Merge pull request #1224 from borglab/ta-priors-fix

Fix the failure in TA when adding betweenTranslations without any measurements.

gtsam/sfm/TranslationRecovery.cpp

@@ -119,21 +119,24 @@ void TranslationRecovery::addPrior(
   graph->emplace_shared<PriorFactor<Point3>>(edge->key1(), Point3(0, 0, 0),
                                              priorNoiseModel);
 
-  // Add between factors for optional relative translations.
-  for (auto edge : betweenTranslations) {
-    graph->emplace_shared<BetweenFactor<Point3>>(
-        edge.key1(), edge.key2(), edge.measured(), edge.noiseModel());
-  }
-
   // Add a scale prior only if no other between factors were added.
   if (betweenTranslations.empty()) {
     graph->emplace_shared<PriorFactor<Point3>>(
         edge->key2(), scale * edge->measured().point3(), edge->noiseModel());
+    return;
+  }
+
+  // Add between factors for optional relative translations.
+  for (auto prior_edge : betweenTranslations) {
+    graph->emplace_shared<BetweenFactor<Point3>>(
+        prior_edge.key1(), prior_edge.key2(), prior_edge.measured(),
+        prior_edge.noiseModel());
   }
 }
 
 Values TranslationRecovery::initializeRandomly(
     const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+    const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
     std::mt19937 *rng, const Values &initialValues) const {
   uniform_real_distribution<double> randomVal(-1, 1);
   // Create a lambda expression that checks whether value exists and randomly
@@ -155,14 +158,20 @@ Values TranslationRecovery::initializeRandomly(
     insert(edge.key1());
     insert(edge.key2());
   }
+  // There may be nodes in betweenTranslations that do not have a measurement.
+  for (auto edge : betweenTranslations) {
+    insert(edge.key1());
+    insert(edge.key2());
+  }
   return initial;
 }
 
 Values TranslationRecovery::initializeRandomly(
     const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+    const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
     const Values &initialValues) const {
-  return initializeRandomly(relativeTranslations, &kRandomNumberGenerator,
+  return initializeRandomly(relativeTranslations, betweenTranslations,
-                            initialValues);
+                            &kRandomNumberGenerator, initialValues);
 }
 
 Values TranslationRecovery::run(
@@ -187,8 +196,8 @@ Values TranslationRecovery::run(
            &graph);
 
   // Uses initial values from params if provided.
-  Values initial =
+  Values initial = initializeRandomly(
-      initializeRandomly(nonzeroRelativeTranslations, initialValues);
+      nonzeroRelativeTranslations, nonzeroBetweenTranslations, initialValues);
 
   // If there are no valid edges, but zero-distance edges exist, initialize one
   // of the nodes in a connected component of zero-distance edges.

gtsam/sfm/TranslationRecovery.h

@@ -112,12 +112,15 @@ class TranslationRecovery {
    *
    * @param relativeTranslations unit translation directions between
    * translations to be estimated
+   * @param betweenTranslations relative translations (with scale) between 2
+   * points in world coordinate frame known a priori.
    * @param rng random number generator
    * @param intialValues (optional) initial values from a prior
    * @return Values
    */
   Values initializeRandomly(
       const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+      const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
       std::mt19937 *rng, const Values &initialValues = Values()) const;
 
   /**
@@ -125,11 +128,14 @@ class TranslationRecovery {
    *
    * @param relativeTranslations unit translation directions between
    * translations to be estimated
+   * @param betweenTranslations relative translations (with scale) between 2
+   * points in world coordinate frame known a priori.
    * @param initialValues (optional) initial values from a prior
    * @return Values
    */
   Values initializeRandomly(
       const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+      const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
       const Values &initialValues = Values()) const;
 
   /**
@@ -137,11 +143,15 @@ class TranslationRecovery {
    *
    * @param relativeTranslations the relative translations, in world coordinate
    * frames, vector of BinaryMeasurements of Unit3, where each key of a
-   * measurement is a point in 3D.
+   * measurement is a point in 3D. If a relative translation magnitude is zero,
+   * it is treated as a hard same-point constraint (the result of all nodes
+   * connected by a zero-magnitude edge will be the same).
    * @param scale scale for first relative translation which fixes gauge.
    * The scale is only used if betweenTranslations is empty.
    * @param betweenTranslations relative translations (with scale) between 2
-   * points in world coordinate frame known a priori.
+   * points in world coordinate frame known a priori. Unlike
+   * relativeTranslations, zero-magnitude betweenTranslations are not treated as
+   * hard constraints.
    * @param initialValues intial values for optimization. Initializes randomly
    * if not provided.
    * @return Values

tests/testTranslationRecovery.cpp

@@ -323,6 +323,36 @@ TEST(TranslationRecovery, ThreePosesWithOneHardConstraint) {
   EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(1), 1e-4));
   EXPECT(assert_equal(Point3(1, -1, 0), result.at<Point3>(3), 1e-4));
 }
+
+TEST(TranslationRecovery, NodeWithBetweenFactorAndNoMeasurements) {
+  // Checks that valid results are obtained when a between translation edge is
+  // provided with a node that does not have any other relative translations.
+  Values poses;
+  poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
+  poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
+  poses.insert<Pose3>(3, Pose3(Rot3(), Point3(1, -1, 0)));
+  poses.insert<Pose3>(4, Pose3(Rot3(), Point3(1, 2, 1)));
+
+  auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
+      poses, {{0, 1}, {0, 3}, {1, 3}});
+
+  std::vector<BinaryMeasurement<Point3>> betweenTranslations;
+  betweenTranslations.emplace_back(0, 1, Point3(2, 0, 0),
+                                   noiseModel::Constrained::All(3, 1e2));
+  // Node 4 only has this between translation prior, no relative translations.
+  betweenTranslations.emplace_back(0, 4, Point3(1, 2, 1));
+
+  TranslationRecovery algorithm;
+  auto result =
+      algorithm.run(relativeTranslations, /*scale=*/0.0, betweenTranslations);
+
+  // Check result
+  EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-4));
+  EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(1), 1e-4));
+  EXPECT(assert_equal(Point3(1, -1, 0), result.at<Point3>(3), 1e-4));
+  EXPECT(assert_equal(Point3(1, 2, 1), result.at<Point3>(4), 1e-4));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;