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