BORG formatting
dellaert
parent
9ab97a23b0
commit
754b770cad
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@ -24,33 +24,39 @@
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using namespace boost::assign;
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using namespace gtsam;
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using namespace std;
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using boost::none;
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GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3)
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GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
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//*******************************************************************************
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TEST (OrientedPlane3, transform)
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{
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TEST (OrientedPlane3, transform) {
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// Test transforming a plane to a pose
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gtsam::Pose3 pose(gtsam::Rot3::ypr (-M_PI/4.0, 0.0, 0.0), gtsam::Point3(2.0, 3.0, 4.0));
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OrientedPlane3 plane (-1 , 0, 0, 5);
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OrientedPlane3 expected_meas (-sqrt (2.0)/2.0, -sqrt (2.0)/2.0, 0.0, 3);
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OrientedPlane3 transformed_plane = OrientedPlane3::Transform (plane, pose, boost::none, boost::none);
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EXPECT (assert_equal (expected_meas, transformed_plane, 1e-9));
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gtsam::Pose3 pose(gtsam::Rot3::ypr(-M_PI / 4.0, 0.0, 0.0),
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gtsam::Point3(2.0, 3.0, 4.0));
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OrientedPlane3 plane(-1, 0, 0, 5);
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OrientedPlane3 expected_meas(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0, 0.0, 3);
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OrientedPlane3 transformed_plane = OrientedPlane3::Transform(plane, pose,
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none, none);
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EXPECT(assert_equal(expected_meas, transformed_plane, 1e-9));
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// Test the jacobians of transform
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Matrix actualH1, expectedH1, actualH2, expectedH2;
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{
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expectedH1 = numericalDerivative11<OrientedPlane3, Pose3>(boost::bind (&OrientedPlane3::Transform, plane, _1, boost::none, boost::none), pose);
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expectedH1 = numericalDerivative11<OrientedPlane3, Pose3>(
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boost::bind(&OrientedPlane3::Transform, plane, _1, none, none), pose);
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OrientedPlane3 tformed = OrientedPlane3::Transform (plane, pose, actualH1, boost::none);
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EXPECT (assert_equal (expectedH1, actualH1, 1e-9));
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OrientedPlane3 tformed = OrientedPlane3::Transform(plane, pose, actualH1,
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none);
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EXPECT(assert_equal(expectedH1, actualH1, 1e-9));
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}
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{
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expectedH2 = numericalDerivative11<OrientedPlane3, OrientedPlane3> (boost::bind (&OrientedPlane3::Transform, _1, pose, boost::none, boost::none), plane);
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expectedH2 = numericalDerivative11<OrientedPlane3, OrientedPlane3>(
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boost::bind(&OrientedPlane3::Transform, _1, pose, none, none), plane);
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OrientedPlane3 tformed = OrientedPlane3::Transform (plane, pose, boost::none, actualH2);
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EXPECT (assert_equal (expectedH2, actualH2, 1e-9));
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OrientedPlane3 tformed = OrientedPlane3::Transform(plane, pose, none,
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actualH2);
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EXPECT(assert_equal(expectedH2, actualH2, 1e-9));
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}
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}
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@ -66,9 +72,9 @@ inline static Vector randomVector(const Vector& minLimits,
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// Create the random vector
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for (size_t i = 0; i < numDims; i++) {
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double range = maxLimits(i) - minLimits(i);
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vector(i) = (((double) rand()) / RAND_MAX) * range + minLimits(i);
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}
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double range = maxLimits(i) - minLimits(i);
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vector(i) = (((double) rand()) / RAND_MAX) * range + minLimits(i);
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}
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return vector;
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}
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@ -80,9 +86,9 @@ TEST(OrientedPlane3, localCoordinates_retract) {
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minPlaneLimit << -1.0, -1.0, -1.0, 0.01;
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maxPlaneLimit << 1.0, 1.0, 1.0, 10.0;
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Vector minXiLimit(3),maxXiLimit(3);
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minXiLimit << -M_PI, -M_PI, -10.0;
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maxXiLimit << M_PI, M_PI, 10.0;
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Vector minXiLimit(3), maxXiLimit(3);
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minXiLimit << -M_PI, -M_PI, -10.0;
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maxXiLimit << M_PI, M_PI, 10.0;
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for (size_t i = 0; i < numIterations; i++) {
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sleep(0);
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@ -92,7 +98,7 @@ TEST(OrientedPlane3, localCoordinates_retract) {
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Vector v12 = randomVector(minXiLimit, maxXiLimit);
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// Magnitude of the rotation can be at most pi
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if (v12.segment<3>(0).norm () > M_PI)
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if (v12.segment<3>(0).norm() > M_PI)
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v12.segment<3>(0) = v12.segment<3>(0) / M_PI;
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OrientedPlane3 p2 = p1.retract(v12);
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@ -5,7 +5,6 @@
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* Author: Natesh Srinivasan
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*/
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#include "OrientedPlane3Factor.h"
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using namespace std;
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@ -30,9 +29,10 @@ void OrientedPlane3DirectionPrior::print(const string& s,
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//***************************************************************************
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bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected,
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double tol) const {
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double tol) const {
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const This* e = dynamic_cast<const This*>(&expected);
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return e != NULL && Base::equals(*e, tol) && this->measured_p_.equals(e->measured_p_, tol);
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return e != NULL && Base::equals(*e, tol)
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&& this->measured_p_.equals(e->measured_p_, tol);
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}
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//***************************************************************************
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@ -40,21 +40,21 @@ bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected,
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Vector OrientedPlane3DirectionPrior::evaluateError(const OrientedPlane3& plane,
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boost::optional<Matrix&> H) const {
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if(H) {
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Matrix H_p;
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Unit3 n_hat_p = measured_p_.normal();
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Unit3 n_hat_q = plane.normal();
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Vector e = n_hat_p.error(n_hat_q,H_p);
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H->resize(2,3);
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H->block <2,2>(0,0) << H_p;
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H->block <2,1>(0,2) << Matrix::Zero(2, 1);
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return e;
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} else {
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Unit3 n_hat_p = measured_p_.normal();
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Unit3 n_hat_q = plane.normal();
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Vector e = n_hat_p.error(n_hat_q);
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return e;
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}
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if (H) {
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Matrix H_p;
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Unit3 n_hat_p = measured_p_.normal();
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Unit3 n_hat_q = plane.normal();
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Vector e = n_hat_p.error(n_hat_q, H_p);
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H->resize(2, 3);
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H->block<2, 2>(0, 0) << H_p;
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H->block<2, 1>(0, 2) << Matrix::Zero(2, 1);
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return e;
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} else {
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Unit3 n_hat_p = measured_p_.normal();
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Unit3 n_hat_q = plane.normal();
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Vector e = n_hat_p.error(n_hat_q);
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return e;
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}
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}
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}
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@ -26,24 +26,20 @@ protected:
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Vector measured_coeffs_;
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OrientedPlane3 measured_p_;
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typedef NoiseModelFactor2<Pose3, OrientedPlane3 > Base;
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typedef NoiseModelFactor2<Pose3, OrientedPlane3> Base;
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public:
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/// Constructor
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OrientedPlane3Factor ()
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{}
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OrientedPlane3Factor() {
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}
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/// Constructor with measured plane coefficients (a,b,c,d), noise model, pose symbol
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OrientedPlane3Factor (const Vector&z, const SharedGaussian& noiseModel,
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const Symbol& pose,
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const Symbol& landmark)
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: Base (noiseModel, pose, landmark),
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poseSymbol_ (pose),
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landmarkSymbol_ (landmark),
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measured_coeffs_ (z)
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{
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measured_p_ = OrientedPlane3 (Unit3 (z (0), z (1), z (2)), z (3));
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OrientedPlane3Factor(const Vector&z, const SharedGaussian& noiseModel,
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const Symbol& pose, const Symbol& landmark) :
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Base(noiseModel, pose, landmark), poseSymbol_(pose), landmarkSymbol_(
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landmark), measured_coeffs_(z) {
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measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3));
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}
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/// print
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@ -52,14 +48,15 @@ public:
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/// evaluateError
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virtual Vector evaluateError(const Pose3& pose, const OrientedPlane3& plane,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const
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{
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OrientedPlane3 predicted_plane = OrientedPlane3::Transform (plane, pose, H1, H2);
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boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =
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boost::none) const {
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OrientedPlane3 predicted_plane = OrientedPlane3::Transform(plane, pose, H1,
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H2);
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Vector err(3);
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err << predicted_plane.error (measured_p_);
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err << predicted_plane.error(measured_p_);
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return (err);
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};
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}
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;
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};
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// TODO: Convert this factor to dimension two, three dimensions is redundant for direction prior
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@ -67,21 +64,19 @@ class OrientedPlane3DirectionPrior: public NoiseModelFactor1<OrientedPlane3> {
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protected:
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OrientedPlane3 measured_p_; /// measured plane parameters
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Key landmarkKey_;
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typedef NoiseModelFactor1<OrientedPlane3 > Base;
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typedef NoiseModelFactor1<OrientedPlane3> Base;
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public:
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typedef OrientedPlane3DirectionPrior This;
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/// Constructor
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OrientedPlane3DirectionPrior ()
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{}
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OrientedPlane3DirectionPrior() {
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}
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/// Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol
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OrientedPlane3DirectionPrior (Key key, const Vector&z,
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const SharedGaussian& noiseModel)
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: Base (noiseModel, key),
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landmarkKey_ (key)
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{
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measured_p_ = OrientedPlane3 (Unit3 (z (0), z (1), z (2)), z (3));
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OrientedPlane3DirectionPrior(Key key, const Vector&z,
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const SharedGaussian& noiseModel) :
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Base(noiseModel, key), landmarkKey_(key) {
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measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3));
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}
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/// print
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@ -92,7 +87,7 @@ public:
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virtual bool equals(const NonlinearFactor& expected, double tol = 1e-9) const;
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virtual Vector evaluateError(const OrientedPlane3& plane,
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boost::optional<Matrix&> H = boost::none) const;
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boost::optional<Matrix&> H = boost::none) const;
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};
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} // gtsam
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@ -34,89 +34,99 @@ GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3)
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GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
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// *************************************************************************
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TEST (OrientedPlane3Factor, lm_translation_error)
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{
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TEST (OrientedPlane3Factor, lm_translation_error) {
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// Tests one pose, two measurements of the landmark that differ in range only.
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// Normal along -x, 3m away
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gtsam::Symbol lm_sym ('p', 0);
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gtsam::OrientedPlane3 test_lm0 (-1.0, 0.0, 0.0, 3.0);
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gtsam::Symbol lm_sym('p', 0);
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gtsam::OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
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gtsam::ISAM2 isam2;
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gtsam::Values new_values;
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gtsam::NonlinearFactorGraph new_graph;
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// Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose
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gtsam::Symbol init_sym ('x', 0);
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gtsam::Pose3 init_pose (gtsam::Rot3::ypr (0.0, 0.0, 0.0),
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gtsam::Point3 (0.0, 0.0, 0.0));
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gtsam::Symbol init_sym('x', 0);
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gtsam::Pose3 init_pose(gtsam::Rot3::ypr(0.0, 0.0, 0.0),
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gtsam::Point3(0.0, 0.0, 0.0));
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gtsam::Vector sigmas(6);
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sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001;
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gtsam::PriorFactor<gtsam::Pose3> pose_prior (init_sym, init_pose, gtsam::noiseModel::Diagonal::Sigmas (sigmas) );
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new_values.insert (init_sym, init_pose);
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new_graph.add (pose_prior);
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gtsam::PriorFactor<gtsam::Pose3> pose_prior(init_sym, init_pose,
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gtsam::noiseModel::Diagonal::Sigmas(sigmas));
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new_values.insert(init_sym, init_pose);
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new_graph.add(pose_prior);
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// Add two landmark measurements, differing in range
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new_values.insert (lm_sym, test_lm0);
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new_values.insert(lm_sym, test_lm0);
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gtsam::Vector sigmas3(3);
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sigmas3 << 0.1, 0.1, 0.1;
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gtsam::Vector test_meas0_mean(4);
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test_meas0_mean << -1.0, 0.0, 0.0, 3.0;
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gtsam::OrientedPlane3Factor test_meas0 (test_meas0_mean, gtsam::noiseModel::Diagonal::Sigmas (sigmas3), init_sym, lm_sym);
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new_graph.add (test_meas0);
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gtsam::OrientedPlane3Factor test_meas0(test_meas0_mean,
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gtsam::noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
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new_graph.add(test_meas0);
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gtsam::Vector test_meas1_mean(4);
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test_meas1_mean << -1.0, 0.0, 0.0, 1.0;
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gtsam::OrientedPlane3Factor test_meas1 (test_meas1_mean, gtsam::noiseModel::Diagonal::Sigmas (sigmas3), init_sym, lm_sym);
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new_graph.add (test_meas1);
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gtsam::OrientedPlane3Factor test_meas1(test_meas1_mean,
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gtsam::noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
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new_graph.add(test_meas1);
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// Optimize
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gtsam::ISAM2Result result = isam2.update (new_graph, new_values);
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gtsam::Values result_values = isam2.calculateEstimate ();
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gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<gtsam::OrientedPlane3>(lm_sym);
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gtsam::ISAM2Result result = isam2.update(new_graph, new_values);
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gtsam::Values result_values = isam2.calculateEstimate();
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gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<
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gtsam::OrientedPlane3>(lm_sym);
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// Given two noisy measurements of equal weight, expect result between the two
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gtsam::OrientedPlane3 expected_plane_landmark (-1.0, 0.0, 0.0, 2.0);
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EXPECT (assert_equal (optimized_plane_landmark, expected_plane_landmark));
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gtsam::OrientedPlane3 expected_plane_landmark(-1.0, 0.0, 0.0, 2.0);
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EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark));
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}
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// *************************************************************************
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TEST (OrientedPlane3Factor, lm_rotation_error)
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{
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TEST (OrientedPlane3Factor, lm_rotation_error) {
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// Tests one pose, two measurements of the landmark that differ in angle only.
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// Normal along -x, 3m away
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gtsam::Symbol lm_sym ('p', 0);
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gtsam::OrientedPlane3 test_lm0 (-1.0, 0.0, 0.0, 3.0);
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gtsam::Symbol lm_sym('p', 0);
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gtsam::OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
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gtsam::ISAM2 isam2;
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gtsam::Values new_values;
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gtsam::NonlinearFactorGraph new_graph;
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// Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose
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gtsam::Symbol init_sym ('x', 0);
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gtsam::Pose3 init_pose (gtsam::Rot3::ypr (0.0, 0.0, 0.0),
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gtsam::Point3 (0.0, 0.0, 0.0));
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gtsam::PriorFactor<gtsam::Pose3> pose_prior (init_sym, init_pose, gtsam::noiseModel::Diagonal::Sigmas ((Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished()));
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new_values.insert (init_sym, init_pose);
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new_graph.add (pose_prior);
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gtsam::Symbol init_sym('x', 0);
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gtsam::Pose3 init_pose(gtsam::Rot3::ypr(0.0, 0.0, 0.0),
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gtsam::Point3(0.0, 0.0, 0.0));
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gtsam::PriorFactor<gtsam::Pose3> pose_prior(init_sym, init_pose,
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gtsam::noiseModel::Diagonal::Sigmas(
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(Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished()));
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new_values.insert(init_sym, init_pose);
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new_graph.add(pose_prior);
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// // Add two landmark measurements, differing in angle
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new_values.insert (lm_sym, test_lm0);
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new_values.insert(lm_sym, test_lm0);
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Vector test_meas0_mean(4);
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test_meas0_mean << -1.0, 0.0, 0.0, 3.0;
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gtsam::OrientedPlane3Factor test_meas0 (test_meas0_mean, gtsam::noiseModel::Diagonal::Sigmas(Vector3( 0.1, 0.1, 0.1)), init_sym, lm_sym);
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new_graph.add (test_meas0);
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gtsam::OrientedPlane3Factor test_meas0(test_meas0_mean,
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gtsam::noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym,
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lm_sym);
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new_graph.add(test_meas0);
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Vector test_meas1_mean(4);
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test_meas1_mean << 0.0, -1.0, 0.0, 3.0;
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gtsam::OrientedPlane3Factor test_meas1 (test_meas1_mean, gtsam::noiseModel::Diagonal::Sigmas (Vector3( 0.1, 0.1, 0.1)), init_sym, lm_sym);
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new_graph.add (test_meas1);
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gtsam::OrientedPlane3Factor test_meas1(test_meas1_mean,
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gtsam::noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym,
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lm_sym);
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new_graph.add(test_meas1);
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// Optimize
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gtsam::ISAM2Result result = isam2.update (new_graph, new_values);
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gtsam::Values result_values = isam2.calculateEstimate ();
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gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<gtsam::OrientedPlane3>(lm_sym);
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gtsam::ISAM2Result result = isam2.update(new_graph, new_values);
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gtsam::Values result_values = isam2.calculateEstimate();
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gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<
|
||||
gtsam::OrientedPlane3>(lm_sym);
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// Given two noisy measurements of equal weight, expect result between the two
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gtsam::OrientedPlane3 expected_plane_landmark (-sqrt (2.0)/2.0, -sqrt (2.0)/2.0, 0.0, 3.0);
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EXPECT (assert_equal (optimized_plane_landmark, expected_plane_landmark));
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gtsam::OrientedPlane3 expected_plane_landmark(-sqrt(2.0) / 2.0,
|
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-sqrt(2.0) / 2.0, 0.0, 3.0);
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EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark));
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}
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||||
// *************************************************************************
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|
|
@ -130,29 +140,31 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) {
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// Factor
|
||||
Key key(1);
|
||||
SharedGaussian model = gtsam::noiseModel::Diagonal::Sigmas (Vector3(0.1, 0.1, 10.0));
|
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SharedGaussian model = gtsam::noiseModel::Diagonal::Sigmas(
|
||||
Vector3(0.1, 0.1, 10.0));
|
||||
OrientedPlane3DirectionPrior factor(key, planeOrientation, model);
|
||||
|
||||
// Create a linearization point at the zero-error point
|
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Vector theta1 = Vector4(0.0, 0.02, -1.2, 10.0);
|
||||
Vector theta2 = Vector4(0.0, 0.1, - 0.8, 10.0);
|
||||
Vector theta3 = Vector4(0.0, 0.2, -0.9, 10.0);
|
||||
|
||||
Vector theta2 = Vector4(0.0, 0.1, -0.8, 10.0);
|
||||
Vector theta3 = Vector4(0.0, 0.2, -0.9, 10.0);
|
||||
|
||||
OrientedPlane3 T1(theta1);
|
||||
OrientedPlane3 T2(theta2);
|
||||
OrientedPlane3 T3(theta3);
|
||||
|
||||
|
||||
// Calculate numerical derivatives
|
||||
Matrix expectedH1 = numericalDerivative11<Vector,OrientedPlane3>(
|
||||
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, boost::none), T1);
|
||||
Matrix expectedH1 = numericalDerivative11<Vector, OrientedPlane3>(
|
||||
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1,
|
||||
boost::none), T1);
|
||||
|
||||
Matrix expectedH2 = numericalDerivative11<Vector,OrientedPlane3>(
|
||||
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, boost::none), T2);
|
||||
Matrix expectedH2 = numericalDerivative11<Vector, OrientedPlane3>(
|
||||
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1,
|
||||
boost::none), T2);
|
||||
|
||||
Matrix expectedH3 = numericalDerivative11<Vector,OrientedPlane3>(
|
||||
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1, boost::none), T3);
|
||||
Matrix expectedH3 = numericalDerivative11<Vector, OrientedPlane3>(
|
||||
boost::bind(&OrientedPlane3DirectionPrior::evaluateError, &factor, _1,
|
||||
boost::none), T3);
|
||||
|
||||
// Use the factor to calculate the derivative
|
||||
Matrix actualH1, actualH2, actualH3;
|
||||
|
|
|
|||
Loading…
Reference in New Issue