1054 lines
42 KiB
C++
1054 lines
42 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/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/slam/PoseTranslationPrior.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <boost/assign/std/vector.hpp>
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#include <CppUnitLite/TestHarness.h>
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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 = false;
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// make a realistic calibration matrix
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static double fov = 60; // degrees
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static size_t w=640,h=480;
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static Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h));
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static Cal3_S2::shared_ptr K2(new Cal3_S2(1500, 1200, 0, 640, 480));
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static boost::shared_ptr<Cal3Bundler> Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
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static double rankTol = 1.0;
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static double linThreshold = -1.0;
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static bool manageDegeneracy = true;
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// Create a noise model for the pixel error
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static SharedNoiseModel model(noiseModel::Unit::Create(2));
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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// tests data
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Symbol x1('X', 1);
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Symbol x2('X', 2);
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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), Point3(0.25, -0.10, 1.0));
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typedef SmartProjectionPoseFactor<Pose3,Point3,Cal3_S2> SmartFactor;
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typedef SmartProjectionPoseFactor<Pose3,Point3,Cal3Bundler> SmartFactorBundler;
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void projectToMultipleCameras(
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SimpleCamera cam1, SimpleCamera cam2, SimpleCamera cam3, Point3 landmark,
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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, K);
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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, K);
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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, body_P_sensor1);
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factor1.add(measurement1, poseKey1, model, K);
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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, K);
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SmartFactor::shared_ptr factor2(new SmartFactor());
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factor2->add(measurement1, poseKey1, model, K);
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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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// 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), gtsam::Point3(0,0,1));
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SimpleCamera level_camera(level_pose, *K2);
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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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SimpleCamera level_camera_right(level_pose_right, *K2);
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// landmark ~5 meters infront of camera
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Point3 landmark(5, 0.5, 1.2);
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// 1. Project two landmarks into two cameras and triangulate
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Point2 level_uv = level_camera.project(landmark);
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Point2 level_uv_right = level_camera_right.project(landmark);
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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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SmartFactor factor1;
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factor1.add(level_uv, x1, model, K);
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factor1.add(level_uv_right, x2, model, K);
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double actualError = factor1.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 = factor1.cameras(values);
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double actualError2 = factor1.totalReprojectionError(cameras);
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EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7);
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// test vector of errors
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//Vector actual = factor1.unwhitenedError(values);
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//EXPECT(assert_equal(zero(4),actual,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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// 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), gtsam::Point3(0,0,1));
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SimpleCamera level_camera(level_pose, *K2);
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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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SimpleCamera level_camera_right(level_pose_right, *K2);
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// landmark ~5 meters infront of camera
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Point3 landmark(5, 0.5, 1.2);
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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(landmark) + pixelError;
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Point2 level_uv_right = level_camera_right.project(landmark);
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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), gtsam::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 factor1(new SmartFactor());
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factor1->add(level_uv, x1, model, K);
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factor1->add(level_uv_right, x2, model, K);
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double actualError1= factor1->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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std::vector< SharedNoiseModel > noises;
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noises.push_back(model);
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noises.push_back(model);
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std::vector< boost::shared_ptr<Cal3_S2> > Ks; ///< shared pointer to calibration object (one for each camera)
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Ks.push_back(K);
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Ks.push_back(K);
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std::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), gtsam::Point3(0,0,1));
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SimpleCamera cam1(pose1, *K2);
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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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SimpleCamera cam2(pose2, *K2);
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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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SimpleCamera cam3(pose3, *K2);
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// three landmarks ~5 meters infront 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(3, 0, 3.0);
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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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std::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, K2);
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SmartFactor::shared_ptr smartFactor2(new SmartFactor());
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smartFactor2->add(measurements_cam2, views, model, K2);
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SmartFactor::shared_ptr smartFactor3(new SmartFactor());
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smartFactor3->add(measurements_cam3, views, model, K2);
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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), gtsam::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), gtsam::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) values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
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LevenbergMarquardtParams params;
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if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
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if(isDebugTest) 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) result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
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EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
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if(isDebugTest) tictoc_print_();
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ){
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// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;
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std::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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// 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), gtsam::Point3(0,0,1));
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SimpleCamera cam1(pose1, *K);
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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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SimpleCamera cam2(pose2, *K);
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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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SimpleCamera cam3(pose3, *K);
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// three landmarks ~5 meters infront 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(3, 0, 3.0);
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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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SmartFactor::shared_ptr smartFactor1(new SmartFactor());
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smartFactor1->add(measurements_cam1, views, model, K);
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SmartFactor::shared_ptr smartFactor2(new SmartFactor());
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smartFactor2->add(measurements_cam2, views, model, K);
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SmartFactor::shared_ptr smartFactor3(new SmartFactor());
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smartFactor3->add(measurements_cam3, views, model, K);
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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), gtsam::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), gtsam::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) values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
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LevenbergMarquardtParams params;
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if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
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if(isDebugTest) 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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// result.print("results of 3 camera, 3 landmark optimization \n");
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if(isDebugTest) result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
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EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
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if(isDebugTest) tictoc_print_();
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, 3poses_projection_factor ){
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// cout << " ************************ Normal ProjectionFactor: 3 cams + 3 landmarks **********************" << endl;
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std::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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// 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), gtsam::Point3(0,0,1));
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SimpleCamera cam1(pose1, *K2);
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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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SimpleCamera cam2(pose2, *K2);
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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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SimpleCamera cam3(pose3, *K2);
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// three landmarks ~5 meters infront 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(3, 0, 3.0);
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typedef GenericProjectionFactor<Pose3, Point3> ProjectionFactor;
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NonlinearFactorGraph graph;
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// 1. Project three landmarks into three cameras and triangulate
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graph.push_back(ProjectionFactor(cam1.project(landmark1), model, x1, L(1), K2));
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graph.push_back(ProjectionFactor(cam2.project(landmark1), model, x2, L(1), K2));
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graph.push_back(ProjectionFactor(cam3.project(landmark1), model, x3, L(1), K2));
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graph.push_back(ProjectionFactor(cam1.project(landmark2), model, x1, L(2), K2));
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graph.push_back(ProjectionFactor(cam2.project(landmark2), model, x2, L(2), K2));
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graph.push_back(ProjectionFactor(cam3.project(landmark2), model, x3, L(2), K2));
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graph.push_back(ProjectionFactor(cam1.project(landmark3), model, x1, L(3), K2));
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graph.push_back(ProjectionFactor(cam2.project(landmark3), model, x2, L(3), K2));
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graph.push_back(ProjectionFactor(cam3.project(landmark3), model, x3, L(3), K2));
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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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), gtsam::Point3(0.5,0.1,0.3));
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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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values.insert(x3, pose3* noise_pose);
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values.insert(L(1), landmark1);
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values.insert(L(2), landmark2);
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values.insert(L(3), landmark3);
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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)));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, CheckHessian){
|
|
|
|
std::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), gtsam::Point3(0,0,1));
|
|
SimpleCamera cam1(pose1, *K);
|
|
|
|
// 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));
|
|
SimpleCamera cam2(pose2, *K);
|
|
|
|
// 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));
|
|
SimpleCamera cam3(pose3, *K);
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
Point3 landmark2(5, -0.5, 1.2);
|
|
Point3 landmark3(3, 0, 3.0);
|
|
|
|
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, K);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol));
|
|
smartFactor2->add(measurements_cam2, views, model, K);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol));
|
|
smartFactor3->add(measurements_cam3, views, model, K);
|
|
|
|
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), gtsam::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), gtsam::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;
|
|
|
|
std::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), gtsam::Point3(0,0,1));
|
|
SimpleCamera cam1(pose1, *K2);
|
|
|
|
// 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));
|
|
SimpleCamera cam2(pose2, *K2);
|
|
|
|
// 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));
|
|
SimpleCamera cam3(pose3, *K2);
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
Point3 landmark2(5, -0.5, 1.2);
|
|
|
|
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, K2);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor2->add(measurements_cam2, views, model, K2);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10);
|
|
Point3 positionPrior = gtsam::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), gtsam::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: ");
|
|
std::cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << std::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;
|
|
|
|
std::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), gtsam::Point3(0,0,1));
|
|
SimpleCamera cam1(pose1, *K);
|
|
|
|
// 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));
|
|
SimpleCamera cam2(pose2, *K);
|
|
|
|
// 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));
|
|
SimpleCamera cam3(pose3, *K);
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
Point3 landmark2(5, -0.5, 1.2);
|
|
Point3 landmark3(3, 0, 3.0);
|
|
|
|
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, K);
|
|
|
|
SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor2->add(measurements_cam2, views, model, K);
|
|
|
|
SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor3->add(measurements_cam3, views, model, K);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10);
|
|
Point3 positionPrior = gtsam::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), gtsam::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), gtsam::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: ");
|
|
std::cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << std::endl;
|
|
// EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
|
if(isDebugTest) tictoc_print_();
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, Hessian ){
|
|
// cout << " ************************ SmartProjectionPoseFactor: Hessian **********************" << endl;
|
|
|
|
std::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), gtsam::Point3(0,0,1));
|
|
SimpleCamera cam1(pose1, *K2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
|
|
SimpleCamera cam2(pose2, *K2);
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
|
|
// 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, K2);
|
|
|
|
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::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;
|
|
|
|
std::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), gtsam::Point3(0,0,1));
|
|
SimpleCamera cam1(pose1, *K);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
|
|
SimpleCamera cam2(pose2, *K);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
|
|
SimpleCamera cam3(pose3, *K);
|
|
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
|
|
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, K);
|
|
|
|
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), gtsam::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-8) );
|
|
|
|
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI/2, -M_PI/3, -M_PI/2), gtsam::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-8) );
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ){
|
|
// cout << " ************************ SmartProjectionPoseFactor: rotated Hessian (degenerate) **********************" << endl;
|
|
|
|
std::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), gtsam::Point3(0,0,1));
|
|
SimpleCamera cam1(pose1, *K2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(0,0,0));
|
|
SimpleCamera cam2(pose2, *K2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,0,0));
|
|
SimpleCamera cam3(pose3, *K2);
|
|
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
|
|
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, K2);
|
|
|
|
|
|
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), gtsam::Point3(0,0,0));
|
|
|
|
Values rotValues;
|
|
rotValues.insert(x1, poseDrift.compose(pose1));
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rotValues.insert(x2, poseDrift.compose(pose2));
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rotValues.insert(x3, poseDrift.compose(pose3));
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boost::shared_ptr<GaussianFactor> hessianFactorRot = smartFactor->linearize(rotValues);
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if(isDebugTest) hessianFactorRot->print("Hessian factor \n");
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|
|
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// Hessian is invariant to rotations in the nondegenerate case
|
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EXPECT(assert_equal(hessianFactor->information(), hessianFactorRot->information(), 1e-8) );
|
|
|
|
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI/2, -M_PI/3, -M_PI/2), gtsam::Point3(10,-4,5));
|
|
|
|
Values tranValues;
|
|
tranValues.insert(x1, poseDrift2.compose(pose1));
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tranValues.insert(x2, poseDrift2.compose(pose2));
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tranValues.insert(x3, poseDrift2.compose(pose3));
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|
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boost::shared_ptr<GaussianFactor> hessianFactorRotTran = smartFactor->linearize(tranValues);
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|
|
|
// Hessian is invariant to rotations and translations in the nondegenerate case
|
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EXPECT(assert_equal(hessianFactor->information(), hessianFactorRotTran->information(), 1e-8) );
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}
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|
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/* ************************************************************************* */
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TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) {
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SmartProjectionPoseFactor<Pose3,Point3,Cal3Bundler> factor1(rankTol, linThreshold);
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boost::shared_ptr<Cal3Bundler> Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
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factor1.add(measurement1, poseKey1, model, Kbundler);
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}
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|
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|
/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, Cal3Bundler ){
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// cout << " ************************ SmartProjectionPoseFactor: Cal3Bundler **********************" << 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), gtsam::Point3(0,0,1));
|
|
PinholeCamera<Cal3Bundler> cam1(pose1, *Kbundler);
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|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
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|
PinholeCamera<Cal3Bundler> cam2(pose2, *Kbundler);
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|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
|
|
PinholeCamera<Cal3Bundler> cam3(pose3, *Kbundler);
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
Point3 landmark2(5, -0.5, 1.2);
|
|
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);
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|
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);
|
|
|
|
std::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, Kbundler);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler());
|
|
smartFactor2->add(measurements_cam2, views, model, Kbundler);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler());
|
|
smartFactor3->add(measurements_cam3, views, model, Kbundler);
|
|
|
|
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), gtsam::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), gtsam::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 ){
|
|
|
|
std::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), gtsam::Point3(0,0,1));
|
|
PinholeCamera<Cal3Bundler> cam1(pose1, *Kbundler);
|
|
|
|
// 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));
|
|
PinholeCamera<Cal3Bundler> cam2(pose2, *Kbundler);
|
|
|
|
// 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));
|
|
PinholeCamera<Cal3Bundler> cam3(pose3, *Kbundler);
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
Point3 landmark2(5, -0.5, 1.2);
|
|
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, Kbundler);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor2(new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor2->add(measurements_cam2, views, model, Kbundler);
|
|
|
|
SmartFactorBundler::shared_ptr smartFactor3(new SmartFactorBundler(rankTol, linThreshold, manageDegeneracy));
|
|
smartFactor3->add(measurements_cam3, views, model, Kbundler);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10);
|
|
Point3 positionPrior = gtsam::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), gtsam::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), gtsam::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: ");
|
|
std::cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << std::endl;
|
|
// EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
|
if(isDebugTest) tictoc_print_();
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|
|
|
|
|