p = smartFactor1->point();
|
|
CHECK(p);
|
|
EXPECT(assert_equal(landmark1, *p));
|
|
|
|
// After eliminating the point, A1 and A2 contain 2-rank information on cameras:
|
|
Matrix16 A1, A2;
|
|
A1 << -1000, 0, 0, 0, 100, 0;
|
|
A2 << 1000, 0, 100, 0, -100, 0;
|
|
{
|
|
// createHessianFactor
|
|
Matrix66 G11 = 0.5 * A1.transpose() * A1;
|
|
Matrix66 G12 = 0.5 * A1.transpose() * A2;
|
|
Matrix66 G22 = 0.5 * A2.transpose() * A2;
|
|
|
|
Vector6 g1;
|
|
g1.setZero();
|
|
Vector6 g2;
|
|
g2.setZero();
|
|
|
|
double f = 0;
|
|
|
|
RegularHessianFactor<6> expected(x1, x2, G11, G12, g1, G22, g2, f);
|
|
|
|
boost::shared_ptr<RegularHessianFactor<6> > actual =
|
|
smartFactor1->createHessianFactor(cameras, 0.0);
|
|
EXPECT(assert_equal(expected.information(), actual->information(), 1e-8));
|
|
EXPECT(assert_equal(expected, *actual, 1e-8));
|
|
}
|
|
|
|
{
|
|
Matrix26 F1;
|
|
F1.setZero();
|
|
F1(0, 1) = -100;
|
|
F1(0, 3) = -10;
|
|
F1(1, 0) = 100;
|
|
F1(1, 4) = -10;
|
|
Matrix26 F2;
|
|
F2.setZero();
|
|
F2(0, 1) = -101;
|
|
F2(0, 3) = -10;
|
|
F2(0, 5) = -1;
|
|
F2(1, 0) = 100;
|
|
F2(1, 2) = 10;
|
|
F2(1, 4) = -10;
|
|
Matrix43 E;
|
|
E.setZero();
|
|
E(0, 0) = 100;
|
|
E(1, 1) = 100;
|
|
E(2, 0) = 100;
|
|
E(2, 2) = 10;
|
|
E(3, 1) = 100;
|
|
const vector<pair<Key, Matrix26> > Fblocks = list_of<pair<Key, Matrix> > //
|
|
(make_pair(x1, 10 * F1))(make_pair(x2, 10 * F2));
|
|
Matrix3 P = (E.transpose() * E).inverse();
|
|
Vector4 b;
|
|
b.setZero();
|
|
|
|
// createRegularImplicitSchurFactor
|
|
RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b);
|
|
|
|
boost::shared_ptr<RegularImplicitSchurFactor<6> > actual =
|
|
smartFactor1->createRegularImplicitSchurFactor(cameras, 0.0);
|
|
CHECK(actual);
|
|
CHECK(assert_equal(expected, *actual));
|
|
|
|
// createJacobianQFactor
|
|
JacobianFactorQ<6, 2> expectedQ(Fblocks, E, P, b);
|
|
|
|
boost::shared_ptr<JacobianFactorQ<6, 2> > actualQ =
|
|
smartFactor1->createJacobianQFactor(cameras, 0.0);
|
|
CHECK(actual);
|
|
EXPECT(assert_equal(expectedQ.information(), actualQ->information(), 1e-8));
|
|
EXPECT(assert_equal(expectedQ, *actualQ));
|
|
}
|
|
|
|
{
|
|
// createJacobianSVDFactor
|
|
Vector1 b;
|
|
b.setZero();
|
|
double s = sin(M_PI_4);
|
|
JacobianFactor expected(x1, s * A1, x2, s * A2, b);
|
|
|
|
boost::shared_ptr<JacobianFactor> actual =
|
|
smartFactor1->createJacobianSVDFactor(cameras, 0.0);
|
|
CHECK(actual);
|
|
EXPECT(assert_equal(expected.information(), actual->information(), 1e-8));
|
|
EXPECT(assert_equal(expected, *actual));
|
|
}
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ) {
|
|
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
|
|
SmartFactor::shared_ptr smartFactor1(new SmartFactor());
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(new SmartFactor());
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(new SmartFactor());
|
|
smartFactor3->add(measurements_cam3, views, model, sharedK);
|
|
|
|
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), 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),
|
|
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);
|
|
if (isDebugTest)
|
|
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
|
|
|
LevenbergMarquardtParams params;
|
|
if (isDebugTest)
|
|
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
|
if (isDebugTest)
|
|
params.verbosity = NonlinearOptimizerParams::ERROR;
|
|
|
|
Values result;
|
|
gttic_ (SmartProjectionPoseFactor);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartProjectionPoseFactor);
|
|
tictoc_finishedIteration_();
|
|
|
|
// result.print("results of 3 camera, 3 landmark optimization \n");
|
|
if (isDebugTest)
|
|
result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
|
|
EXPECT(assert_equal(pose3, result.at<Pose3>(x3), 1e-7));
|
|
if (isDebugTest)
|
|
tictoc_print_();
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, jacobianSVD ) {
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
|
|
SmartFactor::shared_ptr smartFactor1(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
|
|
smartFactor3->add(measurements_cam3, views, model, sharedK);
|
|
|
|
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), 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),
|
|
Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
values.insert(x3, pose3 * noise_pose);
|
|
|
|
LevenbergMarquardtParams params;
|
|
Values result;
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
EXPECT(assert_equal(pose3, result.at<Pose3>(x3), 1e-8));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, landmarkDistance ) {
|
|
|
|
double excludeLandmarksFutherThanDist = 2;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
|
|
SmartFactor::shared_ptr smartFactor1(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
|
excludeLandmarksFutherThanDist));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
|
excludeLandmarksFutherThanDist));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
|
excludeLandmarksFutherThanDist));
|
|
smartFactor3->add(measurements_cam3, views, model, sharedK);
|
|
|
|
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), 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),
|
|
Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
values.insert(x3, pose3 * noise_pose);
|
|
|
|
// All factors are disabled and pose should remain where it is
|
|
LevenbergMarquardtParams params;
|
|
Values result;
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3)));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, dynamicOutlierRejection ) {
|
|
|
|
double excludeLandmarksFutherThanDist = 1e10;
|
|
double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
// add fourth landmark
|
|
Point3 landmark4(5, -0.5, 1);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3,
|
|
measurements_cam4;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_cam4);
|
|
measurements_cam4.at(0) = measurements_cam4.at(0) + Point2(10, 10); // add outlier
|
|
|
|
SmartFactor::shared_ptr smartFactor1(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
|
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
|
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
|
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
|
smartFactor3->add(measurements_cam3, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor4(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
|
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
|
smartFactor4->add(measurements_cam4, views, model, sharedK);
|
|
|
|
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(smartFactor4);
|
|
graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
|
|
graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
|
|
|
|
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
|
|
Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
values.insert(x3, pose3);
|
|
|
|
// All factors are disabled and pose should remain where it is
|
|
LevenbergMarquardtParams params;
|
|
Values result;
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
EXPECT(assert_equal(pose3, result.at<Pose3>(x3)));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, jacobianQ ) {
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
|
|
SmartFactor::shared_ptr smartFactor1(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(
|
|
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_Q));
|
|
smartFactor3->add(measurements_cam3, views, model, sharedK);
|
|
|
|
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), 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),
|
|
Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
values.insert(x3, pose3 * noise_pose);
|
|
|
|
LevenbergMarquardtParams params;
|
|
Values result;
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
EXPECT(assert_equal(pose3, result.at<Pose3>(x3), 1e-8));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, 3poses_projection_factor ) {
|
|
// cout << " ************************ Normal ProjectionFactor: 3 cams + 3 landmarks **********************" << endl;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
Camera cam3(pose3, sharedK2);
|
|
|
|
typedef GenericProjectionFactor<Pose3, Point3> ProjectionFactor;
|
|
NonlinearFactorGraph graph;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
graph.push_back(
|
|
ProjectionFactor(cam1.project(landmark1), model, x1, L(1), sharedK2));
|
|
graph.push_back(
|
|
ProjectionFactor(cam2.project(landmark1), model, x2, L(1), sharedK2));
|
|
graph.push_back(
|
|
ProjectionFactor(cam3.project(landmark1), model, x3, L(1), sharedK2));
|
|
|
|
graph.push_back(
|
|
ProjectionFactor(cam1.project(landmark2), model, x1, L(2), sharedK2));
|
|
graph.push_back(
|
|
ProjectionFactor(cam2.project(landmark2), model, x2, L(2), sharedK2));
|
|
graph.push_back(
|
|
ProjectionFactor(cam3.project(landmark2), model, x3, L(2), sharedK2));
|
|
|
|
graph.push_back(
|
|
ProjectionFactor(cam1.project(landmark3), model, x1, L(3), sharedK2));
|
|
graph.push_back(
|
|
ProjectionFactor(cam2.project(landmark3), model, x2, L(3), sharedK2));
|
|
graph.push_back(
|
|
ProjectionFactor(cam3.project(landmark3), model, x3, L(3), sharedK2));
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
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),
|
|
Point3(0.5, 0.1, 0.3));
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
values.insert(x3, pose3 * noise_pose);
|
|
values.insert(L(1), landmark1);
|
|
values.insert(L(2), landmark2);
|
|
values.insert(L(3), landmark3);
|
|
if (isDebugTest)
|
|
values.at<Pose3>(x3).print("Pose3 before optimization: ");
|
|
|
|
LevenbergMarquardtParams params;
|
|
if (isDebugTest)
|
|
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
|
if (isDebugTest)
|
|
params.verbosity = NonlinearOptimizerParams::ERROR;
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
Values result = optimizer.optimize();
|
|
|
|
if (isDebugTest)
|
|
result.at<Pose3>(x3).print("Pose3 after optimization: ");
|
|
EXPECT(assert_equal(pose3, result.at<Pose3>(x3), 1e-7));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, CheckHessian) {
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
|
|
double rankTol = 10;
|
|
|
|
SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol));
|
|
smartFactor3->add(measurements_cam3, views, model, sharedK);
|
|
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
|
|
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), 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),
|
|
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);
|
|
if (isDebugTest)
|
|
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactor1 = smartFactor1->linearize(
|
|
values);
|
|
boost::shared_ptr<GaussianFactor> hessianFactor2 = smartFactor2->linearize(
|
|
values);
|
|
boost::shared_ptr<GaussianFactor> hessianFactor3 = smartFactor3->linearize(
|
|
values);
|
|
|
|
Matrix CumulativeInformation = hessianFactor1->information()
|
|
+ hessianFactor2->information() + hessianFactor3->information();
|
|
|
|
boost::shared_ptr<GaussianFactorGraph> GaussianGraph = graph.linearize(
|
|
values);
|
|
Matrix GraphInformation = GaussianGraph->hessian().first;
|
|
|
|
// Check Hessian
|
|
EXPECT(assert_equal(GraphInformation, CumulativeInformation, 1e-8));
|
|
|
|
Matrix AugInformationMatrix = hessianFactor1->augmentedInformation()
|
|
+ hessianFactor2->augmentedInformation()
|
|
+ hessianFactor3->augmentedInformation();
|
|
|
|
// Check Information vector
|
|
// cout << AugInformationMatrix.size() << endl;
|
|
Vector InfoVector = AugInformationMatrix.block(0, 18, 18, 1); // 18x18 Hessian + information vector
|
|
|
|
// Check Hessian
|
|
EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-8));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ) {
|
|
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 2 landmarks: Rotation Only**********************" << endl;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
Camera cam2(pose2, sharedK2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
Camera cam3(pose3, sharedK2);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
|
|
double rankTol = 50;
|
|
SmartFactor::shared_ptr smartFactor1(
|
|
new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK2);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(
|
|
new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK2);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3,
|
|
0.10);
|
|
Point3 positionPrior = Point3(0, 0, 1);
|
|
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
|
|
graph.push_back(
|
|
PoseTranslationPrior<Pose3>(x2, positionPrior, noisePriorTranslation));
|
|
graph.push_back(
|
|
PoseTranslationPrior<Pose3>(x3, positionPrior, noisePriorTranslation));
|
|
|
|
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10),
|
|
Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2 * noise_pose);
|
|
// initialize third pose with some noise, we expect it to move back to original pose3
|
|
values.insert(x3, pose3 * noise_pose * noise_pose);
|
|
if (isDebugTest)
|
|
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
|
|
|
LevenbergMarquardtParams params;
|
|
if (isDebugTest)
|
|
params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
|
|
if (isDebugTest)
|
|
params.verbosity = NonlinearOptimizerParams::ERROR;
|
|
|
|
Values result;
|
|
gttic_ (SmartProjectionPoseFactor);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartProjectionPoseFactor);
|
|
tictoc_finishedIteration_();
|
|
|
|
// result.print("results of 3 camera, 3 landmark optimization \n");
|
|
if (isDebugTest)
|
|
result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
|
|
cout
|
|
<< "TEST COMMENTED: rotation only version of smart factors has been deprecated "
|
|
<< endl;
|
|
// EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
|
if (isDebugTest)
|
|
tictoc_print_();
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ) {
|
|
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks: Rotation Only**********************" << endl;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
|
|
double rankTol = 10;
|
|
|
|
SmartFactor::shared_ptr smartFactor1(
|
|
new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(
|
|
new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedK);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(
|
|
new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor3->add(measurements_cam3, views, model, sharedK);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3,
|
|
0.10);
|
|
Point3 positionPrior = Point3(0, 0, 1);
|
|
|
|
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(
|
|
PoseTranslationPrior<Pose3>(x2, positionPrior, noisePriorTranslation));
|
|
graph.push_back(
|
|
PoseTranslationPrior<Pose3>(x3, positionPrior, noisePriorTranslation));
|
|
|
|
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), 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),
|
|
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);
|
|
if (isDebugTest)
|
|
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
|
|
|
LevenbergMarquardtParams params;
|
|
if (isDebugTest)
|
|
params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
|
|
if (isDebugTest)
|
|
params.verbosity = NonlinearOptimizerParams::ERROR;
|
|
|
|
Values result;
|
|
gttic_ (SmartProjectionPoseFactor);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartProjectionPoseFactor);
|
|
tictoc_finishedIteration_();
|
|
|
|
// result.print("results of 3 camera, 3 landmark optimization \n");
|
|
if (isDebugTest)
|
|
result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
|
|
cout
|
|
<< "TEST COMMENTED: rotation only version of smart factors has been deprecated "
|
|
<< endl;
|
|
// EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
|
if (isDebugTest)
|
|
tictoc_print_();
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, Hessian ) {
|
|
// cout << " ************************ SmartProjectionPoseFactor: Hessian **********************" << endl;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK2);
|
|
|
|
// 1. Project three landmarks into three cameras and triangulate
|
|
Point2 cam1_uv1 = cam1.project(landmark1);
|
|
Point2 cam2_uv1 = cam2.project(landmark1);
|
|
vector<Point2> measurements_cam1;
|
|
measurements_cam1.push_back(cam1_uv1);
|
|
measurements_cam1.push_back(cam2_uv1);
|
|
|
|
SmartFactor::shared_ptr smartFactor1(new SmartFactor());
|
|
smartFactor1->add(measurements_cam1, views, model, sharedK2);
|
|
|
|
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10),
|
|
Point3(0.5, 0.1, 0.3));
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactor = smartFactor1->linearize(
|
|
values);
|
|
if (isDebugTest)
|
|
hessianFactor->print("Hessian factor \n");
|
|
|
|
// compute triangulation from linearization point
|
|
// compute reprojection errors (sum squared)
|
|
// compare with hessianFactor.info(): the bottom right element is the squared sum of the reprojection errors (normalized by the covariance)
|
|
// check that it is correctly scaled when using noiseProjection = [1/4 0; 0 1/4]
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, HessianWithRotation ) {
|
|
// cout << " ************************ SmartProjectionPoseFactor: rotated Hessian **********************" << endl;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
Camera cam2(pose2, sharedK);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
Camera cam3(pose3, sharedK);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
|
|
SmartFactor::shared_ptr smartFactorInstance(new SmartFactor());
|
|
smartFactorInstance->add(measurements_cam1, views, model, sharedK);
|
|
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
values.insert(x3, pose3);
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactor =
|
|
smartFactorInstance->linearize(values);
|
|
// hessianFactor->print("Hessian factor \n");
|
|
|
|
Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0));
|
|
|
|
Values rotValues;
|
|
rotValues.insert(x1, poseDrift.compose(pose1));
|
|
rotValues.insert(x2, poseDrift.compose(pose2));
|
|
rotValues.insert(x3, poseDrift.compose(pose3));
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactorRot =
|
|
smartFactorInstance->linearize(rotValues);
|
|
// hessianFactorRot->print("Hessian factor \n");
|
|
|
|
// Hessian is invariant to rotations in the nondegenerate case
|
|
EXPECT(
|
|
assert_equal(hessianFactor->information(),
|
|
hessianFactorRot->information(), 1e-7));
|
|
|
|
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2),
|
|
Point3(10, -4, 5));
|
|
|
|
Values tranValues;
|
|
tranValues.insert(x1, poseDrift2.compose(pose1));
|
|
tranValues.insert(x2, poseDrift2.compose(pose2));
|
|
tranValues.insert(x3, poseDrift2.compose(pose3));
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactorRotTran =
|
|
smartFactorInstance->linearize(tranValues);
|
|
|
|
// Hessian is invariant to rotations and translations in the nondegenerate case
|
|
EXPECT(
|
|
assert_equal(hessianFactor->information(),
|
|
hessianFactorRotTran->information(), 1e-7));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ) {
|
|
// cout << " ************************ SmartProjectionPoseFactor: rotated Hessian (degenerate) **********************" << endl;
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
Camera cam1(pose1, sharedK2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(0, 0, 0));
|
|
Camera cam2(pose2, sharedK2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, 0, 0));
|
|
Camera cam3(pose3, sharedK2);
|
|
|
|
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
|
|
SmartFactor::shared_ptr smartFactor(new SmartFactor());
|
|
smartFactor->add(measurements_cam1, views, model, sharedK2);
|
|
|
|
Values values;
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
values.insert(x3, pose3);
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactor = smartFactor->linearize(
|
|
values);
|
|
if (isDebugTest)
|
|
hessianFactor->print("Hessian factor \n");
|
|
|
|
Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0));
|
|
|
|
Values rotValues;
|
|
rotValues.insert(x1, poseDrift.compose(pose1));
|
|
rotValues.insert(x2, poseDrift.compose(pose2));
|
|
rotValues.insert(x3, poseDrift.compose(pose3));
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactorRot = smartFactor->linearize(
|
|
rotValues);
|
|
if (isDebugTest)
|
|
hessianFactorRot->print("Hessian factor \n");
|
|
|
|
// Hessian is invariant to rotations in the nondegenerate case
|
|
EXPECT(
|
|
assert_equal(hessianFactor->information(),
|
|
hessianFactorRot->information(), 1e-8));
|
|
|
|
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2),
|
|
Point3(10, -4, 5));
|
|
|
|
Values tranValues;
|
|
tranValues.insert(x1, poseDrift2.compose(pose1));
|
|
tranValues.insert(x2, poseDrift2.compose(pose2));
|
|
tranValues.insert(x3, poseDrift2.compose(pose3));
|
|
|
|
boost::shared_ptr<GaussianFactor> hessianFactorRotTran =
|
|
smartFactor->linearize(tranValues);
|
|
|
|
// Hessian is invariant to rotations and translations in the nondegenerate case
|
|
EXPECT(
|
|
assert_equal(hessianFactor->information(),
|
|
hessianFactorRotTran->information(), 1e-8));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) {
|
|
SmartFactorBundler factor(rankTol, linThreshold);
|
|
boost::shared_ptr<Cal3Bundler> sharedBundlerK(
|
|
new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
|
|
factor.add(measurement1, poseKey1, model, sharedBundlerK);
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, Cal3Bundler ) {
|
|
// cout << " ************************ SmartProjectionPoseFactor: Cal3Bundler **********************" << endl;
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
CameraBundler cam1(pose1, sharedBundlerK);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
CameraBundler cam2(pose2, sharedBundlerK);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
CameraBundler cam3(pose3, sharedBundlerK);
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
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.push_back(cam1_uv1);
|
|
measurements_cam1.push_back(cam2_uv1);
|
|
measurements_cam1.push_back(cam3_uv1);
|
|
|
|
Point2 cam1_uv2 = cam1.project(landmark2);
|
|
Point2 cam2_uv2 = cam2.project(landmark2);
|
|
Point2 cam3_uv2 = cam3.project(landmark2);
|
|
measurements_cam2.push_back(cam1_uv2);
|
|
measurements_cam2.push_back(cam2_uv2);
|
|
measurements_cam2.push_back(cam3_uv2);
|
|
|
|
Point2 cam1_uv3 = cam1.project(landmark3);
|
|
Point2 cam2_uv3 = cam2.project(landmark3);
|
|
Point2 cam3_uv3 = cam3.project(landmark3);
|
|
measurements_cam3.push_back(cam1_uv3);
|
|
measurements_cam3.push_back(cam2_uv3);
|
|
measurements_cam3.push_back(cam3_uv3);
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor1(new SmartFactorBundler());
|
|
smartFactor1->add(measurements_cam1, views, model, sharedBundlerK);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler());
|
|
smartFactor2->add(measurements_cam2, views, model, sharedBundlerK);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler());
|
|
smartFactor3->add(measurements_cam3, views, model, sharedBundlerK);
|
|
|
|
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), 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),
|
|
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);
|
|
if (isDebugTest)
|
|
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
|
|
|
LevenbergMarquardtParams params;
|
|
if (isDebugTest)
|
|
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
|
|
if (isDebugTest)
|
|
params.verbosity = NonlinearOptimizerParams::ERROR;
|
|
|
|
Values result;
|
|
gttic_ (SmartProjectionPoseFactor);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartProjectionPoseFactor);
|
|
tictoc_finishedIteration_();
|
|
|
|
// result.print("results of 3 camera, 3 landmark optimization \n");
|
|
if (isDebugTest)
|
|
result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
|
|
EXPECT(assert_equal(pose3, result.at<Pose3>(x3), 1e-6));
|
|
if (isDebugTest)
|
|
tictoc_print_();
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
|
|
|
|
vector<Key> views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
// 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), Point3(0, 0, 1));
|
|
CameraBundler cam1(pose1, sharedBundlerK);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
CameraBundler cam2(pose2, sharedBundlerK);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
|
CameraBundler cam3(pose3, sharedBundlerK);
|
|
|
|
// landmark3 at 3 meters now
|
|
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.push_back(cam1_uv1);
|
|
measurements_cam1.push_back(cam2_uv1);
|
|
measurements_cam1.push_back(cam3_uv1);
|
|
|
|
Point2 cam1_uv2 = cam1.project(landmark2);
|
|
Point2 cam2_uv2 = cam2.project(landmark2);
|
|
Point2 cam3_uv2 = cam3.project(landmark2);
|
|
measurements_cam2.push_back(cam1_uv2);
|
|
measurements_cam2.push_back(cam2_uv2);
|
|
measurements_cam2.push_back(cam3_uv2);
|
|
|
|
Point2 cam1_uv3 = cam1.project(landmark3);
|
|
Point2 cam2_uv3 = cam2.project(landmark3);
|
|
Point2 cam3_uv3 = cam3.project(landmark3);
|
|
measurements_cam3.push_back(cam1_uv3);
|
|
measurements_cam3.push_back(cam2_uv3);
|
|
measurements_cam3.push_back(cam3_uv3);
|
|
|
|
double rankTol = 10;
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor1(
|
|
new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor1->add(measurements_cam1, views, model, sharedBundlerK);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor2(
|
|
new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor2->add(measurements_cam2, views, model, sharedBundlerK);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor3(
|
|
new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor3->add(measurements_cam3, views, model, sharedBundlerK);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3,
|
|
0.10);
|
|
Point3 positionPrior = Point3(0, 0, 1);
|
|
|
|
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(
|
|
PoseTranslationPrior<Pose3>(x2, positionPrior, noisePriorTranslation));
|
|
graph.push_back(
|
|
PoseTranslationPrior<Pose3>(x3, positionPrior, noisePriorTranslation));
|
|
|
|
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), 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),
|
|
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);
|
|
if (isDebugTest)
|
|
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
|
|
|
LevenbergMarquardtParams params;
|
|
if (isDebugTest)
|
|
params.verbosityLM = LevenbergMarquardtParams::TRYDELTA;
|
|
if (isDebugTest)
|
|
params.verbosity = NonlinearOptimizerParams::ERROR;
|
|
|
|
Values result;
|
|
gttic_ (SmartProjectionPoseFactor);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartProjectionPoseFactor);
|
|
tictoc_finishedIteration_();
|
|
|
|
// result.print("results of 3 camera, 3 landmark optimization \n");
|
|
if (isDebugTest)
|
|
result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
|
|
cout
|
|
<< "TEST COMMENTED: rotation only version of smart factors has been deprecated "
|
|
<< endl;
|
|
// EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
|
if (isDebugTest)
|
|
tictoc_print_();
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
/* ************************************************************************* */
|
|
|