121 lines
3.9 KiB
C++
121 lines
3.9 KiB
C++
/**
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* @file ISAM2Example_SmartFactor.cpp
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* @brief test of iSAM with smart factors, led to bitbucket issue #367
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* @author Alexander (pumaking on BitBucket)
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*/
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/nonlinear/ISAM2.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/slam/SmartProjectionPoseFactor.h>
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#include <iostream>
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#include <vector>
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using namespace std;
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using namespace gtsam;
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using symbol_shorthand::P;
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using symbol_shorthand::X;
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// Make the typename short so it looks much cleaner
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typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
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int main(int argc, char* argv[]) {
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Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
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auto measurementNoise =
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noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
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Vector6 sigmas;
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sigmas << Vector3::Constant(0.1), Vector3::Constant(0.3);
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auto noise = noiseModel::Diagonal::Sigmas(sigmas);
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ISAM2Params parameters;
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parameters.relinearizeThreshold = 0.01;
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parameters.relinearizeSkip = 1;
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parameters.cacheLinearizedFactors = false;
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parameters.enableDetailedResults = true;
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parameters.print();
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ISAM2 isam(parameters);
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// Create a factor graph
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NonlinearFactorGraph graph;
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Values initialEstimate;
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Point3 point(0.0, 0.0, 1.0);
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// Intentionally initialize the variables off from the ground truth
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Pose3 delta(Rot3::Rodrigues(0.0, 0.0, 0.0), Point3(0.05, -0.10, 0.20));
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Pose3 pose1(Rot3(), Point3(0.0, 0.0, 0.0));
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Pose3 pose2(Rot3(), Point3(0.0, 0.2, 0.0));
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Pose3 pose3(Rot3(), Point3(0.0, 0.4, 0.0));
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Pose3 pose4(Rot3(), Point3(0.0, 0.5, 0.0));
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Pose3 pose5(Rot3(), Point3(0.0, 0.6, 0.0));
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vector<Pose3> poses = {pose1, pose2, pose3, pose4, pose5};
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// Add first pose
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graph.emplace_shared<PriorFactor<Pose3>>(X(0), poses[0], noise);
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initialEstimate.insert(X(0), poses[0].compose(delta));
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// Create smart factor with measurement from first pose only
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SmartFactor::shared_ptr smartFactor(new SmartFactor(measurementNoise, K));
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smartFactor->add(PinholePose<Cal3_S2>(poses[0], K).project(point), X(0));
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graph.push_back(smartFactor);
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// loop over remaining poses
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for (size_t i = 1; i < 5; i++) {
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cout << "****************************************************" << endl;
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cout << "i = " << i << endl;
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// Add prior on new pose
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graph.emplace_shared<PriorFactor<Pose3>>(X(i), poses[i], noise);
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initialEstimate.insert(X(i), poses[i].compose(delta));
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// "Simulate" measurement from this pose
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PinholePose<Cal3_S2> camera(poses[i], K);
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Point2 measurement = camera.project(point);
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cout << "Measurement " << i << "" << measurement << endl;
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// Add measurement to smart factor
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smartFactor->add(measurement, X(i));
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// Update iSAM2
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ISAM2Result result = isam.update(graph, initialEstimate);
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result.print();
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cout << "Detailed results:" << endl;
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for (auto keyedStatus : result.detail->variableStatus) {
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const auto& status = keyedStatus.second;
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PrintKey(keyedStatus.first);
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cout << " {" << endl;
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cout << "reeliminated: " << status.isReeliminated << endl;
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cout << "relinearized above thresh: " << status.isAboveRelinThreshold
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<< endl;
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cout << "relinearized involved: " << status.isRelinearizeInvolved << endl;
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cout << "relinearized: " << status.isRelinearized << endl;
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cout << "observed: " << status.isObserved << endl;
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cout << "new: " << status.isNew << endl;
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cout << "in the root clique: " << status.inRootClique << endl;
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cout << "}" << endl;
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}
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Values currentEstimate = isam.calculateEstimate();
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currentEstimate.print("Current estimate: ");
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boost::optional<Point3> pointEstimate = smartFactor->point(currentEstimate);
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if (pointEstimate) {
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cout << *pointEstimate << endl;
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} else {
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cout << "Point degenerate." << endl;
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}
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// Reset graph and initial estimate for next iteration
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graph.resize(0);
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initialEstimate.clear();
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}
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return 0;
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}
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