testStereoFactor.cpp

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
 
#include <CppUnitLite/TestHarness.h>
 
using namespace std;
using namespace gtsam;
 
static Pose3 camera1(Rot3(Vector3(1, -1, -1).asDiagonal()),
        Point3(0,0,6.25));
 
static std::shared_ptr<Cal3_S2Stereo> K(new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5));
 
// point X Y Z in meters
static Point3 p(0, 0, 5);
static SharedNoiseModel model(noiseModel::Unit::Create(3));
 
// Convenience for named keys
using symbol_shorthand::X;
using symbol_shorthand::L;
 
typedef GenericStereoFactor<Pose3, Point3> TestStereoFactor;
 
/* ************************************************************************* */
TEST( StereoFactor, Constructor) {
  StereoPoint2 measurement(323, 318-50, 241);
 
  TestStereoFactor factor(measurement, model, X(1), L(1), K);
}
 
/* ************************************************************************* */
TEST( StereoFactor, ConstructorWithTransform) {
  StereoPoint2 measurement(323, 318-50, 241);
  Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
 
  TestStereoFactor factor(measurement, model, X(1), L(1), K, body_P_sensor);
}
 
/* ************************************************************************* */
TEST( StereoFactor, Equals ) {
  // Create two identical factors and make sure they're equal
  StereoPoint2 measurement(323, 318-50, 241);
 
  TestStereoFactor factor1(measurement, model, X(1), L(1), K);
  TestStereoFactor factor2(measurement, model, X(1), L(1), K);
 
  CHECK(assert_equal(factor1, factor2));
}
 
/* ************************************************************************* */
TEST( StereoFactor, EqualsWithTransform ) {
  // Create two identical factors and make sure they're equal
  StereoPoint2 measurement(323, 318-50, 241);
  Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
 
  TestStereoFactor factor1(measurement, model, X(1), L(1), K, body_P_sensor);
  TestStereoFactor factor2(measurement, model, X(1), L(1), K, body_P_sensor);
 
  CHECK(assert_equal(factor1, factor2));
}
 
/* ************************************************************************* */
TEST( StereoFactor, Error ) {
  // Create the factor with a measurement that is 3 pixels off in x
  StereoPoint2 measurement(323, 318-50, 241);
  TestStereoFactor factor(measurement, model, X(1), L(1), K);
 
  // Set the linearization point
  Pose3 pose(Rot3(), Point3(0.0, 0.0, -6.25));
  Point3 point(0.0, 0.0, 0.0);
 
  // Use the factor to calculate the error
  Vector actualError(factor.evaluateError(pose, point));
 
  // The expected error is (-3.0, +2.0, -1.0) pixels / UnitCovariance
  Vector expectedError = Vector3(-3.0, +2.0, -1.0);
 
  // Verify we get the expected error
  CHECK(assert_equal(expectedError, actualError, 1e-9));
}
 
/* ************************************************************************* */
TEST( StereoFactor, ErrorWithTransform ) {
  // Create the factor with a measurement that is 3 pixels off in x
  StereoPoint2 measurement(323, 318-50, 241);
  Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
  TestStereoFactor factor(measurement, model, X(1), L(1), K, body_P_sensor);
 
  // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
  Pose3 pose(Rot3(), Point3(-6.50, 0.10 , -1.0));
  Point3 point(0.0, 0.0, 0.0);
 
  // Use the factor to calculate the error
  Vector actualError(factor.evaluateError(pose, point));
 
  // The expected error is (-3.0, +2.0, -1.0) pixels / UnitCovariance
  Vector expectedError = Vector3(-3.0, +2.0, -1.0);
 
  // Verify we get the expected error
  CHECK(assert_equal(expectedError, actualError, 1e-9));
}
 
/* ************************************************************************* */
TEST( StereoFactor, Jacobian ) {
  // Create the factor with a measurement that is 3 pixels off in x
  StereoPoint2 measurement(323, 318-50, 241);
  TestStereoFactor factor(measurement, model, X(1), L(1), K);
 
  // Set the linearization point
  Pose3 pose(Rot3(), Point3(0.0, 0.0, -6.25));
  Point3 point(0.0, 0.0, 0.0);
 
  // Use the factor to calculate the Jacobians
  Matrix H1Actual, H2Actual;
  factor.evaluateError(pose, point, H1Actual, H2Actual);
 
  // The expected Jacobians
  Matrix H1Expected = (Matrix(3, 6) << 0.0,  -625.0, 0.0, -100.0,    0.0,  0.0,
                                    0.0,  -625.0, 0.0, -100.0,    0.0, -8.0,
                                    625.0,   0.0, 0.0,    0.0, -100.0,  0.0).finished();
  Matrix H2Expected = (Matrix(3, 3) << 100.0,   0.0, 0.0,
                                    100.0,   0.0, 8.0,
                                    0.0,   100.0, 0.0).finished();
 
  // Verify the Jacobians are correct
  CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
  CHECK(assert_equal(H2Expected, H2Actual, 1e-3));
}
 
/* ************************************************************************* */
TEST( StereoFactor, JacobianWithTransform ) {
  // Create the factor with a measurement that is 3 pixels off in x
  StereoPoint2 measurement(323, 318-50, 241);
  Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
  TestStereoFactor factor(measurement, model, X(1), L(1), K, body_P_sensor);
 
  // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
  Pose3 pose(Rot3(), Point3(-6.50, 0.10 , -1.0));
  Point3 point(0.0, 0.0, 0.0);
 
  // Use the factor to calculate the Jacobians
  Matrix H1Actual, H2Actual;
  factor.evaluateError(pose, point, H1Actual, H2Actual);
 
  // The expected Jacobians
  Matrix H1Expected = (Matrix(3, 6) << -100.0,    0.0,  650.0,   0.0,  100.0,    0.0,
                                    -100.0,   -8.0,  649.2,  -8.0,  100.0,    0.0,
                                     -10.0, -650.0,    0.0,   0.0,    0.0,  100.0).finished();
  Matrix H2Expected = (Matrix(3, 3) <<    0.0, -100.0,    0.0,
                                       8.0, -100.0,    0.0,
                                       0.0,    0.0, -100.0).finished();
 
  // Verify the Jacobians are correct
  CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
  CHECK(assert_equal(H2Expected, H2Actual, 1e-3));
}
 
/* ************************************************************************* */
TEST( StereoFactor, singlePoint)
{
  NonlinearFactorGraph graph;
 
  graph.emplace_shared<NonlinearEquality<Pose3> >(X(1), camera1);
 
  StereoPoint2 measurement(320, 320.0-50, 240);
  // arguments: measurement, sigma, cam#, measurement #, K, baseline (m)
  graph.emplace_shared<GenericStereoFactor<Pose3, Point3> >(measurement, model, X(1), L(1), K);
 
  // Create a configuration corresponding to the ground truth
  Values values;
  values.insert(X(1), camera1); // add camera at z=6.25m looking towards origin
 
  Point3 l1(0, 0, 0);
  values.insert(L(1), l1);   // add point at origin;
 
  GaussNewtonOptimizer optimizer(graph, values);
 
  // We expect the initial to be zero because config is the ground truth
  DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
 
  // Iterate once, and the config should not have changed
  optimizer.iterate();
  DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9);
 
  // Complete solution
  optimizer.optimize();
 
  DOUBLES_EQUAL(0.0, optimizer.error(), 1e-6);
}
 
/* ************************************************************************* */
  int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */