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included body_P_sensor in smartStereoProjectionPoseFactor!

release/4.3a0
lcarlone 2016-07-25 22:13:25 -04:00
parent 6c163b0a4d
commit a5138bfb46
3 changed files with 100 additions and 9 deletions
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8
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -109,8 +109,6 @@ namespace gtsam {
}
};
/**
* SmartStereoProjectionFactor: triangulates point and keeps an estimate of it around.
* This factor operates with StereoCamera. This factor requires that values
@ -155,9 +153,9 @@ public:
* @param params internal parameters of the smart factors
*/
SmartStereoProjectionFactor(const SharedNoiseModel& sharedNoiseModel,
const SmartStereoProjectionParams& params =
SmartStereoProjectionParams()) :
Base(sharedNoiseModel), //
const SmartStereoProjectionParams& params = SmartStereoProjectionParams(),
const boost::optional<Pose3> body_P_sensor = boost::none) :
Base(sharedNoiseModel, body_P_sensor), //
params_(params), //
result_(TriangulationResult::Degenerate()) {
}

12
gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
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@ -66,9 +66,9 @@ public:
* @param params internal parameters of the smart factors
*/
SmartStereoProjectionPoseFactor(const SharedNoiseModel& sharedNoiseModel,
const SmartStereoProjectionParams& params =
SmartStereoProjectionParams()) :
Base(sharedNoiseModel, params) {
const SmartStereoProjectionParams& params = SmartStereoProjectionParams(),
const boost::optional<Pose3> body_P_sensor = boost::none) :
Base(sharedNoiseModel, params, body_P_sensor) {
}
/** Virtual destructor */
@ -161,7 +161,11 @@ public:
Base::Cameras cameras;
size_t i=0;
for(const Key& k: this->keys_) {
const Pose3& pose = values.at<Pose3>(k);
Pose3 pose = values.at<Pose3>(k);
if (Base::body_P_sensor_)
pose = pose.compose(*(Base::body_P_sensor_));
StereoCamera camera(pose, K_all_[i++]);
cameras.push_back(camera);
}

89
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
View File

@ -396,7 +396,96 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) {
// cout << std::setprecision(10) << "StereoFactor graph optimized error: " << graph2.error(result2) << endl;
}
/* *************************************************************************/
TEST( SmartStereoProjectionPoseFactor, body_P_sensor ) {
// camera has some displacement
Pose3 body_P_sensor = Pose3(Rot3::Ypr(-0.01, 0., -0.05), Point3(0.1, 0, 0.1));
// 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), Point3(0, 0, 1));
StereoCamera cam1(pose1.compose(body_P_sensor), K2);
// create second camera 1 meter to the right of first camera
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
StereoCamera cam2(pose2.compose(body_P_sensor), K2);
// create third camera 1 meter above the first camera
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
StereoCamera cam3(pose3.compose(body_P_sensor), K2);
// 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_l1 = stereo_projectToMultipleCameras(cam1,
cam2, cam3, landmark1);
vector<StereoPoint2> measurements_l2 = stereo_projectToMultipleCameras(cam1,
cam2, cam3, landmark2);
vector<StereoPoint2> measurements_l3 = stereo_projectToMultipleCameras(cam1,
cam2, cam3, landmark3);
vector<Key> views;
views.push_back(x1);
views.push_back(x2);
views.push_back(x3);
SmartStereoProjectionParams smart_params;
smart_params.triangulation.enableEPI = true;
SmartStereoProjectionPoseFactor::shared_ptr smartFactor1(new SmartStereoProjectionPoseFactor(model, smart_params, body_P_sensor));
smartFactor1->add(measurements_l1, views, K2);
SmartStereoProjectionPoseFactor::shared_ptr smartFactor2(new SmartStereoProjectionPoseFactor(model, smart_params, body_P_sensor));
smartFactor2->add(measurements_l2, views, K2);
SmartStereoProjectionPoseFactor::shared_ptr smartFactor3(new SmartStereoProjectionPoseFactor(model, smart_params, body_P_sensor));
smartFactor3->add(measurements_l3, views, K2);
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), 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),
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);
EXPECT(
assert_equal(
Pose3(
Rot3(0, -0.0314107591, 0.99950656, -0.99950656, -0.0313952598,
-0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
// cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl;
EXPECT_DOUBLES_EQUAL(953392.32838422502, graph.error(values), 1e-7); // initial error
// get triangulated landmarks from smart factors
Point3 landmark1_smart = *smartFactor1->point();
Point3 landmark2_smart = *smartFactor2->point();
Point3 landmark3_smart = *smartFactor3->point();
Values result;
gttic_(SmartStereoProjectionPoseFactor);
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
result = optimizer.optimize();
gttoc_(SmartStereoProjectionPoseFactor);
tictoc_finishedIteration_();
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
// result.print("results of 3 camera, 3 landmark optimization \n");
EXPECT(assert_equal(pose3, result.at<Pose3>(x3)));
}
/* *************************************************************************/
TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) {