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Additionally templated JacobianFactorSVD on measurement type, and Jacobian_SVD unit tests now pass for SmartStereoFactor

release/4.3a0
cbeall3 2014-07-15 14:43:01 -04:00
parent d68e6b9add
commit 089ac4e743
6 changed files with 214 additions and 216 deletions
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10
gtsam/slam/JacobianFactorSVD.h
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@ -11,12 +11,12 @@ namespace gtsam {
/**
* JacobianFactor for Schur complement that uses Q noise model
*/
template<size_t D>
template<size_t D, class Z>
class JacobianFactorSVD: public JacobianSchurFactor<D> {
public:
typedef Eigen::Matrix<double, 2, D> Matrix2D;
typedef Eigen::Matrix<double, Z::dimension, D> Matrix2D; // e.g 2 x 6 with Z=Point2
typedef std::pair<Key, Matrix2D> KeyMatrix2D;
typedef std::pair<Key, Matrix> KeyMatrix;
@ -38,8 +38,8 @@ public:
/// Constructor
JacobianFactorSVD(const std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D> >& Fblocks, const Matrix& Enull, const Vector& b,
const SharedDiagonal& model = SharedDiagonal()) : JacobianSchurFactor<D>() {
size_t numKeys = Enull.rows() / 2;
size_t j = 0, m2 = 2*numKeys-3;
size_t numKeys = Enull.rows() / Z::Dim();
size_t j = 0, m2 = Z::Dim()*numKeys-3;
// PLAIN NULL SPACE TRICK
// Matrix Q = Enull * Enull.transpose();
// BOOST_FOREACH(const KeyMatrix2D& it, Fblocks)
@ -48,7 +48,7 @@ public:
std::vector<KeyMatrix> QF;
QF.reserve(numKeys);
BOOST_FOREACH(const KeyMatrix2D& it, Fblocks)
QF.push_back(KeyMatrix(it.first, (Enull.transpose()).block(0, 2 * j++, m2, 2) * it.second));
QF.push_back(KeyMatrix(it.first, (Enull.transpose()).block(0, Z::Dim() * j++, m2, Z::Dim()) * it.second));
JacobianFactor::fillTerms(QF, Enull.transpose() * b, model);
}
};

2
gtsam/slam/SmartFactorBase.h
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@ -660,7 +660,7 @@ public:
Vector b;
Matrix Enull(Z::Dim()*numKeys, Z::Dim()*numKeys-3);
computeJacobiansSVD(Fblocks, Enull, b, cameras, point, lambda);
return boost::make_shared< JacobianFactorSVD<6> >(Fblocks, Enull, b);
return boost::make_shared< JacobianFactorSVD<6, Z> >(Fblocks, Enull, b);
}
private:

2
gtsam/slam/SmartProjectionFactor.h
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@ -444,7 +444,7 @@ public:
if (triangulateForLinearize(cameras))
return Base::createJacobianSVDFactor(cameras, point_, lambda);
else
return boost::make_shared< JacobianFactorSVD<D> >(this->keys_);
return boost::make_shared< JacobianFactorSVD<D, Point2> >(this->keys_);
}
/// Returns true if nonDegenerate

16
gtsam/slam/SmartStereoProjectionFactor.h
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@ -473,14 +473,14 @@ public:
// return boost::make_shared< JacobianFactorQ<D> >(this->keys_);
// }
//
// /// different (faster) way to compute Jacobian factor
// boost::shared_ptr< JacobianFactor > createJacobianSVDFactor(const Cameras& cameras,
// double lambda) const {
// if (triangulateForLinearize(cameras))
// return Base::createJacobianSVDFactor(cameras, point_, lambda);
// else
// return boost::make_shared< JacobianFactorSVD<D> >(this->keys_);
// }
/// different (faster) way to compute Jacobian factor
boost::shared_ptr< JacobianFactor > createJacobianSVDFactor(const Cameras& cameras,
double lambda) const {
if (triangulateForLinearize(cameras))
return Base::createJacobianSVDFactor(cameras, point_, lambda);
else
return boost::make_shared< JacobianFactorSVD<D, StereoPoint2> >(this->keys_);
}
/// Returns true if nonDegenerate
bool computeCamerasAndTriangulate(const Values& values,

3
gtsam/slam/SmartStereoProjectionPoseFactor.h
View File

@ -175,8 +175,7 @@ public:
// depending on flag set on construction we may linearize to different linear factors
switch(linearizeTo_){
case JACOBIAN_SVD :
throw("JacobianSVD not working yet!");
// return this->createJacobianSVDFactor(cameras(values), 0.0);
return this->createJacobianSVDFactor(cameras(values), 0.0);
break;
case JACOBIAN_Q :
throw("JacobianQ not working yet!");

397
gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp
View File

@ -298,206 +298,205 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ){
}
///* *************************************************************************/
//TEST( SmartStereoProjectionPoseFactor, jacobianSVD ){
//
// 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));
// StereoCamera cam1(pose1, K);
// // create second camera 1 meter to the right of first camera
// Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
// StereoCamera cam2(pose2, K);
// // create third camera 1 meter above the first camera
// Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
// StereoCamera 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);
//
// // 1. Project three landmarks into three cameras and triangulate
// vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
// vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
// vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
//
// SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
// smartFactor1->add(measurements_cam1, views, model, K);
//
// SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
// smartFactor2->add(measurements_cam2, views, model, K);
//
// SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
// smartFactor3->add(measurements_cam3, views, model, K);
//
// 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);
// 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)));
//}
/* *************************************************************************/
TEST( SmartStereoProjectionPoseFactor, jacobianSVD ){
///* *************************************************************************/
//TEST( SmartStereoProjectionPoseFactor, landmarkDistance ){
//
// double excludeLandmarksFutherThanDist = 2;
//
// 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));
// StereoCamera cam1(pose1, K);
// // create second camera 1 meter to the right of first camera
// Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
// StereoCamera cam2(pose2, K);
// // create third camera 1 meter above the first camera
// Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
// StereoCamera 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<StereoPoint2> measurements_cam1, measurements_cam2, measurements_cam3;
//
// // 1. Project three landmarks into three cameras and triangulate
// stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
// stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
// stereo_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, K);
//
// SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
// smartFactor2->add(measurements_cam2, views, model, K);
//
// SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
// smartFactor3->add(measurements_cam3, views, model, K);
//
// 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);
// 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( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
//
// double excludeLandmarksFutherThanDist = 1e10;
// double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error
//
// 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));
// StereoCamera cam1(pose1, K);
// // create second camera 1 meter to the right of first camera
// Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
// StereoCamera cam2(pose2, K);
// // create third camera 1 meter above the first camera
// Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
// StereoCamera 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);
// Point3 landmark4(5, -0.5, 1);
//
// vector<StereoPoint2> measurements_cam1, measurements_cam2, measurements_cam3, measurements_cam4;
//
// // 1. Project three landmarks into three cameras and triangulate
// stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
// stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
// stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
// stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark4, measurements_cam4);
// measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10,10,1); // add outlier
//
// SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none,
// JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
// smartFactor1->add(measurements_cam1, views, model, K);
//
// SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
// excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
// smartFactor2->add(measurements_cam2, views, model, K);
//
// SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
// excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
// smartFactor3->add(measurements_cam3, views, model, K);
//
// SmartFactor::shared_ptr smartFactor4(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
// excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
// smartFactor4->add(measurements_cam4, views, model, K);
//
// 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), gtsam::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)));
//}
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));
StereoCamera cam1(pose1, K);
// create second camera 1 meter to the right of first camera
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
StereoCamera cam2(pose2, K);
// create third camera 1 meter above the first camera
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
StereoCamera 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);
// 1. Project three landmarks into three cameras and triangulate
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
smartFactor1->add(measurements_cam1, views, model, K);
SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
smartFactor2->add(measurements_cam2, views, model, K);
SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
smartFactor3->add(measurements_cam3, views, model, K);
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);
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)));
}
/* *************************************************************************/
TEST( SmartStereoProjectionPoseFactor, landmarkDistance ){
double excludeLandmarksFutherThanDist = 2;
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));
StereoCamera cam1(pose1, K);
// create second camera 1 meter to the right of first camera
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
StereoCamera cam2(pose2, K);
// create third camera 1 meter above the first camera
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
StereoCamera 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);
// 1. Project three landmarks into three cameras and triangulate
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
smartFactor1->add(measurements_cam1, views, model, K);
SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
smartFactor2->add(measurements_cam2, views, model, K);
SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
smartFactor3->add(measurements_cam3, views, model, K);
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);
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( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
double excludeLandmarksFutherThanDist = 1e10;
double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error
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));
StereoCamera cam1(pose1, K);
// create second camera 1 meter to the right of first camera
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
StereoCamera cam2(pose2, K);
// create third camera 1 meter above the first camera
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
StereoCamera 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);
Point3 landmark4(5, -0.5, 1);
// 1. Project four landmarks into three cameras and triangulate
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
vector<StereoPoint2> measurements_cam4 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark4);
measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10,10,1); // add outlier
SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none,
JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
smartFactor1->add(measurements_cam1, views, model, K);
SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
smartFactor2->add(measurements_cam2, views, model, K);
SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
smartFactor3->add(measurements_cam3, views, model, K);
SmartFactor::shared_ptr smartFactor4(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
smartFactor4->add(measurements_cam4, views, model, K);
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), gtsam::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( SmartStereoProjectionPoseFactor, jacobianQ ){