71 lines
2.3 KiB
Matlab
71 lines
2.3 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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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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%
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% See LICENSE for the license information
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%
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% @brief Test triangulation
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% @author Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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import gtsam.*
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%% Some common constants
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sharedCal = Cal3_S2(1500, 1200, 0, 640, 480);
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%% Looking along X-axis, 1 meter above ground plane (x-y)
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upright = Rot3.Ypr(-pi / 2, 0., -pi / 2);
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pose1 = Pose3(upright, Point3(0, 0, 1));
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camera1 = PinholeCameraCal3_S2(pose1, sharedCal);
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%% create second camera 1 meter to the right of first camera
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pose2 = pose1.compose(Pose3(Rot3(), Point3(1, 0, 0)));
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camera2 = PinholeCameraCal3_S2(pose2, sharedCal);
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%% landmark ~5 meters infront of camera
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landmark =Point3 (5, 0.5, 1.2);
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%% 1. Project two landmarks into two cameras and triangulate
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z1 = camera1.project(landmark);
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z2 = camera2.project(landmark);
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%% twoPoses
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poses = Pose3Vector;
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measurements = Point2Vector;
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poses.push_back(pose1);
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poses.push_back(pose2);
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measurements.push_back(z1);
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measurements.push_back(z2);
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optimize = true;
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rank_tol = 1e-9;
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triangulated_landmark = triangulatePoint3(poses,sharedCal, measurements, rank_tol, optimize);
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CHECK('triangulated_landmark',landmark.equals(triangulated_landmark,1e-9));
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%% 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
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measurements = Point2Vector;
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measurements.push_back(z1.retract([0.1;0.5]));
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measurements.push_back(z2.retract([-0.2;0.3]));
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triangulated_landmark = triangulatePoint3(poses,sharedCal, measurements, rank_tol, optimize);
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CHECK('triangulated_landmark',landmark.equals(triangulated_landmark,1e-2));
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%% two Poses with Bundler Calibration
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bundlerCal = Cal3Bundler(1500, 0, 0, 640, 480);
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camera1 = PinholeCameraCal3Bundler(pose1, bundlerCal);
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camera2 = PinholeCameraCal3Bundler(pose2, bundlerCal);
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z1 = camera1.project(landmark);
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z2 = camera2.project(landmark);
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measurements = Point2Vector;
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measurements.push_back(z1);
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measurements.push_back(z2);
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triangulated_landmark = triangulatePoint3(poses,bundlerCal, measurements, rank_tol, optimize);
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CHECK('triangulated_landmark',landmark.equals(triangulated_landmark,1e-9));
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