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Added flags in ProjectionFactor to allow optional verbosity in printing during Cheirality exceptions, as well as optional re-throwing of the exception. By default, Cheriality exceptions will be silent.

release/4.3a0
Alex Cunningham 2013-02-21 21:21:07 +00:00
parent b4f5413989
commit 6e026959ac
2 changed files with 49 additions and 6 deletions
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9
gtsam.h
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@ -1972,8 +1972,17 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
size_t poseKey, size_t pointKey, const CALIBRATION* k);
GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
size_t poseKey, size_t pointKey, const CALIBRATION* k, const POSE& body_P_sensor);
GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
size_t poseKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality);
GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
size_t poseKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality,
const POSE& body_P_sensor);
gtsam::Point2 measured() const;
CALIBRATION* calibration() const;
bool verboseCheirality() const;
bool throwCheirality() const;
};
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> GenericProjectionFactorCal3_S2;
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;

46
gtsam/slam/ProjectionFactor.h
View File

@ -40,6 +40,10 @@ namespace gtsam {
boost::shared_ptr<CALIBRATION> K_; ///< shared pointer to calibration object
boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
// verbosity handling for Cheirality Exceptions
bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false)
bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false)
public:
/// shorthand for base class type
@ -52,8 +56,7 @@ namespace gtsam {
typedef boost::shared_ptr<This> shared_ptr;
/// Default constructor
GenericProjectionFactor() {
}
GenericProjectionFactor() : throwCheirality_(false), verboseCheirality_(false) {}
/**
* Constructor
@ -63,12 +66,32 @@ namespace gtsam {
* @param poseKey is the index of the camera
* @param pointKey is the index of the landmark
* @param K shared pointer to the constant calibration
* @param body_P_sensor is the transform from body to sensor frame (default identity)
*/
GenericProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
Key poseKey, Key pointKey, const boost::shared_ptr<CALIBRATION>& K,
boost::optional<POSE> body_P_sensor = boost::none) :
Base(model, poseKey, pointKey), measured_(measured), K_(K), body_P_sensor_(body_P_sensor) {
}
Base(model, poseKey, pointKey), measured_(measured), K_(K), body_P_sensor_(body_P_sensor),
throwCheirality_(false), verboseCheirality_(false) {}
/**
* Constructor with exception-handling flags
* TODO: Mark argument order standard (keys, measurement, parameters)
* @param measured is the 2 dimensional location of point in image (the measurement)
* @param model is the standard deviation
* @param poseKey is the index of the camera
* @param pointKey is the index of the landmark
* @param K shared pointer to the constant calibration
* @param throwCheirality determines whether exceptions are caught for Cheirality
* @param verboseCheirality determines whether exceptions are printed for Cheirality
* @param body_P_sensor is the transform from body to sensor frame (default identity)
*/
GenericProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
Key poseKey, Key pointKey, const boost::shared_ptr<CALIBRATION>& K,
bool throwCheirality, bool verboseCheirality,
boost::optional<POSE> body_P_sensor = boost::none) :
Base(model, poseKey, pointKey), measured_(measured), K_(K), body_P_sensor_(body_P_sensor),
throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
/** Virtual destructor */
virtual ~GenericProjectionFactor() {}
@ -125,8 +148,11 @@ namespace gtsam {
} catch( CheiralityException& e) {
if (H1) *H1 = zeros(2,6);
if (H2) *H2 = zeros(2,3);
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
if (verboseCheirality_)
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
if (throwCheirality_)
throw e;
}
return ones(2) * 2.0 * K_->fx();
}
@ -141,6 +167,12 @@ namespace gtsam {
return K_;
}
/** return verbosity */
inline bool verboseCheirality() const { return verboseCheirality_; }
/** return flag for throwing cheirality exceptions */
inline bool throwCheirality() const { return throwCheirality_; }
private:
/// Serialization function
@ -151,6 +183,8 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(measured_);
ar & BOOST_SERIALIZATION_NVP(K_);
ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
}
};
} // \ namespace gtsam