98 lines
3.4 KiB
C++
98 lines
3.4 KiB
C++
/*
|
|
* testInvDepthFactor.cpp
|
|
*
|
|
* Created on: Apr 13, 2012
|
|
* Author: cbeall3
|
|
*/
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#include <gtsam/geometry/PinholeCamera.h>
|
|
#include <gtsam/nonlinear/NonlinearEquality.h>
|
|
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
|
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
|
|
#include <gtsam/inference/Symbol.h>
|
|
|
|
#include <gtsam_unstable/slam/InvDepthFactor3.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480));
|
|
static SharedNoiseModel sigma(noiseModel::Unit::Create(2));
|
|
|
|
// camera pose at (0,0,1) looking straight along the x-axis.
|
|
Pose3 level_pose = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
|
PinholeCamera<Cal3_S2> level_camera(level_pose, *K);
|
|
|
|
typedef InvDepthFactor3<Pose3, Vector5, double> InverseDepthFactor;
|
|
typedef NonlinearEquality<Pose3> PoseConstraint;
|
|
|
|
/* ************************************************************************* */
|
|
TEST( InvDepthFactor, optimize) {
|
|
|
|
// landmark 5 meters infront of camera (camera center at (0,0,1))
|
|
Point3 landmark(5, 0, 1);
|
|
|
|
// get expected projection using pinhole camera
|
|
Point2 expected_uv = level_camera.project(landmark);
|
|
|
|
InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K);
|
|
Vector5 inv_landmark((Vector(5) << 0., 0., 1., 0., 0.).finished());
|
|
// initialize inverse depth with "incorrect" depth of 1/4
|
|
// in reality this is 1/5, but initial depth is guessed
|
|
double inv_depth(1./4);
|
|
|
|
gtsam::NonlinearFactorGraph graph;
|
|
Values initial;
|
|
|
|
InverseDepthFactor::shared_ptr factor(new InverseDepthFactor(expected_uv, sigma,
|
|
Symbol('x',1), Symbol('l',1), Symbol('d',1), K));
|
|
graph.push_back(factor);
|
|
graph += PoseConstraint(Symbol('x',1),level_pose);
|
|
initial.insert(Symbol('x',1), level_pose);
|
|
initial.insert(Symbol('l',1), inv_landmark);
|
|
initial.insert(Symbol('d',1), inv_depth);
|
|
|
|
LevenbergMarquardtParams lmParams;
|
|
Values result = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize();
|
|
|
|
// with a single factor the incorrect initialization of 1/4 should not move!
|
|
EXPECT(assert_equal(initial, result, 1e-9));
|
|
|
|
/// Add a second camera
|
|
|
|
// add a camera 2 meters to the right
|
|
Pose3 right_pose = level_pose * Pose3(Rot3(), Point3(2,0,0));
|
|
PinholeCamera<Cal3_S2> right_camera(right_pose, *K);
|
|
|
|
// projection measurement of landmark into right camera
|
|
// this measurement disagrees with the depth initialization
|
|
// and will push it to 1/5
|
|
Point2 right_uv = right_camera.project(landmark);
|
|
|
|
InverseDepthFactor::shared_ptr factor1(new InverseDepthFactor(right_uv, sigma,
|
|
Symbol('x',2), Symbol('l',1),Symbol('d',1),K));
|
|
graph.push_back(factor1);
|
|
|
|
graph += PoseConstraint(Symbol('x',2),right_pose);
|
|
|
|
initial.insert(Symbol('x',2), right_pose);
|
|
|
|
Values result2 = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize();
|
|
|
|
Point3 result2_lmk = InvDepthCamera3<Cal3_S2>::invDepthTo3D(
|
|
result2.at<Vector5>(Symbol('l',1)),
|
|
result2.at<double>(Symbol('d',1)));
|
|
EXPECT(assert_equal(landmark, result2_lmk, 1e-9));
|
|
|
|
// TODO: need to add priors to make this work with
|
|
// Values result2 = optimize<NonlinearFactorGraph>(graph, initial,
|
|
// NonlinearOptimizationParameters(),MULTIFRONTAL, GN);
|
|
}
|
|
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
|
/* ************************************************************************* */
|