1276 lines
53 KiB
C++
1276 lines
53 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testSmartStereoProjectionFactorPP.cpp
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* @brief Unit tests for SmartStereoProjectionFactorPP Class
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* @author Luca Carlone
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* @date March 2021
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*/
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#include <gtsam/slam/tests/smartFactorScenarios.h>
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#include <gtsam_unstable/slam/SmartStereoProjectionFactorPP.h>
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#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/slam/PoseTranslationPrior.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/slam/StereoFactor.h>
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#include <CppUnitLite/TestHarness.h>
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#include <iostream>
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using namespace std;
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using namespace gtsam;
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namespace {
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// make a realistic calibration matrix
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static double b = 1;
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static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov, w, h, b));
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static Cal3_S2Stereo::shared_ptr K2(new Cal3_S2Stereo(1500, 1200, 0, 640, 480,
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b));
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static SmartStereoProjectionParams params;
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// static bool manageDegeneracy = true;
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// Create a noise model for the pixel error
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static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.1));
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// Convenience for named keys
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using symbol_shorthand::L;
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using symbol_shorthand::X;
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// tests data
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static Symbol x1('X', 1);
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static Symbol x2('X', 2);
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static Symbol x3('X', 3);
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static Symbol body_P_cam1_key('P', 1);
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static Symbol body_P_cam2_key('P', 2);
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static Symbol body_P_cam3_key('P', 3);
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static Key poseKey1(x1);
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static Key poseExtrinsicKey1(body_P_cam1_key);
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static Key poseExtrinsicKey2(body_P_cam2_key);
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static StereoPoint2 measurement1(
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323.0, 300.0, 240.0); // potentially use more reasonable measurement value?
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static StereoPoint2 measurement2(
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350.0, 200.0, 240.0); // potentially use more reasonable measurement value?
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static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
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Point3(0.25, -0.10, 1.0));
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static double missing_uR = std::numeric_limits<double>::quiet_NaN();
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vector<StereoPoint2> stereo_projectToMultipleCameras(const StereoCamera& cam1,
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const StereoCamera& cam2,
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const StereoCamera& cam3,
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Point3 landmark) {
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vector<StereoPoint2> measurements_cam;
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StereoPoint2 cam1_uv1 = cam1.project(landmark);
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StereoPoint2 cam2_uv1 = cam2.project(landmark);
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StereoPoint2 cam3_uv1 = cam3.project(landmark);
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measurements_cam.push_back(cam1_uv1);
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measurements_cam.push_back(cam2_uv1);
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measurements_cam.push_back(cam3_uv1);
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return measurements_cam;
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}
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LevenbergMarquardtParams lm_params;
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} // namespace
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/* ************************************************************************* */
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TEST( SmartStereoProjectionFactorPP, params) {
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SmartStereoProjectionParams p;
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// check default values and "get"
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EXPECT(p.getLinearizationMode() == HESSIAN);
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EXPECT(p.getDegeneracyMode() == IGNORE_DEGENERACY);
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EXPECT_DOUBLES_EQUAL(p.getRetriangulationThreshold(), 1e-5, 1e-9);
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EXPECT(p.getVerboseCheirality() == false);
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EXPECT(p.getThrowCheirality() == false);
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// check "set"
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p.setLinearizationMode(JACOBIAN_SVD);
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p.setDegeneracyMode(ZERO_ON_DEGENERACY);
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p.setRankTolerance(100);
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p.setEnableEPI(true);
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p.setLandmarkDistanceThreshold(200);
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p.setDynamicOutlierRejectionThreshold(3);
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p.setRetriangulationThreshold(1e-2);
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EXPECT(p.getLinearizationMode() == JACOBIAN_SVD);
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EXPECT(p.getDegeneracyMode() == ZERO_ON_DEGENERACY);
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EXPECT_DOUBLES_EQUAL(p.getTriangulationParameters().rankTolerance, 100, 1e-5);
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EXPECT(p.getTriangulationParameters().enableEPI == true);
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EXPECT_DOUBLES_EQUAL(p.getTriangulationParameters().landmarkDistanceThreshold, 200, 1e-5);
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EXPECT_DOUBLES_EQUAL(p.getTriangulationParameters().dynamicOutlierRejectionThreshold, 3, 1e-5);
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EXPECT_DOUBLES_EQUAL(p.getRetriangulationThreshold(), 1e-2, 1e-5);
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}
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/* ************************************************************************* */
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TEST( SmartStereoProjectionFactorPP, Constructor) {
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SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model));
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}
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/* ************************************************************************* */
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TEST( SmartStereoProjectionFactorPP, Constructor2) {
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SmartStereoProjectionFactorPP factor1(model, params);
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}
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/* ************************************************************************* */
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TEST( SmartStereoProjectionFactorPP, Constructor3) {
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SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model));
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factor1->add(measurement1, poseKey1, poseExtrinsicKey1, K);
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}
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/* ************************************************************************* */
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TEST( SmartStereoProjectionFactorPP, Constructor4) {
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SmartStereoProjectionFactorPP factor1(model, params);
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factor1.add(measurement1, poseKey1, poseExtrinsicKey1, K);
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}
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/* ************************************************************************* */
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TEST( SmartStereoProjectionFactorPP, Equals ) {
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SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model));
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factor1->add(measurement1, poseKey1, poseExtrinsicKey1, K);
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SmartStereoProjectionFactorPP::shared_ptr factor2(new SmartStereoProjectionFactorPP(model));
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factor2->add(measurement1, poseKey1, poseExtrinsicKey1, K);
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// check these are equal
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EXPECT(assert_equal(*factor1, *factor2));
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SmartStereoProjectionFactorPP::shared_ptr factor3(new SmartStereoProjectionFactorPP(model));
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factor3->add(measurement2, poseKey1, poseExtrinsicKey1, K);
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// check these are different
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EXPECT(!factor1->equals(*factor3));
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SmartStereoProjectionFactorPP::shared_ptr factor4(new SmartStereoProjectionFactorPP(model));
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factor4->add(measurement1, poseKey1, poseExtrinsicKey2, K);
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// check these are different
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EXPECT(!factor1->equals(*factor4));
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}
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/* *************************************************************************/
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TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless_error_identityExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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StereoCamera w_Camera_cam1(w_Pose_cam1, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera w_Camera_cam2(w_Pose_cam2, K2);
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// landmark ~5 meters infront of camera
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Point3 landmark(5, 0.5, 1.2);
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// 1. Project two landmarks into two cameras and triangulate
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StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark);
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StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark);
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Values values;
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values.insert(x1, w_Pose_cam1);
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values.insert(x2, w_Pose_cam2);
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values.insert(body_P_cam1_key, Pose3::Identity());
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values.insert(body_P_cam2_key, Pose3::Identity());
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SmartStereoProjectionFactorPP factor1(model);
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factor1.add(cam1_uv, x1, body_P_cam1_key, K2);
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factor1.add(cam2_uv, x2, body_P_cam2_key, K2);
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double actualError = factor1.error(values);
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double expectedError = 0.0;
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EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7);
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SmartStereoProjectionFactorPP::Cameras cameras = factor1.cameras(values);
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double actualError2 = factor1.totalReprojectionError(cameras);
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EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7);
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}
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/* *************************************************************************/
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TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless_error_multipleExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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StereoCamera w_Camera_cam1(w_Pose_cam1, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera w_Camera_cam2(w_Pose_cam2, K2);
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// landmark ~5 meters infront of camera
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Point3 landmark(5, 0.5, 1.2);
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// 1. Project two landmarks into two cameras and triangulate
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StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark);
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StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark);
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Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., 0.0),
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Point3(0, 1, 0));
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Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0., 0.0),
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Point3(1, 1, 0));
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Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse());
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Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse());
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Values values;
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values.insert(x1, w_Pose_body1);
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values.insert(x2, w_Pose_body2);
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values.insert(body_P_cam1_key, body_Pose_cam1);
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values.insert(body_P_cam2_key, body_Pose_cam2);
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SmartStereoProjectionFactorPP factor1(model);
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factor1.add(cam1_uv, x1, body_P_cam1_key, K2);
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factor1.add(cam2_uv, x2, body_P_cam2_key, K2);
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double actualError = factor1.error(values);
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double expectedError = 0.0;
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EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7);
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SmartStereoProjectionFactorPP::Cameras cameras = factor1.cameras(values);
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double actualError2 = factor1.totalReprojectionError(cameras);
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EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7);
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}
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/* *************************************************************************/
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TEST( SmartProjectionPoseFactor, noiseless_error_multipleExtrinsics_missingMeasurements ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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StereoCamera w_Camera_cam1(w_Pose_cam1, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera w_Camera_cam2(w_Pose_cam2, K2);
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// landmark ~5 meters in front of camera
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Point3 landmark(5, 0.5, 1.2);
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// 1. Project two landmarks into two cameras and triangulate
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StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark);
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StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark);
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StereoPoint2 cam2_uv_right_missing(cam2_uv.uL(),missing_uR,cam2_uv.v());
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// fake extrinsic calibration
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Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),
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Point3(0, 1, 0));
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Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0.1, 1.0),
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Point3(1, 1, 1));
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Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse());
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Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse());
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Values values;
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values.insert(x1, w_Pose_body1);
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values.insert(x2, w_Pose_body2);
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values.insert(body_P_cam1_key, body_Pose_cam1);
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values.insert(body_P_cam2_key, body_Pose_cam2);
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SmartStereoProjectionFactorPP factor1(model);
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factor1.add(cam1_uv, x1, body_P_cam1_key, K2);
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factor1.add(cam2_uv_right_missing, x2, body_P_cam2_key, K2);
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double actualError = factor1.error(values);
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double expectedError = 0.0;
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EXPECT_DOUBLES_EQUAL(expectedError, actualError, 1e-7);
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// TEST TRIANGULATION WITH MISSING VALUES: i) right pixel of second camera is missing:
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SmartStereoProjectionFactorPP::Cameras cameras = factor1.cameras(values);
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double actualError2 = factor1.totalReprojectionError(cameras);
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EXPECT_DOUBLES_EQUAL(expectedError, actualError2, 1e-7);
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// The following are generically exercising the triangulation
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CameraSet<StereoCamera> cams{w_Camera_cam1, w_Camera_cam2};
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TriangulationResult result = factor1.triangulateSafe(cams);
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CHECK(result);
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EXPECT(assert_equal(landmark, *result, 1e-7));
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// TEST TRIANGULATION WITH MISSING VALUES: ii) right pixels of both cameras are missing:
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SmartStereoProjectionFactorPP factor2(model);
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StereoPoint2 cam1_uv_right_missing(cam1_uv.uL(),missing_uR,cam1_uv.v());
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factor2.add(cam1_uv_right_missing, x1, body_P_cam1_key, K2);
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factor2.add(cam2_uv_right_missing, x2, body_P_cam2_key, K2);
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result = factor2.triangulateSafe(cams);
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CHECK(result);
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EXPECT(assert_equal(landmark, *result, 1e-7));
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, noisy_error_multipleExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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StereoCamera w_Camera_cam1(w_Pose_cam1, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera w_Camera_cam2(w_Pose_cam2, K2);
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// landmark ~5 meters infront of camera
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Point3 landmark(5, 0.5, 1.2);
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// 1. Project two landmarks into two cameras and triangulate
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StereoPoint2 pixelError(0.2, 0.2, 0);
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StereoPoint2 cam1_uv = w_Camera_cam1.project(landmark) + pixelError;
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StereoPoint2 cam2_uv = w_Camera_cam2.project(landmark);
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// fake extrinsic calibration
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Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),
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Point3(0, 1, 0));
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Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0.1, 1.0),
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Point3(1, 1, 1));
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Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse());
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Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse());
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Values values;
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values.insert(x1, w_Pose_body1);
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Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10),
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Point3(0.5, 0.1, 0.3));
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values.insert(x2, w_Pose_body2.compose(noise_pose));
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values.insert(body_P_cam1_key, body_Pose_cam1);
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values.insert(body_P_cam2_key, body_Pose_cam2);
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SmartStereoProjectionFactorPP::shared_ptr factor1(new SmartStereoProjectionFactorPP(model));
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factor1->add(cam1_uv, x1, body_P_cam1_key, K);
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factor1->add(cam2_uv, x2, body_P_cam2_key, K);
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double actualError1 = factor1->error(values);
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SmartStereoProjectionFactorPP::shared_ptr factor2(new SmartStereoProjectionFactorPP(model));
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vector<StereoPoint2> measurements;
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measurements.push_back(cam1_uv);
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measurements.push_back(cam2_uv);
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vector<boost::shared_ptr<Cal3_S2Stereo> > Ks; ///< shared pointer to calibration object (one for each camera)
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Ks.push_back(K);
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Ks.push_back(K);
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KeyVector poseKeys;
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poseKeys.push_back(x1);
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poseKeys.push_back(x2);
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KeyVector extrinsicKeys;
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extrinsicKeys.push_back(body_P_cam1_key);
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extrinsicKeys.push_back(body_P_cam2_key);
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factor2->add(measurements, poseKeys, extrinsicKeys, Ks);
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double actualError2 = factor2->error(values);
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DOUBLES_EQUAL(actualError1, actualError2, 1e-7);
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DOUBLES_EQUAL(actualError1, 5381978, 1); // value freeze
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, 3poses_optimization_multipleExtrinsics ) {
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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StereoCamera cam1(w_Pose_cam1, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera cam2(w_Pose_cam2, K2);
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// create third camera 1 meter above the first camera
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Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0));
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StereoCamera cam3(w_Pose_cam3, K2);
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// three landmarks ~5 meters infront of camera
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Point3 landmark1(5, 0.5, 1.2);
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Point3 landmark2(5, -0.5, 1.2);
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Point3 landmark3(3, 0, 3.0);
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// 1. Project three landmarks into three cameras and triangulate
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vector<StereoPoint2> measurements_l1 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark1);
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vector<StereoPoint2> measurements_l2 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark2);
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vector<StereoPoint2> measurements_l3 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark3);
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KeyVector poseKeys;
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poseKeys.push_back(x1);
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poseKeys.push_back(x2);
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poseKeys.push_back(x3);
|
|
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam1_key);
|
|
extrinsicKeys.push_back(body_P_cam2_key);
|
|
extrinsicKeys.push_back(body_P_cam3_key);
|
|
|
|
SmartStereoProjectionParams smart_params;
|
|
smart_params.triangulation.enableEPI = true;
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
|
|
// Values
|
|
Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0));
|
|
Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0.1, 1.0),Point3(1, 1, 1));
|
|
Pose3 body_Pose_cam3 = Pose3::Identity();
|
|
Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse());
|
|
Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse());
|
|
Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam3.inverse());
|
|
|
|
Values values;
|
|
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
values.insert(x1, w_Pose_body1);
|
|
values.insert(x2, w_Pose_body2);
|
|
values.insert(x3, w_Pose_body3);
|
|
values.insert(body_P_cam1_key, body_Pose_cam1);
|
|
values.insert(body_P_cam2_key, body_Pose_cam2);
|
|
// initialize third calibration with some noise, we expect it to move back to original pose3
|
|
values.insert(body_P_cam3_key, body_Pose_cam3 * noise_pose);
|
|
|
|
// Graph
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, w_Pose_body1, noisePrior);
|
|
graph.addPrior(x2, w_Pose_body2, noisePrior);
|
|
graph.addPrior(x3, w_Pose_body3, noisePrior);
|
|
// we might need some prior on the calibration too
|
|
graph.addPrior(body_P_cam1_key, body_Pose_cam1, noisePrior);
|
|
graph.addPrior(body_P_cam2_key, body_Pose_cam2, noisePrior);
|
|
|
|
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) * values.at<Pose3>(body_P_cam3_key)));
|
|
|
|
// cout << std::setprecision(10) << "\n----SmartStereoFactor graph initial error: " << graph.error(values) << endl;
|
|
EXPECT_DOUBLES_EQUAL(833953.92789459578, graph.error(values), 1e-7); // initial error (note - this also matches error below)
|
|
|
|
// get triangulated landmarks from smart factors
|
|
Point3 landmark1_smart = *smartFactor1->point();
|
|
Point3 landmark2_smart = *smartFactor2->point();
|
|
Point3 landmark3_smart = *smartFactor3->point();
|
|
|
|
// cost is large before optimization
|
|
double initialErrorSmart = graph.error(values);
|
|
EXPECT_DOUBLES_EQUAL(833953.92789459461, initialErrorSmart, 1e-5);
|
|
|
|
Values result;
|
|
gttic_(SmartStereoProjectionFactorPP);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartStereoProjectionFactorPP);
|
|
tictoc_finishedIteration_();
|
|
|
|
// cout << std::setprecision(10) << "SmartStereoFactor graph optimized error: " << graph.error(result) << endl;
|
|
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
|
|
|
|
GaussianFactorGraph::shared_ptr GFG = graph.linearize(result);
|
|
VectorValues delta = GFG->optimize();
|
|
VectorValues expected = VectorValues::Zero(delta);
|
|
EXPECT(assert_equal(expected, delta, 1e-6));
|
|
|
|
// result.print("results of 3 camera, 3 landmark optimization \n");
|
|
EXPECT(assert_equal(body_Pose_cam3, result.at<Pose3>(body_P_cam3_key)));
|
|
|
|
// ***************************************************************
|
|
// Same problem with regular Stereo factors, expect same error!
|
|
// ****************************************************************
|
|
|
|
// add landmarks to values
|
|
Values values2;
|
|
values2.insert(x1, w_Pose_cam1); // note: this is the *camera* pose now
|
|
values2.insert(x2, w_Pose_cam2);
|
|
values2.insert(x3, w_Pose_cam3 * noise_pose); // equivalent to perturbing the extrinsic calibration
|
|
values2.insert(L(1), landmark1_smart);
|
|
values2.insert(L(2), landmark2_smart);
|
|
values2.insert(L(3), landmark3_smart);
|
|
|
|
// add factors
|
|
NonlinearFactorGraph graph2;
|
|
|
|
graph2.addPrior(x1, w_Pose_cam1, noisePrior);
|
|
graph2.addPrior(x2, w_Pose_cam2, noisePrior);
|
|
|
|
typedef GenericStereoFactor<Pose3, Point3> ProjectionFactor;
|
|
|
|
bool verboseCheirality = true;
|
|
|
|
// NOTE: we cannot repeate this with ProjectionFactor, since they are not suitable for stereo calibration
|
|
graph2.push_back(ProjectionFactor(measurements_l1[0], model, x1, L(1), K2, false, verboseCheirality));
|
|
graph2.push_back(ProjectionFactor(measurements_l1[1], model, x2, L(1), K2, false, verboseCheirality));
|
|
graph2.push_back(ProjectionFactor(measurements_l1[2], model, x3, L(1), K2, false, verboseCheirality));
|
|
|
|
graph2.push_back(ProjectionFactor(measurements_l2[0], model, x1, L(2), K2, false, verboseCheirality));
|
|
graph2.push_back(ProjectionFactor(measurements_l2[1], model, x2, L(2), K2, false, verboseCheirality));
|
|
graph2.push_back(ProjectionFactor(measurements_l2[2], model, x3, L(2), K2, false, verboseCheirality));
|
|
|
|
graph2.push_back(ProjectionFactor(measurements_l3[0], model, x1, L(3), K2, false, verboseCheirality));
|
|
graph2.push_back(ProjectionFactor(measurements_l3[1], model, x2, L(3), K2, false, verboseCheirality));
|
|
graph2.push_back(ProjectionFactor(measurements_l3[2], model, x3, L(3), K2, false, verboseCheirality));
|
|
|
|
// cout << std::setprecision(10) << "\n----StereoFactor graph initial error: " << graph2.error(values) << endl;
|
|
EXPECT_DOUBLES_EQUAL(833953.92789459578, graph2.error(values2), 1e-7);
|
|
EXPECT_DOUBLES_EQUAL(initialErrorSmart, graph2.error(values2), 1e-7); // identical to previous case!
|
|
|
|
LevenbergMarquardtOptimizer optimizer2(graph2, values2, lm_params);
|
|
Values result2 = optimizer2.optimize();
|
|
EXPECT_DOUBLES_EQUAL(0, graph2.error(result2), 1e-5);
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartStereoProjectionFactorPP, 3poses_error_sameExtrinsicKey ) {
|
|
|
|
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
|
Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
|
StereoCamera cam1(w_Pose_cam1, K2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
StereoCamera cam2(w_Pose_cam2, K2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
StereoCamera cam3(w_Pose_cam3, 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);
|
|
|
|
KeyVector poseKeys;
|
|
poseKeys.push_back(x1);
|
|
poseKeys.push_back(x2);
|
|
poseKeys.push_back(x3);
|
|
|
|
Symbol body_P_cam_key('P', 0);
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
|
|
SmartStereoProjectionParams smart_params;
|
|
smart_params.triangulation.enableEPI = true;
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
|
|
// Values
|
|
Pose3 body_Pose_cam = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0));
|
|
Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam.inverse());
|
|
Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam.inverse());
|
|
Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam.inverse());
|
|
|
|
Values values; // all noiseless
|
|
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise
|
|
values.insert(x1, w_Pose_body1);
|
|
values.insert(x2, w_Pose_body2);
|
|
values.insert(x3, w_Pose_body3);
|
|
values.insert(body_P_cam_key, body_Pose_cam);
|
|
|
|
// Graph
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, w_Pose_body1, noisePrior);
|
|
graph.addPrior(x2, w_Pose_body2, noisePrior);
|
|
graph.addPrior(x3, w_Pose_body3, noisePrior);
|
|
|
|
// cost is large before optimization
|
|
double initialErrorSmart = graph.error(values);
|
|
EXPECT_DOUBLES_EQUAL(0.0, initialErrorSmart, 1e-5); // initial guess is noisy, so nonzero error
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartStereoProjectionFactorPP, 3poses_noisy_error_sameExtrinsicKey ) {
|
|
|
|
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
|
Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
|
StereoCamera cam1(w_Pose_cam1, K2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
StereoCamera cam2(w_Pose_cam2, K2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
StereoCamera cam3(w_Pose_cam3, 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);
|
|
|
|
double initialError_expected, initialError_actual;
|
|
{
|
|
KeyVector poseKeys;
|
|
poseKeys.push_back(x1);
|
|
poseKeys.push_back(x2);
|
|
poseKeys.push_back(x3);
|
|
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam1_key);
|
|
extrinsicKeys.push_back(body_P_cam2_key);
|
|
extrinsicKeys.push_back(body_P_cam3_key);
|
|
|
|
SmartStereoProjectionParams smart_params;
|
|
smart_params.triangulation.enableEPI = true;
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
|
|
// Values
|
|
Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0));
|
|
Pose3 body_Pose_cam2 = body_Pose_cam1;
|
|
Pose3 body_Pose_cam3 = body_Pose_cam1;
|
|
Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse());
|
|
Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse());
|
|
Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam3.inverse());
|
|
|
|
Values values;
|
|
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
values.insert(x1, w_Pose_body1);
|
|
values.insert(x2, w_Pose_body2);
|
|
values.insert(x3, w_Pose_body3);
|
|
values.insert(body_P_cam1_key, body_Pose_cam1 * noise_pose);
|
|
values.insert(body_P_cam2_key, body_Pose_cam2 * noise_pose);
|
|
// initialize third calibration with some noise, we expect it to move back to original pose3
|
|
values.insert(body_P_cam3_key, body_Pose_cam3 * noise_pose);
|
|
|
|
// Graph
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, w_Pose_body1, noisePrior);
|
|
graph.addPrior(x2, w_Pose_body2, noisePrior);
|
|
graph.addPrior(x3, w_Pose_body3, noisePrior);
|
|
|
|
initialError_expected = graph.error(values);
|
|
}
|
|
|
|
{
|
|
KeyVector poseKeys;
|
|
poseKeys.push_back(x1);
|
|
poseKeys.push_back(x2);
|
|
poseKeys.push_back(x3);
|
|
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam1_key);
|
|
extrinsicKeys.push_back(body_P_cam1_key);
|
|
extrinsicKeys.push_back(body_P_cam1_key);
|
|
|
|
SmartStereoProjectionParams smart_params;
|
|
smart_params.triangulation.enableEPI = true;
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2);
|
|
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
|
|
// Values
|
|
Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0));
|
|
Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse());
|
|
Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam1.inverse());
|
|
Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam1.inverse());
|
|
|
|
Values values;
|
|
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.1, 0.1, 0.1)); // smaller noise
|
|
values.insert(x1, w_Pose_body1);
|
|
values.insert(x2, w_Pose_body2);
|
|
values.insert(x3, w_Pose_body3);
|
|
values.insert(body_P_cam1_key, body_Pose_cam1 * noise_pose);
|
|
|
|
// Graph
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, w_Pose_body1, noisePrior);
|
|
graph.addPrior(x2, w_Pose_body2, noisePrior);
|
|
graph.addPrior(x3, w_Pose_body3, noisePrior);
|
|
|
|
initialError_actual = graph.error(values);
|
|
}
|
|
|
|
//std::cout << " initialError_expected " << initialError_expected << std::endl;
|
|
EXPECT_DOUBLES_EQUAL(initialError_expected, initialError_actual, 1e-7);
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartStereoProjectionFactorPP, 3poses_optimization_sameExtrinsicKey ) {
|
|
|
|
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
|
Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
|
StereoCamera cam1(w_Pose_cam1, K2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
StereoCamera cam2(w_Pose_cam2, K2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
StereoCamera cam3(w_Pose_cam3, 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);
|
|
|
|
KeyVector poseKeys;
|
|
poseKeys.push_back(x1);
|
|
poseKeys.push_back(x2);
|
|
poseKeys.push_back(x3);
|
|
|
|
Symbol body_P_cam_key('P', 0);
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
|
|
SmartStereoProjectionParams smart_params;
|
|
smart_params.triangulation.enableEPI = true;
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2);
|
|
|
|
// relevant poses:
|
|
Pose3 body_Pose_cam = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0));
|
|
Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam.inverse());
|
|
Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam.inverse());
|
|
Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam.inverse());
|
|
|
|
// Graph
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, w_Pose_body1, noisePrior);
|
|
graph.addPrior(x2, w_Pose_body2, noisePrior);
|
|
graph.addPrior(x3, w_Pose_body3, noisePrior);
|
|
// we might need some prior on the calibration too
|
|
// graph.addPrior(body_P_cam_key, body_Pose_cam, noisePrior); // no need! the measurements will fix this!
|
|
|
|
// Values
|
|
Values values;
|
|
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise
|
|
values.insert(x1, w_Pose_body1);
|
|
values.insert(x2, w_Pose_body2);
|
|
values.insert(x3, w_Pose_body3);
|
|
values.insert(body_P_cam_key, body_Pose_cam*noise_pose);
|
|
|
|
// cost is large before optimization
|
|
double initialErrorSmart = graph.error(values);
|
|
EXPECT_DOUBLES_EQUAL(31986.961831653316, initialErrorSmart, 1e-5); // initial guess is noisy, so nonzero error
|
|
|
|
/////////////////////////////////////////////////////////////////
|
|
// What the factor is doing is the following Schur complement math (this matches augmentedHessianPP in code):
|
|
// size_t numMeasurements = measured_.size();
|
|
// Matrix F = Matrix::Zero(3*numMeasurements, 6 * nrUniqueKeys);
|
|
// for(size_t k=0; k<numMeasurements; k++){
|
|
// Key key_body = w_P_body_keys_.at(k);
|
|
// Key key_cal = body_P_cam_keys_.at(k);
|
|
// F.block<3,6>( 3*k , 6*keyToSlotMap[key_body] ) = Fs[k].block<3,6>(0,0);
|
|
// F.block<3,6>( 3*k , 6*keyToSlotMap[key_cal] ) = Fs[k].block<3,6>(0,6);
|
|
// }
|
|
// Matrix augH = Matrix::Zero(6*nrUniqueKeys+1,6*nrUniqueKeys+1);
|
|
// augH.block(0,0,6*nrUniqueKeys,6*nrUniqueKeys) = F.transpose() * F - F.transpose() * E * P * E.transpose() * F;
|
|
// Matrix infoVec = F.transpose() * b - F.transpose() * E * P * E.transpose() * b;
|
|
// augH.block(0,6*nrUniqueKeys,6*nrUniqueKeys,1) = infoVec;
|
|
// augH.block(6*nrUniqueKeys,0,1,6*nrUniqueKeys) = infoVec.transpose();
|
|
// augH(6*nrUniqueKeys,6*nrUniqueKeys) = b.squaredNorm();
|
|
// // The following is close to zero:
|
|
// std::cout << "norm diff: \n"<< Matrix(augH - Matrix(augmentedHessianUniqueKeys.selfadjointView())).lpNorm<Eigen::Infinity>() << std::endl;
|
|
// std::cout << "TEST MATRIX:" << std::endl;
|
|
// augmentedHessianUniqueKeys = SymmetricBlockMatrix(dims, augH);
|
|
/////////////////////////////////////////////////////////////////
|
|
|
|
Values result;
|
|
gttic_(SmartStereoProjectionFactorPP);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartStereoProjectionFactorPP);
|
|
tictoc_finishedIteration_();
|
|
|
|
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
|
|
|
|
// This passes on my machine but gets and indeterminant linear system exception in CI.
|
|
// This is a very redundant test, so it's not a problem to omit.
|
|
// GaussianFactorGraph::shared_ptr GFG = graph.linearize(result);
|
|
// Matrix H = GFG->hessian().first;
|
|
// double det = H.determinant();
|
|
// // std::cout << "det " << det << std::endl; // det = 2.27581e+80 (so it's not underconstrained)
|
|
// VectorValues delta = GFG->optimize();
|
|
// VectorValues expected = VectorValues::Zero(delta);
|
|
// EXPECT(assert_equal(expected, delta, 1e-4));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartStereoProjectionFactorPP, 3poses_optimization_2ExtrinsicKeys ) {
|
|
|
|
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
|
Pose3 w_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
|
StereoCamera cam1(w_Pose_cam1, K2);
|
|
|
|
// create second camera 1 meter to the right of first camera
|
|
Pose3 w_Pose_cam2 = w_Pose_cam1 * Pose3(Rot3(), Point3(1, 0, 0));
|
|
StereoCamera cam2(w_Pose_cam2, K2);
|
|
|
|
// create third camera 1 meter above the first camera
|
|
Pose3 w_Pose_cam3 = w_Pose_cam1 * Pose3(Rot3(), Point3(0, -1, 0));
|
|
StereoCamera cam3(w_Pose_cam3, 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);
|
|
|
|
KeyVector poseKeys;
|
|
poseKeys.push_back(x1);
|
|
poseKeys.push_back(x2);
|
|
poseKeys.push_back(x3);
|
|
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam1_key);
|
|
extrinsicKeys.push_back(body_P_cam1_key);
|
|
extrinsicKeys.push_back(body_P_cam3_key);
|
|
|
|
SmartStereoProjectionParams smart_params;
|
|
smart_params.triangulation.enableEPI = true;
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor1->add(measurements_l1, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor2->add(measurements_l2, poseKeys, extrinsicKeys, K2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, smart_params));
|
|
smartFactor3->add(measurements_l3, poseKeys, extrinsicKeys, K2);
|
|
|
|
// relevant poses:
|
|
Pose3 body_Pose_cam = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0));
|
|
Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam.inverse());
|
|
Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam.inverse());
|
|
Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam.inverse());
|
|
|
|
// Graph
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, w_Pose_body1, noisePrior);
|
|
graph.addPrior(x2, w_Pose_body2, noisePrior);
|
|
graph.addPrior(x3, w_Pose_body3, noisePrior);
|
|
// graph.addPrior(body_P_cam1_key, body_Pose_cam, noisePrior);
|
|
// we might need some prior on the calibration too
|
|
// graph.addPrior(body_P_cam_key, body_Pose_cam, noisePrior); // no need! the measurements will fix this!
|
|
|
|
// Values
|
|
Values values;
|
|
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise
|
|
values.insert(x1, w_Pose_body1);
|
|
values.insert(x2, w_Pose_body2);
|
|
values.insert(x3, w_Pose_body3);
|
|
values.insert(body_P_cam1_key, body_Pose_cam*noise_pose);
|
|
values.insert(body_P_cam3_key, body_Pose_cam*noise_pose);
|
|
|
|
// cost is large before optimization
|
|
double initialErrorSmart = graph.error(values);
|
|
EXPECT_DOUBLES_EQUAL(31986.961831653316, initialErrorSmart, 1e-5); // initial guess is noisy, so nonzero error
|
|
|
|
Values result;
|
|
gttic_(SmartStereoProjectionFactorPP);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartStereoProjectionFactorPP);
|
|
tictoc_finishedIteration_();
|
|
|
|
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
|
|
|
|
// NOTE: the following would fail since the problem is underconstrained (while LM above works just fine!)
|
|
// GaussianFactorGraph::shared_ptr GFG = graph.linearize(result);
|
|
// VectorValues delta = GFG->optimize();
|
|
// VectorValues expected = VectorValues::Zero(delta);
|
|
// EXPECT(assert_equal(expected, delta, 1e-4));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartStereoProjectionFactorPP, monocular_multipleExtrinsicKeys ){
|
|
// make a realistic calibration matrix
|
|
double fov = 60; // degrees
|
|
size_t w=640,h=480;
|
|
|
|
Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h));
|
|
|
|
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
|
Pose3 cameraPose1 = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses
|
|
Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0));
|
|
Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0));
|
|
|
|
PinholeCamera<Cal3_S2> cam1(cameraPose1, *K); // with camera poses
|
|
PinholeCamera<Cal3_S2> cam2(cameraPose2, *K);
|
|
PinholeCamera<Cal3_S2> cam3(cameraPose3, *K);
|
|
|
|
// create arbitrary body_Pose_sensor (transforms from sensor to body)
|
|
Pose3 sensor_to_body = Pose3(Rot3::Ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); //
|
|
|
|
// These are the poses we want to estimate, from camera measurements
|
|
Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse());
|
|
Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse());
|
|
Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse());
|
|
|
|
// three landmarks ~5 meters infront of camera
|
|
Point3 landmark1(5, 0.5, 1.2);
|
|
Point3 landmark2(5, -0.5, 1.2);
|
|
Point3 landmark3(5, 0, 3.0);
|
|
|
|
Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
|
|
|
|
// Project three landmarks into three cameras
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
|
|
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
|
|
|
|
// convert measurement to (degenerate) stereoPoint2 (with right pixel being NaN)
|
|
vector<StereoPoint2> measurements_cam1_stereo, measurements_cam2_stereo, measurements_cam3_stereo;
|
|
for(size_t k=0; k<measurements_cam1.size();k++)
|
|
measurements_cam1_stereo.push_back(StereoPoint2(measurements_cam1[k].x() , missing_uR , measurements_cam1[k].y()));
|
|
|
|
for(size_t k=0; k<measurements_cam2.size();k++)
|
|
measurements_cam2_stereo.push_back(StereoPoint2(measurements_cam2[k].x() , missing_uR , measurements_cam2[k].y()));
|
|
|
|
for(size_t k=0; k<measurements_cam3.size();k++)
|
|
measurements_cam3_stereo.push_back(StereoPoint2(measurements_cam3[k].x() , missing_uR , measurements_cam3[k].y()));
|
|
|
|
KeyVector poseKeys;
|
|
poseKeys.push_back(x1);
|
|
poseKeys.push_back(x2);
|
|
poseKeys.push_back(x3);
|
|
|
|
Symbol body_P_cam_key('P', 0);
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
|
|
SmartStereoProjectionParams smart_params;
|
|
smart_params.setRankTolerance(1.0);
|
|
smart_params.setDegeneracyMode(gtsam::IGNORE_DEGENERACY);
|
|
smart_params.setEnableEPI(false);
|
|
|
|
Cal3_S2Stereo::shared_ptr Kmono(new Cal3_S2Stereo(fov,w,h,b));
|
|
|
|
SmartStereoProjectionFactorPP smartFactor1(model, smart_params);
|
|
smartFactor1.add(measurements_cam1_stereo, poseKeys, extrinsicKeys, Kmono);
|
|
|
|
SmartStereoProjectionFactorPP smartFactor2(model, smart_params);
|
|
smartFactor2.add(measurements_cam2_stereo, poseKeys, extrinsicKeys, Kmono);
|
|
|
|
SmartStereoProjectionFactorPP smartFactor3(model, smart_params);
|
|
smartFactor3.add(measurements_cam3_stereo, poseKeys, extrinsicKeys, Kmono);
|
|
|
|
// Graph
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, bodyPose1, noisePrior);
|
|
graph.addPrior(x2, bodyPose2, noisePrior);
|
|
graph.addPrior(x3, bodyPose3, noisePrior);
|
|
// we might need some prior on the calibration too
|
|
// graph.addPrior(body_P_cam_key, body_Pose_cam, noisePrior); // no need! the measurements will fix this!
|
|
|
|
// Check errors at ground truth poses
|
|
Values gtValues;
|
|
gtValues.insert(x1, bodyPose1);
|
|
gtValues.insert(x2, bodyPose2);
|
|
gtValues.insert(x3, bodyPose3);
|
|
gtValues.insert(body_P_cam_key, sensor_to_body);
|
|
double actualError = graph.error(gtValues);
|
|
double expectedError = 0.0;
|
|
DOUBLES_EQUAL(expectedError, actualError, 1e-7)
|
|
|
|
// noisy values
|
|
Values values;
|
|
Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100), Point3(0.01, 0.01, 0.01)); // smaller noise
|
|
values.insert(x1, bodyPose1);
|
|
values.insert(x2, bodyPose2);
|
|
values.insert(x3, bodyPose3);
|
|
values.insert(body_P_cam_key, sensor_to_body*noise_pose);
|
|
|
|
// cost is large before optimization
|
|
double initialErrorSmart = graph.error(values);
|
|
EXPECT_DOUBLES_EQUAL(2379.0012816261642, initialErrorSmart, 1e-5); // freeze value
|
|
|
|
Values result;
|
|
gttic_(SmartStereoProjectionFactorPP);
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
|
|
result = optimizer.optimize();
|
|
gttoc_(SmartStereoProjectionFactorPP);
|
|
tictoc_finishedIteration_();
|
|
|
|
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
|
|
EXPECT(assert_equal(sensor_to_body,result.at<Pose3>(body_P_cam_key), 1e-1));
|
|
}
|
|
|
|
/* *************************************************************************/
|
|
TEST( SmartStereoProjectionFactorPP, landmarkDistance ) {
|
|
|
|
// 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, 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);
|
|
|
|
KeyVector views;
|
|
views.push_back(x1);
|
|
views.push_back(x2);
|
|
views.push_back(x3);
|
|
|
|
Symbol body_P_cam_key('P', 0);
|
|
KeyVector extrinsicKeys;
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
extrinsicKeys.push_back(body_P_cam_key);
|
|
|
|
// 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);
|
|
|
|
SmartStereoProjectionParams params;
|
|
params.setLinearizationMode(HESSIAN);
|
|
params.setLandmarkDistanceThreshold(2);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, params));
|
|
smartFactor1->add(measurements_cam1, views, extrinsicKeys, K);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, params));
|
|
smartFactor2->add(measurements_cam2, views, extrinsicKeys, K);
|
|
|
|
SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, params));
|
|
smartFactor3->add(measurements_cam3, views, extrinsicKeys, K);
|
|
|
|
// create graph
|
|
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
|
NonlinearFactorGraph graph;
|
|
graph.push_back(smartFactor1);
|
|
graph.push_back(smartFactor2);
|
|
graph.push_back(smartFactor3);
|
|
graph.addPrior(x1, pose1, noisePrior);
|
|
graph.addPrior(x2, pose2, noisePrior);
|
|
graph.addPrior(body_P_cam_key, Pose3::Identity(), 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
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Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
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Point3(0.1, 0.1, 0.1)); // smaller noise
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Values values;
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values.insert(x1, pose1);
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values.insert(x2, pose2);
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values.insert(x3, pose3 * noise_pose);
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values.insert(body_P_cam_key, Pose3::Identity());
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// All smart factors are disabled and pose should remain where it is
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Values result;
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LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
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result = optimizer.optimize();
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EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3), 1e-5));
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EXPECT_DOUBLES_EQUAL(graph.error(values), graph.error(result), 1e-5);
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionFactorPP, dynamicOutlierRejection ) {
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KeyVector views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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Symbol body_P_cam_key('P', 0);
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KeyVector extrinsicKeys;
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extrinsicKeys.push_back(body_P_cam_key);
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extrinsicKeys.push_back(body_P_cam_key);
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extrinsicKeys.push_back(body_P_cam_key);
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 pose1 = Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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StereoCamera cam1(pose1, K);
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// create second camera 1 meter to the right of first camera
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Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera cam2(pose2, K);
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// create third camera 1 meter above the first camera
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Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
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StereoCamera cam3(pose3, K);
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// three landmarks ~5 meters infront of camera
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Point3 landmark1(5, 0.5, 1.2);
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Point3 landmark2(5, -0.5, 1.2);
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Point3 landmark3(3, 0, 3.0);
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Point3 landmark4(5, -0.5, 1);
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// 1. Project four landmarks into three cameras and triangulate
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vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark1);
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vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark2);
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vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark3);
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vector<StereoPoint2> measurements_cam4 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark4);
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measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10, 10, 1); // add outlier
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SmartStereoProjectionParams params;
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params.setLinearizationMode(HESSIAN);
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params.setDynamicOutlierRejectionThreshold(1);
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SmartStereoProjectionFactorPP::shared_ptr smartFactor1(new SmartStereoProjectionFactorPP(model, params));
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smartFactor1->add(measurements_cam1, views, extrinsicKeys, K);
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SmartStereoProjectionFactorPP::shared_ptr smartFactor2(new SmartStereoProjectionFactorPP(model, params));
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smartFactor2->add(measurements_cam2, views, extrinsicKeys, K);
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SmartStereoProjectionFactorPP::shared_ptr smartFactor3(new SmartStereoProjectionFactorPP(model, params));
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smartFactor3->add(measurements_cam3, views, extrinsicKeys, K);
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SmartStereoProjectionFactorPP::shared_ptr smartFactor4(new SmartStereoProjectionFactorPP(model, params));
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smartFactor4->add(measurements_cam4, views, extrinsicKeys, K);
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// same as factor 4, but dynamic outlier rejection is off
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SmartStereoProjectionFactorPP::shared_ptr smartFactor4b(new SmartStereoProjectionFactorPP(model));
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smartFactor4b->add(measurements_cam4, views, extrinsicKeys, K);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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NonlinearFactorGraph graph;
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graph.push_back(smartFactor1);
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graph.push_back(smartFactor2);
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graph.push_back(smartFactor3);
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graph.push_back(smartFactor4);
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graph.addPrior(x1, pose1, noisePrior);
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graph.addPrior(x2, pose2, noisePrior);
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graph.addPrior(x3, pose3, noisePrior);
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Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
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Point3(0.1, 0.1, 0.1)); // smaller noise
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Values values;
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values.insert(x1, pose1);
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values.insert(x2, pose2);
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values.insert(x3, pose3);
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values.insert(body_P_cam_key, Pose3::Identity());
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EXPECT_DOUBLES_EQUAL(0, smartFactor1->error(values), 1e-9);
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EXPECT_DOUBLES_EQUAL(0, smartFactor2->error(values), 1e-9);
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EXPECT_DOUBLES_EQUAL(0, smartFactor3->error(values), 1e-9);
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// zero error due to dynamic outlier rejection
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EXPECT_DOUBLES_EQUAL(0, smartFactor4->error(values), 1e-9);
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|
|
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// dynamic outlier rejection is off
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EXPECT_DOUBLES_EQUAL(6147.3947317473921, smartFactor4b->error(values), 1e-9);
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|
|
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// Factors 1-3 should have valid point, factor 4 should not
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|
EXPECT(smartFactor1->point());
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EXPECT(smartFactor2->point());
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EXPECT(smartFactor3->point());
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EXPECT(smartFactor4->point().outlier());
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EXPECT(smartFactor4b->point());
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|
|
|
// Factor 4 is disabled, pose 3 stays put
|
|
Values result;
|
|
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
|
|
result = optimizer.optimize();
|
|
EXPECT(assert_equal(Pose3::Identity(), result.at<Pose3>(body_P_cam_key)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
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|
}
|
|
/* ************************************************************************* */
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